阅读说明：本技术 肢体康复外骨骼 (exoskeleton for limb rehabilitation ) 是由 谭高辉 马舜 朱俊杰 于 2019-09-25 设计创作，主要内容包括：本发明公开一种肢体康复外骨骼,肢体康复外骨骼包括：第一支撑杆；第二支撑杆,第二支撑杆与第一支撑杆转动连接；捆绑结构,捆绑结构用于固定部分肢体于第二支撑杆,捆绑结构设于第二支撑杆的一侧；第一导轮组件,第一导轮组件设于第一支撑杆背离第二支撑杆的端部；以及第二导轮组件,第二导轮组件设于第二支撑杆背离第一支撑杆的端部,第二导轮组件包括内侧轮和外侧轮,内侧轮和外侧轮分别设于第二支撑杆的两侧,内侧轮与捆绑结构位于第二支撑杆的同一侧。本发明技术方案能够在采用外骨骼辅助人体康复时,起到导向的作用,并贴合肢体的运动轨迹,提高康复效果,并且在用户使用时,避免肢体康复外骨骼倾斜带来的不良影响。(The invention discloses a limb rehabilitation exoskeleton, which comprises: a first support bar; the second support rod is rotatably connected with the first support rod; the binding structure is used for fixing part of the limb on the second supporting rod, and the binding structure is arranged on one side of the second supporting rod; the first guide wheel assembly is arranged at the end part of the first support rod, which is far away from the second support rod; and the second guide wheel assembly is arranged at the end part of the second support rod, which deviates from the first support rod, and comprises an inner side wheel and an outer side wheel, the inner side wheel and the outer side wheel are respectively arranged at the two sides of the second support rod, and the inner side wheel and the binding structure are positioned at the same side of the second support rod. According to the technical scheme, the exoskeleton-assisted human body rehabilitation device has a guiding effect when the exoskeleton is adopted to assist human body rehabilitation, fits the motion trail of limbs, improves the rehabilitation effect, and avoids adverse effects caused by the inclination of the exoskeleton in limb rehabilitation when a user uses the exoskeleton-assisted human body rehabilitation device.)

1. a limb rehabilitation exoskeleton, comprising:

The first support rod is made of a hard material;

The second supporting rod is rotatably connected with the first supporting rod and is made of a hard material;

the binding structure is used for fixing part of limbs on the second supporting rod, the binding structure is arranged on one side of the second supporting rod, and the material of the binding structure comprises a flexible material;

The first guide wheel assembly is arranged at the end part of the first support rod, which is far away from the second support rod; and

the second guide wheel assembly is arranged at the end part, deviating from the first supporting rod, of the second supporting rod and comprises an inner side wheel and an outer side wheel, the inner side wheel and the outer side wheel are respectively arranged at two sides of the second supporting rod, and the inner side wheel and the binding structure are located on the same side of the second supporting rod.

2. the limb rehabilitation exoskeleton of claim 1 wherein said first guide wheel assembly comprises a first guide wheel, said first support rod is provided with a first rotating shaft, and said first guide wheel is rotatably sleeved on said first rotating shaft;

The second bracing piece is equipped with the second axis of rotation, the inboard wheel with the outside wheel all rotationally cup joints in the second axis of rotation.

3. the limb rehabilitation exoskeleton of claim 2 wherein the length S1 of the medial wheel in the axial direction is in the range of: s1 is more than or equal to 5mm and less than or equal to 30 mm;

And/or the axial length S2 of the outer wheel has the following value range: s2 is more than or equal to 30mm and less than or equal to 90 mm.

4. The limb rehabilitation exoskeleton of claim 3 wherein said second wheel guide assembly further comprises a one-way bearing, said one-way bearing being disposed between said second rotational axis and said inner wheel, an inner race of said one-way bearing being fixedly attached to said second rotational axis and an outer race of said one-way bearing being fixedly attached to said inner wheel;

and/or, the one-way bearing is arranged between the second rotating shaft and the outer side wheel, the outer ring of the one-way bearing is fixedly connected with the second rotating shaft, and the outer ring of the one-way bearing is fixedly connected with the outer side wheel.

5. The limb rehabilitation exoskeleton of claim 4 wherein the number of said one-way bearings disposed on said lateral wheel is at least two, and at least two of said hub bearings are spaced apart along the axial direction of said lateral wheel.

6. The limb rehabilitation exoskeleton of claim 3 wherein said second guide wheel assembly is adjustable relative to said second support bar.

7. The limb rehabilitation exoskeleton of claim 6 wherein the second support rod comprises a first segment and a second segment, the second segment telescopically received in the first segment, the end of the first segment remote from the second segment rotatably connected to the first support rod, and a second guide wheel assembly provided at the end of the second segment remote from the first segment;

Or, the limb rehabilitation exoskeleton further comprises a positioning structure, and the positioning structure comprises: the positioning structure comprises a first member, a second member and a connecting plate, wherein the connecting plate is fixedly connected with the second supporting rod, a sliding groove is formed in the connecting plate and/or the second supporting rod, the second member is slidably arranged in the sliding groove, the second guide wheel assembly is rotatably arranged at the end part, far away from the connecting plate, of the second member, and the first member is telescopically arranged in the moving path of the second member and used for limiting the second member.

8. the limb rehabilitation exoskeleton of claim 7 wherein when the limb rehabilitation exoskeleton comprises the positioning structure, the second member comprises a sliding connection section and a support section connected with the sliding connection section, the sliding connection section is slidably received in the sliding groove, the first member is movably abutted against the sliding connection section, the support section extends out of the sliding groove, the support section is formed with a mounting through hole, and the second rotating shaft is rotatably arranged in the mounting through hole.

9. The limb rehabilitation exoskeleton of claim 8 wherein said first support bar and/or said second support bar are rotated to form an included angle in the rotation direction of said first support bar and/or said second support bar, and said support section is bent from said second support bar towards said first support bar;

And/or the end part of the support section departing from the sliding connection section is arranged in an arc shape.

10. the limb rehabilitation exoskeleton of any one of claims 1 to 9 wherein the first support bar and/or the second support bar are angled in the direction of rotation of the first support bar and/or the second support bar, the first guide wheel assembly is provided on the side of the first support bar facing the second support bar, and the second guide wheel assembly is provided on the side of the second support bar facing the first support bar.

Technical Field

the invention relates to the technical field of exoskeletons, in particular to a limb rehabilitation exoskeleton.

Background

In clinical rehabilitation, in early and acute rehabilitation stages of patients with stroke, cerebral palsy and the like, the cerebral nervous system interrupted and disordered due to brain tissue injury is often required to be awakened and remodeled through joint movement, and meanwhile, the muscle strength can be improved through the joint movement, and other diseases such as muscle atrophy, pressure sores generated on limbs and the like can be avoided.

In the existing clinical rehabilitation departments, a rehabilitation teacher mostly helps a patient to perform corresponding rehabilitation actions artificially. Because the patient can not provide active power for movement in the period of flaccid paralysis, the patient needs to be helped by the power of a rehabilitee at the moment, and the labor and time cost is greatly wasted. Because the daily recovery amount of each rehabilitee is limited, the demand of brain tissue injury patients and orthopedic injury patients for rapid growth cannot be met. And through artificially carrying out the rehabilitation training in the acute stage, the rehabilitation mode can not be well controlled, such as effective switching of passive, active and impedance modes is carried out, or the existing rehabilitation training can also be assisted by some machines to guide rehabilitation, but the motion track of the existing auxiliary machine is not smooth enough, larger error exists between the motion track and limbs, and the motion is not smooth enough, so that the rehabilitation effect is not ideal, and when a user uses the rehabilitation training device, the limb exoskeleton can incline due to gravity distribution, so that the inclined limb rehabilitation exoskeleton needs to be supported by the human body, and the recovery is not facilitated.

the above description is only for the purpose of assisting understanding of the technical solutions of the present application, and does not represent an admission of prior art.

Disclosure of Invention

the invention mainly aims to provide a limb rehabilitation exoskeleton, which aims to play a role in guiding when the exoskeleton is adopted to assist human body rehabilitation, fit the motion track of limbs, move stably, improve the rehabilitation effect and avoid adverse effects caused by the inclination of the limb rehabilitation exoskeleton when a user uses the exoskeleton.

to achieve the above object, the present invention provides a limb rehabilitation exoskeleton comprising:

A first support bar;

the second support rod is rotatably connected with the first support rod;

The binding structure is used for fixing part of limbs on the second supporting rod, and the binding structure is arranged on one side of the second supporting rod;

The first guide wheel assembly is arranged at the end part of the first support rod, which is far away from the second support rod; and

the second guide wheel assembly is arranged at the end part, deviating from the first supporting rod, of the second supporting rod and comprises an inner side wheel and an outer side wheel, the inner side wheel and the outer side wheel are respectively arranged at two sides of the second supporting rod, and the inner side wheel and the binding structure are located on the same side of the second supporting rod.

according to the technical scheme, the first support rod is rotatably connected with the second support rod, the first guide wheel assembly is arranged at the end part, away from the second support rod, of the first support rod, the second guide wheel assembly is arranged at the end part, away from the first support rod, of the second support rod, when the first support rod rotates relative to the second support rod under the action of external force, the first guide wheel assembly can play a role in guiding the movement of the end part, away from the second support rod, of the first support rod, and the second guide wheel assembly can also play a role in guiding the movement of the end part, away from the first support rod, of the second support rod. The second guide wheel assembly is provided with the inner side wheels and the outer side wheels, and the first guide wheel assembly, the inner side wheels and the outer side wheels are used as supports at the same time, so that the support area can be increased, the stable running of the limb rehabilitation exoskeleton during movement is ensured, and the rehabilitation effect is improved; and when the binding structure is used for fixing the limb, the limb rehabilitation exoskeleton may incline to one side provided with the binding structure, and gravity is concentrated on one side of the outer wheel, so that the outer wheel is unevenly stressed, and the whole motion track is deviated. The inner side wheels are added to share gravity, the inner side wheels and the binding structures are arranged on the same side, so that the limb rehabilitation exoskeleton can be supported by the inner side wheels when the limb rehabilitation exoskeleton tilts, the two side supporting wheels are more uniformly stressed and cannot tilt, the track deviation is prevented, and adverse effects caused by the tilting of the limb rehabilitation exoskeleton are avoided.

For example, when the exoskeleton assists in rehabilitation of lower limbs of a human body, the first support rod is fixed with a shank of the human body, and the second support rod is fixed with a thigh of the human body, the first support rod is driven to rotate relative to the second support rod, so that the lower limbs are driven to do flexion and extension movement. When a human body does rehabilitation exercise, the human body is generally in a lying posture or a sitting posture, and the first guide wheel assembly is arranged on the first support rod, so that when the first support rod does exercise, the first guide wheel assembly is in contact with the support surface and rolls relative to the support surface, resistance of the first support rod in the exercise process can be reduced, the movement of the lower leg part is enabled to be more fit with the normal movement track of limbs, and the human body is ensured to move along the set direction. The second guide wheel assembly is provided with the inner side wheels and the outer side wheels, and the first guide wheel assembly, the inner side wheels and the outer side wheels are used as supports at the same time, so that the support area can be increased, the stable running of the limb rehabilitation exoskeleton during movement is ensured, and the rehabilitation effect is improved; and when the binding structure is used for fixing the limb, the limb rehabilitation exoskeleton may incline to one side provided with the binding structure, and gravity is concentrated on one side of the outer wheel, so that the outer wheel is unevenly stressed, and the whole motion track is deviated. The inner side wheels are added to share gravity, the inner side wheels and the binding structures are arranged on the same side, so that the limb rehabilitation exoskeleton can be supported by the inner side wheels when the limb rehabilitation exoskeleton tilts, the two side supporting wheels are more uniformly stressed and cannot tilt, the track deviation is prevented, and adverse effects caused by the tilting of the limb rehabilitation exoskeleton are avoided. When the second supporting rod moves, the second guide wheel component is in contact with the supporting surface, so that the resistance of the second supporting rod in the moving process can be reduced, and the motion of the thigh part is more fit with the normal motion trail of the limb. Therefore, the technical scheme of the invention can play a role in guiding when the exoskeleton is adopted to assist the human body to recover, fit the motion trail of the limb, improve the recovery effect, and avoid the adverse effect caused by the inclination of the exoskeleton of the limb recovery when a user uses the exoskeleton.

drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.

Fig. 1 is a schematic structural diagram of an embodiment of a limb rehabilitation exoskeleton of the present invention;

FIG. 2 is a schematic structural diagram of another perspective of the exoskeleton for limb rehabilitation according to the embodiment of the present invention;

FIG. 3 is a schematic structural diagram of another perspective of an embodiment of a limb rehabilitation exoskeleton of the present invention;

FIG. 4 is a schematic partial structural view of an embodiment of a first wheel guide assembly of the limb rehabilitation exoskeleton of the present invention;

FIG. 5 is a schematic partial schematic view of another embodiment of the first wheel guide assembly of the limb rehabilitation exoskeleton of the present invention;

FIG. 6 is a front view of the first guide wheel assembly of the limb rehabilitation exoskeleton of the present invention with the first support rod removed;

FIG. 7 is an exploded view of the first wheel guide assembly of the limb rehabilitation exoskeleton of the present invention with the first support bar removed;

fig. 8 is a schematic partial structural view of an embodiment of a first guide wheel of the limb rehabilitation exoskeleton of the invention;

Fig. 9 is a structural diagram illustrating an installation state of the second support rod and the positioning structure of the limb rehabilitation exoskeleton according to an embodiment of the present invention;

Fig. 10 is a structural diagram illustrating an installation state of a second support rod and a positioning structure of the limb rehabilitation exoskeleton according to another embodiment of the present invention from another perspective;

FIG. 11 is a schematic partial structural view of an embodiment of a second guide wheel assembly and positioning structure of the extremity rehabilitation exoskeleton of the invention

FIG. 12 is an exploded view of an embodiment of the second wheel guide assembly and positioning structure of the limb rehabilitation exoskeleton of the present invention;

FIG. 13 is an exploded view of an embodiment of the outboard wheel of the present invention;

FIG. 14 is an exploded view of an embodiment of the inner wheel of the present invention;

FIG. 15 is an exploded view of one embodiment of the mounting ring of the present invention.

The reference numbers illustrate:

The objects, features and advantages of the present invention will be further explained with reference to the accompanying drawings.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

it should be noted that all the directional indicators (such as up, down, left, right, front, and rear … …) in the embodiment of the present invention are only used to explain the relative position relationship between the components, the movement situation, etc. in a specific posture (as shown in the drawing), and if the specific posture is changed, the directional indicator is changed accordingly.

In the present invention, unless otherwise expressly stated or limited, the terms "connected," "secured," and the like are to be construed broadly, and for example, "secured" may be a fixed connection, a removable connection, or an integral part; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

In addition, the descriptions related to "first", "second", etc. in the present invention are only for descriptive purposes and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, technical solutions between various embodiments may be combined with each other, but must be realized by a person skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination should not be considered to exist, and is not within the protection scope of the present invention.

the invention provides a limb rehabilitation exoskeleton 100, which aims to facilitate the lower limb rehabilitation of a patient.

Referring to fig. 1-3 and 9-11, in an embodiment of the present application, the limb rehabilitation exoskeleton 100 includes:

A first support bar 10;

The second support rod 20 is rotatably connected with the first support rod 10;

The binding structure 50 is used for fixing a part of limbs on the second support rod 20, and the binding structure 50 is arranged on one side of the second support rod 20;

the first guide wheel assembly 30 is arranged at the end part of the first support rod 10, which is far away from the second support rod 20; and

The second guide wheel assembly 40 is arranged at the end part of the second support rod 20 departing from the first support rod 10, the second guide wheel assembly 40 comprises an inner side wheel 41 and an outer side wheel 42, the inner side wheel 41 and the outer side wheel 42 are respectively arranged at two sides of the second support rod 20, and the inner side wheel 41 and the binding structure 50 are arranged at the same side of the second support rod 20.

according to the technical scheme, the first support rod 10 is rotatably connected with the second support rod 20, the first guide wheel assembly 30 is arranged at the end part, away from the second support rod 20, of the first support rod 10, and the second guide wheel assembly 40 is arranged at the end part, away from the first support rod 10, of the second support rod 20, when the first support rod 10 rotates relative to the second support rod 20 under the action of external force, the first guide wheel assembly 30 can play a role in guiding the movement of the end part, away from the second support rod 20, of the first support rod 10, and the second guide wheel assembly 40 also plays a role in guiding the movement of the end part, away from the first support rod 10, of the second support rod 20. In addition, since the second guide wheel assembly 40 is provided with the inner side wheel 41 and the outer side wheel 42, the first guide wheel assembly 30, the inner side wheel 41 and the outer side wheel 42 are simultaneously used as supports, so that the support area can be increased, the stable operation of the limb rehabilitation exoskeleton 100 during movement is ensured, and the rehabilitation effect is improved; and, when the binding structure 50 is used to fix a limb, the limb rehabilitation exoskeleton 100 may tilt to the side where the binding structure 50 is arranged, and the gravity is concentrated on one side of the outer side wheel 42, so that the outer side wheel 42 is unevenly stressed, resulting in the deviation of the overall motion trajectory. The inner side wheels 41 are added to share the gravity, the inner side wheels 41 and the binding structures 50 are arranged on the same side, so that the limb rehabilitation exoskeleton 100 can be supported by the inner side wheels 41 when inclined, the two side supporting wheels are more uniformly stressed and cannot overturn, the track deviation is prevented, and the adverse effect caused by the inclination of the limb rehabilitation exoskeleton 100 is avoided.

For example, when the exoskeleton assists in lower limb rehabilitation of a human body, the first support rod 10 is fixed with a calf of the human body, and the second support rod 20 is fixed with a thigh of the human body, the first support rod 10 is driven to rotate relative to the second support rod 20, so as to drive the lower limb to make flexion and extension movements. When the human body does rehabilitation exercise, the human body is generally in a lying posture or a sitting posture, and the first guide wheel assembly 30 is arranged on the first support rod 10, so that when the first support rod 10 does exercise, the first guide wheel assembly 30 is in contact with the support surface and rolls relative to the support surface, the resistance of the first support rod 10 in the exercise process can be reduced, the movement of the lower leg part is made to be more fit with the normal movement track of the limb, and the human body is guaranteed to move along the set direction. In addition, since the second guide wheel assembly 40 is provided with the inner side wheel 41 and the outer side wheel 42, the first guide wheel assembly 30, the inner side wheel 41 and the outer side wheel 42 are simultaneously used as supports, so that the support area can be increased, the stable operation of the limb rehabilitation exoskeleton 100 during movement is ensured, and the rehabilitation effect is improved; and, when the binding structure 50 is used to fix a limb, the limb rehabilitation exoskeleton 100 may tilt to the side where the binding structure 50 is arranged, and the gravity is concentrated on one side of the outer side wheel 42, so that the outer side wheel 42 is unevenly stressed, resulting in the deviation of the overall motion trajectory. The inner side wheels 41 are added to share the gravity, the inner side wheels 41 and the binding structures 50 are arranged on the same side, so that the limb rehabilitation exoskeleton 100 can be supported by the inner side wheels 41 when inclined, the two side supporting wheels are more uniformly stressed and cannot overturn, the track deviation is prevented, and the adverse effect caused by the inclination of the limb rehabilitation exoskeleton 100 is avoided. When the second support bar 20 moves, the second guide wheel assembly 40 contacts with the support surface, so that the resistance of the second support bar 20 in the moving process can be reduced, and the movement of the thigh part is more fit with the normal movement track of the limb. Therefore, the technical scheme of the invention can play a role in guiding when the exoskeleton is adopted to assist the human body to recover, fit the motion trail of the limb, improve the recovery effect, and avoid the adverse effect caused by the inclination of the limb recovery exoskeleton 100 when a user uses the exoskeleton.

it will be appreciated that in one use configuration, a user may place a lower limb on the limb rehabilitation exoskeleton 100 such that the first support bar 10 supports the lower leg and the second support bar 20 supports the upper leg, thereby performing rehabilitation training on the lower leg and the upper leg when the first support bar 10 and the second support bar 20 are driven to rotate relatively. And, in order to fix the position of the limb of the patient relative to the first support rod 10 and the second support rod 20, in the present technical solution, a fixing member is disposed on the first support rod 10 and/or the second support rod 20, in an embodiment of the present application, the fixing member is disposed on the upper side of the first support rod 10 and the second support rod 20, or the fixing member is correspondingly disposed on a plane parallel to the rotation direction of the first support rod 10 and the second support rod 20, so as to fix the leg laterally, and when the limb rehabilitation exoskeleton 100 is connected to the human body, the patient can be in a lying or sitting state. Wherein, the material of mounting can be elastic material such as rubber, latex, also can be made by multilayer cloth and/or cotton yarn to increase its gas permeability, make things convenient for the patient to use.

It should be noted that, in the present application, the "end portion" of the end portion of the first support rod 10, which is away from the second support rod 20, of the first guide wheel assembly 30 is not limited to the end surface of the first support rod 10 in the length direction, and may be understood as the free end of the first support rod 10, that is, the first guide wheel assembly 30 may be installed at the free end of the first support rod 10, and may be located at a distance from the end surface of the first support rod 10 in the length direction or fixed on the end surface, and the same "end portion" of the end portion of the second support rod 20, which is away from the first support rod 10, of the second guide wheel assembly 40 "is referred to the foregoing description, and is not repeated herein.

in an embodiment of the present application, each of the first support bar 10 and the second support bar 20 may be rod-shaped or flat-plate-shaped, and in order to reduce the weight of the first support bar 10 and the second support bar 20, a hollow structure may be disposed on the first support bar 10 and the second support bar 20. The first support rod 10 and the second support rod 20 may be made of metal (the metal may be made of stainless steel, aluminum alloy, copper alloy, iron alloy, etc.), plastic (the plastic may be made of hard plastic, such as ABS, POM, PS, PMMA, PC, PET, PBT, PPO, etc.), other alloy materials, etc. Or a mixture of a metal material and plastic may be used as long as the stability of the first and second support bars 10 and 20 is improved. So, be favorable to promoting the stability that sets up of first bracing piece 10 and second bracing piece 20 more to effectively promote practicality, reliability, and the durability of first bracing piece 10 and second bracing piece 20. In an embodiment of the present application, the second support bar 20 is larger than the first support bar 10, and since the size of the thigh of the human body is larger than the size of the shank, the size of the second support bar 20 for supporting the thigh is larger than the size of the first support bar 10 for supporting the shank, which makes the structure of the extremity rehabilitation exoskeleton 100 more stable. It should be noted that the dimension may be at least one of the geometrical dimensions of length, width, thickness, etc.

Referring to fig. 1 to 5, in an embodiment of the present application, the first guide wheel assembly 30 includes a first guide wheel 31, the first support rod 10 is provided with a first rotating shaft 123, and the first guide wheel 31 is rotatably sleeved on the first rotating shaft 123;

the second support rod 20 is provided with a second rotating shaft 43, and the inner side wheel 41 and the outer side wheel 42 are both rotatably sleeved on the second rotating shaft 43. It is understood that first rotating shaft 123 is formed along a radial extension of first support rod 10 to facilitate the sleeving of first guide wheel 31, thereby facilitating the rotation of first guide wheel 31 on first rotating shaft 123. The end of first rotating shaft 123 facing away from first support rod 10 may include a limiting portion, so that when first guide wheel 31 is rotatably sleeved on first rotating shaft 123, first guide wheel 31 may be prevented from flying out in the using process. And, this first pivot 123 can also include the kerf that runs through the spacing portion, thus when installing first guide pulley 31, can through combining the spacing portion, and then pass first guide pulley 31, after first pivot passed first guide pulley 31, spacing portion opened and is spacing first guide pulley 31 in first pivot 123. Also, a second rotation shaft 43 is formed to extend in a radial direction of the second support rod 20, thereby facilitating the nesting of the inner wheel 41 and the outer wheel 42. The end of the second rotating shaft 43 away from the second support rod 20 may include a limiting portion, so that when the inner wheel 41 and the outer wheel 42 are rotatably sleeved on the second rotating shaft 43, the inner wheel 41 and the outer wheel 42 are prevented from flying out in the using process. And, the second rotating shaft 43 may further include a slit penetrating the position-limiting part, so that when the inner wheel 41 and the outer wheel 42 are installed, the position-limiting part may be combined and then penetrate the inner wheel 41 and the outer wheel 42, and after the second rotating shaft penetrates the inner wheel 41 and the outer wheel 42, the position-limiting part is opened to position the inner wheel 41 and the outer wheel 42 on the second rotating shaft 43.

Referring to fig. 1 to 3, in an embodiment of the present application, in a rotation direction of the first support rod 10 and/or the second support rod 20, the first support rod 10 and/or the second support rod 20 rotate to form an included angle, at least two first guide wheels 31 are disposed on a same side of the first support rod 10, and the second guide wheel assembly 40 is disposed on a side of the second support rod 20 facing the first guide wheel assembly 30. When the first support rod 10 and the second support rod 20 form an included angle, that is, when the user is in a state of leg-folding during use, the first guide wheel assembly 30 is disposed on one side of the first support rod 10 (that is, at least two first guide wheels 31 are disposed on the same side in the rotation direction of the first support rod 10), the second guide wheel assembly 40 is disposed on one side of the second support rod 20 facing the first guide wheel assembly 30, and may be inner surfaces of the first support rod 10 and the second support rod 20 opposite to each other (that is, the first guide wheel assembly 30 is disposed on one side of the inner surface of the first support rod 10, and the second guide wheel assembly 40 is disposed on one side of the inner surface of the second support rod 20), that is, a rear side similar to the lower leg and a rear side of the upper leg, because muscle tissue of the human body wraps the upper leg and the lower leg, the first guide wheel assembly 30 and the second guide wheel assembly 40 are disposed on the rear side of, the limb rehabilitation exoskeleton 100 can be lifted by the first guide wheel assembly 30 and the second guide wheel assembly 40, so that the thighs and the shanks can be placed in abdicating mode, the muscle of the user is prevented from contacting a supporting surface, the rehabilitation effect is prevented from being influenced by excessive force output of the muscle, and the limb rehabilitation exoskeleton 100 can be supported favorably. It will be appreciated that when the first support rod 10 and the second support rod 20 are parallel, the portion of the first wheel guide assembly 30 that supports is disposed on the same side of the limb rehabilitation exoskeleton 100 (the rear side of the leg) as the portion of the second wheel guide assembly 40 that supports, which allows the limb rehabilitation exoskeleton 100 to support the user on the same side, providing increased support stability. And the arrangement of at least two first guide wheels 31 on the same side of the first support rod 10 also facilitates the simultaneous support of the first guide wheels 31, thereby improving the structural stability of the limb rehabilitation exoskeleton 100. It can be understood that the number of the first guide wheels 31 of the first guide wheel assembly 30 can also be 3, 4, 5, 6, etc., which can increase the contact area between the first guide wheel assembly 30 and the supporting surface and improve the structural stability.

referring to fig. 2, in an embodiment of the present application, a length L1 of the first guide wheel 31 in the axial direction has a range of values: l1 is more than or equal to 10mm and less than or equal to 200 mm; when the axial length of the first guide wheel 31 is less than 10mm, the contact area of the first guide wheel 31 and the supporting surface is small, which is easy to cause unstable support of the limb rehabilitation exoskeleton 100 in the rolling process and affect the rehabilitation effect of the user; when the axial length of first guide wheel 31 is greater than 200mm, the occupied space of first guide wheel 31 is too large, the overall structure of limb rehabilitation exoskeleton 100 is too large, the arrangement of a user is not facilitated, and when the value range of L1 is 10mm to 200mm, the user can be supported conveniently on one hand, and the user can not occupy too large volume and is convenient to use on the other hand. It is understood that L1 may also take the values: 20mm, 30mm, 40mm, 50mm, 60mm, 70mm, 90mm, 100mm, 120mm, 150mm, 160mm, 180mm and the like, which are convenient for supporting and do not occupy too large volume.

Referring to fig. 1, in an embodiment of the present application, a length S1 of the inner wheel 41 in the axial direction has a range of values: s1 is more than or equal to 5mm and less than or equal to 30 mm;

and/or the axial length S2 of the outer wheel 42 has a value range of: s2 is more than or equal to 30mm and less than or equal to 90 mm.

In one embodiment, when the axial length of the inner wheel 41 is less than 5mm, the area of the inner wheel 41 for contacting with the supporting surface may be small, which may cause unstable support of the limb rehabilitation exoskeleton 100 during rolling, and affect the rehabilitation effect of the user; when the length of the inner side wheels 41 in the axial direction is greater than 30mm, the occupied space of the inner side wheels 41 is too large, so that the inner side wheels interfere with the crotch of a human body and are not beneficial to a user to use, and when the value range of S1 is 5mm to 30mm by utilizing the physiological characteristic that the crotch of the human body is sunken towards the inner side of the human body, on one hand, the outer side of the outer side wheel is convenient to support the user, on the other hand, the outer side of the outer side wheel does not occupy too large volume, the human body is not scratched in the movement process, the integral structure of the limb rehabilitation exoskeleton 100 is prevented. It is understood that the value of S1 may also be: 8mm, 10mm, 12mm, 15mm, 20mm, 24mm, 28mm etc. all can be convenient for support and can not occupy too big volume. When the axial length of the outer wheel 42 is less than 30mm, the contact area of the outer wheel 42 and the supporting surface is small, so that the limb rehabilitation exoskeleton 100 is easy to support unstably in the rolling process, the overall supporting effect in the exercise process is influenced by too small wheel diameter width, and the overall mechanism is easy to overturn and the rehabilitation effect of a user is influenced by hip external rotation force when the user bends legs; when the ascending length in the outside wheel 42 axial is greater than 90mm, can lead to outside wheel 42 'S occupation space too big, cause the overall structure of recovered ectoskeleton 100 of limbs too big, be unfavorable for the user to settle, when S2' S value range is 30mm to 90mm, be convenient for on the one hand support the user, on the other hand can not occupy too big volume, facilitates the use. It is understood that L1 may also take the values: 20mm, 30mm, 40mm, 50mm, 60mm, 70mm, 80mm and the like, which are convenient to support and do not occupy too large volume.

referring to fig. 13 to 15, in an embodiment of the present application, the second guide wheel assembly 40 further includes a one-way bearing 44, the one-way bearing 44 is disposed between the second rotating shaft 43 and the inner wheel 41, an inner ring of the one-way bearing 44 is fixedly connected to the second rotating shaft 43, and an outer ring of the one-way bearing 44 is fixedly connected to the inner wheel 41;

And/or, the one-way bearing 44 is disposed between the second rotating shaft 43 and the outer wheel 42, an outer ring of the one-way bearing 44 is fixedly connected to the second rotating shaft 43, and an outer ring of the one-way bearing 44 is fixedly connected to the outer wheel 42. The one-way bearing 44 is arranged to control the second guide wheel assembly 40 to rotate in one direction in the direction close to the first guide wheel assembly 30, so that when the calf is folded, the second guide wheel assembly 40 can rotate relative to the supporting surface, and the friction between the inner side wheel 41 and the outer side wheel 42 and the supporting surface is rolling friction; conversely, when the lower leg is extended, the second guide wheel assembly 40 cannot rotate, and the friction with the support surface is sliding friction. The arrangement can reduce the resistance of the first supporting rod 10 in the motion process, is beneficial to the close contact of the limb rehabilitation exoskeleton 100 and a human body, effectively prevents the phenomena of misalignment of the joints of a patient and unrealistic foot treading, increases the human body feeling, and is further beneficial to the recovery of the human nerve. In one embodiment, the one-way bearing 44 is a standard component, which can be directly purchased from the market, and the structure thereof can refer to the structure of the existing one-way bearing 44, which is not described herein, and the one-way bearing 44 is installed between the second rotating shaft 43 and the inner and outer wheels 41 and 42, and controls the inner and outer wheels 41 and 42 to rotate in one direction in a direction close to the first guide wheel assembly 30, thereby increasing the pedaling feeling of the user. By adopting the one-way bearing 44, the structure can be set simply, the original structure does not need to be improved, and the assembly operation is convenient.

Referring to fig. 13, in an embodiment of the present application, the number of the one-way bearings 44 provided on the outer wheel 42 is at least two, and at least two of the hub bearings are provided at intervals along the axial direction of the outer wheel 42. It can be understood that the two one-way bearings 44 are mounted on the axial end surface of the outer wheel 42, so as to ensure that both sides of the outer bearing in the axial direction can be supported, and improve the rotating smoothness of the outer wheel 42.

referring to fig. 13 to 15, in an embodiment of the present application, the outer wheel 42 includes an outer wheel body 421 and a mounting ring 422, the outer wheel body 421 is formed with a mounting cylinder 4211, the mounting ring 422 includes a first mounting ring 4221 and at least two second mounting rings 4222, an outer ring of the one-way bearing 44 is fixedly connected to the first mounting ring 4221, the two second mounting rings 4222 are arranged along an axial direction of the first mounting ring 4221 and cover a joint of the one-way axial direction and the first mounting ring 4221, and the first mounting ring 4221 and the one-way bearing 44 are secondarily fixed. The outer edge of the first mounting ring 4221 is sleeved in the mounting cylinder 4211 of the outer wheel body 421 and is fixedly connected with the outer wheel body 421. It can be understood that the fixed connection in the embodiment adopts a threaded connection mode of a threaded hole and a threaded connector, so that the structure is simple, and the installation is easy. Similarly, the inner wheel 41 may also be installed in the same way as the outer wheel 42, and the inner wheel 41 may include an inner wheel body 411, where the inner wheel body 411 is formed with an installation groove 4111, and at this time, the installation ring 422 and the one-way bearing 44 may be installed in the installation groove 4111, but when the thickness of the inner wheel 41 is smaller, only one-way bearing 44 may be installed.

Referring to fig. 9 to 12, in an embodiment of the present application, the second guide wheel assembly 40 is adjustable relative to the second support rod 20. When users with different heights use the exoskeleton 100, the contact position of the second guide wheel assembly 40 and the supporting surface is changed relative to the gravity center of the human body due to the adjustability of the second guide wheel assembly 40 relative to the second supporting rod 20, so that the stability of the limb rehabilitation exoskeleton 100 is improved.

In an implementation of the present application, the second support rod 20 includes a first segment and a second segment, the second segment is telescopically sleeved in the first segment, an end of the first segment away from the second segment is rotatably connected to the first support rod 10, and an end of the second segment away from the first segment is provided with a second guide wheel assembly 40; the second segment is movably provided to the first segment, and the length of the second support rod 20 is made adjustable by the second segment being close to or far from the first segment. So, when facing the patient of different heights, adjust spacing subassembly, remove a definite position with the second segmentation for first segmentation section under the exogenic action, first segmentation section and the mutual spacing fixed patient that can adapt to the height difference of second segmentation section to the commonality of recovered ectoskeleton 100 of limbs has been improved.

Referring to fig. 11 and 12, in an embodiment of the present application, the limb rehabilitation exoskeleton 100 further includes a positioning structure 60, the positioning structure 60 includes a first member 61, a second member 62 and a connecting plate 63, the connecting plate 63 is fixedly connected to the second support rod 20, the connecting plate 63 and/or the second support rod 20 is/are formed with a sliding slot 631, the second member 62 is slidably disposed in the sliding slot 631, the second wheel guide assembly 40 is rotatably disposed at an end of the second member 62 away from the connecting plate 63, and the first member 61 is telescopically disposed in a movement path of the second member 62 and is used for limiting the second member 62. In this embodiment, the second guide wheel assembly 40 is mounted on the positioning structure 60, and the positioning structure 60 is connected to the second support rod 20, so that the second support rod 20 and the second guide wheel assembly 40 are adjustable by the positioning structure 60, and users with different heights can be adapted. And as the rod body of the second support rod 20 is not adjusted, the stability of the support of the second support rod 20 is improved, and the stability of the limb rehabilitation exoskeleton 100 in the using process is further improved.

Referring to fig. 12, in an embodiment of the present application, when the limb rehabilitation exoskeleton 100 includes the positioning structure 60, the second member 62 includes a sliding connection section and a support section connected to the sliding connection section, the sliding connection section is slidably received in the sliding groove 631, the first member 61 is movably abutted against the sliding connection section, the support section extends out of the sliding groove 631, the support section is formed with a mounting through hole, and the second rotating shaft 43 is rotatably disposed in the mounting through hole. In this embodiment, the sliding section for sliding and the supporting section for supporting are provided to facilitate the supporting of the second member 62 while sliding, and the second guide wheel assembly 40 is supported with the supporting surface, so that the second guide wheel assembly 40 is provided on the supporting section extending out of the sliding groove 631 to facilitate the supporting of the second guide wheel assembly 40.

referring to fig. 12, in an embodiment of the present application, in a rotation direction of the first support bar 10 and/or the second support bar 20, the first support bar 10 and/or the second support bar 20 rotates to form an included angle, and the support section is bent from the second support bar 20 toward the first support bar 10; in an embodiment, the second member 62 is substantially "L" shaped, and the sliding connection section of the second member 62 and the second support rod 20 extend in the same direction, so that the second guide wheel assembly 40 mounted on the support section and the second support rod 20 are spaced apart from each other in the radial direction of the second support rod 20, thereby facilitating the mounting and supporting of the second guide wheel assembly 40 and improving the practicability.

In an embodiment of the present application, an end of the support section facing away from the sliding connection section is disposed in an arc shape. Under the condition that the first supporting rod 10 and the second supporting rod 20 rotate, the second member 62 also rotates, and the end of the supporting section, which is far away from the sliding connection section, is set to be an arc line, so that the second member 62 can be prevented from interfering with the supporting surface when rotating. Of course, the outer contour of the projected and supported section of the second wheel guide assembly 40 can also include the supported section within the relative rotation range of the first support rod 10 and the second support rod 20, and the interference of the second member 62 with the supporting surface during the rotation can also be avoided, so as to improve the rotational stability of the limb rehabilitation exoskeleton 100.

referring to fig. 3, in an embodiment of the present application, the radius of the first guide wheel 31 is r1, the radii of the inner side wheel 41 and the outer side wheel 42 are r2, and the relationship between r1 and r2 is: r1 is not more than r 2. Considering that the diameter of the thigh of the human body is generally larger than that of the shank, the radius of the first guide wheel 31 is set to be smaller than or equal to the radius of the inner side wheel 41 and the outer side wheel 42, so that the shape of the limb rehabilitation exoskeleton 100 is more adaptive to the shape of the human body, and the adaptation degree and the rehabilitation effect are improved.

Referring to fig. 1, 4 to 7, in an embodiment of the present application, the first guide wheel assembly 30 further includes a connecting frame 12, the connecting frame 12 is disposed at an end of the first support rod 10 facing away from the second support rod 20, the connecting frame 12 extends along a radial direction of the first support rod 10, and the first rotating shaft 123 extends along the radial direction of the first support rod 10 and is rotatably connected to the connecting frame 12. The arrangement of the connecting frame 12 and the first rotating shaft 123 extending along the radial direction of the first supporting rod 10 can increase the installation space of the first guide wheel 31, so that more first guide wheels 31 can be arranged on the first guide wheel assembly 30, thereby further increasing the contact area with the supporting surface and improving the structural stability of the limb rehabilitation exoskeleton 100. And it can be appreciated that when first guide wheel 31 and second guide wheel assembly 40 support the ground simultaneously, the support positions are distributed in a substantially triangular shape, and thus the stability of limb rehabilitation exoskeleton 100 during movement can be improved. In one embodiment, the connecting frame 12 is substantially in the form of an elongated plate, which is arranged to save production costs on the one hand and to extend in the radial direction of the first support bar 10 on the other hand. When the connecting frame 12 is connected to the first supporting rod 10, the limb rehabilitation exoskeleton 100 is substantially arranged in a T shape or an L shape, so that the structural stability is ensured.

referring to fig. 4 and 5, in an embodiment of the present application, the connection frame 12 includes a support body 121 and a connection member 122 connected to the support body 121, the connection member 122 is used to fixedly connect the first support rod 10 to the support body 121, and the first rotation shaft 123 is rotatably connected to the support body 121. The connecting member 122 may be a nut, a snap structure or a limiting structure, and the first support rod 10 may further have a screw hole, a snap position 621 or a matching position, so that the connecting member 122 can connect the first support rod 10 and the support body 121. The connection member 122 may fix the first support bar 10 to a surface of the support body 121, thereby facilitating the installation of a user. And, the support body 121 is arranged, so that the connecting frame 12 can be better used for supporting the limb rehabilitation exoskeleton 100, and the structural stability is improved.

Referring to fig. 4 and 5, in an embodiment of the present application, the connection member 122 includes a connection member and a clamping member 1221 detachably and fixedly connected to the support main body 121, the clamping member 1221 is formed with a mounting hole 1221a for mounting the first support rod 10, the clamping member 1221 is further formed with a first connection hole 1221b penetrating through the mounting hole 1221a, the first support rod 10 is formed with a second connection hole 11, and the connection member passes through the first connection hole 1221b and the second connection hole 11 to fixedly connect the clamping member 1221 and the first support rod 10. In this embodiment, the clamping member 1221 is mainly used to fix the first support rod 10, and the connecting member is used to connect the clamping member 1221 to the support body 121, so as to improve the connection stability of the connecting member 122. And, it can be understood that, the installation hole 1221a is provided to limit the position of the first support rod 10 in the radial direction of the hole, and the cross-sectional profile of the installation hole 1221a is preferably adapted to the cross-sectional profile of the first support rod 10, so as to improve the fixing effect when the first support rod 10 is inserted into the installation hole 1221 a. In this embodiment, the connector may be a nut, and the first connection hole 1221b and the second connection hole 11 may be screw holes, thereby facilitating the fixing of the clamping member 1221 to the first support bar 10.

In an embodiment of the present application, the connection member 122 includes a connection member and a clamping member 1221 detachably and fixedly connected with the support body 121, the clamping member 1221 is formed with a clamping groove for clamping the first support rod 10, a notch of the clamping groove faces the support plate 1211, the clamping member 1221 is further formed with a first connection hole 1221b penetrating through a wall of the clamping groove, the first support rod 10 is formed with a second connection hole 11, the connection member passes through the first connection hole 1221b and the second connection hole 11, and the clamping member 1221 and the first support rod 10 are fixedly connected. In this embodiment, the clamping member 1221 is mainly used to fix the first support rod 10, and the connecting member is used to connect the clamping member 1221 to the support body 121, so as to improve the connection stability of the connecting member 122. And, since the clamping groove has a notch, the provision of the clamping groove may facilitate the installation of the first support bar 10 by a user. It is understood that the connector may be a nut, and the first coupling hole 1221b and the second coupling hole 11 may be screw holes, thereby facilitating the fixing of the clamping member 1221 to the first support bar 10.

Referring to fig. 6 and 7, in an embodiment of the present application, the support body 121 includes a support plate 1211 and a support protrusion 1212 connected to a surface of the support plate 1211, the connection member 122 is disposed on a surface of the support protrusion 1212 facing away from the support plate 1211, the support plate 1211 extends along a radial direction of the first support rod 10, the support protrusion 1212 is formed with a through hole along the radial direction of the first support rod 10, and the first rotation shaft 123 rotatably passes through the through hole. The first rotating shaft 123 may be supported by the support protrusion 1212, and the support protrusion 1212 and the support plate 1211 may be provided with screw holes, so that the support plate 1211 and the support protrusion 1212 may be fixedly connected by a nut.

referring to fig. 6 and 7, in an embodiment of the present application, the number of the supporting protrusions 1212 is at least two, and the first rotating shaft 123 rotatably passes through the through hole of each supporting protrusion 1212. The provision of the plurality of support protrusions 1212 may allow the first rotating shaft 123 to be supported at a plurality of positions, thereby improving rotational stability of the first rotating shaft 123. When the plurality of first guide wheels 31 are provided, portions of the plurality of first guide wheels 31 may be disposed between the two support protrusions 1212, so that the first guide wheel assembly 30 has a better guiding effect.

referring to fig. 4 and 5, in an embodiment of the present application, a surface of the support plate 1211 facing away from the support protrusion 1212 is recessed to form an abdicating groove 1211a, and the abdicating groove 1211a is used for positioning the limb. The abdicating groove 1211a can reduce the occupied space of the connecting frame 12 on one hand, and can position the limbs on the other hand, thereby improving the rehabilitation effect.

referring to fig. 8, in an embodiment of the present application, the first guide pulley 31 includes:

a support hub 311, wherein the support hub 311 includes an inner rim 3111, an outer rim 3112 and a connecting rib 3113, the inner rim 3111 and the outer rim 3112 are sleeved with each other, the connecting rib 3113 is disposed between the inner rim 3111 and the outer rim 3112 and connects the inner rim 3111 and the outer rim 3112; and

An outer ring of the hub bearing 312 is fixedly connected to the inner ring 3111, and an inner ring of the hub bearing 312 is fixedly connected to the first rotating shaft 123. In an embodiment, the material of the support hub 311 may be made of plastic (the plastic may be selected from rigid plastics, such as ABS, POM, PS, PMMA, PC, PET, PBT, PPO, etc.), so as to reduce the cost and facilitate the molding. The first guide roller 31 is disposed substantially in a cylindrical shape so as to facilitate rolling. Set up tie-bar 3113 and can further improve interior rim 3111 and outer rim 3112's stability to make the weight of first guide pulley 31 not too heavy, influence user's use experience. The hub bearing 312 is arranged to change the connection between the first guide wheel 31 and the first rotating shaft 123 into rolling friction, so that the rotating friction force is reduced, and therefore, when a user uses the limb rehabilitation exoskeleton 100 for rehabilitation training, the normal movement track of the limb is closer, and the use is convenient.

in an embodiment of the present application, one of the first rotating shaft 123 and the inner ring of the hub bearing 312 is formed with a convex key, and the other of the first rotating shaft 123 and the inner ring of the hub bearing 312 is formed with a key groove, and the convex key is inserted into the key groove to fixedly connect the first rotating shaft 123 and the hub bearing 312. In this embodiment, the mode through convex key and keyway realizes the fixed of bearing and axle, so set up can make the fixed effect of the two better, can adopt fixed modes such as spline, triangle key, as long as can realize better fixed can.

in an embodiment of the present application, the first guide wheel assembly 30 and the second guide wheel assembly 40 are disposed on a supporting surface, the first guide wheel assembly 30 is projected on the supporting surface to form a first projection area, the connecting frame 12 and the first support rod 10 are projected on the supporting surface to form a second projection area, and the length of the first projection area is greater than the length of the second projection area in the axial direction of the first guide wheel 31. That is, the width of first guide wheel subassembly 30 is greater than the width of first bracing piece 10 and link 12, because the one end that the limbs shank deviates from the thigh does not have other similar organs (unlike the thigh, the thigh root is similar), be difficult to obtain stably through the support of human body, it can make the structure of limbs recovered ectoskeleton 100 more stable to set up the great first guide wheel subassembly 30 of width, and then improves the first bracing piece 10 and the rotation of second bracing piece 20 steady in the rehabilitation training process, improves recovered effect.

Referring to fig. 9, in an embodiment of the present application, the limb rehabilitation exoskeleton 100 further comprises a power device 70, wherein the power device 70 drives the first support rod 10 to rotate relative to the second support rod 20. The power device 70 may be a motor, which may be a stepper motor or a servo motor or a brush motor or a brushless motor. The output shaft of the motor can also be in transmission connection with the first support rod 10 and/or the second support rod 20 through a transmission member. The transmission member may be a steel wire, a gear, a worm or a belt, etc., as long as it is convenient for transmission, in an embodiment, the motor may be disposed on the second support rod 20, when the power device 70 drives the first support rod 10 to rotate through the transmission assembly, the first support rod 10 drives the shank to move, so that the human body completes the actions of bending knees, straightening, etc., when these actions are completed, the position change amplitude of the power device 70 is very small, thereby reducing or even avoiding the power device 70 from doing work by overcoming its own gravity. The problems of leg rotation and joint misalignment caused by uneven gravity distribution of joint components are also avoided, and the rehabilitation of a user is better assisted. In order to facilitate the patient to wear the exoskeleton, in the embodiment, the power device 70 is detachably connected to the second support rod 20, when the exoskeleton is worn by the patient, the power device 70 can be detached first to reduce the weight of the exoskeleton when the patient wears the exoskeleton, and after the joint assembly is worn, the power device 70 is installed on the second support rod 20. In other embodiments of the present invention, the power device 70 may be fixedly connected to the second support rod 20 to reduce the number of steps required to wear the exoskeleton.

The above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention, and all modifications and equivalents of the present invention, which are made by the contents of the present specification and the accompanying drawings, or directly/indirectly applied to other related technical fields, are included in the scope of the present invention.