JP2015163180A - Lumbar burden alleviation tool - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a lumbar burden alleviation tool which enables natural walking by releasing the tensile force of a tensile force transmission string automatically during upright walking and generates an auxiliary moment to the waist portion when the person restarts a forward-bending work after walking.SOLUTION: A lumbar burden alleviation tool (10) serves as a connectedly mounting mechanism (22) of a waist pad part (12b) and tensile force transmission strings (18, 20) and includes: a pair of right and left swing arms (22a, 22b) having an end rotationally pivoted on the waist pad part (12b) and the other end connected with the tensile force transmission strings (18, 20); springs (22e, 22f) connecting the other end of the swing arms (22a, 22b) and the waist pad part (12b); and stopper parts (22c, 22d) attached to the rotation arms (22a, 22b).

Description

  The present invention relates to a lower back burden reducing device that has a basic function of reducing the burden on the waist by about 20 to 30% when the trunk is bent forward and can be naturally walked while wearing.

  Nursing care is a big problem in an aging society, and it is known that the turnover rate is high in elderly care facilities because of back pain problems. Therefore, although welfare devices such as lifts and slide boards are also used, it is clear that these alone are not sufficient for solving the back pain problem because back pain is still a problem in the medical and welfare field. Most nursing and caregivers use back belts as a countermeasure for back pain, but the percentage of people who complain of back pain remains at a high level. Work with a heavy burden on the waist is not limited to medical welfare sites, but also exists in all industries such as industry, agriculture, fisheries, and distribution. Even though simple tasks can be replaced by robots, there are many tasks that cannot be easily mechanized because normal operations include multiple operations. Robots capable of complex movements such as nursing care are extremely difficult even with the current robot technology, and robots that can perform such operations are expensive and complicated even if they can be done. Complex work seems to have to rely on human hands for a while.

  As described above, there are a lot of work with a large burden on the waist, and many ideas on a waist burden reducing tool have been proposed. However, the only widely used belt belt is the back belt that wraps around the waist. Moreover, there is almost no scientific basis for the effect of reducing the lumbar burden.

  In recent years, there are inventions introduced in Patent Documents 1 to 4 developed by the present inventors as an invention for easily reducing the burden on the waist during trunk trunk bending. The essence of these inventions is a lumbar burden reducing device in which a back support frame attached to the back, the left and right sides of the back support portion of the back support frame, and both lower limbs are connected and attached by elastic bodies such as rubber belts. The elastic body is displaced along with the forward bending of the trunk, and the elastic force is used to obtain the auxiliary moment to the waist. This reduces the moment acting on the hip when bent forward by 20-30%.

  However, in order to put it to practical use, it was difficult to walk while wearing the brace, so it was necessary to solve this problem. In other words, the elastic body has a pair of left and right, and if one end of each elastic body is fixed to the lower limb, the elastic body is stretched even during walking, which makes it difficult to walk.

  Therefore, it is necessary for the conventional lower back burden reducing tool to make the length of the elastic body “play” longer to some extent in order to make walking easier. On the other hand, the greater the “play”, the smaller the displacement of the elastic body during trunk trunk bending, and the lower the burden on the lower back. That is, there is a trade-off relationship between the magnitude of “play” and the lower back burden reduction effect, and it has been impossible for the lower back load reduction devices proposed so far to achieve both. This is the biggest cause that hinders the practical use of simple lumbar burden reducing tools. Therefore, when trying to control the size of “play” using robot technology, the mechanism becomes complicated and expensive, and it is not practical.

  For this reason, using the method of turning ON / OFF the tension of the elastic body with a buckle so far, the rubber tension applied to the foot on the swinging side is the pulling side in walking, and the rubber tension of the lower leg on the standing leg side is the relaxation side, We have proposed a method of connecting a string and belt for tension transmission attached to both lower limbs and sliding them with walking, aiming at the development of an easy-to-walk waist load reducing device. However, each method has advantages and disadvantages, and has not been fully satisfactory.

Japanese Patent No. 4447330 Japanese Patent No. 5061401 JP 2013-022708 A JP 2013-252221 A

The present invention is the first technology in the world that has succeeded in wiping out all of the above-mentioned problems by a simple principle and achieving both a lower back burden reduction effect and ease of walking.
That is, the present invention has a basic function of preventing back pain by reducing the load on the waist during forward bending work by 20 to 30% by the restoring force of an elastic body interposed in the tension transmission string, and walking in an upright state. At that time, the tension of the elastic body of the tension transmission string is automatically released to enable natural walking, and the natural walking is temporarily stopped and both legs are opened to the left or right, or both legs are opened to the front and back and then bent forward again. Provided is a lower back burden reducing device having a function of automatically generating an auxiliary moment to the lower back when work is started.

The present invention satisfies the above-mentioned problems, and technical features characterized by the following are (1) and (2).
(1) In a lower back burden reducing device in which the left and right sides of the back support frame (shell) and both lower limbs are connected and attached by a tension transmission cord with an elastic body interposed therebetween, the waist support portion and the tension transmission cord As a connecting and mounting mechanism, one end portion is pivotally attached to the center side of the waist pad portion so as to be rotatable by a rotation shaft, and the other end portion is coupled to the tension transmission cord and is used for back and forth movement of both lower limbs. A pair of left and right swing arms positioned so as to be reciprocally rotatable around the one end, and the other end of each swing arm and the upper portion of the waist pad are connected to A spring that enables downward rotation by pulling the transmission string and restoration upward rotation by relaxation, and attached to the opposite approaching side of each swinging arm, open the left and right legs to the left and right, Walking with the trunk arm in an upright position by contacting the opposite end of the swing arm in the opposite direction to prevent confrontation A mechanism for automatically generating and releasing a lumbar moment is provided, which includes a protrusion-like stopper portion that cancels the anti-blocking state and allows each swing arm to rotate forward and backward in the same direction. Lumbar burden reducing device.

  (2) In the lower back burden reducing device for connecting and mounting the left and right legs of the back support frame (shell) and both lower limbs with a tension transmission cord interposed with an elastic body, the waist support portion and the tension transmission cord As a connecting and mounting mechanism, each end portion is provided on the left and right sides of the waist rest portion, and one end portion is rotatably attached to the center portion side of the waist rest portion by a rotating shaft, and the other end portion is attached to the tension transmission string. A pair of left and right oscillating arms connected to each other for back and forth movement of both lower limbs so as to be reciprocally rotatable around the rotation axis, and the other end of each oscillating arm and the lumbar rest A spring that connects the upper part of the swinging arm to allow the swinging arm to move downward by pulling the tension transmission string and to restore and rotate by loosening, and an arc is formed on the opposite approaching side of the swinging arms. When the surface abuts, the straight line connecting the two circle centers is connected to the axis of the rotary shaft of both swing arms. A pair of arc-shaped or circular stopper portions that have the same length as the straight line and are in parallel relation, and the pair of arc-shaped or circular stopper portions are in the opposite directions of the two swing arms. A mechanism for automatically generating and releasing a lumbar moment that abuts the outer peripheral surface by rotation to prevent relative reverse rotation of both oscillating arms and releases the anti-collision state by rotation of both oscillating arms in the same relative direction. Lumbar burden reducing device characterized by being installed.

Next, the effect of the waist | hip | lumbar part burden reduction tool of this invention is explained in full detail.
<In case of protruding stopper>
Before the lumbar burden reducing tool is attached to the trunk of the user, the tension of the elastic body of the tension transmission string is zero. The lumbar burden reducing tool is attached to an upright trunk. To attach to the trunk, hang the shoulder straps on the upper and left sides of the back frame on the shoulders, wrap the waist belt around the waist, attach a pair of tension transmission cords with an elastic body, and lighten the tension transmission cords. A lower limb wearing tool connected to a tension transmission string in a straight line is attached to both lower limbs.

  If the left and right lower limbs are opened to the left and right in this state and the trunk is bent forward, the left and right swinging arms rotate reversely, and the protruding stoppers collide against each other to prevent the swinging arm from rotating downward. Therefore, the burden on the waist is reduced by the auxiliary moment due to the tension generated when the elastic body of the tension transmission string extends.

  When returning from the forward bent state to the upright state, the swing arm returns to its original state. When entering a natural walk from now on, for example, when moving forward from the left foot, the left spring and the left tension transmission string extend, and the left swing arm rotates counterclockwise. At the same time, the right swing arm loosens the right tension transmission string and is pulled up by the restoring force of the right spring to rotate counterclockwise.

  For this reason, the left and right projecting stopper portions rotate counterclockwise together with the arm in a state in which the state of the collision of the opposite side is released. When the right foot is then moved forward from this state, the right spring and the right tension transmission string are extended, and the right swing arm is rotated to the right. At the same time, the left swing arm loosens the left tension transmission string and is pulled up by the restoring force of the left spring to rotate right. The left and right projecting stopper portions rotate clockwise together with the arm in a state where the facing collision state is released. As a result, the automatic generation of the auxiliary moment to the lumbar region and the natural walking by the automatic cancellation thereof become possible.

<In the case of an arc or circular stopper>
Attach the lumbar burden mitigating tool to the trunk of the user in the same state as in the case of the protruding stopper portion of the previous example.
After this attachment, when the left and right lower limbs are opened to the left and right and the trunk is bent forward, the left and right swinging arms rotate reversely to each other in a plane and immediately after rotation, the circular arc stopper part or the circular stopper part circles. Since the closest point of the peripheral surface comes into contact and collides with the other so as to prevent the swinging arm from descending and rotating, the elastic moments of both tension transmission strings are extended by the auxiliary moment due to the tension generated by the extension of both elastic bodies of the waist. Reduce the burden.

  Also, when the left and right lower limbs are bent forward and backward, depending on the degree of the front and rear legs, both the left and right swing arms are tilted, Since the arc-shaped stopper part or the circular stopper part abuts the closest point of the circumferential surface and collides so-called against each other and prevents the swinging arms from rotating downward, both elastic bodies of both tension transmission strings are thereafter By extending, the swinging arm reduces the burden on the waist with an auxiliary moment generated by the tension generated while the natural swinging of the swing arm to an angle that balances the tension balance between the left and right lower limb belts.

  When returning from the forward bent state to the upright state, the swing arm is again brought into the original forward bent state. When walking is started from the right lower limb for walking from this state, when walking is started from the left lower limb, or when walking is started simultaneously from the left and right lower limbs, each of the circular arc stopper parts or the circular stopper parts The face-to-face collision state at the closest point of the surface is released and natural walking is freely possible.

  That is, both the arc-shaped stopper part or the circular stopper part, when the rotation by the oscillating arm is not in the reverse rotation relation, the state of the opposite collision is irrespective of whether the circumferential surface is in contact or not. When the circumferential surface comes into contact only when it is released and in a reverse rotation relationship, the state of the opposite collision is maintained.

  In addition, when making the stopper part into a circular stopper part, walking with the outer peripheral surfaces in contact with each other by making the circular stopper part into a rotating body such as a cam follower that rotates the circumferential surface part. At this time, since the circumferential surface portions relatively rotate reversely, the swinging arm can be rotated more smoothly.

The waist burden reduction tool by preferable embodiment of this invention is shown, (a) is the whole explanatory drawing of the state left still on the plane, (b) is the whole explanatory drawing of the state lowered | hung down vertically, (c) is It is the whole explanatory drawing just before attaching to an upright trunk and bending a trunk forward. However, the trunk is omitted. It is explanatory drawing at the time of natural walking from the state of (c) of FIG. 1, (a) is explanatory drawing which shows the state of the waist | hip | lumbar part burden mitigation tool at the time of the right foot progress with the left foot leaving, (b) is the left foot with the left foot left. It is explanatory drawing which shows the state of the waist | hip | lumbar part burden reduction tool at the time of stepping. It is the mounting model of the waist | hip | lumbar part burden reduction tool of this invention, and is the figure which looked at the state of Fig.1 (a) from the wearer's back surface. It is the figure which looked at the state with which the mounting model of the waist | hip | lumbar part burden reduction tool of this invention shown in FIG. 3 was mounted | worn with the same state as (c) of FIG. It is explanatory drawing which shows the state at the time of progressing from the state of a right foot from the state of FIG. 4, and is the figure which looked at the state which is the same state as (a) of FIG. 2 from the wearer's back surface. It is explanatory drawing which shows the state which mounted | wore the waist burden reduction tool in the natural standing position of (c) of FIG. It is a mounting model of the waist | hip | lumbar part burden reduction tool of this invention, and is an enlarged view of FIG. It is explanatory drawing which shows the state which advanced the left foot with the mounting model of the waist | hip | lumbar part burden reduction tool of this invention shown in FIG. 6, and is the figure seen from the wearer's back surface. It is an enlarged view of the state of FIG. It is the schematic for demonstrating the effect | action of a connection mounting mechanism. It is a figure which shows the state which the connection mounting mechanism rotated (theta) = 30 degree counterclockwise from the state of FIG.

Hereinafter, modes for carrying out the invention will be described.
In FIG. 1, a lower back burden reducing device 10 according to the present embodiment includes a back support frame (shell) 12, shoulder straps 14 and 16 extending from an upper portion of the back support frame 12, tension transmission strings 18 and 20, and a back support frame. 12 and the tension transmission cords 18 and 20, and a lower limb attachment device 24 and 26.

  The back support frame 12 includes a reinforced resin main body portion 12a that abuts along the back spine of the wearer's trunk and a reinforced resin lumbar rest portion 12b that abuts from the lumbar spine along the starch. To do. The main body portion 12a and the waist pad portion 12b may be formed into an integrally molded type, or may be formed into a split type that is detachable in combination. The body portion 12a and the waist pad portion 12b are not particularly limited in shape, but the body portion 12a is formed in a shell shape as shown in FIG. It is preferable to make it the light weight type in which 12c is integrally arranged. The waist pad portion 12b may be any shape as long as it is slightly warped rearward and the connection mounting mechanism 22 with the tension transmission cords 18 and 20 can be installed. In addition, since the connection mounting mechanism 22 has a movable part, the cover (not shown) which covers the whole connection mounting mechanism 22 can be opened and closed to the waist pad 12b. It is preferable for safety to attach.

  The connection mounting mechanism 22 between the backrest frame 12 and the tension transmission cords 18 and 20 is a mechanism for automatically generating / releasing the auxiliary moment to the waist, and includes a pair of left and right metal or resin swing arms 22a and 22b. This is a simple configuration comprising metal or resin stoppers 22c, 22d formed in the vicinity of the base ends of the swing arms 22a, 22b and springs 22e, 22f.

  A pair of swing arms 22a and 22b is provided on the back of the waist pad 12b on the left and right sides, and one end of each of the swing arms 22a and 22b is attached to the center side of the waist pad 12b by the rotating shafts 22g and 22h. The portion is connected to the tension transmission cords 18 and 20 so as to be reciprocally swingable (turnable) at a predetermined rotation angle. The rotating shafts 22g and 22h may be shared by both the left and right swing arms 22a and 22b.

  The stopper portions 22c and 22d are attached to the lower portions of the swing arms in the vicinity of the rotation shafts 22g and 22h, respectively, and when the trunk is bent forward, the relative reverse rotation of the swing arms is prevented by face contact. When walking with the trunk upright, the anti-collision is released and the swinging arms can be rotated forward and backward in the same direction. If it is difficult to do so, it is preferable to provide a cushioning material.

  The springs 22e and 22f connected to the swing arms 22a and 22b are ones whose ends are fixed to the upper side of the central portion of the waist pad 12b and the other ends are connected to the other end of the swing arm. As long as it has a spring force and a contraction amount that can automatically absorb the play amount of the tension transmission strings 18, 20 together with the return rotational force of the swing arms 22a, 22b. Any natural rubber resin such as square, synthetic rubber resin, metal coil spring, curved plate spring, or the like that can be elastically deformed without being plastically deformed within the rotation range of the swing arm can be used.

  The tension transmission cords 18 and 20 connected to the swing arms 22a and 22b may be traction cords such as bar cords, flat cords, and square cords having an elastic body interposed in the middle. The elastic bodies of the tension transmission cords 18 and 20 are elastically deformed without being plastically deformed when bent forward, such as natural rubber resin, synthetic rubber resin, coil spring, curved plate spring, etc., such as rod, flat belt, and square. A predetermined auxiliary moment is applied to the waist, and it may be restored to its original shape when it is upright or unused. In this example, round cords 18a and 20a having upper ends connected to the other ends of the swing arms 22a and 22b, buckles 18b and 20b having lower ends of the round cords 18a and 20a, and upper ends to the buckles 18b and 20b. First flat belts 18c, 20c, the lengths of which are adjustable, and round rubber elastic bodies 18e, 20e, wherein the lower ends of the first flat belts 18c, 20c are tightly connected to the upper ring mounting portions 18d, 20d, The second flat belts 18g and 20g are tightly connected to the lower ring mounting portions 18f and 20f of the round rubber elastic bodies 18e and 20e.

  The lower limb attachment devices 24 and 26 connected to the tension transmission cords 18 and 20 are attached and connected to the knees, calves, ankles, etc. of the lower limbs directly or through clothes or shoes. Preferably, the connection with the shoe may be a hook type. This example is a calf part winding attachment type connected to the second flat belts 18g and 20g, the winding attachment body is a mesh cloth of chemical fiber, and the winding and release thereof are performed by hook-and-loop fasteners. Reinforcement pieces connected to the second flat belts 18g and 20g are sewn on the upper side of the calf, that is, on the back side of the knee. A supplementary band is sewed, and a footrest band is attached to the lower ends of both sides of the mesh cloth.

  As described above, when the reinforcing pieces connected to the second flat belts 18g and 20g of the tension transmission cords 18 and 20 are sewn to the upper side of the calf, that is, the back side of the knee, the tension transmission is performed even if the state below the knee is bent and stretched. Since the play lengths of the strings 18 and 20 can be held slightly, the auxiliary moment during forward bending is ensured, and the swinging arm rotates in the same direction during walking.

Next, a wearing example of the lower back burden reducing tool 10 according to the present embodiment will be described in detail with reference to FIGS.
FIG. 1 (a) shows a state in which the lumbar burden reducing device 10 is placed on a flat surface before being attached to the trunk, and the connecting / attaching mechanism 22 between the backrest frame 12 and the tension transmission strings 18, 20 When the tension of the elastic body of the transmission cords 18 and 20 is 0, the swing arm is in a reverse C shape. FIG. 1B shows the waist load reducing device 10 shown in FIG. 1A in a vertical state, and the swinging arm has a slight weight depending on the weight of the tension transmission cords 18 and 20 and the lower limb attachment devices 24 and 26. It stabilizes in the state of descending rotation. FIG. 3 shows a mounting model in a state similar to the state of FIG.

  As shown in FIG. 4, the lower back burden reducing tool 10 is attached to a trunk in an upright state. As shown in FIG. 1 (c), the upper and left shoulder belts of the back support frame 12 are hung on both shoulders of the trunk, and the waist belt is wound around the waist of the trunk. The lower limb attachment devices 24 and 26 are attached to both lower limbs, and thereafter the lengths of the first flat belts 18c and 20c are adjusted by the buckles 18b and 20b of the pair of tension transmission cords 18 and 20 provided with elastic bodies. Then, the tension transmission cords 18 and 20 are pulled lightly to form a straight line so that the ends of the stopper portions 22c and 22d of the swing arm collide with each other.

  As a result, the downward rotation of the swing arm is prevented. When the trunk is bent forward from this state, the elastic bodies of the tension transmission cords 18 and 20 are stretched, and an auxiliary moment is generated in the waist due to the tension, thereby reducing the burden on the waist.

  Next, when natural walking is started from the state shown in FIG. 4 and FIG. 1 (c), for example, when the front is taken out from the right foot, as shown in FIG. 2 (a), the right spring 22f and the right tension transmission string 20 are moved. The right swing arm 22b extends and rotates in the clockwise direction when viewed from the back. At the same time, the left tension transmission string 18 is loosened and pulled up by the restoring force of the left spring 22e, and the left swing arm 22a also rotates clockwise as viewed from the back. For this reason, the left and right stopper portions 22c and 22d rotate clockwise together with the arm in a state where the collision state is released. FIG. 5 shows a state when the user walks from the mounted model wearing state of FIG. 4 from the right foot, and is in the same state as (a) of FIG.

  Next, when the left foot is moved forward from this state, as shown in FIG. 2 (b), the left spring 22e and the left tension transmission string 18 extend, and the left swing arms 22a and 22b rotate counterclockwise as viewed from the back. Rotate left. At the same time, the right tension transmission string 20 is loosened and pulled up by the restoring force of the right spring 22f, and the right swing arm 22b also rotates counterclockwise as viewed from the back. The left and right stopper portions 22c and 22d rotate counterclockwise together with the arm in a state where the collision state is released.

  In this way, the lower back burden reducing tool 10 of the present example can freely generate an auxiliary moment to the lower back and naturally walk by automatically releasing it.

Next, a second embodiment of the present invention will be described with reference to FIGS.
The lower back burden reducing device 100 according to the second embodiment includes a back support frame (shell) 102, shoulder straps 104 and 106 extending from the upper part of the back support frame 102, and tension transmission configured in the same manner as in the first embodiment. The cords 18 and 20, the connection mounting mechanism 120 between the backrest frame 102 and the tension transmission straps 18 and 20, and the lower limb mounting tool (not shown) similar to those of the first embodiment are provided.

  The backrest frame 102 is formed in substantially the same manner as in the first embodiment, and includes a main body portion 102a that abuts along the back spine of the wearer's trunk, and a reinforcement that abuts from the lumbar vertebra along the sac. And a resin waist rest 102b. A connection mounting mechanism 120 is attached to the waist pad 102b.

  The connection mounting mechanism 120 includes a pair of left and right swing arms 122 and 124, metal or resin stoppers 126 and 128 formed in the vicinity of the base ends of the swing arms 122 and 124, a swing arm 122, And springs 134 and 136 connected to 124. A pair of swing arms 122 and 124 are provided on the back side of the waist pad portion 102b. The swing arms 122 and 124 swing back and forth within a predetermined rotation angle range by the rotating shafts 130 and 132 on the center side of the waist pad portion 102b. (Swivel) is possible. The distal ends of the swing arms 122 and 124 are connected to the tension transmission strings 18 and 20. The springs 134 and 136 are the same springs as the springs 22e and 22f of the first embodiment. As described above, the rotating shafts 130 and 132 may be shared by both the left and right swing arms 122 and 124.

The stopper portions 126 and 128 are arcuate stopper portions in this example, but may be circular stopper portions such as a cam follower (not shown) that rotates without a circumferential surface. The stoppers 126 and 128 are formed integrally with the swinging arms 122 and 124 on the opposite side of the rotating shafts 130 and 132 from the ends connecting the tension transmission strings 18 and 20 of the swinging arms 122 and 124. Has been. In the present embodiment, the stopper portions 126 and 128 have their outer peripheral surfaces extending at least partially along a circular arc, and the circular arcs of the stopper portions 126 and 128 have the same diameter, and are not rocked. When the moving arms 122 and 124 are not inclined, the arc centers O ₁ and O ₂ are located directly below the centers of the rotating shafts 130 and 132. Thus, the stopper portions 126 and 128 are always in contact with each other at the contact point C during use of the lower back burden reducing device 100, and the centers of the rotation shafts 130 and 132 and the arc centers O ₁ and O _{2 of the} stopper portions 126 and 128. The quadrangle formed by is always a parallelogram regardless of the rotation angle of the swing arms 122 and 124.

  When the trunk is bent forward, the stopper portions 126 and 128 prevent the relative reverse rotation of the swing arms 122 and 124 from facing each other and face the trunk in an upright state, as in the first embodiment. When this is done, the anti-collision is released to enable each swing arm to rotate forward and reverse in the same direction, and the surface contact portions perform relative sliding movements with each other. Is preferred.

  The lower back burden reducing device 100 according to the second embodiment is also attached to the trunk in an upright state as shown in FIG. As shown in FIG. 1C, the upper and left shoulder belts 104 and 106 of the back support frame 102 are hung on both shoulders of the trunk, and the waist 110 is attached to the trunk. Wrap around and put the lower limbs on both lower limbs. At that time, the stopper portions 126 and 128 collide with each other at the contact point C. As a result, the swinging arms 122 and 124 are prevented from rotating about the rotation shafts 130 and 132 in the direction in which the tips of the swinging arms 122 and 124 descend. When the trunk is bent forward from this state, the elastic bodies of the tension transmission cords 18 and 20 are stretched, and an auxiliary moment is generated in the waist due to the tension, thereby reducing the burden on the waist.

  Next, when natural walking is started from the state shown in FIG. 4 and FIG. 1 (c), for example, when the left foot is moved forward, the left tension transmission string 18 extends as shown in FIGS. , And the right tension transmission string 20 is loosened. At this time, since the stopper portions 126 and 128 are in contact with each other at the contact point C, the left-side swing arm 122 rotates counterclockwise, and as shown in FIGS. Presses the right stopper 128 to the right, and the right swing arm 124 rotates counterclockwise as viewed from the back.

  When the right foot is extended forward, the right tension transmission string 20 extends, the right swing arm 124 rotates in the clockwise direction when viewed from the back, and the left tension transmission string 18 loosens. At that time, with the right and left stopper portions 126 and 128 being in contact with each other at the contact point C, the right stopper portion 128 is pressed to the left by the left stopper portion 126 due to the rotation of the right swing arm 124. As a result, the left swing arm 122 rotates counterclockwise. Thus, the left and right stopper portions 126 and 128 rotate together with the arm while being in contact with each other.

  The swing arms 122 and 124 have not only the forms shown in FIGS. 6 to 9 but also swing arms 222 having a form in which the positions of the left and right tip portions 222a and 224a are moved downward as shown in FIGS. 224. FIG. 11 shows a state in which θ = 30 ° is rotated counterclockwise from the state of FIG.

  As shown in FIGS. 6 to 9, the left and right ends of the swinging arms 122 and 124 are raised and the lower sides of the rotary shafts 130 and 132 of the swinging arms 122 and 124 are turned up to swing the swinging arms. The swing range of 122 and 124 can be increased. In the example of FIGS. 10 and 11, the swing range of the swing arms 222 and 224 is small, but the displacement in the y direction (vertical direction) at the tip portions 222a and 224a accompanying walking is a size suitable for the user's stride. If so, there will be no resistance to walking.

Further, the swingable arms 222 and 224 in FIGS. 10 and 11 have different swingable ranges as the initial shape changes, but their mechanical action rotates in the same direction around the rotary shafts 230 and 232 at the same angular velocity. In this case, since it is considered that a parallel crank mechanism in which a line connecting the centers O ₁ and O ₂ via the contact point C is virtually formed as one link, there is no essential difference from the swing arms 122 and 124.
Hereinafter, according to the example of the swing arms 222 and 224 shown in FIGS.

となる。 When the swing arms 222 and 224 swing around the rotation shafts 230 and 232 as they walk, the contact point C between the stoppers is a straight line connecting the centers (rotation centers) of the rotation shafts 230 and 232 of the swing arm. A circular arc with a radius h is drawn around the intermediate point D. That is, the contact point C is always on a straight line connecting the center points O ₁ and O _{2 of the} circular arc that becomes the edges of the stopper portions 226 and 228. When the vertical forces P _A and P _B act on the connection points 222a and 224a where the tension transmission strings 18 and 20 are coupled to the swing arms 222 and 224, the forces acting on the rotating shafts 230 and 232 and the contact point C are obtained. . For simplicity, ignore friction. The x axis of the global coordinate system Σ is set so as to pass through the rotation centers 230 and 232. The horizontal distance between the connection points 222a and 224a is 2L. As shown in FIG. 11, the coordinates of the contact point C when the swing arms 222 and 224 are tilted by the angle θ are (hsin θ, −h cos θ). Since the coordinates of the rotation axis 232 are (R, 0), the position vector r _A from the rotation axis 232 to the contact point C is

It becomes.

となる。 In the case of θ = 0 shown in FIG. 10, the position vector r _E from the rotating shaft 232 to the connection point 224a is

It becomes.

となる。 A coordinate system centered on the rotation axis 232 is assumed to be Σ ₁ . The coordinate E ₁ of the connection point 224a in the coordinate system Σ ₁ in a state inclined by the angle θ is

It becomes.

となる。 The coordinate E of the connecting point 224a in the global coordinate system Σ is

It becomes.

となる。 As shown in FIG. 11, the position vector r _E from the rotating shaft 232 to the connecting point 224a in the state where the angle θ is inclined is

It becomes.

となる。 Mode by the force P _A acting on the connection points 224a - Instrument M _PA is

It becomes.

となる。 On the other hand, the moment M _C due to the reaction force R _{C at} the contact point C is

It becomes.

となる。 The balance equation of the moment with respect to the rotating shaft 232 is M _PA + M _C = 0, so the reaction force R _C is calculated from the equations (6) and (7).

It becomes.

となる。 From equation (8), when θ = 0,

It becomes.

となる。 Assuming that the force acting on the rotating shaft 232 is R _A ,

It becomes.

となる。
式(11)よりＲ_Aを小さくするには、ｈを大きくすれば良いことが分かる。 From equations (8) and (10),

It becomes.
From equation (11), it can be seen that h can be increased to reduce R _A.

となり、図１０に示すθ＝０の状態での回転軸２３０から連結点２２２ａへの位置ベクトルｒ_Fは、

となる。 Similar calculations are performed for the swing arm 222. Since the swing arm 222 is also inclined at the angle θ, the coordinates of the contact point C are (hsinθ, −hcosθ), and the coordinates of the rotation axis 230 are (−R, 0), so The position vector r _CA to

The position vector r _F from the rotating shaft 230 to the connecting point 222a in the state of θ = 0 shown in FIG.

It becomes.

となる。全体座標系Σでの連結点２２２ａの座標は、

となる。 The coordinate system around the rotation shaft 230 and sigma _4. When the swing arm 222 is inclined by an angle θ as shown in FIG. 11, the coordinates F ₄ connection points 222a in the coordinate system sigma ₄ is

It becomes. The coordinates of the connecting point 222a in the global coordinate system Σ are

It becomes.

となる。 The position vector r _F from the rotating shaft 230 to the connecting point 222a in the state where the angle θ is inclined is

It becomes.

となる。 The moment M _PB by the force P _B is

It becomes.

となる。 On the other hand, mode by contact reaction force R _C - Instrument M _C than (12),

It becomes.

となる。 The balance equation of the moment with respect to the rotating shaft 230 is M _PB + M _C = 0, so the equations (17) and (18)

It becomes.

となる。
回転軸２３０に作用する力をＲ_Bとすると、ｘｙ方向の力の釣合式より、

となる。 From equation (19), when θ = 0,

It becomes.
When the force acting on the rotary shaft 230 and R _B, than balance equation xy force,

It becomes.

となる。 From equations (19) and (21),

It becomes.

これはＰ_A＝Ｐ_Bではθ＝０の状態に満足される。 This is because the moment arm of P _B becomes smaller as it rotates. In order to balance, the reaction force R _{C at the} contact point C needs to be equal, so from equations (8) and (19),

This is satisfied in the state of θ = 0 when P _A = P _B.

となる必要がある。 If θ ≠ 0,

It is necessary to become.

  The calculation from Equation (2) to Equation (23) is shown in FIG. 10 in the state before the swing arms 222 and 224 rotate, that is, in the state of θ = 0, the connecting point 222a between the lower limb belt and the swing arm. 224a is a calculation when the distance H is below the straight line connecting the rotation centers 230 and 232 of the swing arm. When the connecting points 222a and 224a are above the straight line connecting the rotation axes (rotation centers) 230 and 232 by a distance H, the sign of H in the expressions (2) to (23) is formally reversed. All calculations are valid just by doing.

となる。 Next, the sliding speed between the plates at the contact point C is calculated. Focusing on the swing arm 224, since the position vector r _C from the rotation axis 232 to the contact point _C is (1), if the angular velocity is ω, the velocity V _{C at the} contact point _C is

It becomes.

となる。 Next, paying attention to the plate of the swing arm 222, the position vector r _CA from the rotating shaft 230 to the contact point C is (12). Therefore, when the angular velocity is ω, the velocity V _CA of the contact point C is

It becomes.

であるので、角度θとは無関係に一定となる。 Since the unit tangent vector at the contact point C of the sliding surface is j, the difference between the components in the tangential direction of the velocity vectors v _C and v _CA is the sliding velocity s. That is, the sliding speed s is

Therefore, it is constant regardless of the angle θ.

  The present invention, due to the above objects, configuration and effects, back pain of workers engaged in agriculture, fisheries industry, various manufacturing industries, distribution industry, nursing / nursing care medical field, etc., which have a heavy burden on the waist, It is a lumbar burden reducing device that can be expected as a revolutionary and practical device to prevent lower back fatigue, and it can be expected to be linked to the reduction of the working population and medical costs.

DESCRIPTION OF SYMBOLS 10 Lumbar part burden reduction tool 12 Frame 12a Main body part 12b Waist pad part 12c Mesh board 14 Shoulder band 16 Shoulder band 18 Tension string 18a Round string 18b Buckle 18c First flat belt 18d Upper ring mounting part 18e Round rubber elastic body 18f Bottom Ring mounting part 18g Second flat belt 20 Tension transmission string 20a Round string 20b Buckle 20c First flat belt 20d Upper ring mounting part 20e Round rubber elastic body 20f Lower ring mounting part 20g Second flat belt 22 Linking mounting mechanism 22a Left swing arm 22b Right swing arm 22c Left stopper portion 22d Right stopper portion 22e Left spring 22f Right spring 22g Rotating shaft 22h Rotating shaft 24 Lower limb mounting device 26 Lower limb mounting device 100 Lumbar burden reducing device 102 Frame 102a Body portion 102b Waist Hitting part 104 Shoulder band 106 Shoulder belt 110 Belt 120 Connection mounting mechanism 122 Oscillating arm 124 Oscillating arm 126 Stopper unit 128 Stopper unit 130 Rotating shaft 132 Rotating shaft 134 Spring 136 Spring 220 Connecting mounting mechanism 222 Oscillating arm 224 Oscillating arm 222a Connection Point 224 Swing arm 224a Connection point 226 Stopper 228 Stopper 230 Rotating shaft 232 Rotating shaft

Claims (2)

  In the lower back burden reducing device for connecting and mounting the left and right legs of the back support frame (shell) and both lower limbs with a tension transmission string interposing an elastic body, the connection mounting mechanism between the waist support section and the tension transmission string As described above, one end is pivotally attached to the center side of the waist pad portion so as to be rotatable with a rotary shaft, and the other end portion is connected to the tension transmission cord, and the left and right sides of the waist pad portion are used for the longitudinal movement of both lower limbs. A pair of left and right oscillating arms positioned so as to be reciprocally rotatable around one end, and the other end of each oscillating arm and the upper part of the waist pad are connected to pull the oscillating arm to pull the tension transmission string. A spring that allows for a downward rotation and a restored upward rotation by loosening, and a swinging arm attached to the opposite approaching side of each swinging arm. Walking with the trunk in an upright position is not allowed A lumbar part that is equipped with a mechanism for automatically generating and releasing a lumbar moment, which is equipped with a protruding stopper part that releases the anti-collision state and allows each swing arm to rotate forward and backward in the same direction. Burden reduction tool.   In the lower back burden reducing device for connecting and mounting the left and right legs of the back support frame (shell) and both lower limbs with a tension transmission string interposing an elastic body, the connection mounting mechanism between the waist support section and the tension transmission string In contrast to the left and right sides of the waist pad, each one end is pivotally attached to the center of the waist pad by a rotating shaft, and the other end is connected to the tension transmission string. A pair of left and right oscillating arms positioned so as to be reciprocally rotatable around the rotational axis on the left and right sides of the lumbar support part by the front and rear movements of the lower limbs, A spring that is connected to enable the swinging arm to move downward by pulling the tension transmission string and to restore and rotate by loosening, and a circular arc located on the opposite approaching side of both swinging arms, and its circumferential surface When abutting, connect a straight line connecting the two circle centers and the axis of the rotating shaft of both swing arms. A pair of arc-shaped or circular stopper portions having the same length as that of the line and in parallel relation, and the pair of arc-shaped stopper portions are rotated on the outer peripheral surface by relative reverse rotation of both swing arms. A mechanism for automatically generating and releasing a lumbar moment is installed that prevents the counter-rotation of both swing arms by contacting each other and prevents the counter-rotation of both swing arms from facing each other. Lumbar burden reducing device.

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