JP5712897B2 - Load detection device and walking assist device - Google Patents

Description

  The present invention relates to a load detection device and a walking assist device.

  In recent years, attention has been focused on wearable robots that are worn on the body. For example, a wearable robot that assists a user's walking motion is known. This wearable robot includes a load sensor that detects a load between the sole of the user and the floor surface, and an actuator that assists bending of the leg joint of the user. The wearable robot assists the user's walking motion by controlling the actuator based on the detection result of the load sensor, the angle of the user's ankle joint, and the like.

  Patent Document 1 discloses a walking assist device including a pedaling force sensor. The pedal force sensor includes a load detection unit and an elastic body that covers the load detection unit. By covering the load detection unit with an elastic body, even when a pedaling force is applied from a direction inclined with respect to the vertical direction of the pedaling force sensor, the vertical force is efficiently applied to the load detection unit due to the internal stress of the elastic body. Communicated.

JP 2009-11429 A

  While the user is walking, the user's foot may land obliquely with respect to the floor surface, or the user may walk while dragging his / her foot. In such a case, a large shear force is generated in the load sensor disposed on the sole. That is, a force in the horizontal direction with the floor surface is applied to the load sensor. Since the load sensor is not assumed to detect a force in the horizontal direction with respect to the floor surface, it is weak to a force in the horizontal direction with respect to the floor surface. For this reason, there is a problem that the shear force generated by the walking motion causes deterioration and failure of the load sensor.

  In addition, Patent Document 1 discloses that a force applied from a direction inclined with respect to the vertical direction of the pedal force sensor is efficiently detected, but no countermeasure is disclosed for a shearing force applied to the load sensor. Absent.

  The present invention has been made to solve such problems, and an object of the present invention is to provide a load detection device and a walking assist device that improve the life of the load sensor.

  A load detection device according to the present invention is provided between a first plate, a second plate disposed to face the first plate, and the first plate and the second plate. , A load sensor fixed in position relative to the second plate, and a first sensor that is provided between the load sensor and the first plate and transmits a load applied to the first plate to the load sensor. The first member is slidable with respect to the first plate and the load sensor. Thereby, when the load detection device receives a shearing force, the first member slides with respect to the first plate and the load sensor. Therefore, the shear force that the load sensor receives can be reduced, and the life of the load sensor can be improved.

  Moreover, you may further provide the 1st guide member which controls the sliding range of the said 1st member. Thereby, the first member can be held on the load sensor.

  The first guide member is provided in a sliding direction of the first member, and the sliding range of the first member is regulated by the first member being in contact with the guide member. May be.

  Further, a clearance may be provided between the first guide member and the first member. Thereby, the first member can slide sufficiently on the load sensor.

  Moreover, you may further provide the 2nd guide member which controls the movement range to the said 1st plate side of the said 1st member. Thereby, the first member can be held on the load sensor.

  Further, the second guide member covers at least a part of the surface of the first member on the first plate side, so that the movement range of the first member to the first plate side is increased. It may be regulated.

  Further, the second guide member may be a low friction wrap. Thereby, the load transmission from the first plate can be prevented and deterioration of the sensor sensitivity can be prevented.

  In addition, a second member provided between the first member and the first plate and fixed to the first plate is further provided, and the second member includes the first member. It is good also as being slidable with respect to this member. Thereby, a shearing force can be reduced even between the first member and the second member, and the life of the load sensor can be improved.

  Moreover, you may further provide the 3rd member provided between the said load sensor and the said 1st member, and the movement of the surface direction of the said 2nd plate was controlled. Thereby, it can prevent that a 1st member damages a load sensor, and can improve the lifetime of a load sensor.

  The edge of the first member may be formed in a curved shape. Thereby, even when the edge part of a 1st member contact | abuts to a load sensor, it can prevent a load sensor being damaged.

The load sensor may have a sheet shape. Thereby, thickness reduction of a load detection apparatus can be achieved.

  Further, the load detection device may be provided on a shoe sole and detect a load that the first plate receives from a sole.

  The walking assist device according to the present invention includes the load detection device.

  According to the present invention, it is possible to provide a load detection device and a walking assist device that improve the life of the load sensor.

It is a cross-sectional schematic diagram at the time of wearing the wearable robot according to the first embodiment. 1 is a schematic top view of a load detection device according to a first embodiment. 1 is a schematic cross-sectional view of a load detection device according to a first embodiment. 1 is a partially enlarged view of a load detection device according to a first embodiment. FIG. 6 is a diagram for explaining an operation of the load detection device according to the first exemplary embodiment. FIG. 6 is a diagram for explaining an operation of the load detection device according to the first exemplary embodiment. It is the elements on larger scale of the load detection apparatus concerning Embodiment 2. FIG. FIG. 6 is an enlarged view of an application member according to the second embodiment. FIG. 10 is a diagram for explaining the operation of the load detection apparatus according to the second embodiment. FIG. 10 is a diagram for explaining the operation of the load detection apparatus according to the second embodiment. It is the elements on larger scale of the load detection apparatus concerning Embodiment 3. FIG. FIG. 6 is an enlarged view of an application member according to a third embodiment. It is an enlarged view of the guide member concerning Embodiment 3. FIG. FIG. 10 is a diagram for explaining the operation of the load detection device according to the third embodiment. FIG. 10 is a diagram for explaining the operation of the load detection device according to the third embodiment. It is the elements on larger scale of the load detection apparatus concerning Embodiment 4. FIG. FIG. 10 is a diagram for explaining the operation of the load detection device according to the fourth embodiment. FIG. 10 is a diagram for explaining the operation of the load detection device according to the fourth embodiment. FIG. 10 is a schematic cross-sectional view of a load detection device according to a fifth embodiment. It is the elements on larger scale of the load detection apparatus concerning Embodiment 5. FIG. It is the elements on larger scale of the related load detection apparatus. It is the elements on larger scale of the related load detection apparatus. It is the elements on larger scale of the related load detection apparatus. FIG. 10 is a schematic cross-sectional view of a load detection device according to a sixth embodiment. FIG. 10 is a diagram for explaining the operation of the load detection device according to the sixth embodiment. FIG. 10 is a schematic cross-sectional view of a load detection device according to a modification of the sixth embodiment.

<Embodiment 1>
Embodiments of the present invention will be described below with reference to the drawings. First, an outline of a wearable robot (walking assistance device) including a load detection device according to the present invention will be described. FIG. 1 is a schematic cross-sectional view of a foot when a user wears a wearable robot. The load detection device 1 is disposed inside the shoe 90 and detects a sole load generated when the user walks.

  The wearable robot assists the user's walking based on the detection result detected by the load detection device 1. Specifically, the wearable robot assists the user's walking by controlling the raising and lowering of the user's heel and the bending and stretching of the knee. In addition, this invention is invention regarding the load detection apparatus 1, and what is necessary is just to use a well-known technique about control operation | movement of a wearable robot. Therefore, the detailed configuration and operation of the wearable robot will be omitted.

  Next, the load detection device 1 according to the present embodiment will be described in detail. A schematic top view of the load detection device 1 is shown in FIG. FIG. 3 is a cross-sectional view taken along the line III-III of the load detection device 1 of FIG. In the schematic top view shown in FIG. 2, the upper sole 11 and the low friction coefficient resin 13 are not shown for the sake of explanation. FIG. 4 is a partially enlarged view of a portion surrounded by a broken line in FIG.

  The load detection device 1 includes an upper sole 11, a lower sole 12, a low friction coefficient resin 13, an application member 14, a sheet type load sensor 15, a guide member 16, an elastic body 17, a rubber member 18, Is provided.

  At this time, as shown in FIGS. 2 and 3, the elastic body 17 is disposed between the upper sole 11 and the lower sole 12 in the toe portion 91. That is, the sheet type load sensor 15 is not disposed on the toe portion 91 of the load detection device 1. In addition, the toe part 91 and the main body part 92 are connected so as to be bendable.

  The upper sole 11 (first plate) and the lower sole 12 (second plate) are disposed to face each other. A low friction coefficient resin 13, an application member 14, a sheet type load sensor 15, and a guide member 16 are arranged between the upper sole 11 and the lower sole 12. The upper sole 11 and the lower sole 12 are connected using a rubber member 18 to prevent the upper sole 11 and the lower sole 12 from being separated more than necessary.

  The upper sole 11 and the lower sole 12 are made of, for example, a hard material such as fiber reinforced plastic (CFRP). Therefore, even if it receives a user's load, the upper sole 11 and the lower sole 12 do not bend. Therefore, the upper sole 11 and the lower sole 12 are not in direct contact between the seat type load sensors 15. As a result, the load received by the upper sole 11 is appropriately transmitted to the sheet type load sensor 15 via the low friction coefficient resin 13 and the application member 14.

  The low friction coefficient resin 13 (second member) is provided on the surface of the upper sole 11 on the lower sole 12 side (floor surface side) (see FIG. 4). More specifically, the low friction coefficient resin 13 is provided between the upper sole 11 and the application member 14. The low friction coefficient resin 13 is formed of, for example, a PET material. The coefficient of friction is preferably 0.25 or less.

  The low friction coefficient resin 13 is bonded to the upper sole 11. That is, the position of the low friction coefficient resin 13 is fixed with respect to the upper sole 11. The low friction coefficient resin 13 is provided at a position corresponding to the arrangement position of the application member 14 and the sheet type load sensor 15 (see FIG. 3). The low-friction coefficient resin 13 may be fixed to the upper sole 11 and may be bonded (fixed) to the upper sole 11 through another member.

  The application member 14 (first member) is provided between the low friction coefficient resin 13 and the sheet type load sensor 15. As apparent from FIGS. 2 to 4, the application member 14 is a flat plate-like cylinder. Of course, the shape of the application member 14 is not limited to a cylinder, and may be a quadrangular prism or the like. Similarly, the low-friction coefficient resin 13 may be a flat plate-like cylinder or square column. When a load is applied to the upper sole 11, the lower surface of the low friction coefficient resin 13 and the upper surface of the application member 14 come into contact with each other. The application member 14 is made of, for example, a fluororesin.

  At this time, the applying member 14 and the low friction coefficient resin 13 are not bonded. Therefore, when the low friction coefficient resin 13 is in contact with the application member 14 and receives a force in the shearing direction (horizontal direction with respect to the lower sole 12), the low friction coefficient resin 13 causes the upper surface of the application member 14 to move. Slip and move. That is, the low coefficient of friction resin 13 is slidably disposed with respect to the applying member 14. In other words, the application member 14 is slidably disposed with respect to the upper sole 11 via the low friction coefficient resin 13.

  Further, the lower surface of the application member 14 and the sheet type load sensor 15 are in contact with each other. At this time, the application member 14 and the sheet-type load sensor 15 are not bonded. That is, the application member 14 is slidably disposed with respect to the sheet type load sensor 15. Therefore, the application member 14 slides and moves on the sheet-type load sensor 15 when receiving a force in the shear direction.

  The sheet-type load sensor 15 is, for example, a sheet-type pressure sensor in which a resin film printed with a pressure-sensitive conductive elastomer composition is bonded (see, for example, JP-A-4-36627). By using a sheet-type load sensor, the load detecting device 1 can be thinned.

  The sheet type load sensor 15 is bonded to the lower sole 12. That is, the position of the seat type load sensor 15 is fixed with respect to the lower sole 12. The seat-type load sensor 15 may be fixed to the lower sole 12 and may be bonded (fixed) to the lower sole 12 through another member.

  The guide member 16 (first guide member) is disposed around the application member 14 and regulates the sliding range of the application member 14. More specifically, when the application member 14 slides on the sheet type load sensor 15, the side surface of the application member 14 and the side surface of the guide member 16 come into contact with each other, thereby limiting the range in which the application member 14 can slide. Is done. Thereby, it is possible to prevent the application member 14 from falling from the sheet type load sensor 15 and to keep the application member 14 on the sheet type load sensor 15.

  At this time, as shown in FIG. 4, a clearance is provided between the guide member 16 and the application member 14. That is, the application member 14 and the guide member 16 are not in close contact with each other, and there is a gap between the application member 14 and the guide member 16. Thereby, the application member 14 can move (slide) on the sheet-type load sensor 15.

  The guide member 16 does not necessarily have to be provided in the entire area around the application member 14. The guide member 16 only needs to be provided in a direction in which the application member 14 may slide, and may be provided only in a part of the periphery of the application member 14. The directions in which the application member 14 may slide are, for example, the toe direction and the heel direction of the user's foot.

  The height of the guide member 16 (the length in the direction perpendicular to the upper surface of the lower sole 12) is preferably lower than the sum of the height of the application member 14 and the height of the sheet type load sensor 15. This is to prevent the guide member 16 from obstructing the contact between the low friction coefficient resin 13 and the application member 14.

  Subsequently, an operation example of the load detection device 1 according to the present embodiment will be described. When the user balances during walking, the center of gravity of the body is moved back and forth and left and right. Therefore, as shown in FIG. 5, the load detection device 1 receives a force in the shear direction (the arrow direction in FIG. 5). Moreover, as shown in FIG. 6, when a user walks, a floor may be contacted from a footpad. Therefore, the load detection device 1 receives a force in the shearing direction (in the direction of the arrow in FIG. 6).

  At this time, in the load detection device 1, the low friction coefficient resin 13 and the application member 14 come into contact with each other by a load in a direction perpendicular to the floor surface. Therefore, the load in the direction perpendicular to the floor surface, that is, the force to be detected by the sheet type load sensor 15 is transmitted to the sheet type load sensor 15 via the low friction coefficient resin 13 and the application member 14. Therefore, the seat type load sensor 15 can appropriately detect the foot load of the user.

  Further, in the load detection device 1, a horizontal force (shearing force) is also generated with respect to the lower sole 12. However, since the upper sole 11 and the application member 14 are slidable in the load detection device 1, the upper sole 11 (low friction coefficient resin 13) can slide on the application member 14 to release the shearing force. . As a result, the shearing force received by the sheet type load sensor 15 can be reduced.

  In addition, when the application member 14 slides on the sheet-type load sensor 15, it is possible to release a shearing force that cannot be released by sliding between the upper sole 11 and the application member 14. As a result, the shearing force received by the sheet type load sensor 15 can be further reduced.

  As described above, according to the configuration of the load detection device 1 according to the present embodiment, the application member 14 provided on the sheet type load sensor 15 slides with respect to the upper sole 11 and the sheet type load sensor 15. Is possible. Therefore, even when a shear force is generated in the load detection device 1 while the user is walking, the upper sole 11 slides on the application member 14, and the application member 14 slides on the sheet-type load sensor 15. Let it go. Therefore, the shearing force received by the sheet type load sensor 15 can be reduced. As a result, deterioration of the sheet type load sensor 15 (for example, peeling of the film or collapse of the uneven portion of the elastomer) can be prevented, and the life of the sheet type load sensor 15 can be improved.

<Embodiment 2>
A second embodiment according to the present invention will be described. FIG. 7 shows a partial cross-sectional view of the load detection device 2 according to the present embodiment. The cross-sectional view shown in FIG. 7 corresponds to FIG. 4 of the first embodiment described above. That is, it is a partially enlarged view of a portion surrounded by a broken line in FIG.

  The load detection device 2 according to the present embodiment is characterized by the application member 21. Therefore, since the configuration other than the application member 21 is the same as the configuration of the first embodiment, the description thereof will be omitted as appropriate.

  Here, a detailed configuration of the application member 21 will be described with reference to FIG. FIG. 8 is an enlarged view of the application member 21. The application member 21 has a cylindrical shape as in the first embodiment. However, the outer edge portion 213 of the upper surface 211 and the outer edge portion 214 of the lower surface 212 of the application member 21 are different from those of the first embodiment. Specifically, the outer edge portion 213 of the upper surface 211 and the outer edge portion 214 of the lower surface 212 of the application member 21 are round and curved. In other words, R is attached to the outer edge portion 213 of the upper surface 211 and the outer edge portion 214 of the lower surface 212 of the application member 21.

  Subsequently, an operation example of the load detection device 2 according to the present embodiment will be described. When the user walks, he / she arrives at the floor from the footpad (see FIG. 6) or arrives at the floor from the toe of the foot (see FIG. 9). In other words, there are cases where the feet are slanted with respect to the floor surface.

  In such a case, a load is applied to the load detection device 2 from an oblique direction. Therefore, as shown in FIG. 10, with the upper sole 11 tilted, the low friction coefficient resin 13 contacts the application member 21 and applies a load. As a result, the load is applied to the sheet-type load sensor 15 with the application member 21 tilted. That is, the outer edge portion 214 of the lower surface 212 of the application member 21 contacts the sheet type load sensor 15, and the sheet type load sensor 15 receives a load from the contact portion. Therefore, the outer edge portion 214 of the lower surface 212 of the application member 21 may damage the sheet type load sensor 15.

  In the application member 21 according to the present embodiment, since the outer edge portion 214 of the lower surface 212 is formed in a round shape, even if the outer edge portion 214 of the lower surface 212 contacts the sheet type load sensor 15, the sheet type load sensor 15 is It can be prevented from being damaged. Therefore, the life of the sheet type load sensor 15 can be further improved.

  In the present embodiment, the outer edge portion 213 of the upper surface 211 of the application member 21 is also formed in a curved shape. For this reason, even when the outer edge portion 213 of the upper surface 211 contacts the low friction coefficient resin 13, the low friction coefficient resin 13 slides smoothly on the application member 14.

  Of course, also in the present embodiment, the application member 21 is provided so as to be slidable with respect to the upper sole 11 and the sheet-type load sensor 15, so that the shearing force generated in the load detection device 2 can be released. . As a result, the shear force received by the sheet type load sensor 15 can be reduced, and the life of the sheet type load sensor 15 can be improved.

<Embodiment 3>
A third embodiment according to the present invention will be described. FIG. 11 shows a partial cross-sectional view of the load detection device 3 according to the present embodiment. The cross-sectional view shown in FIG. 11 corresponds to FIG. 4 of the first embodiment described above. That is, it is a partially enlarged view of a portion surrounded by a broken line in FIG.

  The load detection device 3 according to the present embodiment is characterized by the application member 31 and the guide member 32. Therefore, since the configuration other than the application member 31 and the guide member 32 is the same as the configuration of the first embodiment, the description thereof will be omitted as appropriate.

  Here, a detailed configuration of the application member 31 will be described with reference to FIG. FIG. 12 is an enlarged view of the application member 31. The application member 31 has a cylindrical shape as in the first embodiment. However, the width (upper surface radius) of the upper surface 311 of the application member 31 is smaller than the width (lower surface radius) of the lower surface 312. A protrusion 313 that protrudes outward from the outer peripheral surface is provided on the outer peripheral surface of the application member 31.

  Next, a detailed configuration of the guide members 16 and 32 will be described with reference to FIG. A guide member 32 (second guide member) is provided on the upper sole 11 side of the guide member 16. The end 321 of the guide member 32 protrudes closer to the application member 31 than the end 161 of the guide member 16. For this reason, the width between the end portion 161 and the end portion 162 of the guide member 16 is wider than the width between the end portion 321 and the end portion 322 of the guide member 32. By forming the guide members 16 and 32 and the application member 31 as described above, the guide member 32 covers a part of the application member 31. As in the first embodiment, a clearance is provided between the guide members 16 and 32 and the application member 31.

  Subsequently, an operation example of the load detection device 3 according to the present embodiment will be described. When the user walks, a strong impact may be applied to the load detection device 3 (see FIG. 14). Due to the impact, the rubber member 18 connecting the upper sole 11 and the lower sole 12 extends. For this reason, the force which urges | biases the upper sole 11 with respect to the lower sole 12 becomes weak, and when a leg | foot is lifted, the space | interval of the upper sole 11 and the lower sole 12 will become wide. At this time, there is a possibility that the application member 31 may come off from the sheet type load sensor 15. When the application member 31 is detached, there is no member that transmits the load to the sheet-type load sensor 15, and the function as the load detection device cannot be exhibited.

  In the configuration of the load detection device 3 according to the present embodiment, the end portions 321 and 322 of the guide member 32 protrude to the application member 31 side and cover the projection 313 of the application member 31. Therefore, as shown in FIG. 15, even if the upper sole 11 is separated from the lower sole 12 due to an impact during walking and the application member 31 moves to the upper sole 11 side, the guide member 32 and the protrusion 313 of the application member 31 Can be prevented and the application member 31 can be prevented from coming off. Therefore, the application member 31 that transmits the load to the sheet type load sensor 15 stays on the sheet type load sensor 15, and the function as a load detection device can be maintained.

  Of course, also in the present embodiment, the application member 31 is provided so as to be slidable with respect to the upper sole 11 and the sheet-type load sensor 15, so that the shearing force generated in the load detection device 3 can be released. . As a result, the shear force received by the sheet type load sensor 15 can be reduced, and the life of the sheet type load sensor 15 can be improved.

<Embodiment 4>
A fourth embodiment according to the present invention will be described. FIG. 16 shows a partial cross-sectional view of the load detection device 4 according to the present embodiment. The cross-sectional view shown in FIG. 16 corresponds to FIG. 4 of the first embodiment described above. That is, it is a partially enlarged view of a portion surrounded by a broken line in FIG.

  The load detection device 4 according to the present embodiment is characterized in that a shim 41 is provided. Therefore, since the configuration other than the shim 41 is the same as the configuration of the first embodiment, the description thereof will be omitted as appropriate. However, in the load detection device 4, the low friction coefficient resin 13 is not provided.

  The shim 41 (third member) is provided between the application member 14 and the sheet-type load sensor 15. More specifically, the shim 41 is disposed on the surface of the sheet type load sensor 15 on the application member 14 side. In other words, the shim 41 is disposed on the sheet-type load sensor 15 side of the application member 14 and the guide member 16.

  Both ends of the shim 41 are in contact with the guide member 16, one end portion thereof is bonded to the guide member 16, and the other end portion is not bonded to the guide member 16. In FIG. 16, the end portion of the shim 41 surrounded by a broken line is bonded to the guide member 16. For this reason, the shim 41 is restricted from moving in the surface direction of the lower sole 12.

  Subsequently, an operation example of the load detection device 4 according to the present embodiment will be described. First, a case where a load in the vertical direction is applied to the load detection device 4 will be described with reference to FIG.

  First, upon receiving a vertical load from the sole, the upper sole 11 moves downward (in the direction of the arrow in FIG. 17). As the upper sole 11 is lowered, the application member 14 is also lowered. Then, the shim 41 is pushed down by the applying member 14 and bends around the bonded end. Then, the end of the shim 41 that is not bonded is lowered and contacts the sheet type load sensor 15. When the shim 41 comes into contact with the sheet type load sensor 15, the sheet type load sensor 15 can detect a vertical load applied to the upper sole 11. With such a configuration, it is possible to prevent a decrease in sensor sensitivity due to the shim 41 being interposed between the application member 14 and the sheet-type load sensor 15.

  Next, a case where a load in the shearing direction is applied to the load detection device 4 will be described with reference to FIG.

  First, when the upper sole 11 receives a load in the shearing direction from the sole, it moves in the shearing direction (arrow direction in FIG. 18). As the upper sole 11 moves, the application member 14 also moves on the shim 41 in the shear direction. That is, the application member 14 slides with respect to the sheet type load sensor 15 via the shim 41. Therefore, the shear force generated in the load detection device 4 can be released. As a result, the shear force received by the sheet type load sensor 15 can be reduced, and the life of the sheet type load sensor 15 can be improved. Further, since the applying member 14 is not bonded to the upper sole 11, the shearing force can be released even when the upper sole 11 slides on the applying member 14. Since the sliding range of the application member 14 is limited by the guide member 16, the application member 14 does not come off from the sheet type load sensor 15.

  In the configuration of the load detection device 4 according to the present embodiment, a shim 41 is provided between the application member 14 and the sheet-type load sensor 15. Therefore, the applying member 14 does not directly contact the sheet type load sensor 15. Further, the shim 41 has one end bonded to the guide member 16 and the movement of the lower sole 12 in the surface direction is restricted. Therefore, even if the application member 14 slides, the shim 41 on the upper surface of the sheet type load sensor 15 does not slide. As a result, the sheet-type load sensor 15 can be prevented from being damaged by the sliding of the application member 14.

<Embodiment 5>
A fifth embodiment according to the present invention will be described. A cross-sectional view of the load detection device 5 according to the present embodiment is shown in FIG. The cross-sectional view shown in FIG. 19 corresponds to FIG. 3 of the first embodiment described above. FIG. 20 is a partially enlarged view of a portion surrounded by a broken line in FIG.

  The load detection device 5 according to the present embodiment is characterized in that it includes a low friction wrap 51 (the thick line portion in FIG. 19). Therefore, since the configuration other than the low friction wrap 51 is the same as the configuration of the first embodiment, the description thereof will be omitted as appropriate. However, in the load detection device 5, the low friction coefficient resin 13 is not provided.

  The low friction wrap 51 (second guide member) is provided between the application member 14 and the upper sole 11. The low friction wrap 51 is made of a material such as nylon and has a friction coefficient μ≈0.04. Further, the low friction wrap 51 has low rigidity and stretchability.

  The low friction wrap 51 covers the entire surface of the application member 14 on the upper sole 11 side. More specifically, as shown in FIG. 19, the plurality of application members 14 are covered with a single low friction wrap 51. The low friction wrap 51 is not bonded to the application member 14 but is bonded and fixed on the guide member 16.

  With such a configuration, even when the upper sole 11 is separated from the lower sole 12 due to an impact during walking and the application member 14 moves toward the upper sole 11, the application member 14 contacts the low friction wrap 51. Therefore, it is possible to prevent the application member 14 from coming off between the guide members 16 as in the third embodiment. In other words, the low friction wrap 51 restricts the movement range of the application member 14 toward the upper sole 11. As a result, the application member 14 can be prevented from getting over the guide member 16 and entering between the upper sole 11 and the guide member 16. Therefore, the application member 14 that transmits the load to the sheet type load sensor 15 stays on the sheet type load sensor 15, and the function as the load detection device can be maintained.

  As shown in FIG. 21, a configuration in which the application member 14 is covered with a drop-off prevention cover 93 is conceivable as a configuration for restricting the movement of the application member 14 toward the upper sole 11. The drop prevention cover 93 is a rigid body that has higher rigidity than the low friction wrap 51 and has no stretchability.

  However, since the drop prevention cover 93 has high rigidity, if the drop prevention cover 93 is attached to the guide member 16 and attached, the vertical load transmitted from the upper sole 11 is released to the guide member 16 (see FIG. 22). Therefore, the load transmitted to the applying member 14 is reduced, and the sensor sensitivity is deteriorated.

  Further, when the lower sole 12 bends during walking, the drop-off prevention cover 93 presses the application member 14 and applies a load to the application member 14 (see FIG. 23). For this reason, erroneous input of the load occurs.

  Furthermore, problems such as a reduction in sensitivity and generation of a sensor mounting load occur due to variations in height dimensions of the components of the drop-off prevention cover 93.

  On the other hand, the load detection device 5 according to the present embodiment covers the application member 14 using a low friction wrap 51 having low rigidity. Therefore, even if the low friction wrap 51 is bonded to the guide member 16, the vertical load transmitted from the upper sole 11 is transmitted to the application member 14 without escaping to the guide member 16. Therefore, a decrease in sensor sensitivity can be prevented.

  Further, since the low friction wrap 51 has low rigidity, the low friction wrap 51 does not press the application member 14 even when the lower sole 12 or the guide member 16 is bent during walking. Therefore, no erroneous input to the sensor occurs.

  Furthermore, since the low friction wrap 51 has stretchability, unlike the above-described drop-off prevention cover 93 method, problems such as a decrease in sensitivity due to variations in the height of components and generation of a sensor mounting load do not occur.

  In addition, since the friction coefficient of the lap is small, the shear force generated during walking can be reduced. For example, when the friction coefficient of the low friction wrap 51 is 0.04, even when a vertical load of 500 N is applied, the shear force of 500 N × 0.04 = 20 N can be suppressed. Therefore, it is possible to prevent tearing of the low friction wrap 51 and peeling of the adhesive between the low friction wrap 51 and the guide member 16.

<Embodiment 6>
A sixth embodiment according to the present invention will be described. FIG. 24 shows a cross-sectional view of the load detection device 6 according to the present embodiment. 24 is a diagram corresponding to FIG. 3 of the first embodiment described above.

  The load detection device 6 according to the present embodiment is characterized in that it includes a beam portion 61 and an outer cover 62. Therefore, since the configuration other than the beam portion 61 and the outer cover 62 is the same as the configuration of the first embodiment, the description thereof is omitted as appropriate. However, in the load detection device 6, the low friction coefficient resin 13 is not provided.

  The beam portion 61 is provided on the upper sole 11 side surface of the plurality of application members 14. The beam part 61 and each application member 14 are adhere | attached, and each application member 14 is integrated. That is, each application member 14 and the beam portion 61 serve as an integrated application member. The beam portion 61 is also formed of a rigid body similar to the application member 14.

  The beam portion 61 is in contact with the upper sole 11 but is not bonded (fixed). That is, the upper sole 11 can slide on the upper surface of the beam portion 61. Therefore, the shear force generated during walking can be reduced.

  As shown in FIG. 24, the beam portion 61 has a flat plate shape and extends from the toe portion of the upper sole 11 to the heel portion. The outer periphery of the load detection device 6 is covered with an outer cover 62. In other words, the outer cover 62 covers the upper surface of the upper sole 11, the lower surface of the lower sole 12, and the end portion of the upper sole 11 to the end portion of the lower sole 12.

  With such a configuration, even if the integrated application member moves in the front-rear direction (left-right direction in FIG. 24), the outer cover 62 that covers the beam portion 61 and the end portion of the upper sole 11 to the end portion of the lower sole 12. And abut. Therefore, the beam portion 61 is restricted from moving in the front-rear direction by the outer cover 62. Further, since the movement of the beam portion 61 is restricted, the movement of each application member 14 bonded to the beam portion 61 in the front-rear direction is also restricted.

  Therefore, as shown in FIG. 25, even when the upper sole 11 is separated from the lower sole 12 due to an impact during walking, and there is a gap in which the application member 14 enters between the upper sole 11 and the guide member 16, the application member 14. The movement in the front-rear direction is limited (in FIG. 25, the outer cover 62 covering the toe portion and the beam portion 61 are in contact). Therefore, it is possible to prevent the application member 14 from coming off between the guide members 16. As a result, the application member 14 stays on the sheet type load sensor 15, and the function as a load detection device can be maintained.

  Further, since the beam portion 61 is formed of a rigid body, rigidity is ensured. Therefore, even when the upper sole 11 and the lower sole 12 are bent, the beam portion 61 is not bent. That is, even if the upper sole 11 or the like is bent, the application member 14 is not pressed against the sheet type load sensor 15. As a result, erroneous input to the sheet type load sensor 15 can be prevented.

  Further, as shown in FIG. 24, a clearance is provided between the beam portion 61 and the guide member 16 in a state where the application member 14 is placed on the sheet type load sensor 15. Therefore, the beam part 61 and the guide member 16 do not contact at the time of load application. Therefore, the applied load does not escape to anything other than the sheet type load sensor 15. That is, the load from the leg portion is not received at a portion other than the seat type load sensor 15. As a result, it is possible to prevent the sensor sensitivity from deteriorating.

(Modification)
A modification according to the sixth embodiment will be described. A cross-sectional view of the load detection device 7 according to the modification is shown in FIG. The cross-sectional view shown in FIG. 26 corresponds to FIG. 24 of the present embodiment. The load detection device 7 is characterized in that in addition to the configuration of the load detection device 6, an application member 71 is further provided. Since the other configuration is the same as that of the load detection device 6, description thereof will be omitted as appropriate.

  The application member 71 is disposed on the surface of the beam portion 61 on the upper sole 11 side and is fixed in position relative to the beam portion 61. That is, the application members 14 and 71 and the beam portion 61 serve as an integrated application member. The application member 71 is also formed of a rigid body similar to the application member 14.

  The application member 71 is disposed at a position corresponding to the application member 14. More specifically, the application member 71 is disposed directly above the application member 14 via the beam portion 61. The upper surface of the application member 71 is in contact with the lower surface of the upper sole 11 but is not bonded. That is, the upper sole 11 is slidable with respect to the application member 71. Therefore, the shear force generated during walking can be reduced.

  With such a configuration, the application member 71 transmits the load received by the upper sole 11 from the sole to the application member 14 via the beam portion 61. Since the application member 71 is disposed immediately above the application member 14, the integrated application member always receives a load on the pressure-sensitive surface of the sheet-type load sensor 15. In other words, the integrated application member does not receive a load on the guide member 16.

  Therefore, even if the rigidity of the beam portion 61 is not made as high as that of the load detection device 6 shown in FIG. 24, the beam portion 61 does not contact the guide member 16 when a load is applied. As a result, sensor sensitivity can be prevented from deteriorating even if the rigidity of the beam portion 61 is made lower than that of the load detection device 6 and the clearance interval between the guide member 16 and the beam portion 61 is narrowed.

  Note that the present invention is not limited to the above-described embodiment, and can be changed as appropriate without departing from the spirit of the present invention. In said embodiment, although the load detection apparatuses 1-7 have detected the sole load, it is not restricted to this. Further, the load sensor is not limited to the sheet type load sensor.

1-7 Load detection device 11 Upper sole 12 Lower sole 13 Low friction coefficient resin 14, 21, 31, 71 Application member 15 Sheet type load sensor 16, 32 Guide member 17 Elastic body 18 Rubber member 41 Shim 51 Low friction wrap 61 Beam Part 62 outer cover

Claims (12)

A first plate;
A second plate disposed opposite the first plate;
A load sensor provided between the first plate and the second plate and fixed in position relative to the second plate;
A first member provided between the load sensor and the first plate and transmitting a load applied to the first plate to the load sensor;
Said first member, Ri slidably der respect to the first plate and the load sensor,
The first member has a sliding surface that slides relative to the load sensor, and a side surface that intersects the sliding surface,
A load detecting device , wherein a corner portion where the sliding surface and the side surface intersect is formed in a round shape .   The load detection device according to claim 1, further comprising a first guide member that regulates a sliding range of the first member.   The first guide member is provided in a sliding direction of the first member, and the sliding range of the first member is regulated by the first member being in contact with the guide member. 2. The load detection device according to 2.   The load detection device according to claim 2, wherein a clearance is provided between the first guide member and the first member.   5. The load detection device according to claim 1, further comprising a second guide member that regulates a movement range of the first member toward the first plate.   The second guide member restricts a range of movement of the first member toward the first plate by covering at least a part of the surface of the first member on the first plate side. The load detection device according to claim 5.   The load detection device according to claim 6, wherein the second guide member is a low friction wrap. A second member provided between the first member and the first plate and fixed to the first plate;
The load detection apparatus according to claim 1, wherein the second member is slidable with respect to the first member.   The first member according to any one of claims 1 to 8, further comprising a third member that is provided between the load sensor and the first member and in which movement of the second plate in the surface direction is restricted. Load detection device. The load sensor according to any one of claims 1 to 9 , wherein the load sensor has a sheet shape. The load detection device according to any one of claims 1 to 10 , wherein the load detection device is provided on a shoe sole and detects a load that the first plate receives from a sole. A walking assistance device comprising the load detection device according to claim 11 .

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