KR102598303B1 - Motion assist apparatus comprising link having lock notification function - Google Patents

Abstract

An exercise assistance device including a link with a fastening notification function according to an embodiment includes a waist frame and waist belt worn on the user's waist, a force transmission frame and thigh belt worn on the user's thigh, and the waist frame. It is connected to and includes an actuator that generates power, an upper frame connected to the actuator, a lower frame connected to the upper frame and transmitting the power to the force transmission frame, and a link connecting the upper frame and the lower frame; , the link includes a link body disposed on the lower frame, a main screw rotatably connected to the link body, a sea of plates rotatable together with the main screw, and a plate protrusion protruding from the plate body, A lifting plate provided to be movable along the axial direction of the main screw, a handle rotatably connected to the main screw and capable of transmitting power to the lifting plate, an inner elastic body provided between the main screw and the plate body, and the It is rotatably connected to the main screw, is provided to be movable along the axial direction of the main screw, and may include a holder provided on an opposite side of the handle with respect to the link body.

Description

MOTION ASSIST APPARATUS COMPRISING LINK HAVING LOCK NOTIFICATION FUNCTION}

The present invention relates to an exercise assistance device including a link with a fastening notification function.

Recently, as the aging society intensifies, the number of people complaining of pain and discomfort due to joint problems is increasing, and interest in assistive devices that can help elderly people or patients with joint discomfort walk smoothly is increasing. Exercise assist devices can also be worn for the purpose of strengthening muscles in specific areas.

An exercise assistance device including a link with a fastening notification function according to an embodiment includes a waist frame and waist belt worn on the user's waist, a force transmission frame and thigh belt worn on the user's thigh, and the waist frame. It is connected to and includes an actuator that generates power, an upper frame connected to the actuator, a lower frame connected to the upper frame and transmitting the power to the force transmission frame, and a link connecting the upper frame and the lower frame; , the link includes a link body disposed on the lower frame, a main screw rotatably connected to the link body, a plate body rotatable together with the main screw, and a plate protrusion protruding from the plate body, A lifting plate provided to be movable along the axial direction of the main screw, a handle rotatably connected to the main screw and capable of transmitting power to the lifting plate, an inner elastic body provided between the main screw and the plate body, and the It is rotatably connected to the main screw, is provided to be movable along the axial direction of the main screw, and includes a holder provided on an opposite side of the handle with respect to the link body, and the holder is in contact with the lower frame. When the handle rotates with respect to the plate body, the plate protrusion may receive an elastic force from the inner elastic body and move along the axial direction of the main screw to contact the handle.

Figure 1 is a perspective view showing a user wearing an exercise assistance device according to an embodiment.
Figure 2 is a front view showing an upper frame, a lower frame, and a link according to one embodiment.
Figure 3 is a perspective view showing a link and a lower frame according to one embodiment.
Figure 4 is a cross-sectional view of a link and a lower frame according to one embodiment.
Figure 5 is a cross-sectional view of a link and a lower frame according to one embodiment.
Figure 6 is a diagram illustrating a process in which a fastening notification contact sound is generated according to an embodiment.
Figure 7 is a top view showing a link body, locking bar, and handle according to one embodiment.
Figure 8 is a bottom view showing a link body, a locking bar, a handle and a pair of guide rails according to one embodiment.

Specific structural or functional descriptions of the embodiments are disclosed for illustrative purposes only and may be changed and implemented in various forms. Accordingly, the actual implementation form is not limited to the specific disclosed embodiments, and the scope of the present specification includes changes, equivalents, or substitutes included in the technical idea described in the embodiments.

Terms such as first or second may be used to describe various components, but these terms should be interpreted only for the purpose of distinguishing one component from another component. For example, a first component may be named a second component, and similarly, the second component may also be named a first component.

When a component is referred to as being “connected” to another component, it should be understood that it may be directly connected or connected to the other component, but that other components may exist in between.

Singular expressions include plural expressions unless the context clearly dictates otherwise. In this specification, terms such as “comprise” or “have” are intended to designate the presence of the described features, numbers, steps, operations, components, parts, or combinations thereof, and are intended to indicate the presence of one or more other features or numbers, It should be understood that this does not exclude in advance the possibility of the presence or addition of steps, operations, components, parts, or combinations thereof.

Components included in one embodiment and components including common functions will be described using the same names in other embodiments. Unless stated to the contrary, the description given in one embodiment may be applied to other embodiments, and detailed description will be omitted to the extent of overlap.

Unless otherwise defined, all terms used herein, including technical or scientific terms, have the same meaning as commonly understood by a person of ordinary skill in the art. Terms as defined in commonly used dictionaries should be interpreted as having meanings consistent with the meanings they have in the context of the related technology, and unless clearly defined in this specification, should not be interpreted in an idealized or overly formal sense. No.

Hereinafter, embodiments will be described in detail with reference to the attached drawings. In the description with reference to the accompanying drawings, identical components will be assigned the same reference numerals regardless of the reference numerals, and overlapping descriptions thereof will be omitted.

FIG. 1 is a perspective view showing a user wearing an exercise assistance device according to an embodiment, and FIG. 2 is a front view showing an upper frame, a lower frame, and a link according to an embodiment.

Referring to Figures 1 and 2, an exercise assistance device (1, hereinafter referred to as “exercise assistance device”) including a link with a fastening notification function according to an embodiment can be worn by a user and assist the user's exercise. there is. The user may be a human body or a robot, but is not limited thereto. The exercise assistance device 1 can assist the movement of some joints of the lower body or upper body. For example, the exercise assistance device 1 may assist lower body exercise by assisting at least one joint of the hip joint, knee joint, and ankle joint. The exercise assistance device 1 may include a waist worn part, a thigh worn part, an actuator 13, an upper frame 14, a lower frame 15, and a link 16.

In one embodiment, the waist-wearing part and the thigh-wearing part may be disposed on opposite sides of one part of the user and worn on a proximal part and a distal part, respectively. For example, the waist wearing part may cover the waist and/or pelvis, etc., and the thigh wearing part may cover the thighs, knees, calves and/or feet, etc.

In one embodiment, the waist wearing part may include a waist frame 11 surrounding a portion of the user's waist, and a waist belt 12 connected to the waist frame 11 and surrounding a remaining portion of the user's waist. For example, the waist frame 11 may surround the back of the waist, and the waist belt 92 may surround the front of the waist.

In one embodiment, the thigh wearing part may include a force transmission frame 17 surrounding a portion of the user's thigh, and a thigh belt 18 connected to the force transmission frame 17 and surrounding a remaining portion of the user's thigh. there is. For example, the force transmission frame 17 may wrap around the front of the thigh.

In one embodiment, the waist worn part and the thigh worn part are capable of relative movement on a sagittal plane. For example, when the user flexes or extends the hip joint while wearing the exercise assistance device 1, the thigh belt 12 rotates relative to the waist belt 11 in the sagittal plane. can do.

In one embodiment, the waist worn part and the thigh worn part are capable of relative movement in a frontal plane. For example, when the user adducts or abducts the hip joint while wearing the exercise assistance device 1, the thigh worn part may rotate relative to the waist worn part in the coronal plane.

In one embodiment, the lower frame 15 and the thigh wear part are capable of relative movement in a transverse plane. For example, when the user rotates the thigh while wearing the exercise assistance device 1, the thigh wearing part may rotate together with the thigh while being in close contact with the thigh. The force transmission frame 17 is rotatable relative to the lower frame 14. According to this structure, the user's wearing comfort can be improved.

In one embodiment, actuator 13 is connected to lumbar frame 11 and may generate power. Actuator 13 may include, for example, a motor and a reducer. The motor may include at least one of a brush motor, a brushless motor, and a stepping motor. The motor may include at least one of an induction motor and a synchronous motor. The reducer may include, for example, a gear train.

In one embodiment, the upper frame 14 and the lower frame 15 may transmit the power generated by the actuator 13 to the force transmission frame 17. For example, the upper frame 14 and the lower frame 15 may assist the user's hip joint movements. When the output end of the actuator 13 rotates in one direction, the upper frame 14 and the lower frame 15 may receive power from the actuator 13 to assist the bending movement of the hip joint. When the output end of the actuator 13 rotates in a direction opposite to one direction, the upper frame 14 and the lower frame 15 may receive power from the actuator 13 to assist in the extension movement of the hip joint.

In one embodiment, the upper frame 14 may be provided to be detachable from the actuator 13. For example, upper frame 14 may be coupled to the outer surface of actuator 13. The upper frame 141 can be separated from the actuator 13 without disassembling the actuator 13.

In one embodiment, the lower frame 15 is rotatably connected to the upper frame 14 and may be connected to the thigh belt 12. The lower frame 15 may have a shape that covers a portion of the user's thigh.

The upper frame 14 and the lower frame 15 according to one embodiment may be connected while being spaced apart from each other. A link 16 is provided between the upper frame 14 and the lower frame 15, and can be connected to rotate relative to the other frame.

In one embodiment, one frame can rotate relative to the other frame. For example, the lower frame 15 may rotate relative to the upper frame 14 in a direction to adduct the user's hip joint. When the user moves the thigh, instead of the upper frame 14 and the lower frame 15 moving together, only the lower frame 15 may rotate. The range of motion of the hip joint within the coronal plane can be increased. Flexible movement of the thighs may be possible. The wearing comfort of the exercise assistance device 1 can be improved.

In one embodiment, the user may suddenly move the thigh, such as when the user falls while walking or walks up a steep incline. As the lower frame 15 rotates with the thigh relative to the upper frame 14, the instantaneous force applied to the upper frame 14 can be distributed. Bending may not occur in the upper frame 14.

In one embodiment, one end of the link 16 may be connected to a rotating shaft supported on the upper frame 14. The rotating shaft may connect the upper frame 14 and the link 16. In a state where both ends of the rotating shaft are accommodated in the grooves formed in the upper frame 14, the link 16 can rotate the rotating shaft about the rotating axis. The other end of the link 16 may be connected to the lower frame 15. The lower frame 15 can rotate relative to the upper frame 14.

FIG. 3 is a perspective view showing a link and a lower frame according to an embodiment, FIG. 4 is a cross-sectional view of a link and a lower frame according to an embodiment, and FIG. 5 is a cross-sectional view of a link and a lower frame according to an embodiment. FIG. 6 is a diagram illustrating a process in which a fastening notification contact sound is generated according to an embodiment.

Referring to FIGS. 3 to 6 , the link body 161 according to one embodiment may be detachably connected to the lower frame 15. The lower frame 15 may include a frame body 151 supporting the link body 161, a frame groove 152 recessed from the frame body 151, and a holder receiving groove 153.

In one embodiment, the link body 161 may pass through the frame groove 152 and be disposed on the lower frame 15. From this structure, when the link body 161 is disposed on the lower frame 15, movement of the link 16 with respect to the lower frame 15 in the x-axis and y-axis directions may be restricted. After the link body 161 is accommodated in the lower frame 15, the handle 164 can be rotated in the first direction. The handle 164 rotates the main screw 162 in the same direction, and the holder 166 can be accommodated in the holder receiving groove 153. From this structure, the movement of the link 16 relative to the lower frame 15 in the z-axis direction is restricted, and the link 16 can be connected to the lower frame 15.

In one embodiment, the main screw 162 may be rotatably connected to the link body 161. Here, the rotation axis of the main screw 162 may be parallel to the y-axis direction. The main screw 162 may include a screw body 1621 and a shaft 1622.

In one embodiment, the screw body 1621 may be supported on the link body 161. The shaft 1622 passes through the center of the screw body 1621 and may be fixed to the screw body 1621. At one end of the shaft 1622, a screw thread may be formed. A holder 166 may be connected to a thread formed on one end of the shaft 1622.

In one embodiment, the holder 166 may be provided to be movable along the axial direction of the main screw 162 without rotating with respect to the lower frame 15. When the main screw 162 rotates in the first direction, the holder 166 protrudes from the link body 161 and may gradually approach the lower frame 15. A portion of the holder 166 is located within the holder receiving groove 153, and movement of the link 16 relative to the lower frame 15 in the z-axis direction may be restricted.

In one embodiment, in a state in which the main screw 162 continues to rotate in the first direction and the bottom surface of the holder 166 is in contact with the lower frame 15 (hereinafter referred to as “fastened state”), the main screw ( Even if 162) rotates in the first direction, the holder 166 may not move.

In one embodiment, when the main screw 162 rotates in a second direction that is opposite to the first direction, the holder 166 may move away from the lower frame 15. When the main screw 162 continues to rotate in the second direction, the holder 166 may not be located within the holder receiving groove 153 (hereinafter referred to as “released state”). The movement of the link 16 relative to the lower frame 15 in the z-axis direction may not be restricted.

In one embodiment, friction may occur between the bottom surface of the holder 166 and the lower frame 15 due to repeated fastening of the link 16. By disposing the cushioning material 154 between the bottom surface of the holder 166 and the lower frame 15, damage to or wear of the holder 166 and the lower frame 15 can be reduced. For example, the cushioning material may be provided on the bottom surface of the holder 166 or may be provided in the holder receiving groove 153.

In one embodiment, the main screw 162 may receive rotational power through the handle 164. The handle 164 is provided on the opposite side of the holder 166 with respect to the link body 161, and may be rotatably connected to the main screw 162. The handle 164 may include a handle cover 1641 and a handle plate 1642.

In one embodiment, the handle cover 1641 may be provided on the outer surface of the link body 161. The other end of the shaft 1622 may support the handle cover 1641 so that the handle cover 1641 does not separate from the link body 161. The handle 164 can be rotated in the first direction and the second direction with respect to the link body 161.

In one embodiment, the handle plate 1642 is connected to the handle cover 1641 and can rotate with the handle cover 1641. The handle plate 1642 may include a handle plate body 1642a supported by the handle cover 1641, and a handle protrusion 1642b protruding from the handle plate body 1642a toward the main screw 162. .

In one embodiment, a plurality of handle protrusions 1642b may be provided along the circumference around the rotation axis of the handle 164. The height of the handle protrusion 1642b protruding from the handle plate body 1642a may decrease as it moves in the first direction. The handle protrusion (1642b) can press the raising and lowering plate (163).

So far, the handle cover 1641 and the handle plate 1642 have been described as being individually constructed, but it should be noted in advance that the structure of the handle is not necessarily limited thereto. For example, in another embodiment, the handle plate 1642 may be formed integrally with the handle cover 1641. In another embodiment, the handle plate body 1642a may be formed integrally with the handle cover 1641.

In one embodiment, the raising and lowering plate 163 may be rotatable together with the main screw 162 and may be provided to be movable along the axial direction of the main screw 162. An inner elastic body 165 may be provided between the raising and lowering plate 163 and the main screw 162.

In one embodiment, the inner elastic body 165 may press the raising and lowering plate 163 in a direction away from the main screw 162. For example, the inner elastic body 165 may be a plate spring at the center through which the shaft 1622 can penetrate. However, it should be noted in advance that the type of inner elastic body is not necessarily limited thereto. For example, the inner elastic body may be a coil spring. The raising and lowering plate 163 may include a plate body 1631, plate wings 1632, and plate protrusions 1633.

In one embodiment, the plate body 1631 may be supported on the inner elastic body 165. The plate wing 1632 protrudes from the plate body 1631 and may be connected to the screw body 1621. Rotation of the raising and lowering plate 163 with respect to the screw body 1621 may be restricted.

In one embodiment, the plate protrusion 1633 may be formed to protrude from the plate body 1631 toward the handle 164. A plurality of plate protrusions 1633 may be provided along the circumference around the rotation axis of the main screw 162. The plate protrusion 1633 may be pressed by the handle protrusion 1642b.

In one embodiment, the plate protrusion 1633 may include an inclined surface whose height protrudes from the plate body 1631 increases as it moves in the first direction. Through this structure, when the handle 164 rotates in the first direction, the handle protrusion 1642b can press the raising and lowering plate 163 in the direction of the main screw 162.

For example, when the handle 164 rotates in the first direction, the inner elastic body 165 is pressed by the raising and lowering plate 163, and the lowering plate 163 is held together with the main screw 162. Can rotate in 1 direction. The holder 166 can move in a direction closer to the lower frame 15.

For example, when the handle 164 rotates in the second direction, the inner elastic body 165 is not pressed by the raising and lowering plate 163, and the lowering plate 163 is pressed together with the main screw 162. It can rotate in a second direction. The holder 166 can move in a direction away from the lower frame 15.

In one embodiment, the holder 166 is supported on the lower frame 15 when the link 16 is in the engaged state, so the main screw 162 may no longer rotate in the first direction. In this state, when the handle 164 is rotated in the first direction, the handle protrusion 1642b may slide in the first direction along the inclined surface of the plate protrusion 1633. While the handle protrusion (1642b) slides in the first direction along the inclined surface of the plate protrusion (1633), the distance between the raising and lowering plate (163) and the main screw (162) becomes closer, and the degree to which the inner elastic body (165) is deformed can get bigger.

In one embodiment, after the handle protrusion 1642b slides in the first direction along the inclined surface of the plate protrusion 1633, the modified inner elastic body 165 presses the raising and lowering plate 163 in the direction of the handle 164. By doing so, the plate body 1631 can contact the handle protrusion 1642b. The moment the plate body 1631 contacts the handle protrusion 1642b, a contact sound loud enough to be detected by the user may be generated. The user may recognize that the link 16 is fastened to the lower frame 15 through a contact sound.

In one embodiment, when the handle 164 continues to rotate in the first direction after the contact sound is generated, the handle 164 is rotated by the angle formed by the plurality of plate protrusions 1633 spaced apart around the rotation axis of the main screw 162. ) may continue to make contact sounds as it rotates. Even if the user does not detect the first contact sound, additional contact sounds can be detected by continuing to rotate the handle 164 in the first direction.

Referring to FIG. 4, there may be a section in the shaft 1622 where no threads are formed. The threads of the shaft 1622 may be formed only in a certain section so that the holder 166 moves only between the positions of the holder 166 when the link 16 is in the fastened state and the released state. When link 16 is in the released state, holder 166 may be released from and supported on the threads of shaft 1622.

For example, if the holder 166 is connected to the screw head even when the link 16 is in the disengaged state, rotation of the handle 164 in the second direction may cause the holder 166 to be tightly engaged with the screw head. The force with which the holder 166 engages the screw thread may be greater than the force with which the handle 164 attempts to rotate the main screw 162. In this state, when the handle 164 is rotated in the first direction, the main screw 162 is fixed and only the handle 164 rotates in the first direction, which may generate a contact sound. Through a structure in which the holder 166 is separated from the screw thread in the released state, the handle 164 can be prevented from spinning in the first direction.

In one embodiment, the exercise assistance device may further include a link elastic body 167 provided on the side of the link body 161 facing the holder 166. For example, the link elastic body 167 may be formed of rubber. When the link 16 is in the released state, the link elastic body 167 can be pressed by the holder 166. The link elastic body 167 may press the holder 166 toward the lower frame 15. By rotating the handle 164 in the first direction, the holder 166 that has disengaged from the screw head can be re-engaged with the screw head.

In one embodiment, the link elastic body 167 may be provided as a pair disposed on opposite sides of the rotation axis of the main screw 162. From this arrangement, the holder 166 can be pressed while maintaining the bottom surface facing the lower frame 15. The holder 166 can be easily engaged with the thread of the shaft 1622 and can reduce damage to the thread due to friction.

In another embodiment, the fastened state of the link 16 may be recognized using a sensor. A magnet may be provided on the bottom of the holder 166, and a hole IC may be provided on the holder receiving groove 153 or a cover surrounding the outer surface of the lower frame 15. The Hall IC can detect the distance from the Hall IC to a magnet spaced apart from the Hall IC and transmit the detected distance to the system. The user can recognize the fastening state through the distance transmitted to the system.

FIG. 7 is a top view showing a link body, a locking bar, and a handle according to one embodiment, and FIG. 8 is a bottom view showing a link body, a locking rod, a handle, and a pair of guide rails according to an embodiment.

Referring to FIGS. 7 and 8 , the exercise assistance device according to one embodiment may further include a pair of guide rails 168 and a locking bar 169. The locking bar 169 can slide in one direction along a pair of guide rails 168 provided side by side inside the link body 161. When the link is in the fastened state, the locking bar 169 may slide in one direction and a portion of the locking bar 169 may be accommodated inside the handle 164. Since the handle 164 is caught by the locking bar 169, rotation of the handle 164 in the first and second directions may be restricted. In the fastened state, the handle 164 can be prevented from rotating due to unintentional external force. The fastened state of the link can be maintained. The locking rod 169 may include a rod body 1691, a rod handle 1692, and a rod protrusion 1693.

In one embodiment, the rod body 1691 may be provided to be slidable in one direction within the link body 161. The rod handle 1692 may protrude from the rod body 1691 to the outside of the link body 161. By moving the wand handle 1692 in one direction, the locking wand 169 can slide together in the same direction as the wand handle 1692.

In one embodiment, the rod body 1691 slides toward the handle 164, and an end of the rod body 1691 may be received in the rod receiving groove 1643 formed in the handle cover 1641. For example, a plurality of rod receiving grooves 1643 may be formed along the circumference around the rotation axis of the handle 164.

In one embodiment, the rod protrusions 1693 may be provided as a pair, each protruding from both sides of the rod body 1691. The pair of rod protrusions 1693 can each be accommodated in grooves formed in the pair of guide rails 168.

In one embodiment, the guide rail 168 may include a side rail 1681 supporting both sides of the rod body 1691 and two grooves recessed in the side rail 1681. Here, one of the two grooves is a groove 1682 (hereinafter referred to as "the first guide groove") that accommodates the rod protrusion 1693 with the end of the rod body 1691 accommodated in the rod receiving groove 1643. "), and the remaining groove is a groove 1683 (hereinafter referred to as a "second guide groove") for accommodating the bar protrusion 1693 in a state where the end of the bar joint is not accommodated in the bar receiving groove 1643. refers to).

In one embodiment, the pair of guide rails 168 may include sections between the first guide groove 1682 and the second guide groove 1683, each having a shape that protrudes toward the direction facing each other. You can. From this structure, the rod protrusion 1693 moves along the guide rail 168 from the first guide groove 1682 toward the second guide groove 1683, or from the second guide groove 1683 to the first guide groove ( 1682), a certain amount of force or more may be required. It is possible to prevent the rod handle 1692 from easily moving due to external force.

In one embodiment, the rod receiving groove 1643 may be hidden by the link body 161 and not visible from the outside. Based on the direction of the rotation axis of the handle 164, the outer surface of the handle cover 1641 that overlaps the rod receiving groove 1643 has a smooth surface, a protrusion, a groove, a pattern, etc., so that the user can determine the position of the rod receiving groove 1643. There may be a recognizable sign. After rotating the handle 164 so that the mark is aligned with the sliding direction of the locking rod 169, the end of the rod body 1691 can be positioned in the rod receiving groove 1643 by moving the rod handle 1692. You can.

An exercise assistance device including a link with a fastening notification function according to an embodiment includes a waist frame and waist belt worn on the user's waist, a force transmission frame and thigh belt worn on the user's thigh, and the waist frame. It is connected to and includes an actuator that generates power, an upper frame connected to the actuator, a lower frame connected to the upper frame and transmitting the power to the thigh belt, and a link connecting the upper frame and the lower frame, The link includes a link body disposed on the lower frame, a main screw rotatably connected to the link body, a plate body rotatable with the main screw, and a plate protrusion protruding from the plate body, A lifting plate movable along the axial direction of the main screw, a handle rotatably connected to the main screw and capable of transmitting power to the lifting plate, an inner elastic body provided between the main screw and the plate body, and the main It is rotatably connected to the screw, is provided to be movable along the axial direction of the main screw, and includes a holder provided on an opposite side of the handle with respect to the link body, with the holder in contact with the lower frame. When the handle rotates with respect to the plate body, the plate protrusion may receive elastic force from the inner elastic body and move along the axial direction of the main screw to contact the handle.

In one embodiment, while the holder is spaced apart from the lower frame, power transmitted from the handle to the lowering plate may simultaneously rotate the main screw and the lowering plate.

In one embodiment, while the holder is in contact with the lower frame, power transmitted from the handle to the lifting and lowering plate may move the lifting and lowering plate based on the axial direction of the main screw.

In one embodiment, the plate protrusion may include an inclined surface that protrudes from the plate body and increases in height.

In one embodiment, while the holder is in contact with the lower frame, the handle may be slidable along the inclined surface.

In one embodiment, while the handle is sliding along the inclined plane, the distance between the plate body and the main screw may decrease.

In one embodiment, it may further include a link elastic body provided on a side of the link body facing the holder and compressed by the holder.

In one embodiment, the link elastic body may be provided as a pair disposed on opposite sides with respect to the rotation axis of the main screw.

In one embodiment, when the link elastic body is compressed by the holder, the holder may be separated from the thread of the main screw.

In one embodiment, it may further include a pair of guide rails provided side by side inside the link body and a locking bar that can be at least partially accommodated in the handle by sliding in one direction along the pair of guide rails. .

In one embodiment, the pair of guide rails may include sections having a protruding shape toward directions facing each other.

In one embodiment, features of the previously described embodiments may be combined unless clearly technically impossible.

Although the embodiments have been described with limited drawings as described above, those skilled in the art can apply various technical modifications and variations based on the above. For example, the described techniques are performed in a different order than the described method, and/or components of the described system, structure, device, circuit, etc. are combined or combined in a different form than the described method, or other components are used. Alternatively, appropriate results may be achieved even if substituted or substituted by an equivalent.

Therefore, other implementations, other embodiments, and equivalents of the claims also fall within the scope of the following claims.

Claims (11)

In the exercise assistance device including a link having a fastening notification function,
The exercise assistance device is,
a waist frame and waist belt worn around the user's waist;
a force transmission frame and thigh belt worn on the user's thighs;
An actuator connected to the waist frame and generating power;
An upper frame connected to the actuator;
a lower frame connected to the upper frame and transmitting the power to the force transmission frame; and
Includes a link connecting the upper frame and the lower frame,
The link above is,
A link body disposed on the lower frame;
a main screw rotatably connected to the link body;
A raising and lowering plate including a plate body rotatable with the main screw and a plate protrusion protruding from the plate body and movable along the axial direction of the main screw;
A handle rotatably connected to the main screw and capable of transmitting power to the raising and lowering plate;
an inner elastic body provided between the main screw and the plate body; and
A holder rotatably connected to the main screw, movable along the axial direction of the main screw, and provided on an opposite side of the handle with respect to the link body.
It includes, and when the handle rotates with respect to the plate body while the holder is in contact with the lower frame, the plate protrusion receives an elastic force from the inner elastic body and moves along the axial direction of the main screw to An exercise aid device that contacts the handle.
According to claim 1,
In a state where the holder is spaced apart from the lower frame, power transmitted from the handle to the lifting plate rotates the main screw and the lifting plate simultaneously.
According to claim 1,
In a state where the holder is in contact with the lower frame, power transmitted from the handle to the lifting plate moves the lifting plate based on the axial direction of the main screw.
According to claim 1,
The plate protrusions are,
An exercise assistance device comprising an inclined surface of increasing height protruding from the plate body.
According to claim 4,
The exercise assistance device is capable of sliding the handle along the inclined plane while the holder is in contact with the lower frame.
According to claim 5,
While the handle slides along the inclined plane, the distance between the plate body and the main screw decreases.
According to claim 1,
An exercise assistance device further comprising a link elastic body provided on a surface of the link body facing the holder and compressed by the holder.
According to claim 7,
The link elastic body is provided as a pair disposed on opposite sides with respect to the rotation axis of the main screw.
According to claim 7,
When the link elastic body is compressed by a holder, the holder is in a state separated from the thread of the main screw.
According to claim 1,
a pair of guide rails provided side by side inside the link body; and
The exercise assistance device further includes a locking bar that can be at least partially accommodated in the handle by sliding in one direction along the pair of guide rails.
According to clause 10,
The pair of guide rails includes sections having a shape that protrudes in directions facing each other.

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