JP2016067698A - Posture holding device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a posture holding device which can easily change a holding position for holding the posture of a worker.SOLUTION: A posture holding device includes: a body part; an arm part 20 turnably mounted on the body part; a holding mechanism which is mounted on the body part and holds the arm part 20 when the arm part 20 reaches a holding position; and a change mechanism 40 which is mounted on the arm part 20 and changes the holding position. The change mechanism 40 includes: a rotor 44 which is fixed to the arm part 20 and interlocks with the arm part 20; a rotary plate base 42 which is engaged with the rotor 44 to interlock with the rotor 44, which is structured so that the relative position of the rotary plate base 42 to the rotor 44 can be changed and which sets separate holding positions by coming in contact with the body part at a plurality of relative positions; and an operation element 41 which switches between an engaged state and a disengaged state of the rotor 44 and the rotary plate base 42 and allows the rotor 44 to change the relative positions in the disengaged state.SELECTED DRAWING: Figure 5

Description

  The present invention relates to a posture holding device that is attached to a worker and holds the posture of the worker.

  In a posture holding device that is attached to the worker and holds the posture of the worker, the main body is mounted on the worker's body, and the arm connected to the main body is moved by the operation restriction mechanism to It supports in the holding position which is a predetermined position (for example, refer patent document 1).

  The posture holding device described in Patent Literature 1 includes a changing mechanism that changes the holding position in the vertical direction. The changing mechanism can change the predetermined position by loosening the bolt.

JP 2014-113317 A

  In the posture holding device described in Patent Document 1, when changing the holding position, it is necessary to loosen the bolt of the changing mechanism and tighten the loosened bolt. For this reason, it is necessary to prepare a tool matched to the bolt.

  The present invention has been made in view of such circumstances, and an object thereof is to provide a posture holding device that can easily change the holding position for holding the posture of an operator.

Hereinafter, means for solving the above-described problems and the effects thereof will be described.
A posture holding device that solves the above problems is provided with a main body, an arm that is rotatably attached to the main body, and the arm when the arm reaches a holding position. A holding mechanism for holding a portion, and a changing mechanism that is provided in the arm portion and changes the holding position, and the changing mechanism is fixed to the arm portion and is engaged with the arm portion. A second engaging member that engages with the first engaging member and interlocks with the first engaging member, wherein a relative position of the second engaging member with respect to the first engaging member is changed. A second engagement member that is configured to be capable of defining different holding positions by contacting the main body at a plurality of the relative positions; and the engagement between the first engagement member and the second engagement member. And switch between disengagement and before disengagement And operating element first engagement member allows for changing the relative position, in that it comprises has as its gist.

  According to the above configuration, the change mechanism for changing the holding position held by the holding mechanism is provided, and the first engagement member and the second engagement member are engaged and disengaged by operating the operation member of the change mechanism. Can be switched. For this reason, the change of the holding position that holds the posture of the operator is realized by the operation of the operator, and as a result, the change of the holding position becomes easy.

  In the posture holding device, the first engagement member and the second engagement member are engaged with each other when they are in contact with the operation of the operation element, and are separated with the operation of the operation element. The disengagement is preferable.

  According to the above configuration, when the first engagement member and the second engagement member are engaged, the holding position at which the second engagement member is held is determined by the holding mechanism. Further, when the first engagement member and the second engagement member are disengaged, the holding position where the second engagement member is held by the holding mechanism can be changed.

  In the posture holding device, the operation with respect to the operation element is a rotation operation, the operation element includes a connection shaft, and the second engagement member includes a first screw portion screwed with the connection shaft. The connecting shaft has a second screw portion that is screwed with the first screw portion, and when the operating element is rotated, the connecting shaft rotates together with the operating element, and It is preferable that the second engagement member is brought into contact with and separated from the first engagement member by screw feeding by the connection shaft.

  According to the above configuration, when the operating element is rotated, the connecting shaft rotates together with the operating element, and the second engaging member contacts and separates from the first engaging member by screw feeding by the connecting shaft. For this reason, the rotation operation of the operation element can be directly used for the operation of the first engagement member and the second engagement member, and the configuration for transmission can be simplified.

  In the posture holding device, the change mechanism includes a movement restriction member that defines a movement range in the axial direction of the connection shaft, and the connection shaft is in a restricted state in which movement is restricted by the movement restriction member. It is preferable that the second engagement member can be screw-fed by a turning operation of the operation element.

  According to the above configuration, the connecting shaft can move within the movement range defined by the movement restricting member, and when the movement is restricted by the movement restricting member, the second engagement is performed by the rotation operation of the operation element. The joint member can be screwed. For this reason, the holding position can be changed by not only rotating the operating element but also moving the connecting shaft in the axial direction together with the operating element so that the holding position can be changed. It can suppress that a holding position is changed.

  The posture holding device includes a release operation unit that detects a release operation for releasing the holding of the arm unit by the holding mechanism, and electrically connects the holding mechanism and the release operation unit to the connection shaft. It is preferable that a through hole for inserting the connection line is formed in the axial direction.

  According to the above configuration, since the through hole for inserting the connection line is formed in the connection shaft, the connection line is not wound around the operation element, the connection shaft, or the like by the rotation operation of the operation element. Can be easily wired to the release operation section.

  With respect to the posture holding device, the holding mechanism includes a rotating plate that rotates together with the arm portion, a stopper that is fixed to the rotating plate and contacts the contact portion by the rotation of the rotating plate, and the contact portion. It is preferable to include a solenoid that contacts and separates the stopper from the stopper.

  According to the above configuration, since the abutting portion is brought into contact with and separated from the stopper fixed to the rotating plate by the solenoid, the holding mechanism restricts the rotation of the arm portion by the operation of the solenoid, and the arm portion is set to the holding position. Can be held.

  With respect to the posture holding device, one of the first engagement member and the second engagement member is provided with a first concave and convex portion having a star shape, and the first engagement member and the second engagement member It is preferable that a second concavo-convex part that fits with the first concavo-convex part is provided on the other side.

  According to the above configuration, positioning can be reliably performed by fitting the first concavo-convex portion in the shape of a scorpio and the second concavo-convex portion fitted to the first concavo-convex portion at a plurality of positions. Holding power can be increased.

In the posture holding device, it is preferable that the operator is disposed on a side facing the operator's arm when the worker wears the posture holding device.
According to the above configuration, when the operator operates the operating element in order to change the holding position, it is not necessary to go around the apparatus to operate the operating element, and the operating element can be easily operated.

  According to the present invention, the holding position for holding the posture of the operator can be easily changed.

The right view which shows the mounting state in 1st Embodiment of a attitude | position holding apparatus. The right view which shows the structure of the right holding | maintenance part and arm part in the attitude | position holding apparatus of the embodiment. The left view which shows the structure of the holding | maintenance part and arm part of the right side in the attitude | position holding apparatus of the embodiment. The disassembled perspective view which shows the structure of the holding | maintenance part and arm part of the right side in the attitude | position holding apparatus of the embodiment. Sectional drawing which shows the locked state of a change mechanism in the attitude | position holding apparatus of the embodiment. Sectional drawing which shows the cancellation | release state of a change mechanism in the attitude | position holding apparatus of the embodiment. The perspective view which shows the shape of a rotor in the attitude | position holding apparatus of the embodiment. The perspective view which shows the shape of a rotating plate base in the attitude | position holding apparatus of the embodiment. The right view which shows the structure of the holding | maintenance part and arm part of the right side in 2nd Embodiment of an attitude | position holding apparatus. The left view which shows the structure of the holding | maintenance part and arm part of the right side in the attitude | position holding apparatus of the embodiment. The disassembled perspective view which shows the structure of the holding | maintenance part and arm part of the right side in the attitude | position holding apparatus of the embodiment. Sectional drawing which shows the locked state of a change mechanism in the attitude | position holding apparatus of the embodiment. Sectional drawing which shows the transition middle state of the locked state of a change mechanism, and a cancellation | release state in the attitude | position holding apparatus of the embodiment. Sectional drawing which shows the cancellation | release state of a change mechanism in the attitude | position holding apparatus of the embodiment.

(First embodiment)
Hereinafter, with reference to FIGS. 1-8, 1st Embodiment of an attitude | position holding | maintenance apparatus is described. The posture holding device is worn and used by, for example, an operator who works on fruit trees and fruits located above the head, electrical equipment, and the like.

As shown in FIG. 1, the posture holding device includes a main body 10 that is attached to an operator, and an arm 20 that is rotatably attached to the main body 10.
The main body 10 is fixed to the upper part of the back frame 11 and extends to the left and right along the back frame of the worker, and extends along the left and right upper arms of the worker. And an arm frame portion 12 extending to the front side of the operator. That is, the arm frame part 12 is provided along each of the operator's right arm and left arm. The main body 10 is attached to the operator by hanging the shoulder belt 13 on the shoulder and attaching the waist belt 14 to the waist. In the following, only the right arm will be described, and the left arm is left-right symmetric and will not be described.

  A holding part 30 for positioning the arm part 20 with respect to the main body part 10 is attached to the arm frame part 12 of the main body part 10. An arm support portion 21 that supports the upper arm portion of the operator is attached to the arm portion 20 so as to be extendable and contractible. The arm support portion 21 can be expanded and contracted with respect to the arm portion 20 by operating the adjustment screw portion 21a.

  The posture holding device includes a release operation unit 50 that detects a release operation for releasing the holding of the arm unit 20 by the holding mechanism 31. The release operation unit 50 detects the release operation when the operator lifts the forearm and the forearm is brought into contact therewith.

  As shown in FIG. 2, the main body 10 is provided with a holding mechanism 31 that holds the arm 20 when the arm 20 reaches the holding position. The holding mechanism 31 holds the arm unit 20 in the holding position by restricting the rotation of the rotating plate 32 that rotates in conjunction with the arm unit 20. Since the holding mechanism 31 restricts only rotation in one direction, which is clockwise in FIG. 2, it is possible to rotate in the opposite direction, which is counterclockwise in FIG. Here, “holding” means that the rotation is stopped when the holding position is reached by restricting the rotation in one direction and the rotation in the opposite direction is possible. A state in which the arm unit 20 can be held at the holding position by the holding mechanism 31 is referred to as a holdable state, and a state in which the arm unit 20 is not held in the holding position by the holding mechanism 31 is referred to as a non-holdable state. Note that the left arm restricts only counterclockwise rotation and allows clockwise rotation.

  The holding mechanism 31 includes a pin 34 that is an example of the rotating plate 32, a stopper 33 that is fixed to the rotating plate 32, and a contact portion that contacts the stopper 33, and the pin 34 that is in contact with and away from the stopper 33. And a solenoid 35 to be operated. The solenoid 35 is connected to the pin 34 via the connecting member 36. The connecting member 36 is attached to the holding portion 30 so as to be rotatable by a rotation shaft 36a. The connecting member 36 converts the linear movement of the solenoid 35 into the rotational movement of the pin 34.

  As shown by a solid line in FIG. 2, in a state where the plunger 35 a of the solenoid 35 protrudes, the pin 34 comes into contact with the stopper 33 through the connecting member 36, and the arm portion 20 can be held at the holding position by the holding mechanism 31. It will be in a state that can be held. As shown by a two-dot chain line in FIG. 2, when the plunger 35 a is pulled by the solenoid 35, the pin 34 is separated from the stopper 33 via the connecting member 36, and the arm unit 20 is held at the holding position by the holding mechanism 31. Do not hold. When the plunger 35a is no longer attracted by the solenoid 35, the plunger 35a is displaced by the spring 35b so as to protrude.

  As shown in FIG. 3, the arm unit 20 is provided with a changing mechanism 40 that changes the holding position of the arm unit 20. The change mechanism 40 includes an operation element 41 that is operated when changing the holding position of the arm unit 20. The operating element 41 can be switched between a locked state in which the holding position of the arm unit 20 is fixed and a released state in which the holding position of the arm unit 20 can be changed by being gripped and rotated.

  As shown in FIGS. 4 and 5, a circular opening 37 a is formed in the base 37 of the holding unit 30. The arm frame portion 12 is formed with an opening portion 12 a concentric with the opening portion 37 a of the base portion 37. The opening 37a of the base 37 is provided with an accommodating portion 37b into which the cylindrical rotating plate base 42 is loosely fitted. The rotating plate base 42 is attached to the accommodating portion 37b from the side where the arm portion 20 of the base portion 37 is attached. The rotating plate base 42 is formed with a through-hole 43 concentric with the opening 37 a of the base 37. A rotating plate 32 is fixed to the rotating plate base 42 by screws 19. The rotating plate base 42 and the rotating plate 32 rotate integrally. Therefore, when the rotation of the rotating plate 32 is restricted by the pins 34 coming into contact with the stopper 33 fixed to the rotating plate 32, the rotation of the rotating plate base 42 is also restricted. The rotating plate 32 is formed with an opening 32 a concentric with the opening 37 a of the base 37.

  On the side opposite to the side on which the rotating plate 32 is disposed with respect to the base portion 37, a disc-like rotor 44 is rotatably installed coaxially with the opening portion 37 a of the base portion 37. The rotor 44 is formed with a through-hole 44 a concentric with the opening 37 a of the base 37. The rotor 44 is provided with a guide portion 44 b that is inserted between the inner wall of the housing portion 37 b of the base portion 37 and the outer wall of the rotating plate base 42. An arm plate 22 constituting the arm portion 20 is fixed to the rotor 44 by screws 19. For this reason, the rotor 44 rotates integrally with the arm unit 20. The arm plate 22 is a rectangular plate. An opening 22 a concentric with the opening 37 a of the base 37 is formed at the base end of the arm plate 22.

  A cylindrical joint shaft 45 is inserted into the opening 32 a of the rotating plate 32, the penetrating portion 43 of the rotating plate base 42, the penetrating portion 44 a of the rotor 44, and the opening 22 a of the arm plate 22. Yes. On the outer periphery of the joint shaft 45, a flange 45a is provided. The flange 45a of the joint shaft 45 is rotatably held between the rotor 44 and the arm plate 22 in a state where movement in the axial direction is restricted. The joint shaft 45 corresponds to the connection shaft.

  A male screw portion 46 is provided at the lower outer periphery of the joint shaft 45. On the inner wall of the through portion 43 of the rotating plate base 42, a female screw portion 47 that is screwed with the male screw portion 46 is provided. Therefore, the joint shaft 45 is attached in a state of being screwed to the rotating plate base 42. When the operating element 41 is rotated, the joint shaft 45 rotates together with the operating element 41, and the rotating plate base 42 contacts and separates from the rotor 44 by screw feeding by the joint shaft 45. Further, when the rotating plate base 42 rotates, the joint shaft 45 is screwed with the rotating plate base 42, so that the operation element 41, the joint shaft 45, the rotating plate base 42, and the rotating plate 32 rotate integrally. . The male screw portion 46 corresponds to the first screw portion, and the female screw portion 47 corresponds to the second screw portion.

  The rotor 44 and the rotating plate base 42 are installed to face each other, and the surface of the rotor 44 that faces the rotating plate base 42 and the surface of the rotating plate base 42 that faces the rotor 44 engage with each other. As a result, the rotor 44 and the rotating plate base 42 rotate together. Further, by releasing the engagement between the rotor 44 and the rotating plate base 42, the rotor 44 and the rotating plate base 42 can be rotated separately.

  A disc-shaped operation element 41 is attached to the tip of the joint shaft 45 with a screw 19. On the outer periphery of the operation element 41, a gripping portion 41a composed of a plurality of concave portions approximately the size of a finger is provided so that it can be easily gripped with a finger. The operation element 41 can be switched between engagement and non-engagement between the rotor 44 and the rotating plate base 42 by being rotated. The rotating plate base 42 is configured to be interlocked with the rotor 44 so that the relative position with respect to the rotor 44 can be changed. The rotating plate base 42 is set at different holding positions when the rotating plate 32 contacts the pins 34 at a plurality of relative positions.

  The rotor 44, the rotating plate base 42, the joint shaft 45, and the operating element 41 function as the changing mechanism 40. The rotor 44 corresponds to a first engaging member, and the rotating plate 32 and the rotating plate base 42 function as a second engaging member.

  As shown in FIG. 5, the joint shaft 45 is formed with a through hole 45 b in the axial direction for inserting a connection line 51 that electrically connects the holding mechanism 31 and the release operation unit 50. An opening 41 b that communicates with the through hole 45 b of the joint shaft 45 is formed at the center of the operation element 41. A guide portion 52 that accommodates the connection line 51 and guides it to the arm portion 20 is communicated with the opening portion 41 b of the operation element 41. The guide part 52 is not fixed with respect to the opening part 41 b of the operation element 41, and rotates integrally with the arm part 20.

  As shown in FIG. 7, the facing surface which is the surface facing the rotating plate base 42 in the rotor 44 is a convex surface protruding toward the rotating plate base 42. On such an opposing surface, a first concave-convex portion 48 having a constellation shape is formed. The constellation is a shape in which a plurality of convex portions extending along the alarm hole from the center of the rotor 44 are arranged at intervals along the circumferential direction of the rotor 44, and a plurality of projections and depressions are provided radially. Shape.

  As shown in FIG. 8, the facing surface that is the surface facing the rotor 44 in the rotating plate base 42 is a concave surface that is recessed in a direction away from the rotor 44. A second uneven portion 49 is formed on the facing surface. The second concavo-convex portion 49 has a shape in which a plurality of concave portions extending in the radial direction from the center of the rotating plate base 42 are arranged at intervals along the circumferential direction of the rotating plate base 42, and the plurality of concavo-convex portions are radial. It is the shape provided in. Further, each of the plurality of concave portions constituting the second uneven portion 49 has a shape fitted into each of the plurality of convex portions constituting the first uneven portion 48.

  The opposing surface of the rotor 44 and the opposing surface of the rotating plate base 42 are in contact with each other, and the first uneven portion 48 and the second uneven portion 49 are engaged, whereby the rotating plate base 42 and the rotor 44 are engaged. And engage. Further, the opposing surface of the rotor 44 and the opposing surface of the rotating plate base 42 are separated from each other, and the engagement between the first uneven portion 48 and the second uneven portion 49 is released, whereby the rotating plate base 42 is released. And the rotor 44 are disengaged.

  Each time the combination of the convex portion constituting the first concave and convex portion 48 and the concave portion of the second concave and convex portion 49 fitted therein changes, the position of the rotating plate base with respect to the rotor 44 changes along the circumferential direction. That is, the position of the rotating plate base 42 with respect to the rotor 44 changes by the number of protrusions in the first uneven portion 48 or the number of recesses in the second uneven portion 49. Each time the position of the rotating plate base 42 with respect to the rotor 44 changes, the holding position changes. The relative position between the rotor 44 and the rotating plate base 42 can be changed by 360 °. The arm portion 20 can change the holding position within a specified range. For example, as shown in FIGS. 2 and 3, the specified range is a range of −90 ° to + 90 ° with respect to 0 ° where the arm unit 20 is substantially horizontal. In addition, the specification range can be arbitrarily changed according to the purpose of use.

  In the rotor 44 and the rotating plate base 42, when the rotor 44 and the rotating plate base 42 come into contact with the operation of the operation element 41, the first uneven portion 48 and the second uneven portion 49 are fitted. The rotor 44 and the rotating plate base 42 are engaged with each other. On the contrary, when the operation element 41 is operated, the rotor 44 and the rotating plate base 42 are separated from each other, whereby the first uneven portion 48 and the second uneven portion 49 are separated, and the rotor 44 and the rotating plate base 42 are separated from each other. Is disengaged. That is, when the rotor 44 and the rotating plate base 42 are engaged, a locked state in which the relative position between the rotor 44 and the rotating plate base 42 is fixed is obtained. In addition, when the rotor 44 and the rotating plate base 42 are not engaged, a release state that allows the relative position between the rotor 44 and the rotating plate base 42 to be changed is set.

Next, the operation of the posture holding device configured as described above will be described.
(Change mechanism: locked)
As shown in FIG. 5, when the change mechanism 40 of the posture holding device is in the locked state, the rotating plate base 42 is in contact with the rotor 44. That is, the first uneven portion 48 of the rotor 44 and the second uneven portion 49 of the rotating plate base 42 are engaged, and the rotor 44 and the rotating plate base 42 rotate integrally. Therefore, when the arm portion 20 is rotated, the guide portion 52, the operation element 41, the joint shaft 45, the rotor 44, the rotating plate base 42, and the rotating plate 32 are integrally rotated. For this reason, when the changing mechanism 40 is in the locked state, the holding position of the arm unit 20 cannot be changed.

(Change mechanism: released state)
As shown in FIG. 6, when the change mechanism 40 of the posture holding device is in the released state, the rotating plate base 42 is not in contact with the rotor 44. That is, the first uneven portion 48 of the rotor 44 and the second uneven portion 49 of the rotating plate base 42 are disengaged, and the rotor 44 and the rotating plate base 42 do not rotate integrally. Therefore, even if the arm part 20 rotates, only the arm part 20 and the rotor 44 rotate. For this reason, when the changing mechanism 40 is in the released state, the rotational position of the rotor 44 relative to the rotating plate base 42 can be changed, so that the holding position of the arm portion 20 can be changed within a specified range.

(Change mechanism: locked → released)
When the changing mechanism 40 shown in FIG. 5 is changed from the locked state to the released state shown in FIG. 6, the operation element 41 is rotated clockwise. The left arm is turned counterclockwise. When the operation element 41 is rotated clockwise, the male screw part 46 of the joint shaft 45 and the female screw part 47 of the rotating plate base 42 are screwed together and the joint shaft 45 is moved in the axial direction. Therefore, the rotating plate base 42 is screwed downward in the axial direction. As a result, the rotating plate base 42 is separated from the rotor 44 and the first uneven portion 48 of the rotor 44 and the second uneven portion 49 of the rotating plate base 42 are disengaged. Therefore, it will be in the cancellation | release state which can change the holding position of the arm part 20 within a regulation range.

(Change mechanism: released state → locked state)
When the changing mechanism 40 shown in FIG. 6 is changed from the released state to the locked state shown in FIG. 5, the operation element 41 is rotated counterclockwise. The left arm is rotated clockwise. When the operation element 41 is rotated counterclockwise, the male screw part 46 of the joint shaft 45 and the female screw part 47 of the rotating plate base 42 are screwed together, and the joint shaft 45 is moved in the axial direction. Since the movement is restricted, the rotating plate base 42 is screwed upward in the axial direction. As a result, the rotating plate base 42 comes into contact with the rotor 44 and the first uneven portion 48 of the rotor 44 and the second uneven portion 49 of the rotating plate base 42 are engaged. Therefore, the holding position of the arm part 20 becomes a locked state in which the change is impossible.

(Holding mechanism: Holdable state)
As indicated by a solid line in FIG. 2, the holding mechanism 31 of the posture holding device abuts against a stopper 33 that fixes the pin 34 to the rotating plate 32 in a state where the plunger 35 a of the solenoid 35 protrudes. If the first concavo-convex portion 48 of the rotor 44 and the second concavo-convex portion 49 of the rotating plate base 42 are engaged at the position where the stopper 33 contacts the pin 34 (the change mechanism is in the locked state), the arm portion The movement of 20 downward is restricted, and the arm portion 20 is held at the holding position. Therefore, by holding the arm part 20 in the holding position, the upper arm part of the worker wearing the posture holding device is held in the holding position. For this reason, the operator does not need to maintain the state where the upper arm is lifted with his / her own muscle strength, and can reduce muscle fatigue.

(Holding mechanism: Unholdable state)
As indicated by a two-dot chain line in FIG. 2, the holding mechanism 31 of the posture holding device does not come into contact with the stopper 33 fixed to the rotating plate 32 when the plunger 35 a of the solenoid 35 is sucked. In a state where such a stopper 33 does not contact the pin 34, even if the first uneven portion 48 of the rotor 44 and the second uneven portion 49 of the rotating plate base 42 are engaged, the arm portion 20 is moved downward. Therefore, the arm portion 20 is not held at the holding position. Since the arm portion 20 is not held at the holding position, the upper arm portion of the worker wearing the posture holding device is not held at the holding position. Therefore, the operator can move the upper arm portion regardless of the holding position.

  As described above, the posture holding device can hold the upper arm portion of the worker by holding the arm portion 20 at the holding position determined by the worker by the holding mechanism 31. In addition, the posture holding device can change the holding position of the arm unit 20 when the operator rotates the operation element 41 by the changing mechanism 40. Therefore, the holding position for holding the upper arm portion of the worker can be easily changed.

As described above, according to this embodiment, the following effects can be obtained.
(1) A change mechanism 40 that changes the holding position held by the holding mechanism 31 is provided, and the rotor 44 and the rotary plate base 42 are engaged and disengaged by operating the operation element 41 of the change mechanism 40. Can be switched. For this reason, the holding position for holding the posture of the operator can be easily changed by operating the operating element 41.

  (2) When the rotor 44 and the rotating plate base 42 are engaged, the holding position at which the rotating plate base 42 is held is determined by the holding mechanism 31. Further, when the rotor 44 and the rotating plate base 42 are disengaged, the holding position where the rotating plate base 42 is held by the holding mechanism 31 can be changed.

  (3) When the operating element 41 is rotated, the joint shaft 45 rotates together with the operating element 41, and the rotating plate base 42 contacts and separates from the rotor 44 by screw feeding by the joint shaft 45. For this reason, the rotation operation of the operating element 41 can be directly used for the operation of the rotor 44 and the rotating plate base 42, and the configuration for transmission can be simplified.

  (4) Since the pin 34 is contacted and separated by the solenoid 35 with respect to the stopper 33 fixed to the rotating plate 32, the holding mechanism 31 restricts the rotation of the arm portion 20 by the operation of the solenoid 35, It can be held in the holding position.

  (5) Positioning is achieved by fitting the first concave and convex portion 48 of the star shape of the rotor 44 and the second concave and convex portion 49 of the rotating plate base 42 fitted to the first concave and convex portion 48 at a plurality of positions. Can be reliably performed and the holding force can be increased.

  (6) Since the through hole 45b for inserting the connection line 51 through the joint shaft 45 is formed, the connection line 51 may be wound around the operation element 41, the joint shaft 45, or the like by the turning operation of the operation element 41. In addition, the connection line 51 can be easily wired to the release operation unit 50.

  (7) When the operator operates the operation element 41 in order to change the holding position, it is not necessary to go around the apparatus to operate the operation element 41, and the operation element 41 can be easily operated. Further, the operator 41 can be operated more easily by shifting the arm to which the operator 41 is attached in the separating direction to create a space between the operator 41 and the arm.

(Second Embodiment)
Hereinafter, a second embodiment of the posture holding device will be described with reference to FIGS. The posture holding device of this embodiment is different from the first embodiment in that not only the rotation operation but also another operation is performed when the change mechanism is switched between the locked state and the released state. Hereinafter, such differences will be mainly described, and the same reference numerals are given to configurations having the same functions as those in the first embodiment, and description thereof will be omitted.

  As shown by the solid line in FIG. 9, when the plunger 35 a of the solenoid 35 protrudes, the pin 34 comes into contact with the stopper 33 through the connecting member 36, and the arm portion 20 can be held at the holding position by the holding mechanism 31. It becomes a state that can be held. As shown by a two-dot chain line in FIG. 9, when the plunger 35 a is pulled by the solenoid 35, the pin 34 is separated from the stopper 33 via the connecting member 36, and the arm unit 20 is held at the holding position by the holding mechanism 31. Do not hold. The solenoid 35 is a push-pull type, and can be attracted while the plunger 35a is projected.

  An adjustment knob 38 is attached to the pin 34. When the adjustment knob 38 is turned, the position of the pin 34 can be displaced in the extending direction of the pin 34. Therefore, by rotating the adjustment knob 38, it is possible to change the position where the stopper 33 of the rotating plate 32 is regulated approximately 10 ° up and down.

As shown in FIGS. 11 and 12, the rotating plate base 42 is attached to the opening 37a from the side of the base portion 37 to which the rotating plate 32 is attached.
A cylindrical joint shaft 45 is inserted into the opening 32 a of the rotating plate 32, the penetrating portion 43 of the rotating plate base 42, the penetrating portion 44 a of the rotor 44, and the opening 22 a of the arm plate 22. Yes. The joint shaft 45 has an axial movement range defined by a joint stopper 60. That is, the joint stopper 60 is fixed to the rotor 44 together with the arm plate 22 by the screw 19. The joint shaft 45 is provided with a flange 45a. The flange portion 45a of the joint shaft 45 is rotatably held between the arm plate 22 and the joint stopper 60 in a state where an axial movement range is defined. The joint shaft 45 corresponds to a connection shaft, and the joint stopper 60 corresponds to a movement restricting member.

  On the outer periphery of the operation element 41, a gripping portion 41a composed of a plurality of concave portions formed at equal intervals is provided so as to be easily gripped with a finger. The operation element 41 can switch between engagement and disengagement of the rotor 44 and the rotating plate base 42 by performing a pushing operation or a pulling operation in addition to the rotation operation. The rotating plate base 42 is configured to be interlocked with the rotor 44 so that the relative position with respect to the rotor 44 can be changed. The rotating plate base 42 is set at different holding positions when the rotating plate 32 contacts the pins 34 at a plurality of relative positions.

  As shown in FIG. 12, an arm cover 53 that substantially covers the manipulator 41 is attached to the arm plate 22. The operator cover 53 suppresses the operator's upper arm from contacting the operator 41. A connecting wire 51 is accommodated in the operator cover 53.

Next, the operation of the posture holding device configured as described above will be described.
(Change mechanism: locked)
As shown in FIG. 12, when the change mechanism 40 of the posture holding device is in the locked state, the rotating plate base 42 is in contact with the rotor 44. That is, the first uneven portion 48 of the rotor 44 and the second uneven portion 49 of the rotating plate base 42 are engaged, and the rotor 44 and the rotating plate base 42 rotate integrally. In this state, the flange portion 45a of the joint shaft 45 comes into contact with the upper surface of the arm plate 22, and the downward movement in the axial direction of the joint shaft 45 is restricted, and the upward movement is possible. Therefore, when the arm portion 20 is rotated, the operation element cover 53, the operation element 41, the joint shaft 45, the rotor 44, the rotation plate base 42, and the rotation plate 32 are rotated together. For this reason, when the changing mechanism 40 is in the locked state, the holding position of the arm unit 20 cannot be changed.

(Change mechanism: released state)
As shown in FIG. 14, the rotating plate base 42 is not in contact with the rotor 44 when the posture holding device changing mechanism 40 is in the released state. That is, the first uneven portion 48 of the rotor 44 and the second uneven portion 49 of the rotating plate base 42 are disengaged, and the rotor 44 and the rotating plate base 42 do not rotate integrally. In this state, the flange portion 45a of the joint shaft 45 comes into contact with the upper surface of the arm plate 22, and the downward movement in the axial direction of the joint shaft 45 is restricted, and the upward movement is possible. Therefore, even if the arm part 20 rotates, only the arm part 20 and the rotor 44 rotate. For this reason, when the changing mechanism 40 is in the released state, the rotational position of the rotor 44 relative to the rotating plate base 42 can be changed, so that the holding position of the arm portion 20 can be changed within a specified range.

(Change mechanism: locked → released)
When the change mechanism 40 shown in FIG. 12 changes from the locked state to the release state shown in FIG. 14, the operation element 41 is rotated clockwise. The left arm is turned counterclockwise. When the operation element 41 is rotated clockwise, the male screw part 46 of the joint shaft 45 and the female screw part 47 of the rotary plate base 42 are screwed together, so that the joint shaft 45 is moved by the rotary plate base 42. Screwed. As a result, as shown in FIG. 13, the joint shaft 45 is screwed upward in the axial direction while the first uneven portion 48 of the rotor 44 and the second uneven portion 49 of the rotating plate base 42 are engaged. Thus, the flange portion 45 a of the joint shaft 45 contacts the lower surface of the joint stopper 60. In this state, when the operating element 41 is pushed, as shown in FIG. 14, the rotating plate base 42 is separated from the rotor 44, and the first uneven portion 48 of the rotor 44 and the rotating plate base 42 are separated. The second concavo-convex portion 49 is disengaged. Therefore, it will be in the cancellation | release state which can change the holding position of the arm part 20 within a regulation range.

(Change mechanism: released state → locked state)
When the changing mechanism 40 shown in FIG. 14 changes from the released state to the locked state shown in FIG. 12, the operation element 41 is first pulled in the axial direction. As a result, as shown in FIG. 13, the first concavo-convex portion 48 of the rotor 44 and the second concavo-convex portion 49 of the rotating plate base 42 are engaged, and the flange portion 45 a of the joint shaft 45 is connected to the joint stopper 60. Touch the bottom surface. In this state, when the operation element 41 is rotated counterclockwise (counterclockwise in the left arm), the male screw part 46 of the joint shaft 45 and the female screw part 47 of the rotating plate base 42 are screwed together. In addition, since the upward movement in the axial direction of the joint shaft 45 is restricted, the joint shaft 45 is screwed downward in the axial direction by the rotating plate base 42. As a result, as shown in FIG. 12, the joint shaft 45 is screwed downward in the axial direction while the first uneven portion 48 of the rotor 44 and the second uneven portion 49 of the rotating plate base 42 are engaged. Thus, the flange portion 45 a of the joint shaft 45 contacts the upper surface of the arm plate 22. Therefore, the holding position of the arm unit 20 is locked.

(Holding mechanism)
The operation of the holding mechanism 31 is the same as that of the first embodiment. In addition, by turning the adjustment knob 38, the position where the stopper 33 of the rotating plate 32 is regulated can be changed approximately 10 ° up and down. It is.

  As described above, the posture holding device can hold the upper arm portion of the worker by holding the arm portion 20 at the holding position determined by the worker by the holding mechanism 31. Further, the posture holding device can change the holding position of the arm unit 20 by pushing or pulling the operator 41 in addition to the operator turning the operating element 41 by the changing mechanism 40. . Therefore, the holding position for holding the upper arm portion of the operator can be easily changed while suppressing the change of the holding position due to an erroneous operation by requiring two types of operations.

As described above, according to the present embodiment, in addition to the effects (1) to (7) of the first embodiment, the following effects can be achieved.
(8) The joint shaft 45 can move within the movement range defined by the joint stopper 60, and when the movement is restricted by the joint stopper 60, the rotary plate base 42 is rotated by the operation of the operation element 41. Can be screw-fed. For this reason, the holding position can be changed not only by rotating the operation element 41 but also by moving the joint shaft 45 in the axial direction together with the operation element 41 so as to prevent the movement in the axial direction. It is possible to prevent the holding position from being changed by mistake.

In addition, the said embodiment can also be implemented with the following forms which changed this suitably.
In each of the above embodiments, the through hole 45b is formed in the joint shaft 45 for allowing the connection line 51 to pass through the joint shaft 45. However, if the connection line 51 can avoid interference with other members, the through hole 45b may be omitted.

  In each of the above embodiments, the opposing surface of the rotor 44 is a concave surface that is recessed in a direction away from the rotating plate base 42, and the opposing surface of the rotating plate base 42 is a convex surface that protrudes toward the rotor 44. Good.

  In each of the above embodiments, the facing surface of the rotor 44 and the facing surface of the rotating plate base 42 may be planes parallel to each other. In short, the engagement between the rotor 44 and the rotating plate base 42 is realized by the contact of these facing surfaces, and the disengagement between the rotor 44 and the rotating plate base 42 is realized by the separation of these facing surfaces. Any shape can be used.

  In each of the above-described embodiments, the shape of the plurality of recesses constituting the first uneven portion 48 may be a linear shape inclined with respect to the radial direction of the first uneven portion 48 or a simple circular hole. The plurality of convex portions constituting the portion 49 may have a shape that is fitted into the first uneven portion 48. The point is that the plurality of recesses forming the first uneven portion 48 are arranged along the circumferential direction, and the protrusions forming the second uneven portion 49 need only be fitted into each of the plurality of recesses. .

  In each of the above embodiments, the first concavo-convex portion 48 and the second concavo-convex portion 49 that are in the shape of a star are provided. However, as long as the rotor 44 and the rotating plate base 42 can be engaged with each other, the present invention is not limited to the Kikuza shape, and other shapes may be used. Further, an elastic member may be provided on at least one of the opposing surfaces of the rotor 44 and the rotating plate base 42 so that the opposing surfaces of the rotor 44 and the rotating plate base 42 are engaged with each other.

  In each of the above embodiments, the rotor 44 and the rotating plate base 42 are connected by screw feeding by screwing the female screw portion 47 of the rotating plate base 42 and the male screw portion 46 of the joint shaft 45 provided in the operation element 41. Was separated. However, the configuration is not limited to screw feeding, and other configurations may be used. For example, an operation lever for moving the rotating plate base 42 toward and away from the rotor 44 may be provided, and the rotating plate base 42 and the rotor 44 may be moved toward and away from each other by lever operation.

  In each of the above embodiments, the rotor 44 and the rotating plate base 42 are engaged by contact with the operation element 41 and disengaged by separation. However, if the change of the relative position between the rotor 44 and the rotating plate base 42 is allowed by the operation of the operation element 41, the configuration is not limited to engagement and disengagement due to contact and separation, and other configurations are possible. Also good. For example, the engagement claw protrudes from at least one of the rotor 44 and the rotation plate base 42 by the operation of the operation element, and the engagement between the rotor 44 and the rotation plate base 42 where the engagement claw is not provided. The pawl engages.

  In each of the above-described embodiments, the contact between the pin 34 and the rotating plate 32 is not limited to the configuration caused by the movement of the rotating plate 32 along the circumferential direction. For example, the rotating plate 32 moves along the rotation axis. The structure which arises by may be sufficient.

  In each of the above embodiments, the rotating plate 32 may be omitted, and the rotating plate base 42 interlocked with the rotor 44 may be in contact with the pin 34 through such interlocking. That is, the second engagement member may be configured by a member that engages with the first engagement member and a member that contacts the contact portion, or may be configured integrally.

  In each of the above embodiments, the relative position between the rotor 44 and the rotating plate base 42 is not limited to the displacement along the circumferential direction, and may be configured to be displaced along the rotation axis by the operation of the operation element 41. .

  In each of the above embodiments, the right arm restricts only clockwise rotation and allows counterclockwise rotation, and the left arm restricts only counterclockwise rotation and enables clockwise rotation. However, the direction of restricting the rotation of the right arm and the left arm may be reversed. In other words, the right arm restricts only counterclockwise rotation and enables clockwise rotation, and the left arm restricts only clockwise rotation and allows counterclockwise rotation. In this way, the direction of the rotation operation of the operation element 41 may be reversed in the same manner.

  -Moreover, you may make the restriction | limiting direction of rotation of a right arm and a left arm the same. That is, the right arm and the left arm are restricted only to rotate clockwise and allow counterclockwise rotation. Alternatively, only the counterclockwise rotation is restricted on the right arm and the left arm, and the clockwise rotation is enabled. By doing in this way, you may make the direction of rotation operation of the operation element 41 the same similarly.

  DESCRIPTION OF SYMBOLS 10 ... Main-body part, 11 ... Back frame part, 12 ... Arm frame part, 12a ... Opening part, 13 ... Shoulder belt, 14 ... Waist belt, 19 ... Screw, 20 ... Arm part, 21 ... Arm support part, 21a ... Adjustment Screw part, 22 ... arm plate, 22a ... opening, 30 ... holding part, 31 ... holding mechanism, 32 ... rotating plate, 32a ... opening, 33 ... stopper, 34 ... pin, 35 ... solenoid, 35a ... plunger, 35b ... Spring 36 ... Connecting member 36a ... Rotating shaft 37 ... Base part 37a ... Opening part 37b ... Housing part 38 ... Adjusting knob 40 ... Change mechanism 41 ... Operating element 41a ... Gripping part 41b ... Opening 42, rotating plate base, 43 ... penetrating part, 44 ... rotor, 44a ... penetrating part, 44b ... guide part, 45 ... joint shaft, 45a ... collar part, 45b ... through hole, 46 ... male screw part, 47 ... Female screw part, 8 ... first concave-convex portion, 49 ... second concave-convex portion, 50 ... unlocking portion, 51 ... connecting line, 52 ... guide portion, 53 ... operator cover, 60 ... joint stopper.

Claims (8)

A main body having a contact portion;
An arm part rotatably attached to the main body part;
A holding mechanism that is provided in the main body and holds the arm when the arm reaches a holding position;
A change mechanism that is provided in the arm portion and changes the holding position;
The change mechanism is:
A first engagement member fixed to the arm portion and interlocking with the arm portion;
A second engagement member that engages with the first engagement member and interlocks with the first engagement member, wherein the relative position of the second engagement member with respect to the first engagement member can be changed. A second engaging member that determines the holding positions different from each other by abutting with the abutting portion at a plurality of the relative positions;
An operator that switches between engagement and disengagement of the first engagement member and the second engagement member, and allows the first engagement member to change the relative position in the disengagement; A posture holding device. The posture holding apparatus according to claim 1,
The first engagement member and the second engagement member are brought into engagement when they come into contact with the operation of the operation element, and are separated from each other with the operation element being operated. A posture holding device characterized by comprising: In the posture holding device according to claim 1 or 2,
The operation on the operation element is a rotation operation,
The operation element includes a connection shaft,
The second engagement member has a first screw portion screwed with the connection shaft,
The connection shaft has a second screw portion that is screwed with the first screw portion,
When the operation element is rotated, the connection shaft rotates together with the operation element, and the second engagement member contacts and separates from the first engagement member by screw feeding by the connection shaft. A posture holding device. The posture holding apparatus according to claim 3, wherein
The change mechanism includes a movement restriction member that defines a movement range in the axial direction of the connection shaft,
When the connection shaft is in a restricted state in which movement is restricted by the movement restricting member, the second engaging member can be screw-fed by a turning operation of the manipulator. apparatus. In the posture holding device according to claim 3 or 4,
The holding mechanism is electric,
A release operation part for detecting a release operation for releasing the holding of the arm part by the holding mechanism;
The connection holding shaft is formed with a through hole in the axial direction for inserting a connection line for electrically connecting the holding mechanism and the release operation unit. In the posture holding device according to any one of claims 1 to 5,
The holding mechanism is
A rotating plate that rotates together with the arm portion;
A stopper fixed to the rotating plate and abutting against the abutting portion by rotation of the rotating plate;
A posture holding device, comprising: a solenoid that contacts and separates the contact portion with respect to the stopper. In the posture holding device according to any one of claims 1 to 6,
One of the first engaging member and the second engaging member is provided with a first concave and convex portion having a star shape,
The posture holding device, wherein the other of the first engagement member and the second engagement member is provided with a second concavo-convex portion that fits into the first concavo-convex portion. In the posture holding device according to any one of claims 1 to 7,
The operator is arranged on the side facing the operator's arm when the operator wears the attitude holding device.

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