JP2018149624A - Motion assist device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a motion assist device which assists wearer's motion to bring up an object to reduce a burden on a wearer's lumber during the motion with a simple structure.SOLUTION: A motion assist device 100 includes: a back member 110; attachment parts 120 which attach the back member 110 to a back of a wearer U; leg members 131, 134 which are rotatably connected to the back member 110 and locked on thigh parts of the wearer U; a support member 140 disposed at the back member 110 and extending to positions above a shoulder of the wearer U; actuators 151, 152 which apply force for rotating the leg members 131, 134 and the back member 110 relative to each other to the leg members 131, 134 and the back member 110; first string members 161, 162 which are fixed to tips of the support member 140 disposed above the shoulder at one-end side portions; and action members 171, 172 connected to the other end side portions of the first string members 161, 162.SELECTED DRAWING: Figure 1

Description

  The present invention relates to an operation support apparatus.

  Conventionally, Patent Document 1 discloses an assist suit that assists an operator in lifting a load by moving a load acting portion for supporting a load suspended by a wire upward by winding the wire. Has been.

  Patent Document 2 discloses a movable support structure including a winch provided with a motor-driven reel mechanism that winds up first and second lifting straps or cables fixed to first and second end effectors. It is.

JP 2006-129916 A Special table 2013-53593

  However, in the assist suits of Patent Document 1 and Patent Document 2, since the wire is wound up, an object may be caught in the movement of the wire due to the winding of the wire. It was necessary to work while paying attention to the object. Moreover, since the assist suit includes a motor, a battery, and the like for winding the wire, there is a problem that the weight is heavy.

  Therefore, the present invention provides an operation support device that can reduce the burden on the waist of the wearer during the operation by supporting the operation of lifting the object by the wearer with a simple configuration.

  According to another aspect of the present invention, there is provided a work support device that includes a back member, a mounting portion that mounts the back member on a wearer's back, and a thigh that is rotatably connected to the back member. A leg member that is locked to a portion, a support member that is disposed on the back member and extends above the shoulder of the wearer, and an actuator that applies a force to rotate the leg member and the back member relative to each other; A string-like member disposed on the front end of the support member, the one-end-side part being fixed to the tip of the support member, and an action member connected to the other-end-side part of the first string-like member; Is provided.

  The motion support device of the present invention can reduce the burden on the waist of the wearer in the motion by supporting the motion of the wearer lifting the object with a simple configuration.

It is the perspective view which looked at the operation | movement assistance apparatus with which the wearer has mounted | worn from back. It is the perspective view which looked at the operation | movement assistance apparatus with which the wearer is wearing from the front. It is a figure for demonstrating operation | movement of an operation | movement assistance apparatus. It is a figure for demonstrating operation | movement of an operation | movement assistance apparatus. It is a figure for demonstrating the operation | movement assistance apparatus when the wearer performs the operation | movement which twists a waist in the state holding the object. It is a figure for demonstrating an example of the action member of the operation | movement assistance apparatus which concerns on the modification 1 of embodiment. It is a figure for demonstrating an example of the detailed structure of the action member of the operation | movement assistance apparatus which concerns on the modification 1 of embodiment. It is a figure for demonstrating another example of the detailed structure of the action member of the operation | movement assistance apparatus which concerns on the modification 1 of embodiment. It is a figure for demonstrating another example of the action member of the operation | movement assistance apparatus which concerns on the modification 1 of embodiment. It is a figure for demonstrating another example of the detailed structure of the action member of the operation | movement assistance apparatus which concerns on the modification 1 of embodiment. It is a figure for demonstrating the structure of the 1st string-like member of the operation | movement assistance apparatus which concerns on the modification 4 of embodiment, and a 2nd string-like member.

  In order to realize the above-described motion support device, the motion support device according to one aspect of the present invention includes a back member, a mounting portion that mounts the back member on the back of the wearer, and a rotatable member with respect to the back member. A leg member connected to and engaged with the thigh of the wearer; a support member disposed on the back member and extending above the shoulder of the wearer; and the leg member and the back member. An actuator for applying a force to move, a string-like member that is disposed above the shoulder and has a one-end portion fixed to the tip of the support member; and the other end side of the first string-like member And an action member connected to the portion.

  In a state where the wearer wears the motion support device, both hands of the wearer are suspended by the first string-like member via the action member attached to the both hands. For this reason, when the wearer performs the operation of lifting the object, the load due to the object is applied to the support member via the wearer's hand, the action member, and the first string-like member. Then, in a state where an object load is applied to the support member, the actuator of the motion support device applies a force to the leg member with respect to the back member in a rotational direction that increases an angle formed by the leg member and the back member.

  As a result, a force that is caused to approach the vertical direction from a state inclined with respect to the vertical direction is applied to the back member. For this reason, the wearer U can easily cause the upper body and an object. Therefore, the wearer can perform the operation of lifting the object with almost no burden on the waist.

  In addition, even when the wearer is standing and holding an object, the load on the support member can be in a state where the load of the object is applied, so that the burden on the arm can be reduced. For this reason, the wearer can easily stand while holding the object or carry the object while reducing the burden on the arm.

  The support member may be rotatably connected to the back member with an axis extending parallel to the wearer's vertical direction as a rotation axis.

  According to this, since the support member is connected to the back member so as to be rotatable about an axis parallel to the vertical direction as a rotation axis, the wearer moves the object by twisting the waist. Even in this case, it is possible to support the holding of the wearer's object. Therefore, the movement support device can support the holding of the wearer's object even when the movement is highly flexible, such as a rotating movement of twisting the waist while holding the wearer's object.

  Further, the first string-like member may be constituted by an elastic body.

  For this reason, the wearer U can easily change the length from the tip of the support member to the action member even in a state where the support of the object is received from the support member. Therefore, the wearer U can perform the work without being restricted by the first string-like member.

  Further, the second string-like member is further provided with a second string-like member in which a part on one end side is fixed to the tip of the support member, and a part on the other end side is fixed to the action member. Is a non-stretchable member, and the length from the tip of the first string-like member is shorter than the length from the tip of the second string-like member in a state where no tensile force is applied. Also good.

  For this reason, in a state where the wearer is not using the action member, the first string-like member is shortened, so that the action member can be brought close to the tip of the support member. Therefore, when the wearer is performing work other than the work of lifting the object, the action member can be positioned at a position that does not get in the way. When the wearer lifts the object using the action member, the load of the object can be effectively supported by the non-stretchable second string-like member.

  Further, the first string-like member includes a non-stretchable portion constituted by a non-stretchable member extending from the one end side portion to the other end side portion, and the one end side portion to the other end. A stretchable part configured by an elastic body, which is arranged over at least a part of the section up to the side part and is shorter than the length of the section of the first part in a state where no tensile force is applied; You may have.

  For this reason, in the state where the wearer is not using the action member, the first portion of the first string-like member is shortened, so that the action member can be brought close to the tip of the support member. Therefore, when the wearer is performing work other than the work of lifting the object, the action member can be positioned at a position that does not get in the way. Further, when the wearer lifts the object using the action member, the load of the object can be effectively supported by the non-stretchable second portion of the first string-like member.

  Further, the support member has a right support portion that extends to above the right shoulder of the wearer and a left support portion that extends to above the left shoulder, and the first string-like member has a portion on one end side thereof. A right string-like member fixed to the tip of the right support part; and a left string-like member having a part on one end side fixed to the tip of the left support part, and the action member is the right string You may have the right action member to which the part of the other end side of the shape member is connected, and the left action member to which the part of the other end side of the left string-like member is connected.

  For this reason, it is possible to support the holding of the object with both hands, and thus it is possible to support the wearer to hold the object in a stable posture.

  The support member may be detachably connected to the back member.

  Thereby, the structure of an operation | movement assistance apparatus can be easily switched as needed to the structure with a support member, a 1st string-like member, and an action member, and the structure without these.

  The action member may be attached to the upper limb of the wearer and support the upper limb.

  For this reason, the operation | movement which a wearer lifts an object with an upper limb can be supported effectively.

  Further, the action member may support the object by being locked to the object.

  For this reason, the wearer can easily perform the operation of lifting the object with little use of his / her own power.

  Hereinafter, an operation support apparatus 100 according to an aspect of the present invention will be specifically described with reference to the drawings.

  Note that each of the embodiments described below shows a specific example of the present invention. Numerical values, shapes, materials, constituent elements, arrangement positions and connection forms of constituent elements, and the like shown in the following embodiments are merely examples, and are not intended to limit the present invention. In addition, among the constituent elements in the following embodiments, constituent elements that are not described in the independent claims indicating the highest concept are described as optional constituent elements.

(Embodiment)
The operation support apparatus will be described with reference to FIGS.

[1. Constitution]
In this embodiment, in a state where the motion support device is mounted on the wearer, the wearer's left-right direction is the X-axis direction, the wearer's front-rear direction is the Y-axis direction, and the wearer's vertical direction is the Z-axis direction. And Also, the left side of the wearer is defined as the X axis direction minus side, and the right side of the wearer is defined as the X axis direction plus side. The front side of the wearer is the Y axis direction plus side, and the back side of the wearer is the Y axis direction minus side. Also. The upper side of the wearer is defined as the positive side in the Z-axis direction, and the lower side of the wearer is defined as the negative side in the Z-axis direction. In each figure, the direction indicated by the arrow indicating each of the X-axis direction, the Y-axis direction, and the Z-axis direction is defined as the plus side in each direction, and the direction opposite to the arrow is defined as the minus side in each direction. And

  FIG. 1 is a perspective view of an operation support device worn by a wearer as seen from the rear. FIG. 2 is a perspective view of the motion support device worn by the wearer as seen from the front. 1 and 2 are diagrams showing a state where the wearer U is holding a plate-like object 200. FIG.

  As shown in FIGS. 1 and 2, the motion support device 100 includes a back member 110, a mounting portion 120, leg members 131 and 134, a support member 140, actuators 151 and 152, and string-like members 161 and 162. And action members 171 and 172.

  The back member 110 is a member disposed on the back of the wearer U. Specifically, the back member 110 includes a right back member 111 disposed on the right side of the back of the wearer U and a left back member 112 disposed on the left side of the back of the wearer U. The right back member 111 and the left back member 112 are connected to each other so as to be rotatable about an axis parallel to the Z-axis direction as a rotation axis. That is, the right back member 111 is rotatable with respect to the left back member 112 with the axis behind the spine of the wearer U as the rotation axis. Similarly, the left back member 112 is rotatable with respect to the right back member 111 with the axis behind the wearer's U spine as the rotation axis.

  The back member 110 is not limited to the configuration in which the right back member 111 and the left back member 112 are connected, and may be a single continuous plate-like member.

  The right back member 111 has a right frame 113 that extends from the right side of the back of the wearer U to a position on the right side of the body of the wearer U. The left back member 112 has a left frame 114 that extends from the left side of the back of the wearer U to the left side of the body of the wearer U. The right frame 113 and the left frame 114 are made of metal pipes, for example. The right frame 113 and the left frame 114 may be configured to extend to both sides of the body of the wearer U, and may be configured by plate-like members. The right frame 113 and the left frame 114 are made of metal, resin, or the like.

  The back member 110 may be configured to be connected to leg members 131 and 134 described later so as to be rotatable in the X-axis direction, and may not include the right frame 113 and the left frame 114. .

  Further, the back member 110 may have a connection member 115 that connects the support member 140. The connection member 115 rotatably connects a connection portion 141 (see later) of the support member 140 with an axis parallel to the Z-axis direction as a rotation axis. That is, the support member 140 is connected to the back member 110 so as to be rotatable about an axis extending in parallel with the wearer U in the vertical direction.

  The mounting portion 120 is a member that mounts the back member 110 on the back of the wearer U. The mounting unit 120 includes a shoulder belt 121 and a waist belt 122.

  The shoulder belt 121 is a member that is connected to the back member 110 and is worn on the shoulder of the wearer. The shoulder belt 121 is provided on each of the right back member 111 and the left back member 112 of the back member 110. That is, the shoulder belt 121 is provided at a position corresponding to both shoulders of the wearer.

  The waist belt 122 has a right belt provided at the right end of the right back member 111 of the back member 110 and a left belt provided at the left end of the left back member 112, and the right belt and the left belt are the waist of the wearer U. This is a member that attaches the lower part of the back member 110 to the back of the waist of the wearer U by being connected to each other in front of each other.

  The shoulder belt 121 and the waist belt 122 are made of, for example, synthetic fiber, natural fiber, metal fiber, leather (including artificial leather), silicone, or the like.

  The leg members 131 and 134 are rotatably connected to the back member 110 and are locked to the thigh of the wearer U. Specifically, the leg members 131 and 134 include a right leg member 131 that is rotatably connected to the right frame 113 of the right back member 111 with an axis parallel to the X-axis direction as a rotation axis, and a left back member. A left leg member 134 is connected to a left frame 114 of 112 so as to be rotatable about an axis parallel to the X-axis direction as a rotation axis.

  The rotation axis of the right leg member 131 relative to the right frame 113 is disposed at a position corresponding to the hip joint of the wearer U in a state where the motion support device 100 is worn by the wearer U. Similarly, the rotation axis of the left leg member 134 with respect to the left frame 114 is arranged at a position corresponding to the hip joint of the wearer U in a state where the motion support device 100 is worn by the wearer U.

  The right leg member 131 is formed with a locking portion 132 that locks to the rear side of the right thigh of the wearer U at the end opposite to the side connected to the right frame 113. Further, a leg belt 133 attached to the right thigh of the wearer U may be connected to the locking part 132. The leg belt 133 is attached to the right thigh of the wearer U, so that the engaging portion 132 at the end opposite to the side connected to the right frame 113 of the right leg member 131 is attached to the wearer U. Secure to the right thigh. The locking portion 132 may be locked to the front side of the right thigh of the wearer U.

  Further, the left leg member 134 is formed with a locking portion 135 that locks to the rear side of the left thigh of the wearer U at the end opposite to the side connected to the left frame 114. Yes. Further, a leg belt 136 to be worn on the left thigh of the wearer U may be connected to the locking part 135. The leg belt 136 is attached to the left thigh of the wearer U, so that the engaging portion 135 at the end opposite to the side connected to the left frame 114 of the left leg member 134 is attached to the wearer U. Secure to the left thigh. The locking part 135 may be locked to the front side of the left thigh of the wearer U.

  The support member 140 is a member that is disposed on the back member 110 and extends to above the shoulder of the wearer U. Specifically, the support member 140 includes a connection portion 141 connected to the back member 110, and a right support portion 142 extending from the end on the plus side in the Z-axis direction of the connection portion 141 to above the right shoulder of the wearer U. And a left support portion 143 extending from the positive end of the connecting portion 141 in the Z-axis direction to above the left shoulder of the wearer U.

  Further, the support member 140 is configured to be branched into two from the end on the plus side in the Z-axis direction of the connection portion 141. Further, the right support portion 142 and the left support portion 143 extend from the back of the wearer U to a position above the shoulder.

  The connection portion 141 is a rod-shaped member that extends in the Z-axis direction. As shown in FIGS. 1 and 2, the right support portion 142 and the left support portion 143 may be rod-like members or plate-like members. The support member 140 is made of metal, resin, or the like.

  The actuators 151 and 152 rotate the leg members 131 and 134 with respect to the back member 110, respectively. The actuators 151 and 152 may be constituted by, for example, a motor, a gas cylinder, a hydraulic cylinder, or the like.

  For example, the actuator 151 detects the movement of the right leg of the wearer U by a sensor such as an encoder (not shown), and rotates the right leg member 131 relative to the back member 110 according to the detected movement of the right leg of the wearer U. The moving force is applied to the back member 110 and the right leg member 131. For example, the actuator 151 detects that the sensor rotates in the rotation direction in which the angle formed by the back member 110 and the right leg member 131 is increased by the sensor, so that the force to rotate in the rotation direction is applied to the back member 110 and the right member. You may provide with respect to the leg member 131. FIG. As a result, the actuator 151 supports the movement of the right leg of the wearer U at the hip joint.

  Similarly, the actuator 152 detects, for example, the movement of the left leg of the wearer U by an encoder (not shown), and moves the left leg member 134 relative to the back member 110 according to the detected movement of the left leg of the wearer U. A rotating force is applied to the back member 110 and the left leg member 134. For example, the actuator 152 detects that the sensor rotates in the rotation direction in which the angle formed by the back member 110 and the left leg member 134 is increased, and thereby the force to rotate in the rotation direction is detected. You may provide with respect to the leg member 134. FIG. As a result, the actuator 152 supports the movement of the left leg of the wearer U at the hip joint.

  The string-like members 161 and 162 are string-like members having one ends fixed to the front ends 142a and 143a of the support member 140 disposed above the shoulder of the wearer U. Specifically, the string-like members 161 and 162 are arranged above the right shoulder of the wearer U, the right string-like member 161 having one end fixed to the tip 142a of the right support portion 142, and the wearer U. And a left string-like member 162 having one end fixed to the tip 143a of the left support portion 143. The string-like members 161 and 162 are made of, for example, a non-stretchable material. The string-like members 161 and 162 are made of, for example, synthetic fiber, natural fiber, metal fiber, leather (including artificial leather), or the like. Note that the string-like members 161 and 162 only need to have their one end portions fixed to the tips 142a and 143a of the support member 140, and one end is not necessarily fixed.

  The action members 171 and 172 are members connected to the other ends of the string-like members 161 and 162 (that is, ends opposite to the ends fixed to the tips 142a and 143a of the support member 140), respectively. is there. Specifically, the action members 171 and 172 include a right action member 171 to which the other end of the right string-like member 161 is connected and a left action member 172 to which the other end of the left string-like member 162 is connected. Have. In the present embodiment, action members 171 and 172 are members that are respectively attached to and support both hands of wearer U, and are, for example, hand bands that are respectively attached to both hands of wearer U. The action members 171 and 172 are made of, for example, synthetic fiber, natural fiber, metal fiber, leather (including artificial leather), silicone, or the like. The action members 171 and 172 need only be attached to any part of the upper limb of the wearer U, and do not necessarily have to be attached to the hand of the wearer U.

[2. Usage examples and effects]
Next, usage examples and effects of the operation support apparatus 100 will be described.

  FIG. 3 is a diagram for explaining the operation of the operation support apparatus when the wearer lifts an object.

  As described with reference to FIGS. 1 and 2, when the wearer U is wearing the motion support device 100, both hands of the wearer U are placed via the action members 171 and 172 attached to both hands. It will be in the state suspended by the string-like members 161 and 162. FIG. Therefore, as shown in FIG. 3, when the wearer U is performing an operation of lifting the object 210, the load by the object 210 is applied to the wearer U's hand, the action members 171 and 172, and the string-like member 161, It is applied to the support member 140 through 162.

  Then, in a state where the load of the object 210 is applied to the support member 140, the actuators 151 and 152 of the motion support device 100 move the leg members 131 and 134 to the back member 110 and the leg members 131 and 134 and the back member 110 to A force is applied in the rotational direction to increase the angle formed.

  As a result, a force that is caused to approach the vertical direction from a state in which the back member 110 is inclined with respect to the vertical direction is applied. For this reason, the wearer U can easily cause the upper body and the object 210. Therefore, the wearer U can perform an operation of lifting the object 210 with almost no burden on the waist.

  FIG. 4 is a diagram for explaining the operation of the motion support device when the wearer stands and holds an object.

  As shown in FIG. 4, even when the wearer U is standing and holding the object 210, the load on the arm can be applied because the load of the object 210 is applied to the support member 140. Can be reduced. For this reason, the wearer U can easily stand while holding the object 210 and carry the object 210 while reducing the burden on the arm.

  FIG. 5 is a diagram for explaining an operation support apparatus when the wearer performs an operation of twisting his / her waist while holding an object. FIG. 5 shows a top view. Specifically, FIG. 5A is a top view when the wearer U is facing the front with the object 210 held. FIG. 5B is a top view when the wearer U performs the action of twisting his / her hips to the left while holding the object 210. FIG. 5C is a top view when the wearer U performs the action of twisting his / her waist to the right while holding the object 210.

  As shown in FIG. 5, when the wearer U turns the waist to turn the object 210 toward the left side or the right side, both the hands of the wearer U are placed on the spine of the wearer U in a top view. Turn with reference to position. When the wearer U tries to turn both hands, the action parts 171 and 172 attached to both hands receive a turning force from both hands, and the string-like members 161 and 162 fixed to the action parts 171 and 172. Also receives force in the direction of the turn. Here, the support member 140 to which the string-like members 161 and 162 are fixed is connected to the back member 110 so as to be rotatable about the connection portion 141 as a rotation axis. For this reason, the support member 140 rotates to the left or to the right following the movement of both hands of the wearer U.

  As described above, the support member 140 is connected to the back member 110 so as to be rotatable about an axis parallel to the Z-axis direction as the rotation axis. Even in the case of moving, it is possible to support the holding of the object 210 of the wearer U. Therefore, the movement support apparatus 100 supports the holding of the object 210 of the wearer U even when the movement is highly flexible, such as a rotating movement of twisting the waist while holding the object 210 of the wearer U. be able to.

[3. effect]
The motion support apparatus 100 according to the present embodiment includes a back member 110, a mounting portion 120, leg members 131 and 134, a support member 140, actuators 151 and 152, string members 161 and 162, and an action member 171. , 172. The mounting portion 120 is a member that mounts the back member 110 on the back of the wearer U. The leg members 131 and 134 are members that are rotatably connected to the back member 110 and are engaged with the thigh of the wearer U. The support member 140 is a member that is disposed on the back member 110 and extends to above the shoulder of the wearer U. The actuators 151 and 152 apply a force for rotating the leg members 131 and 134 and the back member 110 to each other. The string-like members 161 and 162 are members in which a portion on one end side is fixed to the distal end of the support member 140 disposed above the shoulder of the wearer U. The action members 171 and 172 are members connected to portions on the other end side of the string-like members 161 and 162.

  According to this, in a state where the wearer U is wearing the motion support device 100, both hands of the wearer U are suspended by the string-like members 161 and 162 via the action members 171 and 172 attached to both hands. It will be in the lowered state. For this reason, when the wearer U is performing the operation of lifting the object 210, the load by the object 210 is supported by the wearer U's hand, the action members 171, 172, and the string-like members 161, 162. Take 140.

  Then, in a state where the load of the object 210 is applied to the support member 140, the actuators 151 and 152 of the motion support device 100 move the leg members 131 and 134 to the back member 110 and the leg members 131 and 134 and the back member 110 to A force is applied in the rotational direction to increase the angle formed.

  As a result, a force that is caused to approach the vertical direction from a state in which the back member 110 is inclined with respect to the vertical direction is applied. For this reason, the wearer U can easily cause the upper body and the object 210. Therefore, the wearer U can perform an operation of lifting the object 210 with almost no burden on the waist.

  Further, even when the wearer U is standing and holding the object 210, the load of the object 210 can be applied to the support member 140, so that the burden on the arm can be reduced. it can. For this reason, the wearer U can easily stand while holding the object 210 and carry the object 210 while reducing the burden on the arm.

  Further, in the motion support device 100 of the present embodiment, the support member 140 is rotatably connected to the back member 110 with an axis extending in parallel with the wearer U in the vertical direction as a rotation axis.

  That is, since the support member 140 is rotatably connected to the back member 110 with an axis parallel to the Z-axis direction as a rotation axis, the wearer U moves the object 210 by performing a twisting motion. Even in this case, the holding of the object 210 of the wearer U can be supported. Therefore, the movement support apparatus 100 supports the holding of the object 210 of the wearer U even when the movement is highly flexible, such as a rotating movement of twisting the waist while holding the object 210 of the wearer U. be able to.

  Further, in the motion support device 100 of the present embodiment, the support member 140 has a right support portion 142 that extends to above the right shoulder of the wearer U and a left support portion 143 that extends to above the left shoulder. The string-like members 161, 162 have a right string-like member 161 whose one end is fixed to the tip of the right support part 142 and a left string-like one whose one end is fixed to the tip of the left support part 143. Member 162. The action members 171 and 172 include a right action member 171 to which a portion on the other end side of the right string-like member 161 is connected, and a left action member 172 to which a portion on the other end side of the left string-like member 162 is connected. Have.

  For this reason, since it can support holding of the object 210 with both hands, it can support that the wearer U holds the object 210 in a stable posture.

  In the motion support device 100 of the present embodiment, the action members 171 and 172 are mounted on the upper limb of the wearer U and support the upper limb. The action members 171 and 172 are attached to, for example, the hand of the wearer U and support the hand.

  For this reason, the wearer U can effectively support the operation of lifting the object 210 by hand.

[4-1. Modification 1]
In the above-described embodiment, the action members 171 and 172 are members that are attached to a portion ahead of the wrist of the wearer U, but are not limited thereto. For example, as shown in FIG. 6 and FIG. 7, action members 181 and 182 that support an object by locking to the object may be used. The action members 181 and 182 include a right action member 181 and a left action member 182.

  FIG. 6 is a diagram for explaining an example of the action member of the motion support apparatus according to the first modification of the embodiment. In FIG. 6, configurations other than the string-like members 161 and 162 and the action members 181 and 182 are omitted.

  As shown in FIG. 6, in this case, the action members 181 and 182 are members that support the container 310 by being hooked on the end of the container 310. The container 310 is an example of an object. For example, the container 310 is a rectangular parallelepiped box-shaped member including five surfaces excluding the upper surface, and includes a protruding portion 301 whose upper end protrudes outward in the horizontal direction. For example, it is made of a magnetic metal. The action members 181 and 182 support the container 310 by being hooked on the protruding portion 301 of the container 310 and a pair of side surfaces facing each other. A specific configuration will be described with reference to FIG.

  FIG. 7 is a diagram for explaining an example of a detailed configuration of the action member of the operation support apparatus according to the first modification of the embodiment. FIG. 7A is a view of the action members 181 and 182 of the motion support apparatus 100 holding the container 310 as viewed from the front. FIG. 7B is an enlarged view of the periphery of the left action member 182 in FIG. Here, the description of the right action member 181 is omitted because the right action member 181 has the same configuration as the left action member 182.

  As shown in FIG. 7B, the left action member 182 has a holding portion 182a, a locking portion 182b, a pressing portion 182c, a through hole 182d, and two through holes 182e.

  The holding portion 182a is a plate-like member, and is a member that is held by the wearer U's two fingers (for example, the index finger and the middle finger). Two through holes 182e into which the two fingers of the wearer U are inserted are formed in the holding portion 182a. The two through holes 182e may not be provided, and the holding portion 182a only needs to have a shape that allows the wearer U to easily grip with a finger.

  The locking part 182b is a part protruding to one side of the holding part 182a in the direction in which the two through holes 182e are arranged, and is a part locking to the protruding part 301 of the container 310.

  The holding portion 182c is a portion that is formed so as to face the locking portion 182b across the opening formed in the notch shape, and holds the inner surface of the container 310 inserted into the opening. The tip of the pressing portion 182c is disposed below the locking portion 182b. That is, the pressing portion 182c presses a portion below the portion of the container 310 that is locked by the locking portion 182b.

  The through hole 182d is formed at the upper part of the holding part 182a and is a part for fixing the left string member 162.

  The left acting member 182 is made of resin, metal, or the like.

  As described above, since the action members 181 and 182 are configured to support the container 310 by being locked to the container 310, the wearer U does not need to apply a force for lifting the container 310. Can be lifted. Also, the wearer U can easily operate the position of the container 310 by holding the action members 181 and 182 and moving them horizontally.

  Further, the action member may be configured as shown in FIG.

  FIG. 8 is a diagram for explaining another example of the detailed configuration of the action member of the operation support apparatus according to the first modification of the embodiment. FIG. 8 is an enlarged view corresponding to FIG.

  As shown in FIG. 8, the action member 190 includes a holding member 191 and a pressing member 192. The action member 190 may further include a spring 193.

  The holding member 191 includes a locking portion 191a, a protruding portion 191b, a slide portion 191c, and a through hole 191d. The holding member 191 is formed with two through holes 191d into which the wearer U's two fingers are inserted. The two through holes 191d may not be provided, and the holding member 191 only needs to have a shape that allows the wearer U to easily grip with a finger.

  The locking portion 191 a is a portion that protrudes to one side of the holding member 191 in the direction in which the two through holes 191 d are arranged, and is a portion that locks to the protruding portion 301 of the container 310.

  The protruding portion 191b is a portion protruding above the holding member 191 and has a columnar slide portion 191c at the tip. The slide part 191c is a part that supports the left string member 162 so as to be slidable. The slide part 191c may be a through-hole penetrating in the X-axis direction so that the left string member 162 does not come off the slide part 191c. In this case, the left string-like member 162 passes through the slide portion 191c.

  The pressing member 192 is a long plate-like member, and has a tip 192a, a rotating shaft 192b, and a through hole 192c. The holding member 192 is rotatably connected to a plate-like holding member 191 by a rotary shaft 192b on the front side of the slide portion 191c of the protruding portion 191b of the holding member 191.

  The distal end portion 192a is a portion at the lower end of the pressing member 192 and faces the locking portion 191a. The through hole 192c is formed at the top end of the pressing member 192, and the left string-like member 162 is fixed thereto.

  The spring 193 engages with the upper portion of the holding member 191 and the through hole 192c of the pressing member 192 around the rotation shaft 192b, and the pressing member 192 rotates in the direction in which the distal end portion 192a approaches the engaging portion 191a (left in FIG. 8). It is a torsion spring (torsion spring) configured to be biased in the rotation direction).

  The action member 190 is made of resin, metal, or the like.

  In the action member 190 configured as described above, when the pressing member 192 is pulled by the left string-like member 162, the pressing member 192 rotates in the left rotation direction in FIG. For this reason, the front-end | tip part 192a of the holding | suppressing member 192 approaches the latching | locking part 191a, and the front-end | tip part 192a grips the side surface of the container 310 with the latching | locking part 191a. Thereby, since the latching | locking part 191a is maintained in the state latched by the protrusion part 301 of the container 310, the action member 190 can be easily supported by latching the container 310. FIG. In addition, the action member 190 has the same effects as the action members 181 and 182 in the state where the container 310 is supported.

  Further, the action member may be configured as shown in FIGS. 9 and 10.

  FIG. 9 is a diagram for explaining another example of the action member of the motion support device according to the modification of the embodiment. In FIG. 9, configurations other than the string-like members 161 and 162 and the action members 201 and 202 are omitted.

  As shown in FIG. 9, in this case, the action members 201 and 202 are members that hold the container 310 by being hooked on the protruding portion 301 of the container 310 while being attached to a pair of side surfaces of the container 310. The action members 201 and 202 include a right action member 201 and a left action member 202. A specific configuration will be described with reference to FIG.

  FIG. 10 is a diagram for explaining another example of the detailed configuration of the action member of the operation support apparatus according to the first modification of the embodiment. (A) of FIG. 10 is the figure which looked at the action member 201 from the right side. (B) of FIG. 10 is the figure which looked at the action member 201 from the front. Here, the description of the left action member 202 is omitted because the left action member 202 has the same configuration as the right action member 201.

  As shown in FIG. 10, the action member 201 has a support part 201a, a holding part 201b, a through hole 201c, and a magnet 201d.

  The support part 201a is a plate-like member.

  The holding portion 201b is a substantially cylindrical portion that protrudes from a surface on one side of the support portion 201a in a direction perpendicular to the surface. The holding part 201b is a part for the wearer U to hold by hand.

  The through hole 201c is formed in the upper part of the support part 201a and penetrates in the thickness direction of the support part 201a. A right string member 161 is fixed to the through hole 201c.

  The magnet 201d is disposed at a position below the through hole 201c of the support portion 201a. The magnet 201d is attracted and stuck to the container 310 because the container 310 is made of a magnetic metal. That is, the magnet 201 d is attached to the side surface of the container 310, so that the support portion 201 a is attached to the side surface of the container 310.

  The action member 201 is made of resin, metal, or the like.

  In the action member 201 configured as described above, the support portion 201a is attached to the side surface of the container 310 by the magnetic action of the magnet 201d, and therefore the upper portion of the support portion 201a is locked to the lower surface of the protruding portion 301 of the container 310. It becomes. For this reason, the action member 201 can be easily supported by locking the container 310.

[4-2. Modification 2]
The support member 140 of the above embodiment may be configured to be detachably connected to the back member 110.

  As a result, the configuration of the motion support device can be divided into a configuration without the support member 140, the string-like members 161 and 162, and the action members 171 and 172 as necessary, and the configuration of the motion support device 100 in the above embodiment. Can be switched.

[4-3. Modification 3]
Although the string-like members 161 and 162 in the above embodiment are non-stretchable members, the present invention is not limited to this. For example, as shown in FIG. 6, you may employ | adopt the structure to which the string-like members 163 and 164 comprised with an elastic body are fixed.

  For this reason, the wearer U can change the length from the front ends 142a and 143a of the support member 140 to the action members 171 and 172 even when the support member 140 is receiving support for holding an object. Easy to do. Therefore, the wearer U can perform the work without being restricted by the string-like members 161 and 162.

[4-4. Modification 4]
In the motion support device 100 of the above embodiment, only the non-stretchable string-like members 161 and 162 are fixed to the tips 142a and 143a of the support member 140, but the present invention is not limited to this. For example, the string-like member may have a configuration in which a non-stretchable member and an elastic body are combined.

  For example, as shown in FIG. 11, the first string-like members 163 and 164 made of an elastic body and the second string-like member 165 made of a non-stretchable member are provided at the tips 142a and 143a of the support member 140. 166 may be adopted. FIG. 11 is a diagram for explaining the configurations of the string-like member and the second string-like member of the operation support apparatus according to Modification 4 of the embodiment. In FIG. 11, configurations other than the support member 140, the string-like members 163 and 164, the second string-like members 165 and 166, and the action members 181 and 182 are omitted.

  The second string-like members 165 and 166 have one end fixed to the tips 142 a and 143 a of the support member 140 and the other end fixed to the action members 171 and 172. Specifically, the second string-like member 165 has one end fixed to the tip 142 a of the right support portion 142 together with one end of the string-like member 163, and the other end fixed to the action member 171 together with the other end of the string-like member 163. ing. The second string-like member 166 has one end fixed to the tip 143 a of the left support portion 143 together with one end of the string-like member 164, and the other end fixed to the action member 172 along with the other end of the string-like member 164.

  The lengths of the string-like members 163 and 164 from the tips 142a and 143a of the support member 140 are the lengths from the tips 142a and 143a of the second string-like members 165 and 166, respectively, when no tensile force is applied. Shorter than.

  For this reason, in a state where the wearer U is not using the action members 181 and 182, the string-like members 163 and 164 are shortened, so that the action members 181 and 182 are brought close to the tips 142 a and 143 a of the support member 140. can do. Therefore, when the wearer U is performing work other than the work of lifting the object, the action members 181 and 182 can be positioned at positions that do not get in the way. When the wearer U lifts the object using the action members 181 and 182, the load of the object can be effectively supported by the non-stretchable second string members 165 and 166.

  Further, as a configuration in which the non-stretchable member and the elastic body are combined, in the configuration of FIG. Although the two string-like members, which are the second string-like members 165 and 166 constituted by the elastic members, are fixed, respectively, they may be integrated. For example, the string-like member may employ a configuration having a non-stretchable portion constituted by a non-stretchable member and a stretchable portion constituted by an elastic body. In this case, the non-stretchable portion is disposed over the entire portion from the one end side portion fixed to the tips 142 a and 143 a of the support member 140 to the other end side portion fixed to the action member 181. The expansion / contraction part is arranged over at least a part of the section from one end side portion fixed to the tips 142a and 143a of the support member 140 to the other end side portion fixed to the action member 181 and is tensioned. It is shorter than the length of the non-stretchable part when no force is applied.

  Thereby, the effect similar to the structure of FIG. 11 which combined the non-stretchable member and the elastic body is show | played.

  Although the work support equipment according to one or more aspects of the present invention has been described based on the embodiment, the present invention is not limited to this embodiment. Unless it deviates from the gist of the present invention, one or more of the present invention may be applied to various modifications that can be conceived by those skilled in the art, or forms constructed by combining components in different embodiments. It may be included within the scope of the embodiments.

  INDUSTRIAL APPLICABILITY The present invention is useful as an operation support device that can reduce the burden on the waist of the wearer during the operation by supporting the operation of lifting the object by the wearer with a simple configuration.

DESCRIPTION OF SYMBOLS 100 Motion support apparatus 110 Back member 111 Right back member 112 Left back member 113 Right frame 114 Left frame 115 Connection member 120 Mounting part 121 Shoulder belt 122 Waist belt 131 Right leg member 132, 135 Locking part 133, 136 Leg belt 134 Left Leg member 140 Support member 141 Connection part 142 Right support part 142a, 143a Tip 143 Left support part 151, 152 Actuator 161 Right string member 162 Left string member 163, 164 String member 165, 166 String member 171 Right action member 172 Left acting member 181 Right acting member 182 Left acting member 182a Holding portion 182b Locking portion 182c Holding portion 182d, 182e Through hole 190 Working member 191 Holding member 191a Locking portion 191b Protruding portion 191c Slide portion 191d Through hole 192 Holding portion 192a tip 192b rotating shaft 192c through hole 193 springs 200 and 210 the object 201 and 202 acting member 201a supporting portion 201b holding portion 201c through hole 201d magnet 301 protrusions

Claims (9)

A back member;
A mounting part for mounting the back member on the back of the wearer;
A leg member that is pivotally connected to the back member and engages the thigh of the wearer;
A support member disposed on the back member and extending to above the shoulder of the wearer;
An actuator for applying a force for rotating the leg member and the back member to each other;
A string-like member disposed above the shoulder and having a portion on one end fixed to the tip of the support member;
An action member connected to a portion on the other end side of the first string-like member. The motion support device according to claim 1, wherein the support member is rotatably connected to the back member with an axis extending in parallel with the wearer's vertical direction as a rotation axis. The operation support apparatus according to claim 1, wherein the first string-like member is configured by an elastic body. further,
A second string-like member in which a portion on one end side is fixed to the tip of the support member, and a portion on the other end side is fixed to the action member;
The second string-like member is a non-stretchable member,
The operation support device according to claim 3, wherein a length of the first string-like member from the tip is shorter than a length of the second string-like member from the tip in a state where no tensile force is applied. The first string-like member is
A non-stretchable portion constituted by a non-stretchable member extending from the one end side portion to the other end side portion;
It is arranged over at least a part of the portion from the one end side portion to the other end side portion, and in a state where no tensile force is applied, it is shorter than the length of the section of the first portion. The motion support apparatus according to claim 1, further comprising: an elastic part formed of an elastic body. The support member has a right support portion that extends to above the right shoulder of the wearer, and a left support portion that extends to above the left shoulder,
The first string-like member includes a right string-like member in which a portion on one end side is fixed to the tip of the right support portion, and a left string-like member in which a portion on one end side is fixed to the tip of the left support portion. And having
The action member includes a right action member to which a part on the other end side of the right string-like member is connected, and a left action member to which a part on the other end side of the left string-like member is connected. Item 6. The operation support device according to any one of Items 1 to 5. The motion support apparatus according to claim 1, wherein the support member is detachably connected to the back member. The motion support apparatus according to claim 1, wherein the action member is attached to an upper limb of the wearer and supports the upper limb. The operation support apparatus according to claim 1, wherein the action member supports the object by being locked to the object.

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