KR100630314B1 - A four-linkage orthosis joint - Google Patents

Abstract

A four-linkage orthosis joint is provided to prevent persons from falling over an obstacle in walking by making the rotational angle of the four-linkage orthosis joint similar to the real walking angle of human beings and to enable the persons to easily go up stairs by lifting up the lower part of the body by naturally bending the joint. The four-linkage orthosis joint(100) is composed of an upper fixing piece(120) in which an upper support bar(110) is fixed to the upper end; a lower fixing piece(140) in which a lower support bar(130) is fixed to the lower end; a front rotary lever(150) of which one end is rotatably installed to the front part of the upper fixing piece and the other end is rotatably mounted at the front part of the lower fixing piece; a rear rotary lever(160) having one end rotatably installed to the rear part of the upper fixing piece and the other end rotatably installed at the rear part of the lower fixing piece, and shorter than the front rotary lever to relatively rotate the upper and lower fixing pieces in the vertical and longitudinal directions with drawing a predetermined trace; and an elastic guide unit elastically guiding the relative rotation of the upper and lower fixing pieces.

Description

A four-linkage orthosis joint

1 is a side view illustrating a state configuration of a conventional brace joint.

Figure 2 is a side view illustrating a configuration of a curved state of the conventional brace joint.

Figure 3 is a side view illustrating the configuration of the extension state of the four-axis brace joint according to the present invention.

Figure 4 is an exploded perspective view illustrating the configuration of the four-axis brace joint according to the present invention.

Figure 5 is a side view illustrating a locked state during the standing position of the four-axis brace joint according to the present invention.

Figure 6a to 6f is a side view illustrating the movement of the four-axis assistor joint according to the present invention.

Figure 7 is a side view illustrating the configuration of a four-axis assistor joint of another embodiment of the present invention.

* Explanation of symbols for main parts of drawings *

100 ......... 4-Axis Orthosis Joint 110 .......... Top Support

120 ............. top fixation 130 .......... bottom support

140 ....... Lower fixing 150 ........ Front rotary lever

151,152 ..... Bearings 157 .......... Fixing Lever

160 ......... Rear lock lever 165 .......... Stopper

170 ......... Exhibition stopper 171 .......... Elastic projection

173 ......... Spring Chamber 175 .......... Spring

The present invention relates to a four-axis brace joint, more specifically, a pair of rotary levers connected to the upper and lower fixing pieces are installed so as to rotate with each other with four axes so that the upper and lower fixing pieces are rotated by a pair of rotating levers. Therefore, it is about a four-axis brace joint that reproduces the movement close to the human joint.

1 and 2 illustrate the structure of a conventional uniaxial brace joint.

Conventional single axis joint (1) is a hinge portion for rotatably connecting the upper support 10, the lower thigh 20 is fixed to the thigh portion and the upper and lower supports 10, 20 is fixed to the thigh portion of the human body (30).

The conventional single axis brace joint (1) is to allow the upper and lower support (10, 20) to rotate relative to the hinge axis 31 relative to the extension state and the bent state of the human body, the hinge portion 30 It is a structure by the bolt and nut 33 is fastened to the hole formed in the upper and lower support 10 and the lower support 20.

Conventional uniaxial brace joint (1) is to modify the structure of the connection portion so as to correspond to the structure of the human joint, and shift the rotation axis 31 of the hinge portion 30 in the center axis of the support to cause eccentricity, which is convenient for pedestrians Providing.

In addition, some pedestrians who partially lost the function of the lower limbs and joints in the case of wearing the conventional short axis brace joint (1) can be bent knees by some modification of the structure of the short axis brace joint (1) Done.

However, in the case of pedestrians who have almost lost the function of the lower limbs and joints, since the brace joint (1) should be able to support the upright state when walking, the conventional uniaxial brace joint (1) locks it in the extension state (40). It is provided.

In addition, the conventional short axis brace joint (1) has a configuration that can bend the knee by releasing the locking device 40 when sitting and stop walking.

For example, in the case of the conventional single axis brace joint (1), the locking device 40 must be pulled down when walking to fix the extension state. At this time, the locking device 40 is operated by the friction force caused by the eccentricity of the shaft and the joint of the support (10, 20) to maintain the upright state of the pedestrian.

On the contrary, when stopping and sitting, the locking device 40 may be pulled up to rotate the shortened brace joint 1 about the hinge axis 30 to bend the knee.

However, the conventional articulator joint having the above configuration has the following problems.

Observing the knee joint during human walking, it can be seen that the walking is performed by changing the relative position of the tibia and the femur during the bending motion process such as the upward and backward movement of the femur by grinding on the plateau of the tibia.

In the case of using a brace with a conventional brace joint, it does not reproduce the grinding process of the femur and simply rotates based on the short axis, so that the movement of the thigh rises, lengthens, and shortens. Since only walking is unnatural, there is a problem that causes a great burden and inconvenience to pedestrians.

And, in the standing state and sitting state, since the brace should be fixed so that the rotation does not rotate, there arises a problem of operating the locking device, etc. separately.

In order to walk using a brace using the existing uniaxial brace joint (1), a pedestrian who does not have any function of the joint locks the movement of the knee joint with a locking device 40 to prevent the knee from bending. There is no choice but to.

These problems include problems such as weight instability, abduction walking, excessive abduction, pathological walking, etc. when walking. In addition, when sitting, the locking device 40 must be released one by one, which may cause a user's health and multidimensional problems.

An object of the present invention is to implement a four-axis brace joint to enable the multi-axis rotation to reproduce the movement close to the bending motion of the joint of the human body.

Another object of the present invention is to implement a four-axis brace joint that enables the locking and unlocking of the brace joint automatically and the extension of the extension according to the individual without any manipulation in the flexion or extension state.

Still another object of the present invention is to implement a four-axis brace joint that is manufactured in a structure that can be detachable to the support by making the brace joint separately from the support to reproduce the movement close to the bending motion of the joint of the human body.

Four-axis brace joint according to the present invention for achieving the above object, the upper support is fixed to the upper support; A lower fixing piece having a lower support fixed to the lower end thereof; A front rotary lever rotatably installed at one end of the upper fixing piece in the first half and the other end of the lower fixing piece in the first half; One end is installed at the rear half of the upper fixing piece, and the other end is rotatably installed at the latter half of the lower fixing piece, and the upper fixing piece and the lower fixing piece have a constant trajectory while drawing a relatively short length with respect to the front rotation lever. And a rear rotation lever for allowing relative rotation in the front and rear directions; It characterized in that it comprises a stopper for limiting the up and down rotatable angle of the upper fixing piece and the lower fixing piece to a specific range.

Four-axis brace joint according to the present invention for achieving the above object, the upper fixing piece is formed integrally with the lower end of the upper support that the upper half is supported; A lower fixing piece integrally formed on an upper end of a lower support on which a lower lower half is supported; A front rotary lever rotatably installed at one end of the upper fixing piece in the first half and the other end of the lower fixing piece in the first half; One end is installed at the rear half of the upper fixing piece, and the other end is rotatably installed at the latter half of the lower fixing piece, and the upper fixing piece and the lower fixing piece have a constant trajectory while drawing a relatively short length with respect to the front rotation lever. And a rear rotation lever for allowing relative rotation in the front and rear directions; It characterized in that it comprises a stopper for limiting the up and down rotatable angle of the upper fixing piece and the lower fixing piece to a specific range.

Four-axis brace joint according to the present invention for achieving the above object, the upper support is fixed to the upper support; A lower fixing piece having a lower support fixed to the lower end thereof; A front rotary lever rotatably installed at one end of the upper fixing piece in the first half and the other end of the lower fixing piece in the first half; One end is installed at the rear half of the upper fixing piece, and the other end is rotatably installed at the latter half of the lower fixing piece, and the upper fixing piece and the lower fixing piece have a constant trajectory while drawing a relatively short length with respect to the front rotation lever. And a rear rotation lever for allowing relative rotation in the front and rear directions; It characterized in that it comprises a resilient guide means for elastically guiding the relative rotation of the upper fixing piece and the lower fixing piece.

Four-axis brace joint according to the present invention for achieving the above object, the upper fixing piece is formed integrally with the lower end of the upper support that the upper half is supported; A lower fixing piece integrally formed on an upper end of a lower support on which a lower lower half is supported; A front rotary lever rotatably installed at one end of the upper fixing piece in the first half and the other end of the lower fixing piece in the first half; One end is installed at the rear half of the upper fixing piece, and the other end is rotatably installed at the latter half of the lower fixing piece, and the upper fixing piece and the lower fixing piece have a constant trajectory while drawing a relatively short length with respect to the front rotation lever. And a rear rotation lever for allowing relative rotation in the front and rear directions; It characterized in that it comprises a resilient guide means for elastically guiding the relative rotation of the upper fixing piece and the lower fixing piece.

The four-axis brace joint is characterized in that it comprises a stopper for limiting the up and down rotatable angle of the upper fixing piece and the lower fixing piece to a specific range.

The elastic guide means, and the spring chamber formed on the lower fixing piece; A spring that linearly moves on the spring chamber and generates an elastic restoring force; It is characterized in that it comprises an elastic projection to enable the linear movement of the spring in conjunction with the rotation of the lower front rotation lever.

The elastic guide means, and the cylinder formed on the lower fixing piece; A piston for linear movement on the cylinder and generating an elastic restoring force; It is characterized in that it comprises an elastic projection to enable the linear movement of the piston in conjunction with the rotation of the lower end of the front rotary lever.

The upper fixing piece is provided with a stopper prevention stopper at the front end of the front rotation lever, it characterized in that to prevent the rotation of the front rotation lever when standing.

The front rotation lever and the rear rotation lever are formed at a predetermined acute angle in the front and rear, and side by side in parallel with each other, so that the up and down and front and rear rotation of each rotation lever can be performed without clogging.

The four-axis brace joint is characterized in that it is provided with a shock mitigation means for mitigating the impact applied to the upper and lower fixing pieces when the extension state by the relative rotational movement of the upper and lower fixing pieces.

The impact mitigating means is a stopper protruding from the front end of the rear rotation lever, and is installed on the lower surface of the upper fixing piece is characterized in that the four-axis auxiliary joint is a cushioning projection to contact the stopper in the extension state.

Both ends of the front rotating lever is fixed to the shaft of the rotating bearing which is rotatably installed on the upper fixing piece and the lower fixing piece, respectively.

Both ends of the rear rotation lever are rotatably fixed by rotation pins penetrating the rotation groove in the state of being inserted into the rotation groove formed on the lower surface of the upper fixing piece and the upper surface of the lower fixing piece, respectively.

The four-axis brace joint is characterized in that the stabilization at the time of placing a negative offset by placing the central axis of the lower support behind the central axis of the upper support in the extension state.

With the above configuration, the present invention enables natural and safe walking by bringing the movement of the brace joint closer to the movement of the human joint.

Hereinafter, a configuration of a preferred embodiment of a four-axis assistor joint according to the present invention having the configuration as described above will be described in detail with reference to the accompanying drawings.

Figure 3 is a side view illustrating the configuration of the extension state of the four-axis orthosis joint of the present embodiment, Figure 4 is an exploded perspective view illustrating the configuration of the four-axis orthosis joint of the present embodiment, Figure 5 is a four-axis orthosis joint of the present embodiment This is a side view illustrating the locked state at the time of standing. 6A to 6F are side views illustrating the movement of the stretching process of the 4th axis assist joint in this embodiment in sequence.

The four-axis assistor joint 100 of the present embodiment, the upper fixing piece 120 is fixed to the upper support 110, the lower fixing piece 140 is fixed to the lower support 130, one end of the upper fixing piece ( 120) in the first half, the other end is a front rotation lever 150 rotatably installed in the first half of the lower fixing piece 140, one end is in the latter half of the upper fixing piece 120, the other end is the lower fixing The rear portion of the piece 140 includes a rear rotation lever 160 is rotatably installed.

The four-axis assistor joint 100 of the present embodiment is formed separately from the upper and lower support members 110 and 130 to which the lower body of the human body is attached and supported so that the four axis assistor joint 100 can be connected to the upper and lower support members 110 and 130, respectively. Therefore, if any one of the upper and lower support (110,130) and the four-axis auxiliary joint 100 is deformed or damaged or need to be replaced, it is a configuration that can be used to replace only the problem part.

For example, if the length of the upper and lower supports 110 and 130 differs according to the height of the user, the pedestrians of various heights can use the 4-axis assist joint 100 having the same configuration. And, if there is a partial deformation of the four-axis auxiliary joint 100, the upper and lower support (110, 130) can be used as it is, it is possible to replace only the parts of the part.

In the present embodiment, the upper fixing piece 120 in which the upper support 110 for supporting the thigh portion is fixed to the upper end is a portion corresponding to the lower end of the femur, and the lower fixing piece for fixing the lower support 130 to the lower end ( 140 is a portion corresponding to the upper end of the tibia.

The upper fixing piece 120 has a shape that is similar in width to the lower end of the femur bone is wide and the upper end is narrow in width. A groove 121 for inserting the upper support 110 is formed at the top of the upper fixing piece 120, and a pair of holes 123 for fastening the upper support 110 with a screw are formed at the center of the groove 121. It is.

The lower fixing piece 140 is wide in the front and rear and the lower end is formed in a narrow width similar to the upper end of the tibia, the lower end is formed with a groove 141 for inserting the lower support 130 and the groove ( In the center of the 141, a pair of holes 143 for fastening the lower support 130 with a screw is formed.

In the first half of the upper fixing piece 120, a bearing hole 125 for rotatably installing the front rotation lever 150 is formed, and in the second half, a rotation hole 127 is formed for the installation of the rear rotation lever 160. It became. In addition, the lower rear side of the upper fixing piece 120 was formed with a rotation guide groove 128 for rotatably inserting the rear rotation lever 160.

 In the first half of the lower fixing piece 140, a bearing hole 145 for rotatably installing the front rotation lever 150 is formed, and in the second half, the rotation hole 147 is formed by bending the installation of the rear rotation lever 160. It became. The lower fixing piece 140 has a rotation guide groove 148 formed therein for rotatably inserting the rear rotation lever 160.

The lower extremity joint of the human body has a bending motion to rotate upward while the femur is backed on the high flat part of the tibia, and the four-axis assistor joint 100 of the present embodiment has the upper fixing piece 120 and the lower fixing piece 140 mutually. Rotate around the four axes to the extension and flexion to the movement of the lower extremity joints.

In order to enable such a bending motion, the front rotary lever 150 of the present embodiment is formed to have a long length, and the rear rotary lever 160 is formed to have a relatively short length.

And, as shown in Fig. 5 as a reference to the stand-by, as shown in the reference, when connecting the respective rotary shafts of the forward rotation lever 150 and the rear rotation lever 160, forward and rearward rotation to meet at a certain point upward of the joint (P) The levers 150 and 160 are installed to form a constant acute angle with each other.

This allows the bending motion to be easily started by applying a downward pressure to the upper rotary shaft A of the rear rotary lever 160, and the extension of the temple state by applying different angles of pressure to different points. This is to prevent this from happening.

In addition, the four-axis orthosis joint of the present embodiment is offset in order to provide stability so that the four-axis orthosis joint is not bent when the heel is on the ground. For example, this embodiment places a negative offset such that the central axis of the lower support is located behind the central axis of the upper support to prevent the bending motion from occurring when the heel hits the ground.

In addition, the front and rear rotation levers 150 and 160 of the present embodiment are installed side by side so that the rotation levers 150 and 160 may be freely rotated forward and backward without interfering with each other at the time of extension and bending.

The front rotation lever 150 is rotatably installed on the upper fixing piece 120 and the lower fixing piece 140 by rotating bearings 151 and 152, and the rotating bearings 151 and 152 are upper and lower fixing pieces 120 and 140, respectively. And the stepped bearing holes 125, 145, 153, and 154 formed in the front rotary lever 150, respectively, and are screwed together.

The shaft 155 protruding to the outside of the rotating bearings 151 and 152 is inserted into a fixed lever 157 having a polygonal hole 156 formed at one end thereof, and the other end of the fixed lever 157 is the front rotating lever. The fastener 159 is fixed to any one of the plurality of holes 158 formed in the 150.

The fixed lever 157 is to be selectively fastened to any one of the plurality of holes 158 formed in the front rotation lever 150, which is coupled to maintain the screwing of the upper and lower bearings (151,152) firmly Depending on the degree, the fixed angle can be changed.

The four-axis assistor joint 100 of the present embodiment further includes elastic guide means for elastically guiding the relative rotation of the upper fixing piece 120 and the lower fixing piece 140, the elastic guide means of the present embodiment by the spring And hydraulic cylinders are optionally available.

The former elastic guide means is a spring chamber 173 formed in the lower fixing piece 140 in parallel with the corresponding portion of the high flat portion of the tibia, and a spring 175 for linear movement in the spring chamber 173 and generating elastic restoring force. And an elastic protrusion 171 formed at a lower end of the front rotary lever 150 to enable linear movement of the spring 175 according to the rotation of the front rotary lever 150.

An example of the latter is a cylinder (not shown) formed in the lower fixing piece in parallel with the counterpart of the high flat portion, a piston (not shown) for linear movement inside the cylinder, and a linear movement of the piston in conjunction with the rotation of the forward rotation lever. It includes elastic projections that make it possible.

In addition, the four-axis brace joint 100 of the present embodiment is provided with a stopper 165 for limiting the rotation angle of the upper and lower fixing piece 120 to a predetermined range. In this embodiment, the stopper 165 is to protrude toward the rear rotation lever 160 to enable automatic locking during the standing position.

The stopper 165 spans the lower surface of the upper fixing piece 120 at the time of standing, and serves to prevent excessive rotation of the 4-axis assistor joint.

In addition, the lower surface of the upper fixing piece 120 of the present embodiment is provided with a shock-absorbing means to prevent the impact caused by the impact of the metal when standing, the stopper 165 buffer protrusion 180 formed of a polyurethane colliding elastically Is it.

In addition, the upper fixing piece 120 of the present embodiment is provided with a departure prevention stopper 170 in front of the front rotation lever 150, which is a rotation of the front rotation lever 150 and the rear rotation lever 160 in the standing position. By preventing the lower fixing piece 140 is configured to prevent the departure from the front.

Next, a method of operating a preferred embodiment of the 4-axis assistor joint according to the present invention having the configuration as described above will be described with reference to FIGS. 6A to 6F.

In the extension state as shown in FIG. 6A, the stopper 165 of the release preventing stopper 170 and the rear rotation lever 160 operate as a locking device, so that the upper fixing piece 120 and the lower fixing piece 140 have relative positions. Is fixed. In this state, the lower extremity of the human body hits the ground, so that even a pedestrian whose function of the lower limb is incomplete or lost can be easily maintained.

6B to 6F, when the walking is started, the upper part of the lower leg moves forward and the pressure applied to the lower part of the lower leg forward is applied to the point A so that the point A rotates forward. Since the front rotation lever 150 receives the elastic force by the elastic guide means and the rotation is limited to a certain angle, the rear rotation lever 160 rotates around the point A and the rear rotation lever 160 passes through the predetermined point. The top A point is placed in front of the front rotation lever 150 as shown in Figure 6e, 6f.

In this process, bending of the lower limb is made, and when the lower limb extends forward again, the A point is restored to its original position by the reaction and the temple is formed. And in the state of temples, Haji hits the ground again.

By repetition of the above process, the pedestrian who has incomplete or lost the function of the lower limb is able to walk close to the human body.

In addition, when restored to the extension state from the bent state, a large force is applied to the four-axis auxiliary joint 100, but because the buffer protrusion 180 of the present embodiment absorbs the impact caused by the impact of the stopper 165, It is possible to mitigate shock and minimize noise generation.

Figure 7 is a side view illustrating a four-axis assistor joint of another embodiment of the present invention. The four-axis assistor joint 200 of this embodiment is different from the above embodiment in that the upper fixing piece 220 and the lower fixing piece 240 are integrally formed with the upper support 210 and the lower support 230, respectively. Other matters have the same configuration as the above embodiment.

For example, according to this embodiment, the configuration of the front rotation lever 250 and the rear rotation lever 260, the operation of the elastic guide means and the configuration of the stopper 265 and the departure prevention stopper 270, etc. It is the same structure as an Example, and the function of each part is also the same.

In addition, since the relative movement of the operation of the upper and lower rotary levers 220 and 240 and the point 227 corresponding to the point A is performed in the same manner as the walking, as in the case of the above embodiment, a person who has an inferior limb ability or loses the function of the human body walks. It makes it possible to walk close to.

The scope of the present invention is not limited to the above embodiments, but is determined by the matters described in the claims, and it is obvious that the present invention includes various modifications and adaptations made by those skilled in the art in the scope and equivalents of the claims.

Since the present invention matches the motion of human joints and artificial joints during walking by the above configuration, the walking is natural and the burden on pedestrians is greatly reduced when walking using the 4-axis brace joint of the present invention. .

In addition, since the angle of rotation of the 4-axis assist joint is close to that of human walking, it is possible to prevent it from being tripped over by an obstacle in front of the user when walking. Because the lower body is bent by bending the joints, the walking is natural and gives a great effect to the user.

The present invention solves the problems of weight instability, abduction, abduction, pathological walking, etc., because the pedestrian with inferior limb ability or inferior limb ability allows natural walking while walking. It also solves the problem of having to operate the locking device at the time of sitting or standing, thereby providing satisfaction to pedestrians in terms of user's health and multi-dimensional.

Claims (15)

An upper fixing piece having an upper support fixed to an upper end thereof; A lower fixing piece having a lower support fixed to the lower end thereof; A front rotary lever rotatably installed at one end of the upper fixing piece in the first half and the other end of the lower fixing piece in the first half; One end is installed at the rear half of the upper fixing piece, and the other end is rotatably installed at the latter half of the lower fixing piece, and the upper fixing piece and the lower fixing piece have a constant trajectory while drawing a relatively short length with respect to the front rotation lever. And a rear rotation lever for allowing relative rotation in the front and rear directions; And a stopper for limiting the up-and-down rotatable angle of the upper fixing piece and the lower fixing piece to a specific range. An upper fixing piece integrally formed at the lower end of the upper support on which the upper half of the lower part is supported; A lower fixing piece integrally formed on an upper end of a lower support on which a lower lower half is supported; A front rotary lever rotatably installed at one end of the upper fixing piece in the first half and the other end of the lower fixing piece in the first half; One end is installed at the rear half of the upper fixing piece, and the other end is rotatably installed at the latter half of the lower fixing piece, and the upper fixing piece and the lower fixing piece have a constant trajectory while drawing a relatively short length with respect to the front rotation lever. And a rear rotation lever for allowing relative rotation in the front and rear directions; And a stopper for limiting the up-and-down rotatable angle of the upper fixing piece and the lower fixing piece to a specific range. An upper fixing piece having an upper support fixed to an upper end thereof; A lower fixing piece having a lower support fixed to the lower end thereof; A front rotary lever rotatably installed at one end of the upper fixing piece in the first half and the other end of the lower fixing piece in the first half; One end is installed at the rear half of the upper fixing piece, and the other end is rotatably installed at the latter half of the lower fixing piece, and the upper fixing piece and the lower fixing piece have a constant trajectory while drawing a relatively short length with respect to the front rotation lever. And a rear rotation lever for allowing relative rotation in the front and rear directions; And a four-axis assisting joint, characterized in that it comprises an elastic guide means for elastically guiding the relative rotation of the upper fixing piece and the lower fixing piece. An upper fixing piece integrally formed at the lower end of the upper support on which the upper half of the lower part is supported; A lower fixing piece integrally formed on an upper end of a lower support on which a lower lower half is supported; A front rotary lever installed at one side of the upper fixing piece in the first half and the other end of the lower fixing piece in the first half; One end is installed at the rear half of the upper fixing piece, and the other end is rotatably installed at the latter half of the lower fixing piece, and the upper fixing piece and the lower fixing piece have a constant trajectory while drawing a relatively short length with respect to the front rotation lever. And a rear rotation lever for allowing relative rotation in the front and rear directions; And a four-axis assisting joint, characterized in that it comprises an elastic guide means for elastically guiding the relative rotation of the upper fixing piece and the lower fixing piece. The method according to claim 3 or 4, And a stopper for limiting the up-and-down rotatable angle of the upper fixing piece and the lower fixing piece to a specific range. The method of claim 3 or 4, wherein the elastic guide means, A spring chamber formed on the lower fixing piece; A spring that linearly moves on the spring chamber and generates an elastic restoring force; A four-axis assistor joint, characterized in that it comprises an elastic projection to enable the linear movement of the spring in conjunction with the rotation of the lower front rotation lever. The method of claim 3 or 4, wherein the elastic guide means, A cylinder formed on the lower fixing piece; A piston for linear movement on the cylinder and generating an elastic restoring force; A four-axis assistor joint, characterized in that it comprises an elastic projection to enable the linear movement of the piston in conjunction with the rotation of the lower end of the front rotary lever. The method according to any one of claims 1 to 4, The upper fixing piece is provided with a departure stopper at the front end of the front rotation lever, the four-axis brace joint, characterized in that to prevent the rotation of the front rotation lever when standing. The method according to any one of claims 1 to 4, The front rotation lever and the rear rotation lever is formed at a certain acute angle in the front and rear at the time of standing, and installed side by side parallel to each other, so that the up and down and front and rear rotation of each rotation lever can be performed without clogging. Axial joints. The method according to any one of claims 1 to 4, wherein the shock absorbing means for alleviating the impact applied to the upper fixing piece and the lower fixing piece when the state of extension by the relative rotational movement of the upper and lower fixing piece is provided 4-axis brace joint, characterized in that. The method of claim 10, wherein the impact mitigating means, A stopper protruding from the front end of the rear rotation lever, The four-axis brace joint is installed on the lower surface of the upper fixing piece is characterized in that the four-axis brace joint is a buffer projection that the buffer stopper is in contact with the extension state. The joint according to any one of claims 1 to 4, wherein both ends of the front rotation lever are rotatably installed on the upper fixing piece and the lower fixing piece, respectively, by rotating bearings. The joint assembly of claim 12, wherein the rotating bearing is inserted into and screwed at both sides of the stepped hole formed in the upper and lower fixing pieces and the front rotating lever. The shaft of claim 13, wherein the shaft protruding outwardly of the rotary bearing is inserted into a fixed lever having a polygonal hole formed at one end thereof, and the other end of the fixed lever is connected to a fastener at any one of a plurality of holes formed in the front rotating lever. 4-axis assist joint, characterized in that fixed by. The method according to any one of claims 1 to 4, wherein the 4-axis brace joint, The central axis of the lower support than the central axis of the upper support in the extension state is a four-axis brace joint, characterized in that the stabilization at the time of positioning by placing a negative offset by positioning the rear.

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