JP2021062468A - Assist device - Google Patents

Abstract

To provide an assist device that is lightweight and is excellent in mounting feeling and can generate assist force corresponding to a body type of a user.SOLUTION: An assist device 10 comprises: a first mounting fixture 11 that is mounted on shoulders of a user; second mounting fixtures 12 that are mounted on the left and right legs respectively; a belt body 13 arranged along a back side of the user across the first mounting fixture 11 and the second mounting fixtures 12; an actuator 14 that can wind up and feed out a portion of the belt body 13; and a control part 15 that executes control of operation of the actuator 14. The control part 15 executes winding up of the belt body 13 by first winding-up force when operation of the actuator 14 is started with the first mounting fixture 11 and the second mounting fixtures 12 mounted on the user, and then, changes the winding-up force by the actuator 14 to second winding-up force smaller than the first winding-up force when the winding up of the belt body 13 is completed.SELECTED DRAWING: Figure 1

Description

The invention of the present disclosure relates to an assist device.

Various assist devices have been proposed that are attached to the body of a user (person) and assist the user's work. According to the assist device, the user can perform the work with a small force (small load) even when lifting a heavy object, for example. Such an assist device is disclosed in, for example, Patent Document 1.

JP-A-2018-199205

The assist device disclosed in Patent Document 1 has a frame made of metal or the like to be attached to a user. The output of the actuator mounted on the frame is transmitted to the upper body and lower body of the user through the link mechanism. This assists, for example, the action of lifting a heavy object.

The movements that the user needs assistance include, in addition to the movements that place a heavy load such as lifting a heavy object, the movements that assist (assist) the activities of daily living for a person such as a sick person or an elderly person. When the user performs work with a heavy load, a high-output assist device as disclosed in Patent Document 1 is effective.

However, when the user assists a person such as a sick person or an elderly person, the high-power assist device may have excessive performance. Further, in the high output assist device, a rigid body member such as a link mechanism and a frame made of metal or the like is often used, and the structure is heavy in order to obtain high output. Therefore, the weight of the assist device becomes heavy, and the movement of the user is restricted by the rigid body member.

Therefore, the inventor of the present invention has already proposed an assist device that is lightweight and has a good fit (for example, Japanese Patent Application No. 2019-043462). The assist device covers the first wearer worn on the shoulder of the user, the second wearer worn on the left and right legs of the user, and the first and second wearers. It is provided with a belt body provided along the back side of the machine and an actuator. The actuator is provided on the first attachment and enables the winding and feeding of a part of the belt body.

When the actuator winds up a part of the belt body, tension acts on the belt body. This tension acts as an assist force on the user. As a result, the burden is reduced when the user provides assistance to a person as described above, for example.

The assist device provided with the belt body as described above is used by users of various physiques. Therefore, when the length of the belt body is set according to, for example, the standard height, when a user who is taller than the standard height wears the assist device, the belt body is pulled more than necessary. Then, the assist device may not be able to generate an appropriate assist force or may have difficulty walking.

Therefore, an object of the present disclosure is to provide an assist device that is lightweight, has a good fit, and can generate an assist force according to the physique of the user.

The assist device of the present disclosure includes a first wearer worn on at least one of the user's shoulder and chest, a second wearer worn on each of the left and right legs or the waist of the user, and the first wearer. A belt body provided along the back side of the user across the first wearer and the second wearer, and a part of the belt body provided on the first wearer or the second wearer. The control unit includes an actuator that enables delivery and a control unit that executes operation control of the actuator, and the control unit is said to have the first attachment and the second attachment attached to the user. When the operation of the actuator is started, the winding of the belt body is executed by the first winding force, and when the winding of the belt body is completed, the winding force of the actuator is calculated from the first winding force. Also change to a smaller second winding force.

According to the assist device having the above configuration, the belt body is provided along the back side of the user over the first wearing tool and the second wearing tool. When the belt body is wound by the actuator, tension acts on the belt body. The tension creates an assisting force that assists the user's work, reducing the physical burden on the user. The belt body is lightweight and can follow the user's movements even if the user changes his / her posture. Therefore, an assist device having a good fit can be obtained.

Further, according to the assist device having the above configuration, even if the belt body is loosened in advance when the user wears the assist device, the belt body becomes the user's physique ( For example, the length is automatically adjusted according to the height). Then, when the winding of the belt body is completed, the winding force is changed to a second winding force smaller than the first winding force. Since the second winding force is small, the movement of the user is not hindered by the belt body after the assist device is attached. Since the belt body is adjusted to a length suitable for the user's physique, it is possible to generate an assist force according to the user's physique.

If tension is applied to the belt body, the second winding force may be zero, but is preferably larger than zero. That is, preferably, when the winding of the belt body is completed, the control unit changes the winding force by the actuator to a second winding force smaller than the first winding force and larger than zero.
According to this configuration, the belt body does not easily loosen even if the user moves a little after wearing the assist device, for example, by losing his / her posture.

Further, preferably, the actuator has a pulley capable of winding the belt body and a motor for causing the pulley to wind the belt body, and the control unit is the pulley or the pulley. The completion of winding of the belt body is detected based on the parameters related to the rotation of the motor.
According to this configuration, it is possible to detect the completion of winding of the belt body with a simple configuration. When the winding of the belt body is completed, the winding force by the actuator is changed from the first winding force to the second winding force.

Further, preferably, the actuator has a pulley capable of winding the belt body and a motor for causing the pulley to wind the belt body, and the control unit is attached to the motor. By reducing the supply current, the winding force of the actuator is changed.
According to this configuration, the winding force of the belt body by the actuator can be changed to a second winding force smaller than the first winding force by a simple configuration.

The amount of winding of the belt body by the first winding force differs depending on the height of the user. Therefore, preferably, the actuator has a pulley capable of winding the belt body and a motor for causing the pulley to wind the belt body, and the control unit winds the belt body by the actuator. When the taking force is changed to the second winding force, the phase of the motor at the time of the change is set as the initial value of the phase of the motor.
According to this configuration, the phase of the motor is initially set according to the physique of the user. Based on the initial setting, the rotation of the motor can be controlled, and an appropriate assist force can be generated.

Further, preferably, the actuator is composed of a motor, a plurality of gears, a speed reducer unit that decelerates and outputs the rotation of the motor, and a belt body that rotates due to the output of the speed reducer unit. With a pulley that can be wound up,
When the belt body is sent out from the pulley, the pulley rotates in the direction of sending out the belt body while applying torque in the direction of winding the belt body to the pulley through the speed reducer unit.
According to this configuration, even when the belt body is sent out from the pulley, the motor applies torque in the direction of winding the belt body to the pulley through the speed reducer unit. That is, tension acts on the belt body both when the belt body is wound up and when the belt body is sent out. Then, regardless of whether the belt body is wound up or the belt body is sent out, in the speed reducer unit, the response delay of the assist force generation due to the backlash between the gears and the generation of the impact due to the backlash occur. It becomes possible to prevent.

In the assist device, when the operation of the actuator is started with the first attachment and the second attachment attached to the user, the belt body is wound by the first winding force. If the first winding force is large from beginning to end, the impact force transmitted from the belt body to the user may increase when the winding is completed.
Therefore, preferably, when the operation of the actuator is started, the control unit reduces the first winding force to be smaller than that at the start of winding in a time zone after the start of winding. Control to change. According to this configuration, the first winding force becomes weaker toward the completion of winding of the belt body. Therefore, when the winding is completed, it is possible to prevent the belt body from applying an impact force to the user.

Further, when the operation of the actuator is started, the control unit changes the winding speed of the belt body to be lower than that at the start of winding in a time zone after the start of winding. It may be configured to perform control. In this case, the winding speed of the belt body decreases toward the completion of winding of the belt body. Therefore, when the winding is completed, it is possible to prevent the belt body from applying an impact force to the user.

According to the assist device of the present disclosure, it is lightweight and comfortable to wear, and it is possible to generate an assist force according to the physique of the user.

It is a rear view which shows an example of an assist device. It is a rear view of the assist device attached to the user's body. It is a side view of the assist device attached to the user's body. It is explanatory drawing which shows the state which the user which attached the assist device is leaning forward. It is explanatory drawing of a control box and a belt body. It is a block diagram which shows the control structure which the assist device has. It is a flow chart which shows the initial setting process. It is explanatory drawing when the user wearing an assist device changes a posture. It is a side view which shows the assist device of another form. It is a graph which shows the time change of the current value supplied to the motor by the function of the adjustment part. It is a graph which shows the time change of the current value supplied to the motor by the function of the adjustment part. It is a graph which shows the time change of the rotation speed of a motor by the function of the adjustment part. It is a graph which shows the time change of the rotation speed of a motor by the function of the adjustment part.

[Overall configuration of assist device 10]
FIG. 1 is a rear view showing an example of the assist device. FIG. 2 is a rear view of the assist device attached to the user's body. FIG. 3 is a side view of the assist device attached to the user's body. FIG. 4 is an explanatory view showing a state in which the user equipped with the assist device is in a forward leaning posture (forward bending posture). The assist device 10 shown in FIG. 1 includes one first attachment device 11 attached to the left and right shoulder BSs which are a part of the user's body, and the left and right which are other parts of the user's body. It is provided with two second attachments 12 to be attached to the leg BL of the above. The first attachment 11 may be attached to at least one of the user's shoulder BS and chest BB, and may be in a form other than the one shown in the figure. In the present disclosure, the second attachment 12 is attached to the knee BN in the leg BL. The second attachment 12 may also have a form other than the illustrated form.

In the assist device 10 of the present disclosure, the left and right are the left and right for a user in an upright posture wearing the assist device 10, the front and back are the front and back for the user, and the top and bottom are the top and bottom for the user. is there. The top is the user's head side, and the bottom is the user's foot side.

The assist device 10 includes a belt body 13, an actuator 14, a control unit 15, a battery 37, and a sensor 38, in addition to the first attachment 11 and the left and right second attachments 12.

The first attachment 11 is attached to the shoulder BS of the user. On the other hand, the second attachment 12 is attached to the left knee BN of the user. The other second attachment 12 is attached to the user's right knee BN. The second fitting 12 on the left side and the second fitting 12 on the right side are symmetrical, but have the same configuration. The first attachment 11 and the two second attachments 12 are attached to two places separated by sandwiching the lumbar BW, which is a joint of the user, that is, the shoulder BS and the leg BL.

The first fitting 11 is made of a flexible cloth or the like. The first attachment 11 has a back body portion 21 attached to the back of the user, and a shoulder belt 22 and an axillary belt 23 connected to the back body portion 21. The shoulder belt 22 and the axillary belt 23 bring the back body 21 on the back of the user. The axillary belt 23 connects the back body portion 21 and the shoulder belt 22, and the length thereof can be adjusted. By adjusting the length of the axillary belt 23, the back body portion 21 is in close contact with the user's back. The first attachment 11 is immovably attached to the shoulder BS in the front-back, left-right, and up-down directions. The first fitting 11 may include, for example, a hard member as a portion to be hung on the shoulder BS.

The second fitting 12 is made of a flexible cloth or the like. The second attachment 12 has a knee body portion 24 that is attached to the rear surface side of the user's knee portion BN, and a knee belt 25 that extends from the knee body portion 24. The knee belt 25 orbits the knee BN at each of the vertical positions of the knee BN, and the tip end side thereof is fixed to the knee body 24. The wrapping length of the knee belt 25 with respect to the knee BN can be adjusted by a locking member such as a belt and a buckle or a hook-and-loop fastener. By this adjustment, the knee body portion 24 is in close contact with the rear surface side of the knee portion BN. The second attachment 12 is immovably attached to the knee BN in the front-back, left-right, and up-down directions.

The belt body 13 is provided along the back side of the user so as to connect the first wearing tool 11 and the second wearing tool 12. The belt body 13 comprises a first belt 16 provided on the upper body side, a second belt 17 provided on the lower body side, and a connecting member 18 connecting the first belt 16 and the second belt 17. Have. Each of the first belt 16 and the second belt 17 is long and flexible. The connecting member 18 is made of metal and is formed of a rectangular annular body called a "flat can".

Each of the first belt 16 and the second belt 17 is a strip-shaped member made of cloth or leather, and can be curved along the shape of the body. Each of the first belt 16 and the second belt 17 may be a string-shaped belt (a member such as a wire). Each of the first belt 16 and the second belt 17 of the present disclosure is a non-stretchable member, that is, has a property of being difficult to expand and contract in the longitudinal direction or a property of not expanding and contracting.

The assist device 10 of the present disclosure includes a control box 30. The control box 30 is provided on the back body 21 of the first attachment 11. FIG. 5 is an explanatory view of the control box 30 and the belt body 13. The control box 30 has a plate-shaped base 31 and a cover 32 that covers the base 31. In order to explain the internal structure of the control box 30, the cover 32 is shown by an alternate long and short dash line (dashed line) in FIG. The base 31 may be the back body portion 21 of the first attachment 11.

An actuator 14, a control unit 15, a battery 37, a sensor 38, and the like are provided in a space formed between the base 31 and the cover 32. An opening (notch) 32a is formed in the cover 32, and the first belt 16 passes through the opening 32a.

The actuator 14 is provided in the control box 30. That is, the actuator 14 is provided on the first attachment 11. The actuator 14 enables the winding and feeding of a part of the belt body 13. Therefore, the actuator 14 has a motor 33, a speed reducer unit 34, and a drive pulley 35. The motor 33 is a brushless DC motor. The motor 33 can rotate at a predetermined torque and a predetermined rotation speed based on the drive signal output from the control unit 15. The motor 33 can rotate forward and reverse based on the drive signal output from the control unit 15.

Rotational parameters such as the rotation angle, rotation speed, or rotation speed of the motor 33 are detected by the rotation detector 36 attached to the motor 33. The rotation detector 36 of the present disclosure is a rotary encoder, but may be a Hall sensor or a resolver. The detection result of the rotation detector 36 is input to the control unit 15. The control unit 15 controls the operation of the motor 33 based on the detection result, so that the assist device 10 can generate an appropriate assist force.

The speed reducer unit 34 is composed of a plurality of gears 34 g, and decelerates the rotation speed of the motor 33 to rotate the output shaft 34 a of the speed reducer unit 34. A drive pulley 35 is connected to the output shaft 34a, and these rotate integrally. One end 16a side of the first belt 16 is attached to the drive pulley 35. When the drive pulley 35 rotates in one direction due to the forward rotation of the motor 33, the first belt 16 is wound around the drive pulley 35. When the drive pulley 35 rotates in the other direction due to the reverse rotation of the motor 33, the first belt 16 is sent out from the drive pulley 35.

As described above, the actuator 14 has a drive pulley 35 capable of winding the belt body 13 and a motor 33 for causing the drive pulley 35 to wind the belt body 13. The first belt 16 is wound up and unwound by the actuator 14.

The control unit 15 is composed of a control unit including a microcomputer. The control unit 15 controls the operation of the actuator 14 (motor 33), which will be described later. An acceleration sensor is provided as the sensor 38. The signal of the sensor 38 is input to the control unit 15. The control unit 15 can estimate the posture of the user based on the signal from the sensor 38. The battery 37 supplies electric power to the control unit 15, the motor 33, the rotation detector 36, and the sensor 38. The sensor 38 may be provided outside the control box 30.

[About belt body 13]
As described above, the belt body 13 has a first belt 16, a second belt 17, and a connecting member 18. One end 16a side of the first belt 16 is wound and fixed to the drive pulley 35. The other end 16b side of the first belt 16 is fixed to the connecting member 18. When the first belt 16 is wound around the drive pulley 35, the connecting member 18 is pulled up. When the connecting member 18 is forcibly pulled down, the first belt 16 is unwound (pulled out) from the drive pulley 35. There is a correlation between the winding amount or unwinding amount (pulling amount) of the first belt 16 in the drive pulley 35 and the rotation amount of the output shaft of the motor 33. The rotation detector 36 detects parameters related to the rotation of the motor 33 accompanying the winding or unwinding of the belt body 13.

As described above, the connecting member 18 is formed of a rectangular annular body. The shaft portion 27a on one side (upper side) of the annular body is the first mounting portion 27, and the end portion 16b of the first belt 16 is attached to the first mounting portion 27. In the present disclosure, the first belt 16 is not removable with respect to the first attachment portion 27, but it may be removable by a buckle or the like.

The other side (lower side) of the rectangular annular body constituting the connecting member 18 is the second attachment portion 28 for attaching the second belt 17. As described above, the connecting member 18 has a first attachment portion 27 for attaching the first belt 16 and a second attachment portion 28 for attaching the second belt 17.

The second attachment portion 28 supports the second belt 17 in a folded state in the middle (intermediate portion 17c). The second mounting portion 28 of the present disclosure has a shaft portion 28a integrated with the first mounting portion 27, and a rotary pulley 29 rotatably supported by the shaft portion 28a. The second belt 17 is hung on the rotary pulley 29 in a folded state on the way. Due to this configuration, the second belt 17 is not fixed to the second mounting portion 28, and the second belt 17 is in a folded state, but moves in both directions in the longitudinal direction (arrow X direction in FIG. 5). A configuration that supports it freely can be obtained.

In FIG. 2, the second belt 17 is attached to the second fitting 12. Specifically, the second belt 17 is composed of a single strip-shaped member. One end 17a side of the second belt 17 is attached to the second attachment 12 on the left. The other end 17d side of the second belt 17 is attached to the second fitting 12 on the right. As described above, the intermediate portion 17c of the second belt 17 is hung on the connecting member 18.

According to the configuration of the second belt 17 as described above, the second belt 17 includes the left second belt portion 19 from the connecting member 18 to the left second fitting 12 and the second right from the connecting member 18. It has a right second belt portion 20 up to the fitting 12. As described above (see FIG. 5), since the second belt 17 is hung on the second mounting portion 28 (rotary pulley 29) and is not fixed, the length of the left second belt portion 19 and the right second belt portion 19 are used. The length of the belt portion 20 can be freely changed. However, the total of the length of the left second belt portion 19 and the length of the right second belt portion 20 is constant. With this configuration, for example, walking of the user is not restricted by the second belt 17, and the user can walk comfortably.

The second belt 17 further has a connecting member 39 that connects the left second belt portion 19 and the right second belt portion 20. The connecting member 39 is left second at an intermediate position between the folded-back portion (middle portion 17c) of the second belt 17 and the fixing portion (one end portion 17a, other end portion 17d) between the two second attachments 12. The belt portion 19 and the right second belt portion 20 are connected. The folded portion is a portion of the connecting member 18 where the second belt 17 is folded. The fixing portion is a portion in which the second belt 17 is fixed to each of the two second attachments 12.

For example, when the user changes his / her posture from the upright posture to the forward bending posture as shown in FIG. 4, according to the connecting member 39, the left and right second belt portions 19 and the right second belt portion 20 are left and right. It is possible to prevent the interval between the above from being widened. That is, it is possible to prevent the left second belt portion 19 and the right second belt portion 20 from being along the back side of the user's leg portion BL.

[About the sensor 38 and the control unit 15]
In FIG. 5, as described above, the sensor 38 is composed of an acceleration sensor. The control unit 15 can execute various arithmetic processes. The control unit 15 calculates and processes the signal from the sensor 38, so that the user's motion and posture can be detected. The sensor 38 has a configuration that outputs a signal according to the posture of the user, and functions as a posture detector for detecting the posture of the user. For example, it is possible to detect whether the posture of the user's upper body is in a forward leaning posture or an upright posture, or to detect that the user is in a crouched state.

Further, there is a correlation between the winding amount and the feeding amount of the belt body 13 by the drive pulley 35 by the motor 33 and the posture of the user. Therefore, the control unit 15 can estimate the posture of the user based on the rotation angle of the motor 33 detected by the rotation detector 36. The rotation detector 36 functions as a posture detector for detecting the posture of the user.

The control unit 15 processes signals from one or both of the sensor 38 and the rotation detector 36, and outputs a drive signal to the actuator 14 (motor 33) according to the result of the processing, that is, the posture of the user. .. Based on the drive signal, the actuator 14 (motor 33) operates to wind and feed the belt body 13, and to temporarily stop the belt body 13.

With the assist device 10 attached to the user, the motor 33 is constantly operating in the direction of winding the belt body 13 with a weaker force than when the assist force is generated under the control of the control unit 15. (Torque is generated as the second winding force described later), and a weak tension is generated in the belt body 13. As a result, the belt body 13 does not loosen.

When the user changes his / her posture, for example, when he / she changes from an upright posture to a forward leaning posture, tension is generated in the belt body 13 due to the change in the posture. Therefore, in this case, when the posture change is started so as to be in the forward leaning posture, the motor 33 is forcibly rotated by the tension of the belt body 13 regardless of the power of the actuator 14 (the motor 33 idles). The belt body 13 is unwound. Alternatively, when the posture change is started so as to be in the forward leaning posture, the actuator 14 operates, that is, the motor 33 is rotationally driven to send out the belt body 13.

On the contrary, when the user changes from the forward leaning posture to the upright posture, the belt body 13 tries to loosen due to the change in the posture. Therefore, in this case, when the posture change is started so as to be in the upright posture, the actuator 14 operates in order to maintain the tension acting on the belt body 13, that is, the motor 33 is rotationally driven to drive the belt body 13. Take up.

In this way, the belt body 13 is wound or sent out by changing the posture of the user. In this winding or feeding, the motor 33 actively or passively rotates by a predetermined rotation angle. The rotation angle at this time is detected by the rotation detector 36. In this way, the rotation detector 36 detects the amount of movement of the actuator 14 (motor 33) when the belt body 13 is wound or sent out by changing the posture of the user.
Then, the control unit 15 acquires the operating amount (rotation angle of the motor 33) of the actuator 14 when winding or sending out the belt body 13 due to the change in the posture of the user, and based on the operating amount, informs the user. The operation of the actuator 14 is controlled in order to apply the assist force.

FIG. 6 is a block diagram showing a control configuration included in the assist device 10. The control unit 15 is composed of a control unit including a microcomputer, and includes an arithmetic processing unit (CPU) 15a and a storage device (storage unit) 15b such as a memory. The arithmetic processing unit 15a executes various arithmetic processes based on various programs and various parameters stored in the storage device 15b. The control unit 15 of the present disclosure includes a start unit 42a, an adjustment unit 42b, and a setting unit 42c as functional units realized by arithmetic processing by the arithmetic processing unit 15a. The control unit 15 further includes a drive circuit (motor driver) 15c that controls the operation of the motor 33. The motor 33 executes a predetermined operation by cooperating with each of the above-mentioned functional units and the drive circuit 15c.

When the start switch 41 is turned on while the assist device 10 is attached to the user, the control unit 15 performs the initial setting process. The start switch 41 is provided on the control box 30 (see FIG. 1), the shoulder belt 22, or the like, and is operated by the user. The start switch 41 is a switch for starting and stopping the assist device 10.

The starting unit 42a activates the actuator 14 and starts winding the belt body 13. That is, the starting unit 42a rotates the motor 33 to wind the belt body 13 around the drive pulley 35.

The adjusting unit 42b adjusts the winding force of the belt body 13. The winding force of the belt body 13 is generated based on the rotational torque of the drive pulley 35, and the rotational torque is generated based on the output torque of the motor 33. Therefore, the adjusting unit 42b controls the drive circuit 15c to change the output torque of the motor 33 in order to adjust the winding force of the belt body 13. The adjusting unit 42b can reduce the output torque of the motor 33 by reducing the supply current to the motor 33. That is, as the supply current to the motor 33 becomes smaller, the winding force of the actuator 14 is changed to the second winding force, which is smaller than the first winding force, as will be described later. Further, the adjusting unit 42b can increase the output torque of the motor 33 by increasing the supply current to the motor 33.

When the assist device 10 is attached to the user, the starting portion 42a starts winding the belt body 13. As will be described later, in order to give an assist force to the user who performs the work, the belt body 13 is not loosened, that is, the belt body 13 is wound by the drive pulley 35 and the winding is completed. (This state is the "initial state"), the motor 33 is rotated to wind and feed the belt body 13. The winding amount and the feeding amount of the belt body 13 change according to the rotation amount of the motor 33 from the initial state. The tension acting on the belt body 13 and the time on which the tension acts are adjusted according to the change, and an assist force corresponding to the tension and the time is generated.

That is, the amount of rotation of the motor 33 from the initial state affects the assist force. In order to control the amount of rotation of the motor 33, it is important to set the initial value of the phase of the motor 33. Then, the winding amount until the winding is completed by the activation unit 42a as described above differs depending on the physique (height) of the user. That is, the amount of rotation of the motor 33 until the winding is completed differs depending on the user. Therefore, in the initial setting process, although a specific example will be described later, the setting unit 42c sets the initial value of the phase of the motor 33.

[Initial setting process]
The initial setting process by each functional unit of the control unit 15 will be described with reference to FIGS. 6 and 7. FIG. 7 is a flow chart showing the initial setting process. After the initial setting process is performed, the assist device 10 generates an assist force according to the actual operation (work) of the user. The generation of the assist force will be described later.

When the first attachment 11 and the second attachment 12 of the assist device 10 (see FIGS. 1 and 2) are attached to a predetermined part of the user's body, the initial setting process is disclosed (step S1 in FIG. 7). ). In order to attach the first attachment 11 and the second attachment 12 to the user, the belt body 13 is pulled out from the drive pulley 35 in advance, and the belt body 13 is in a loosened state.

The user wearing the first fitting 11 and the second fitting 12 is in an upright posture. When the start switch 41 is switched from the off state to the on state by a user or the like, the start unit 42a activates the actuator 14 and starts winding the belt body 13 (step S2 in FIG. 7). That is, the motor 33 rotates, and the belt body 13 is wound around the drive pulley 35. The belt body 13 is wound by the first winding force from the start of rotation of the motor 33. The current value supplied to the motor 33 to generate the first take-up force is α [ampere].

The adjusting unit 42b acquires the detection signal of the rotation detector 36 every moment, and compares the detected value of the rotation speed (parameter related to rotation) of the motor 33 with the threshold value ε of the parameter (step S3 in FIG. 7). While the detected value is equal to or higher than the threshold value ε, the current value supplied to the motor 33 is α [ampere], and the belt body 13 continues to be wound by the first winding force.

When the detected value becomes less than the threshold value ε (Yes in step S3 of FIG. 7), the adjusting unit 42b estimates that the winding of the belt body 13 is completed (step S4 of FIG. 7). When the detected value becomes less than the threshold value ε, the adjusting unit 42b changes the current value supplied to the motor 33 to β [ampere] (step S5 in FIG. 7). The changed current value β [ampere] is equal to or less than the changed current value α [ampere], and is smaller than α [ampere] in the present embodiment (β <α). Note that β [ampere] may be zero or more, but in the present embodiment, it is a value larger than zero.

As a result, the winding force of the belt body 13 by the actuator 14 is changed to the second winding force. The second winding force after the change is equal to or less than the first winding force, and is smaller than the first winding force in the present embodiment. The second winding force is a winding force that causes the belt body 13 to generate a tension that allows the user to move freely without hindering the movement of the user by the tension acting on the belt body 13. Even if the user is in an upright posture and the second winding force is zero, tension may be applied to the belt body 13. When β = 0, the second winding force becomes zero. In this way, the adjusting unit 42b changes the winding force of the belt body 13 by the actuator 14 to the second winding force smaller than the first winding force by reducing the supply current to the motor 33.

The timing for changing the winding force is the timing at which the slack in the belt body 13 is eliminated. As described above, the timing is detected by the rotation detector 36 based on the parameters related to the rotation of the motor 33. That is, when the first attachment 11 and the second attachment 12 are attached to the user, the motor 33 rotates the drive pulley 35, and the loosened belt body 13 is driven by the first winding force. Take up. Eventually, the loosened state of the belt body 13 is resolved. Then, the drive pulley 35 becomes non-rotatable, the rotation speed of the drive pulley 35 slows down, and the rotation of the drive pulley 35 stops. Along with this, the rotation speed of the motor 33 also slows down, and the rotation of the motor 33 stops soon. This state is the state in which the winding of the belt body 13 is completed. Therefore, the rotation detector 36 detects the timing at which the rotation speed (parameter related to rotation) of the motor 33 changes. That is, the timing at which the rotation speed is detected by the rotation detector 36 to be less than the threshold value ε is set as the timing at which the winding force is changed.

In the present disclosure, the rotation of the motor 33 is detected by the rotation detector 36, and the process of changing the winding force is executed based on this detection. However, the rotation of the drive pulley 35 may be detected by a rotation detector (not shown), and the process of changing the winding force may be executed based on the detection. That is, the adjusting unit 42b may detect (estimate) the completion of winding of the belt body 13 based on the parameters related to the rotation of the motor 33 or the drive pulley 35 (for example, the rotation speed). Then, the winding force is changed.

As described above, when the winding force of the belt body 13 is changed to the second winding force, the setting unit 42c sets the initial value of the phase (rotation angle) of the motor 33 (step S6 in FIG. 7). In the present disclosure, the phase (rotation angle) of the output shaft of the motor 33 at the time when the winding force is changed as described above is set to "zero" (that is, reset) as an initial value.

After the initial value is set, the rotation amount of the motor 33 is controlled based on the initial value. As a result, the accurate rotation amount of the motor 33 is managed in order to generate an assist force. The rotation amount of the motor 33 corresponds to the winding amount and the feeding amount of the belt body 13 in the drive pulley 35. The winding amount of the belt body 13 correlates with the magnitude of the tension acting on the belt body 13 and the time on which the tension acts. As will be described later, the tension of the belt body 13 causes an assist force. Therefore, by accurately managing the amount of rotation of the motor 33, it is possible to generate a desired assist force.

[Change adjustment of the first winding force (winding speed of the belt body 13)]
As described above, in the initial setting process, when the operation of the motor 33 of the actuator 14 is started with the first mounting tool 11 and the second mounting tool 12 mounted on the user, the belt is subjected to the first winding force. The winding of the body 13 is performed. The winding force of the belt body 13 is generated based on the rotational torque of the drive pulley 35 of the actuator 14, and the rotational torque is generated based on the output torque of the motor 33.
Therefore, the adjusting unit 42b of the control unit 15 has a function of adjusting the winding force of the belt body 13. Specifically, the adjusting unit 42b changes the winding force of the belt body 13, that is, the output torque of the motor 33 by controlling to change the supply current to the motor 33.

In the above description of the initial setting process, the current value supplied to the motor 33 is set to α [ampere] in order to generate the first winding force. When the winding of the belt body 13 is completed, the adjusting unit 42b changes the current value supplied to the motor 33 to β [ampere] (however, β <α).

Here, in the initial setting process, if the first winding force is large from beginning to end, the impact force transmitted from the belt body 13 to the user may increase when the winding is completed. Therefore, when the operation of the motor 33 is started with the first mounting tool 11 and the second mounting tool 12 mounted on the user, the adjusting unit 42b changes the first winding force in a direction of reducing the winding force. Take control.

In order to realize this control, the adjusting unit 42b changes the current value (current command value) supplied to the motor 33. That is, the current command value α [ampere] is variable. 10A and 10B are graphs showing the time change of the current value supplied to the motor 33 by the function of the adjusting unit 42. In the embodiment shown in FIG. 10A, the adjusting unit 42 executes control for gradually lowering the current command value from the start of rotation of the motor 33 (time t0).
Further, as a modification thereof, as shown in FIG. 10B, a control for gradually lowering the current command value may be executed from the start of rotation of the motor 33 (time t0).
As shown in FIGS. 10A and 10B, the adjusting unit 42b controls to change the first winding force in a time zone after the start of winding so as to be smaller than that at the start of winding.

In the embodiments shown in FIGS. 10A and 10B, the current command value is set (programmed) to finally approach γ [ampere]. Winding of the belt body 13 is completed while the current command value approaches γ [ampere] (for example, time t1) or when the current command value approaches γ [ampere] and becomes constant (for example, time t2). After that, the adjusting unit 42b changes the current command value to β [ampere]. As a result, the winding force of the belt body 13 is changed to the second winding force, which is smaller than the initial value of the first winding force. As shown in FIG. 10A (FIG. 10B), the current command value β may be larger than the current command value γ, but β may be smaller than γ, or β may be the same as γ. Good.

From another point of view, the adjusting unit 42b may have a function of adjusting the winding speed of the belt body 13. That is, the adjusting unit 42b may control to change the rotation speed of the motor 33. 11A and 11B are graphs showing the time change of the rotation speed of the motor 33 due to the function of the adjusting unit 42. In the embodiment shown in FIG. 11A, the adjusting unit 42 executes control to gradually reduce the rotation speed of the motor 33 from the start of rotation (time t0).
As a modification thereof, as shown in FIG. 11B, control may be executed in which the rotation speed of the motor 33 is gradually reduced from the start of rotation (time t0).

In the embodiment shown in FIGS. 11A and 11B, the adjusting unit 42b has a belt body when the operation of the motor 33 of the actuator 14 is started with the first mounting tool 11 and the second mounting tool 12 mounted on the user. Control is performed to change the winding speed of 13 in the direction of lowering it. Specifically, the adjusting unit 42b controls to change the winding speed of the belt body 13 in a time zone after the start of winding so as to be lower than that at the start of winding. Then, when the winding of the belt body 13 is completed (when the completion of winding is detected), the winding speed of the belt body 13 becomes zero.

In the initial setting process, when the operation of the motor 33 is started, the winding force of the belt body 13 is relatively large, and the winding speed of the belt body 13 is relatively high. Therefore, the belt body 13 is automatically adjusted to a length according to the physique (for example, height) of the user, and the processing is performed quickly.
Then, by executing the controls shown in FIGS. 10A and 10B, the first winding force is weakened toward the completion of winding of the belt body 13.
Further, by executing the controls shown in FIGS. 11A and 11B, the winding speed of the belt body 13 is lowered toward the completion of winding of the belt body 13.
From the above, it is possible to prevent an impact force from being applied to the user from the belt body 13 when the winding is completed.

[About the assist force by the assist device 10]
FIG. 8 is an explanatory diagram when a user wearing the assist device 10 changes his / her posture. The assist device 10 can apply an assist force to the user in response to this change in posture.

When the initial setting process is completed and the first belt 16 is wound around the drive pulley 35 by the motor 33 of the actuator 14, the connecting member 18 pulls the second belt 17 toward the actuator 14, that is, upward. Both ends 17a and 17d of the second belt 17 are attached to the left and right second attachments 12. The second fitting 12 is fixed to the knee BN. Therefore, when the first belt 16 is wound around the drive pulley 35, tension acts on the first belt 16 and the second belt 17. This tension acts as an assisting force (auxiliary force) for the user.

A case where the user changes from an upright posture to a forward leaning posture will be described. When the posture change is started so as to be in the forward leaning posture, the actuator 14 sends out the belt body 13. Alternatively, the belt body 13 is unwound regardless of the power of the actuator 14. As a result, the user can easily lean forward. When the forward tilt angle of the user's upper body with respect to the vertical line becomes θ and the user stops at the forward tilt angle θ, the feeding (unwinding) of the belt body 13 is stopped. The start and end of the posture change can be detected by the rotation detector 36 or the sensor 38.

When the user starts the posture change from the forward leaning posture to the upright posture, the actuator 14 winds up the belt body 13. As a result, tension is generated in the belt body 13. Due to this tension, a rearward acting force F1 is generated on the first fitting 11. That is, the acting force F1 in the direction of raising the upper body of the user in the forward leaning posture is generated. At the same time, the tension of the second belt 17 produces an acting force F2 that pushes the user's left buttocks and right buttocks forward. As a result, the user can easily return from the forward leaning posture to the upright posture.

Further, as shown in FIG. 4, the assist device 10 imparts an assist force to the user even when the user is in a bent posture (bent posture) in which the upper body is tilted forward and the knees are bent. be able to. When the user changes from a bent posture to an upright posture, for example, when lifting an object or a part of the body of the person being assisted, the actuator 14 winds up the belt body 13. As a result, tension is generated in the belt body 13.

Due to this tension, a rearward acting force F1 is generated on the first fitting 11. That is, the acting force F1 in the direction of raising the upper body of the user in the forward leaning posture is generated. At the same time, the tension of the second belt 17 produces an acting force F2 that pushes the user's left buttocks and right buttocks forward. Further, a rearward acting force F3 is generated on the second fitting 12. With the acting forces F1, F2, and F3 as described above, it is possible to reduce the muscular load of the back muscles, the quadriceps femoris, and the like in the forward bending posture of the user, and to assist the lifting operation of the luggage.

The assist device 10 functions even when the user changes from an upright posture to a bent posture. For example, when the user lifts an object or a part of the body of the person being assisted. In this case, the actuator 14 sends out the belt body 13 while applying a braking force to the delivery of the belt body 13. That is, the motor 33 rotates in the direction in which the belt body 13 is sent out, but the motor 33 generates torque in the winding direction. As a result, tension is generated in the belt body 13. Even in this case, the assist device 10 assists the lifting motion by reducing the muscular load of the back muscles and the quadriceps muscles in the forward bending posture of the user by the acting forces F1, F2, and F3 as described above. can do.
As described above, according to the assist device 10 of the present disclosure, it is possible to reduce the muscle load on the lumbar region in the forward bending posture and prevent low back pain.

Further, according to the assist device 10 of the present disclosure, even if the user is in a bent posture with one of the left and right leg BLs in the front and the other in the back (asymmetrical state), the second belt One of the left second belt portion 19 and the right second belt portion 20 (the side where the leg portion protrudes in front) of 17 can be automatically made longer than the other. When the first belt 16 is wound up by the actuator 14 in this state, tension also acts on the second belt 17, and the tension acts on both the left second belt portion 19 and the right second belt portion 20. Tension does not escape. Therefore, as described above, even if the user is in an asymmetrical posture, the assist device 10 of the present disclosure makes it possible to apply an appropriate assist force to the user.

Even when the user maintains the forward leaning posture, the assist device 10 of the present disclosure makes it possible to easily maintain the posture. That is, as shown in the figure on the right side of FIG. 8, the operation of the actuator 14 is stopped in the state where the user is in the first forward leaning posture, and the belt body 13 cannot be sent out. Even if the user tries to take a forward leaning posture (second forward leaning posture), the user takes a second forward leaning posture due to the tension of the belt body 13 connecting the first wearing tool 11 and the second wearing tool 12. Can't. That is, the assist device 10 tries to maintain the user's first forward leaning posture. It becomes easy for the user to maintain the first forward leaning posture. As a result, for example, when the user continues the first forward leaning posture for work for a long time, the burden on the body is reduced.

[About the assist device 10 of the present disclosure]
As described above, the assist device 10 of the present disclosure (see FIG. 2) is attached to the first attachment 11 attached to the shoulder BS of the user and the left and right leg BLs of the user, respectively. (Ii) A mounting tool 12, a belt body 13, and an actuator 14 are provided. The belt body 13 is provided along the back side of the user over the first wearing tool 11 and the second wearing tool 12. The actuator 14 is provided on the first attachment 11 and is configured to enable winding and feeding of a part of the belt body 13.

The belt body 13 connects the first belt 16 that is wound and sent out by the actuator 14, the second belt 17 that is attached to the second fitting 12, and the first belt 16 and the second belt 17. It has a connecting member 18.

According to the assist device 10, the belt body 13 is provided along the back side of the user over the first wearing tool 11 and the second wearing tool 12. When the actuator 14 winds up the belt body 13 (first belt 16), tension acts on the first belt 16 and the second belt 17. The tension creates an assisting force that assists the user's work, reducing the physical burden on the user.

For example, when the user (assistant) changes from a forward leaning posture to an upright posture while supporting the load (assisted person) by hand (see FIG. 6), the actuator 14 winds up the belt body 13 to wind the belt. Tension acts on the body 13. Due to the tension, the user tends to change from a forward leaning posture to an upright posture, and the burden on the user's body is reduced. That is, the tension acting on the belt body 13 by the actuator 14 is generated as an assist force.

The assist device 10 of the present disclosure includes a control unit 15 that executes operation control of the actuator 14 in order to execute the initial setting process and to apply the assist force to the user as described above. The control unit 15 executes the following operation control for the initial setting process. That is, when the operation of the actuator 14 is started with the first attachment 11 and the second attachment 12 attached to the user, the belt body 13 is wound by the first winding force. When the winding of the belt body 13 is completed, the winding force by the actuator 14 is changed to the second winding force smaller than the first winding force.

According to this initial setting process, even if the belt body 13 is loosened in advance when the user attaches the assist device 10, when the operation of the actuator 14 is started, the belt body 13 becomes the user's physique ( For example, the length is automatically adjusted according to the height). Then, when the winding of the belt body 13 is completed, the winding force is changed to a second winding force smaller than the first winding force. Since the second winding force is small, the movement of the user is not hindered by the belt body 13 after the assist device 10 is attached.
Since the belt body 13 is adjusted to a length suitable for the physique of the user, it is possible to generate an assist force according to the physique of the user.

In the present disclosure, when the winding of the belt body 13 is completed in the initial setting process, the control unit 15 (adjusting unit 15b) sets the winding force by the actuator 14 to be smaller than the first winding force and larger than zero. Change to two winding power. After the winding force is changed, the state in which the motor 33 is generated with the rotational torque that generates the second winding force is maintained. That is, the motor 33 always generates a rotational torque in the direction of winding the belt body 13. However, the second winding force is a weak force as described above, and is only enough to provide tension on the belt body 13, and does not impose a burden on the user. Therefore, after the assist device 10 is attached, the belt body 13 does not easily loosen even if the user loses his / her posture and moves a little.

The winding amount of the belt body 13 due to the first winding force differs depending on the height of the user who wears the assist device 10 during the initial setting process. Further, the winding amount until the winding of the belt body 13 is completed differs depending on the length of the belt body 13 in the loosened state in advance. Therefore, when the take-up force by the actuator 14 is changed to the second take-up force, the control unit 15 sets the phase of the motor 33 at the time of the change as the initial value of the phase of the motor 33. As a result, the phase of the motor 33 is initially set according to the physique of the user. Based on the initial setting, the rotation of the motor 33 can be controlled to generate an assist force. As a result, the winding amount of the belt body 13 (first belt 16) can be accurately controlled, and an appropriate assist force can be generated.

As described with reference to FIG. 5, the actuator 14 includes a motor 33, a speed reducer unit 34, and a drive pulley 35. The speed reducer unit 34 is composed of a plurality of gears 34 g, and reduces the rotation of the motor 33 to output. The drive pulley 35 can wind up the belt body 13 by rotating due to the output of the speed reducer unit 34.
When the belt body 13 is wound around the drive pulley 35, the motor 33 applies a torque in one direction to the drive pulley 35 through the speed reducer unit 34, so that the drive pulley 35 rotates in the direction of winding the belt body 13.

Further, for example, when the belt body 13 is pulled by an external force accompanying a change in the posture of the user and the belt body 13 is sent out from the drive pulley 35, the control unit 15 rotates the motor 33 as follows to drive the pulley 35. Torque is applied to the drive pulley 35, and the drive pulley 35 rotates. That is, when the belt body 13 is sent out from the drive pulley 35, the drive pulley 35 sends out the belt body 13 while the motor 33 applies torque in the direction of winding the belt body 13 to the drive pulley 35 through the speed reducer unit 34. Rotate in the direction.

In this way, the direction in which the motor 33 generates torque is the same regardless of whether the belt body 13 is wound around the drive pulley 35 or the belt body 13 is sent out from the drive pulley 35. The control unit 15 controls the motor 33 to generate torque in the direction of winding the belt body 13.

According to this configuration, tension acts on the belt body 13 both when the belt body 13 is wound up and when the belt body 13 is sent out. Therefore, the belt body 13 does not loosen when the user wears the assist device 10. That is, tension always acts on the belt body 13 in the direction in which the belt body 13 is wound.
When the belt body 13 is sent out, the rotation direction of the gear 34g included in the speed reducer unit 34 is opposite to the direction when the belt body 13 is wound up, but when the belt body 13 is sent out and when the belt body 13 is wound up. In some cases, between the meshing gears 34g and 34g, of the teeth of one gear 34g, the surface of the teeth of the other gear 34g is only on one side. That is, the teeth of the meshing gears 34g and 34g always hit each other on the same surface. Therefore, even if the backlash is large, it does not affect the responsiveness regarding the generation of the assist force.

In this way, regardless of whether the belt body 13 is wound up or the belt body 13 is sent out, according to the above configuration, the assist force due to backlash between the gears 34g and 34g in the speed reducer unit 34 It is possible to prevent a delay in the response of the occurrence, and it is possible to prevent the occurrence of an impact due to backlash.
Further, as described above, since the backlash can be increased to some extent between the gears 34g and 34g of the speed reducer unit 34, it is not necessary to improve the gear accuracy so much. As a result, it is possible to reduce the manufacturing cost of the gear 34g constituting the speed reducer unit 34. The gear 34g included in the speed reducer unit 34 may be a gear other than a spur gear, a helical gear, a bevel gear, or the like.

In the initial setting process, as described with reference to FIGS. 10A and 10B, the control unit 15 operates the actuator 14 (motor 33) with the first mounting tool 11 and the second mounting tool 12 mounted on the user. Is started, the control is performed so that the first winding force is changed to be smaller than that at the start of winding in a time zone after the start of winding. With this configuration, the first winding force is weakened toward the completion of winding of the belt body 13. Therefore, when the winding is completed, it is possible to prevent the belt body 13 from applying an impact force to the user.

Further, as described with reference to FIGS. 10A and 10B, the control unit 15 starts the operation of the actuator 14 (motor 33) with the first mounting tool 11 and the second mounting tool 12 mounted on the user. And, the winding speed of the belt body 13 may be controlled to be changed so as to be lower than that at the start of winding in a time zone after the start of winding. In this case, the winding speed of the belt body 13 decreases toward the completion of winding of the belt body 13. Therefore, when the winding is completed, it is possible to prevent the belt body 13 from applying an impact force to the user.

[Other assist device 10]
In the assist device 10 of the above disclosure, the second attachment tool 12 is attached to the leg BL of the user. As shown in FIG. 9, the second attachment 12 may be attached to the lumbar region BW of the user. In this case, the second attachment 12 may be in the shape of a waist belt or in the shape of pants. When the second attachment 12 is attached to the lumbar region BW, the actuator 14 may be attached to the first attachment 11, or may be attached to the second attachment 12. In FIG. 9, the actuator 14 is attached to the first fitting 11.

Also in the case of the assist device 10 shown in FIG. 9, the belt body 13 is provided along the back side of the user over the first wearing tool 11 and the second wearing tool 12. When the actuator 14 winds up the belt body 13, tension acts on the belt body 13. The tension creates an assisting force that assists the user's work, reducing the physical burden on the user.

[Other]
In order to prevent / prevent low back pain of the user, it is preferable that the second attachment 12 is attached to the leg BL. This is because the load on the lumbar BW is reduced by attaching the second attachment 12 to the leg BL.
In each form of the assist device 10, the belt body 13 is lightweight, can follow the body even if the user changes his / her posture, and follows the movement of the user. Therefore, the assist device 10 having a good fit can be obtained.
In the above disclosure, the control box 30 is provided on the rear side (back side) of the user in the first attachment 11, but may be provided on the front side of the user. In this case, the belt body 13 is provided along the back surface of the user via the shoulder BS of the user.

The linear form of the belt body 13 may be other than the illustrated form. For example, although not shown, the first mounting portion 27 of the connecting member 18 is also provided with a rotary pulley in the same manner as the second mounting portion 28, and the first belt 16 is folded back in the middle of the rotary pulley. It may be hung on. In this case, the end of the first belt 16 (opposite the drive pulley 35 side) is attached to the first fitting 11 (base 31).
Alternatively, although not shown, a rotary pulley may be attached to the second fitting 12, and the second belt 17 may be hung on the rotary pulley in a state of being folded back in the middle. In this case, both ends of the second belt 17 are attached to the attachments (third attachments) attached to the lumbar region BW.

The embodiments disclosed this time are exemplary in all respects and are not restrictive. The scope of rights of the present invention is not limited to the above-described embodiment, and includes all modifications within a range equivalent to the configuration described in the claims.

[Additional Notes]
In the assist device 10 of the above-described embodiment, when the user attaches the first attachment 11 and the second attachment 12 and the operation of the actuator 14 is started, the control unit 15 uses the first winding force to form a belt body. When the winding of the belt body 13 is completed and the winding of the belt body 13 is completed, the winding force of the actuator 14 is controlled to be changed to the second winding force smaller than the first winding force.
However, as a reference invention, there is an assist device in which such control is not performed.
That is, the assist device of the reference invention is as follows. In the assist device of the following reference invention, the same reference numerals are given to the same configurations as those of the assist device 10 of the above-described embodiment.

The assist device 10 of the reference invention (see FIG. 2)
The first attachment 11 attached to at least one of the user's shoulder BS and chest BB,
The second attachment 12 attached to each of the left and right leg BLs or the lumbar BW of the user,
A belt body 13 provided along the back side of the user across the first attachment 11 and the second attachment 12.
An actuator 14 provided on the first attachment 11 or the second attachment 12 and capable of winding and feeding a part of the belt body 13 and the like.
With
The actuator 14 (see FIG. 5) is composed of a motor 33, a plurality of gears 34g, a reduction gear unit 34 that decelerates and outputs the rotation of the motor 33, and rotation due to the output of the reduction gear unit 34. The belt body 13 has a pulley 35 capable of winding the belt body 13 and the belt body 13.
When the belt body 13 is sent out from the pulley 35, the motor 33 applies torque in the direction of winding the belt body 13 to the pulley 35 through the speed reducer unit 34, and the pulley 35 is the belt body. It rotates in the direction of sending out 13.

Each of the above-disclosed configurations can be applied to the assist device of such a reference invention.

10: Assist device 11: First mounting tool 12: Second mounting tool 13: Belt body 14: Actuator 15: Control unit 33: Motor 34: Reducer unit 35: Drive pulley (pulley)
BS: Shoulder BB: Chest BL: Leg BW: Lumbar

Claims (8)

The first attachment to be worn on at least one of the user's shoulders and chest,
The second attachment to be attached to each of the left and right legs or the waist of the user,
A belt body provided along the back side of the user across the first wearing tool and the second wearing tool, and
An actuator provided on the first attachment or the second attachment and capable of winding and feeding a part of the belt body.
A control unit that executes operation control of the actuator and
With
The control unit
When the operation of the actuator is started with the first attachment and the second attachment attached to the user, the belt body is wound by the first winding force, and the belt body is wound. When the winding force of the actuator is completed, the winding force of the actuator is changed to a second winding force smaller than the first winding force.
Assist device. The first aspect of the present invention, wherein when the winding of the belt body is completed, the control unit changes the winding force by the actuator to a second winding force smaller than the first winding force and larger than zero. Assist device. The actuator has a pulley capable of winding the belt body and a motor for causing the pulley to wind the belt body.
The assist device according to claim 1 or 2, wherein the control unit detects the completion of winding of the belt body based on a parameter relating to the rotation of the pulley or the motor. The actuator has a pulley capable of winding the belt body and a motor for causing the pulley to wind the belt body.
The assist device according to any one of claims 1 to 3, wherein the control unit changes the winding force of the actuator by reducing the supply current to the motor. The actuator has a pulley capable of winding the belt body and a motor for causing the pulley to wind the belt body.
When the take-up force by the actuator is changed to the second take-up force, the control unit sets the phase of the motor at the time of the change as an initial value of the phase of the motor. The assist device according to any one of 4. The actuator is composed of a motor, a plurality of gears, a speed reducer unit that decelerates and outputs the rotation of the motor, and the belt body can be wound up by rotating due to the output of the speed reducer unit. With a pulley,
When the belt body is sent out from the pulley, the pulley rotates in the direction of sending out the belt body while applying torque in the direction of winding the belt body to the pulley through the speed reducer unit. The assist device according to any one of claims 1 to 4. When the operation of the actuator is started, the control unit controls to change the first winding force to be smaller than that at the start of winding in a time zone after the start of winding. , The assist device according to any one of claims 1 to 6. When the operation of the actuator is started, the control unit controls the winding speed of the belt body to be changed to be lower than that at the start of winding in a time zone after the start of winding. The assist device according to any one of claims 1 to 7.

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