KR20190101848A - Power assisting apparatus for efficientiy delivering assist force - Google Patents

Abstract

The present invention relates to a muscular strength assistant apparatus comprising a main frame unit which wraps around and fixes a hip joint of a user. The muscular strength assistant apparatus has a predetermined curvature to have a structure that can be in close contact with the hip joint the user, thereby allowing one pair of main frame units to be close to the hip joint of the user and stably support both sides of the hip joint. In addition, while the user wears the muscular strength assistant apparatus and performs a walking operation, the present invention enables a first assisting power to be accurately transmitted to the hip joint of the user, thereby achieving stable walking.

Description

Strength Assist Device for Efficient Assistance Transmission {POWER ASSISTING APPARATUS FOR EFFICIENTIY DELIVERING ASSIST FORCE}

The present invention relates to a muscle strength assistance device for efficient assistive force transmission.

Recently, robot-related technology has been applied to a wide range of fields. Among them, muscle strength assist devices for those who have difficulty walking due to muscle strength decrease due to disability or aging.

The muscle strength assist device is a robot having a multi-joint skeletal structure. The muscle strength assist device assists the user's muscle strength when walking while the user wears the device on the lower body. To this end, the muscle assist device assists the user's walking by providing the user with assistance power generated from a driving device such as a motor.

These strength aids are worn on the user's waist, legs and feet. The muscle strength assist device has a number of components to be worn on each body part of the user. Among the plurality of components, a driving unit such as a motor has an important role of transmitting assisting force to joint portions of a user's body.

Here, the domestic registered patent (KR 10-1219795) and the US published patent (US 2015-0134080) provides a muscle strength assist device to assist the user walking. Referring to this, a conventional muscle strength assist device will be described.

FIG. 1 is a view illustrating a state in which a user wears a conventional strength aid device and the strength aid device (KR 10-1219795).

Referring to Figure 1, the conventional muscle strength assistance device has a waist wearing portion 11 is worn on the waist of the user.

And, a pair of leg support portion is provided to support the outside of the user's leg on both side portions of the waist wearing portion (11). Each of the pair of leg supports has a thigh member 12 that supports the thigh of the user and a shin member 14 that supports the shin of the user.

The hip drive part 13 is installed between the waist wearing part 11 and the thigh member 12. The hip drive unit 13 transmits the first assisting force to the hip joint of the user. The knee joint drive unit 15 is provided between the thigh member 12 and the shin member 14. The knee joint driver 15 transmits the second assisting force to the knee joint of the user.

Here, the inner surface of the conventional hip drive unit 13 is formed in a plate shape. Therefore, the hip drive unit 13 may not be completely in contact with the side of the user hip joint having various shapes. The hip drive 13 is spaced apart from the hip side of the user. Some of the first assisting force generated from the hip drive 13 is lost during transmission to the hip joint of the user due to the separation as above.

In addition, the axis of the hip drive unit 13 installed at both sides of the waist wearing portion 11 while the user walks frequently deviates from the hip axis of the user. Therefore, the first auxiliary force generated from the hip drive unit 13 is incorrectly transmitted to the hip joint of the user.

Meanwhile, the conventional hip drive unit 13 is fixed to both ends of the waist wearing unit 11. The hip drive unit 13 does not independently fix the circumference of each of the hip joints of the user. Therefore, each hip drive unit 13 is sequentially twisted from the hip joint of the user while the user walks. Therefore, the walking behavior of the user becomes unnatural.

2 is a diagram illustrating a conventional wearable robot (US2015-0134080).

Referring to FIG. 2, the conventional wearable robot has a waist support 11 ′ and a hip joint drive 13 ′ installed at both sides of the waist support 11 ′.

The hip drive 13 ′ has one axis that rotates the user's leg only in the front-rear direction. Therefore, the conventional hip drive unit 13 ′ transmits the first assist force to the hip joint of the user only in a posture in which the user rotates the leg along the front and rear directions. The conventional hip drive unit 13 ′ does not transmit the first auxiliary force in a posture in which the user rotates the leg along the left and right directions.

Here, the hip joint drive 13 ′ is fixed to both sides of the waist support 11 ′. Therefore, the hip joint driver 13 ′ does not naturally guide the rotation of the hip joint along the multi-axis direction.

Therefore, in the state where the user rotates the leg from side to side in the standing state or rotates the leg from side to side in the sitting state, the hip drive unit does not accurately transmit the first assist force to the hip joint of the user.

Components 12 and 12 'shown in Fig. 2 are femoral member members, components 15 and 15' are knee joint driving units, and components 14 and 14 'are shank members.

Meanwhile, referring to FIGS. 1 and 2, the conventional thigh members 12 and 12 ′ form a straight line shape. These thigh members 12, 12 'do not completely contact the sides of the user's thigh and shin with the bend. Thus, the knee joint drive 15, 15 'is spaced apart from the user's knee joint side.

When the user walks in this state, the knee joint axis of the knee joints 15 and 15 'provided between the thigh members 12 and 12' and the shin members 14 and 14 'is the second assist force. Deviate from the required knee line axis of the user. Thus, part of the second assist force is lost while being provided to the user's knee joint. Conventional knee joint drives 15 and 15 'do not accurately transmit the second assist force to the body part requiring rehabilitation. Conventional wearable robots cannot achieve the desired rehabilitation effect.

It is an object of the present invention to provide a muscle strength assistance apparatus including a main frame unit that wraps around and fixes a hip joint of a user. The main frame unit has a predetermined curvature and is in close contact with the hip joint of the user. The main frame unit can be accurately worn on the user's body.

In addition, it is an object of the present invention to provide a muscle strength assistance device for stably providing the assistance force by matching the hip joint drive unit with the axis of the hip joint of the user. The hip drive unit stably provides assistance to the hip joint of a moving user. The hip drive unit provides accurate assistance to the body part of the user.

It is also an object of the present invention to provide a muscle strength assistance device including a close support unit capable of accurately providing a corresponding assist force to the hip and knee positions of the user. The close support unit moves and adheres the position of the driving unit that generates the assist force to the body part of the user who requires the assist force. The close support unit prevents the assistance force transmitted to the body part from being lost.

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. It will also be readily appreciated that the objects and advantages of the invention may be realized by the means and combinations thereof indicated in the claims.

In the present invention, there is provided a muscle strength assistance device including a main frame unit for wrapping and fixing the user's hip joint. To this end, the main frame unit has a certain curvature to be in close contact with the user's hip joint. The first assisting force is accurately transmitted to the hip joint of the user while the main frame unit surrounds the hip joint of the user.

In addition, the present invention provides a hip matching unit. To this end, the hip matching unit is configured to match the axis of the hip joint with the position of the hip joint where the user's hip joint varies according to the movement of the user. When the user achieves various postures while wearing the device, the assisting force is stably provided to the moving hip joint by using the hip matching unit. The hip matching unit is used to ensure that a portion of the assisting force transmitted to the hip joint is not lost while being transmitted to the moving hip joint.

In addition, the present invention provides a close support unit that is in close contact with the user's thigh by adjusting the vertical length and tilt. To this end, the close support unit is used to accurately position each drive unit to the joint position of the user requiring assistance. In addition, the close support unit can be used to accurately transmit the assist force to the user's joints.

The main frame unit according to the present invention is in close contact with the user's hip joint, and can stably support both sides of the hip joint. Therefore, the main frame unit can accurately transmit the first assisting force to the hip joint of the user, so that the main frame unit can stably walk while wearing the muscle assisting device and performing the walking operation.

In addition, the hip matching unit according to the present invention may match the hip axis of the user's hip axis with the hip axis of the position supporting the hip joint. When the user moves the hip joint after wearing the strength assist device, the hip matching unit is matched with the hip joint of the moving user. Therefore, even if the position of both hip joints of the user is variable, the hip matching unit can secure a constant hip support position. In addition, the hip matching unit according to the present invention stably provides the assist force to the joint of the moving user. Part of the first assist force may not be lost while being delivered to the joint of the user.

In addition, the muscle strength assistance apparatus according to the present invention can be in close contact with the user's thighs. Accordingly, the close support unit can accurately position each drive unit to the position of the joint of the user requiring assistance. Thus, the assistance force may not be lost while being delivered to that part of the body.

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 view showing a state in which a user wears a conventional muscle strength assistance device.
2 is a view for explaining a conventional wearable robot.
3 is a perspective view showing a muscle strength assist device of the present invention.
4 is a side view illustrating the muscle strength assist device of FIG. 3.
5A is an exploded perspective view illustrating a coupling relationship between a waist support unit and a main frame unit according to the present invention.
5B is a perspective view illustrating a coupling relationship between the waist support unit and the main frame unit according to the present invention.
5C is a view illustrating a process in which the main frame unit is attached to the hip joint side of the user according to the present invention.
Figure 6 is a perspective view showing the configuration of the waist support unit and the main frame unit according to the present invention.
7 is a perspective view showing the configuration of a main frame unit having a hip matching unit according to the present invention.
8 is an exploded perspective view showing the configuration of a main frame unit having a hip matching unit according to the present invention.
9 is an enlarged perspective view illustrating a configuration of the first rail unit of FIG. 8.
10A is an enlarged perspective view illustrating a configuration of the second rail unit of FIG. 8.
FIG. 10B is a cross-sectional view along the line AA of FIG. 10A.
11 is a perspective view showing a state before the lower body of the user is rotated in the state wearing the muscle strength assistance device according to the present invention.
12 is a perspective view illustrating driving of a first rail unit according to the operation of FIG. 11.
Figure 13 is a perspective view showing a state in which the lower body of the user unfolded in the state wearing the muscle strength assistance apparatus according to the present invention.
14 is a perspective view illustrating driving of the first rail unit according to the operation of FIG. 13.
FIG. 15 is a perspective view illustrating driving of a second rail unit in a state where a lower body of a user is inwardly worn while wearing a muscle strength assisting apparatus according to the present invention. FIG.
16 is a plan view showing the position of the hip joint when the user is sitting.
17 is a plan view illustrating a state in which the lower body is pinched inward when the user is seated.
18 is a plan view illustrating a state in which the lower body is spread outward while the user is sitting.
19 is a perspective view showing a state in which the user stands and bends the lower body.
20 is a perspective view illustrating driving of the second rail unit in the state of FIG. 19.
21 is a perspective view showing a state in which the user stands and bends the lower body and opens outward.
FIG. 22 is a perspective view illustrating driving of the second rail unit in a state in which a user stands and bends a lower body and spreads outward.
Figure 23 is an exploded perspective view showing the configuration of the joint support unit for muscle strength assistance apparatus according to the present invention.
24 is a perspective view showing the configuration of the joint support unit for muscle strength assistance apparatus according to the invention.
25 is a view showing a state before the rotation operation of the close support unit according to the present invention.
26 is a view showing a state after the rotation operation of the close support unit according to the present invention.
27 is a view showing a state in which the joint support unit is stretched upward according to the present invention.
28 is a view showing a state in which the inclined support portion in close contact with the thigh of the user according to the present invention.
29 is a view showing an example of extending the vertical length so as to correspond to the length of the thigh of the user using the elastic portion according to the present invention.

Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings. In the drawings, the same reference numerals are used to indicate the same or similar components.

In the present specification, the 'assistance force' means 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.

Hereinafter, the muscle strength assisting apparatus according to the embodiments of the present invention will be described with reference to FIGS. 3 to 29.

3 is a perspective view showing a muscle strength assist device of the present invention. 4 is a side view illustrating the muscle strength assist device of FIG. 3.

3 and 4, the muscle strength assist device A is worn on the lower body of the user. When the user rehabilitation training such as walking, the muscle strength assist device (A) assists the user's lower body strength.

The muscle strength assistance device 1 includes a main control unit 2, a sub control unit 3 for function control, a main frame unit 4 mounted on the pelvis and a waist of the user, and a sub frame unit 5. ), A leg unit 6 mounted to the user's leg, and a foot unit 7 for fixing the shoe.

Specifically, the main control unit 2 is installed on the main frame unit 4 to be located at the waist side of the user. The main control unit 2 may adjust the width of the main frame unit 4 according to the body size of the user. In addition, the main control unit 2 may be provided with a battery pack for supplying power for the operation of the muscle strength assistance device (1). The sub frame unit 5 is provided on one side of the main control unit 2.

The sub frame unit 5 supports the waist of the user. The sub frame unit 5 is coupled to the waist of the user. The sub-frame unit 5 fixes the waist of the user to the muscle strength assist device (A) by using a belt that is adjustable in length. The part in contact with the waist of the user is made of a shock-absorbing material. The shock absorbing material may improve a user's wearing comfort.

The main frame unit 4 supports the main control unit 2. The main frame unit 4 is configured to surround one side of the user's pelvis to the other side.

This will be described in detail through the description of the first embodiment according to the present invention to be described later.

The main control unit 2 is installed at the rear end of the waist support unit 410 which will be described later. The main frame unit 4 is installed at both sides of the waist support unit 410. In other words, the main frame units 4 form a pair. Each main frame unit 4 is formed in a substantially 'U' shape. The bent portion of the main frame unit 4 forming the 'U' shape is located at the waist side of the user. The main control unit 2 may be arranged on the bent portion of the main frame unit 4.

In addition, the position of each main frame unit 4 is changed according to the movement of the hip joint of the user.

This will be described in detail through the description of the second embodiment according to the present invention to be described later.

Then, both ends of each main frame unit 4 are disposed downward along the user's leg. In addition, both sides of the main frame unit 4 have an inclined portion. The sub control unit 3 is provided in the inclined portion.

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 can adjust the assist force by using the rotary dial method. An indicator indicating the magnitude of the assisting force by a lamp is provided in the sub control unit 3.

The hip drive unit 300 is installed inside the sub control unit 3. The hip drive unit 300 generates the first rotational power with the hip axis CL1 as the rotation center. The first rotational power is a first auxiliary force provided to the hip axis of the user's hip. Therefore, the hip drive unit 300 may provide a first assist force to the hip joint of the user.

Leg units 6 should be worn on both legs of the user, respectively. Therefore, the leg units 6 are provided in pairs. The leg unit 6 includes an upper leg frame 6a mounted on the user's thigh (thigh) side, a leg drive unit 6b provided on the upper leg frame 6a to provide assistance, and mounted on the calf side of the user. And a lower leg frame 6d and a belt 6c surrounding the user's leg.

The knee joint drive unit 700 is installed inside the leg drive part 6b. The knee joint drive unit 700 may include a motor, a gear set, and the like. The articulation drive unit 700 generates a second rotational power with the articulation axis CL2 as the rotation center. The second power is a second auxiliary force provided to the central axis of the knee joint of the user. Therefore, the knee joint driving unit 700 may provide a second assistance force to the knee joint of the user. For reference, the knee joint drive unit 700 may include various components that can generate assistance.

In addition, the upper leg frame 6a may be in close contact with the outside of the thigh of the user.

This will be described in detail with reference to the third embodiment according to the present invention to be described later.

The upper leg frame 6a, the leg drive part 6b, and the lower leg frame 6d are arranged on the side of the user's leg. Through this, the user can bend smooth movement of the joint when walking.

The belt 6c is attached to the upper leg frame 6a and the lower leg frame 6d. The belt 6c can adjust the length through a one-touch dial method.

The upper leg frame 6a and the lower leg frame 6d are detachably coupled to the user's leg by the belt 6c. The upper leg frame 6a and the lower leg frame 6d are rotated in a direction corresponding to the direction of the knee joint movement of the user with respect to the leg driver 6b.

The upper leg frame 6a may be opened at an angle outward by the hip joint structure of the main frame unit 4. In addition, the upper leg frame 6a and the lower leg frame 6d have a multi joint structure. The multi-joint structure is a structure capable of adjusting the angle inward or outward corresponding to the angle of the user's legs.

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

The foot unit 7 is coupled to the lower end of the leg unit 6. The foot unit 7 supports the shoes of the user. The foot unit 7 adjusts the length of the portion where the user's shoes are inserted. In addition, the foot unit 7 is provided with a fixing member for wrapping and fixing the upper surface of the user's shoes. Accordingly, the foot unit 7 may fix the shoes of various users regardless of the type and size of the shoes.

The foot unit 7 may fix the shoe of the user. In addition, the foot unit 7 may fix the foot wearing the socks. The foot unit 7 may also fix a barefoot of a user who wears nothing.

A first embodiment of the muscle strength assistance apparatus according to the present invention will be described.

5A is an exploded perspective view illustrating a coupling relationship between a waist support unit and a main frame unit according to the present invention. 5B is a perspective view illustrating a coupling relationship between the waist support unit and the main frame unit according to the present invention.

5A and 5B, the muscle strength assisting apparatus according to the present invention has a waist support unit 410 that supports a user's waist. The waist support unit 410 is composed of a pair. The waist support unit 410 is disposed to be in close contact with the waist of the user. The area of the plate of the waist support unit 410 is determined according to the waist area of the user. Therefore, the waist support unit 410 may be manufactured to have various sizes of areas.

A pair of waist support units

The pair of waist support units 410 have a first waist support unit 410a and a second waist support unit 410b. The first waist support unit 410a has a first rack 411a. The first rack 411a protrudes from one end of the first waist support unit 410a. The second waist support unit 410b has a second rack 411b. The second rack 411b protrudes from one end of the second waist support unit 410b. The first rack 411a and the second rack 411b protrude in a direction facing each other. The first rack 411a and the second rack 411b form a predetermined interval along the top and bottom. The first rack 411a is disposed above the second rack 411b. The first gear teeth are formed on the bottom surface of the first rack 411a. The second gear teeth are formed on the top surface of the second rack 411b. Therefore, the first and second gear teeth are disposed to face each other along the upper and lower sides.

Meanwhile, the main control unit 2 according to the present invention is disposed behind the first and second waist support units 410a and 410b. Each of the first and second waist support units 410a and 410b is connected to each main frame unit 4. Each main frame unit 4 is arranged to face each other. Each main frame unit 4 is connected to each waist support unit 410a, 410b through a hip matching unit 430. The configuration of the hip matching unit 430 will be described in the second embodiment to be described later.

The main control unit 2 has a unit body 210 disposed behind the waist of the user. The unit body 210 is disposed at the rear of the pair of waist support units 410. The through hole 211 is formed in the unit body 210.

A motor 230 for generating power is installed in the unit body 210. The motor has a shaft 231 that rotates when power is generated. The shaft 231 of the motor 230 passes through the through hole 211 of the unit body 210 and is positioned between the pair of waist support units 410. The shaft 231 penetrated as described above is connected to the gear rod 220. The gear rod 220 is formed in a circular rod shape. The shaft 231 of the motor 230 is fitted to one end of the gear rod 220 is coupled. One end of the gear rod 220 has a pinion gear 221. The pinion gear 221 protrudes from the other end of the gear rod 220. The pinion gear 221 is disposed between the first rack 411a and the second rack 411b. The pinion gear 221 is in gear connection with the first and second racks 411a and 411b.

Referring to the configuration, the shaft 231 is rotated by the drive of the motor 230. The gear rod 220 coupled to the shaft 231 is rotated. At the same time, the pinion gear 221 protruding from the other end of the gear rod 220 is rotated. The first and second racks 411a and 411b are linearly moved along the left and right directions while being connected to the pinion gear 221.

Accordingly, the first and second racks 411a and 411b disposed to face each other may be interlocked along a direction in which they are simultaneously opened or gathered by the rotation of the shaft 230 of the motor 230.

5C is a view illustrating a process in which the main frame unit is attached to the hip joint side of the user according to the present invention.

Referring to (a) of Figure 5c, the user wears the muscle strength assist device (A) according to the present invention. The waist support unit 410 supports the waist of the user. The pair of main frame units 4 are located at both sides of the hip joint of the user. At this time, the pair of main frame units 4 are not completely in contact with both sides of the hip joint of the user.

Then, as described above, the main control unit 2 adjusts the left and right widths of each of the pair of main frame units 4. Therefore, as shown in FIG. 5C (b), the main control unit 2 moves so that the widths of the first and second waist support units 411a and 411b become narrow. Therefore, the pair of main frame units 4 are in close contact with both sides of the user's waist and hip joints.

In this way, the width of the pair of main frame units 4 is variably adjusted. Therefore, the pair of main frame units 4 can stably support both waist and hip joints in response to various waist sizes of the user. In addition, when the user performs walking or the like, the pair of main frame units 4 may not deviate from the hip support position of the user.

6 is a perspective view showing a coupling relationship between the waist support unit and the main frame unit according to the present invention.

Referring to FIG. 6, the pair of main frame units 4 according to the present invention have a predetermined curvature to surround the side of the hip joint from the waist of the user. The pair of main frame units 4 form the same shape with each other. The pair of main frame units 4 are arranged to face each other.

The pair of main frame units 4 have a cover 420. The cover part 420 forms a predetermined curvature. The curvature is formed in a shape surrounding the pelvis of the user. Alternatively, the cover part 420 forms an inner side shape corresponding to the outer shape of the pelvis of the user. The cover part 420 may be molded of a plastic resin. The cover 420 may be manufactured to achieve different curvatures according to the shape of the pelvis of the user.

The contact part 421 is installed at an inner side of the cover part 420. Therefore, the close contact portion 421 is in close contact with the side of the hip joint of the user. The cover part 420 may be formed of an elastic material. The cover part 420 is in close contact with the pelvis of the user. At the same time, the cover part 420 may press the pelvis of the user by making a certain elasticity. Therefore, the position of the cover portion 420 may not be distorted in close contact with the user's pelvis.

And a pair of main frame unit 4 is equipped with the hip joint drive unit 3. The hip drive unit 3 provides a first assistance force to the hip joint of the user.

The hip joint drive unit 3 includes a driving unit 310 having a rotating shaft 321 rotated according to the formation of a first auxiliary force, and a rotating unit 320 connected to the rotating shaft 321 and linked to the rotation of the rotating shaft 321. Has The driving unit 310 may be a device including a motor. The rotation shaft 321 may be a motor shaft rotated by a motor. The rotating part 320 may be a rotating plate which is connected to the rotating shaft 321 and rotated. The rotating plate may be a member that is in close contact to provide a first auxiliary force to the hip shaft of the user. Here, the rotation axis 321 forms the hip joint axis line CL1.

Cutting groove 421a is formed in the close contact portion 421. The cutting groove 421a forms a space in which the rotation part 320 is located. Therefore, the cutting groove rotating part 421a is cut along the inside of the cover part 420 so that the rotating part 320 is disposed. Therefore, the rotating part 320 is exposed to the outside through the cutting groove 421a.

Referring to the above configuration, the rotation unit 320 is rotated by the rotation axis 321 as the rotation center. The rotating unit 320 may be in close contact with the hip joint side of the user to provide a first assistance force. The first auxiliary force is a rotational force with the X axis as the rotation center.

In this case, an elastic contact member (not shown) may be installed on the outer surface of the rotating part 320. The elastic contact member is in close contact with the hip joint side of the user. The elastic contact member and the user's hip joint side may not slip from each other. Therefore, the first assistance force may not be lost while the first assistance force is provided to the hip joint of the user.

According to the above embodiment, the first embodiment according to the present invention achieves a curvature of the pair of main frame units 4 so as to be in close contact with the hip joint of the user. The pair of main frame units 4 can easily secure the hip support position by surrounding the hip joint of the user. Therefore, the first assist force can be accurately transmitted to the hip joint of the user. Accordingly, the user can walk stably. Furthermore, the strength assistance apparatus according to the present invention is stably worn on the user's body. Accordingly, the user may eliminate inconvenience in using the muscle strength assistance device.

Next, a second embodiment of the muscle strength assisting apparatus according to the present invention will be described.

The second embodiment of the muscle strength assisting device according to the present invention may be driven to match the central axis of the hip joint of the user to be moved when walking.

7 is a perspective view showing the configuration of a main frame unit having a hip matching unit according to the present invention. 8 is an exploded perspective view showing the configuration of a main frame unit having a hip matching unit according to the present invention.

7 and 8, the muscle strength assisting apparatus according to the present invention includes a waist support unit 410, a pair of main frame units 4, and a hip joint matching unit 430. The configuration of the waist support unit 410 and the pair of main frame units 4 is substantially the same as that of the first embodiment described above, and thus description thereof will be omitted.

9 is an enlarged perspective view illustrating a configuration of the first rail unit of FIG. 8. 10A is an enlarged perspective view illustrating a configuration of the second rail unit of FIG. 8. FIG. 10B is a cross-sectional view along the line A-A of FIG. 10A.

7 and 8, the hip matching unit 430 according to the present invention may be installed in a pair of main frame units 4. The hip matching unit 430 includes a first rail part 431, a second rail part 432, and a rotation part 320.

Here, the pair of main frame units 4 are identically formed. Therefore, in the following description, any one main frame unit will be described as a representative example.

A first rail portion 431 of the hip matching unit 430 according to the present invention will be described.

8 and 9, the first rail part 431 according to the present invention includes a first guide member 431a and a first rail member 431b. The first guide member 431a has a predetermined curvature of the upwardly convex shape. The first guide hole H1 in which the movement section of the predetermined section is formed may be formed on an upper end of the first guide member 431a. The first guide member 431a is coupled to a pair of bodies 431a 'and 431a ". Here, the curvature of the first guide member 431a is manufactured to be in close contact with a user's waist rear side hip. The first guide member 431a forms a curvature having a predetermined radius with the Y-axis as the rotation center.

The first rail member 431b is formed at the lower end of the second waist support unit 410b. The first rail member 431b is rail-coupled to the first guide hole H1 to be movable. Therefore, when the lower body of the user spreads along the left and right sides while the waist support unit 410 is supported by the user's waist, the hip joint of the user is rotated around the Y axis. At the same time, the first guide member 431a which is in close contact with the user's lower back thigh is rotated. That is, the first rail member 431b is moved along the first guide hole H1 of the first guide member 431a forming the curved path.

The first rail unit 431 described above guides the rotation of the cover unit 420 with the Y axis (first axis) as the rotation center. When the hip joint of the user uses the Y axis as the rotation center, the main frame unit 4 may be rotatable along the left and right directions.

The first rail unit 431 may guide the movement of the hip joint support position that is changed as the lower body of the user is moved left and right by using the Y axis, which is the first axis, as the rotation center. That is, when the user performs an operation such as spreading the lower body from side to side, the hip support position is variable in conjunction with the position of the hip joint to be variable. Accordingly, the hip support position may not deviate from the hip position of the user.

A second rail portion 432 of the hip matching unit 430 according to the present invention will be described. The second rail unit 432 connects the first rail unit 431 and the main frame unit 4.

The second rail portion 432 according to the present invention may include a second guide member 432b and a second rail member 432a. The second rail member 432a is formed at the rear end of the first guide member 431a. The second rail member 432a protrudes from the rear end of the first guide member 431a.

The second guide member 432b is fixed to the inner side of the cover part of the main frame unit. The second guide member 432b has a constant curvature in a convex shape along the rear of the second waist support unit. The second guide hole H2 in which the movement section of the predetermined section is formed may be formed at the inner circumference of the second guide member 432b. The second guide member 432b is coupled to a pair of bodies 432b 'and 432b ". Here, the curvature of the second guide member 432b forms a curvature surrounding the waist of the user. The second guide member 431b forms a curvature having a predetermined radius around the Z axis, and the second guide member 432b may be manufactured to surround a user's waist having various curvatures.

The second rail member 432a is rail-coupled to the second guide hole H2 to be movable. Accordingly, the second rail member 432a formed at the rear end of the first guide member 431a is moved along the second guide hole H2 of the second guide member 432b. The second guide member 432b moves relative to the second rail member 432a. Here, the second guide member 432b is installed in the cover part of the main frame unit. Accordingly, when the second guide member and the first rail member move relative to each other, the main frame unit may be rotated with the Y axis as the rotation center.

Referring to FIG. 10B, the pair of bodies 432b 'and 432b "are coupled. The second guide hole H2 is formed in the coupled pair of bodies 432b' and 432b". The second guide hole is exposed to the outside to one side of the pair of bodies 432b 'and 432b "coupled thereto.

The second rail member 432a according to the present invention has a rail protrusion 432a '. A cross section of the second rail member 432a is formed in a '' shape. The rail protrusion 432a 'protrudes along the outside from the inside of the second rail member 432a. The cross section of the rail protrusion 432a 'is formed in a' T 'shape. In addition, a cross section of the second guide hole H2 is formed as a 'T' shaped groove. The rail protrusion 432a 'may be engaged with the second guide hole H2 to move along the second guide hole H2.

According to the above configuration, when the user rotates the lower body with the Z axis as the rotation center while the second waist support unit 410b is supported by the waist of the user, the hip joint of the user is rotated with the Z axis as the rotation center.

The hip matching unit 430 includes a second rail unit 432. The second rail unit 432 guides the movement of the hip joint support position that changes as the lower body of the user is rotated using the Z axis (second axis) as the center of rotation. That is, when the user rotates the waist so that the pelvis is distorted, the hip support position is variable in conjunction with the position of the hip joint of the user. Accordingly, the hip support position may not deviate from the hip position of the user.

The rotating unit 320 of the hip matching unit 430 according to the present invention will be described.

6 to 8, the rotating part 320 according to the present invention is installed to rotate on the cover part 420 with the X axis as the rotation center. The rotating part 320 has a rotating shaft 321 having the X axis as the rotation center. Since the rotating part 320 is the same as the configuration described in the first embodiment according to the present invention, description thereof will be omitted.

When the user's lower body makes a rotational movement back and forth, the rotating part 320 according to the present invention is to rotate the cover portion 420 to the X axis or the third axis as the rotation center. The cover part 420 is in close contact with the hip joint side of the user. The rotating part 320 provides a first auxiliary force to the central axis of the hip joint of the user.

The rotating unit 320 guides the movement of the hip joint support position, which is variable as the lower body of the user is rotated back and forth with the third axis (X axis) as the center of rotation. When the user rotates the lower body along the front and rear direction, the hip support position is variable in conjunction with the position of the hip joint of the user. Accordingly, the hip support position may not deviate from the hip position of the user. The rotating part 320 is a component included in the hip drive unit 3 in the first embodiment.

Through the above configuration, the operation of the second embodiment according to the present invention will be described.

6 to 8, the pair of main frame units 4 form a predetermined curvature to surround the user's hip joint. The inner part of the cover part 420 provided in the pair of main frame units 4 is in close contact with the side of the hip joint of the user. Therefore, the pair of main frame units 4 can support the hip joint support position of the user in close contact. Therefore, the pair of main frame units 4 can secure the hip support position for supporting the hip joint of the user. And the hip support position may not be variable.

When the user makes an operation such as walking, the position of the hip joint of the user may be changed. The hip matching unit 430 according to the present invention connects the waist support unit 410 and a pair of main frame units 4. The hip matching unit 430 guides the movement of the main frame unit 4. The main frame unit 4 is rotated around the X axis or the Y axis or the Z axis. Therefore, in a state in which the waist support unit supports the waist of the user, the hip matching unit 430 may link the main frame unit 4 according to the hip joint movement of the user. In this case, the hip joint matching unit 430 may match the hip joint axis ML1 of the user to the hip joint axis line CL1 at the hip support position. The hip joint axis line CL1 is a rotation shaft line of the hip joint drive unit 300.

That is, the hip matching unit 430 may vary the position of the cover 420 along three axes. The Y axis may be a first axis, the X axis may be a third axis, and the Z axis may be a second axis.

 Thus, even if the position of the hip joint is changed as the user moves the lower body back and forth or right and left (twist) during the walking or moving operation, the hip joint support position supported by the pair of main frame units may be stably supported. .

The following describes variable examples of the support position of the hip joint that is linked as the position of the hip joint of the user is changed.

First, an example in which a user performs an operation of spreading one leg or a lower body along left and right will be described.

11 is a perspective view showing a state before the lower body of the user is rotated in the state wearing the muscle strength assistance device according to the present invention. 12 is a perspective view illustrating driving of a first rail unit according to the operation of FIG. 11.

As shown in FIGS. 11 and 12, when the user does not operate the lower body L in the standing state, the two lower bodies L of the user form a parallel state along the upper and lower sides. The width of the pair of main frame unit 4 is variable to be in close contact with both sides of the hip joint of the user. This is achieved by adjusting the width of the waist support unit 410 described above. Accordingly, the cover part 420 provided in the pair of main frame units 4 may closely support both sides of the hip joint of the user.

In this case, the pair of main frame units 4 may secure an 'initial hip support position' for supporting both hip joints of the user. The hip position of the user is 'P'.

Figure 13 is a perspective view showing a state in which the lower body of the user unfolded in the state wearing the muscle strength assistance apparatus according to the present invention. 14 is a perspective view illustrating driving of the first rail unit according to the operation of FIG. 13.

As shown in FIGS. 13 and 14, when the user performs an operation of spreading one leg or lower body L along the right side, the corresponding main frame unit 4 may be rotated in association with the rotation of the lower body L. FIG. Can be.

In this case, the first rail member 431b formed at the lower end of the waist support unit 410 may be moved along the first guide hole H1 of the first guide member 431a. That is, the first guide member 431a is movable relative to the first rail member 431b. Therefore, the first guide member 431a which is in close contact with the user's lower back thigh portion is guided to rotate around the first axis or the Y axis. Therefore, the corresponding main frame unit 4 supporting the hip joint side of the lower body L rotated as described above may be rotated to spread to the right.

Here, when the user rotates the lower body to the left, the position of the hip joint of the user is variable. At this time, the main frame unit 4 according to the present invention is rotated in conjunction with the rotation of the lower body of the user. Thus, the initial hip support position can be maintained.

FIG. 15 is a perspective view illustrating driving of a first rail unit in a state in which a user wears the muscle strength assistance apparatus according to the present invention and pinches the lower body inward.

Referring to FIG. 15, a state in which the user's lower body L is retracted inward while wearing the muscle strength assistance device will be described. When the user performs an operation of rotating the one leg or the lower body along the left side, the main frame unit 4 may be rotated in conjunction with the rotation of the lower body (L).

At this time, the first rail member 431b formed at the lower end of the waist support unit 410 is relatively along the first guide hole H1 of the first guide member 431a disposed below the waist support unit 410. Can be moved.

That is, the first guide member 431a is guided to rotate with the first axis or the Y axis as the rotation center. Therefore, the main frame unit 4 supporting the hip joint of the lower body L rotated along the left side may be rotated to be pinched to the left side.

When the user rotates the lower body L to the left side, the position of the hip joint of the user is variable. At this time, the main frame unit 4 according to the present invention is rotated in association with the rotation of the lower body (L) of the user to the same axis as the center of rotation. Thus, the 'initial hip support position' can be maintained.

As described above, the support position of the hip joint is variable when the user spreads or pinches the lower body along both sides in the standing position while the pair of main frame units 4 support the hip joint of the user from both sides. Here, the cover part 420 according to the present invention supports the user's hip joint stably in conjunction with the variable hip position. Therefore, even if the hip support position is misaligned or deviated while the user rotates the lower body along the left and right directions, the first auxiliary force can be accurately transmitted to the joint of the user.

The following describes an example in which the position of the hip joint is variable according to an operation of spreading or pinching the leg or lower body while the user is sitting.

16 is a plan view showing the position of the hip joint when the user is sitting.

As shown in FIG. 16, the lower body of the user does not spread along the front and rear or right and left while the user is sitting on a chair or the like. Therefore, the first and second rail parts 431 and 432 and the rotation part 320 are not driven. And the user's two lower body (L) forms a parallel state along the top and bottom. In this case, the cover part 420 provided in each main frame unit 3 may closely support both sides of the hip joint of the user. In this case, the pair of main frame units 4 may secure an 'initial hip support position'.

17 is a plan view illustrating a state in which the lower body is pinched inward when the user is seated. 17 shows the operation of the second rail unit according to the present invention.

As shown in FIG. 17, when the user performs an operation of pinching one leg or the lower body L while the user is sitting, the cover part 420 supporting the hip joint of the user rotates the Z axis (the second axis). Can be rotated.

The second rail member 432a installed at the rear end of the first guide member 431a is moved along the second guide hole H2 of the second guide member 432b formed at the inner side of the cover 420. At this time, the first rail unit 431 may achieve a state that does not move.

That is, when the user rotates to pinch the lower body (L) in a sitting state, the position of the hip joint of the user is variable. On the other hand, the cover part 420 according to the present invention is rotated in conjunction with the rotation of the lower body (L) of the user with the same Z axis as the center of rotation. Thus, the 'initial hip support position' can be maintained.

18 is a plan view illustrating a state in which the lower body is spread outward while the user is sitting.

As shown in FIG. 19, when the user opens both legs or the lower body L while sitting, the cover part 420 supporting the user's hip joint is rotated around the Z axis (second axis).

That is, the second rail member 432a installed at the rear end of the first guide member 431a moves along the second guide hole H2 of the second guide member 432b formed at the inner side of the cover 420. do. That is, the second guide member 432b installed on the inner side of the main frame unit 4 can move relative to the second rail member 432a.

Here, the second rail member 432a is guided and rotated so as to be opposite to the rotation direction in FIG. 17 described above.

That is, if the user opens the lower body (L) in a sitting state, the position of the hip joint of the user is variable. And the cover 420 according to the present invention is linked to the rotation of the user lower body (L). Therefore, the cover part 420 is rotated to match the movement of the user. The center of rotation of the cover 420 is the Z axis. Thus, the 'initial hip support position' can be maintained.

As described above, the pair of main frame units 4 closely support both sides of the hip joint of the user. When the user is sitting in the same place as the chair while the lower body is spread or pinched along both sides, the position of the hip joint of the user is variable. In this state, the main frame unit 4 according to the present invention stably supports the hip joint of the user by interlocking with the position of the hip joint of the user to be variable.

Therefore, even if the hip support position is changed while the lower body is being moved while the user is sitting, the first auxiliary force can be accurately transmitted to the joint of the user.

19 is a perspective view showing a state in which the user stands and bends the lower body. 20 is a perspective view illustrating driving of the second rail unit in the state of FIG. 19.

As shown in FIG. 19, in a state where both sides of the hip joint of the user are tightly fixed by the main frame unit 4, the user rotates one of the lower bodies L forward with the X axis or the third axis as the rotation center. Or bent along the upper and lower chambers, as shown in FIG. 16, the first and second rail parts 431 and 432 are not driven. In addition, the main frame unit 4 may be rotated along the front or rear with the Y axis as the rotation center by the rotation guide of the rotation unit 320. In this state the 'initial hip support position' can be maintained.

21 is a perspective view showing a state in which the user stands and bends the lower body and opens outward. FIG. 22 is a perspective view illustrating driving of the second rail unit in a state in which a user stands and bends a lower body and spreads outward.

In the above state, as shown in FIG. 21, when the user opens the lower body L bent to the outside, the second rail member 432a installed at the rear end of the first guide member 431a may include the cover 420. It moves along the second guide hole (H2) of the second guide member 432b formed on the inner side of. The first guide member 431a and the second rail member 432a are relatively moved. As a result, as shown in FIG. 20, the cover part 420 may be rotated around the Z axis or the second axis.

The user stands up. In addition, the user performs an operation of spreading or pinching in a state in which the lower body L is rotated forward. At this time, the cover unit 420 according to the present invention is linked to the rotation operation of the user's lower body (L). Thus, the hip support position is variable. The present invention maintains a constant hip support position regardless of the user's lower limb movement. Therefore, even if the user makes various postures, the first assist force is easily transmitted to the hip joint of the user requiring the assist force.

Meanwhile, in the hip matching unit 430 according to the present invention, the first rail part 431 and the second rail part 432 may be replaceable.

Referring to FIG. 8, the first guide member 431a, which is a configuration of the first rail part 431, may be separated and coupled into two bodies 431a ′ and 431 ″. Accordingly, the first guide member 431a may be detachable from the first rail member 431b.

In addition, the second guide member 432b of the second rail portion 432 may be separated into two bodies 432b 'and 432b ″. The second guide member 432b may be configured to be engageable at an inner side of the cover 420. The second guide member 432b may be detachable from the inner side of the cover portion 420. A coupling member 440 is installed inside the cover part 420. The coupling member 440 fixes the second guide member 432b. The second guide member 432b may be fastened to the coupling member 440 through a fastening member (not shown). The fastening member may include a bolt.

Accordingly, the first and second guide members 431a and 432b constituting different curvature paths may be replaced with members having different curvatures. The user can select and use a guide member that fits the curvature of an outer hip of an individual.

According to the above embodiment, according to the second embodiment of the present invention, the hip joint axis line CL1 is positioned at a position supporting the hip joint center axis (ML1, see FIG. 11) and the hip joint of the user using the hip matching unit 430. Can match. Accordingly, even if the user moves the hip joint after wearing the muscle assisting device, the first assistive force may be stably provided to the hip joint of the user requiring the first assistive force.

In addition, the hip axis line CL1 at the hip support position according to the present invention may be matched with the moving hip joint to coincide with the hip joint axis ML1 of the user. Accordingly, even if the position of both hip joints of the user is variable, the hip joint support position may achieve a constant hip joint support position.

In addition, the hip matching unit 430 of the present invention stably provides the first auxiliary force in accordance with the direction of movement of the hip joint. Accordingly, in the process of the user taking various postures, the first auxiliary force is stably transmitted to the joints of the user.

A third embodiment of the muscle strength assistance apparatus according to the present invention will be described.

Figure 23 is an exploded perspective view showing the configuration of the joint support unit for muscle strength assistance apparatus according to the present invention. 24 is a perspective view showing the configuration of the joint support unit for muscle strength assistance apparatus according to the invention.

Prior to the description, the upper leg frame 6a described above is a part corresponding to the skeleton according to the present invention. The upper leg frame 6a includes a close support unit 600.

23 and 24, the muscle strength assisting apparatus according to the present invention includes a hip drive unit 300, a knee joint drive unit 700, and a close support unit 600.

The hip drive unit 300 is disposed to provide a first assist force to the hip joint of the user.

The hip drive unit 300 includes a first support bracket 810. The first connection member 120 is formed on the top of the first support bracket 810. The first connection member 811 is rotatably connected to the hip joint drive unit 300 described above.

An upper end of the inclined support 620 to be described later is hinged to the lower end of the first support bracket 810.

The knee joint drive unit 700 provides a second assist force to the knee joint of the user.

The knee joint drive unit 700 includes a second support bracket 820. Substantially, a lower end of the second support bracket 820 is rotatably connected to the knee joint drive unit 700.

The lower end of the elastic part 610 to be described later is connected to the upper end of the second support bracket 820. The second connection member 821 is formed at a lower end of the second support bracket 820. The second connecting member 821 is connected to the knee joint drive unit 3.

The close support unit 600 may connect the hip joint drive unit 3 and the knee joint drive unit 6b. The close support unit (6a) is capable of adjusting the vertical length. In addition, the close support unit (6a) may be capable of adjusting the inclination to the left and right.

The configuration of the close support unit 600 according to the present invention will be described.

The close support unit 600 according to the present invention includes a stretchable part 610. The lower end of the stretchable part 610 is connected to the knee joint drive unit 700.

The stretchable portion 610 includes a stretchable portion body 611. The lower end of the elastic body 611 is connected to the upper end of the second support bracket 820.

The elevating member 612 that can protrude upward and downward is provided in the elastic body 611. The connection end 612a may be formed at an upper end of the elevating member 612.

As the elevating member 612 protrudes to be liftable from the elastic body 611, the elastic body 611 may adjust the length along the up and down. This is to adjust the length corresponding to the thigh or thigh of the user.

Meanwhile, the inclined support part 620 according to the present invention includes a link member 621.

The first hinge end h1 may be formed at an upper end of the link member 621. The second hinge end h2 may be formed at the lower end of the link member 621.

The first hinge end h1 is hingedly connected to the lower end of the first support bracket 810. The second hinge end h2 may be hinged to an upper end of the second support bracket 820.

Therefore, the top and bottom of the link member 621 according to the present invention forms a hinge structure. Therefore, the link member 621 may be rotated along the left and right sides. Accordingly, the inclination of the link member 621 may be adjusted along the left side or the right side. The left side or the right side is a direction in which the user's thigh side can be attached or spaced apart.

Here, the configuration of the link member 621 according to the present invention will be described in more detail.

The link member 621 according to the present invention consists of a link member body 621a. The link member body 621a has the first and second hinge ends h1 and h2 described above. The link member body 621a is formed in a plate shape. A cut hole 621b having a predetermined size is formed in the link member body 621a. Accordingly, the weight of the link member body 621a may form a weight of less than a predetermined.

In addition, the pair of first hinge ends h1 are formed at both upper ends of the link member body 621a. The first auxiliary shaft 623 is provided between the pair of first hinge ends h1. Herein, the configuration numbers of the first and second auxiliary shafts 623 are the same.

The pair of second hinge ends h2 are formed at both lower ends of the link member body 621a. The second auxiliary shaft 623 is provided between the pair of second hinge ends h2,

The first and second auxiliary shafts 623 may provide auxiliary fastening force to the first and second hinge ends h1 and h2. Accordingly, the link member body 621a may be stably rotated even if the first and second hinge ends h1 and h2 are damaged during rotation.

On the other hand, the link member 621 according to the present invention may be configured in a pair. Accordingly, the link member 621 according to the present invention can be rotated while ensuring a support force during rotation.

In addition, even if one link member 621 is broken, the other link member 621 temporarily adjusts the tilt.

Meanwhile, the link member 621 according to the present invention may be surrounded by the cover 622.

That is, the pair of link members 621 described above are disposed inside the cover 622. The pair of link members 621 may be protected from the outside.

The contact plate 622a is installed at one side of the cover 622. The contact plate 622a is a member that is in close contact with the thigh of the user. That is, the inclined support 620 according to the present invention is rotated to achieve a predetermined angle so as to be in close contact with the thigh of the user. In this way, the inclined support 620 may achieve a predetermined inclination.

25 is a view showing a state before the rotation operation of the close support unit according to the present invention. 26 is a view showing a state after the rotation operation of the close support unit according to the present invention.

As shown in FIG. 25, the link member 621 according to the present invention forms a straight line along the top and bottom at the upper end of the stretchable portion 310 before the rotation or inclination is achieved.

As shown in FIG. 26, the first hinge end H1 is hinged to the first support bracket 110. In addition, the second hinge end H2 is hingedly connected to the connection end 312a formed at the upper end of the elevating member 312. Therefore, the link member 321 may be rotatable at a predetermined angle to be in close contact with the thigh of the user.

27 is a view showing a state in which the joint support unit is stretched upward according to the present invention.

Referring to FIG. 27, in a state in which the inclined support part 620 is rotated at a predetermined angle, the stretchable part 610 according to the present invention may protrude upwardly inclined inclined support part 620.

The elevating member 612 may protrude upward from the elastic body 611. Accordingly, the link member 321 hinged to the upper end of the elevating member 612 may be positioned to be elevated upward.

Therefore, the vertical length of the joint support unit may be adjusted to correspond to the thigh length of the user.

28 is a view showing a state in which the inclined support portion in close contact with the thigh of the user according to the present invention.

As shown in FIG. 28, the inclined support part 620 may be rotated to be inclined at a predetermined angle while maintaining the vertical gap between the knee joint drive unit 6b and the hip joint drive unit 3.

Here, the link member 621 is rotated between the upper end of the elevating member 612 and the second support bracket 820 with the first and second hinge ends h1 and h2 as the rotation centers.

And the cover 622 surrounding the link member 621 through the rotation is inclined. The sealing plate 622a installed at one side of the cover 622 may be easily in contact with the outer circumference of the inclined thigh of the user.

Therefore, the close support unit 6a is in close contact with the thigh of the user. And the hip joint axis line CL1 of the hip drive unit 3 shown in FIG. 12 may coincide with the central axis ML1 of the hip joint of the user.

In addition, the hip joint axis line CL2 of the knee driving unit 700 illustrated in FIG. 11 may be coincident with the knee joint axis line ML2 of the user.

Accordingly, the loss of the first and second assistance forces provided by the hip joint and the knee joint of the user can be effectively reduced.

29 is a view showing an example of extending the vertical length so as to correspond to the length of the thigh of the user using the elastic portion according to the present invention.

As shown in FIG. 29, the inclined support 620 may be inclined at an angle to correspond to the inclination of the thigh of the user.

In the state of inclining at an angle, the elevating member 612 protrudes upward from the elastic body 611. Accordingly, the vertical length of the elevating member 612 is variable. The vertical length of the elevating member 612 may be adjusted to correspond to the vertical length of the thigh of the user.

Here, the hip joint axis line CL1 of the hip drive unit 300 coincides with the hip joint center axis line ML1 of the user. The knee joint drive unit 700 has a vertical position. Accordingly, the knee joint line CL2 of the knee joint driving unit 700 coincides with the knee joint axis line ML2 of the user.

The close support unit 600 is in close contact with the thigh of the user. Accordingly, the assist force generated from the hip drive unit 300 and the knee joint drive unit 700 may be accurately transmitted to the corresponding joint of the user who requires the assist force.

According to the above embodiment, the third embodiment according to the present invention may be brought into close contact with the thigh of the user. Accordingly, each driving unit provided on the upper and lower portions of the close support unit is accurately positioned at the position of the joint requiring the assist force. Each drive unit accurately transmits the assist force to the joint of the user. And part of the assist force may not be lost in the process of being delivered to the joint of the user.

The present invention described above is capable of various substitutions, modifications, and changes without departing from the technical spirit of the present invention for those skilled in the art to which the present invention pertains. It is not limited by the drawings.

1: strength aid 2: main control unit
3: sub control unit 4: main frame unit
5: sub-frame unit 6: leg unit
7: foot unit 300: hip drive unit
310: driving unit 320: rotating unit
321: rotation axis 410: waist support unit
411a: first waist support unit 411b: second waist support unit
420: cover portion 421: close contact portion
421a: incision groove 431: the first rail portion
431a: first guide member 431b: first rail member
432: second rail portion 432a: second rail member
432b: second guide member 600: close support unit
610: elastic portion 611: elastic portion body
612: lifting member 612a: connecting end
620: inclined support 621: link member
621a: link member body 622: cover
622a: sealing plate 700: knee joint drive unit
810: first support bracket 820: second support bracket

Claims (18)

A waist support unit supporting a waist of a user;
A pair of main frame units connected to both sides of the waist support unit and surrounding the hip joint of the user; And
A hip joint driving unit installed in the pair of main frame units and providing a first auxiliary force to a hip joint of a user
Strength aids.
The method of claim 1,
The waist support unit,
A first waist support unit having a first gear tooth formed therein;
A second waist support unit corresponding to the first waist support unit and having a second gear tooth facing the first gear tooth;
A gear rod connected to the first gear teeth and the second gear teeth,
A motor for rotating the gear rod to vary a width between the first waist support unit and the second waist support unit,
Strength aids.
The method of claim 1,
Each of the pair of main frame units,
Has a certain curvature to wrap around the hip joint from the waist of the user,
Strength aids.
The method of claim 3, wherein
The hip drive unit,
A driving unit having a rotating shaft rotated according to the first auxiliary force formation;
It is connected to the rotary shaft, having a rotary unit linked to the rotation of the rotary shaft,
Strength aids.
A waist support unit supporting a waist of a user;
A pair of main frame units disposed at both sides of the waist support unit and having a predetermined curvature to surround the side of the hip joint from the waist of the user, and surrounding the hip joint of the user from the waist of the user to form a hip support position; And
And a hip joint matching unit connecting the waist support unit and the pair of main frame units to move each of the pair of main frame units in association with a hip joint movement of a user.
Strength aids.
The method of claim 5,
The hip matching unit,
Is provided in the waist support unit, including a first rail portion for moving the pair of main frame unit to guide the movement of the hip joint support position,
Strength aids.
The method of claim 6,
The first rail unit,
A first guide member having a constant curvature upwardly convex with the first axis as the center of rotation, and having a first guide hole defining a constant movement section;
It is installed on the lower end of the waist support unit, comprising a first rail member coupled to the first guide hole and moved along the first guide hole,
Strength aids.
The method of claim 7, wherein
The hip matching unit,
And a second rail unit connecting the hari support unit and the pair of main frame units to move the pair of main frame units to guide the movement of the hip support position.
Strength aids.
The method of claim 8,
The second rail portion,
A second guide member installed on the inner side of the cover part and having a predetermined curvature convex rearward with the second axis as the center of rotation, and having a second guide hole defining a predetermined moving section;
It is installed on the rear end of the first guide member, comprising a second rail member coupled to the second guide hole and moved along the second guide hole,
Strength aids.
A waist support unit supporting a waist of a user;
A pair of main frame units disposed on both sides of the waist support unit and having a predetermined curvature to surround the side of the hip joint from a waist of a user; And
Connect the hip drive unit that provides the first assistance to the hip joint of the user and the knee drive unit that provides the second assist to the knee joint of the user, and the close support unit is in close contact with the user's thigh by adjusting the length and incline Comprising;
Strength aids.
The method of claim 10,
The close support unit,
An elastic part connected to the knee joint driving unit and stretched along the upper and lower sides;
It includes a inclined support hinged to the stretchable portion and the hip drive unit is capable of tilt adjustment along the left and right sides,
Strength aids.
The method of claim 11,
The hip drive unit,
The first support bracket is hingedly connected to the upper end of the inclined support,
The knee joint drive unit,
A second support bracket is connected to the lower end of the stretchable part,
Strength aids.
The method of claim 12,
The stretching portion,
An elastic part body having a lower end connected to an upper end of the second support bracket,
It is provided with an elevating member which is installed to be able to elevate the elastic body,
The lower end of the inclined support is hinged to the upper end of the elevating member,
Strength aids.
The method of claim 13,
The inclined support portion,
Including link members,
An upper end of the link member is hinged to the first support bracket,
The lower end of the link member is hinged to the upper end of the elevating member,
Strength aids.
The method of claim 14,
The link member,
Provided in pairs at regular intervals,
The link member provided in the pair,
Formed into a plate,
Strength aids.
A waist support unit supporting a waist of a user;
A pair of main frame units disposed at both sides of the waist support unit and having a predetermined curvature to surround the side of the hip joint from the waist of the user, and surrounding the hip joint of the user from the waist of the user to form a hip support position;
A hip joint matching unit connecting the waist support unit and the pair of main frame units to move each of the pair of main frame units in association with a user's hip joint movement; And,
Connect the hip drive unit that provides the first assistance to the hip joint of the user and the knee drive unit that provides the second assist to the knee joint of the user, and the close support unit is in close contact with the user's thigh by adjusting the length and incline Comprising;
Strength aids.
The method of claim 16,
The hip matching unit,
A first rail part connected to a lower end of the waist support unit, the first rail part rotating along the pair of main frame units at a rotational center of the first axis to guide the movement of the hip support position;
A second rail unit connecting the first rail unit to the pair of main frame units and rotating the pair of main frame units around a second axis to guide the movement of the hip joint support position;
It is installed on the pair of main frame unit, and includes a rotating portion for rotating the pair of main frame unit around the third axis of rotation to guide the movement of the hip joint support position,
Wherein the first axis, the second axis and the third axis are orthogonal to each other,
Strength aids.
The method of claim 16,
The close support unit,
An elastic part connected to the knee joint driving unit and stretched along the upper and lower sides;
Is connected to the expansion unit and the hip drive unit hinged to include an inclined support that can be tilted along the left and right,
The hip drive unit includes a first support bracket to which the upper end of the inclined support is hinged,
The knee joint drive unit includes a second support bracket to which the lower end of the stretchable part is connected,
The expansion and contraction portion, the lower end is provided with an elastic portion body that is connected to the upper end of the second support bracket, and the elevating member is installed to the elevating portion body,
The lower end of the inclined support is hinged to the upper end of the elevating member,
The inclined support includes a link member,
An upper end of the link member is hinged to the first support bracket,
The lower end of the link member is hinged to the upper end of the elevating member,
Strength aids.

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