KR20190109190A - Leg fixing part for effectively support the leg and power assisting robot having the same - Google Patents

Abstract

A muscular strength assistant robot according to an embodiment of the present invention comprises: a main frame unit positioned to face a pelvis of a user; a leg unit formed to extend downward along the leg of the user at an end of the main frame unit; and a foot unit installed at an end of the leg unit to support a foot or a shoe of the user, wherein the leg unit comprises a leg frame part having one end connected to the main frame unit and the other end connected to the foot unit, and a leg fixing part mounted to the leg frame part. In addition, wherein the leg fixing part comprises a belt for fixing the leg of the user, and a frame in which the belt is accommodated in a zigzag direction while being moved in and out.

Description

LEG FIXING PART FOR EFFECTIVELY SUPPORT THE LEG AND POWER ASSISTING ROBOT HAVING THE SAME}

The present invention relates to a leg fixing portion capable of efficient leg support and a muscle assist robot including the same.

Recently, robot-related technology has been applied to a wide range of fields. Among these, muscle assisted robots for those who have difficulty walking due to muscle strength decrease due to disability or aging are widely used.

The muscle assist robot is a robot having a multi-joint skeletal structure. When the user walks while wearing the strength assistance robot, the strength assistance robot serves to assist the user's strength. To this end, the muscle assist robot assists the user's walking by providing assistance to the user. The assist force is generated from a drive such as a motor.

These muscle assist robots are worn on the user's waist, legs and shoes (or feet). The muscle assist robot has a number of components to be worn on each body part of the user. And a driving unit such as a motor among a plurality of components plays an important role to transfer the assist force to the joint portion of the user's body.

In addition, the muscle assist robot is fixed to the user's waist, legs and shoes (or foot). In the muscle assist robot, the detachable mechanism is an important factor in determining the speed of using the muscle assist robot and the user's convenience of operation.

The prior art of the muscle assist robot is disclosed in the US Patent Publication (US 2006-0331624: wearable motion assist device). With reference to this will be described with respect to the muscle assist robot according to the prior art.

1 is a block diagram of a wearable motion assist device according to the prior art. The wearable motion assisting device 10 'includes a waist frame 11', a lower frame 12 ', and a controller 18'. The lower frame 12 'and the controller 18' are coupled to the waist frame 11 '. The lower frame 12 'is equipped with a femoral cuff support structure 100'. A thigh cuff support structure 100 'is coupled with a belt 81' for fixing the leg.

FIG. 2 is a configuration diagram of the femoral cuff support structure in the wearable assisting device shown in FIG. 1.

The femoral cuff support structure 100 'includes a fixing member 110', a bracket member 132 'and a cuff support member 130'. The bracket member 132 'is coupled to the fixing member 110'. An arc-shaped guide hole 135 'is formed in the bracket member 132'. The cuff support member 130 'is coupled to the arcuate guide hole 135'. The cuff support member 130 'is moved along the arc-shaped guide hole 135'. Accordingly, the cuff support member 130 ′ is coupled to the fixing member 110 ′ so as to be rotatable in the direction of the arrow, and the cuff support member 130 ′ is movable in the thickness direction of the user's leg.

And the fixing member 110 'is formed with an annular belt connecting portion 114'. The cuff support member 130 'is formed with an annular belt connection portion 137'. One end of the belt (shown as 81 ′ in FIG. 1) is connected to an annular belt connection 114 ′, and the other end of the belt 81 is connected to an annular belt connection 137 ′.

However, the femoral cuff support structure 100 'does not include a belt receiving portion for receiving the belt. And even when the femoral cuff support structure 100 'is not used, the belt 81' is exposed to the outside of the femoral cuff support structure 100 '. This causes contamination and breakage of the belt 81 '.

In addition, since the wearable operation assistance apparatus 10 'according to the prior art has to separately store the belt 81', the user may lose the belt 81 '. As the belt 81 'is coupled to the annular belt connecting portions 137' and 114 'to fix the leg of the user, the engagement of the belt 81' is very cumbersome. And the user cannot quickly couple the belt 81 'to the annular belt connections 137', 114 '.

Next, the conventional technology that can be implemented as a belt fixing part of the muscle assist robot is a domestic registration room (KR 20-0470552: retractable seat belt) and US Patent Publication (US 2016-0368450: vehicle including a seat belt restriction system) Is disclosed.

Figure 3 is a schematic configuration diagram of a retractable seat belt according to the prior art that can be implemented as a belt fixing portion of the muscle assist robot. 4 is a state diagram used in the storage seat belt shown in FIG.

The retractable seat belt 2 "includes a rotating block 21", an extension block 22 ", a hook 23" and a buckle 24 ". Elongation and reduction of the retractable seat belt 2". The expansion block 22 "is inserted into the rotation block 21" so as to be possible. The hook 23 " is coupled to the end of the extension block 22 ".

When the user does not wear the retractable seat belt 2 ", the retractable seat belt 2" is accommodated in the seat 1. In addition, a plurality of extension blocks 22 "may be inserted into the rotation block 21". And when the user wears the retractable seat belt 2 ", the rotation block 21" and the extension block 22 "are withdrawn from the seat 1.

Therefore, when the user does not wear the retractable seat belt 2 ", the retractable seat belt 2" is accommodated in the seat. However, the rotation block 21 "and the extension block 22" are formed in a square pipe shape. Accordingly, the user's leg has a problem that can not be tightly fixed by the seat-type seat belt (2 ").

Figure 5 is a schematic diagram showing a seat belt restriction system according to the prior art that can be implemented as a belt fixing portion of the muscle assist robot.

The seat belt limiting system 37 "includes a seat belt 15" and a belt retractor 17 ". The belt retractor 17" includes a roller and a torsion spring. One end of the seat belt 15 "is wound on the roller. With the seat belt 15" exposed to the outside of the seat, the seat belt 15 "is wound around the roller of the belt retractor 17" and released. .

However, as the seat belt 15 " is received so as to be wound on the roller, the volume of the roller increases. As the volume of the roller increases, the seat belt system has a problem of increasing in size.

Also, as the seat belt 15 "is received to be wound on the roller, the frictional force of the seat belt 15" against the roller is increased. Accordingly, when the user wears the seat belt 15 ", a lot of force is required.

The present invention is to provide a muscle assistance robot that can accommodate a belt for fixing the user's leg. That is, an object of the present invention is to prevent contamination and damage to the belt by using a structure in which the belt is housed in the muscle assist robot when the user does not fix the leg of the user to the muscle assist robot.

The present invention is to provide a muscle strength assistance robot that is implemented in miniaturization. That is, the present invention is to provide a muscle strength assistance robot that can secure the maximum length of the belt that can be stored in a predetermined space by accommodating the belt fixing the user's legs in a zig-zag direction change.

The present invention is to provide a muscle strength assistance robot that can quickly wear a belt that the user is fixing the leg. That is, the present invention uses a structure in which the belt is stored to be linearly movable, and the belt is moved as the wire connected to the belt is wound and unwound, thereby shortening the moving time of the belt and quickly removing the belt from the storage unit. It is to provide a strength assistance robot that can.

The present invention is to provide a muscle assistance robot having a belt storage portion is smooth movement of the belt fixing the user's leg. That is, the present invention is to provide a muscle assistance robot that can be moved without obstacles in the belt receiving portion by using a structure for guiding the movement of the belt.

The objects of the present invention are not limited to the above-mentioned objects, and other objects and advantages of the present invention, which are not mentioned above, can be understood by the following description, and more clearly by the embodiments of the present invention. Also, it will be readily appreciated that the objects and advantages of the present invention may be realized by the means and combinations thereof indicated in the claims.

The muscle assistance robot according to the present invention includes a frame that is accommodated so that the belt can be pulled in and out. That is, the present invention includes a belt receiving structure that is accommodated in the frame when the user's legs are not fixed, and fixed to the user's legs by drawing the belt from the frame when fixing the user's legs. Through this, the belt of the present invention is drawn out to the outside of the housing only when fixing the user's legs, and contamination and damage of the belt is prevented.

The muscle assistance robot according to the present invention includes a wire connected to one end of the belt and a wire winding structure for winding the wire. That is, the present invention moves the belt by winding and unwinding the wire. Through this, the present invention can minimize the moving force for moving the belt.

The muscle assistance robot according to the present invention includes a plurality of belt support rollers. That is, the present invention accommodates the belt so that the traveling direction is switched in a zigzag by the belt support roller. Through this, the belt of the present invention can be accommodated in as much length as possible in a predetermined storage space.

The muscle assistance robot according to the present invention includes a plurality of belt support rollers, a belt roller shaft, and a belt roller fixing member. Then, the belt is accommodated while supporting the belt supporting roller so that the traveling direction is switched in a zigzag manner. Through this, the belt of the present invention is smoothly moved inside the receiving unit.

The muscle assistance robot according to the present invention includes a wire connected to the belt, and an inclined surface is formed at an end of the belt connected to the wire. Through this, the belt of the present invention is minimized through the inclined surface of the belt when the belt is moved while being supported by the belt support roller in the interior.

The muscle strength assistance robot according to the present invention is embedded in the receiving unit when the belt fixing the user's leg is not fixed to the user's leg to prevent contamination and damage to the belt. Accordingly, the lifespan of the belt is increased, and the user can use the muscle assist robot that is kept clean.

The muscle assistance robot according to the present invention moves the belt through the winding of a wire connected to the belt. Accordingly, as the belt is moved through the winding of the wire without winding the belt having a greater frictional force than the wire, the user can move the belt with little force.

According to the muscle assist robot according to the present invention by storing the belt to fix the user's legs to switch the direction of the zigzag, it is possible to ensure the maximum length of the belt that can be stored in the predetermined storage space. Accordingly, the volume of the muscle assist robot can be minimized, and design freedom is increased.

The strength assistance robot according to the present invention is accommodated so that the belt is fixed in the zigzag movement of the belt is fixed to the user's leg, the belt is moved in a linear direction as the direction of withdrawal of the belt is shortened the movement time of the belt Will be. Accordingly, the user can maximize the use time of the muscle assisted robot.

In the strength-assisted robot according to the present invention, a belt fixing the user's leg is stored and moved in the storage space by the guide structure. Accordingly, the belt can be smoothly moved inside the storage unit without being entangled during movement or restricted by the internal structure of the storage unit.

Muscle strength assistance robot according to the present invention is formed with an inclined surface on the end of the belt for fixing the user's leg. And the resistance is minimized during the guide movement by the inclined surface, the user can move the belt with a small force.

In addition to the effects described above, the specific effects of the present invention will be described together with the following description of specifics for carrying out the invention.

1 is a block diagram of a wearable operation assistance device according to the prior art.
FIG. 2 is a configuration diagram of the femoral cuff support structure in the wearable assisting device shown in FIG. 1.
Figure 3 is a schematic configuration diagram of a retractable seat belt according to the prior art that can be implemented as a belt fixing portion of the muscle assist robot.
4 is a state diagram used in the storage seat belt shown in FIG.
Figure 5 is a schematic diagram showing a seat belt restriction system according to the prior art that can be implemented as a belt fixing portion of the muscle assist robot.
6 is a perspective view of the muscle assist robot according to an embodiment of the present invention.
FIG. 7 is a schematic side view of the muscle assisting robot shown in FIG. 6.
8 is a conceptual diagram of the technical configuration of the leg fixing part in the muscle assisting robot according to an embodiment of the present invention.
FIG. 9 is a perspective view schematically showing the leg fixing unit according to the first embodiment in the muscle assisting robot shown in FIG. 8.
FIG. 10 is a diagram schematically illustrating a state in which the coupling of the belt coupling structure is released in the leg fixing unit illustrated in FIG. 9.
FIG. 11 is a schematic plan view of the leg fixing unit illustrated in FIG. 10.
12 is an exploded perspective view of the main frame, the first subframe, and the second subframe in the leg fixing unit illustrated in FIG. 10.
FIG. 13 is a diagram schematically illustrating a state in which an inner main frame, an inner first sub frame, and an inner second sub frame illustrated in FIG. 12 are combined.
FIG. 14 is a configuration diagram schematically illustrating a belt mounting structure in the leg fixing unit illustrated in FIG. 10.
FIG. 15 is a configuration diagram schematically illustrating a state in which the outer main frame is removed in the leg fixing unit illustrated in FIG. 10.
FIG. 16 is a schematic exploded perspective view of the belt mounting structure shown in FIG. 14.
17 is a schematic first use state diagram of the belt mounting structure shown in FIG.
18 is a schematic second use state diagram of the belt mounting structure shown in FIG.
19 is a schematic diagram illustrating a state of use of the leg fixing unit illustrated in FIG. 12.
20 is a schematic cross-sectional view of the leg fixing part shown in FIG.
FIG. 21 is a schematic exploded perspective view of the leg fixing unit shown in FIG. 20.
22 is a schematic first use state diagram of the leg fixing unit shown in FIG. 20.
FIG. 23 is a schematic second use state diagram of the leg fixing unit illustrated in FIG. 20.

The terms or words used in this specification and claims are not to be construed as limiting in their usual or dictionary meanings, and the inventors may appropriately define the concept of terms in order to best describe their invention. Based on the principle that it can, it should be interpreted as meaning and concept corresponding to the technical idea of the present invention. In addition, the embodiments described in the specification and the drawings shown in the drawings are only one of the most preferred embodiments of the present invention, and do not represent all of the technical spirit of the present invention, it is possible to replace them at the time of the present application It should be understood that there may be various equivalents and variations in the range.

In the present specification, the "auxiliary force" refers to an external force additionally provided in the same direction as the direction in which the muscle strength of the user is generated. 'Secondary force' may be provided in a particular direction from an external force generating device such as an electric motor or a hydraulic pump.

As used herein, the term “bending” refers to extending in a first direction to be bent or bent in a second direction different from the first direction.

'Hinge binding' in the present invention means that the coupling is rotatably coupled to the coupling object, such as a hinge.

6 is a perspective view of the muscle assist robot according to an embodiment of the present invention. FIG. 7 is a schematic side view of the muscle assisting robot shown in FIG. 6.

When the user wears on the lower body and performs rehabilitation training such as walking, the muscle strength assistance robot A assists the user's lower body strength. The muscle assistance robot A includes a main control unit 2, a sub control unit 3, a main frame unit 4, a sub frame unit 5, a leg unit 6, and a foot unit 7.

When the user wears the muscle assisting robot A, the main control unit 2 is positioned to face the user's waist. To fit the body size of the user, the main control unit 2 can adjust the width of the main frame unit 4. The main control unit 2 may be provided with a battery pack. The sub frame unit 5 is coupled to the main control unit 2.

In order to support the waist of the user, the sub frame unit 5 is worn on the waist of the user. The sub-frame unit 5 includes a belt engaging portion 5a which can be adjusted in length by a one-touch dial method. The belt coupling portion 5a fixes the waist of the user to the muscle assistance robot A. One surface of the sub-frame unit 5 in contact with the waist of the user may be made of a material capable of absorbing shock. Shock-absorbing materials improve the user's fit.

The main frame unit 4 is coupled to the main control unit 2. The main frame unit 4 has a form surrounding the user's pelvis from one side to the other side. To this end, the main frame unit 4 is formed in a substantially 'U' shape.

The bent portion of the main frame unit 4 is positioned to face the waist of the user. In the bent portion of the main frame unit 4, the main control unit 2 may be located. Both ends of the main frame unit 4 may be formed to extend downward along the user's leg.

The sub control unit 3 is coupled to the main frame unit 4. The sub control unit 3 adjusts the strength of the assisting power to assist the muscle strength of the user. The sub control unit 3 comprises a rotary dial. The user can adjust the assist force using the rotary dial. The sub control unit 3 may be provided with an indicator indicating the magnitude of the assisting force by a lamp. The sub control unit 3 is provided with drive means for providing assistance. The leg unit 6 is coupled to the lower end of the sub control unit 3.

The leg units 6 are paired to be worn on both legs of the user. The leg unit 6 includes leg frame parts 6a and 6d, leg drive part 6b, lower leg frame part 6d, and leg fixing part 6c.

The leg frame parts 6a and 6b are connected to the main frame unit 4. The leg frame portions 6a and 6b include an upper leg frame portion 6a and a lower leg frame portion 6d. The upper leg frame portion 6a is for supporting the thigh of the user. One end of the upper leg frame portion 6a is connected to the main frame unit 4, and the other end of the upper leg frame portion 6a is connected to the lower leg frame portion 6d.

The leg drive 6b is coupled to the upper leg frame portion 6a, and the leg drive 6b provides assistance to the upper leg frame portion 6a.

The lower leg frame portion 6d is for supporting the calf of the user. The leg fixing part 6c is coupled to the upper leg frame part 6a and the lower leg frame part 6d, respectively. The leg fixing portion 6c couples the thigh and the calf of the user to the upper leg frame portion 6a and the lower leg frame portion 6d so as to be detachable.

The leg fixing part 6c includes a belt. The length of the belt is adjusted by dialing.

When the user walks, the upper leg frame portion 6a, the leg drive portion 6b, and the lower leg frame portion 6d are positioned to face the user's leg for smooth bending operation of the joint portion.

Based on the leg drive part 6b, the upper leg frame part 6a and the lower leg frame part 6d move to correspond to the direction of the knee joint movement of the user.

The upper leg frame portion 6a may be opened to the outside by a predetermined angle by the hip joint structure of the main frame unit 4. The upper leg frame portion 6a and the lower leg frame portion 6d may include a multi-joint structure capable of angle adjustment inward or outward.

When the user moves the leg, the leg drive 6b generates an assisting force to assist the user's muscle strength. The leg drive 6b may include a motor and a gear set capable of generating an assist force. For reference, the leg driver 6b may be configured with various driving means capable of generating an assisting force.

At the lower end of the lower leg frame portion 6d, a foot unit 7 for fixing a user's foot or shoe is engaged.

The foot unit 7 may fix the barefoot of the user or the shoe of the user. Hereinafter, for convenience of description, it will be described with an example that the user's shoes are fixed to the foot unit (7).

The foot unit 7 is coupled to the lower end of the leg unit 6, which foot unit 7 supports the user's shoes. The length of the portion where the user's shoes are inserted in the foot unit 7 is adjustable. The foot unit 7 includes a fixing member for wrapping the user's shoes and fixing the shoes. The foot unit 7 may be formed in a shape corresponding to the shoes of the user. The foot unit 7 may include a fixing structure for attaching and detaching shoes using the fixing member.

Hereinafter, the leg fixing unit of the muscle strength assistance robot according to an embodiment of the present invention will be described in more detail.

8 is a conceptual diagram of the technical configuration of the leg fixing part in the muscle assisting robot according to an embodiment of the present invention.

The leg fixing part 100 includes a main support structure 110 and a sub support structure 120. The sub support structure 120 may be formed in plurality. As an example, the sub support structure 120 includes a first sub support structure 121 and a second sub support structure 122. On one side of the main support structure 110, the first sub support structure 121 is coupled. On the other side of the main support structure 110, the second sub support structure 122 is coupled. In addition, the first sub support structure 121 and the second sub support structure 122 may be rotatably coupled to the main support structure 110, respectively.

The first sub support structure 121 includes a belt 121a and a belt coupling structure 121b. The belt 121a is to wrap the user's leg. The belt 121a is accommodated in the first sub support structure 121 to be pulled out. The belt 121a is connected to the belt coupling structure 122b. With one end of the belt coupling structure 122b connected to the belt 122a, the other end of the belt coupling structure 122b is detachably coupled to the second sub support structure 122.

An open area of the leg fixing part 100 is formed by the space between the first sub support structure 121 and the second sub support structure 122. The user's leg is inserted into the leg fixing part 100 through the open area. And as the belt 121a is drawn out from the first sub support structure 121, the belt coupling structure 121b is detachably coupled to the second sub support structure 122.

Accordingly, the open area of the leg fixing part 100 is covered, and the leg is fixed to the leg fixing part 100. At this time, the user's legs are primarily in contact with the main support structure (110). The user's legs are supported by both sides by the first sub support structure 121 and the second sub support structure 122. That is, around the main support structure 110, the first sub support structure 121 and the second sub support structure 122 is made of a rotatable structure. Accordingly, regardless of the user's leg thickness, the user's leg is fixed to the leg fixing part (100).

When the leg of the user is not fixed to the leg fixing part 100, the belt 121a is accommodated in the first sub support structure 121. Accordingly, contamination and damage of the belt 121a are prevented. The first sub support structure 121 and the second sub support structure 122 have a stable structure for supporting the user's legs on both sides. The first sub support structure 121 and the second sub support structure 122 include curved surfaces to surround the user's legs. Accordingly, the leg fixing part 100 is made of a structure that effectively supports the user's leg.

FIG. 9 is a perspective view schematically showing the leg fixing unit according to the first embodiment in the muscle assisting robot shown in FIG. 8. FIG. 10 is a diagram schematically illustrating a state in which the coupling of the belt coupling structure is released in the leg fixing unit illustrated in FIG. 9. FIG. 11 is a schematic plan view of the leg fixing unit illustrated in FIG. 10.

The leg fixing part 1000 is implemented with a pair of thigh fixing parts respectively mounted to an upper leg frame part (shown as 6a in FIG. 6). In addition, the leg fixing portion 1000 is also implemented as a pair of calf fixing portions respectively mounted to the lower leg frame portion (shown as 6d in FIG. 6). The upper leg frame portion 6a and the lower leg frame portion 6d are included in the leg frame. In addition, the leg fixing part 1000 may be formed in a pair of symmetrical shapes so that the user may wear the muscle assistance robot A and perform the same operation.

The leg fixing part 1000 includes a main support structure 1100, a first sub support structure 1200, and a second sub support structure 1300. The first sub support structure 1200 is coupled to one side of the main support structure 1100. The second sub support structure 1300 is coupled to the other side of the main support structure 1100. That is, the main support structure 1100 is located at the center, the first sub support structure 1200 is located at one side, and the second sub support structure 1300 is located at the other side.

The main support structure 1100 includes a main frame 1110 and a leg coupling frame 1120.

The main frame 1110 is to be in contact with the user's legs, to support the user's legs. To this end, the main frame 1110 may have a rectangular frame shape having a curved surface. The detailed shape of the main frame 1110 will be described in more detail with reference to FIG. 12 to be described later.

A leg of the user is supported inside the main frame 1110, and a leg coupling frame 1120 is coupled to the outside of the main frame 1110.

The leg coupling frame 1120 is for coupling the main frame 1110 to the upper leg frame portion (shown as 6a in FIG. 5). The leg coupling frame 1120 may be formed as a rectangular frame. A hollow hole 1121 may be formed in the leg coupling frame 1120. The upper leg frame portion 6a or the lower leg frame portion 6d is inserted into the hollow hole 1121.

That is, as the leg coupling frame 1120 is coupled to the main frame 1110 and the upper leg frame portion 6a or the lower leg frame portion 6d is inserted into and coupled to the main frame 1110, the main frame ( 1110 is mounted to the muscle assist robot (A).

The first sub support structure 1200 includes a first sub frame 1210, a belt coupling structure 1220, and a belt 1230. The first subframe 1210 is hinged to the main frame 1110 of the main support structure 1100. The detailed shape of the first subframe 1210 will be described in more detail with reference to FIG. 12 to be described later.

The belt coupling structure 1220 includes a belt coupling body 1221 and a belt coupling plate 1222. The belt coupling body 1221 is coupled to the belt 1230 on one side, the belt coupling plate 1222 is coupled to the other side.

The belt coupling plate 1222 is detachably coupled to the second sub support structure 1300. The belt engagement plate 1222 is formed with a slit 1222a into which a latch stick (shown as 1323a in FIG. 20) is inserted.

One side of the belt 1230 is connected to the belt coupling body 1221, and the other side of the belt 1230 is accommodated in the first sub-frame 1210 so as to be accessible. Accordingly, the belt coupling body 1221 is connected to the first subframe 1210 by the belt 1230. In addition, the belt 1230 may be made of a material having elasticity.

Next, the second sub support structure 1300 includes a second sub frame 1310 and a wire winding structure 1320. A user's leg is supported inside the second sub frame 1310, and a wire winding structure 1320 is coupled to the outside of the second sub frame 1310. In order to effectively support the user's leg, the inside of the second sub-frame 1310 may be formed to have a curved surface. The second subframe 1310 is hinged to the main frame 1110 of the main support structure 1100. The detailed shape of the second subframe 1310 will be described in more detail with reference to FIG. 12.

The wire winding structure 1320 manipulates the fixing or releasing of the belt coupling structure 1220 to the second subframe 1310. The wire winding structure 1320 also manipulates the winding of the wire (shown as 1326 in FIG. 15) connected to the belt 1230. The length of the belt is adjusted by the operation of the wire winding structure 1320. The detailed configuration of the wire winding structure 1320 and the belt length adjustment through the wire winding structure 1320 will be described later with reference to FIGS. 20 and 21.

In addition, when the first subframe 1210 and the second subframe 1310 are coupled to the main frame 1110, the leg fixing part 1000 has a “C” shape as a whole. To this end, the inner surfaces of the first subframe 1210 and the second subframe 1310 may be formed to have symmetrical curved surfaces.

Cushions 1130, 1240, and 1330 may be coupled to the main support structure 1100, the first sub support structure 1200, and the second sub support structure 1300, respectively. The cushions 1130, 1240, and 1330 are provided to provide a soft texture and elasticity to the user. The cushions 1130, 1240, and 1330 may be variously implemented as soft foams and cushion sheets. The cushions 1130, 1240, 1330 may include velcro to facilitate cleaning and detachment.

12 is an exploded perspective view of the main frame, the first subframe, and the second subframe in the leg fixing unit illustrated in FIG. 10. FIG. 13 is a diagram schematically illustrating a state in which an inner main frame, an inner first sub frame, and an inner second sub frame illustrated in FIG. 12 are combined.

The main frame 1110 includes an inner main frame 1110a, an outer main frame 1110b, and an elastic member 1110c.

A user's leg is in contact with the inside of the inner main frame 1110a and the outer main frame 1110b is coupled to the outside of the inner main frame 1110a. In consideration of the shape of the leg, the inner main frame 1110a may have a square frame shape having a curved surface.

At one end of the inner main frame 1110a, a first subframe coupling structure 1111a, which is a first sub hinge coupling structure, is formed. At the other end of the inner main frame 1110a, a second subframe coupling structure 1112a which is a second sub hinge coupling structure is formed. The first subframe 1210 is hinged to the first subframe coupling structure 1111a. The second subframe 1310 is hinged to the second subframe coupling structure 1112a.

In addition, first sub-frame coupling structures 1111a may be formed at upper and lower ends of the inner main frame 1110a, respectively. Second sub-frame coupling structures 1112a may be formed on upper and lower ends of the inner main frame 1110a, respectively.

In one embodiment of the hinge coupling structure, the first sub-frame coupling structure 1111a and the second sub-frame coupling structure 1112a are formed as grooves. Projections corresponding to the grooves are formed in the first subframe 1210 and the second subframe 1310, respectively.

The protrusion may be inserted into the groove, and the first subframe 1210 and the second subframe 1310 may be hinged to the main frame 1110, respectively.

As another embodiment of the hinge coupling structure, a through hole is formed in the first subframe coupling structure 1111a and the second subframe coupling structure 1112a. Holes corresponding to the through-holes are formed in the first subframe 1210 and the second subframe 1310, respectively. In addition, the fixing pin may be inserted into the through hole and the hole so that the first sub frame 1210 and the second sub frame 1310 may be hinged to the main frame 1110, respectively.

Next, the elastic member 1110c is to elastically support the first subframe 1210 and the second subframe 1310 to the main frame 1110, respectively.

To this end, the elastic member 1110c includes a first elastic member 1111c and a second elastic member 1112c. The first elastic member 1111c is for elastically supporting the first subframe 1210. The second elastic member 1112c is for elastically supporting the second subframe 1310.

The first elastic member 1111c and the second elastic member 1112c may each have a cylindrical shape with both ends drawn out. That is, a first elastic end support pin 1111c 'is formed at one end of the first elastic member 1111c, and a first elastic end support pin 1111c "is formed at the other end of the first elastic member 1111c. In addition, a second elastic end support pin 1112c 'is formed at one end of the second elastic member 1112c, and a second elastic end support pin 1112c "at the other end of the second elastic member 1112c. Is formed.

A first insertion groove 1111a 'is formed in the first subframe coupling structure 1111a. The first elastic member 1111c is accommodated in the first insertion groove 1111a '.

When the first elastic member 1111c is inserted into the first insertion groove 1111a ', the first elastic end support pin 1111c' is supported on the sidewall of the first insertion groove 1111a '.

A second insertion groove 1112a 'is formed in the second subframe coupling structure 1112a. The second elastic member 1112c is accommodated in the second insertion groove 1112a '.

When the second elastic member 1112c is inserted into the second insertion groove 1112a ', the second elastic end support pin 1112c' is supported on the sidewall of the second insertion groove 1112a '.

The outer main frame 1110b is formed to correspond to the inner main frame 1110a. That is, the outer main frame 1110b has a shape corresponding to the inner main frame 1110a so as to cover the outer side of the inner main frame 1110a. The outer main frame 1110b is coupled to the outer side of the inner main frame 1110a.

Next, the first subframe 1210 includes an inner first subframe 1210a and an outer first subframe 1210b.

A user's leg is supported in contact with an inner side of the inner first subframe 1210a, and an outer first subframe 1210b is coupled to an outer side of the inner first subframe 1210a. In consideration of the shape of the leg, the inner first subframe 1210a may have a rectangular frame shape having a curved surface.

At one end of the inner first subframe 1210a, a first main frame coupling structure 1211a corresponding to the first subframe coupling structure 1111a is formed.

In addition, a first elastic member coupling groove 1211a 'to which the first elastic other end support pin 1111c "is coupled is formed in the first main frame coupling structure 1211a.

The elastic support structure of the first subframe 1210 with respect to the main frame 1110 is implemented as follows. The first main frame coupling structure 1211a is hingedly coupled to the first sub frame coupling structure 1111a. At this time, the first elastic member 1111c is inserted into the first insertion groove 1111a 'of the first subframe coupling structure 1111a, and the first elastic end support pin 1111c' of the first elastic member 1111c is provided. Is supported on the sidewall of the first insertion groove 1111a '. The first elastic other end support pin 1111c ″ of the first elastic member 1111c is supported by the first elastic member coupling groove 1211a ′.

Accordingly, the first subframe 1210 is elastically supported by the main frame 1110 by the first elastic member 1111c. When the first subframe 1210 is hinged to the main frame 1110 and rotated, the first elastic one end support pin 1111c 'of the first elastic member 1111c may be formed at the first insertion groove 1111a'. The first elastic other end support pin 1111c "is supported by the first elastic member coupling groove 1211a '. The first elastic member 1111c is compressed or expanded.

In addition, a belt entry hole 1212a for entering and exiting the belt 1230 is formed in the inner first subframe 1210a.

The outer first subframe 1210b is formed to correspond to the inner first subframe 1210a. That is, the outer first subframe 1210b has a shape corresponding to the inner first subframe 1210a so that the outer first subframe 1210b covers the outer side of the inner first subframe 1210a. The outer first subframe 1210b is coupled to the outside of the inner first subframe 1210a.

Next, the second subframe 1310 includes an inner second subframe 1310a and an outer second subframe 1310b.

A user's leg is in contact with the inside of the inner second subframe 1310a, and the outer second subframe 1310b is coupled to the outside of the inner second subframe 1310a. In consideration of the shape of the leg, the inner second subframe 1310a may have a rectangular frame shape having a curved surface.

At one end of the inner second subframe 1310a, a second main frame coupling structure 1311a corresponding to the second subframe coupling structure 1112a is formed.

In addition, a second elastic member coupling groove 1311a 'to which the second elastic other end support pin 1112c "is coupled is formed in the second main frame coupling structure 1311a.

The elastic support structure of the second subframe 1310 with respect to the main frame 1110 is implemented as follows. A second main frame coupling structure 1311a is hinged to the second sub frame coupling structure 1112a. At this time, the second elastic member 1112c is inserted into the second insertion groove 1112a 'of the second subframe coupling structure 1112a, and the second elastic end support pin 1112c' of the second elastic member 1112c is provided. Is supported by the second insertion groove 1112a '. The second elastic other end support pin 1112c "of the second elastic member 1112c is supported by the second elastic member coupling groove 1311a '.

As a result, the second subframe 1310 is elastically supported by the main frame 1110 by the second elastic member 1112c. When the second subframe 1310 is hinged to the main frame 1110 and rotated, the second elastic one end support pin 1112c 'of the second elastic member 1112c may be formed in the second insertion groove 1112a'. The second elastic other end support pin 1112c "is supported by the second elastic member coupling groove 1311a '. The second elastic member 1112c is compressed or expanded.

In addition, an insertion hole 1312a is formed in the inner second subframe 1310a. The belt coupling plate 1222 is inserted into the insertion hole 1312a.

The outer second subframe 1310b is formed to correspond to the inner second subframe 1310a. That is, the outer second subframe 1310b has a shape corresponding to the inner second subframe 1310a so that the outer second subframe 1310b covers the outer side of the inner second subframe 1310a. The outer second subframe 1310b is coupled to the outside of the inner second subframe 1310a. In addition, a wire winding structure 1320 is mounted on the outer second subframe 1310b.

Accordingly, the second subframe 1310 is hinged to the other side of the main frame 1110 while the second subframe 1310 is elastically supported by the second elastic member 1112c.

In addition, as another embodiment of the elastic support structure, the elastic member may be formed in a plate shape. One end of the elastic member is coupled to the main frame, and the other end of the elastic member is coupled to the subframe. Accordingly, the subframe may be elastically supported by the main frame by the elastic member.

On one side of the outer main frame 1110b, a first stopper 1113a for restricting the movement of the first subframe 1210 is formed. On the other side of the outer main frame 1110b, a second stopper 1114a for limiting the movement of the second subframe 1310 is formed. The first stopper 1113a is positioned in the rotation region of the first subframe 1210. The second stopper 1114a is positioned in the rotation region of the second subframe 1310.

Here, the rotation area refers to an area where the first subframe 1210 and the second subframe 1310 are moved while being coupled to the outer main frame 1110b, respectively.

At one end of the outer main frame 1110b, the first stopper 1113a is formed to protrude outward. The first stopper 1113a may be positioned to face the first subframe coupling structure 1111a.

The upper end of the first stopper 1113a is positioned higher than the upper end of which the outer first subframe 1210b is coupled to the outer main frame 1110b. Accordingly, after the first subframe 1210 rotates at a predetermined angle with respect to the main frame 1110, the first subframe 1210 contacts the first stopper 1113a and the rotation is limited.

In addition, at the other end of the outer main frame 1110b, the second stopper 1114a is formed to protrude outward. The second stopper 1114a may be positioned to face the second subframe coupling structure 1112a.

An upper end of the second stopper 1114a is positioned higher than an upper end of which the outer second subframe 1310b is coupled to the outer main frame 1110b. Accordingly, after the second subframe 1310 rotates at a predetermined angle with respect to the main frame 1110, the second subframe 1310 contacts the second stopper 1114a and the rotation is limited.

FIG. 14 is a configuration diagram schematically illustrating a belt mounting structure in the leg fixing unit illustrated in FIG. 10. FIG. 15 is a configuration diagram schematically illustrating a state in which the outer main frame is removed in the leg fixing unit illustrated in FIG. 10. FIG. 16 is a schematic exploded perspective view of the belt mounting structure shown in FIG. 14.

In order to cover the leg of the user, the belt 1230 is formed to have a predetermined width and extend in the longitudinal direction. The belt 1230 is accommodated in the first subframes 1210a and 1210b so as to be accessible. One end of the belt 1230 is connected to a belt coupling structure (shown as 1220 in FIG. 9), and the other end of the belt 1230 is connected to a wire 1326.

An inclined surface is formed at the other end of the belt 1230 connected to the wire 1326. That is, unlike the width in which the belt 1230 extends in the longitudinal direction, the other end of the belt 1230 is formed with an inclined surface in which the width gradually narrows. The inclined surface includes a first inclined surface 1230a, a second inclined surface 1230b, and a connecting surface 1230c. The wire connecting hole 1230d may be formed on the inclined surface. The inclined surface of the belt is to minimize the initial frictional force with the support structure that is in contact with the belt when the belt is moved, thereby to achieve a smooth movement of the belt.

The first inclined surface 1230a is inclined downward from one side of the other end of the belt 1230. The second inclined surface 1230b is inclined upward from the other end of the belt 1230. That is, the first inclined surface 1230a and the second inclined surface 1230b may be formed to be symmetrical with each other. The connection surface 1230c connects the first inclined surface 1230a and the second inclined surface 1230b. Accordingly, the other end of the belt 1230 is formed in a "<" shape as a whole. The wire connection hole 1230d may be formed to be adjacent to the connection surface 1230c.

In addition, the inclined surface does not include the connection surface 1230c, and may be configured such that the first inclined surface 1230a and the second inclined surface 1230b are directly connected.

In addition, the belt 1230 may include a wire fixing member 1231 inserted into and coupled to the wire connection hole 1230d. As the wire 1326 is coupled to the wire fixing member 1231, and the wire fixing member 1231 is inserted into the wire connecting hole 1230d, the wire 1326 is connected to the belt 1230. The wire fixing member 1231 may be formed in a ring shape. Meanwhile, the belt 1230 does not include the wire fixing member 1231, and the wire 1326 may be directly connected to the wire connection hole 1230d.

Next, the first subframes 1210a and 1210b include belt support rollers 1213a, 1213b and 1213c, belt roller shafts 1214a, 1214b and 1214c and belt roller fixing members 1215a, 1215b and 1215c. The belt support rollers 1213a, 1213b, and 1213c are for supporting the belt 1230. The belt support rollers 1213a, 1213b, and 1213c may be formed in a cylindrical shape having a hollow portion. The belt support rollers 1213a, 1213b, and 1213c are mounted to the first subframes 1210a and 1210b at both ends with respect to the height direction of the cylinder to support the width of the belt.

The belt support rollers 1213a, 1213b, and 1213c are in contact with the belt 1230 while guiding the moving direction of the belt 1230. Accordingly, the belt support rollers 1213a, 1213b, and 1213c are rotated in accordance with the movement of the belt 1230.

In order to change the moving direction of the belt 1230, the first subframes 1210a and 1210b include a plurality of belt support rollers 1213a, 1213b and 1213c. 14 and 16 illustrate first sub-frames 1210a and 1210b including three belt support rollers. The belt support rollers 1213a, 1213b, and 1213c include a first belt support roller 1213a, a second belt support roller 1213b, and a third belt support roller 1213c. The first belt support roller 1213a, the second belt support roller 1213b, and the third belt support roller 1213c are sequentially disposed at both sides of the first subframe 1210. That is, the first belt support roller 1213a is positioned in front of one side of the first subframe 1210, the second belt support roller 1213b is positioned in the other side of the first subframe 1210, and the third belt The support roller 1213c is located at one rear of the first subframe 1210.

Accordingly, the first belt support roller 1213a, the second belt support roller 1213b, and the third belt support roller 1213c are disposed in the first sub-frame 1210 so as to be zigzag-shifted.

The belt roller shafts 1214a, 1214b, and 1214c support the belt support rollers 1213a, 1213b, and 1213c to be rotatable. To this end, the belt roller shafts 1214a, 1214b, and 1214c are inserted into the cylindrical belt support rollers 1213a, 1213b, and 1213c having hollow holes. The outer diameters of the belt roller shafts 1214a, 1214b, and 1214c are inserted into the cylindrical belt support rollers 1213a, 1213b, and 1213c so that the belt roller shafts 1214a, 1214b, and 1214c are inserted into the cylindrical belt support rollers 1213a, 1213b, and 1213c. It is formed smaller than the inner diameter of 1213a, 1213b, 1213c). The belt roller shafts 1214a, 1214b, 1214c include a first belt roller shaft 1214a, a second belt roller shaft 1214b, and a third belt roller shaft 1214c. The first belt roller shaft 1214a is inserted into the first belt support roller 1213a. The second belt roller shaft 1214b is inserted into the second belt support roller 1213b. The third belt roller shaft 1214c is inserted into the third belt support roller 1213c. Further, the first belt roller shaft 1214a, the second belt roller shaft 1214b, and the third belt roller shaft 1214c are the same as the belt support rollers 1213a, 1213b, and 1213c of the first subframe 1210. It is arranged sequentially on both sides. That is, the first belt roller shaft 1214a is located in front of one side of the first subframe 1210, the second belt roller shaft 1214b is located at the other side of the first subframe 1210, and the third The belt roller shaft 1214c is located at one rear of the first subframe 1210.

The belt roller fixing members 1215a, 1215b, and 1215c are for fixing the belt roller shafts 1214a, 1214b, and 1214c to the first subframe 1210. The belt roller fixing members 1215a, 1215b, and 1215c include a first belt roller fixing member 1215a, a second belt roller fixing member 1215b, and a third belt roller fixing member 1215c.

The first belt roller fixing member 1215a fixes the first belt roller shaft 1214a to the first subframe 1210. The second belt roller fixing member 1215b fixes the second belt roller shaft 1214b to the first subframe 1210. The third belt roller fixing member 1215c fixes the third belt roller shaft 1214c to the first subframe 1210.

In addition, the first belt roller fixing member 1215a, the second belt roller fixing member 1215b, and the third belt roller fixing member 1215c are sequentially disposed at both sides of the first subframe 1210. That is, the first belt roller fixing member 1215a is located at one side front of the first subframe 1210, and the second belt roller fixing member 1215b is located at the other side of the first subframe 1210. The three belt roller fixing member 1215c is located at one rear of the first subframe 1210.

The belt roller fixing members 1215a, 1215b, and 1215c may be paired to support both ends of the belt roller shafts 1214a, 1214b, and 1214c. The belt roller fixing members 1215a, 1215b, and 1215c may have roller shaft insertion grooves 1215a ', 1215b', and 1215c 'into which the belt roller shafts 1214a, 1214b, and 1214c are inserted.

Further, the roller shaft insertion grooves 1215a ', 1215b', and 1215c 'have a shape corresponding to the ends of the belt roller shafts 1214a, 1214b, and 1214c. The end portions of the belt roller shafts 1214a, 1214b, and 1214c are inserted into the roller shaft insertion grooves 1215a ', 1215b', and 1215c '.

The belt roller fixing members 1215a, 1215b, and 1215c may be coupled to the inner first subframe 1210a or the outer first subframe 1210b. 16 illustrates an embodiment in which the belt roller fixing members 1215a, 1215b, and 1215c are coupled to the outer first subframe 1210b. To this end, the outer first subframe 1210b includes a fixing member coupling groove ( 1216a, 1216b, 1216c) are formed. The fixing member coupling grooves 1216a, 1216b, and 1216c are formed to correspond to the belt roller fixing members 1215a, 1215b, and 1215c.

As the belt roller fixing members 1215a, 1215b, and 1215c are paired, fixing member coupling grooves 1216a, 1216b, and 1216c are formed in the upper and lower portions of the outer first subframe 1210b, respectively.

The belt roller fixing members 1215a, 1215b, and 1215c are coupled to the fixing member coupling grooves 1216a, 1216b, and 1216c. The fixing member coupling grooves 1216a, 1216b, and 1216c include a first fixing member coupling groove 1216a, a second fixing member coupling groove 1216b, and a third fixing member coupling groove 1216c. The first fixing member engaging groove 1216a corresponds to the first belt roller fixing member 1215a, the second fixing member engaging groove 1216b corresponds to the second belt roller fixing member 1215b, and the third belt roller. The fixing member 1215c corresponds to the third fixing member coupling groove 1216c.

The first fixing member coupling groove 1216a is formed at one side front of the outer first subframe 1210b, and the second fixing member coupling groove 1216b is formed at the other side of the outer first subframe 1210b. 3 fixing member coupling groove 1216c is disposed at one rear of the outer first subframe 1210b.

The belt 1230 is sequentially supported by the first belt support roller 1213a, the second belt support roller 1213b, and the third belt support roller 1213c. In addition, while the advancing direction of the zigzag is changed by the first belt support roller 1213a, the second belt support roller 1213b, and the third belt support roller 1213c, the belt 1230 is connected to the first subframe 1210. It is stored. As a result, the belt 1230 can accommodate as many lengths as possible in a predetermined space.

17 is a schematic first use state diagram of the belt mounting structure shown in FIG.

The belt 1230 is accommodated in the first subframe 1210 to be able to enter and exit the first subframe 1210. One end of the belt 1230 is connected to a belt coupling structure (shown as 1220 in FIG. 11), and the other end of the belt 1230 is connected to a wire 1326.

The belt 1230 is attached to the first subframe 1210 so that the belt 1230 is sequentially supported by the first belt support roller 1213a, the second belt support roller 1213b, and the third belt support roller 1213c. It is stored.

When the belt 1230 is withdrawn from the first subframe 1210, the belt 1230 is moved inside the first subframe 1210. The other end of the belt 1230 connected to the wire 1326 is moved in the order of the third belt support roller 1213c, the second belt support roller 1213b, and the first belt support roller 1213a.

Accordingly, the belt 1230 is quickly moved without being disturbed by the internal structure of the first subframe 1210.

18 is a schematic second use state diagram of the belt mounting structure shown in FIG. More specifically, FIG. 18 illustrates the third belt support roller 1213c, the belt 1260, and the wire 1326.

When wire 1326 is wound in a wire winding structure (shown as 1320 in FIG. 21), belt 1260 is pulled by wire 1326, and belt 1260 is inside of one subframe 1210. Inflow. The other end of the belt 1230 connected to the wire 1326 moves inside the one subframe 1210 while passing through the belt support roller. FIG. 18 illustrates an embodiment in which the belt 1230 passes through the third belt support roller 1213c. At this time, the other end of the belt 1230 is formed of the first inclined surface 1230a, the second inclined surface 1230b and the connecting surface 1230c. The other end of the belt 1230 is formed in a "<" shape as a whole. When the other end of the belt 1230 passes through the third belt support roller 1213c, the area is sequentially sequentially from the inclined surfaces 1230a, 1230a, and 1230c of the belt 1230, from the smallest connection surface 1230c. The inclined surfaces 1230a, 1230a, and 1230c that are widened are in contact with the third belt support roller 1213c. Accordingly, the initial frictional force of the belt 1230 against the third belt support roller 1213c is reduced.

19 is a schematic diagram illustrating a state of use of the leg fixing unit illustrated in FIG. 12.

On both sides of the main support structure 1100, the first sub support structure 1200 and the second sub support structure 1300 are hinged to be rotatable. In addition, the first sub support structure 1200 and the second sub support structure 1300 are elastically supported by the elastic member.

Accordingly, the first sub support structure 1200 and the second sub support structure 1300 are rotated inside and outside the open area O of the leg fixing part 1000.

When the first sub support structure 1200 is rotated more than a predetermined angle to the outside of the open area, the outer first sub frame 1210 b contacts the first stopper 1113 a to restrict the rotation. When the second sub support structure 1300 is rotated more than a predetermined angle to the outside of the open area O, the outer second sub frame 1310b contacts the second stopper 1114a to limit the rotation. According to the positions of the first stopper 1113a and the second stopper 1114a, the rotation angles of the first sub support structure 1200 and the second sub support structure 1300 are set.

20 is a schematic cross-sectional view of the leg fixing part shown in FIG. FIG. 21 is a schematic exploded perspective view of the leg fixing unit shown in FIG. 20.

The belt 1230 is accommodated in the first subframe 1210 of the first sub support structure 1200 to allow entry and exit. One end of the belt 1230 is coupled to the belt coupling structure 1220, and the other end of the belt 1230 is coupled to the wire 1326. The belt coupling structure 1220 includes a belt coupling body 1221 and a belt coupling plate 1222. The belt 1230 is coupled to one end of the belt coupling body 1221, and the belt coupling plate 1222 is coupled to the other end of the belt coupling body 1221. A slit 1222a is formed in the belt coupling plate 1222.

The second sub support structure 1300 includes a second sub frame 1310 and a wire winding structure 1320. The wire winding structure 1320 is embedded in the second subframe 1310.

The wire winding structure 1320 includes a button dial 1321, a wire winding body 1322, a latch hook 1323, a wire winding member 1324, a leaf spring 1325, a wire 1326, and a latch hook fixing member. (1327).

The button-type dial 1321 is rotatably coupled to the wire winding body 1322. The button-type dial 1321 is coupled to the wire winding body 1322 so as to be rotatable for winding the wire 1326. The button-type dial 1321 includes a button 1321a, a dial body 1321b, and a wire operating member 1321c.

The button 1321a and the wire operating member 1321c are coupled to the dial body 1321b. In addition, a wire manipulation hole 1321c 'is formed in the wire manipulation member 1321c. A latch hook 1323 for fixing the belt coupling plate 1222 is coupled to the wire winding body 1322. As the wire winding body 1322 is linearly moved, the button-type dial 1321 can move the latch hook 1323 in the upward and downward directions.

The latch hook 1323 includes a latch stick 1323a, a latch hook body 1323b, a latch hook protrusion 1323c, and a latch hook coupling protrusion 1323d. The latch stick 1323a is inserted into the slit 1222a of the belt coupling plate 1222 to restrict the movement of the belt coupling plate 1222. The latch stick 1323a is formed to protrude downward in one end of the latch hanger body 1323b. The latch hook protrusion 1323c is formed in the latch hook body 1323b so as to protrude to the inside of the latch hook body 1323b. The latch hook coupling protrusion 1323d is formed in the latch hook body 1323b so as to protrude from the other end of the latch hook body 1323b.

A latch hook 1323, a button dial 1321, and a wire winding member 1324 are coupled to the wire winding body 1322. A latch hook guide groove 1322a, a latch hook support member 1322b, and a wire hole 1322c are formed in the wire winding body 1322. A latch hook protrusion 1323c of the latch hook 1323 is seated in the latch hook guide groove 1322a. The latch hook protrusion 1323c is restricted in one direction by the latch hook support member 1322b. The latch hook coupling protrusion 1323d is coupled to the wire winding body 1322 by the latch hook fixing member 1327.

The wire winding member 1324 is embedded in the wire winding body 1322. On the side of the wire winding member 1324, a hole 1324a into which the wire is inserted is formed. A protrusion 1324b is formed at the center of the wire winding member 1324. As the button-type dial 1321 moves, the protrusion 1324b selectively connects the wire winding member 1324 and the button-type dial 1321. The wire hole 1322c penetrates the wire 1326 into the wire winding body 1322. The wire 1326 passes through the wire hole 1322c to the wire winding member 1324.

The protrusion 1324b is selectively coupled to the wire manipulation hole 1321c 'of the wire manipulation member 1321c. When the wire operation hole 1321c 'is coupled to the protrusion 1324b, the wire winding member 1324 is rotated by the rotation of the button-type dial 1321. When the wire operation hole 1321c 'is separated from the protrusion 1324b, the wire winding member 1324 is rotatable without being restricted by the button-type dial 1321.

The leaf spring 1325, which is an elastic member, is inserted into the wire winding member 1324. The wire 1326 is connected to the leaf spring 1325. As the wires 1326 move, the leaf springs 1325 are compressed or restored. And when the leaf spring 1325 is restored after compression, the leaf spring 1325 rotates the wire winding member 1324.

In addition, the wire 1326 is fixed to the belt 1230 by a wire fixing member 1231.

22 is a schematic first use state diagram of the leg fixing unit shown in FIG. 20.

The belt 1230 is withdrawn from the first subframe 1210 and the belt coupling structure 1220 is detachably coupled to the second subframe 1310. The latch stick 1323a of the wire winding structure 1320 is inserted into the slit 1222a of the belt coupling plate 1222.

The wire 1326 is withdrawn from the wire winding member 1324, and the leaf spring 1325 is in a compressed state. In this case, the button-type dial 1321 is coupled to the protrusion 1324b of the wire winding member 1324.

At this time, when the user rotates the button-type dial 1321 to adjust the length of the belt 1230, the wire winding member 1324 is linked to the rotation of the button-type dial 1321, the wire 1326 is a wire winding member (1324)

As the wires 1326 are moved in the direction of the arrow, the belt 1230 connected to the wires 1326 flows into the first subframe 1210. Accordingly, the length of the belt 1230 exposed to the outside is adjusted, the user can adjust the length of the belt 1230 to fit the leg.

Then, the belt 1230 is moved while being supported by the belt support rollers 1213a, 1213b, and 1213c.

In addition, the muscles of the legs differ in shape and size when sitting and standing. Leg fixing portion according to the present invention is possible to adjust the length of the belt after fixing the belt coupling structure. Accordingly, the user sits and wears the muscle assistance robot, and the user can adjust the length of the belt to fit the leg while standing up.

FIG. 23 is a schematic second use state diagram of the leg fixing unit illustrated in FIG. 20.

In order to release the engagement state of the belt coupling structure 1220, the button-type dial 1321 is pulled outward of the second sub-frame 1310. In conjunction with the button-type dial 1321, the latch stick 1323a is disengaged from the slit 1222a of the belt engaging plate 1222. In addition, when the button-type dial 1321 is moved, the wire manipulation hole 1321c 'of the wire manipulation member 1321c is released from the protrusion 1324b of the wire winding member 1324.

The wire winding member 1324 is rotated by the restoring force of the leaf spring 1325. By the rotation of the wire winding member 1324, the wire 1326 is wound around the wire winding member 1324. And as shown by the arrow, the belt 1230 is moved to be accommodated in the first sub-frame 1210.

As the belt 1230 is automatically wound by the simple operation of the button-type dial 1321, the user can quickly and easily release the fixed state of the leg fixing unit.

In addition, when the leg fixing part 1000 is not used, the belt 1230 is accommodated in the first subframe 1210. At this time, the belt 1230 is supported by the belt support rollers 1213a, 1213b, and 1213c, and received in a zigzag while the traveling direction is shifted. Accordingly, not only the belt 1230 of many lengths is accommodated in a small space, but also the frictional force is minimized by the inclined surface of the belt 1230, thereby enabling smooth belt movement, and contamination and damage are prevented.

It is to be understood that the foregoing embodiments are illustrative in all respects and not restrictive, the scope of the invention being indicated by the claims that follow, rather than the foregoing detailed description. And the meaning and scope of the claims to be described later, as well as all changes and modifications derived from the equivalent concept should be construed as being included in the scope of the invention.

1000: leg fixing portion 1100: main support structure
1200: first sub support structure 1300: second sub support structure
1230: belt 1320: wire wound structure

Claims (20)

A main frame unit positioned to face the pelvis of the user;
A leg unit which is formed to extend downwardly along the leg of the user at an end of the main frame unit; And
A foot unit installed at an end of the leg unit to support a foot or a shoe of the user,
The leg unit includes a leg frame portion of which one end is connected to the main frame unit and the other end is connected to the foot unit, and a leg fixing portion mounted to the leg frame portion.
The leg fixing part includes a belt for fixing the leg of the user, and the frame is accommodated so that the belt can be entered while changing the direction of travel in a zigzag
Strength aid robot.
The method of claim 1,
The leg fixing part
A main support structure and a sub support structure hinged to the main support structure,
The sub support structure includes the belt and the frame.
Strength aid robot.
The method of claim 2,
The frame is
A belt supporting roller for supporting the belt, the belt roller shaft inserted into the belt supporting roller and supporting the belt supporting roller rotatably, the belt roller shaft being coupled and fixing the belt roller shaft to the frame. Further comprising a roller fixing member
Strength aid robot.
The method of claim 3, wherein
The belt support rollers are provided in plural, one of the plurality of belt support rollers is disposed on the one side of the sub-frame, the other is repeatedly arranged to be located on the other side of the sub-frame,
The belt roller shaft is provided with a plurality, one of the plurality of the belt roller shaft is disposed in order to be sequentially repeated so as to be located on one side of the sub-frame, the other is located on the other side of the sub-frame,
The belt roller fixing member is provided with a plurality, one of the plurality of belt roller fixing member is disposed repeatedly to be positioned on one side of the frame, the other is located on the other side of the frame
Strength aid robot.
The method of claim 4, wherein
The belt support roller includes a first belt support roller, a second belt support roller, and a third belt support roller,
The belt roller shaft includes a first belt roller shaft inserted into the first belt support roller, a second belt roller shaft inserted into the second belt support roller, and a third belt roller shaft inserted into the third belt support roller. Including,
The belt roller fixing member includes a first belt roller fixing member for fixing the first belt roller shaft to the subframe, a second belt roller fixing member for fixing the second belt roller shaft to the subframe, and the third belt. A third belt roller fixing member for fixing a roller shaft to the subframe,
The first belt support roller, the first belt roller shaft and the first belt roller fixing member are located in front of one side of the frame,
The second belt support roller, the second belt roller shaft and the second belt roller fixing member are located on the other side of the frame,
The third belt support roller, the third belt roller shaft and the third belt roller fixing member are located at one side rear of the frame.
Strength aid robot.
The method of claim 5,
In the frame
A first fixing member coupling groove into which the first belt roller fixing member is inserted, a second fixing member coupling groove into which the second belt roller fixing member is inserted, and a third fixing member into which the third belt roller fixing member is inserted A coupling groove is formed,
The first fixing member coupling groove is located in front of one side of the frame,
The second fixing member coupling groove is located on the other side of the frame,
The third fixing member coupling groove is located behind the other side of the frame
Strength aid robot.
The method of claim 3, wherein
An inclined surface is formed at one end of the belt,
The inclined surface includes a first inclined surface inclined downward from one end of the belt, a second inclined surface inclined upward in the other end of the belt, and a connection surface connecting the first inclined surface and the second inclined surface.
Strength aid robot.
The method of claim 7, wherein
The inclined surface has a "<" shape
Strength aid robot.
The method of claim 7, wherein
One end of the belt is coupled with a wire for moving the belt inwardly of the sub-frame
Strength aid robot.
The method of claim 2,
The sub support structure
A first sub support structure hinged to one side of the main support structure, and a second sub support structure hinged to the other side of the main support structure,
The first sub support structure includes a belt coupling structure coupled to the belt, the frame and one end of the belt,
The second sub support structure includes a wire connected to the belt, and a wire winding structure to wind the wire and to be detachably coupled to the belt coupling structure.
Strength aid robot.
A main frame unit positioned to face the pelvis of the user;
A leg unit which is formed to extend downwardly along the leg of the user at an end of the main frame unit; And
A foot unit installed at an end of the leg unit to support a foot or a shoe of the user,
The leg unit includes a leg frame portion of which one end is connected to the main frame unit and the other end is connected to the foot unit, and a leg fixing portion mounted to the leg frame portion.
The leg fixing unit includes a belt for fixing the leg of the user, and the frame is received so that the belt can be entered,
An inclined surface is formed at one end of the belt accommodated in the frame
Strength aid robot.
The method of claim 11,
The inclined surface includes a first inclined surface inclined downward from one end of the belt, a second inclined surface inclined upward from the other end of the belt, and a connection surface connecting the first inclined surface and the second inclined surface.
Strength aid robot.
The method of claim 12,
The inclined surface has a "<" shape
Strength aid robot.
The method of claim 11,
The leg fixing part
A belt coupling structure coupled to the other end of the belt,
A wire connected to one end of the belt to move the belt inwardly of the frame and received to be wound around the frame;
The wire winding structure is further wound up, and the belt coupling structure is detachably coupled.
Strength aid robot.
A main support structure on which a sub-hinge coupling structure is formed; And
A sub support structure on which a main hinge coupling structure is rotatably coupled to the sub hinge coupling structure;
The sub support structure includes a belt and a sub frame in which the belt is received so that the belt can be pulled in and shifted in a zigzag direction.
Leg fixing part of strength assist robot.
The method of claim 15,
The sub frame
A belt support roller supporting the belt and the belt roller shaft inserted into the belt support roller and supporting the belt support roller rotatably.
Leg fixing part of strength assist robot.
The method of claim 16,
The belt support rollers are provided in plurality, one of the plurality of belt support rollers is repeated on one side of the sub-frame, the other is repeated to be disposed on the other side of the sub-frame,
The belt roller shaft is provided with a plurality, one of the plurality of belt roller shaft is arranged to be disposed on one side of the sub-frame, the other is repeated to be disposed on the other side of the sub-frame
Leg fixing part of strength assist robot.
The method of claim 15,
An inclined surface is formed at one end of the belt,
The inclined surface includes a first inclined surface inclined downward from one end of the belt, a second inclined surface inclined upward in the other end of the belt, and a connection surface connecting the first inclined surface and the second inclined surface.
Leg fixing part of strength assist robot.
The method of claim 18,
The inclined surface has a "<" shape
Leg fixing part of strength assist robot.
The method of claim 15,
The surf support structure
A belt coupling structure coupled to the other end of the belt,
A wire connected to one end of the belt to move the belt inwardly of the frame and received to be wound around the frame;
The wire winding structure is further wound up, and the belt coupling structure is detachably coupled.
Leg fixing part of strength assist robot.

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