KR20220043749A - Wearable assisting device - Google Patents

Abstract

The present invention relates to a wearable assisting device which improves the usability and the wearability of a wearable unit which makes a wearable assisting device worn on the thigh or the lower leg of a wearer, and stably transmits the assistive force provided from a joint actuator to the thigh or the lower leg of the wearer.

Description

WEARABLE ASSISTING DEVICE

The present invention relates to a wearable auxiliary robot. More specifically, the present invention improves the usability and wearability of the wearable unit for wearing the wearable auxiliary device on the thigh or lower leg of the wearer, and the assisting force provided from the joint actuator can be stably transmitted to the thigh or lower leg of the wearer. It relates to wearable assistive devices.

Recently, the development of wearable assistive devices for the disabled, patients, or the elderly with physical abilities that are impossible for daily living, or industrial or military wearable assistive devices to enhance physical strength or physical ability is in progress.

In the case of wearable assistive devices for the disabled, patients, or the elderly, they are classified into wearable assistive devices for the paralyzed disabled and wearable assistive devices for the elderly or partially paralyzed or disabled depending on their physical ability and the size or role of assistive force required. can be

In the case of such a wearable auxiliary device, a main body equipped with a battery and a controller and mounted on the wearer's back, a joint actuator mounted on the hip and knee joints for driving each joint, and connected to each joint actuator and the wearer's thigh or lower leg It mainly consists of a form including a support unit for supporting the.

At least one wearing unit may be provided in the femoral support unit and the lower leg support unit, and such a wearing unit applies the auxiliary force of the femoral support unit or the lower leg support unit to the thigh and lower leg by driving the hip joint actuator or knee joint actuator. It is a configuration that is worn on the thigh or lower leg of the wearer to deliver, respectively.

Such a wearing unit is composed of synthetic resin or synthetic leather, and in order to mount a support part without a skeleton such as a separate frame on the thigh or lower leg, a band is connected to the support part and Velcro or a butt is applied to fix it on the thigh or lower leg. Although the method was mainly considered, since at least one is provided in each of the thigh support unit or the lower leg support unit, the number of them is large, so it takes a lot of time for the wearer to put on or take off the robot.

In addition, the support part made of synthetic resin or synthetic leather is flexible and can provide a comfortable fit, but it was difficult to accurately transmit the driving force of the femoral support unit or the lower leg support unit to the thigh or lower leg. That is, when the support part is tilted or deformed even when the thigh support unit or the lower leg support unit is driven, there is a problem in that it is difficult to fully utilize the assisting force of the wearable auxiliary robot.

The present invention is a wearable aid that improves the usability and wearability of a wearable unit for wearing a wearable auxiliary device on the thigh or lower leg of the wearer, and that the assisting force provided by the joint actuator can be stably transmitted to the thigh or lower leg of the wearer It is a task to be solved to provide a device.

In order to solve the above problems, the present invention provides a pair of hip actuators mounted on the side area of the hip joint of the wearer; a femoral support unit driven by the hip actuator and providing rotational assistance to the wearer's thighs; a pair of knee joint actuators mounted on the end of the femoral support unit; a lower leg support unit driven by the knee joint actuator and providing rotational assistance to the wearer's thigh; And, at least one is mounted on the thigh support unit and the lower leg support unit, respectively, and the rear of the wearer's thigh or lower leg is worn to transmit the assisting force of the thigh support unit and the lower leg support unit to the thigh or lower leg of the wearer. at least one wearing unit for; including, wherein the wearing unit is mounted on the femoral support unit or the lower leg support unit and a mounting member mounted on the lower leg support unit, a first support unit rotatably mounted on the mounting member, and the mounting member. and a second support part that rotates in conjunction with the first support part, and the wearing unit is a wearable auxiliary in which the second support part or the first support part is deployed or folded together when the first support part or the second support part is deployed or folded. A robot can be provided.

In this case, the first support part and the second support part may include a first gear member and a second gear member each hinge-mounted to the mounting member, and having a gear part geared to engage and rotate in opposite directions.

And, it may include a first extension member and a second extension member fastened to the first gear member and the second gear member extending in a direction surrounding the circumference of the wearer's thigh or lower leg.

Here, the first extension member and the second extension member may be fastened to have a step difference so as to surround the outer ends of the first gear member and the second gear member.

In addition, the extension member and the gear member may be integrally configured.

In addition, any one of the first support part and the second support part may be configured to further include a cover member that is rotatably fastened to an end of the extension member and rotates in association with the rotation direction of the extension member.

Here, the cover member may be rotatably fastened to a connection member for rotating the cover member in association with the extension member.

And, one end of the connecting member is shaft-coupled to the mounting member, the other end of the connecting member is shaft-coupled to the inner end of the cover member in the thickness direction, and the outer end of the cover member in the thickness direction is the extension member. It may be shaft-coupled to the end of the.

In addition, the other end of the connecting member may have a bent portion bent so as to be shaft-coupled to the inner end of the thickness direction of the end of the cover member.

Here, the expansion range of the first support part and the second support part may be a range in which the outer peripheral surface of the bent part of the connecting member is supported by the inner end of the cover member to block rotation.

In addition, the first support part and the second support part are provided with an extension member and a cover member, respectively, and the first extension member and the second extension member are configured to extend obliquely downward, and one end of the connecting member is The lower portion of the mounting member and the shaft connecting member may be connected as a medium, and the other end of the connecting member may be connected to the cover member together with the extension member.

A wearable auxiliary device according to the present invention is provided with a pair of support parts, and the rotation operation of one support part is interlocked with the rotation operation of the other support part, so that the wearing process or detachment of the wearing unit for the thigh or lower leg of the wearer It can improve the usability of the process.

In addition, according to the wearable auxiliary device according to the present invention, since the support part forms a frame or a skeletal structure and supports the thigh or lower leg of the wearer, the auxiliary force of the thigh support unit or the lower leg support unit is stably transmitted to the thigh or lower leg of the wearer It can be configured to

1 shows a perspective view of one embodiment of a wearable auxiliary device according to the present invention.
2 is a bidirectional perspective view of a wearable unit mounted on a wearable auxiliary device according to the present invention.
3 is a cross-sectional view showing a wearable unit mounted on a wearable auxiliary device according to the present invention.
Figure 4 shows an exploded perspective view of the wearing unit of the wearable auxiliary device according to the present invention.
5 is a perspective view of another embodiment of the wearable auxiliary device according to the present invention.
6 is a perspective view of one embodiment applied to the wearable auxiliary device shown in FIG. 5 .

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. However, the present invention is not limited to the embodiments described herein and may be embodied in other forms. Rather, the embodiments introduced herein are provided so that the disclosed subject matter may be thorough and complete, and the spirit of the invention may be sufficiently conveyed to those skilled in the art. Like reference numbers refer to like elements throughout.

Figure 1 shows a perspective view of a wearable auxiliary device according to the present invention, Figure 2 shows a bidirectional perspective view of the wearable unit mounted on the wearable auxiliary device according to the present invention.

Referring to FIG. 1 , in the present specification, the wearable assistive device 1000 may be a robot that assists walking by being worn on the lower body of a disabled person, the elderly, or a patient (hereinafter referred to as a 'wearer'). Here, assisting the gait motion means providing a driving force for preserving muscle strength that is lacking in the hip and knee joints to enable independent walking of the wearer who has some movement function of the lower body.

A wearable auxiliary device 1000 according to the present invention includes a pair of hip joint actuators 100a and 100b mounted on a side area of a wearer's hip joint; a femoral support unit (200a, 200b) which is driven by the hip actuator and provides rotational assistance to the wearer's thighs; A pair of knee joint actuators (100c, 100d) mounted on the end of the femoral support unit; Lower leg support units (200c, 200d) that are driven by the knee joint actuator and provide rotational assistance to the wearer's thighs; And, at least one is mounted on the thigh support unit and the lower leg support unit, respectively, and the rear of the wearer's thigh or lower leg is worn to transmit the assisting force of the thigh support unit and the lower leg support unit to the thigh or lower leg of the wearer. At least one wearing unit for; including, the wearing unit 600 is a mounting member mounted on the thigh support unit (200a, 200b) or the lower leg support unit (200c, 200d), rotatably on the mounting member and a first support part 601 mounted on the mounting member and a second support part 602 that is mounted on the mounting member and rotates in conjunction with the first support part 601 , wherein the wearing unit 600 includes the first support part 601 . ) or when the second support part 602 is deployed or folded, the second support part 602 or the first support part 601 is deployed or folded together.

The wearable auxiliary robot to be described below corresponds to one embodiment, each of the hip and knee joints is provided with joint actuators, and a support unit for supporting the femur or lower leg is connected to each joint actuator, and each support unit If at least one wearable unit is provided and is a wearable auxiliary device that transmits auxiliary force, it may be included in the scope of the present invention.

The wearable auxiliary device 1000 shown in FIG. 1 includes a body part 500 disposed behind the wearer's back plate, and a pair of legs extending downward from the body part 500 to support each leg of the wearer. may contain units.

The body part 500 is mounted on the body unit 400 , and a pair of leg units may also be mounted on both ends of the body unit 400 .

Here, the leg unit may be provided at the hip joint and the knee joint, respectively, and provide auxiliary torque to the thigh and lower leg to assist the wearer's independent walking.

Accordingly, a driving device for providing a driving torque may be provided in a region corresponding to the hip joint and the knee joint of each leg unit. Each driving device may be composed of a joint actuator 100 having a driving motor, respectively.

Each leg unit is connected to a pair of hip joint actuators (100a, 100b), respectively, a pair of hip joint actuators (100a, 100b) to support or assist the wearer's thigh (200a, 200b), A pair of knee joint actuators (100c, 100d) connected to the bottom of a pair of femoral support units (200a, 200b), a pair of knee joint actuators (100c, 100d) connected to a pair of supporting or assisting the lower leg of the wearer The lower leg support unit (200c, 200d) and each lower leg support unit (200c, 200d) is connected to the lower end and may be configured to include a pair of foot units (300a, 300b) for supporting the wearer's feet.

The joint actuators 100a, 100b, 100c, and 100d may be installed in the hip and knee joint regions of the wearer, respectively, and the hip joint actuators 100a and 100b are installed in the area where the pelvis and the thigh meet, and the knee of the thigh and lower thigh boundary The knee joint actuators (100c, 100d) may be installed in the region. Although the wearable auxiliary device 1000 shown in FIG. 1 is an example in which the joint actuator 100 is provided only in the hip and knee joints of the wearer, a separate driving device may also be provided in the ankle joint if necessary.

And, each of the femoral support units (200a, 200b) and the lower leg support units (200c, 200d) has the wearer's thighs and lower thighs at least for fixing to the femoral support units (200a, 200b) and the lower leg support units (200c, 200d). One wearing unit 600 may be provided, and the driving force provided from each joint actuator 100 is eventually transmitted to the wearer's thigh or lower leg through the wearing unit 600 to assist independent walking.

Such a pair of leg units is arranged along the side of the wearer, and since the above-mentioned main body part 500 is arranged behind the wearer's upper body back plate, the main body part is mounted to the rear through the body unit 400, The body unit 400 may be mounted to surround the wearer's waist region, and both ends of the body unit 400 may be configured to extend to the wearer's waist side region.

At least one wearing unit 600 constituting the wearable auxiliary device according to the present invention is provided in the thigh support unit or the lower leg support unit, respectively, and each wearing unit has two supporting parts 601 and 602 that are rotatably connected. is provided, and each support part is configured in a rotatable structure, and when one support part of the two support parts rotates, the other rotation part interlocks and rotates together. It will be described in detail with reference to FIGS. 3 and 4 .

3 shows a cross-sectional view of a wearing unit 600 mounted on the wearable auxiliary device 1000 according to the present invention, and FIG. 4 is an exploded view of the wearing unit 600 of the wearable auxiliary device 1000 according to the present invention. A perspective view is shown.

Each of the wearing units 600 may include a mounting member 610 for mounting or fastening to the thigh support unit or the lower leg support unit. In the mounting member 610, the first support part 601 and the second support part 602 are each rotatably shaft-coupled, and may be rotated in interlocking manner.

The first support part 601 and the second support part 602 may include a gear member so that when one support part rotates, the other support part interlocks rotation. 3 and 4, the first support part 601 and the second support part 602 are respectively hinge-mounted to the mounting member 610, and a gear-coupled gear unit for interlocking rotation in the opposite direction. A first gear member 620 and a second gear member 630 may be provided.

The gear unit may be provided in such a way that a plurality of parallel gear teeth 620t and 630t are formed on the outer peripheral surface of the end of the gear member provided at the inner end of each of the gear members 620 and 630 .

The first gear member 620 and the second gear member 630 may be mounted on the mounting member 610 in a gear-coupled (connected) state, each of which is provided at the end of the connection portion with a gear portion fastened to the connection portion, respectively. .

As shown in FIG. 4 , the mounting member 610 is divided into two parts 610a and 610b and may be fastened in the lateral direction so that the rotation shaft provided on the side surface of each of the gear members 620 and 630 is mounted. Accordingly, each gear member 620, 630 is each shaft-coupled in the mounting member 610, and when the gear member constituting one of the support parts rotates in the state in which each gear part is coupled, the other gear member is provided. The supports 601 and 602 may also be rotated in conjunction with each other.

A first extension member 640 and a second extension member 650 that are fastened to the first gear member 620 and the second gear member 630 and extend in a direction surrounding the periphery of the wearer's thigh or lower leg. It may be composed of

Since the wearing unit 600 according to the present invention has a structure that surrounds and supports the thigh or lower leg of the wearer, an extension member may be provided to increase the support area in order to stably support the thigh or lower leg.

3 and 4 , the first extension member 640 is mounted on the outer peripheral surface of the first gear member 620 and the second extension member 650 is mounted on the outer peripheral surface of the second gear member 630 . can be

In addition, as shown in FIG. 1, the wearing unit 600 of the wearable auxiliary device 1000 according to the present invention is configured in an arc shape such that the wearing space supports the thigh or lower leg, and the remaining open portion is synthetic fiber. Alternatively, it may have a structure connected to a wearing part made of synthetic leather, etc. and a band.

However, it is preferable that the inner circumferential surface of the wearing unit 600 has a certain length and is formed of a curved surface in order to stably support the wearer's thigh or lower leg and to provide a comfortable fit.

Accordingly, the support portion of each wearing unit 600 of the present invention may be provided with an extension member together with the gear member to extend the length of the support portion long.

2 to 4 , the extension members 640 and 650 on the outer peripheral surfaces of the gear members 620 and 630 may be separately configured and fastened, but may be integrally configured. That is, the gear member and the extension member of the first support part 601 are integrally formed, and the gear member and the extension member of the second support part 602, which need to be longer, may be configured separately.

When the gear member and the extension member constituting the support portions 601 and 602 are separated and configured, there is an advantage that the material can be configured differently. That is, the gear member may be made of a material having high strength or hardness to enable interlocking rotation, and the extension member may be made of a flexible material to improve wearing comfort.

When the gear member and the extension member constituting the support parts 601 and 602 are separated, as shown in FIG. 4 , the first extension member 640 and the second extension member 650 are the first gear The member 620 and the second gear member 630 may be fastened with a step 640s so as to surround the outside of the end portion so that the inner peripheral surfaces of the support portions 601 and 602 have a curved surface without a step difference.

Similarly to the reason for fastening the extension members 640 and 650 to the gear members 620 and 630 to the support parts 601 and 602, any one of the first support part 601 and the second support part 602 may be It may be configured to further include a cover member that is rotatably fastened to the end of the extension member, and rotates in association with the rotation direction of the extension member.

In the embodiment shown in FIGS. 2 to 4 , the first support part 601 includes only the extension member 640 , and the second support part 602 includes the cover member 670 together with the extension member 650 . An example provided is shown.

The cover member 670 may also be shaft-coupled to be rotatable with respect to the second extension member 650 and may be configured such that rotation is interlocked with the second extension member 650 at the same time.

That is, when the connection angle between the first support part 601 and the second support part 602 is changed, the second gear member 630 of the second support part 602 is the first gear of the first support part 601 . The connection angle is changed in conjunction with the member 620, and the cover member 670 provided on the second support part 602 rotates together with the second extension member 650 fixed to the second gear member 630, but , may be rotated in association with the rotation of the second extension member 650 .

2 to 4, the inner end of the cover member 670 is connected together to the extension member 650 of the second support part 602 and the other end of the connection member 660, the cover member The inner end of the 670 may have a structure that is rotatably double-axially coupled to the extension member 650 of the second support part 602 and the other end of the connection member 660, respectively.

In addition, one end of the connecting member 660 may be independently shaft-coupled to the mounting member 610 together with the second gear member 630 .

Specifically, as shown in FIGS. 3 and 4 , one end of the connecting member 660 is shaft-coupled to the mounting member 610 , and the other end of the connecting member 660 is the cover member 670 . It may be shaft-coupled to the inner end of the end in the thickness direction, and the outer end of the end of the cover member 670 in the thickness direction may be coupled to the end of the second extension member 650 .

And, the connecting member 660 may be configured in an arc shape as shown in FIGS. 3 and 4 , but the other end of the connecting member is shaft-coupled to the inner end in the thickness direction of the end of the cover member 660 . It may be provided with a bent bent portion for this.

Here, the expansion range of the first support part 601 and the second support part 602 is that the outer peripheral surface of the bent part of the connecting member 660 of the second support part 602 is supported by the inner end of the cover member 670 . It may be a range in which rotation is blocked. That is, the connecting member 660 is configured in a hook shape and may be shaft-coupled to the cover member 670 at a position inside a slot formed in the center of the cover member 660 .

Accordingly, when the first gear member 620 of the first support part 601 rotates, the second gear member 630 of the second support part 602 gear-coupled to the first gear member 620 rotates. When the second extension member 650 fixed to the second gear member 630 is rotated by the rotation of the second gear member 630, the cover is shaft-coupled to the second extension member 650. The member 670 is rotated dependently, and since the cover member 670 is also shaft-coupled to the connecting member 660 at the inner end in the thickness direction, additional rotation is possible.

Accordingly, as shown in FIG. 3( a ), the outer peripheral surface of the bent part formed by bending the connecting member 660 inward from the end is supported by the end of the cover member 670 to form the first support part 601 and the second support part 601 . 2 When the further development of the support part 602 is blocked, and as shown in FIG. 3(b), when any one support part is rotated, the cover member 670 of the second support part 602 is the second support part 602 ) of the second extension member 650, the rotation angle with respect to the first support part 601 is interlocked and rotated, and the cover member 670 is additionally rotated by the connecting member 660 of the second support part 602. A connection angle with respect to the second connection member 650 may be changed in the same direction.

That is, the cover member with respect to the extension member is rotated with a larger rotational operation during pronation or abduction, so that when the wearer rotates only one support portion, the other support portions also rotate and the rotational displacement of the cover member having the longest length. It is possible to improve usability when wearing a large wearing unit. That is, while reducing the number of wearing unit deployment operations, the deployment range of the cover member is amplified, and even if any one of the supporting parts is slightly spread, the cover member is rotated largely to secure a wearing space.

5 is a perspective view of another embodiment of the wearable auxiliary device 1000 according to the present invention, and FIG. 6 is a perspective view of one embodiment applied to the wearable auxiliary device 1000 shown in FIG. 5 . A description that overlaps with the above-described embodiments will be omitted.

When applying a structure that binds the wearing unit 600b mounted in the groin area of the femoral support unit among the wearing units 600 of the wearable auxiliary device 1000 shown in FIG. 1 with a band member, etc., the wearing position is a sensitive area. There may be a wearer who is cumbersome in the wearing process and feels discomfort or pain even in the wearing state.

Therefore, in the embodiment shown in FIGS. 5 and 6, the extension members 640 and 650 constituting any one of the wearing units 600 are downward, not in a shape extending in the circumferential direction from the gear members 620 and 630. It may be configured to be inclinedly extended.

In addition, although the embodiment shown in FIGS. 1 to 4 illustrates an example in which the cover member of the first support part 601 and the second support part 602 is provided only in the second support part 602 , the embodiment shown in FIG. 6 . Wearing unit 600 according to the first support portion 601 and the second support portion 602 are both provided with extension members (640, 650) and cover members (670a, 670b), the extension member (640, 650) is a cover The members (670a, 670b) may have a structure extending downwardly inclined in order to change the position of the thigh wrapped in the downward direction.

Therefore, even when the wearing member 610 is mounted on the upper part of the femoral support unit, that is, near the hip joint actuator, as shown in FIGS. ) and the extension members 640 and 650 do not interfere with the inner upper part of the groin even when the wearer's thigh is wrapped, thereby minimizing discomfort or pain of the wearer.

In addition, even when the first extension member 640 of the first support part 601 and the second extension member 650 of the second support part 602 extend in a diagonal direction, respectively, the mounting member 610, the connection member, and the cover member and the extension member and the coupling shaft of the connecting member and the extension member are arranged in a vertical direction, the other end of the cover member is axially coupled to the inclined downwardly extending member, and one end is connected to the mounting member 610 . A shaft connection member 662 may be additionally interposed between one end of the members 660a and 660b and the mounting member 610 .

The shaft connection member 662 may compensate for a height difference between one end of the connection member and the mounting member 610 and enable shaft connection.

As such, in the case of the uppermost wearing unit 600 mounted on the femoral support unit, the pair of first and second support portions each include a connecting member and a cover member, and the extension member extends obliquely downward, and the Since the extension member is connected in the circumferential direction at the end, it is possible to support the wearer's thigh with a comfortable fit even if a separate band member is omitted.

In addition, in the embodiment shown in Figs. 5 and 6, each connecting member may be connected to a separate band member to transmit a more stable assisting force to the wearer's thigh.

Although the present specification has been described with reference to preferred embodiments of the present invention, those skilled in the art can variously modify and change the present invention without departing from the spirit and scope of the present invention as set forth in the claims described below. will be able to carry out Therefore, if the modified implementation basically includes the elements of the claims of the present invention, all of them should be considered to be included in the technical scope of the present invention.

1000: wearable auxiliary device
100: joint actuator
200: thigh support unit lower leg support unit
300: foot unit
400: body unit
500: body part
600: wear unit

Claims (11)

a pair of hip actuators mounted on the wearer's hip lateral region;
a femoral support unit driven by the hip actuator and providing rotational assistance to the wearer's thighs;
a pair of knee joint actuators mounted on the end of the femoral support unit;
a lower leg support unit driven by the knee joint actuator and providing rotational assistance to the wearer's thigh; and,
At least one is mounted on the thigh support unit and the lower leg support unit, respectively, and the rear of the wearer's thigh or lower leg is worn to transmit the assisting force of the thigh support unit and the lower leg support unit to the thigh or lower leg of the wearer. Including; one wearing unit;
The wearing unit is a mounting member mounted on the thigh support unit or the lower leg support unit, a first support portion rotatably mounted on the mounting member, and a second support portion mounted on the mounting member and rotated in conjunction with the first support portion. Including, wherein the wearing unit is a wearable auxiliary robot in which the second support part or the first support part is deployed or folded together when the first support part or the second support part is deployed or folded. According to claim 1,
The first support portion and the second support portion are respectively hinged to the mounting member, and wearable, characterized in that it comprises a first gear member and a second gear member having a gear portion that is gear-coupled to rotate in an interlocking direction in the opposite direction. auxiliary robot. 3. The method of claim 2,
The wearable auxiliary robot, characterized in that it is fastened to the first gear member and the second gear member and includes a first extension member and a second extension member extending in a direction surrounding the wearer's thigh or lower leg. 4. The method of claim 3,
The wearable auxiliary robot, characterized in that the first extension member and the second extension member are fastened to have a step difference so as to surround the outer ends of the first gear member and the second gear member. 4. The method of claim 3,
The wearable auxiliary robot, characterized in that the extension member and the gear member are integrally configured. The method of claim 1,
The wearable auxiliary robot, characterized in that it further comprises a cover member which is rotatably fastened to the end of the extension member and rotates in association with the rotation direction of the extension member. 4. The method of claim 3,
The cover member is a wearable auxiliary robot, characterized in that it is rotatably fastened to a connection member for rotating the cover member in association with the extension member. 8. The method of claim 7,
One end of the connecting member is shaft-coupled to the mounting member, the other end of the connecting member is shaft-coupled to the inner end of the cover member in the thickness direction, and the outer end of the cover member in the thickness direction is the end of the extension member. A wearable auxiliary robot, characterized in that it is shaft-coupled to. 9. The method of claim 8,
The other end of the connecting member is a wearable auxiliary robot, characterized in that it has a bent portion to be axially coupled to the inner end of the thickness direction of the end of the cover member. 10. The method of claim 9,
The wearable auxiliary robot, characterized in that the expansion range of the first support part and the second support part is a range in which the outer peripheral surface of the bent part of the connecting member is supported by the inner end of the cover member to block rotation. 9. The method of claim 8,
The first support part and the second support part are provided with an extension member and a cover member, respectively, and the first extension member and the second extension member are configured to extend obliquely downward, and one end of the connection member is installed It is connected to the lower part of the member and the shaft connection member as a medium, and the other end of the connection member is connected to the cover member together with the extension member.

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