DE102016104200A1 - TILTING DEVICE, SUPPORTING DEVICE, CONVEYOR, MANIPULATOR AND ABILITY SUPPORT DEVICE - Google Patents

Abstract

A pivotal joint device has a drive shaft member (6), a first output portion (13) which pivots about a drive axis serving as an axis of the drive shaft member (6); an elastic body that generates a biasing torque corresponding to a first pivot angle that is a pivot angle of the first output section (13); a variable-stiffness portion that changes the apparent rigidity of the elastic body as viewed from the first output portion (13); a first angle detection section that detects the first pivot angle, and a control section that controls the variable apparent stiffness section according to the first pivot angle detected by the first angle detection section to adjust the apparent rigidity of the elastic body as viewed from the first output section (13).

Description

BACKGROUND OF THE INVENTION

1. Field of the invention

The invention relates to a pivoting joint device, a walking support device, a conveying device and a manipulator, each of which perform a cyclic pivoting movement and having a joint with a variable rigidity. In addition, the invention relates to a gait assistance device that assists a user in walking or running.

2. Description of the associated technology

As an example of a device that controls a joint that performs a cyclic pivoting motion, US 5,748,988 discloses Japanese Patent Laid-Open Publication No. 2004-344304 ( JP 2004-344304 A ) a walking assistance device that applies an assisting force to the lower limb (which extends from the hip joint to the foot) of a user. The walking assist apparatus has a stomach section mounted so as to be wound around the abdomen portion of a user, a connecting rod extending from the lateral side of the hip joint to the lateral side of the user's knee joint, a lower leg section mount extending from the lateral side of the knee joint to the calf of the user, a hip joint actuator attached to the connecting rod at a position on the lateral side of the hip joint, and a knee joint actuator attached to the connecting rod at a position on the lateral side of the knee joint. The hip joint actuator is attached to the connecting portion of the abdominal portion fitting. The hip joint actuator on the lateral side of the hip joint pivots the connecting rod in a front-to-rear direction about the hip joint relative to the abdominal section fitting. In addition, the knee joint actuator on the transverse side of the knee joint pivots the lower leg section fitting in the front-rear direction around the knee joint relative to the connecting rod. The hip joint actuator and the knee joint actuator are electric motors, and power is supplied to the electric motors from a battery attached to the abdominal section fitting.

In addition, the disclosed Japanese Patent Laid-Open Publication No. 2012-125388 ( JP 2012-125388 A ) A gait rehabilitation device that assists pivotal movement of the lower leg (ranging from the knee to the ankle) of a user. The gait rehabilitation apparatus has control means disposed about a user's abdomen, a femoral connection extending from the lateral side of the hip joint to the lateral side of the user's knee joint, lower leg connections extending from both lateral sides of the knee joint to the ankle joint of the user , a motor disposed on the lateral side of the knee joint, and foot links extending from the ankle joint to the sole of the user. The motor is attached to the connecting portion between the thigh link and the lower leg links and to the lateral side of the knee joint. The motor on the lateral side of the knee joint pivots the lower leg connections in the front-rear direction about the knee joint relative to the thigh connection. Power is supplied to the motor from a battery included in the controller.

In addition, the disclosed Japanese Patent Laid-Open Publication No. 2013-236741 ( JP 2013-236741 A ) A one-leg walk assisting machine attached to a user's complaint leg having one leg in good condition and the other leg with discomfort to aid in the pivoting movement of the leg subject. The one-leg walking assisting machine has a stomach attaching portion disposed on the lateral side of a user's abdomen, a femoral connecting portion extending from the lateral side of the hip joint to the lateral side of the user's knee joint, a lower leg connecting portion extending from the lateral side of the knee joint extends downward, a torque generating unit, which is arranged on the lateral side of the hip joint, and a damper, which is arranged on the transverse side of the knee joint. The torque-generating unit is constructed by a cam and a compression spring, then generates torque when a complaint leg pivots backward with the pivoting of a leg in good condition, assisting in pivoting the subject-leg using the generated torque, and does not require an actuator such as an electric motor. In addition, the torque-generating unit is configured so that an initial compression amount of the compression spring is adjustable and the magnitude of the generated torque is variable.

Both the in JP 2004-344304 A described Gehunterstützungsvorrichtung as well as in JP 2012-125388 A The gait rehabilitation device described above aids the walking movement of a lower limb or a portion of the lower limb with the electric motors, but they can not assist walking when power is not continuously supplied by the batteries. In addition, since it is not possible for a user requiring walking assistance to carry a large and heavy battery, it is believed that the batteries used in the above devices are relatively small and lightweight. In addition, the describe JP 2004-344304 A and the JP 2012-125388 A no particular configuration that reduces the power consumption of the electric motors. Accordingly, it is assumed that the continuous operating hours of the in JP 2004-344304 A and JP 2012-125388 A described support devices are relatively short.

In the JP 2013-236741 A The one-leg walking assisting machine described generates a torque for pivoting a leg through the cam and the compression spring without using an electric motor, and the continuous operating time of the assisting machine is longer than that of FIG JP 2004-344304 A and JP 2012-125388 A support devices described. In accordance with a difference in the body type (a difference of a lower limb moment of inertia) of each user, a difference of the swinging angle of a lower limb of each user, the physical condition of a user, a difference of inclination of a walking post and the like, it is for one However, the user is required to set the position of a determination section provided on the compression spring of the torque-generating unit with a tool such as a flat-head screwdriver, and manually adjust an initial compression amount of the compression spring. Therefore, operation becomes problematic for the user.

SUMMARY OF THE INVENTION

The present invention provides a rocker joint device, a walk assist device, a conveyance device, a manipulator, and a ambulance support device in which the rigidity of a joint that performs pivotal movement is automatically adjusted so that a torque generated by the swinging motion is automatically adjusted to move Energy consumption or the burden of a user to further reduce.

One aspect of the present invention relates to a pivotal joint device having a drive shaft member, a first output portion that pivots about a drive axis serving as an axis of the drive shaft member; an elastic body that generates a biasing torque corresponding to a first swing angle that is a swing angle of the first discharge portion; a variable-stiffness portion that changes the apparent rigidity of the elastic body as viewed from the first discharge portion; a first angle detection section that detects the first tilt angle; and a control section that controls the variable apparent stiffness portion according to the first swing angle detected by the first angle detection portion to adjust the apparent rigidity of the elastic body as viewed from the first discharge portion.

According to the above configuration, the variable-rigidity portion is controlled according to the first swing angle using the control portion. Since a magnitude of a torque required for assisting the pivotal movement is automatically adjusted for the pivotal movement of a pivotal object having the first discharge portion, the torque can be adjusted without problems and efforts. In addition, since the torque required to assist in the pivotal movement is generated by using the elastic body, the power consumption or burden of a user can be further reduced.

In the swivel joint device according to the above aspect, the elastic body may comprise a flat coil spring, the apparent rigidity of the elastic body as viewed from the first discharge portion may have an apparent spring constant of the flat coil spring as seen from the first discharge portion, and the variable apparent stiffness portion having the Altering apparent stiffness of the elastic body as viewed from the first discharge portion may include a variable apparent spring constant portion that changes the apparent spring constant of the flat spiral spring as viewed from the first discharge portion.

According to the above configuration, the flat coil spring is used as the elastic body. For example, when the leg of a user is a swivel object, the apparent spring constant (rigidity) seen from the first dispensing portion is suitably determined according to FIG User operation, such as walking and running, set in an appropriate manner. By adjusting the apparent spring constant (rigidity) as viewed from the first discharge portion in accordance with the movement of a swinging object, energy can be easily and suitably retained and discharged from the flat coil spring.

In the rocking joint device according to the above aspect, a spring fixing member that supports a fixed end of the flat spiral spring may be disposed at a position adjacent to the flat spiral spring; a free end serving as an end of the flat spiral spring may be connected to a spring input shaft member which pivots at an angle corresponding to the first swing angle of the first discharge portion; the fixed end serving as the other end of the flat coil spring may be connected to a spring support provided on the spring fixing member at a position away from the drive shaft, and the variable apparent spring constant portion may be replaced by the spring fixing member; which is supported so as to be rotatable about the drive axis and is caused to rotate at a predetermined rotation angle about the drive axis to move to a position of the spring support relative to the drive axis about the drive axis by the predetermined tilt angle , and formed by a stiffness adjustment member that causes the spring attachment member to rotate about the drive axis to change a position of the fixed end of the flat coil spring.

According to the above configuration, the variable apparent spring constant portion that adjusts the apparent spring constant of the flat coil spring can be specifically realized.

In the swivel joint device according to the above aspect, a transmission may be provided between the first output portion and the flat coil spring, and the transmission may include the spring input shaft member, and when the first output portion pivots at the first pivot angle, then the spring input shaft portion may pivot at a pivot angle which is obtained by changing the first swing angle based on a predetermined gear ratio.

According to the above configuration, since the swing angle obtained by reinforcing the first swing angle of the first discharge portion can be introduced into the flat coil spring using the transmission, it becomes possible to use the flat coil spring having a smaller spring constant. Accordingly, the reduction of the pivotal joint device can be promoted.

According to the above aspect, in the swing joint device according to the above aspect, when the position of the spring support body at which the flat coil spring does not generate the biasing torque as a reference position in a case where the first swing angle is zero is set as a reference position, the control section can control the stiffness adjustment element to move the biasing member Adjusting the rotational angle of the spring fixing member to adjust the position of the spring support relative to the reference position according to the first pivot angle of the first discharge portion, whereby the apparent spring constant of the flat coil spring is set from the first discharge portion.

According to the above configuration, since the apparent spring constant can be adjusted only by controlling the rigidity adjusting member with the control portion so as to cause the spring fixing member to rotate, the apparent spring constant can be easily adjusted.

The pivotal joint device according to the above aspect may further include a first drive portion that pivots the first output portion around the drive axis based on a control signal from the control portion.

According to the above configuration, the first drive section pivots the first discharge section. Therefore, for example, when the rocker device is used as a walking ability supporting device that assists walking or running of the user, a load when the user walks or walks can be further reduced.

The pivotal joint device according to the above aspect may further include a second discharge portion that is supported so as to be pivotable about the drive axis, a second angle detection portion that detects a second swing angle that is a swing angle of the second discharge portion; a second drive section that pivots the second output section about the drive axis based on a control signal from the control section, and a pivot connection element that is connected to the first output section and the second output section, and the Basis of the first pivot angle of the first discharge section and the second pivot angle of the second discharge section is operated.

According to the above configuration, for example, when the rocking device is used as a walking ability supporting device that assists walking or running of a user, the first dispensing section may assist the movement of the thigh section of a user, and the second dispensing section may assist the lower leg section of the user. Therefore, a load can be further reduced when the user walks or runs.

Another aspect of the invention relates to a walking assist device including the pivot device according to the above aspect.

According to the above configuration, it is possible to realize the walking assisting device capable of further reducing a load when a user walks.

Another aspect of the invention relates to a conveying device with a pivoting device according to the above aspect. The conveyance device has the drive shaft member, a pinion serving as the first discharge portion that rotates in a reciprocating manner so as to pivot about the drive shaft of the drive shaft member, an arm having a rack portion engaging with the pinion is linearly reciprocated according to a swing angle, which is a reciprocating angle of the pinion, the arm being configured to hold and release a workpiece, a pinion drive portion that rotates and drives the pinion, a first An angle detection section that detects the first pivot angle that is the pivot angle of the pinion, the flat coil spring that stores energy when the pinion drive section rotates and drives the pinion, and rotates and drives the pinion when releasing the stored energy, the section with variable apparent spring constant, the spring attachment portion and the stiffness egg and the control section that controls the pinion drive section and the rigidity adjustment element; and the conveyor moves the workpiece by linear reciprocation of the arm to hold and release the workpiece.

According to the above configuration, it is possible to realize the conveyance device capable of further reducing the power consumption of the pinion drive section.

Another aspect of the invention relates to a manipulator having a pivoting device according to the above aspect. The manipulator has the drive shaft member, a swing portion serving as the first discharge portion, which pivots about the drive shaft of the drive shaft member, a swing portion drive portion that pivots the swing portion, the first angle detection portion that detects the first swing angle, which is a swing angle of the swing portion A flat coil spring that stores energy when the pivot portion driving portion pivots the pivot portion and pivots the pivot portion when the stored energy is released, wherein the variable apparent spring constant portion comprises the spring fixing member and the rigidity adjusting member, and the control portion including the pivot portion driving portion and the Stiffness adjustment element controls.

According to the above configuration, it is possible to realize the manipulator capable of further reducing the power consumption of the swing section drive section.

Another aspect of the invention relates to a gait support apparatus that applies an assisting force to move a lower limb of a user. The ambulance support apparatus has the abdomen-side attachment portion attached to a abdomen-side portion of the user, a first swing arm having an elongated shape and disposed on a lateral side of a thigh portion of the user, the first swing arm, one of a protruding portion and a recessed portion Portion which is located at an upper portion of the first pivot arm, and wherein the one of the protruding portion and the recessed portion serves as a pivot axis of the first pivot arm; a thigh attaching portion attached to the first swing arm to be laid on the thigh portion of the user, a drive shaft member supporting the one of the protruding portion and the recessed portion serving as the pivot axis of the first swing arm, the drive shaft member supporting the first pivot arm such that the first pivot arm is pivotable in a front-rear direction of the user relative to the abdomen-side attachment portion, a variable stiffness portion, which changes the rigidity representing a force required for pivoting the first swing arm pivoting about the drive axis serving as an axis of the drive shaft member and a control portion controlling the variable stiffness portion to increase the rigidity of the first one To control swivel arm, which pivots about the drive axle. The variable stiffness portion is constituted by a flat coil spring, a spring fixing member and a rigidity adjusting rotary member, the flat coil spring, the spring fixing member and the rigidity adjusting rotary member are arranged so as to be coaxial with the drive shaft, a spring fixing member supporting a fixed end of the flat coil spring abuts disposed at a position adjacent to the flat coil spring, a free end serving as an end of the flat coil spring is connected to a spring input shaft member which pivots at an angle corresponding to a first swing angle which is a swing angle of the first swing arm which is fixed End serving as the other end of the flat coil spring is connected to a spring support body provided at a position away from the drive axis on the spring attachment member, and the rigidity adjustment pivot member adjusts the pitch by pivoting the spring attachment member about the drive axis so that it moves based on a control signal from the control section to a position of the fixed end of the flat coil spring.

According to the above configuration, the variable rigidity portion is controlled by using the control portion to control the rigidity (the force required for pivoting the first swing arm) about the drive shaft member. Therefore, since a magnitude of a torque required for assisting the pivotal movement is automatically adjusted for the pivotal movement of a pivotal object having the first pivoting arm, the torque can be adjusted without problems or efforts. In addition, since a torque required to assist in the pivotal movement is generated, the power consumption or load of a user can be further reduced. In addition, the variable stiffness portion can be particularly realized.

In the ambulance support device according to the above aspect, a gear may be provided between the first swing arm and the flat coil spring, and the transmission may include a spring input shaft member, and when the first swing arm pivots at the first swing angle, then the spring input shaft member may be pivoted at a swing angle passing through Changing the first pivot angle is obtained based on a predetermined gear ratio.

According to the above configuration, since the swing angle obtained by reinforcing the first swing angle of the first swing arm can be input to the flat coil spring using the transmission, it becomes possible to use the flat coil spring having a smaller spring constant. Accordingly, the downsizing of the ambulance support device can be promoted.

The ambulance support device according to the above aspect may further include a first angle detection portion that detects the first pivot angle of the first swing arm. The control portion may control the rigidity adjustment rotary member so as to adjust a rotation angle of the spring attachment member according to the first swing angle detected by the first angle detection portion, and may adjust an apparent spring constant of the flat coil spring from the first swing arm to adjust the rigidity.

According to the above configuration, since the apparent spring constant of the flat coil spring as viewed from the first swing arm can be adjusted only by controlling the rigidity adjustment pivot member by the control section to rotate the spring attachment member, the apparent spring constant can be easily adjusted.

In the ambulance support device according to the above aspect, the control section may set the swing angle of the spring attachment member based on the swing frequency and the first swing angle of the first swing arm about the drive axis, an inertia moment about the drive axis in the swing object including the first swing arm, and a spring constant of the flat coil spring such in that a resonance frequency of the flat spiral spring coincides with a pivoting frequency of a pivoting object.

According to the above configuration, by using the control portion, a rotation angle of the spring fixing member can be automatically adjusted to an appropriate angle corresponding to a swinging object having the first swinging arm. Accordingly, a generated torque can be adjusted by automatically adjusting the rigidity of a joint that performs the pivotal movement. be set automatically. In addition, even if the first swing arm is made to perform the pivotal movement by an electric motor, the swinging motion can be assisted with an appropriate torque. Therefore, the power consumption of the electric motor for the pivoting can be further reduced. Even if the swing arm is not caused to pivot by the electric motor but caused to pivot by a user himself, the swinging motion can be assisted with an appropriate torque. Therefore, the burden of a user can be further reduced.

The ambulance assisting apparatus according to the above aspect may further include a first driving portion that pivots the first swinging arm about the drive axis based on the control signal from the control portion.

According to the above configuration, since the first drive section pivots the first swing arm, a load can be further reduced when a user walks or runs.

The ambulance support device according to the above aspect may further include a second swing arm supported to be pivotable about the drive axis; a second angle detecting portion that detects a second swing angle that is a swinging angle of the second swinging arm; a second drive section that pivots the second swing arm about the drive axis based on the control signal from the control section; a pivot link connected to the first pivot arm and the second pivot arm and operating based on the first pivot angle of the first pivot arm and the second pivot angle of the second pivot arm; and a lower leg attachment portion attached to the second swing arm to be placed on a lower leg portion of the user.

According to the above configuration, since the first swing arm can assist the movement of the thigh portion of a user and the second swing arm can assist the movement of the lower leg portion of the user, a load can be further reduced when the user walks or runs.

Another aspect of the invention relates to a pivotal joint device having a drive shaft member, a first pivot arm which is supported so as to pivot about a drive axis serving as an axis of the drive shaft member, a flat coil spring which generates a biasing torque, the one first pivot angle, which is a swing angle of the first swing arm, a variable apparent spring constant portion that changes an apparent spring constant of the flat coil spring from the first swing arm, a first angle detection portion that detects the first swing angle, and a control portion that communicates the portion with variable, apparent spring constant in accordance with the first pivot angle detected by the first angle detection portion controls. The variable apparent spring constant portion is a gear portion in which a gear ratio is adjustable, the variable apparent spring rate portion is disposed in a swing angle transmission path by which the first swing angle of the first swing arm is transmitted to the flat coil spring, and the variable portion is arranged Apparent spring constant converts the first swing angle of the first swing arm into a spring swing angle corresponding to the gear ratio set by the control section, and transmits the spring swing angle to the flat coil spring, and the control section adjusts the gear ratio of the gear section according to the first swing angle adjust the apparent spring constant of the flat spiral spring seen from the first pivot arm.

According to the above configuration, the variable apparent spring constant portion is controlled according to the first swing angle using the control portion. Therefore, since a size of a torque required for assisting the swinging motion is automatically adjusted for the swinging motion of a swinging object having the first swinging arm, the torque can be adjusted without problems or efforts. In addition, since a torque required to assist in the pivotal movement is generated by using the flat coil spring, the power consumption or load of a user can be further reduced. In addition, the apparent spring constant of the flat coil spring as viewed from the first swing arm can be easily changed only by adjusting the gear ratio of the gear section by the control section. Since the swing angle obtained by reinforcing the first swing angle of the first swing arm can be input to the flat coil spring using the gear portion, it becomes possible to use the flat coil spring having a smaller spring constant. Accordingly, the downsizing of the pivotal joint device can be promoted.

In the pivot joint device according to the above aspect, a spring support body supporting a fixed end of the flat coil spring may be disposed at a position adjacent to the flat coil spring, the transmission portion may have two input / output shafts; When the input / output shaft on one side is caused to pivot at a prescribed swing angle, the input / output shaft on another side can pivot at a swing angle obtained by multiplying the prescribed swing angle by n, which is the set one Transmission ratio; if the input / output shaft on the other side is caused to pivot at the prescribed swing angle, then the input / output shaft on one side can pivot at a swing angle obtained by multiplying the prescribed swing angle by 1 / n; the input / output shaft on one side may be connected to the first pivot arm and the input / output shaft on the other side may be connected to a free end of the flat coil spring.

According to the above configuration, a suitable swing angle can be input to the flat coil spring using the appropriate gear portion. In addition, a biasing torque of the flat spiral spring can be suitably transmitted to the first swing arm. Accordingly, torque generated by swinging motion can be automatically adjusted using the transmission portion.

In the pivot joint device according to the above aspect, the transmission portion may be constituted by a transmission ratio setting motor setting the transmission ratio based on a control signal from the control portion and a transmission portion having the two input / output shafts, and the transmission ratio of the transmission portion may be determined by the transmission ratio Gear ratio setting motor can be adjusted.

According to the above configuration, the transmission portion can be appropriately realized by using the transmission ratio setting motor and the transmission. Accordingly, the automatic adjustment of a torque generated by the swinging motion can be appropriately realized.

The swivel joint device according to the above aspect may further include a first drive portion that pivots the first swing portion about the drive axis based on a control signal from the control portion.

According to the above configuration, the first drive section pivots the first swing arm. For example, when the rocker joint device is used as a walking ability supporting device that assists the walking or running of a user, stress when walking or running the user can be reduced.

The swivel joint device according to the above aspect may further include a second swing arm, which is supported so as to be pivotable about the drive axis, a second angle detection section that detects a second swing angle, which is a swing angle of the second swing arm, a second drive section that controls the second swing arm second pivot arm pivots about the drive axis based on the control signal from the control portion, and a pivot connecting member which is connected to the first pivot arm and the second pivot arm and operates based on the first pivot angle of the first pivot arm and the second pivot angle of the second pivot arm.

For example, according to the above configuration, when the rocking device is used as a walking ability supporting device that assists walking or running of a user, the first swing arm can assist the movement of the thigh part of a user, and the second swing arm can assist the movement of the lower leg part of the user. Therefore, stress when walking or running the user can be further reduced.

BRIEF DESCRIPTION OF THE DRAWINGS

Features, advantages, and technical and industrial significance of exemplary embodiments of the invention will be described below with reference to the accompanying drawings, in which like numerals denote like elements, and in which:

1 Fig. 13 is an exploded perspective view showing the schematic shapes and assembling positions of respective constituent parts constituting a pivoting joint device of a first embodiment;

2 is a perspective view of the pivoting device in which the in 1 assembled components are assembled;

3 is a view illustrating a state in which the in 2 shown pivoting device attached to a user (whose arms are omitted);

4 Fig. 13 is a view showing a pivot state of a femoral pivot arm (first pivot arm) and a pivot example of a lower leg pivot arm (second pivot arm);

5 an enlarged view of a V-part in 1 and FIG. 13 is an exploded perspective view showing the configurations of a flat coil spring and a variable apparent spring constant portion;

6 a view seen from a VI direction in 2 and is a view illustrating the arrangements of elements provided coaxially with a drive axis line of a drive shaft member;

7 a view seen from a VII direction in 6 and is a view showing a state in which a swing angle of an output shaft member of a transmission having a predetermined gear ratio is increased relative to a swing angle of the thigh pivot arm;

8th shows a state in which a biasing torque is not generated in the flat coil spring when a swing angle of the thigh pivot arm is zero, and a perspective view showing a reference position of a spring support portion (ie, a spring attachment end) relative to a drive axis line;

9 is a view showing a state different from the state in 8th has passed, the state in 9 a state in which the spring attachment member is caused to rotate by a predetermined rotation angle to move a position of the spring support body relative to the drive axis line from the reference position;

10 is a view showing a free end, a fixed end and portions near the free end and the fixed end in the flat coil spring, when the thigh pivot arm of the in 9 shown state pivots forward;

11 is a view showing the free end, the fixed end and the positions near the free end and the fixed end in the flat spiral spring when the thigh pivot arm of the in 9 to reverse the state shown;

12 is a view showing the input / output to / from a control section;

13 Fig. 10 is a flowchart illustrating an example of the processing procedure performed by the control section;

14 Fig. 11 is a view showing the overall configuration and layout of the operations of a conveyor apparatus of a fifth embodiment;

15 Fig. 10 is a front view showing the entire configuration and layout of operations of a manipulator of a sixth embodiment;

16 a side view of the in 15 shown manipulator is;

17 Fig. 13 is an exploded perspective view showing the schematic shapes and the assembling positions of respective constituent parts constituting a pivoting joint device of a seventh embodiment;

18 shows a perspective view of the pivot device in which the in 17 assembled components are assembled;

19 is a view showing a state in which the in 18 shown pivoting device on a user (whose arms are omitted) is mounted;

20 Fig. 13 is a view showing a pivot state of a femoral pivot arm (first pivot arm) and a pivot example of a lower leg pivot arm (second pivot arm);

21 an enlarged view of a V-part in 17 and FIG. 13 is an exploded perspective view illustrating the configurations of a flat coil spring and a variable apparent spring constant portion;

22 a view seen from a VI direction in 18 and Fig. 11 is a view showing the arrangements of elements provided so as to be coaxial with a drive axis line of a drive shaft member;

23 is a view illustrating an example of an electric motor (a gear ratio setting motor) and a transmission, which form a gear portion;

24 Fig. 11 is a view illustrating a state in which a swing angle nθf in a clockwise direction and a swing angle nθr in a counterclockwise direction relative to a reference position at which the swing angle of the thigh pivot arm is zero are input to the flat coil spring;

25 is a view illustrating the input / output to / from a control section; and

26 Fig. 10 is a flowchart illustrating an example of the processing procedure performed by the control section.

DETAILED DESCRIPTION OF EXEMPLARY EMBODIMENTS

Hereinafter, a description will be given of a first embodiment as an embodiment for carrying out the invention with reference to the drawings. It should be noted that when the respective figures describe X, Y and Z axes, the X, Y and Z axes are perpendicular to each other. Unless otherwise indicated, a Z-axis direction indicates an upward vertical direction, an X-axis direction indicates a front direction with respect to a user (a user carrying a pivot device), and a Y-axis direction indicates a left with respect to the user Direction. It should be noted that in the description a in 1 shown "thigh swivel arm 13 corresponds to a "first delivery section" and a "first swing arm", and an in 1 shown "lower leg swinging arm 33 "corresponds to a" second delivery section "and a" second swing arm " 1 shown "rotation angle detection section 11S a "first angle detection section" and an in 1 shown "rotation angle detection section 31S corresponds to a "second angle detection section" 1 shown "electric motor 11 a "first drive section", an in 1 shown "electric motor 31 "corresponds to a" second drive section "and an in 1 shown "electric motor 21 "corresponds to a " stiffness adjustment member " and a " stiffness adjustment rotary member ", In addition, in an example of the following description, a drive shaft member 6 a prominent element. However, the drive shaft member 6 a protruding shaft or a recessed (hole-shaped) portion that supports a shaft. Alternatively, the drive shaft element 6 supporting a projecting shaft or a recessed (hole-shaped) section. If the description of "about the drive shaft element 6 "speaks, gives this" about a drive axis line 6J representing the central axis of the drive shaft element 6 It should be noted that a "drive axis line 6J "corresponds to a" drive axle. "In addition, corresponds to a" shaft 25A "of a transmission 25 a "spring input shaft element". In addition, correspond to a "spring attachment element 23 "and the" electric motor 21 "a" section of variable, apparent spring constant. "Also corresponds to a" flat spiral spring 24 ", the" spring fixing element 23 "and the" electric motor 21 "a" variable stiffness section. "" Stiffness "indicates a torque per unit angular shift that is used to pivot the femoral pivot arm 13 is required. In addition, a "Unterschenkelweitergabearm 34 "and a" lower leg arm 35 "a" pivoting connection element. "In addition, corresponds to a" base section 2 "a" belly-side attachment section ". Swivel joint device "described in each of the first to fourth embodiments, a" walking assistance device "or a" ambulance support device ".

Below is a description of the overall configuration ( 1 to 4 ) of a pivoting device 1 of the first embodiment indicated. The pivoting device 1 of the first embodiment is attached to a leg (the left leg in the first embodiment) of a user to assist a user operation such as walking and running. As in 1 is shown, the pivoting joint device 1 constructed by a user attachment section indicated by reference numerals 2 . 3 . 4 . 5 . 6 and the like, a thigh pivot portion indicated by the reference numerals 11 . 12 . 14 . 14B . 15 . 13 . 19 and the like, a rigidity adjustment section indicated by reference numerals 21 . 22 . 23 . 24 . 25 and the like, and a lower leg pivoting portion indicated by the reference numerals 31 . 32 . 32P . 32B . 33 . 34 . 35 . 36 . 39 and the like. It should be noted that 1 FIG. 4 is an exploded perspective view showing the shapes, the assembling positions and the like of the respective components of the pivot device. FIG 1 shows, and 2 shows the pivoting device 1 in a state in which the components are assembled. Also shows 3 a state in which a user of the swivel device 1 wears and 4 shows a swivel example of the femoral swivel arm 13 and the lower leg pivot arm 33 ,

Hereinafter, a description will be given of the user attachment section (FIG. 1 to 4 ) indicated by a base section 2 , a belly attachment section 3 , Shoulder straps 4 , a control unit 5 , a drive shaft element 6 and the like is formed. The base section 2 is an element attached to the abdominal attachment section 3 is fixed and serves as a base (plate) for holding the thigh pivot portion, the rigidity adjustment portion and the lower leg pivot portion. There is also a drive shaft element 6 at the base section 2 appropriate. The drive shaft element 6 extends substantially parallel to the Y-axis and is located at a location corresponding to the lateral side of the hip joint of a user, who the swivel device 1 wearing. It should be noted that the drive shaft element 6 in a through hole 33H of the lower leg pivot arm 33 which will be described later, and then into a through hole 13H of the femoral swivel arm 13 is used. It should be noted that the drive axis line 6J the central axis of the drive shaft member 6 indicates.

The abdominal attachment section 3 is an element wound around and attached to a user's abdomen and configured to be adjustable according to a size of the user's abdomen. In addition, the abdominal attachment section is 3 at the base section 2 attached and with one and the other end of the shoulder straps 4 connected.

The shoulder straps 4 are at their ends (the one and the other ends) with the front surface side and the back surface side of the abdominal attachment portion 3 connected, are configured so that their lengths can be adjusted, and they are on the control unit 5 appropriate. A user can control the unit 5 Wear on his / her back like a backpack by adjusting the lengths of the shoulder straps 4 be adjusted and the shoulder straps 4 be placed on his / her shoulders.

The control unit 5 takes a control section that the electric motors 11 . 21 and 31 controls, a battery, the power to the control section and the electric motors 11 . 21 . 31 feeds and the like. It should be noted that the control section later using 12 is described.

In the further course a description of the femoral pivoting section ( 1 to 4 ) indicated by the electric motor 11 , a hanger 12 , a pulley 14 , a belt 14B , a pulley 15 , the femoral swivel arm 13 , a thigh attachment section 19 and the like is formed. The femoral swivel arm 13 is through a slice section 13G and an arm portion extending from the disk portion 13G extends downwards. The disc section 13G has a through hole 13H at its center and the drive shaft element 6 is in the through hole 13H used. Accordingly, the femoral swivel arm 13 around the drive shaft element 6 pivotally supported. In addition, there is the through hole 13H of the femoral swivel arm 13 at a location corresponding to the lateral side of a user's hip joint, and at the lower end of the femoral pivot arm 13 provided connection hole 13L is located at a position corresponding to the lateral side of the knee joint of the user. It should be noted that there is a downwardly extending length of the femoral pivot arm 13 is configured to be adjustable, and a user is capable of the vertical position of the connection hole 13L according to a position of his / her knee joint. In addition, the thigh swivel arm 13 at a thigh attachment portion 19 appropriate. The thigh attachment section 19 is placed on the femoral part (the circumference of the thigh) of a user to attach the femoral swivel arm 13 on the thigh part of the user to simplify. In addition, the pulley 15 at the disc portion 13G fastens and pivots in one piece with the femoral swivel arm 13 , Accordingly, a pulley shaft member pivots 15J the pulley 15 around the drive axis line 6J with the same angle as a swivel angle of the femoral swivel arm 13 , It is also between the pulley 15 and a pulley described later 14 a belt 15B placed, and the slewing power of the electric motor 11 gets over the pulley 15 and the belt 14B on the pulley 15 transferred to the femoral swivel arm 13 to pan.

A hanger 12 is an element for fixing the electric motor 11 at a base section 2 and is at the base portion 2 attached. The coat hanger 12 has a through hole 12H , in which the rotary shaft of the electric motor 11 is inserted and the hanger 12 is at the base section 2 attached. It should be noted that the hanger 12 at the base section 2 is fixed after the rotary shaft of the electric motor 11 in the through hole 12H of the temple 12 was inserted and the pulley 14 was attached to the rotary shaft used.

A speed reducer 11D is at a distal end of the electric motor 11 attached and the speed reducer 11D is through the through hole 12H of the temple 12 used it on the pulley 14 is appropriate. In addition, the electric motor 11 on the temple 12 attached. In addition, the electric motor receives 11 Power and drive signals from the battery and the control section included in the control unit 5 are housed. The electric motor 11 can also the femoral swivel arm 13 in a front-rear direction relative to the bracket (that is, the base portion 2 ) about the drive shaft member 6 panning (see 4 ). In addition, the electric motor 11 with the rotation angle detection section 11S , like a giver. The rotation angle detection section 11S gives a signal representing a rotation angle of the shaft of the electric motor 11 corresponds to the control section. The control section is capable of rotating the speed reducer 11D on the basis of a detection signal from the rotation angle detection section 11S , a speed reduction ratio of the speed reducer 11D and a pulley ratio between the pulley 14 and the pulley 15 to capture, and is able to pivot the thigh swivel arm 13 capture. It should be noted that the hanger 22 (please refer 1 ) or the base section 2 may be provided with an angle detecting portion (angle sensor) having a pivot angle of the thigh pivot arm 13 relative to the base section 2 captured, and the hanger 22 or the base section 2 may be provided with an angle detection portion (angle sensor), which is a pivot angle of the lower leg pivot arm 33 relative to the base 2 detected. It should be noted that the electric motor 11 is an engine capable of idling. When the electric motor 11 a swivel force from the femoral pivot arm 13 in its de-energized state, then the speed reducer rotates 11D and the rotation angle detection section 11C outputs a signal that corresponds to a rotation angle of the speed reducer 11D equivalent.

In the further course a description of the lower leg pivoting section ( 1 to 4 ) indicated by the electric motor 31 , the temple 32 , Power transmission sections ( 32P and 32B ), the lower leg pivot arm 33 , a lower leg extension arm 34 , a lower leg arm 35 , a foot holding section 34 , a lower leg attachment portion 39 and the like is formed. The lower leg swivel arm 33 has the through hole 33H into which the drive shaft element 6 is used. When the drive shaft element 6 in the through hole 33H is used, then the lower leg pivot arm 33 around the drive shaft element 6 pivotally supported. A belt 32B is on the lower leg pivot arm 33 and power is supplied by a power transmission section, which is driven by the electric motor 31 , a pulley 32P and a belt 32B is formed, transferred to the lower leg pivot arm 33 around the drive shaft element 6 to pan.

The lower leg extension arm 34 has an upper end with the distal end of the lower leg pivot arm 33 pivotally connected, and has a lower end connected to the end of a parallel connection forming section 35M on the upper end side of the lower leg arm 35 pivotally connected. It should be noted that a downwardly extending length of the lower leg extension arm 34 is configured to be adjustable. That is, a length of the lower leg relay arm 34 is according to a set length of the femoral pivot arm 13 set.

The lower leg arm 35 is formed substantially in the shape of an inverted L and has a connection hole 35L , which with the connection hole 13L at the lower end of the femoral swivel arm 13 at a position corresponding to a bending portion of the form L is connected. Accordingly, the lower leg arm 35 is formed so that one end of the parallel connection forming section 35M pivotally on an upper end side with the lower end of the lower leg passing arm 34 is connected, and that the other end of the parallel connection training section 35M pivotable with the lower end of the femoral swivel arm 13 connected is. Besides, the lower leg arm has 35 a lower end at which the upper end of the Fußhalteabschnitts 36 is pivotally connected. It should be noted that there is a downwardly extending length of the lower leg arm 35 is configured so that it is able to fit to the lower leg portion of a user. In addition, the foot rest section 36 formed substantially L-shaped and has a lower end, which is positioned at the bottom of the foot of a user. Besides, the lower leg arm is 35 on a lower leg attachment portion 39 appropriate. The lower leg attachment section 39 is placed on the lower leg portion (circumference of the calf) of a user to attach the lower leg arm 35 on the lower leg part of the user to simplify.

The coat hanger 32 is an element for fixing the electric motor 31 at the base section 2 and the temple 32 is at the base section 2 attached. In addition, the strap has 32 a through hole 32H ,

A speed reducer 31D is at the distal end of the electric motor 31 attached and the speed reducer 31D is in the through hole 32H of the temple 32 used. In addition, the speed reducer 31D on the pulley 32P attached and the belt 32B is on the pulley 32P and the lower leg pivot arm 33 arranged. In addition, the electric motor receives 31 Power and drive signals from the battery and the control section in the control unit 5 are housed. Furthermore, the electric motor 31 the lower leg pivot arm 33 in the front-rear direction via the pulley 32P and the belt 32B around the drive shaft element 6 panning (see 4 ). In addition, the electric motor 31 with the rotation angle detection section 31S , like a giver. The rotation angle detection section 31S gives a rotation angle of the shaft of the electric motor 31 corresponding signal to the control section. The control section is capable of rotating the lower leg pivot arm 33 on the basis of a detection signal from the rotation angle detection section 31S , a speed reduction ratio of the speed reducer 31D and a pulley ratio, and is capable of pivoting the lower leg pivot arm 33 capture. It should be noted that the electric motor 31 is an engine capable of idling. When the electric motor 31 a swivel force from the femoral pivot arm 33 in its de-energized state, then the speed reducer rotates 31D and the rotation angle detection section 31S gives a rotation angle of the speed reducer 11D corresponding signal off.

Next, referring to 4 a description of the operation of supporting the pivoting of a thigh part UL1 of a user, the thigh pivot arm 13 and the operation of assisting in pivoting a lower leg part L2 of the user wearing the lower leg arm 35 bears, stated. The femoral swivel arm 13 pivots about the drive shaft element 6 when he is from the electric motor 11 Receiving power. Similarly, the lower leg pivot arm pivots 33 around the drive shaft element 6 when he is from the electric motor 31 Receiving power. Besides, the thigh swivel arm form 13 , the lower leg pivot arm 33 , the lower leg extension arm 34 and the parallel connection forming section 35M (of the lower leg arm 35 ) a parallel connection, which is designed as a parallelogram. Accordingly, the lower leg passing arm corresponds 34 and the lower leg arm 35 Swivel connection elements with the thigh swivel arm 13 and the lower leg pivot arm 33 are connected and based on a pivot angle (angle θ1 in 4 ) of the femoral swivel arm 13 and a swing angle (angle θ1 - θ2 in FIG 4 ) of the lower leg pivot arm 33 work. It should be noted that the positions of the femoral swivel arm 13 , the lower leg pivot arm 33 , the lower leg extension arm 34 and the lower leg arm 35 , in the 4 are indicated by solid lines when the initial positions (positions where a user is in his / her upright posture at standstill) of the respective arms are set.

When the femoral swivel arm 13 from its home position at the angle θ1, then the thigh portion UL1 of a user can pivot forward at the angle θ1, as in FIG 4 is shown. When the lower leg swivel arm 33 at the same time from its initial position with the angle (θ1 - θ2) pivots forward, then the lower leg part UL2 of the user can swing forward so that he is with respect to the femoral pivot arm 13 with the angle θ2 forward, as in 4 is shown. Because the pivoting movement of the femoral swivel arm 13 with the electric motor 11 and the pivotal movement of the lower leg pivot arm 33 with the electric motor 31 can be controlled separately, the user is allowed to freely set the angle θ1 and the angle θ2 as he / she wants. In addition, because the pivoting of the femoral part, which requires a large torque, using both the torques of the electric motors 11 and 33 According to the configuration, a large motor is not required.

In addition, if the femoral swivel arm 13 pivots, then the energy of the pivoting movement in the flat spiral spring 24 stored and used to perform the pivoting movement in an opposite direction. That is, the energy that is generated when the femoral swivel arm 13 swings forward, becomes in the flat spiral spring 24 stored and then used when the femoral swivel arm 13 pivots backwards, and the energy that is generated when the femoral swivel arm 13 pivots backwards, is in the flat spiral spring 24 stored, and is then used when the femoral swivel arm 13 pans forward. Next, the rigidity adjusting portion which is the flat coil spring will be described 24 having.

Hereinafter, a description will be made of the rigidity adjustment section (FIG. 1 to 3 and 5 to 7 ), by the electric motor 21 , the temple 22 , the spring-fixing element 23 , the flat spiral spring 24 , The gear 25 and the like. The coat hanger 22 is an element that drives the electric motor 21 at the base section 2 attached, and is at the base section 2 attached. The coat hanger 22 has a through hole 22H , in which the rotary shaft of the electric motor 21 is used. Besides, as in 1 and 6 shown is the through hole 13H of the disc section 13G of the femoral swivel arm 13 , the pulley shaft member 15J the pulley 15 , the wave 25A of the transmission 25 , the central axis of the flat spiral spring 24 , a through hole 23H of the spring attachment element 23 , the through hole 22H of the temple 22 and the speed reducer 21D of the electric motor 21 arranged so that they coaxial with the drive axis line 6J are.

As in 5 shown is the transmission 25 via its input section 25C with the pulley shaft member 15J the pulley 15 connected to the disc portion 13G of the femoral swivel arm 13 is fixed, and outputs a output rotation angle nθ obtained by multiplying an input rotation angle θ included in the input section 25C is input, obtained with n times, as a rotation angle of the shaft 25A based on a predetermined gear ratio (s). As in 7 shown has the gearbox 25 thus the wave 25A , and if the femoral swivel arm 13 pivots with a first pivot angle (θf), then the shaft pivots 25A with a swivel angle (nθf) obtained by changing the first swivel angle (θf) based on a prescribed gear ratio (n). As in 5 shown has the wave 25A also a spring release insert groove 25B acting as one in the direction of the drive axis line 6J extending groove for securing the side of a free end 24B the flat spiral spring 24 serves. It should be noted that the transmission 25 the pulley shaft member 15J rotates through a rotational angle θb · (1 / n) when the shaft 25A caused by a biasing torque from the flat spiral spring 25 to rotate a rotation angle θb.

As the flat spiral spring 24 is an elastic body, such as a spring element, spirally wound around a prescribed axis. As in 5 shown has the flat spiral spring 24 the free end 24B at one end serving as an end positioned closer to the central portion of its turn, and having a fixed end 24a at the other end serving as an end spaced from the central portion of the winding. It should be noted that the free end 24B on the spring release insert groove 25B the wave 25A is attached, and the attached end 24A on a spring support body 23J of the spring attachment element 23 in 5 is attached.

The spring attachment element 23 has a through hole 23H , in which the speed reducer 21D at the distal end of the electric motor 21 is inserted, by the speed reducer 21D is supported, and that at the base portion 2 through the temple 22 and the electric motor 21 is attached. In addition, the spring attachment element 23 the spring support section 23J who is the fortified end 24A the flat spiral spring 24 supports, on its surface, the flat spiral spring 24 at one of the drive axis line 6J facing away from the position. For example, the spring support body 23J a wavy element extending along the direction of the drive axis line 6J extends and which is inserted into a cylindrical portion which at the position of the fixed end 24A the flat spiral spring 24 is trained. In addition, the spring attachment element 23 through the electric motor 21 brought to the drive axis line 6J to turn and change a position of the attached end 24A the flat spiral spring 24 in a circumferential direction. As previously described, the spring fastener is 23 so supported that it is about the drive axis line 6J is rotatable and at a predetermined angle of rotation about the drive axis line 6J rotates. Thus, the spring attachment member moves 23 a position of the spring support body 23J relative to the drive axis line 6J in the circumferential direction by a prescribed rotation angle about the drive axis line 6J ,

The electric motor has at its distal end the speed reducer 21D , In addition, the speed reducer 21D in the through hole 22H of the temple 22 used, the electric motor 21 is at the temple 22 attached and the strap 22 is at the base section 2 attached. In addition, the electric motor receives 21 Power and drive signals from the battery and the control section included in the control unit 5 are housed. In addition, the electric motor 21 the spring attachment element 23 around the drive axis line 6J relative to the temple 22 (ie the base section 2 ) and a position of the attached end 24A the flat spiral spring 24 move in the circumferential direction. In addition, the electric motor 21 with the rotation angle detection section 21S , like a giver. The rotation angle detection section 21S gives a signal corresponding to a rotation angle of the shaft of the electric motor 21 to the control section. Incidentally, the control section is capable of a rotation angle of the speed reducer 21D on the basis of a detection signal from the rotation angle detection section 21S and a speed reduction ratio of the speed reducer 21D to capture, and is able to rotate the spring attachment element 23 capture. It should be noted that the hanger 22 may be provided with an angle detection portion (angle sensor), which is a rotation angle of the spring fixing element 23 relative to the temple 22 detected. In addition, the electric motor is not an idling motor (that is, the electric motor 21 is a motor that does not idle), a rotational position of the speed reducer 21D is maintained even in its non-energized state, and the position of the attached end 24A is maintained even when in the flat spiral spring 24 a biasing torque is generated.

In the further course the positions of the attached end become 24A and an offset angle θs of the flat coil spring 24 described ( 8th to 11 ). 8th shows an example of a case where an in 3 shown user T is in his / her upright posture, a pivot angle of the thigh pivot arm 13 Zero is, and a biasing torque of the flat spiral spring 24 Zero. At the position of the attached end 24A the flat spiral spring 24 in the example of 8th is neither a biasing torque in a clockwise direction about the drive axis line 6J nor a biasing torque in a "counterclockwise" direction about the drive axis line 6J in the free end 24B generated. In addition, a reference line J1, which is in 8th shown is a virtual line representing the drive axis line 6J and the spring release insertion groove 25B in a case happens in which the position of the attached end 24A is set so that there is no biasing torque in the free end 24B generated when a swivel angle of the femoral swivel arm 13 Is zero and gives a reference angular position of the shaft 25A at. Also, in the example of 8th shown position of the attached end 24A (the spring support body 23J ) as the reference position of the attached end 24A (of the spring support body 23J ) of the flat spiral spring 24 established.

9 shows a state in which the electric motor 21 is driven so that it is the position of the attached end 24A the flat spiral spring 24 from the in 8th shown state changes to a position at which the attached end 24A the flat spiral spring 24 is moved clockwise in the circumferential direction by a rotation angle (θs) from the aforementioned reference position. This state is referred to as a "state" in which the offset angle θs in the clockwise direction is applied to the flat coil spring 24 is applied. Even if the user is in this state in his / her upright posture and a tilt angle of the femoral pivot arm 13 Zero is then on the shaft 25A due to the offset angle θs in the clockwise direction, a biasing torque of the flat coil spring 24 Applied, and the biasing torque is from the shaft 25A over the transmission 25 and the pulley 15 on the femoral swivel arm 13 applied.

10 shows an example of a case in which the femoral swivel arm 13 pivots in the clockwise direction with a swivel angle θf in a state in which the in 9 shown "offset angle θs in the clockwise direction" is applied. When the femoral swivel arm 13 in the clockwise direction with the swivel angle θf with a gear ratio (n) of the transmission 25 pans, then swings the shaft 25A of the transmission 25 in the clockwise direction at a swivel angle nθf. That is, in the in 10 shown example, a biasing torque in the "counterclockwise direction" in the flat spiral spring 24 according to an angle (nθf-θs) obtained by subtracting the offset angle θs from the swing angle nθf.

11 shows an example of a case in which the femoral swivel arm 13 at a swing angle θr in a state where the in 9 shown "offset angle θs in the clockwise direction" is imposed in the "counterclockwise direction" pivots. When the femoral swivel arm 13 in the "counterclockwise direction" with the swivel angle θr with a gear ratio (n) of the transmission 25 pans, then swings the shaft 25A of the transmission 25 at a swing angle nθr in the "counterclockwise direction". That is, in the in 11 shown example, a biasing torque in the clockwise direction in the flat spiral spring 24 according to an angle (nθr + θs) obtained by adding the offset angle θs to the swing angle nθr. Through the transmission 25 (which can be omitted), the flat spiral spring 24 , the spring-fixing element 23 and the electric motor 21 (the stiffness adjustment member) described above, a variable apparent spring constant portion is formed having an apparent spring constant as viewed from the femoral pivot arm 13 changed. In addition, the variable, apparent spring rate section alters the stiffness about the drive axis line 6y , As previously described, "stiffness" indicates a torque per unit angular displacement that is used to pivot the femoral pivot arm 13 is required, the apparent spring constant of the flat spiral spring 24 seen from the femoral swivel arm 13 related to this torque. Accordingly, the "apparent stiffness of the elastic body (the flat coil spring) as viewed from the femoral pivot arm includes 13 "An" apparent spring constant of the flat spiral spring 24 seen from the femoral swivel arm 13 ". The spring constant is a kind of stiffness. In addition, it is possible to alter the stiffness of the elastic body, optimally retain energy, and optimally release the retained energy. In addition, the "variable stiffness" section includes the apparent stiffness of the elastic body as viewed from the femoral pivot arm 13 changes "the" section of variable, apparent spring constant, which is the apparent spring constant of the flat spiral spring 24 seen from the femoral swivel arm 13 changed ".

Next will be the input / output of a control section 50 with reference to 12 described. The control unit 15 takes the control section 50 and a battery 60 on. In addition, the control section has 5 a start switch 54 , a touch-sensitive keypad 55 serving as an input / output section, a terminal 61 to charge the battery 60 and the same. In addition, the control section has 50 (the control unit) a central processing unit (CPU) 50A , Motor driver 51 . 52 and 53 and the same. It should be noted that although the control section 50 a memory unit further comprising a program for executing the processing of the control section 50 , stores various measurement results and the like, the storage unit is not shown in the figure.

As will be described later, the control section calculates 50 a target swing cycle and a target swing angle for pivoting the femoral pivot arm 13 and outputs a drive signal to the electric motor 11 over the motor driver 51 out. The electric motor 11 turns the speed reducer 11d based on the drive signal from the control section 50 and swings the femoral swivel arm 13 at a prescribed cycle and angle through the pulley 14 , the belt 14B and the pulley 15 , In addition, a rotation speed and a rotation amount of the shaft of the electric motor become 11 by the rotation angle detection section 11s and a detection signal is sent via the motor driver 51 into the CPU 50A entered while in the motor driver 51 is entered. The CPU 50A performs a feedback control such that an actual swing cycle and an actual swing angle of the thigh pivot arm 13 on the basis of the detection signal from the rotation angle detecting section 11S come closer to the desired pivoting cycle and the desired swivel angle (that is, approximate these).

As will be described later, the control section calculates 50 in addition, a target rigidity adjustment angle as a rotation angle of the spring attachment member 23 such that the apparent spring constant of the flat spiral spring 24 seen from the femoral swivel arm 13 has an optimum value, and outputs a drive signal to the electric motor 21 over the motor driver 52 out. Based on the drive signal from the control section 50 the electric motor turns 21 the spring attachment element 23 via the speed reducer 21D , In addition, a rotation speed and a rotation amount of the shaft of the electric motor become 21 by the rotation angle detection section 21S detected, and a detection signal is via the motor driver 52 into the CPU 50A entered while in the motor driver 52 is entered. The CPU 50A performs a feedback control such that an actual angle of rotation of the spring mounting element 23 on the basis of the detection signal from the rotation angle detecting section 21S comes closer to the desired stiffness adjustment angle (that is, this approximates).

As will be described later, the control section calculates 50 a target pivoting cycle and a desired pivoting angle about the lower leg pivoting arm 33 to pivot, and gives a drive signal to the electric motor 31 over the motor driver 53 out. Based on the drive signal from the control section 50 pivots the electric motor 31 the lower leg pivot arm 33 at a predetermined cycle and a predetermined angle across the speed reducer 31D , the pulley 32P and the belt 32B , In addition, a rotation speed and a rotation amount of the shaft of the electric motor become 31 by the rotation angle detection section 31S detected, and a detection signal is via the motor driver 53 into the CPU 50A entered while in the motor driver 53 is entered. The CPU 50A performs a feedback control such that an actual swing cycle and an actual swing angle of the lower leg pivot arm 33 on the basis of the detection signal from the rotation angle detecting section 31S come closer to the desired pivoting cycle and the desired swivel angle (that is, approximate these).

The start switch 54 is a switch for starting the control section 50 , In addition, the touch-sensitive control panel 55 a device used to input a height, a weight, and the like of the user, and indicating a setting state and the like. Besides, the connection is 61 for charging, a connector to which a charging cable is connected to the battery 60 to load.

Next, a description will be given of the processing procedure of the control section 50 referring to a in 13 shown flowchart shown. When a user operates the start button of the control unit (step S10), the flow advances to step S15.

In step S15, the control section is ready to enter the initial settings of the user via the touch panel. After confirming the input of a size and weight of a user, the control section proceeds to step S20. It should be noted that if the input of the user is not confirmed even after elapse of a predetermined time, the control section sets, for example, a predetermined (default) standard size and weight, and proceeds to step S20.

In step S20, the control section measures the walking (or running) state of the user without energizing the electric motors 11 . 21 and 31 for a predetermined period of time, and stores detection signals from the rotation angle detection sections 11S and 31S in the storage unit as measurement data corresponding to a measurement time. The waves of the electric motors 11 and 31 are configured to be idle in a non-energizing time. It should be noted that the shaft of the electric motor 21 is configured so that it is locked without idle at non-energized time. An angle of the spring attachment element 23 that by the electric motor 21 is rotated, is set to a rotation angle at which a biasing torque in the flat coil spring 24 is not generated when a swing angle of the thigh pivot arm 13 Zero. After collecting the measurement data during, for example, a predetermined number of steps or a predetermined period of time, the control section proceeds to step S25.

In step S25, the control section calculates a swing angle (or a swing amount) of the femoral pivot arm from the measurement data based on the detection signal from the rotation angle detection section 11S and calculates a walking cycle (or a swing cycle) of angular velocity and angular acceleration of the femoral pivot arm. In addition, the control section similarly calculates a swing angle (or a swing amount) of the lower leg swing arm from the measurement data based on the detection signal from the rotation angle detection section 31S and calculates a walking cycle (or a swing cycle) based on angular velocity and angular acceleration of the lower leg pivot arm. Then, the control section proceeds to step S30.

In step S30, the control section calculates a target rigidity adjustment angle as an optimal joint rigidity based on the swing angle and the swinging cycle of the femoral pivot arm calculated in step S25 and the size and weight of the user and the like input in step S15. Thereafter, the control section proceeds to step S35. It should be noted that a method of calculating the target rigidity adjustment angle will be described later in detail.

In step S35, the control section controls the electric motor 21 to an offset angle of the spring attachment element 23 to set to the target rigidity adjustment angle calculated in step S30. Thereafter, the control section proceeds to step S40.

In step S40, the control section calculates the pattern of support of the thigh portion of a user (the pattern for outputting a drive signal to the electric motor 11 and the like) and the pattern for supporting the lower leg part of the user (the pattern for outputting a drive signal to the electric motor 31 ) based on the swing angle and the swing cycle of the thigh swing arm and the swing angle and the swing cycle of the lower leg swing arm calculated in step S25, an output voltage of the battery, and the like. Thereafter, the control section proceeds to step S45.

In step S45, the control section starts outputting drive signals to the electric motors 11 and 31 based on the support pattern calculated in step S40, about the femoral pivot arm 13 and the lower leg pivot arm 33 to pivot, and supports the operation of walking (or running) of the user so that the operation of walking (or running) of the user continues. Thereafter, the control section proceeds to step S50. It should be noted that the output of the drive signals to the electric motors 11 and 31 is also continued after the control section has moved to other steps.

In step S50, as in the measurement of step S20, the control section stores detection signals from the rotation angle detection sections 11S and 31S in the storage unit as measurement data corresponding to a measurement time while the electric motors 11 and 31 work and assist the operator in walking (or walking). Thereafter, the control section proceeds to step S55. It should be noted that the collection of the measurement data is continued even after the control section transitions to other steps.

In step S55, based on the measurement data collected in step S50, the control section determines whether the user wants to stop supporting the operation of walking (or running). When it is determined that the user wants to stop supporting the operation of walking (or running) (YES), the control section stops outputting the drive signals to the electric motors 11 and 31 to stop processing. On the other hand, when it is determined that the user does not want to stop supporting the operation of walking (or running) (NO), the control section returns to step S25.

Hereinafter, a description will be given of a method of calculating a target rigidity adjustment angle (FIG. 10 ) (Target rigidity adjustment angle with respect to a swing angle θf of the femoral pivot arm 13 in the clockwise direction). First, referring to 10 a procedure for calculating a target stiffness adjustment angle described in step S30 of FIG 13 shown flowchart is performed. 10 FIG. 15 shows an example of a case in which an offset angle in the clockwise direction is θs (an offset angle in the "counterclockwise direction" is -θs), the femoral pivot arm 13 pivots with a swivel angle θf in the clockwise direction, and a swivel angle of the shaft 25A of the transmission 25 in the clockwise direction is nθf (that is, a gear ratio of the transmission 25 is (n)). If η the efficiency of the transmission 25 k1 is an apparent spring constant of the flat spiral spring 24 seen from the side of the femoral swivel arm 13 k is a spring constant of the flat spiral spring 24 seen from the side of the spring attachment element 23 is (a source spring constant of the flat spiral spring 24 ), and τ is a torque generated when the femoral pivot arm 13 pivots, then the following equation (1) is set up. τ = k1 · θf = η · n · k (nθf-θs) Equation (1)

When the above equation (1) is transformed, the apparent spring constant k1 of the flat coil spring may be determined 24 seen from the side of the femoral swivel arm 13 are determined by the following equation (2). In addition, the following equation (3) can be obtained when the following equation (2) is transformed. k1 = η · n ² · k [1-θs / (n · θf)] Equation (2) θs = n · θf [1-k1 / (η · n ² · k)] Equation (3)

It can be understood from the above equation (2) that, for example, the offset angle θs is made equal to n · θf (that is, θs = n · θf) when the apparent spring constant k1 of the flat coil spring 24 seen from the side of the femoral swivel arm 13 is set to zero. For example, it is additionally off It can be seen from equation (2) that the apparent spring constant k1 of the flat spiral spring 24 seen from the side of the femoral swivel arm 13 becomes η · n ² · k (that is, k1 = η · n ² · k) when the offset angle θs is set to zero. Further, for example, it can be seen that the offset angle θs is made equal to -n · θf (that is, θs = -n · θf) (that is, the state is a state in which the spring attachment member 23 around n · θf in the "counterclockwise direction" relative to the reference line J1 in the example of FIG 10 turns) when the apparent spring constant k1 of the flat spiral spring 24 seen from the side of the femoral swivel arm 13 is set to 2 · η · n ² · k (that is, k1 = 2 · η · n ² · k).

Here, if f is a walking frequency (a swinging frequency of the femoral pivoting arm) of a user and ω is an angular frequency (angular velocity) at that time, then the following equation (4) is established. The walking frequency f can be determined based on a measured cycle of walking (or running) of the user. Accordingly, a value ω can be determined in the following equation (4). ω = 2 · π · f equation (4)

As described above, k1 is an apparent spring constant of the flat coil spring 24 seen from the side of the femoral swivel arm 13 , In addition, I is an inertia moment about the drive axis line 6J in a pivotal object having the lower limb of a user, the femoral pivot arm 13 and the same. For example, the moment of inertia I may be based on a (known) total mass of respective elements that are about the drive axis line 6J pivot, a position of the center of gravity of the total mass (the distance from the drive axis line 6J and a mass of the lower limb and a position of the center of gravity of the lower limb (which is the distance from the drive axis line) 6J indicated and known) estimated from the weight and size of the user, and the following equations (5) and (6) are set up. Since the value of ω is known from above and the moment of inertia I is also known, the apparent spring constant k1 of the flat coil spring 24 seen from the side of the femoral swivel arm 13 are determined by the following equation (6). ω = √ (k1 / I) Equation (5) k1 = I · ω ² equation (6)

In addition, when ρ is a viscosity coefficient about a hinge axis (the drive axis line 6J ), then becomes the equation of motion of the femoral pivot arm 13 (when an influence of gravity is sufficiently small) generally expressed by the following equation (7). It should be noted that the following equation (7) uses τ, I and k1 described above and expresses a swing angle as θ.

The pivoting of a femoral part essentially produces a sinusoid. When this is substituted as θ = A · sinωt in the above equation (7), the following equation (7A) can be obtained. τ = -A · I · ω ² · sinwt + A · ρ · ω · cosωt + A · k 1 · A sinwt = (k1 - I · ω ²⁾ · sinwt + A · ρ · ω · cosωt equation (7A)

When k1 = I · ω ^2, that is, when in the above equation (7A), a resonance condition is produced, then τ be minimized. Accordingly, energy that is the product of torque and angular displacement can also be minimized.

In the example of 10 is the offset angle θs, which is the power consumption of the electric motor 11 minimized when the femoral swivel arm 13 with the swing angle θf in the clockwise direction, the target rigidity adjustment angle, and the displacement angle θs determined by the above equations (7) and (2) is the target rigidity adjustment angle. In addition, by the above equations (6) and (2), the displacement angle θs according to the angular frequency ω and the moment of inertia I (the displacement angle θs at which the resonance frequency of the flat coil spring and the swing frequency of a pan object coincide with each other) can be determined.

Hereinafter, a description will be made of a method of calculating a target rigidity adjustment angle (FIG. 11 ) (Target rigidity adjustment angle with respect to a swing angle θr of the femoral pivot arm 13 in the "counterclockwise direction"). In other words, with reference to 11 A procedure for calculating a target stiffness adjustment angle described in step S30 of FIG 13 shown flowchart is performed. 11 FIG. 12 shows an example of a case in which an offset angle in the clockwise direction is θs (an offset angle in the "counterclockwise direction" is -θs), the femoral pivot arm 13 at a swing angle θr in the "counterclockwise direction", and a swing angle of the shaft 25A of the transmission 25 is in the "counterclockwise direction" nθr (that is, a gear ratio of the transmission 25 is (n)). Also, if η is the efficiency of the transmission 25 k2 is an apparent spring constant of the flat spiral spring 24 seen from the side of the femoral swivel arm 13 k is a spring constant of the flat spiral spring 24 seen from the side of the spring attachment element 23 is, and τ is a torque which is generated when the femoral pivot arm 13 pivots, set up the following equation (8). τ = k2 · θr = η · n · k (nθf + θs) Equation (8)

When the above equation (8) is transformed, the apparent spring constant k2 of the flat coil spring may be determined 24 seen from the side of the femoral swivel arm 13 are determined by the following equation (9). In addition, the following equation (10) can be obtained when the following equation (9) is transformed. k2 = η · n ² · k [1 + θs / (n · θr)] Equation (9) θs = -n * θr [1-k2 / (η * n ² * k)] Equation (10)

It is apparent from the above equation (9) that the offset angle θs is made equal to, for example, -n ·θr (that is, θs = -n ·θr) when the apparent spring constant k2 of the flat coil spring 24 seen from the side of the femoral swivel arm 13 is set to zero. It can also be seen, for example, from equation (9), that the apparent spring constant k2 of the flat spiral spring 24 seen from the side of the femoral swivel arm 13 is η · n ² · k (that is, k2 = η · n ² · k) when the offset angle θs is set to zero. In addition, for example, it can be understood that the offset angle θs is made equal to n · θr (that is, θs = n · θr) (that is, the state is a state in which the spring attachment member 23 by n · θr in the clockwise direction relative to the reference line J1 in the example of FIG 11 is rotated) when the apparent spring constant k2 of the flat spiral spring 24 seen from the side of the femoral swivel arm 13 is set to 2 · η · n ² · k (that is, k 2 = 2 · η · n ² · k).

If, as above, here f is a walking frequency (a swinging frequency of the femoral pivot arm) of a user and ω is an angular frequency (angular velocity) at that time, then the above equation (4) is established. In addition, if k2 is an apparent spring constant of the flat spiral spring 24 seen from the side of the femoral swivel arm 13 and I is a moment of inertia about the drive axis line 6J in the swivel object is the lower limb of a user, the femoral swivel arm 13 and the like, the following equations (11) and (12) are set up. Since the value of ω is known from the top and the moment of inertia I is also known, the apparent spring constant k2 of the flat coil spring 24 seen from the side of the femoral swivel arm 13 are determined by the following equation (12). ω = √ (k2 / I) Equation (11) k2 = I · ω ² equation (12)

If ρ is a coefficient of viscosity around a hinge axis (the drive axis line 6J ), then becomes the equation of motion of the femoral pivot arm 13 also generally expressed by the following equation (13). It should be noted that the following equation (13) uses the above-described τ, I and k2 and expresses a swing angle as θ.

The pivoting of a femoral part produces almost a sinusoid. If this is substituted into the above equation (13) as θ = A · sinωt, then the following equation (13A) can be obtained. τ = -A · I · ω ² · sinwt + A · ρ · ω · cosωt + A · k2 · sinwt = A (k2 - I · ω ²⁾ · sinwt + A · ρ · ω · cosωt equation (13A)

If k2 is set = I · ω ^2, that is, when in the above equation (13A), a resonance condition is produced, then τ can be minimized. Accordingly, energy that is the product of torque and angular displacement can also be minimized.

In the example of 11 is the offset angle θs, which is the power consumption of the electric motor 11 minimized when the femoral swivel arm 13 at the swing angle θr in the "counterclockwise direction", the target rigidity adjustment angle, and the offset angle θs obtained by the above equations (13) and (9) is the target rigidity adjustment angle. In addition, by the above equations (12) and (9), the offset angle θs according to the angular frequency ω and the moment of inertia I (offset angle θs at which the resonance frequency of the flat coil spring and the swing frequency of the pan object coincide with each other) can be obtained.

As with reference to 10 and 11 is described, the rigidity adjustment angle (the offset angle θs in the clockwise direction) by the control section 50 set so that the resonance angular frequency (ω) of the flat spiral spring 24 and the pitch frequency of the pivotal object are made coincident with each other based on the pivotal frequency (f) of the thigh pivot arm 13 around the drive shaft element 6 , the moment of inertia (I) around the drive shaft element 6 in the swivel object, the thigh swivel arm 13 (all objects containing the lower limb of a user and the femoral pivot arm 13 and around the drive axis line 6J pivoting), the spring constant (k) of the flat spiral spring 24 , the offset angle (θs) of the flat spiral spring 24 and the swing angle (θf) of the femoral pivot arm 13 in the clockwise direction or the swing angle (θr) of the femoral pivot arm 13 in the "counterclockwise direction".

As described above, the rigidity adjustment angle (the offset angle θs in the clockwise direction) is set such that the resonance angular frequency (ω) of the flat coil spring 24 with the swivel frequency of the swivel object (of the entire object surrounding the drive shaft element 6 pivots) including the femoral pivot arm 13 matches. Thus, that of the electric motor 11 consumed energy can be minimized. It should be noted that the rigidity adjustment angle need not be calculated according to the above equation, but may be calculated according to other methods. That is, in another method, the rigidity adjustment angle is slightly changed and the consumed power of the electric motor 11 for a prescribed cycle is measured at the rigidity adjustment angle. Thereafter, the rigidity adjustment angle is again slightly changed and the power consumption of the electric motor 11 for the above-described cycle is measured. By repeatedly measuring the power consumption of the electric motor 11 In this way, the stiffness adjustment angle can be calculated, which leads to the minimum energy consumption. In addition, it is by reinforcing the swing angle of the thigh pivot arm 13 by means of the gearbox 25 and by inputting the amplified swing angle into the flat coil spring 24 possible to use a small flat spiral spring, which has a relatively small spring constant. Moreover, it is also possible to have a small electric motor having a smaller torque than the electric motor 21 to use.

The pivoting device 1 of the first embodiment described above is used for the left leg of a user. However, the control unit 5 the operation of walking (or running) both legs of a user by the addition of a base portion for the right leg (symmetrical to the base portion 2 ), a thigh pivot portion for the right leg (symmetrical to the respective elements, denoted by reference numerals 11 . 12 . 14 . 14B . 15 . 13 . 19 and the like), a right leg rigidity adjustment section (symmetrical to the respective elements indicated by reference numerals) 21 . 22 . 23 . 24 . 25 and the like), and a lower leg pivoting section for the right leg (symmetrical to the respective elements indicated by reference numerals 31 . 32 . 32P . 32B . 33 . 34 . 35 . 36 . 39 and the like).

Hereinafter, a pivotal joint device of a second embodiment will be described. The pivoting joint device of the second embodiment is one in which the electric motor 11 (and the rotation angle detection section 11S ), the coat hanger 12 , the pulley 14 and the belt 14B from the swivel device 1 of in 1 to 4 shown embodiment are removed and a rotation angle detecting portion capable of a swing angle of the thigh pivot arm 13 to detect the pivoting joint device 1 of the first embodiment is added. In the second embodiment, the movement of a thigh part can not be assisted by an electric motor when a user walks (or runs), but the movement of a lower leg part can be performed by the electric motor 31 get supported. In addition, since the pivotal joint device has the rigidity adjusting portion indicated by reference numerals 21 . 22 . 23 . 24 . 25 and the like, it is possible to set the rigidity adjustment angle (the offset angle θs in the clockwise direction) to an appropriate angle so as to always generate a resonance state. Thus, an amount of movement of the thigh portion of a user can be appropriately reduced.

As in the case of the first embodiment, the control unit 5 also, the operation of walking (or running) both legs of a user by adding a base portion for the right leg (symmetrical to the base portion 2 ), a thigh pivot portion for the right leg (symmetrical to the respective elements, denoted by reference numerals 13 . 19 and the like), a right leg rigidity adjustment section (symmetrical to the respective elements indicated by reference numerals) 21 . 22 . 23 . 24 . 25 and the like), and a lower leg pivoting section for the right leg (symmetrical to the respective elements indicated by reference numerals 31 . 32 . 32P . 32B . 33 . 34 . 35 . 36 . 39 and the like).

Hereinafter, a pivotal joint device of a third embodiment will be described. The pivotal joint device of the third embodiment is one in which the electric motor 31 , the coat hanger 32 , the pulley 32P , the belt 32B , the lower leg pivot arm 33 , the lower leg extension arm 34 , the lower leg 35 , the foot holding section 36 and the lower leg attachment portion 39 from the swivel device 1 of in 1 to 4 shown first embodiment are removed. In the third embodiment, the movement of a thigh part by the electric motor 11 Supports when a user walks (or runs), but the movement of a lower leg part is not supported. As the pivoting joint device by the reference numerals 21 . 22 . 23 . 23 . 25 and the like, it is to be noted that it is possible to set the rigidity adjustment angle (the offset angle θs in the clockwise direction) to an appropriate angle to generate a resonance state at all times. Thus, the power consumption of the electric motor 11 be further reduced.

As in the case of the first embodiment, the control unit 5 in addition, the operation of walking (or running) both legs of a user by adding a base portion for the right leg (symmetrical to the base portion 2 ), a thigh pivot portion for the right leg (symmetrical to the respective elements, denoted by reference numerals 11 . 12 . 14 . 14B . 15 . 13 . 19 and the like), and a right leg rigidity adjustment section (symmetrical to the respective elements indicated by reference numerals) 21 . 22 . 23 . 24 . 25 and the like).

Hereinafter, a pivotal joint device of a fourth embodiment will be described. The pivotal joint device of the fourth embodiment is one in which the electric motor 11 (and the rotation angle detection section 11S ), the coat hanger 12 , the pulley 14 and the belt 14B are removed from the pivot joint device of the third embodiment, and a rotation angle detecting portion capable of a pivot angle of the thigh pivot arm 13 to be added to the pivoting joint device of the third embodiment. In the fourth embodiment, the movement of a lower leg part can not be supported when a user walks (or runs). In addition, the movement of a thigh part of a user can not be supported by an electric motor. However, since the pivotal joint device has the rigidity adjusting portion indicated by reference numerals 21 . 22 . 23 . 24 . 25 and the like, it is possible to set the rigidity adjustment angle (the offset angle θs in the clockwise direction) to an appropriate angle to generate a resonance state at all times. Thus, an amount of movement of the thigh portion of a user can be appropriately reduced.

As is the case with the first embodiment, the control unit 5 in addition, the operation of walking (or running) both legs of a user by adding a base portion for the right leg (symmetrical to the base portion 2 ), a thigh pivot portion for the right leg (symmetrical to the respective elements, denoted by reference numerals 13 . 19 and the like), and a right leg rigidity adjustment section (symmetrical to the respective elements indicated by reference numerals) 21 . 22 . 23 . 24 . 25 and the like).

Hereinafter, a fifth embodiment (an example ( 14 ), in which a variable-apparent-stiffness section on a conveyor 70 which has a reciprocating body) is described. In the following fifth embodiment, an example of the conveying device will be described 70 described having a part (including at least the portion, with variable, apparent stiffness) of the above pivot device. It should be noted that a Y-axis direction in 14 indicates a vertical upward direction.

Below is a description of the overall configuration ( 14 ) of the conveyor 70 specified. In the 14 shown conveyor 70 has an arm 71 , a pinion 71B , a speed reducer 72 (Transmission), an output pulley 73C , a belt 73B , a drive pulley 73A , a vertical drive actuator 74M a rotation angle detection section 74E , a flat spiral spring 24 , a spring attachment element 23 , an electric motor 21 a rotation angle detection section 21S , a supporting body 78 a sliding drive body 79A , a control section 50B and the same. It should be noted that the vertical drive actuator 74M a pinion drive section corresponds. In addition, the electric motor 21 a variable stiffness actuator and corresponds to a stiffness adjustment element. In the example of 14 shown conveyor 70 moves his arm 71 linearly reciprocate in a vertical direction while resting on a guide element 79B (In a horizontal direction) reciprocated to hold a workpiece W on a conveyor C1, and moves the held workpiece W on a conveyor C2. It should be noted that the flat spiral spring 24 , the spring-fixing element 23 , the electric motor 21 and the rotation angle detection section 21S the same as those who are in 5 are shown.

The supporting body 78 supports the pinion 71B , a pinion-side shaft 72A , the speed reducer 72 , a pulley-side shaft 72B , the driven pulley 73C , a spring-side shaft 73C1 , the flat spiral spring 74 , the spring-fixing element 73 and the electric motor 21 such that they are coaxial with each other. In addition, the support body leads 78 the arm 71 such that the arm 71 is able to reciprocate linearly in the vertical direction.

In addition, the support body 78 with a sliding drive body 79A provided that is capable of moving along the guide element 79B (in the horizontal direction) to move back and forth. The control section 50B is capable of providing a control signal to the sliding drive body 79A while receiving a position detection signal from the sliding drive body 79A recorded, and he is capable of the conveyor 70 along the guide element 79B to move back and forth.

The arm 71 is an element that has a rack section 71A did that with the pinion 71B is engaged and extends in the vertical direction, and has a holding portion 71C holding and releasing the workpiece W at its lower end. The arm 71 is through the support body 71 guided so that it turns according to the rotation of the pinion 71B linearly upwards or downwards moved back and forth. It should be noted that the holding section 71C of the arm 71 the workpiece W according to a control signal from the control section 50B holds or releases.

The speed reducer 72 reduces the input of rotation from the pulley side shaft 72D by 1 / n times and gives the reduced rotation to the pinion side shaft 72A off (the speed reducer 72 amplifies the input of the rotation of the pinion-side shaft 72A by n times and gives the increased rotation to the pulley side shaft 72B out).

The driven pulley 73C is with the pulley side shaft 72B and the spring-side shaft 73C1 connected and receives the rotational power of the vertical drive actuator 74M over the drive pulley 73A and the belt 73B , The control section 50B gives a control signal to the vertical drive actuator 74M while receiving a detection signal from the rotation angle detection section 74E detected. It should be noted that the spring-side shaft 73C1 with a free end (the free end 24B in 5 corresponds), as one end of the flat coil spring 24 serves, is connected.

In the above configuration, the flat spiral spring becomes 24 wound in a direction in which its diameter becomes smaller (or larger) to store energy when the vertical drive actuator 74M turns and the pinion 71B drives. To this Time is the output pulley 73C by the vertical drive actuator 74M turned and driven, and the driven pulley 73C moves his arm 71 via the speed reducer 72 and the pinion 71B up (or down). In addition, the flat spiral spring rotates 24 the pinion 71B and drives it while being restored from a condition where its diameter is reduced (or increased) to release the stored energy. At this time, the driven pulley 73C through the flat spiral spring 24 turned and driven, and the driven pulley 73C moves his arm 71 via the speed reducer 72 and the pinion 71B down (or up).

As described above, the free end corresponds to one end of the flat coil spring 24 serves, the free end 24B in 5 , and it is with the spring-side shaft 73C1 connected. In addition, a fixed end corresponds to the other end of the flat coil spring 24 serves, the fortified end 24A in 5 and it is through a spring support 23J of the spring attachment element 23 supported.

The spring attachment element 23 is the same as the one in 5 shown spring fastener 23 , has the spring support body 23J and is by the electric motor 21 made to turn. In addition, the control section gives 50B a control signal to the electric motor 21 during, from the rotation angle detecting section 21S a detection signal is detected.

As described above, the conveyor has 70 the following respective sections in the pivot joint device. The pinion-side shaft 72A corresponds to a drive shaft member of the pivot joint device. The pinion 71B which reciprocates and rotates corresponds to a first output portion of the rocker joint device. The reciprocating motion and rotation angle of the pinion 71B corresponds to a first pivot angle of the pivot device. The rotation angle detection section 74E corresponds to a first angle detecting portion of the pivoting joint device. The flat spiral spring 24 corresponds to an elastic body of the pivot joint device. The apparent spring constant of the flat spiral spring 24 (seen from the pinion 71B ) corresponds to an apparent rigidity of the pivot joint device (as viewed from the first output section). In addition, the variable apparent spring rate section corresponds to the apparent spring rate (as viewed from the pinion 71B ) and by the spring attachment element 23 and the electric motor 21 is formed, a portion with variable, apparent rigidity of the pivot joint device.

Hereinafter, a method for calculating a target rigidity adjustment angle (a rotational angle of the spring attachment member 23 ) according to a rotation angle θ of the pinion 71B described. Here, the equation of motion shown in the following equation (14) is established when F is an axial thrust of the arm 71 in the vertical direction, m is a mass of the arm 71 (It is assumed that a mass of the workpiece W can be regarded as negligible), d is a viscosity coefficient of the arm 71 in vertical motion, k _{L is} the stiffness of the arm 71 in the Y-axis direction, y is a Y-axis coordinate of the position of the lower end of the arm 71 and y _{0 is} a Y-axis coordinate of the position of the upper end of the arm 71 is, and g is the gravitational acceleration. F = my .. + dy. + k _L (y - y ₀ ) + mg equation (14)

In this case, a total sum E of the energy of the system can be expressed by the following equation (15). E = 1 / 2my. ² + 1 / 2k _L (y - y ₀ ) ² + mgy Equation (15)

Here, a condition for minimizing the total sum E of the energy in the above equation (15) is shown in the following equation (16), and the following equations (17), (18) and (19) can be expressed by the following equation (16). to be obtained. dE / dt = my .y .. + k _L (y -y ₀ ) y. + mgy. = {my .. + k _L (y - y ₀ ) + mg} y. = 0 equation (16) my .. + k _L (y - y ₀₎ + mg = 0 Equation (17) k _L = (y - y ₀ ) = -m (y .. + g) Equation (18)

The total sum E of the energy can be minimized when the rigidity k _{L is} controlled as in the above equation (19). Since the stiffness k _L becomes a positive (or negative) infinite number, if y - y ₀ (the angle of rotation θ of the pinion 71B ) is close to zero, k _{L is} fixed at its upper limit (generally set physical upper limit of the spring constant of the flat spiral spring 24 ) if y - y _{0 is} close to zero.

If the arm 71 is oscillated in a nearly sinusoidal pattern in its vertical motion by y ₀ and this is expressed by the following equation (20), then k _{L is} controlled as in the following equation (21). y ≈ y ₀ + Asinωt equation (20) k _L = m [(Aω ² sinωt-g) / (Asinωt)] = m [ω ² -g / (Asinωt)] Equation (21)

In addition, the relationship between a vertical displacement y and a rotational displacement θ (rotational angle of the pinion 71B ) are expressed by the following equation (22) when r is a pitch circle radius of the pinion. It should be noted that θ _{0 is} an angle before a shift and y _{0 is} a position before the shift. r (θ - θ ₀ ) = y - y ₀ Equation (22)

The following equation (23) is established taking into account the fact that the output of the speed reducer 72 is converted by the rack and the pinion into an axial thrust f in a direct-acting direction, and the following equation (24) can be obtained by the following equations (23) and (22). f = k _L (y - y ₀ ) Equation (23) f = k _L r (θ - θ ₀ ) Equation (24)

In this case, the following equation (25) is established when τ a by the flat spiral spring 24 in the pinion 71B torque generated, k _{R is} an apparent rigidity in a rotational direction, τ _{1 is} a torque by the flat spiral spring 24 n is a speed reduction ratio of the speed reducer 72 and η _{R is} the efficiency of the speed reducer 72 is. In addition, in the following equation (26), a torque τ ₁ obtained in the pulley side shaft is obtained 72B of the speed reducer 72 is generated when k is an original spring constant of the flat coil spring. τ = k _R (θ-θ ₀ ) = η _R nτ ₁ Equation (25) τ ₁ = kn (θ - θ ₀ ) Equation (26)

The following equation (27) can be obtained by the above equations (25) and (26). τ = η _R n ² k (θ - θ ₀ ) Equation (27)

Hereinafter, the following equation (28) can be obtained when it is assumed with reference to the above equation (26) that the fixed end 24a the flat spiral spring 24 rotates by θ ₁ (the offset angle θ _S (corresponding to θ ₁ ) in FIG 9 is provided). τ ₁ = k [n (θ-θ ₀ ) -θ ₁ ] Equation (28)

The following equation (29) can be obtained by the above equations (25) and (28). τ = η _R nk [n (θ-θ ₀ ) -θ ₁ ] = η _R n ² k {1-θ ₁ / [n (θ-θ ₀ )]} (θ-θ ₀ ) Equation (29)

The following equation (30) is obtained by the above equations (29) and (25), and the following equation (31) can be obtained when the following equation (30) is transformed for k _R. η _R n ² k {1 - θ ₁ / [n (θ - θ ₀ )]} (θ - θ ₀ ) = k _R (θ - θ ₀ ) Equation (30) k _R = η _R n ² k {1 - θ ₁ / [n (θ - θ ₀ )]} Equation (31)

At this time, the following equation (32) is obtained when η _{L is} an efficiency of a rack and pinion mechanism equal to the work of a direct-acting portion of the work of a rotating section, and the following equation (33) can be expressed by the following equation (32 ) and equation (22) above. f (y - y ₀ ) = η _L τ (θ - θ ₀ ) Equation (32) fr (θ - θ ₀ ) = η _L τ (θ - θ ₀ ) Equation (33)

The following equation (34) can be obtained by the above equations (24) and (33). k _L r ² (θ - θ ₀ ) ² = η _L τ (θ - θ ₀ ) Equation (34)

The following equation (35) is obtained by the above equations (34) and (29), and the following equation (36) can be obtained by transforming the following equation (35) for k _L. In addition, the following equation (37) can be obtained when the following equation (35) is transformed to θ ₁ . Accordingly, θ ₁ can be controlled with reference to the required k _L as in the following equation (37). k _L r ² (θ - θ ₀₎ ² = η η _{L R} n ² k {1 - θ ₁ / [n (θ - θ _0)]} (θ - θ ₀₎ ² Equation (35) k _L = η _L η _R n ² k {1-θ ₁ / [n (θ-θ ₀ )]} 1 / r ² Equation (36) θ ₁ = [1-k _L r ² / (η _L η _R n ² k)] n (θ-θ ₀ ) Equation (37)

As described above, the angle θ ₁ (corresponding to that in FIG 9 shown offset angle θ _S corresponds) the position of the attached end 24a the flat spiral spring 24 set to be real time the above equation (37) with respect to the rotational displacement θ of the pinion 71B Fulfills. Thus, the power consumption of the vertical drive actuator 74M be minimized.

Hereinafter, a sixth embodiment (an example ( 15 and 16 ), in which a section of variable, apparent stiffness on a manipulator 90 is applied with a pivoting body), and the overall configuration ( 15 and 16 ) of the manipulator 90 described. With reference to 15 and 16 For example, an example in which the variable-rigidity portion is applied to a pivotal movement body (a first pivoting portion) will be described 93 that with a second pivoting section 95 and a second rotary section 94 integrated). The in 15 and 16 shown manipulator 90 has a base 91 , a first rotation section 92 , the first pivoting section 93 , the second rotation section 94 , the second pivot section 95 , a control section 50C and the same.

The base 91 is with an electric motor 91M provided with a rotation angle detecting portion 91E has, and the electric motor 91M turns the first rotary section 92 relative to the base 91 , In addition, the first rotation section 92 with a swivel device 80G provided with variable rigidity, which is an electric motor 84M (corresponding to a swing portion driving portion) having a rotation angle detecting portion 84E has, and the swivel device 80G with variable rigidity pivots the first pivoting section 93 relative to the first rotary section 92 , It should be noted that the swivel device 80G with variable stiffness will be described later in detail. In addition, the first pivoting section 93 with an electric motor 93M provided with a rotation angle detecting portion 93E has, and the electric motor 93M turns the second rotary section 94 relative to the first pivot portion 93 , In addition, the second rotary section 94 with an electric motor 94M provided with a rotation angle detecting portion 94E has, and the electric motor 94M pivots the second pivot section 95 relative to the second rotary section 94 , The control section 50C gives a control signal to the electric motor 91M while receiving a detection signal from the rotation angle detection section 91E detected, and outputs a control signal to the electric motor 84M while receiving a detection signal from the rotation angle detection section 84E detected. In addition, the control section gives 50C a control signal to the electric motor 93M while receiving a detection signal from the rotation angle detection section 93E detected, and outputs a control signal to the electric motor 94M while receiving a detection signal from the rotation angle detection section 94E detected.

The swivel device 80G with variable stiffness has a pivot shaft shaft 82A , a speed reducer 82 , a pulley-side shaft 82B , an output pulley 83C , one belt 83B , a drive pulley 83A , an electric motor 84M a rotation angle detection section 84E , a spring-side shaft 83c1 , a flat spiral spring 24 , a spring attachment element 23 , an electric motor 21 (which is a variable stiffness actuator corresponding to a rigidity adjustment member), and a rotation angle detection portion 21S , and is in the first rotary section 92 intended. The in 15 and 16 shown manipulator 90 pivots the first pivoting section 93 and the portions above the first pivot portion 93 (that is, the first pivot portion 93 , the second rotation section 94 and the second pivot portion 95 ). It should be noted that the flat spiral spring 24 , the spring-fixing element 23 , the electric motor 21 and the rotation angle detection section 21S the same as those who are in 5 are shown. It should be noted that the first pivoting section 93 and the portions above the first pivot portion 93 Swing cyclically at a predetermined size.

The first rotary section 92 acting as the supporting body of the pivoting device 80G with variable stiffness, supports the pivot body side shaft 82A , the speed reducer 82 , the pulley-side shaft 82B , the driven pulley 83C , the spring-side shaft 83c1 , the flat spiral spring 24 , the spring-fixing element 23 and the electric motor 21 such that they are coaxial with each other. It should be noted that, since the speed reducer 82 , the pulley-side shaft 82B , the driven pulley 83C , the belt 83B , the drive pulley 83A , the electric motor 84M , the spring-side shaft 83c1 , the flat spiral spring 24 , the spring-fixing element 23 and the electric motor 21 the same ones are like the speed reducer 72 , the pulley-side shaft 72B , the driven pulley 73C , the belt 73B , the drive pulley 73A , the vertical drive actuator 74M , the spring-side shaft 73C1 , the flat spiral spring 24 , the spring-fixing element 23 and the electric motor 21 , each in 14 are shown, whose descriptions are omitted. The speed reducer 82 reduces the from the pulley side shaft 82B input rotation by 1 / n times and gives the decreased rotation to the pivot body side shaft 82A off (the speed reducer 82 amplifies the of the pivot body side shaft 82A input rotation by n times and gives the amplified rotation to the pulley side shaft 82B out).

In the above configuration, the flat spiral spring becomes 24 twisted in a direction in which its diameter becomes smaller (or larger) to store energy when the electric motor 84M turns and the driven pulley 83C drives. At this time, the pivots from the electric motor 84M turned and driven driven pulley 83C the first pivoting section 93 via the speed reducer 82 and the pivot body side shaft 82A , In addition, the flat spiral spring rotates 24 the driven pulley 83C and drives them while being restored from a state in which their diameter is reduced (or increased) to release stored energy. At this time pivots from the flat spiral spring 24 turned and driven driven pulley 83C the first pivoting section 93 via the speed reducer 82 and the pivot body side shaft 82A ,

As previously described, the manipulator has 90 the following respective sections in the pivot joint device. The pivot body-side shaft 82A corresponds to the drive shaft member of the pivot joint device. The first pivoting section 93 which pivots corresponds to the first output portion of the pivot joint device. The swing angle θ of the first swing section 93 corresponds to the first pivot angle of the pivot joint device. The rotation angle detection section 84E corresponds to the first angle detecting portion of the pivoting joint device. The flat spiral spring 24 corresponds to the elastic body of the pivot joint device. The apparent spring constant of the flat spiral spring 24 (seen from the first pivot section 93 ) corresponds to the apparent rigidity of the pivot joint device (as viewed from the first output section). The variable rate, apparent spring rate section, which represents the apparent spring rate (as seen from the first pivot portion 93 ) and by the spring attachment element 23 and the electric motor 21 is formed corresponds to the variable, apparent stiffness portion of the pivot joint device.

Hereinafter, a method for calculating a target rigidity adjustment angle (a rotational angle of the spring attachment member 23 ) according to a swing angle θ of the first swing section 93 described. Here are the following equations (38) and (39) with respect to one of the flat spiral spring 24 generated torque τ, where k _R, the apparent stiffness (spring constant) of the flat spiral spring 24 seen from the first pivot section 93 is, θ the pivot angle of the first pivot portion 93 is, θ _{0 is} an angle at a position corresponding to the pivot center, n is a speed reduction ratio of the speed reducer 82 η _{R is} the efficiency of the speed reducer 82 and τ _{1 is} one of the flat spiral spring 24 in the pulley-side shaft 82B of the speed reducer 82 is generated torque. τ = k _R (θ - θ ₀ ) Equation (38) τ = η _R nτ ₁ equation (39)

In addition, the following equations (40) and (41) are set up with respect to a torque τ ₁ in the pulley side shaft 82B of the speed reducer 82 where k is an original spring constant of the flat coil spring 24 and θ 'is a free end rotation angle with respect to the fixed end of the flat coil spring 24 is. τ ₁ = kθ 'equation (40) n (θ - θ ₀ ) = θ 'equation (41)

The following equation (42) is obtained by the above equations (40) and (41), and the following equation (43) can be obtained by the following equation (42) and the above equation (39). τ ₁ = kn (θ - θ ₀ ) Equation (42) τ = η _R n × kn (θ-θ ₀ ) = η _R n ² k (θ-θ ₀ ) Equation (43)

The following equation (44) can be obtained by the above equations (43) and (38). k _R = η _R n k ² Equation (44)

Here, the following equation (45) is established when it is assumed that the fixed end of the flat coil spring 24 is rotated by θ ₁ , and the following equation (46) can be obtained by the following equation (45) and the above equation (40). θ '= n (θ - θ ₀ ) - θ ₁ Equation (45) τ ₁ = k [n (θ-θ ₀ ) -θ ₁ ] Equation (46)

In addition, the following equation (47) can be obtained by the above equation (39) and the above equation (46). Further, the following equation (48) can be obtained by the following equation (47) and the above equation (38). τ = η _R n * k [n (θ-θ ₀ ) -θ ₁ ] = η _R n ² k {1-θ ₁ / [n (θ-θ ₀ )]} (θ-θ ₀ ) Equation (47 ) k _R = η _R n ² k {1 - θ ₁ / [n (θ - θ ₀ )]} Equation (48)

In this case, the following equation (49) is established, where m is a mass of a load (the first pivot portion 93 that with the second pivoting section 95 and the second rotary section 94 J is an inertia of the load, d is a coefficient of viscosity of the load, l is a distance from the center of rotation of the first pivot portion 93 to the center of gravity of the load is (see 15 ), and sinθ ≈ θ. It should be noted that, since the moment of inertia J and the distance l to the center of gravity depending on the attitude of the load (the pivoting section 93 that with the second pivoting section 95 and the second rotary section 94 integrated), their values to be used are calculated in advance. τ = Jθ .. + dθ. + k _R (θ - θ ₀ ) + mglθ equation (49)

In addition, a total sum E of the energy when the gravity is applied in the moving direction of the swinging is given by the following equation (50). E = 1 / 2Jθ. ² + 1 / 2k _R (θ - θ ₀ ) ² + mglθ Equation (50)

Here, a condition for minimizing the total sum E of the energy in the above equation (50) is shown in the following equation (51), and the following equations (52) and (53) can be obtained by the following equation (51). dE / dt = Jθ .θ .. + k _R (θ - θ ₀ ) θ. + mglθ. = {Jθ .. + k _R (θ - θ ₀ ) + mgl) θ. = 0 equation (51) Jθ .. + k _R (θ-θ ₀ ) + mgl = 0 Equation (52)

If the pivoting motion substantially produces a sinusoid around θ ₀ , then the following equation (54) is established. Then, the following equation (55) can be obtained by the following equation (54) and the above equation (53). θ = θ ₀ + Asinωt Equation (54) k _R = [(JAω ² sinωt-mgl) / (Asinωt)] = Jω ² -mgl / (Asinωt) Equation (55)

As described above, the angle θ ₁ (corresponding to the in 9 shown offset angle θ _S corresponds) the position of the attached end 24A the flat spiral spring 24 in real time with respect to the swivel angle θ of the first swivel section 93 set to satisfy the above equation (48). Thus, the power consumption of the electric motor 84M be minimized.

It is possible to carry out various modifications, additions and deletions of structures, configurations, shapes, appearances and the like of the swivel device (the ambulance support device), the walk assist device, the conveyance device, the manipulator and the ambulance support device of the invention without departing from the scope of the invention.

The application of the swivel joint device (the ambulance assisting device) described in the embodiment is not limited to a walking assist device used to assist the pivotal movement (such as walking or running) of the lower limb of a user, but the swivel device (the ambulance support device) can be applied to various objects , as conveyors and manipulators, are applied, which perform a cyclic pivoting movement.

The pan and rotation movement of the electric motor 11 , the electric motor 31 , the vertical drive actuator 74M and the electric motor 84M In the first embodiment, the pulleys and belt are applied to the femoral pivot arm 13 , the lower leg pivot arm 33 , the pinion 71B and the first pivot portion 93 however, may be transmitted using gears, a linkage mechanism and the like instead of the pulleys and belts.

In addition, the embodiment describes an example in which the flat spiral spring 24 indirectly with the femoral swivel arm 13 (the pulley 15 ), the transmission 25 between the femoral swivel arm 13 (the pulley 15 ) and the flat spiral spring 24 is provided, the femoral swivel arm 13 (the pulley 15 ) and the flat spiral spring 24 However, you can work directly with each other without the gear 25 be connected. Similarly, the speed reducer 72 and the speed reducer 82 be left out.

In addition, the embodiment describes an example in which the flat spiral spring 24 is used as an elastic body, the flat spiral spring 24 However, it can be replaced by different elastic bodies. For example, other elastic bodies such as a spirally wound expansion / contraction spring, a cup spring, and a wave spring may be used. Elastic bodies using an elastomer, such as rubber, and a resin, liquid such as oil, or gas may be used. It is possible to change the elastic body according to an amount of movement (movement) of an object whose energy is retained or a retained amount of energy. When a retained amount of energy is relatively small, it is effective to use an elastomer. Further, it is effective for the user operation such as walking and running, a flat coil spring in terms of their relatively large energy storage amount, a size of a spring constant (stiffness) and the like, the adjustment easiness and the like to use. In addition, a flat spiral spring is better in terms of cost.

Hereinafter, a seventh embodiment will be described as an example for carrying out the invention with reference to the drawings. It should be noted that when respective figures describe X, Y, Z axes, the X, Y and Z axes are perpendicular to each other. Unless otherwise specified, a Z-axis direction indicates an upward vertical direction, an X-axis direction indicates a front direction relative to a user (a user carrying a pivot device), and a Y-axis direction indicates a left direction relative to the user User. It should be noted that in the description a in 17 shown "thigh swivel arm 13 "Corresponds to a" first arm "and an in 17 shown "lower leg swinging arm 33 "Corresponds to a" second arm ". In addition, an in 17 shown "rotation angle detection section 11S A "first angle detection section", and an in 17 shown "rotation angle detection section 31S "Corresponds to a" second angle detection section ". In addition, an in 17 shown "electric motor 11 A "first drive section", an in 17 shown "electric motor 31 "Corresponds to a" second drive section ", and an in 17 shown "electric motor 21 "Corresponds to a" gear ratio setting motor ". In addition, in one example of the following description, a drive shaft member 6 a prominent element. However, the drive shaft member 6 a protruding shaft or a recessed (hole-shaped) portion that supports a shaft. If the description of "about the drive shaft element 6 "Speaks, then it gives accordingly" around a drive axis line 6J representing the central axis of the drive shaft element 6 reproduces ". A "gearbox 25 "And the" electric motor 21 "Correspond to a" section of variable, apparent spring constant ". "Thigh Swing Arm Stiffness" indicates a torque per unit angular shift that is used to pivot the femoral pivot arm 13 is required. In addition, a "Unterschenkelweitergabearm 34 "And a" lower leg arm 35 A "pivoting connection element".

In the further course, the overall configuration ( 17 to 20 ) of a pivoting device 1 of the seventh embodiment. The pivoting device 1 of the seventh embodiment is attached to a leg (the left leg in the seventh embodiment) of a user to assist a user operation such as walking and running. As in 17 is shown, the pivoting joint device 1 by a user attaching section indicated by reference numerals 2 . 3 . 4 . 5 . 6 and the like, a thigh pivot portion denoted by reference numerals 11 . 12 . 14 . 14B . 15 . 13 . 19 and the like, a rigidity adjustment portion indicated by reference numerals 21 . 22 . 24 . 25 and the like, and a lower leg pivoting portion denoted by reference numerals 31 . 32 . 32P . 32B . 33 . 34 . 35 . 36 . 39 and the like. It should be noted that 17 FIG. 4 is an exploded perspective view showing the shapes, the assembling positions and the like of the respective components of the pivot device. FIG 1 shows, and that 18 shows the pivoting joint device in a state in which the components are assembled. Also shows 19 a state in which a user of the swivel device 1 wears and 20 shows a swivel example of the femoral swivel arm 13 and the lower leg pivot arm 33 , Sections and elements that are the same as or equivalent to those of the hinge device 1 of the first embodiment are indicated by the same reference numerals and characters and their description is omitted.

Subsequently, a rigidity adjustment section (FIG. 17 to 19 and 21 to 23 ) described by the electric motor 21 , the temple 22 , the flat spiral spring 24 , The gear 25 and the like is formed. The coat hanger 22 is an element that drives the electric motor 21 at the base section 2 attached. The coat hanger 22 has the through hole 22H , in which the rotary shaft of the electric motor 21 is inserted, and he is at the base section 2 attached. As in 17 and 22 are shown are also the through hole 13H of the disc section 13G of the femoral swivel arm 13 , the pulley shaft member 15J the pulley 15 , the wave 25A of the transmission 25 and the central axis of the flat spiral spring 24 arranged so that they are coaxial with the drive axis line 6J are. Besides, as in 21 and 22 shown is a gear adjustment screw 21N , the through hole 22H of the temple 22 and the speed reducer 21D of the electric motor 21 arranged so that they coaxial with an axis 21J which are the axis of the transmission timing shaft 21N reproduces.

As in 21 and 23 is shown in the transmission 25 the input / output wave 25H with the pulley shaft member 15J the pulley 15 connected to the disc portion 13G of the femoral swivel arm 13 is attached. The gear 25 gives an output rotation angle nθ obtained by multiplying an input rotation angle θ on one side into the input / output shaft 25H is input, obtained with n times, as a rotation angle of the input / output shaft 25G on the other side based on a through the electric motor 21 set variable gear ratio (s). In addition, there is the transmission 25 an output rotation angle θ / n obtained by an input rotation angle θ at the other side in the input / output shaft 25G is multiplied by 1 / n times, as a rotation angle of the input / output shaft 25H on the one side. When the input / output wave 25G is brought to, due to a biasing torque of the flat spiral spring 24 in order to be rotated by a rotation angle θb, the transmission rotates 25 accordingly, the pulley shaft member 15J by a rotation angle θb (1 / n). As in 21 shown has the input / output wave 25G also the spring release insert groove 25B which serves as a groove extending in the direction of the drive axis line 6J extends to the side of the free end 24B the flat spiral spring 25 to fix. It should be noted that the transmission 25 is disposed on a Schwenkwinkelübertragungspfad, through which a pivot angle of the thigh pivot arm 13 on the flat spiral spring 24 is transmitted.

23 shows a structural example of the transmission 25 , The gear 25 has the input / output wave 25H , the input / output wave 25G , a variety of transmission cones 25F , a gear ring 25R and the like in a housing 25E , A swivel angle of the input / output shaft 25H is about the gear cone 25F which has a substantially cone shape on the input / output shaft 25G transmitted, and a swivel angle of the input / output shaft 25G is about the transmission cone 25F to the input / output wave 25H transfer. The gear ring 25R has a ring-like shape, so he messes with the gear 25F is in contact, and he is with a mother 25M connected. If the gear adjustment screw 21N through the speed reducer 21D is turned, then moves the mother 25M in the longitudinal direction of the Getriebeeinstellschraube 21N and a position of the gear ring 25R (a position in the Y-axis direction in the example of FIG 23 ) relative to the gear cone 25F is moving. Then the attitude of the transmission cone changes 25F and thus, a gear ratio (n) of the input / output shaft changes 25G relative to the input / output wave 25H ,

As the flat spiral spring 24 is an elastic body, such as a spring element, wound around a predetermined axis. As in 21 shown has the flat spiral spring 24 the free end 24B at one end serving as an end positioned near the central portion of its turn, and having the fixed end 24A at the other end serving as an end remote from the central portion of the winding. It should be noted that the free end 24B on the spring release insert groove 25B the input / output wave 25G is attached, and the attached end 24A on a spring support body 25J of the temple 25 in 21 is attached. For example, the spring support body 22J a wavy element that extends along the drive axis line 6J extends, and it is inserted in a cylindrical portion, which at the position of the attached end 24A the flat spiral spring 24 is trained. In addition, the spring support body fixes 22J the fortified end 24A the flat spiral spring 24 relative to the temple 22 ,

The speed reducer 21D is at the distal end of the electric motor 21 attached, and is on the gearbox adjustment screw 21N appropriate. In addition, the speed reducer 21D in the through hole 22H of the temple 22 used, the electric motor 21 is at the temple 22 attached, and the hanger 22 is at the base section 2 attached. In addition, the electric motor receives 21 Power together with drive signals from the battery and the control section in the control unit 5 are housed. In addition, the electric motor rotates 21 the gearbox adjusting screw 21N around the axis of the gearbox adjustment screw 21N relative to the transmission 25 to a position of the gear ring 25R of the transmission 25 adjust and a gear ratio of the transmission 25 adjust. In addition, the electric motor 21 with the rotation angle detection section 21S , like a giver. The rotation angle detection section 21S gives a signal corresponding to a rotation angle of the shaft of the electric motor 21 to the control section. Incidentally, the control section is capable of a rotation angle of the speed reducer 21D on the basis of a detection signal from the rotation angle detection section 21S and a speed reduction ratio of the speed reducer 21D and he is capable of a gear ratio based on a position of the gear ring 25R capture. It should be noted that the hanger 22 is provided with a position detecting portion (position sensor), which is a position of the gear ring 25R in the Y-axis direction relative to the bracket 22 detected. In addition, the electric motor 21 not an idling motor (that is, the electric motor 21 is a motor that is not idling), a rotational position of the speed reducer 21D is maintained even when the electric motor 21 is not energized, and thus becomes a gear ratio of the transmission 25 maintained.

In the further course the position ( 24 ) of the attached end 24A the flat spiral spring 24 described. 24 shows an example of a housing in which a in 19 shown user T is in his / her upright posture, a swivel angle of the femoral swivel arm 13 Zero is and the biasing torque of the flat spiral spring 24 Zero. At the position of the fortified end 24A the flat spiral spring 24 in the example of 24 will be in the free end 24B neither a biasing torque in a clockwise direction about the drive axis line 6J still a biasing torque in a "counterclockwise direction" about the drive axis line 6J generated. There is also an in 24 Reference line J1 shown a virtual line that the drive axis line 6J and the spring release insertion groove 25B happens when a swivel angle of the femoral swivel arm 13 Zero is and a biasing torque of the flat spiral spring 24 Is zero, and it gives the reference angular position of the input / output shaft 25G at. It should be noted that, though 24 an example shows in which the fortified end 24A in front of the spring release insert groove 25B in the direction of the depth of the spring release insertion groove 25 is present and the spring release insert groove 25B and the fortified end 24A positioned on the reference line J1, the position of the fixed end 24A is not limited to this position. The reference line J1 is a line representing a reference position when a swivel angle of the femoral limb 13 Zero is and a biasing torque of the flat spiral spring 24 Zero.

There is also an in 24 indicated pivot angle nθf to a pivot angle, which in the free end 24B the flat spiral spring 24 is entered when the femoral swivel arm 13 pivots with a swivel angle θf in the clockwise direction. When the femoral swivel arm 13 at the swivel angle θf with a gear ratio (n) of the transmission 25 pivots in the clockwise direction, then pivots the input / output shaft 25G of the transmission 25 at a swing angle nθf in the clockwise direction. When the swivel angle nθf in the clockwise direction in the free end 24B the flat spiral spring 24 is input, then generates the flat spiral spring 24 a biasing torque (k · nθf) in the "counterclockwise direction" with a spring constant k of the flat coil spring 24 ,

In addition, the in 24 shown pivot angle nθr a pivot angle, which in the free end 24B the flat spiral spring 24 is entered when the femoral swivel arm 13 pivots with a swivel angle θr in the "counterclockwise direction". When the femoral swivel arm 13 with the swivel angle θr with the transmission ratio (n) of the transmission 25 pivots in the "counterclockwise direction", then pivots the input / output shaft 25G of the transmission 25 with the swivel angle nθr in the "counterclockwise direction". When the swivel angle nθr in the "counterclockwise direction" in the free end 24B the flat spiral spring 24 is input, then generates the flat spiral spring 24 a biasing torque (k · nθr) in the clockwise direction with the spring constant k of the flat coil spring 24 ,

Next, a description will be made of the input / output of a control section 50 with reference to 25 specified. The control unit 5 takes the control section 50 and a battery 60 on. In addition, the control unit has 5 a start switch 54 , a touch panel 55 serving as an input / output section, a terminal 61 to charge the battery 60 and the same. In addition, the control section has 50 (the control unit) a central processing unit (CPU) 50A , Motor driver 51 . 52 and 53 and the same. It should be noted that although the control section 50 a memory unit further comprising a program for executing the processing of the control section 50 , stores various measurement results and the like, the storage unit is not shown in the figure.

As will be described later, the control section calculates 50 a target swing cycle and a target swing angle for pivoting the femoral pivot arm 13 and outputs a drive signal to the electric motor 11 over the motor driver 51 out. The electric motor 11 pivots the speed reducer 11D based on the drive signal from the control section 50 and swings the femoral swivel arm 13 at a predetermined cycle and a predetermined angle across the pulley 14 , the belt 14B and the pulley 15 , In addition, a rotation speed and a rotation amount of the shaft of the electric motor become 11 by the rotation angle detection section 11S and a detection signal is sent via the motor driver 51 into the CPU 50A entered while in the motor driver 51 is entered. The CPU 50A performs a feedback control such that an actual swing cycle and an actual swing angle of the thigh pivot arm 13 on the basis of the detection signal from the rotation angle detecting section 11S get closer to the target swing cycle and the target swing angle (that is, approach).

As will be described later, the control section calculates 50 also a gear ratio of the transmission 25 such that the apparent spring constant of the flat spiral spring 24 seen from the femoral swivel arm 13 has an optimum value and gives a drive signal via the motor driver 52 to the electric motor 21 out. On the basis of the drive signal from the control section 50 the electric motor turns 21 the gearbox adjusting screw 21N via the speed reducer 21D , In addition, a rotation speed and a rotation amount of the shaft of the electric motor become 21 by the rotation angle detection section 21S detected, and a detection signal is via the motor driver 52 into the CPU 50A entered while in the motor driver 52 is entered. The CPU 50A performs the feedback control such that an actual transmission ratio of the transmission 25 on the basis of the detection signal from the rotation angle detecting section 21S closer to a desired stiffness ratio (that is, this approximates). The actual gear ratio of the gearbox 25 is through the transmission adjustment screw 21N reached.

As will be described later, the control section calculates 50 a target pivoting cycle and a target pivoting angle for pivoting the lower leg arm 33 and gives a drive signal via the motor driver 53 to the electric motor 31 out. On the basis of the drive signal from the control section 50 pivots the electric motor 31 the lower leg pivot arm 33 at a predetermined cycle and a predetermined angle across the speed reducer 31D , the pulley 32P and the belt 32B , In addition, a rotation speed and a rotation amount of the shaft of the electric motor become 31 by the rotation angle detection section 31S and a detection signal is sent via the motor driver 53 into the CPU 50A entered while in the motor driver 53 is entered. The CPU 50A performs a feedback control such that an actual swing cycle and an actual swing angle of the lower leg pivot arm 33 on the basis of the detection signal from the rotation angle detecting section 31S come close to the desired pivoting cycle and the desired swivel angle (that is, this approximate).

The start switch 54 is a switch for starting the control section 50 , In addition, the touch panel 55 a device used for inputting a size, weight, and the like of a user, indicating a setting state and the like. Besides, the connection is 61 for charging a connector on which a charging cable for charging the battery 60 is connected.

Next, a processing procedure of the control section 50 referring to a in 26 shown flowchart described. When a user operates the start button on the control unit (step S10), the control section proceeds to step S15.

In step S15, the user's initial setting input control section is provided through the touch panel. After confirming the input of the size and weight of the user, the control section proceeds to step S20. Note that, if the user's input is not confirmed even after a lapse of a predetermined period of time, for example, the control section sets a default preset height and weight and proceeds to step S20.

In step S20, the control section measures a walking state (or running state) of the user without energizing the electric motors 11 . 21 and 31 for a predetermined period of time, and stores detection signals from the rotation angle detection sections 11S and 31S in the storage unit as measurement data corresponding to a measurement time. The waves of the electric motors 11 and 31 are configured to run empty at a non-energized time. It should be noted that the shaft of the electric motor 21 is configured to be locked at non-energized time without going blank. An angle of rotation of the gearbox adjustment screw 21N that by the electric motor 21 is reached, is not changed, and thus the gear ratio is fixed. After collecting the measurement data, for example, for a predetermined number of steps or a predetermined time, the control section proceeds to step S25.

In step S25, the control section calculates a swing angle (or a swing amount) of the femoral pivot arm from the measured data based on the detection signal from the rotation angle detection section 11S and calculates a walking cycle (or a swing cycle) from an angular velocity and an angular acceleration of the femoral pivot arm. In addition, the control section similarly calculates a swing angle (or a swing amount) of the lower leg swing arm from the measurement data based on the detection signal from the rotation angle detection section 31S and calculates a walking cycle (or a swing cycle) from an angular velocity and angular acceleration of the lower leg pivot arm. Then, the control section proceeds to step S30.

In step S30, the control section calculates a target rigidity speed ratio as optimum joint rigidity based on the swing angle and the swinging cycle of the femoral pivot arm calculated in step S25 and the size inputted in step S15 and the weight and the like of the user. Thereafter, the control section proceeds to step S35. It should be noted that a method of calculating the target stiffness speed ratio will be described later in detail.

In step S35, the control section controls the electric motor 21 to the gear ratio of the gearbox 25 to set the target rigidity speed ratio calculated in step S30. Thereafter, the control section proceeds to step S40.

In step S40, the control section calculates the pattern of support of the thigh portion of a user (the pattern for outputting a drive signal to the electric motor 11 and the like) and the pattern for supporting the lower leg part of the user (the pattern for outputting a drive signal to the electric motor 31 ) based on the swing angle and the swing cycle of the thigh swing arm and the swing angle and the swing cycle of the lower leg swing arm calculated in step S25, an output voltage of the battery, and the like. Thereafter, the control section proceeds to step S45.

In step S45, the control section starts outputting drive signals to the electric motors 11 and 31 based on the support patterns calculated in step S40, about the femoral pivot arm 13 and the lower leg pivot arm 33 to pivot, and supports the user's walking operation (or running operation) so that the user's walking operation (or running operation) continues. Thereafter, the control section proceeds to step S50. It should be noted that the output of the drive signals to the electric motors 11 and 31 even after the control section proceeds to other steps.

In step S50, as in the measurement of step S20, the control section stores detection signals from the rotation angle detection sections 11S and 31S in the storage unit as measurement data corresponding to a measurement time while the electric motors 11 and 31 operated and support the foot control (or running) of the user. Thereafter, the control section proceeds to step S55. It is to be noted that the collection of the measurement data is continued even after the control section transitions to other steps.

In step S55, the control section determines whether the user wants to stop the assist of walking (or running) based on the measurement data collected in step S50. When it is determined that the user wants to stop the assist of the walking operation (or the running operation) (Yes), the control section stops the output of the drive signals to the electric motors 11 and 31 to stop processing. On the other hand, if it is determined that the user does not want to stop the operation of the walking operation (or running operation) (No), the control section returns to step S25.

Hereinafter, a method of calculating a target rigidity speed ratio, that is, a target rigidity speed ratio with respect to a swing angle θf of the femoral pivot arm will be described 13 described in the clockwise direction. It becomes in step S30 of the in 26 described procedure for calculating a target stiffness speed ratio, that is, an example of a case in which the thigh pivot arm 13 pivots at the swivel angle θf in the clockwise direction. In this case, a swivel angle nθf becomes the input / output shaft 25G of the transmission 25 in the clockwise direction with a transmission ratio (n) of the transmission 25 entered. If η the efficiency of the transmission 25 k1 is an apparent spring constant of the flat spiral spring 24 seen from the side of the femoral swivel arm 13 k is a spring constant of the flat spiral spring 24 seen from the side of the spring support body 22J is (an original spring constant of the flat spiral spring 24 ) and τ is a torque which is generated when the femoral pivot arm 13 pivots, the following equation (1) is established. τ = k1 · θf = η · k · n ² θf Equation (1)

When the above equation (1) is transformed, the apparent spring constant k1 of the flat coil spring may be determined 24 seen from the side of the femoral swivel arm 13 are determined by the following equation (2). In addition, the following equation (3) can be obtained when the following equation 2 is transformed. k1 = η · n ² · k equation (2) θs = [k1 / (η * n ² · k)] Equation (3)

For example, it is apparent from the above equation (2) that a current gear ratio n is changed to √2 · n, which is √2 times the current gear ratio n when the apparent spring constant k1 of the flat coil spring 24 seen from the side of the femoral swivel arm 13 is doubled.

Here, if a walking frequency (a swinging frequency of the femoral pivoting arm) of a user is f and an angular frequency (angular velocity) at this time is ω, then the following equation (4) is established. The walking frequency f can be determined based on a measured cycle of walking (or running) of the user. Accordingly, a value ω can be determined in the following equation (4). ω = 2 · π · f equation (4)

As described above, k1 is an apparent spring constant of the flat coil spring 24 seen from the side of the femoral swivel arm 13 , In addition, I is an inertia moment about the drive axis line 6J in a swivel object including the lower limb of a user, the femoral pivot arm 13 and the same. For example, the moment of inertia I may be based on a (known) total mass of respective elements that are about the drive axis line 6J pivot, a position of the center of gravity of the total mass (the distance from the drive axis line 6J indicating and knowing), a mass of the lower limb and a position of the center of gravity of the lower limb (which is the distance from the drive axis line 6J indicated and known) estimated from the weight and size of the user, and the following equations (5) and (6) are set up. Since the value of ω is known from the above and the moment of inertia I is also known, the apparent spring constant k1 of the flat spiral spring can be 24 seen from the side of the femoral swivel arm 13 are determined by the following equation (6). ω = √ (k1 / I) Equation (5) k1 = I · ω ² equation (6)

In addition, when a viscosity coefficient about a hinge axis (the drive axis line 6J ) ρ, then becomes the equation of motion of the femoral swivel arm 13 generally expressed by the following equation (7). It should be noted that the following equation (7) uses τ, I and k1 described above and expresses a swing angle as θ.

The pivoting of a femoral part essentially produces a sinusoid. When this is substituted as θ = A · sinωt in the above equation (7), the following equation (7A) can be obtained. τ = -A · I · ω ² · sinwt + A · ρ · ω · cosωt + A · k 1 · A sinwt = (k1 - I · ω ²⁾ · sinwt + A · ρ · ω · cosωt equation (7A)

When k1 = I · ω ^2, that is, when in the above equation (7A), a resonance condition is produced, then τ be minimized. Accordingly, the energy that is the product of torque and angular displacement can also be minimized.

In the example of 24 is the gear ratio n, which is the energy consumption of the electric motor 11 minimized when the femoral swivel arm 13 at the swing angle θf in the clockwise direction, the target stiffness gear ratio, and the gear ratio n determined by the above equations (7) and (2) is the target stiffness gear ratio. In addition, by the above equations (6) and (2), the gear ratio n can be determined according to the angular frequency ω and the moment of inertia I (the gear ratio n at which the resonance frequency of the flat coil spring and the swing frequency of a pan object coincide with each other).

Hereinafter, a description will be given of a method for calculating a target stiffness ratio (target stiffness ratio with respect to a swing angle θr of the femoral pivot arm 13 in the "counterclockwise direction"). A procedure for calculating a target stiffness ratio, described in step S30 of FIG 26 shown flowchart, that is, for an example of a case in which the thigh pivot arm 13 pivots at a swivel angle θr in the "counterclockwise direction". In this case, a swivel angle nθr becomes the input / output shaft 25G of the transmission 25 in the "counterclockwise direction" with a transmission ratio (n) of the transmission 25 entered. Also, if η is the efficiency of the transmission 25 k2 is an apparent spring constant of the flat spiral spring 24 seen from the side of the femoral swivel arm 13 k is a spring constant of the flat spiral spring 24 seen from the side of the spring support body 22J is, and τ is a torque which is generated when the femoral pivot arm 13 pivots, set up the following equation (8). τ = k2 · θr = η · k · n'θr Equation (8)

When the above equation (8) is transformed, the apparent spring constant k2 of the flat coil spring may be determined 24 seen from the side of the femoral swivel arm 13 are determined by the following equation (9). In addition, the following equation (10) can be obtained when the following equation (9) is transformed. k2 = η · n ² · k equation (9) n = √ [k ² / (η · k)] Equation (10)

For example, it is apparent from the above equation (9) that a current gear ratio n is changed to √2 · n, which is √2 times the current gear ratio n when the apparent spring constant k1 of the flat coil spring 24 seen from the side of the femoral swivel arm 13 is doubled.

Here, if f is a walking frequency (a swinging frequency of the femoral pivoting arm) of a user and ω is an angular frequency (angular velocity) at that time, then the above equation (4) is established. In addition, if k2 is an apparent spring constant of the flat spiral spring 24 seen from the side of the femoral swivel arm 13 and I, as above, an inertia moment about the drive axis line 6J in the swivel object is the lower limb of a user, the femoral swivel arm 13 and the like, the following equations (11) and (12) are set up. Since the value of ω is known from the above and the moment of inertia I is also known, the apparent spring constant k2 of the flat spiral spring can be 24 seen from the side of the femoral swivel arm 13 are determined by the following equation (12). ω = √ (k2 / I) Equation (11) k2 = I · ω ² equation (12)

If ρ is a coefficient of viscosity around a hinge axis (the drive axis line 6J ), then becomes the equation of motion of the femoral pivot arm 13 also generally expressed by the following equation (13). It should be noted that the following equation (13) uses the above-described τ, I and k2 and expresses a swing angle as θ.

The pivoting of a femoral part produces almost a sinusoid. If this is substituted into the above equation (13) as θ = A · sinωt, then the following equation (13A) can be obtained. τ = -A · I · ω ² · sinwt + A · ρ · ω · cosωt + A · k2 · sinwt = A (k2 - I · ω ²⁾ · sinwt + A · ρ · ω · cosωt equation (13A)

If k2 is set = I · ω ^2, that is, when in the above equation (13A), a resonance condition is produced, then τ can be minimized. Accordingly, energy that is the product of torque and angular displacement can also be minimized.

In the example of FIG. 5, the gear ratio n is the power consumption of the electric motor 11 minimized when the femoral swivel arm 13 with the swing angle θr in the "counterclockwise direction", the target stiffness gear ratio, and the gear ratio n, the is obtained by the above equations (13) and (9), the target stiffness ratio is. In addition, by the above equations (12) and (9), the gear ratio n can be obtained according to the angular frequency ω and the moment of inertia I (the gear ratio n at which the resonance frequency of the flat coil spring and the swing frequency of the panning object coincide with each other).

As described above, the gear ratio (n) of the transmission becomes 25 through the control section 50 set so that the resonance angular frequency (ω) of the flat spiral spring 24 and the pitch frequency of the pivotal object are made coincident with each other based on the pivotal frequency (f) of the thigh pivot arm 13 around the drive shaft element 6 , the moment of inertia (I) around the drive shaft element 6 in the swivel object, the thigh swivel arm 13 (all objects containing the lower limb of a user and the femoral pivot arm 13 and around the drive axis line 6J pivoting), the spring constant (k) of the flat spiral spring 24 and the swivel angle (θf) of the femoral pivot arm 13 in the clockwise direction or the swing angle (θr) of the femoral pivot arm 13 in the "counterclockwise direction".

As described above, the transmission ratio (n) of the transmission is 25 set such that the resonance angular frequency (ω) of the flat spiral spring 24 with the swivel frequency of the swivel object (of the entire object surrounding the drive shaft element 6 pivots) including the femoral pivot arm 13 matches. Thus, that of the electric motor 11 consumed energy can be minimized. It should be noted that the gear ratio need not be calculated according to the above equation but may be calculated according to other methods. That is, in another method, the gear ratio is slightly changed and the consumed power of the electric motor 11 for a prescribed cycle is measured at the gear ratio. Thereafter, the gear ratio is again slightly changed and the power consumption of the electric motor 11 for the above-described cycle is measured. By repeatedly measuring the power consumption of the electric motor 11 In this way, the gear ratio that results in the minimum power consumption can be calculated. In addition, it is by reinforcing the swing angle of the thigh pivot arm 13 by means of the gearbox 25 and by inputting the amplified swing angle into the flat coil spring 24 possible to use a small flat spiral spring, which has a relatively small spring constant. Moreover, it is also possible to have a small electric motor having a smaller torque than the electric motor 21 to use.

The pivoting device 1 of the seventh embodiment described above is used for the left leg of a user. However, the control unit 5 the operation of walking (or running) both legs of a user by the addition of a base portion for the right leg (symmetrical to the base portion 2 ), a thigh pivot portion for the right leg (symmetrical to the respective elements, denoted by reference numerals 11 . 12 . 14 . 14B . 15 . 13 . 19 and the like), a right leg rigidity adjustment section (symmetrical to the respective elements indicated by reference numerals) 21 . 22 . 23 . 24 . 25 and the like), and a lower leg pivoting section for the right leg (symmetrical to the respective elements indicated by reference numerals 31 . 32 . 32P . 32B . 33 . 34 . 35 . 36 . 39 and the like).

Hereinafter, a pivotal joint device of an eighth embodiment will be described. The pivotal joint device of the eighth embodiment is one in which the electric motor 11 (and the rotation angle detection section 11S ), the coat hanger 12 , the pulley 14 and the belt 14B from the swivel device 1 of in 17 to 20 7 and a rotational angle detecting portion capable of detecting a pivoting angle of the femoral pivoting arm 13 to detect the pivoting joint device 1 of the seventh embodiment is added. In the eighth embodiment, the movement of a thigh part can not be assisted by an electric motor when a user walks (or runs), but the movement of a lower leg part can be performed by the electric motor 31 get supported. In addition, since the pivotal joint device has the rigidity adjusting portion indicated by reference numerals 21 . 22 . 23 . 24 . 25 and the like, it is possible to set the gear ratio (n) of the transmission to an appropriate gear ratio so as to always produce a resonance state. Thus, an amount of movement of the thigh portion of a user can be appropriately reduced.

As in the case of the seventh embodiment, the control unit 5 also, the operation of walking (or running) both legs of a user by adding a base portion for the right leg (symmetrical to the base portion 2 ), a thigh pivot portion for the right leg (symmetrical to the respective elements, denoted by reference numerals 13 . 19 and the like), a right leg rigidity adjustment section (symmetrical to the respective ones Elements indicated by reference numerals 21 . 22 . 23 . 24 . 25 and the like), and a lower leg pivoting section for the right leg (symmetrical to the respective elements indicated by reference numerals 31 . 32 . 32P . 32B . 33 . 34 . 35 . 36 . 39 and the like).

Hereinafter, a pivotal joint device of a ninth embodiment will be described. The pivotal joint device of the ninth embodiment is one in which the electric motor 31 , the coat hanger 32 , the pulley 32P , the belt 32B , the lower leg pivot arm 33 , the lower leg extension arm 34 , the lower leg 35 , the foot holding section 36 and the lower leg attachment portion 39 from the swivel device 1 of in 17 to 20 shown seventh embodiment are removed. In the third embodiment, the movement of a thigh part by the electric motor 11 Supports when a user walks (or runs), but the movement of a lower leg part is not supported. As the pivoting joint device by the reference numerals 21 . 22 . 23 . 23 . 25 and the like, it is to be noted that it is possible to set the gear ratio to an appropriate gear ratio to generate a resonance state at all times. Thus, the power consumption of the electric motor 11 be further reduced.

As in the case of the first embodiment, the control unit 5 in addition, the operation of walking (or running) both legs of a user by adding a base portion for the right leg (symmetrical to the base portion 2 ), a thigh pivot portion for the right leg (symmetrical to the respective elements, denoted by reference numerals 11 . 12 . 14 . 14B . 15 . 13 . 19 and the like), and a right leg rigidity adjustment section (symmetrical to the respective elements indicated by reference numerals) 21 . 22 . 23 . 24 . 25 and the like).

Hereinafter, a pivotal joint device of a tenth embodiment will be described. The pivotal joint device of the tenth embodiment is one in which the electric motor 11 (and the rotation angle detection section 11S ), the coat hanger 12 , the pulley 14 and the belt 14B are removed from the pivotal joint device of the ninth embodiment, and a rotation angle detection portion capable of a pivot angle of the thigh pivot arm 13 to be added to the pivotal joint device of the ninth embodiment. In the tenth embodiment, the movement of a lower leg part can not be supported when a user walks (or runs). In addition, the movement of a thigh part of a user can not be supported by an electric motor. However, since the pivotal joint device has the rigidity adjusting portion indicated by reference numerals 21 . 22 . 23 . 24 . 25 and the like, it is possible to set the gear ratio to an appropriate gear ratio to generate a resonance state at all times. Thus, an amount of movement of the thigh portion of a user can be appropriately reduced.

As is the case with the seventh embodiment, the control unit 5 in addition, the operation of walking (or running) both legs of a user by adding a base portion for the right leg (symmetrical to the base portion 2 ), a thigh pivot portion for the right leg (symmetrical to the respective elements, denoted by reference numerals 13 . 19 and the like), and a right leg rigidity adjustment section (symmetrical to the respective elements indicated by reference numerals) 21 . 22 . 23 . 24 . 25 and the like).

It is possible to make various modifications, additions and omissions to the hinge device of the invention without departing from the scope of the invention.

The application of the swivel device described in the embodiments is not limited to assisting the pivotal movement (such as walking (or running) of the lower limb of a user, but the swivel device can be applied to various objects that perform a cyclic pivotal movement.

The pivoting and rotating movement of the electric motor 11 and the electric motor 31 In the embodiments, the pulleys and the belts become the femoral pivot arm 13 and the lower leg pivot arm 33 however, they may be transmitted using gears, a linkage mechanism and the like instead of the pulleys and belts.

QUOTES INCLUDE IN THE DESCRIPTION

This list of the documents listed by the applicant has been generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.

Cited patent literature

• JP 2004-344304 [0002]
• JP 2004-344304 A [0002, 0005, 0005, 0005, 0006]
• JP 2012-125388 [0003]
• JP 2012-125388 A [0003, 0005, 0005, 0005, 0006]
• JP 2013-236741 [0004]
• JP 2013-236741 A [0004, 0006]

Claims (21)

Swivel joint device, characterized by a drive shaft element ( 6 ); a first output section ( 13 ), which pivots about a drive axis, which as an axis of the drive shaft member ( 6 ) serves; an elastic body that generates a biasing torque that corresponds to a first pivoting angle that is a pivoting angle of the first output section (12); 13 ); a variable-stiffness portion that exhibits an apparent rigidity of the elastic body as viewed from the first output portion (FIG. 13 ) changed; a first angle detection section that detects the first tilt angle; and a control section that controls the variable-apparent-stiffness portion according to the first swing angle detected by the first angle-detecting portion to determine the apparent rigidity of the elastic body as viewed from the first output portion (US Pat. 13 ). Swivel joint device according to claim 1, wherein the elastic body is a flat spiral spring ( 24 ) having; the apparent rigidity of the elastic body as seen from the first output section (FIG. 13 ) an apparent spring constant of the flat spiral spring ( 24 ) seen from the first output section ( 13 ) having; and the variable-rigidity portion that shows the apparent rigidity of the elastic body as viewed from the first output portion (FIG. 13 ), a section of variable, apparent spring constant having the apparent spring constant of the flat spiral spring ( 24 ) seen from the first output section ( 13 ) changed. A pivot joint device according to claim 2, wherein a spring attachment member having a fixed end of the flat coil spring ( 24 ), on one of the flat spiral spring ( 24 ) is arranged adjacent position; a free end acting as an end of the flat coil spring ( 24 ), with a spring input shaft element ( 25A ), which is at a first pivot angle of the first output section ( 13 ) pivots corresponding angle; the fixed end, which serves as the other end of the flat coil spring ( 24 ) is connected to a spring support body which is provided at a position remote from the drive axis position on the spring attachment member; and the variable apparent spring constant portion is urged by the spring fixing member, which is supported so as to be rotatable about the drive axis, and which is caused to rotate at a predetermined rotation angle about the drive axis to a position of the spring support relative to the Drive axis about the drive axis to move by the predetermined angle of rotation, and by a stiffness adjustment ( 21 ) is formed, which causes the spring fixing element to rotate about the drive axis to a position of the attached end of the flat coil spring ( 24 ) to change. Swivel joint device according to claim 3, wherein a transmission ( 25 ) between the first output section ( 13 ) and the flat spiral spring ( 24 ) is provided; and the gearbox ( 25 ) the spring input shaft element ( 25A ), and when the first output section ( 13 ) pivots at the first pivoting angle, pivots the spring input shaft element ( 25A ) at a swing angle obtained by changing the first swing angle based on a predetermined gear ratio. Pivot joint device according to claim 3 or 4, wherein, when the position of the spring support body on which the flat spiral spring ( 24 ) does not generate the biasing torque, if the first swing angle is zero, than a reference position is set, the control portion controls the rigidity adjustment member (11) 21 ) is controlled to a rotation angle of the spring fixing member for adjusting the position of the spring support body relative to the reference position according to the first pivot angle of the first output portion ( 13 ), whereby the apparent spring constant of the flat spiral spring ( 24 ) seen from the first output section ( 13 ) is set. A pivot joint device according to any one of claims 2 to 5, further comprising: a first drive section (14); 11 ), the first output section ( 13 ) pivots about the drive axis based on a control signal from the control section. A pivot joint device according to any one of claims 2 to 6, further comprising: a second output section (16); 33 ) supported so as to be pivotable about the drive axis; a second angle detection section ( 31S ), which detects a second pivot angle, which is a pivot angle of the second output section ( 33 ); a second drive section ( 31 ), the second output section ( 33 ) pivots about the drive axis based on a control signal from the control section; and a pivotal connection element ( 34 . 35 ) connected to the first output section ( 13 ) and the second output section ( 33 ) and based on the first pivot angle of the first output section ( 13 ) and the second pivot angle of the second output section (FIG. 33 ) is working. Walking support device, characterized by a pivoting joint device according to one of claims 1 to 7. A conveying apparatus characterized by a pivoting joint device according to claim 3, wherein the conveying device comprises: the drive shaft member; a pinion serving as the first output portion rotating in a reciprocating manner to pivot about the drive shaft of the drive shaft member; an arm having a rack portion engaging with the pinion and reciprocating linearly in accordance with a swing angle that is a reciprocating rotation angle of the pinion, the arm being configured to engage Holding and releasing workpiece, a pinion drive section that rotates and drives the pinion, the first angle detection section that detects the first pivot angle that is the pivot angle of the pinion, the flat coil spring (FIG. 24 ) which stores energy when the pinion drive section rotates and drives the pinion and rotates and drives the pinion, when the stored energy is released, the variable-rate apparent spring constant section comprising the spring attachment element and the stiffness adjustment element (FIG. 21 ), and the control portion including the pinion drive portion and the rigidity adjustment member (Fig. 21 ) controls; and wherein the conveyor moves the workpiece by linearly reciprocating the arm to hold and release the workpiece. The manipulator characterized by the pivot joint device according to claim 3, wherein the manipulator comprises: the drive shaft member, a pivot portion serving as the first output portion pivoting about the drive shaft of the drive shaft member, a pivot portion driving portion pivoting the pivot portion, the first angle detection portion detects the first pivot angle, which is a pivot angle of the pivot section, the flat coil spring ( 24 ) which stores energy when the pivot portion driving portion pivots the pivot portion, and which pivots the pivot portion when the stored energy is released, wherein the variable apparent spring constant portion, the spring attachment member and the rigidity adjustment element ( 21 ), and the control portion including the pivot portion driving portion and the rigidity adjusting member (12). 21 ) controls. A walking ability supporting apparatus that applies an assisting force for moving a lower limb of a user, characterized by a abdomen-side attachment portion (FIG. 2 ), which is attached to a belly-side portion of the user; a first pivot arm ( 13 ), which has an elongate shape and which is arranged on a transverse side of a thigh part of the user, wherein the first pivot arm ( 13 ) has one of a protruding portion and a recessed portion located at an upper portion of the first swing arm (FIG. 13 ), and wherein the one of the protruding portion and the recessed portion as a pivot axis of the first pivot arm (FIG. 13 ) serve; a thigh attachment portion attached to the first pivot arm (FIG. 13 ) is placed so that it is placed on the thigh part of the user; a drive shaft element ( 6 ) supporting the one of the protruding portion and the recessed portion which is the pivotal axis of the first pivotal arm (FIG. 13 ), wherein the drive shaft element ( 6 ) the first pivot arm ( 13 ) such that the first pivot arm in a front-to-back direction of the user relative to the abdomen-side attachment portion ( 2 ) is pivotable; a variable stiffness portion that changes a stiffness representing a force that is used to pivot the first pivoting arm ( 13 ), which pivots about a drive axis, which as an axis of the drive shaft member ( 6 ) serves; and a control section that controls the variable stiffness section to control the rigidity of the first swing arm (FIG. 13 ) which pivots about the drive axis, the variable stiffness portion being controlled by a flat spiral spring (US Pat. 24 ), a spring attachment member, and a rigidity adjustment rotation member (FIG. 21 ) is formed; the flat spiral spring ( 24 ), the spring attachment element and the stiffness adjustment rotating element ( 21 ) are arranged so that they are coaxial with the drive axle; a spring attachment element having a fixed end of the flat spiral spring ( 24 ), on one of the flat spiral spring ( 24 ) is arranged adjacent position; a free end acting as an end of the flat coil spring ( 24 ), with a spring input shaft element ( 25A ) which pivots at an angle which corresponds to a first pivoting angle which is a pivoting angle of the first pivoting arm ( 13 ); the fixed end acting as the other end of the flat coil spring ( 24 ) is connected to a spring support body which is provided on the spring attachment member at a position remote from the drive axis position; and the stiffness adjustment rotary element ( 21 ) sets the rigidity by rotating the spring fixing member about the drive axis to a position of the fixed end of the flat coil spring ( 24 ) based on a control signal from the control section. The ambulance support device of claim 11, wherein a transmission ( 25 ) between the first pivot arm ( 13 ) and the flat spiral spring ( 24 ), and the transmission ( 25 ) the spring input shaft element ( 25A ), and when the first pivot arm ( 13 ) pivots at the first pivot angle, the spring input shaft element pivots ( 25A ) at a swing angle obtained by changing the first swing angle based on a predetermined gear ratio. The ambulance support apparatus according to claim 11 or 12, further characterized by a first angle detecting portion that detects the first pivot angle of the first pivot arm (16). 13 ), wherein the control section controls the rigidity adjusting rotary member (10). 21 ) to adjust a rotation angle of the spring fixing member according to the first swing angle detected by the first angle detection portion, and an apparent spring constant of the flat coil spring (FIG. 24 ) seen from the first gift arm ( 13 ) to adjust the stiffness. The ambulance support device according to claim 13, wherein the control section adjusts the rotation angle of the spring attachment member such that a resonance frequency of the flat coil spring (FIG. 24 ) coincides with a pivoting frequency of a pivoting object, based on the pivoting frequency and the first pivoting angle (FIG. 13 ) of the first pivot arm ( 13 ) about the drive axis, an inertia moment about the drive axis in the pivoting object, the first pivot arm ( 13 ), and a spring constant of the flat spiral spring ( 24 ). The ambulance support device according to any one of claims 11 to 14, further characterized by a first drive section (12). 11 ), the first swivel arm ( 13 ) pivots about the drive axis based on the control signal from the control section. The ambulance support device according to any one of claims 11 to 15, further characterized by a second swing arm ( 33 ) supported so as to be pivotable about the drive axis; a second angle detection section ( 31S ), which detects a second pivoting angle, the pivot angle of the second pivoting arm ( 33 ); a second drive section ( 31 ), the second pivot arm ( 33 ) pivots about the drive axis based on the control signal from the control section; a pivotal connection element ( 34 . 35 ), with the first swivel arm ( 13 ) and the second pivot arm ( 33 ) and based on the first pivot angle of the first pivot arm ( 13 ) and the second pivot angle of the second pivot arm ( 33 ) is working; and a lower leg attachment portion attached to the second pivot arm (FIG. 33 ) to be placed on a lower leg part of the user. Pivoting joint device, characterized by a drive shaft element ( 6 ); a first pivot arm ( 13 ) which is supported so as to be pivotable about a drive axis, which as an axis of the drive shaft member ( 6 ) serves; a flat spiral spring ( 24 ) which generates a prestressing torque corresponding to a first pivoting angle which is a pivoting angle of the first pivoting arm ( 13 ); a section of variable apparent spring constant representing an apparent spring constant of the flat coil spring ( 24 ) seen from the first pivot arm ( 13 ) changed; a first angle detection section that detects the first tilt angle; and a control section that controls the variable apparent spring constant portion in accordance with the first swing angle detected by the first angle detection portion, the variable apparent spring rate portion being a transmission portion in which a gear ratio is adjustable, wherein the variable apparent spring rate portion is arranged in a pivoting angle transmission path, by which the first pivot angle of the first pivot arm ( 13 ) on the flat spiral spring ( 24 ), and the variable apparent spring constant portion transmits the first swing angle of the first swing arm (FIG. 13 ) is converted into a spring pivot angle corresponding to the gear ratio set by the control section, and the spring swing angle to the flat coil spring (FIG. 24 ) transmits; and the control section sets the gear ratio of the gear section according to the first swing angle to obtain the apparent spring constant of the flat coil spring ( 24 ) seen from the first pivot arm ( 13 ). A pivot joint device according to claim 17, wherein a spring support body having a fixed end of the flat coil spring ( 24 ), on one of the flat spiral spring ( 24 ) is arranged adjacent position; the transmission section has two input / output shafts; When the input / output shaft on one side is caused to pivot at a predetermined swing angle, the input / output shaft pivots on another side at a swing angle obtained by multiplying the predetermined swing angle by n, which is the set swing angle Transmission ratio; wherein, when the input / output shaft on the other side is caused to pivot at the predetermined swing angle, the input / output shaft on the other side pivots at a swing angle obtained by incrementing the predetermined swing angle by 1 / n is multiplied; wherein the input / output shaft on one side with the first pivot arm ( 13 ) connected is; and the input / output shaft on the other side with a free end of the flat coil spring ( 24 ) connected is. A pivot joint device according to claim 18, wherein said transmission section is constituted by a gear ratio adjusting motor (10). 21 ) setting the gear ratio based on a control signal from the control section, and a transmission ( 25 ) having two input / output waves; and the transmission ratio of the transmission ( 25 ) by the gear ratio adjusting motor ( 21 ) is set. Swivel joint device according to one of claims 17 to 19, further characterized by a first drive section ( 11 ), the first swivel arm ( 13 ) pivots about the drive axis based on a control signal from the control section. Swivel joint device according to one of claims 17 to 20, further characterized by a second swivel arm ( 33 ) supported so as to be pivotable about the drive axis; a second angle detection section ( 31S ), which detects a second pivoting angle, the pivot angle of the second pivoting arm ( 33 ); a second drive section ( 31 ), the second pivot arm ( 33 ) pivots about the drive axis based on the control signal from the control section; and a pivotal connection element ( 34 . 35 ), with the first swivel arm ( 13 ) and the second pivot arm ( 33 ) and based on the first pivot angle of the first pivot arm ( 13 ) and the second pivot angle of the second pivot arm ( 33 ) is working.

Images