JP2021094654A - Wearable support robot device - Google Patents

Abstract

To provide a wearable support robot device applying lifting assist force without making a wearer feel tired.SOLUTION: A pair of left and right stiff L-shaped supporting tools composed of lateral members and vertical members is fixed in an endoskeleton type in an enclosure holding body 930 such as a backpack. The enclosure holding body 930 encloses a waist with the lateral members, and the vertical members are positioned on a back of a wearer 10. Both end portions of a shoulder belt 921 of an upper body holding tool 920 is attached to the vertical member. A driving source 60 of an assist driving mechanism 903 is attached to the respective lateral members, generates driving torque around an axis 61 to drive respective lower arms 80, and gives supporting force moment between the lateral member and left and right thighs 12. A load is applied to an upper pelvis of the waist by the lateral members, that is, the thighs 12, and is not transferred to an upper body such as a shoulder 7. A hip belt covers a hip portion, and prevents the enclosure holding body 930 from displacing to an upper side of a trunk.SELECTED DRAWING: Figure 1

Description

The present invention relates to a wearable support robot device, which is also called a power assist suit, a power assist robot device, or the like, which supports force work performed by a wearer.
In the present specification, the terms "horizontal direction", "front-back direction" and "vertical direction", and "front", "side", "plane" and "back" are also referred to as the upper body of the supported wearer. It refers to the direction in an upright posture with both lower limbs aligned with the trunk.
Hatching and diagonal lines in the drawings may be drawn even in non-cross-sections to clearly show the composition.

Wearable support robot devices are used in fields such as agriculture, factories, logistics, construction, nursing care, snow shoveling work in snowy areas, emergency rescue work in the event of a disaster, and disaster waste removal work. It is used for work and walking support. The conventional wearable support robot device is provided with electric motors on the left and right sides of the lower part of the trunk, and is also provided with electric motors near the knee joints of the left and right lower limbs to generate a support force moment (Patent Documents 1 and 2). ). In this prior art, the wearer's shoulder belt exerts all the load on the shoulder. Therefore, the wearer tends to get tired, and it is difficult to continue working and walking for a long time.

Japanese Patent No. 4290122 Japanese Patent No. 4178185

An object of the present invention is to provide a wearable support robot device that reduces a feeling of fatigue due to a load on the wearer and enables the wearer to continue working, walking, etc. for a long time.

The present invention
(A) A pair of left and right rigid L-shaped supports 909, and each support 909 is
A support 909 having a lateral member 918 extending laterally and a vertical member 919 extending upward from the rear end of the lateral member 918 on the dorsal side of the wearer 10.
(B) An outer peripheral holding body 930 that receives a load at the waist 5 of the wearer 10.
An outer enclosure holding body 930 to which a support 909 is attached and surrounds the waist 5 or surrounds the waist 5 together with the support 909,
(C) An upper body holder 920 having left and right shoulder belts 921 attached to each vertical member 919, and
(D) A thigh holder 40 that is attached and held to each of the left and right thighs 12 of the wearer 10.
(E) A pair of lower arms 80 extending vertically from the lower part of the trunk 11 to the thigh 12 on both left and right sides, and the lower ends of the lower arms 80 are connected to the thigh holder 40, respectively. Lower arm 80 and
(F) The assist drive mechanism 903.
A pair that is attached to the lateral members 918 of each support 909 on both the left and right sides of the lower part of the trunk 11 of the wearer 10 and generates a driving torque around the axis 61 in the left-right direction to drive the upper end of each lower arm 80. Has a drive source 60 of
The wearable support robot device includes an assist drive mechanism 903 that applies a support force moment between the lateral member 918 and each of the left and right thighs 12 by the drive torque of each drive source 60.

According to the present invention, the wearable support robot device is, for example, a core which is a pair of left and right rigid L-shaped supports in an outer enclosure holder in the shape of a flat bag such as a rucksack. It contains material, and this support is made of lightweight and strong materials such as duralumin, fiberglass reinforced plastic, and carbon fiber reinforced plastic. The outer circumference holder surrounds the waist or surrounds the waist together with the support, and receives the load of the wearable support robot device and transmits the action to the wearer's waist, and therefore from the waist to the lower limbs. Fulfill. The enclosure retainer does not receive the load on the upper part of the trunk, including the wearer's shoulders. For this reason, the assisting force for lifting, lifting, lowering, mid-waist work, and walking support is surely transmitted to the wearer without delay through the support tool. The lateral members are located on the left and right sides of the wearer's waist, the rear ends of the horizontal members bend and extend behind the wearer, and the vertical members rise behind the wearer from the rear ends of the horizontal members.

In the present invention, the lifting assist force, the lifting assist force, and the mid-waist posture holding assist force act in relation to the upper part of the pelvis by the lateral member of the support, and therefore to the lower limbs including the thigh, and the body is passed through the shoulder belt. It does not act by pulling up the upper body, which is the trunk. Therefore, the wearer assists the wearer to raise the upper body from the armpits by the shoulder belt attached to the vertical member so that the trunk does not bend to the back side and become a shrimp. As a result, the assisting force is smoothly transmitted to the upper body, which is the trunk, so that it is less tiring.

The outer circumference holder may be configured to be a waist belt to which a support is attached and surrounds the upper part of the hip bone of the pelvis, which is the waist, in an annular shape. A lateral member of the support is attached to the waist belt, or is included and covered and attached. The support and the outer enclosure holder are configured to be fixed to each other so that their relative displacement is prevented. Both ends of the left and right shoulder belts of the upper body holder may be attached directly to each vertical member, but the support is fixed to an outer peripheral holder that is not displaced relative to the support. Alternatively, one end of each shoulder belt may be fixed to such an enclosure retainer and the other end may be fixed to a vertical member, with the configuration in which the shoulder belt is attached to each vertical member, respectively. It is a concept including these above-mentioned configurations. In the present invention, it is important that both ends of the shoulder belt covering the left and right shoulders of the upper body holder are integrally attached to the vertical members so as not to be displaced from each other.

According to the idea of the present invention, the outer peripheral holder is such that the front and rear ends of the horizontal members of the pair of left and right supports are continuous with the flexible belt or the flat sheet-like connecting member 957. It may be configured to surround the upper part of the waist in a ring shape by connecting to the waist. The outer circumference holder can release the state of surrounding the wearer's waist and can be attached to and detached from the wearer.

Since there is no large frame around the center of the back or around the waist of the Power Assist Suit, the wearer can wear the Power Assist Suit of the present invention on a full harness type safety belt worn on the body at a construction site or the like. The full harness type safety belt is composed of multiple belts such as shoulders, chest, thighs, and torso, so that the wearer does not get out of the safety belt even if it is suspended in the air at a high place. The abdomen is not over-compressed, the posture is not turned upside down, and safety is ensured. In addition, since there is space around the waist of the power assist suit, a tool belt for storing tools for manual work can be attached from above the power assist suit.

The present invention
It covers the lower part of the buttock 6 of the wearer 10, and both ends are attached to the left and right sides of the outer enclosure 930 or to the left and right lateral members 918 of the support 909, thereby surrounding the outer enclosure. It is characterized by further including a hip belt 946 that prevents the retainer 930 from being displaced above the trunk 11.

According to the present invention, both ends of the hip belt are attached to the left and right sides of the outer enclosure holder, or to the left and right lateral members of the support that constitutes the waist frame, which is connected to the electric motor that is the drive source. , Can be installed. The hip belt is arranged so as to bend and cover the lower part of the buttocks below the wearer's waist in an arc shape. The hip belt is located at the bottom of the dorsal bulge of the buttocks, i.e. the lower part of the gluteus maximus, and the hip belt is made of, for example, a flexible material and can therefore be twisted, so that it is of the surrounding holder. Rigid fixed couplings may be made to the left and right sides, or to each side of the left and right lateral members of the support, or, in other embodiments, angularly displaceable pin couplings. Both ends of the hip belt may be fixed to an outer peripheral holder whose lateral members are fixed and do not displace relative to the lateral members, but may be directly attached to the left and right lateral members, respectively. The hip belt may be made of a rigid material that is curved in an arc.

The hip belt prevents the power assist suit, especially the outer enclosure, which can be called the waist belt above the pelvis, from slipping up when the wearer lifts the luggage. In tasks such as lifting, lowering, and mid-waist as well as lifting, the wearer bends his hips and his back is, for example, along the almost horizontal lying spine, that is, the body's almost horizontal lying trunk. Assuming that the lower surface of the shoulder belt of the upper body holder abuts on the wearer's shoulder, i.e. the upper part of the shoulder ridge or hipbone, in an upwardly convex arc along the longitudinal direction of the body. Even if the siege retainer acts upwards, i.e., closer to the wearer's head, the hipbelt separates the siege retainer from the hips, the upper part of the hip bones of the pelvis. This prevents the body from shifting upward toward the head, or suppresses the displacement. Thus, for example, when the wearer lifts the load, the hip belt presses an outer body, such as a waist belt, onto the pelvis in response to the flexion of the thigh during lifting, causing the load to be received by the pelvis. The hip belt is provided together with the waist belt and smoothly transmits the assisting force to the upper body so as to raise the buttocks, so that the assist can be performed smoothly.

The present invention
The length of the shoulder belt 921 is such that when the wearer 10 wears the wearable support robot device 901 and stands upright, the finger 1 of one hand is between the upper part of the shoulder 7 of the wearer 10 and the lower surface of the shoulder belt 921. It is characterized in that it is determined so that there is a gap having a height in which ~ 3 pieces are stacked one above the other.

According to the present invention, in an upright posture in which the wearer wears the wearable support robot device, the fingers 1 to 1 of one hand are between the shoulder belt and the shoulder, that is, between the upper part of the shoulder and the lower surface of the shoulder belt. There is a gap having a height of three overlapping, for example, a gap so that about two fingers can be inserted. Therefore, the mass of the so-called power assist suit body, including the support for the wearable support robot device and the outer enclosure holder, does not act on the shoulders, and these loads are supported by the waist. Therefore, the wearer does not feel heavy, and it is certain that the wearer can reduce the feeling of fatigue due to the burden of the load and can continue working and walking for a long time.

The present invention
The outer circumference holding body 930 has a connecting member 957 that covers the horizontal member 918 and the vertical member 919 of each support 909 and connects the vertical members 919 of each support 909, and is a flat flexible sheet-like body. Consists of
The sheet-like body is characterized by including an elastic cushion material 937 arranged on the wearer 10 side of the support 909, and a mesh-like cover 938 that covers the support 909 and the cushion material 937.

According to the present invention, the outer enclosure holder wraps the outer side of the support 909, which is a rigid frame, with a cushion material 937 so that at least the inner surface facing the wearer is softened, so-called endoskeleton type. Realize the configuration. The outer enclosure holder may be wrapped with the cushion material 937 so that the outer surface on the side opposite to the wearer is also soft, but the outer surface does not have to be soft without the cushion material 937 provided on the outside. .. The outer enclosure is configured, for example, like a rucksack, the surface of which can be a soft, mesh-like sewn product, at least on the inside facing the wearer, and in contact with the wearer's back over a large area. Therefore, even if it is worn for a long time, it feels good on the skin, does not get stuffy, and does not get tired easily. The connecting member 957 may be realized by a part of an outer enclosure holder such as a rucksack.

The outer surface of the outer enclosure holder 930 is made of, for example, a soft and mesh-like sewn product as a whole. The surface in contact with the wearer is made of a mesh material, and for example, cushioning material 937 such as a washable back pad, waist pad, and thigh pad can be attached. Depending on the size of the wearer's body, for example, there are large, medium and small (LMS) sizes, and the weight can correspond to, for example, about 45 kg to 95 kg. The size in the height direction of the wearer can be made into a so-called one-size-fits-all by adjusting the shoulder belt and the length of the side belt, for example, corresponding to a height of about 150 to about 190 cm. it can.
In another embodiment of the present invention, the connecting member 957 that connects the left and right vertical members 919 of the support 909 behind the wearer 10 may be made of a rigid material. The rear ends of the lateral members 918 arranged on the left and right sides of the waist 5 are connected by bending in an arc shape behind the wearer 10 to form a support portion that rises upward from the connected portion. The end of the shoulder belt 921 may be attached to the support, and the cross member 918, the connected portion and the support may be integrally formed of a rigid material.

The present invention
A through hole 948 is formed in the connecting member 957 that connects the vertical members 919 of the outer enclosure holding body 930, and an axial fan 949 that takes in outside air is provided inside the wearer 10 side facing the through hole 948. A secondary battery 954 that drives the axial flow fan 949 by electric power is provided.

According to the present invention, a flat axial fan for cooling is attached to the back of the wearer. The air volume can be switched between strong, medium, and weak, which is convenient for measures against the heat in summer.

The present invention
The assist drive mechanism 903 assists the lifting force in the lifting work by the wearer 10, the lifting brake assist in the lifting work, and the assist that supports the mass of the upper body to maintain the mid-waist posture. It is characterized by doing.

According to the wearable support robot device according to the present invention, for example, (a) assisting a lifting force of 10 to 15 kg in lifting work of a heavy object of 20 to 30 kg, and (b) holding during lifting work of a heavy object as well. Lower brake assist, (c) assist to support the mass of the upper body to maintain the mid-waist posture during long-term mid-waist work, assist the lumbar spine (hip joint) to prevent back pain, and (d) transport work and stairs As will be described later, it is possible to assist the swinging force of the swing leg and the force assist of the hip joint by assisting the supporting force of the supporting leg when walking on a slope or a slope. According to the present invention, each of these assist functions (a) to (d) can be realized by one unit.

In one embodiment of the present invention, the electric motor is made into an electric motor with a reducer having a reduction ratio of about 1/100 to 1/50 of the output so as to give a moment to the thigh, thereby back-drying described later. Since it uses an possible electric motor drive system, it is a safe device that allows the wearer to move the drive equipment from the wearer's side, and the wearer can move the assist suit by himself even if the drive power supply is exhausted. ..
The control device for moving the wearable support robot device of the present invention is, for example, attached to an electric motor which is a battery-driven drive source, an angle sensor built in the electric motor, a wearer's waist, or the like in an example described later. The acceleration sensor and the touch switch sensor attached to the inside or outside of the glove are used to perform control calculations for assisting lifting force, maintaining the mid-waist posture during mid-waist work, and assisting walking.

It is a front view which shows the state which the wearable support robot apparatus 901 which is one Embodiment of this invention is attached to the wearer 10. It is a side view which shows the wearing state of the wearable support robot apparatus 901. It is a rear view which shows the wearing state of the wearable support robot apparatus 901. It is a perspective view seen from the back of the wearable support robot device 901. It is a perspective view which saw the support 909 obliquely from the front. It is an exploded perspective view seen from the oblique front of the wearable support robot device 901. It is an exploded perspective view seen from the oblique rear view of the wearable support robot device 901. It is a figure which shows the assist state of the wearer 10 by the wearable support robot apparatus 901. It is a front view which shows the state which the wearable support robot apparatus 1 which is another embodiment of this invention is attached to the wearer 10. It is a side view which shows the mounting state of the wearable support robot device 1. It is a rear view which shows the wearing state of the wearable support robot apparatus 1. It is a perspective view of a part of the wearable support robot device 1. It is a horizontal sectional view of the lower trunk holder 30. It is an exploded perspective view of the lower trunk holder 30. It is a partial horizontal sectional view which shows the attachment means 94a and its vicinity in another embodiment of this invention. It is a side view which shows the attachment means 94a and its vicinity in a simplified manner. It is a simplified horizontal sectional view which shows the waist belt 33a and the protective equipment 36a. FIG. 5 is an exploded perspective view of a part of the length adjusting mechanism 58 as viewed from the rear of the wearer 10. FIG. 10 is an exploded perspective view showing the thigh holder 40. It is sectional drawing which shows a part of the assist drive mechanism 3. It is sectional drawing which saw the 3rd passive rotation shaft 73 from the outside of the wearer 10. It is a simplified vertical sectional view of the control box 53 seen from the rear of the wearer 10. It is sectional drawing of a part of the glove device 190L attached to the left hand 16L of the wearer 10. It is a top view which shows the skeleton seen from the back of the left hand 16L provided with the object sensors 191 and 192. It is a skeleton diagram for demonstrating the walking support operation of the wearer 10. It is a side view seen from the swing leg side which shows the state which the wearer 10 is walking support. It is a skeleton figure for demonstrating the lifting support operation of a wearer 10. It is a skeleton figure for demonstrating the mid-waist support operation of the wearer 10. It is a simplified front view which shows the state which the trunk 11 is tilted to the left and right. It is a simplified front view which shows the state which abducted the lower limbs and opened the leg. It is a simplified skeleton diagram which shows the state which the trunk 11 is rotated. It is a front view which shows the state which the wearable support robot apparatus 201 which is another embodiment of this invention is attached to the wearer 10. It is a side view which shows the wearing state of the wearable support robot apparatus 201. It is a front view which shows the state which the wearable support robot apparatus 301 which is another embodiment of this invention is attached to the wearer 10. It is a side view which shows the wearing state of the wearable support robot apparatus 301. It is a front view which shows the state which the wearable support robot apparatus 401 which is another embodiment of this invention is attached to the wearer 10. It is a side view which shows the mounting state of the wearable support robot apparatus 401. It is an enlarged side view around the drive source 60. It is an enlarged front view seen from the front near the drive source 60. It is an enlarged rear view seen from the back near the drive source 60. It is an enlarged plan view around the drive source 60. It is an enlarged side view around the drive source 60 which shows the state which the wearable support robot apparatus 401a which is another embodiment of this invention is attached to the wearer 10. It is an electric circuit diagram which shows the electric structure in the support robot device 1 and the support robot device of other embodiments. It is a figure for demonstrating the drive torque output by the drive shaft 62 of a drive source 60. It is a flowchart which shows the processing procedure of the assist suit control processing executed by the processing circuit 113 of the support robot apparatus 1. It is a flowchart which shows the processing procedure of the attitude information input sequence processing by a processing circuit 113. It is a flowchart which shows the processing procedure of the assist control processing by the processing circuit 113. It is a flowchart which shows the processing procedure of the walking assist control processing by a processing circuit 113. It is a flowchart which shows the processing procedure of the calculation processing of the assist torque on the swing leg side by the processing circuit 113. It is a flowchart which shows the processing procedure of the calculation processing of the assist torque on the support leg side by the processing circuit 113. It is a time chart for demonstrating the operation when the walking support by the support robot device 1 is continued. It is a time chart for demonstrating the operation when the walking support by the support robot device 1 is started. It is a time chart for demonstrating the operation when the walking support by the support robot device 1 is continued. It is a time chart for demonstrating the operation of the processing circuit 113 when the walking support by the assisting robot apparatus 1 is terminated. It is a flowchart for demonstrating the determination operation of the walking support of a processing circuit 113. It is a flowchart for demonstrating the operation of walking support by a processing circuit 113. It is a flowchart for demonstrating the operation of the walking support which is executed following FIG. 44 by the processing circuit 113. It is a flowchart for demonstrating the operation of the walking support which is executed following FIG. 45 by the processing circuit 113. It is a flowchart for demonstrating the operation of the walking support which is executed following FIG. 46 by the processing circuit 113. It is a flowchart which shows the processing procedure of the upper body determination processing for the lifting operation by the processing circuit 113. It is a flowchart which shows the processing procedure of the upper body control processing by the processing circuit 113. It is a flowchart for demonstrating the lifting support operation by a processing circuit 113. It is a flowchart which shows the processing procedure of the upper body determination processing for the lifting brake operation by the processing circuit 113. It is a flowchart which shows the processing procedure of the holding down brake support control processing by the processing circuit 113. It is a flowchart which shows the processing procedure of the middle waist determination processing by a processing circuit 113. It is a flowchart which shows the processing procedure of the middle waist control processing by a processing circuit 113. It is a flowchart which shows the middle waist support operation of the processing circuit 113. It is a flowchart which shows the middle waist support operation of the processing circuit 113 executed in step u46 of FIG. It is a skeleton figure which shows the posture corresponding to each detection angle of the wearer 10 within a predetermined elapsed time W42 (for example, 3 seconds). It is a part of the skeleton diagram which shows the average value θave. It is a graph which shows the characteristic of the spring constant k44j in the middle waist support operation by the processing circuit 113. It is a flowchart for demonstrating the operation which realizes the lifting assist control and the lifting brake control by the processing circuit 113 without using the object sensors 191 to 194 of the glove device 190. It is a front view which shows the state which the wearable support robot apparatus 501 which is another embodiment of this invention is attached to the wearer 10. It is a side view which shows the mounting state of the wearable support robot device 501. It is a front view which shows the vicinity of the drive source 60 of the wearable support robot apparatus 501. It is a side view which shows the vicinity of the drive source 60 of the wearable support robot apparatus 501. It is a top view which shows the vicinity of the drive source 60 of the wearable support robot apparatus 501. It is a front view which shows the state which the wearable support robot apparatus 551 which is another embodiment of this invention is attached to the wearer 10. It is a side view which shows the wearing state of the wearable support robot apparatus 551. It is a front view which shows the state which the wearable support robot apparatus 601 which is another embodiment of this invention is attached to the wearer 10. It is a side view which shows the wearing state of the wearable support robot apparatus 601. It is a rear view which shows the wearing state of the wearable support robot apparatus 601. It is a rear view which shows the mounting state of the wearable support robot apparatus 631 which is another embodiment of this invention. It is a front view which shows the state which the wearable support robot apparatus 651 which is another embodiment of this invention is attached to the wearer 10. It is a side view which shows the wearing state of the wearable support robot apparatus 651. It is a front view of the planar frame 653 of a wearable support robot device 651. It is a left side view of the planar frame 653 of the wearable support robot device 651. It is a top view of the planar frame 653 of the wearable support robot apparatus 651. It is a front view which shows the state which the wearable support robot apparatus 701 which is another embodiment of this invention is attached to the wearer 10. It is a side view which shows the wearing state of the wearable support robot apparatus 701. It is a rear view which shows the wearing state of the wearable support robot apparatus 701. It is a front view which shows the state which the wearable support robot apparatus 751 which is another embodiment of this invention is attached to the wearer 10. It is a side view which shows the mounting state of the wearable support robot device 751. It is a front view which shows the state which the wearable support robot apparatus 801 which is another embodiment of this invention is attached to the wearer 10. It is a side view which shows the wearing state of the wearable support robot apparatus 801. It is a front view which shows the state which the wearable support robot apparatus 851 which is another embodiment of this invention is attached to the wearer 10. It is a side view which shows the wearing state of the wearable support robot apparatus 851. It is a front view which shows the state which the wearable posture holding device 1 which is another embodiment of this invention is attached to the wearer 10. It is a side view which shows the wearing state of the wearable posture holding device 1. It is a side view which shows the part of the wearable posture holding device 1 in FIG. 2 enlarged. It is a front view of the planar frame 31. It is a left side view of the planar frame 31. It is a plan view of a part of a planar frame 31. It is an exploded perspective view of the planar frame 31. It is a skeleton figure for demonstrating the state which the wearer 10 leans forward for the mid-waist work operation. It is sectional drawing which shows the clutch 60 and its vicinity. It is an electric circuit diagram which concerns on the electromagnetic coil 63 of a clutch 60. It is a flowchart for demonstrating the operation of the embodiment of FIGS. 1 to 9. It is an electric circuit diagram in another embodiment of this invention. It is a skeleton figure for demonstrating the state which the wearer 10 enters the mid-waist posture from the leaning posture for the mid-waist work operation. It is a skeleton diagram for demonstrating the state of getting up from the mid-waist posture in which the wearer 10 is performing the mid-waist work operation. It is a flowchart for demonstrating the operation of the processing circuit 113 of FIG. It is sectional drawing which shows the clutch 120 and its vicinity in another embodiment of this invention. FIG. 6 is a partially circumferentially developed view showing a state in which the meshing teeth of the rotor 125 with meshing teeth and the armature 128 with meshing teeth are separated from each other and the clutch 120 is engaged in the embodiment shown in FIG. It is sectional drawing which shows the clutch 140 and its vicinity in another embodiment of this invention. It is sectional drawing which shows the clutch 160 and its vicinity in another embodiment of this invention. It is a side view which shows the state which attached the wearable posture holding device 1a which is another embodiment of this invention to a wearer 10. It is a side view which shows the part of the wearable posture holding device 1a enlarged. It is a front view of the planar frame 31a. It is a left side view of the planar frame 31a. It is a partial plan view of the planar frame 31a. It is an exploded perspective view of the planar frame 31a. It is sectional drawing which shows the structure which combined the clutch 60 and the electric motor 87 with a reduction gear 88 in another embodiment of this invention, and the vicinity thereof.

FIG. 1 is a front view showing a state in which the wearable support robot device 901, which is an embodiment of the present invention, is mounted on the wearer 10, and FIG. 2 is a side view showing a state in which the wearable support robot device 901 is mounted. FIG. 3 is a rear view showing the mounted state of the wearable support robot device 901, and FIG. 4 is a perspective view seen from behind the wearable support robot device 901. FIGS. 1 to 4 show an upright posture in which the wearer 10 aligns both lower limbs including the left and right thighs 12 together with the trunk 11. Left and right refer to the direction in the wearer 10 as described above, and are therefore right and left in FIG. The wearable support robot device 901 is configured to be substantially plane-symmetrical to the left and right with respect to the median sagittal plane 13 of the wearer 10 who wears the wearable support robot device 901. The numbers are subscripted L and R, respectively, to indicate the overall or concatenated structure, and the left or right are indicated by the numbers only.

With reference to these drawings, the wearable support robot device 901 includes a pair of left and right rigid L-shaped supports 909 (see FIG. 5 described later) and an outer circumference that receives a load at the waist 5 of the wearer 10. A holder 930, an upper body holder 920 having left and right shoulder belts 921, a thigh holder 40 attached to and held on each of the left and right thighs 12 of the wearer 10, and both left and right sides from the lower torso to the thigh 12. On the other hand, the upper end of each lower arm 80 is driven by a pair of lower arms 80 that extend vertically and are arranged respectively, and a pair of drive sources 60 that are arranged on both the left and right sides of the lower part of the trunk of the wearer 10. It includes an assist drive mechanism 903 that gives a support force moment to each of the left and right thighs 12.

FIG. 5 is a perspective view of the support tool 909 viewed diagonally from the front, FIG. 6 is an exploded perspective view of the wearable support robot device 901 viewed diagonally from the front, and FIG. 7 is a diagonal rear view of the wearable support robot device 901. It is an exploded perspective view seen from. Each of the left and right supports 909 has a lateral member 918 extending laterally and a vertical member 919 extending upward from the rear end portion of the lateral member 918 on the back side of the wearer 10. A support 909 is attached to the outer circumference holding body 930 to surround the waist 5. The ends of the left and right shoulder belts 921 constituting the upper body holder 920 are substantially attached to each vertical member 919, and the relative displacement of the support 909 and the outer circumference holder 930 is prevented. It is configured to be fixed to each other. In this embodiment, one end of the shoulder belt 921 of the upper body holder 920 is fixed to the outer circumference holder 930, and the other end is fixed to the vertical member 919. In the outer circumference holding body 930, behind the wearer 10, a flexible flat sheet-like connecting member 957 connects a pair of left and right supporters 909 so as to be continuous, and surrounds the upper part of the waist in an annular shape. .. The connecting member 957 constitutes a part of the outer enclosure holding body 930. The outer circumference holding body 930 includes a chest belt 922 that connects the shoulder belts 921, and can be released by the connecting tool 26, is removable to the wearer, and its length can be adjusted. The outer circumference holder 930 also includes a front waist belt 933, which can be released from the state of surrounding the waist 5 of the wearer 10 by the connector 35, and can be attached to and detached from the wearer, and has a length thereof. It is configured to be adjustable.
The thigh holder 40 is attached and held to each of the left and right thighs 12 of the wearer 10. The pair of lower arms 80 are arranged so as to extend vertically from the lower part of the trunk 11 to the thighs 12 on both the left and right sides. The lower end of each lower arm 80 is connected to the thigh holder 40, respectively.

The assist drive mechanism 903 is attached to the lateral members 918 of the support 909s on the left and right sides of the lower portion of the trunk 11 of the wearer 10. The pair of left and right drive sources 60 of the assist drive mechanism 903 generate drive torque around the axis 61 in the left-right direction to drive the upper end portions of the lower arms 80. The driving torque of each driving source 60 gives a supporting force moment between the lateral member 918 and each of the left and right thighs 12.

The hip belt 946 covers the lower part of the buttock 6 of the wearer 10 in an arcuate manner, and both ends are attached to the left and right sides of the outer enclosure 930. It is attached to each of the left and right lateral members 918 of the 909. Thereby, the hip belt 946 prevents the outer circumference holding body 930 from being displaced above the trunk 11. The hip belt 946 is located below the dorsal bulge of the buttock 6, i.e. below the gluteus maximus. Both ends of the hip belt 946 are attached to the left and right sides of the outer enclosure 930, and in another embodiment, attached to the left and right lateral members 918 of the support 909. The hip belt 946 may be made of, for example, a flexible material, and can be twisted so that it may be a rigid fixed coupling to the lateral member 918 of the enclosure holder 930 or the support 909. Alternatively, in another embodiment, it may be a pin coupling that can be angularly displaced.

FIG. 8 is a diagram showing an assisted state of the wearer 10 by the wearable support robot device 901. In the hip belt 946, when the wearer 10 lifts the luggage 86 as shown in FIG. 8 (1), the power assist suit, particularly the outer circumference holding body 930 which can be said to be the waist belt above the pelvis, slides up. prevent. In addition to lifting in FIG. 8 (1), in work such as lifting and lowering as shown in FIG. 8 (2) and lowering the waist as shown in FIG. 8 (3), the wearer 10 bends the waist 5 and the wearer 10 The back becomes an upwardly convex arc, for example, along the nearly horizontal lying spinal column, that is, along the longitudinal direction of the almost horizontal lying trunk of the body, and thus the shoulders of the wearer 10. Even if the lower surface of the shoulder belt 921 of the upper body holder 920 comes into contact with 7, that is, the upper part of the shoulder ridge or the hip bone, the outer circumference holder 930 is upward, that is, the wearer 10. The hipbelt 946 prevents the perimeter retainer 930 from shifting upwards toward the hips 5, the upper part of the hip bones of the pelvis, even when a pulling force acts on the hips. Or suppress the displacement. Thus, for example, when the wearer 10 lifts the luggage 86, the hip belt 946 presses an outer enclosure 930 such as a waist belt onto the pelvis in response to the flexion of the thigh 12 during lifting, and the load is applied to the pelvis. Let me receive it. The hip belt 946 is provided together with the outer circumference holding body 930 that acts as a waist belt, and smoothly assists by the support force moment of the drive source 60 so as to cause the buttocks to the waist 5 of the upper body 11, and therefore the thigh 12 which is the lower limb. Because it tells to, you can assist smoothly.

The length of the shoulder belt 921 is such that when the wearer 10 wears the wearable support robot device 901 and stands upright, the finger 1 of one hand is between the upper part of the shoulder 7 of the wearer 10 and the lower surface of the shoulder belt 921. It is determined that there is a gap having a height of up to three, for example, two stacked one above the other. In a configuration provided with a length adjuster capable of adjusting the length of the shoulder belt 921, the gap is set so as to be obtained. Therefore, the weight of the so-called power assist suit body including the support tool 909 of the wearable support robot device, the outer circumference holding body 930, and the like does not act on the shoulder 7, and these loads are supported by the waist 5. Therefore, it is certain that the wearer 10 can reduce the feeling of fatigue due to the load and can continue working and walking for a long time.

The outer peripheral holding body 930 has a connecting member 957 that covers the horizontal member 918 and the vertical member 919 of each support 909 and connects the vertical members 919 of each support 909, and is a flat flexible sheet-like body. The sheet-like body comprises the elastic cushion material 937 arranged on the wearer 10 side with respect to the support tool 909, and the mesh-like cover 938 covering the support tool 909 and the cushion material 937, as described above. Achieve an endoskeleton type configuration.

A through hole 948 is formed in the connecting member 957 that connects the vertical members 919 of the outer peripheral holding body 930. The axial fan 949 provided in the connecting member 957 on the back of the wearer 10 faces the through hole 948 and takes in outside air to the inside of the wearer 10 side. The secondary battery 954 power-drives the axial fan 949. The axial fan 949 can switch the air volume between strong, medium, and weak. For example, the drive power of the fan 949 can be shared with the battery which is the secondary battery 954 for driving the electric motor 64 in the assist drive mechanism 903 of the power assist suit 901, the control device 953, and the like, and the maximum air volume is about 2 to 3 [. m3 / min], the maximum static pressure is 170 to 250 [Pa], the outer shape is about □ 92 mm × 92 mm × thickness 25 mm, and it is lightweight and compact with a large air volume and air pressure of about 170 g. Even if the wearer sweats, durability can be ensured by making the fan waterproof.

The assist drive mechanism 903 assists the lifting force in FIG. 8 (1) in the lifting work by the wearer 10, the lifting brake assist in the lifting work in FIG. 8 (2), and the mid-waist posture in FIG. 8 (3). Perform at least one of the assists that support the mass of the upper body to hold. Further, the assist drive mechanism 903 also assists the walking shown in FIG. 8 (4).

The drive source 60 includes a speed reducer 66 having a reduction ratio of the output of the electric motor 64 of about 1/100 to 1/50, and gives a support force moment to the thigh 12. As a result, a back-dryable electric motor drive system can be realized. Therefore, the drive device 60 can be moved from the wearer 10 side, and the wearer 10 can move the assist suit 901 by his / her own power even if the drive power supply 954 is exhausted.

The control device 953 for moving the wearable support robot device 901 includes a drive source 640 including an electric motor 64 powered by a battery 954, angle sensors 67 and 112 built in the electric motor 644, and a wearer 10. Using the acceleration sensors 103 and 115 attached to the waist portion 5 and the like and the touch switch sensors 191 to 194 attached to the inside or the outside of the gloves 190, the above-mentioned lifting force assist and lifting force assisting force and the lifting force are used in connection with FIG. It performs control calculations for brake assist, assisting in maintaining the mid-waist posture during mid-waist work, and assisting walking.
The present invention applies each of the above-described embodiments of FIGS. 1 to 8 by modifying a part of each of the embodiments of FIGS. 9 to 119 described below, or the embodiment of FIGS. 9 to 119. It can be applied as it is to each form and implemented. A wearable support robot device can be realized by taking out a part of each embodiment of FIGS. 1 to 119 and combining them.

FIG. 9 is a front view showing a state in which the wearable support robot device 1 which is another embodiment of the present invention is mounted on the wearer 10, and FIG. 10 is a side view showing a state in which the wearable support robot device 1 is mounted. 11 is a rear view showing the mounted state of the wearable support robot device 1, and FIG. 4 is a perspective view of a part of the wearable support robot device 1. With reference to these drawings, the wearable support robot device 1 includes a holding device 2 that is mounted and held by the wearer 10, a trunk 11 of the wearer 10 provided on the holding device, and thighs 12 on the left and right sides. It has an assist drive mechanism 3 that gives a support force moment between the two. FIGS. 1 to 3 show an upright posture in which the wearer 10 aligns both lower limbs including the left and right thighs 12 together with the trunk 11. Left and right refer to the direction in the wearer 10 as described above, and are therefore right and left in FIG.

The holding device 2 is attached to the upper torso holder 20 attached to and held on the upper torso 14 near the thorax, clavicle, and shoulder blade of the wearer 10, and the lower torso 15 near the abdomen, hip pelvis, and hip joint. It includes a lower trunk holder 30 that can be called a waist cuff that is attached and held, and a thigh retainer 40 that is attached and held on the thigh 12.

The assist drive mechanism 3 is arranged on both the left and right sides of the lower trunk portion 15, and extends vertically on both the left and right sides of the upper trunk portion 14 and a pair of drive sources 60 that generate drive torque around the axis 61 in the left-right direction. The pair of upper arms 70, the first passive rotating shaft 91 that connects the upper end of the upper arm 70 and the upper trunk holder 20 in a angular displacement around the axis in the left-right direction, and the trunk. A pair of lower arms 80 extending vertically from the lower portion 15 to the thigh 12 on both the left and right sides, and the lower end of each lower arm 80 and the thigh holder 40 can be angularly displaced around the axis in the left-right direction. It has a second passive rotating shaft 92 to be connected, and an attachment means 94 for attaching the upper arm 70 to the lower trunk holder 30 at an intermediate position in the longitudinal direction.

The upper trunk holder 20 is called a pair of left and right shoulder belts 21 arranged in an inverted U shape near the clavicle and scapula of the wearer 10, and a chest cuff that surrounds the chest and extends diagonally downward from the axilla. It has a chest belt 22 that can be used, and a pair of left and right back belts 23 that extend substantially vertically. One end of the shoulder belt 21 at the chest is fixed to the chest belt 22 with a left-right spacing. The shoulder belt 21 is crossed and held in an X shape by the cross holding member 24 to contact the wearer 10 on the back, and the other ends thereof are held at the fixed position 25 at each end on the back of the chest belt 22. And fixed to each upper end of the back belt 23. The shoulder belts 21 may be provided in parallel on the back without crossing so that the wearer 10 can easily put on and take off.

The chest belt 22 surrounds the upper part of the thorax, and is detachable by being separated and connected by a connecting tool 26 to the left and right in the vicinity of the sternum and the epigastrium as indicated by reference numerals 22L and 22R. The chest belt 22 may be a flat plate-shaped backing plate mechanically. In order not to make the wearer 10 feel uncomfortable and to improve the affinity, the wearer 10 is contacted with a certain amount of elastic force to softly transmit the support force moment, but it is deformed if the spring constant is too small. It is too long to convey the support moment, or it takes too long to convey it. Increasing the affinity means not giving a sense of discomfort to the wearer 10 when the chest belt 22 is worn, and preventing the chest belt 22 from feeling too rigid and stiff. is there.

Further, when the contact area between the chest belt 22 and the wearer 10 is increased, the pressure per unit area due to the support force moment to the wearer 10 decreases, but the area covering the front surface of the wearer 10 increases, so that sweat is sweated. It becomes easier to sweat. The chest belt 22 is configured to balance these functions with comfort.

The chest belts 22L and 22R of the upper trunk holder 20 are symmetrically divided by the connecting tool 26 so that they can be easily worn. On the other hand, the chest belt 22L covers about 1/4 to 3/4 of the upper part of the chest from the attachment position of the first passive rotation shaft 91 on the side of the chest to 1/4 to 1 / of the front part. It covers up to about 2 and 1/4 of the rear part from the attachment position of the first passive rotation shaft 91 on the side to form a part of the cylinder, and the other chest belt 22R is similarly configured. By covering about 1/4 to 3/8 of the front part of the chest with each chest belt 22L and 22R, it is possible to reduce the surface pressure per unit area when assisting in lifting heavy loads that require a particularly large support force moment. While preventing the feeling of pressing from becoming too strong, it prevents the upper trunk holder 20 from becoming difficult to attach due to the covering area being too large. Assist is sometimes called support. The chest belt 22 is made of synthetic resin having a vertical width of 30 to 60 mm and a thickness of 5 mm, for example. The chest belt 22 is provided with a cushioning material for elastic cushioning covered with a mesh-like cover facing the chest. This mesh-like cover ensures breathability when sweating.

The chest belt 22 is made of a synthetic resin having a certain degree of rigidity and flexibility in order to softly transmit the support force moment, and the material in which a cushion material with a mesh is added to this resin material provides wearability and support force. The moment transmission can be increased and the price can be reduced. Since the chest is softer than the thigh 12, the chest belt 22, which is the cuff of the chest, is too stiff at the hardness of the holding piece 43 (FIG. 10), which is the cuff of the thigh 12, and therefore has some degree of rigidity and flexibility. The property is, for example, about 30 to 60 mm in width and about the same rigidity and flexibility as an aluminum plate having a thickness of about 0.5 to 2 mm. The chest belt 22 is a composite resin material having this rigidity and flexibility, which is lighter than the aluminum plate alone and has the same strength, and is made of a composite material of aluminum and synthetic resin or a composite material of carbon fiber and synthetic resin. There may be.

Tanned leather has low elasticity and is tough, but it is still too flexible due to the transmissibility of the supporting force moment, so it is easily deformed. As a result, it becomes difficult to attach the support force moment, and the transmission of the support force moment is delayed. In order to solve this problem, the chest belt 22 of the present invention uses the above-mentioned synthetic resin material having a slightly higher rigidity than the value measured by the conventional leather softness.

The left and right shoulder belts 21 should have a certain amount of space for one finger to enter so that the mass of the support robot device 1 does not act on the shoulders of the wearer 10. Therefore, the shoulder belts 21 have a waist belt 33. , The abdominal belt 34 serves to prevent the abdomen belt 34 from falling when it is displaced downward from the top of the pelvis. The shoulder belt 21 may be omitted.

In another embodiment of the present invention, in order to ensure breathability, to make it easier for the wearer 10 to see where the arm passes, and to make it easier to put on and take off, FIGS. 77 to 79 described later. A sleeveless front opening vest with a mesh as shown is used so as to be attached to the inner or outer surface of the upper trunk holder 20. That is, the shoulder belt 21, the chest belt 22, and the back belt 23 are attached to the mesh vest by, for example, suturing. The vest is configured so that the left and right front bodies (reference marks 703L, 703R in FIG. 77) are connected in front of the wearer with removable connectors 705 and 706 in order to open the front. To. By using the mesh vest together with the upper frame 70, it becomes comfortable to use in the hot summer.

The vest, also called a waistcoat or gilet, has no sleeves, and in each embodiment of the present invention, it may be (1) a short bodice covering the chest, abdomen, and back, and (2) covering the chest and abdomen. It has a structure that covers at least a part or at least a part of the back, or (3) covers the chest, and covers at least a part such as the middle abdomen of the abdomen and at least a part of the back such as the waist.

FIG. 5 is a horizontal sectional view of the lower trunk holder 30, and FIG. 6 is an exploded perspective view of the lower trunk holder 30. The lower trunk holder 30 is connected to a waist belt 33 that surrounds the lower trunk 15 from the rear portion 31 of the back to the side portions 32 near the left and right flanks, for example, about 1/2 circumference, and both ends of the waist belt 33. It has an abdominal belt 34 to be fixed, and the whole is formed in an annular shape. The abdominal belt 34 is detachable by being separated and connected to the left and right by the connecting tool 35 as indicated by reference numerals 34L and 34R in the vicinity of the umbilical region.

A protective device 36 is detachably attached to the lower trunk holder 30 so as to face the lower trunk 15 of the waist belt 33. The protective device 36 is configured by covering a cushioning material 37 for elastic cushioning with a mesh-shaped cover 38, extending along the waist belt 33 in the circumferential direction of the lower trunk 15 and from the waist belt 33. Also has a dimensional shape that extends vertically. The cushion material 37 may be reinforced by covering the core material. The protective device 36 achieves a comfortable wearing feeling at the waist in a state where the waist belt 33 and the abdominal belt 34 are tightened and held so that the lower part of the trunk 15 does not shift from each other. By the presence of the protective device 36 between the waist belt 33 and the waist of the wearer 10, the waist belt 33 and the waist do not come into direct contact with each other, and it is possible to reduce the discomfort when the waist belt 33 is worn. Since neither the waist belt 33 nor the abdominal belt 34 transmits the support force moment itself, a large rigidity is not required. However, since the control box 53 and the battery box 54 described later are attached to the waist belt 33, they are supported. Has a degree of rigidity.

The protective device 36 is in close contact with the waist of the wearer 10 in a wide range, and the waist belt 33 can be securely fixed to the waist. Since the cover 38 has a mesh shape with a large aperture ratio, it has improved breathability, measures against heat, and is comfortable even when sweating. The lower torso holder 30 is placed near the pelvis and therefore rests near the upper part of the laterally protruding iliac crest in the iliac wing of the pelvis, ensuring that it is near the pelvis. It does not get caught and shift downward from the lower part of the trunk 15, and is securely attached to the lower part of the trunk 15. Therefore, the shoulder belt 21 does not press the clavicle and the vicinity of the scapula of the wearer 10, and the work at the time of wearing becomes comfortable.

FIG. 7 is a partial horizontal sectional view showing the mounting means 94a and its vicinity in another embodiment of the present invention, and FIG. 8 is a side view showing the mounting means 94a and its vicinity in a simplified manner. FIG. Is a simplified horizontal sectional view showing a waist belt 33a and a protective device 36a. This embodiment is similar to the above-described embodiment, and the corresponding parts are shown by adding a subscript a to the same number. It should be noted that in the mounting means 94a, the bolt 56 through which the second upper arm piece 72 is inserted is screwed to the side portion 32a of the waist belt 33a in a so-called horizontal shape. The mounting means 94a is made of a rigid material such as metal as well as the upper and lower arms 70, 80 and the like. The protective device 36a is a plate formed in a U shape in a horizontal plane facing the wearer 10 of the waist belt 33a, is fixed by a support piece 57, and is made of an elastic material such as synthetic resin. The wearer 10 has a good affinity when worn. The rear portion 31a of the waist belt 33a is separated to the left and right, and can be adjusted in the left-right direction by the elongated hole of the length adjusting mechanism 58.

FIG. 10 is an exploded perspective view of a part of the length adjusting mechanism 58 as viewed from the rear of the wearer 10. A pair of screw holes 59 are formed in one of the rear portions 31a separated to the left and right of the waist belt 33a at intervals in the left-right direction. In the connecting auxiliary member 27, each elongated hole 28 extending in the left-right direction is formed corresponding to the screw hole 59. The fixing bolt 29 is screwed into the screw hole 59 through the elongated hole 28, and one rear portion 31a and the connecting auxiliary member 27 are fixed in an adjustable manner in the left-right direction. The other rear portion 31a separated to the left and right of the waist belt 33a is also configured symmetrically with the one rear portion 31a, and is fixed to the connecting auxiliary member 27 by a fixing bolt so as to be adjustable in the left-right direction.

FIG. 11 is an exploded perspective view showing the thigh holder 40. Each of the left and right thigh holders 40 has a belt body 41 that can be called a thigh cuff that surrounds the thigh 12 over the entire circumference, and the outer peripheral portion of the belt body 41 from the calf side, which is the outside of the thigh 12, to the front in the circumferential direction. It has a holding piece 43 that extends over a part and is fixed to the belt body 41 by the fixing piece 42.

The belt body 41 is provided with a cushioning material 44 for elastic cushioning, which is covered with a mesh-like cover and faces the thigh 12, so as to face the thigh 12. This mesh-like cover ensures breathability when sweating. The belt body 41 is detachable by being separated and connected to the left and right by a connecting tool 45 on the tibial side, which is the inside of the anterior thigh. The second passive rotation shaft 92 of the thigh 12 is installed on the outside near the center of the thigh 12 in the anteroposterior direction, and the thigh holder 40 is selected at a position as low as possible on the thigh 12 so as not to come into contact with the bent knee.

The belt body 41 and the holding piece 43 are made of a synthetic resin material that is less flexible and more rigid than the chest belt 22 so that the support force moment can be transmitted instantly, and has some flexibility, or also this. By using a material in which a cushioning material with a mesh is added to a resin material, and further by using a material in which a cushioning material with a mesh is added to the aluminum plate in the front part of about 1/4 to 1/2 of the thigh 12. , Wearability and affinity can be improved and the price can be reduced. The rigidity and flexibility of the belt body 41 and the holding piece 43 are about 30 to 60 mm in width and about the same rigidity and flexibility as an aluminum plate having a thickness of about 2 to 5 mm. As a result, the rigidity of the belt body 41 and the holding piece 43 is increased, and a strong supporting force moment can be firmly transmitted to the front part of the thigh 12 when lifting a heavy load. A support force moment for swinging up the swing leg during walking is given to the rear portion of the thigh 12, but since the support force moment during walking is smaller than when lifting the heavy load, so much rigidity is not required.

The belt body 41 does not have to be annular, and may be two front and rear plates of the thigh 12, but in order to increase the contact area with the wearer 10 to some extent, the belt body 41 is curved to approximate the outer shape of the thigh 12. It may be formed on a plate.

The holding piece 43 covers a range extending about 1/4 to 1/2 circumference around the thigh 12, and is made of a synthetic resin having a vertical width of 30 to 60 mm and a thickness of 5 mm, for example. By making the circumference 1/4 to 1/2, the support force moment can be easily transmitted from the lower arm 80 to the thigh 12.

In this embodiment, the holding piece 43 covers the entire front half to the front part of the thigh 12 from the vicinity of the position where the second passive rotation shaft 92 is attached to the outer part of the thigh 12, and forms a part of a cylinder. Since the holding piece 43 covers the front part of the thigh 12 over a wide range, it is possible to reduce the surface pressure per unit area when assisting in lifting a heavy load that requires a particularly large support force moment, and the feeling of pressing becomes too strong. It is possible to prevent the thigh holder 40 from being difficult to attach due to the covering area being too large. Regarding the material hardness of the holding piece 43, in order to transmit the supporting force moment, a resin material that is sufficiently hard as the upper waist, the lower waist, and the upper and lower arms 70 and 80 of the thigh for transmitting the force is used. In the cuff holding piece 43, which is the location of the thigh 12 that comes into contact with the wearer 10, a cushion material 44 having a mesh-like cover is attached to the inside of the cuff holding piece 43 so as to face the thigh 12 and to prevent affinity and sweat.

The connectors 26, 35, and 45 have a configuration that is easy to operate for connecting and disconnecting, and are commercially available as, for example, a plastic buckle, a one-touch connector, and the like.

FIG. 12 is a cross-sectional view showing a part of the assist drive mechanism 3. The drive source 60 has a drive shaft 62 that rotates around an axis 61, and a drive source main body 63 that generates torque on the drive shaft 62 around the axis 61. The drive source main body 63 includes an electric motor 64 realized by, for example, an AC servomotor, and a speed reducer 66 that reduces the rotational speed from the output shaft 65 of the electric motor 64 to the drive shaft 62. The electric motor 64 has a motor body 68 which is a housing thereof, and the motor body 68 has a rotor or the like that applies torque to the output shaft 65 by an electromagnetic force, and the output shaft 65, and therefore around the axis 61 of the drive shaft 62. The angle sensor 67 that detects the angle is housed.

In the speed reducer 66, when the rotation speeds of the output shaft 65 and the drive shaft 62 are N65 and N62, the reduction ratio N62 / N65 is selected to be about 1 to 1/100, preferably 1/50 to 1/100. As a result, since there is little friction and the transmission efficiency is good, the drive source 60 can be lightly rotated without requiring a large force from the wearer 10 side. In this way, the speed reducer 66 and the electric motor 64 can be rotated from the drive shaft 62 side, whereas the electric motor 64 rotates and torque is output from the drive shaft 62 via the speed reducer 66. A so-called back drivable drive system can be realized. A safe device is realized in which the drive source 60 can be moved from the wearer 10 side, and the wearer 10 can move the wearable support robot device 1 by his / her own power even if the drive power supply is exhausted. The speed reducer 66 may be, for example, a wave gear speed reducer, a planetary speed reducer, a cyclo speed reducer, or the like.

In the prior art, by using a clutch at the output end or performing control, even a speed reducer having a large friction becomes back drivable, but there is a problem that back drivability cannot be maintained when the drive power supply is exhausted. In other prior arts, adding a soft rotary spring to the output end makes it back drivable, but it remains soft at all times and instantly assists moments, and thus when assisting forces are needed, the forces due to the assisting moments. There is a problem that it cannot be communicated immediately. The present invention solves these problems of the prior art.

The upper arm 70 is configured by connecting the upper and lower first and second upper arm pieces 71 and 72 via a third passive rotation shaft 73 that is angularly displaced around an axis in the front-rear direction. The upper end of the first upper arm piece 71 is connected to the trunk upper holder 20 via the first passive rotation shaft 91. The lower end of the second upper arm piece 72 is fixed to the drive shaft 62.

The second upper arm piece 72, which is in the middle position in the longitudinal direction of the upper arm 70, is not displaced relative to the side portion 32 of the waist belt 33 in the lower trunk holder 30 by the attachment means 94 at least in the front-rear direction. , Connected, fixed and attached. The mounting means 94 is a passive rotating shaft 96 having a belt mounting bracket 95 having elongated mounting holes 93 formed in the vertical direction and a vertical axis interposed between the second upper arm piece 72 and the belt mounting bracket 95. And a mounting piece 97 made of a U-shaped belt in a horizontal plane inserted through the mounting hole 93. Both free ends of the mounting piece 97 are fixed to the side 32 of the waist belt 33 in the vicinity of the belt mounting bracket 95 by being adhered or sewn. Therefore, the longitudinal directions of the second upper arm piece 72 extending vertically and the side portion 32 extending in the front-rear direction of the waist belt 33 are arranged 90 degrees around the virtual axis 61a parallel to the axis 61 of the drive shaft 62. Then, the second upper arm piece 72 and the side portion 32 of the waist belt 33 are attached.

The upper arm 70 functions to efficiently transmit the drive torque due to the rotation of the drive source 60 to the trunk upper holder 20. The lower arm 80 functions to efficiently transmit the drive torque due to the rotation of the drive source 60 to the thigh holder 40. The waist belt 33 and the abdominal belt 34 act as a secondary function in order to efficiently transmit the drive torque due to the rotation of the drive source 60 to the trunk upper holder 20 and the thigh holder 40, and the drive source 60 is displaced. This prevents the drive shaft 62 from tilting in the left-right direction or in the front-rear direction. The waist belt 33 and the abdominal belt 34 also serve to align the axis 61 of the drive shaft 62 with the straight line passing through the center of the hip joint of the wearer 10 as much as possible so as not to shift. By doing so, it is possible to prevent the positions of the upper trunk holder 20 and the thigh holder 40 from being displaced up and down. The wearer performs the walking, lifting, lifting, and mid-waist movements in an upright posture without bending the hips by the facet joints. The hip belt 33 is placed and fixed on the hip bone, that is, the axis 61 of the drive shaft 62 is securely hooked near the upper part of the laterally protruding iliac crest in the iliac wing of the pelvis. However, the length of the lower arm 80 is selected so as to coincide with the straight line passing through the center of the hip joint of the wearer 10. Therefore, the lower trunk holder 30 does not shift downward from the lower trunk and is securely attached to the lower trunk.

The relative positions of the upper trunk holder 20 and the trunk 11 in the posture in which the trunk 11 is upright will shift when the wearer 10 is in the posture in which the waist is bent, and the intervertebral space of the trunk 11 The position of the bending center by the joint and the position of the straight line at the center of the hip joint deviate from each other. When the drive source 60 rotates, the position of the axis 61 of the drive shaft 62 moves up and down with respect to the trunk 11, so that the lower trunk holder 30 including the waist belt 33 moves the trunk of the drive source 60. Restore the position relative to 11. Therefore, it automatically returns to the wearing state in which the support force moment is efficiently given to the trunk 11.

The length of the upper arm 70 is determined by the dimensions of the wearer 10, and is mechanically selected as long as possible. The first passive rotation axis 91 is selected near the lower part of the axilla at a position as high as possible without axillary contact. The chest belt 21 is located in a less fat or muscular area where the support moment can be easily transmitted without compressing the thorax in the sternum or above the sternum and below the clavicle. , The size and shape of the back belt 23 and the like are selected.

FIG. 13 is a cross-sectional view of the third passive rotating shaft 73 as viewed from the outside of the wearer 10. Fork-shaped projecting pieces 75 and 76 are fitted into each other at the lower end of the first upper arm piece 71 and the upper end of the second upper arm piece 72, and the angle is freely displaced around the hinge pin 77 via the oil-free bush 76. It is supported by. The hinge pin 77 has an axis in the front-rear direction of the wearer 10, and is prevented from coming off by a retaining head 87 and a retaining ring 88 in the axial direction, and further by a set screw 89 that is locked to the side of the hinge pin 77. Will be done. Therefore, the upper arm 70 is angularly displaced around the axis in the anterior-posterior direction by the third passive rotation axis 73, and the trunk 11 is tilted and bent in the left-right direction by the action of the facet joints by the vertebrae including the lumbar spine. Therefore, the support force moment can be smoothly applied according to the posture of the wearer 10. The fourth passive rotation shaft 83 has a configuration similar to that of the third passive rotation shaft 73.

The lower arm 80 is configured by connecting the upper and lower first and second lower arm pieces 81 and 82 via a fourth passive rotation shaft 83 that is angularly displaced around an axis in the front-rear direction. The lower end of the first lower arm piece 81 is connected to the thigh holder 40 via the second passive rotation shaft 92. The upper end of the first lower arm piece 81 is fixed to the motor body 68 of the drive source body 63. The fourth passive rotation shaft 83 has a configuration similar to that of the third passive rotation shaft 73 of FIG. Therefore, since the lower arm 80 can be angularly displaced around the axis in the anteroposterior direction by the fourth passive rotation axis 83, the lower limbs can be abducted and the legs can be smoothly opened by the action of the hip joint. The support force moment can be smoothly applied according to the posture of the person's open legs.

With reference to FIG. 11 again, the second passive rotating shaft 92 has a bearing hole 98 formed at the lower end of the second lower arm piece 82, and an axial line in the left-right direction erected outward on the holding piece 43. A pin 99 having the pin 99 is inserted and configured. The pin 99 has a retaining head for the second lower arm piece 82. The first passive rotation shaft 91 also has a configuration similar to that of the second passive rotation shaft 92.

The position of the thigh holder 40 is not the original position when the trunk 11 is tilted back and forth, left and right, and the legs are opened left and right by the first to fourth passive rotation axes 91, 92; 73, 83. Since the movement of the wearer 10 is not restricted and the wearer 10 does not separate from the body, the length adjusting mechanism between the drive source 60 and the thigh holder 40 becomes unnecessary, and the weight and cost can be reduced. That is, when the trunk 11 is tilted back and forth, the trunk upper holder 20 is driven by the first passive rotation shaft 91 arranged at the attachment position of the chest belt 22, and when the trunk 11 is tilted left and right, it is a drive source. The operation of the trunk 11 is not hindered by the third passive rotating shaft 73 arranged above the 60. When the legs are opened to the left and right, the fourth passive rotation shaft 83 is arranged below the drive source 60, and when the thigh 12 is swung back and forth, the second passive rotation shaft is arranged at the attachment position of the thigh holder 40. The 92 does not interfere with the movement of the trunk 11.

With reference to FIG. 6, the rear portion 31 of the waist belt 33 is provided with a mounting member 50 having a substantially L-shaped vertical cross section. The mounting member 50 has a vertical mounting piece 51 that is fixed to the rear portion 31 and another diagonal mounting piece 52 that is connected to the mounting piece 51 and is inclined downward toward the rear. A control box 53 for accommodating the drive control means 100 for the drive source 60 is fixed to the vertical mounting piece 51. A battery box 54 that supplies electric power to the drive source 60, the drive control means 100, and the like is fixed to the oblique mounting piece 52. Since the oblique mounting piece 52 is inclined as described above and does not protrude significantly downward, it does not hinder the wearer 10 when sitting on a chair or the like.

FIG. 14 is a simplified vertical cross-sectional view of the control box 53 as viewed from the rear of the wearer 10. A wiring board 101, which is a so-called microcomputer board of the drive control means 100, is fixed to the control box 53, and the wiring board 101 has a processing circuit 113 for drive control realized by a microcomputer and a processing circuit 113. An acceleration / angular velocity sensor 103 or the like to be connected is mounted and fixed. The acceleration / angular velocity sensor 103 detects three-dimensional acceleration of the waist of the trunk 11 of the wearer 10, that is, acceleration α1 in the vertical direction, acceleration α2 in the front-rear direction, and acceleration α3 in the left-right direction, respectively. The acceleration / angular velocity sensor 103 may have a configuration in which the moving distance of a movable body supported by a spring is detected by a change in an electric signal such as a capacitance or a piezo effect in order to detect acceleration, and a gyro may also be used. Including. The acceleration / angular velocity sensor 103 also detects the angular velocity ω1 around the vertical axis of the thigh waist, the angular velocity ω2 around the anteroposterior axis, and the angular velocity ω3 around the horizontal axis in the trunk 11 of the wearer 10.

The acceleration / angular velocity sensor 10 may be a sensor that detects a change in capacitance between a movable portion that is one electrode of the sensor element and a fixed portion that is the other electrode, and determines the mass of the sensor element. It may be a sensor or the like that detects a change in strain of the spring portion by a piezo resistance element attached to a spring portion that connects the movable portion and the fixed portion.

In another embodiment of the present invention, instead of mounting the upper arm 70 at an intermediate position in the longitudinal direction, the mounting means 94 is attached to the lower trunk holder 30, a drive shaft 62, a drive source body 63 such as a motor body 68, and the like. Alternatively, any one of the first or second lower arm pieces 81 and 82, which is an intermediate position in the longitudinal direction of the lower arm 80, may be attached so as not to be relatively displaced in the front-rear direction at least.

In another embodiment of the present invention, the upper arm 70 and the lower arm 80 are made rigid so as not to bend, and one of the lower end portion of the upper arm 70 and the upper end portion of the lower arm 80 is a drive shaft 62 or a drive source main body 63. One is connected by a passive rotating shaft consisting of hinge pins perpendicular to the axis of the drive shaft 62, and the other of the lower end of the upper arm 70 or the upper end of the lower arm 80 is attached to the other of the drive shaft 62 or the drive source body 63. It may be connected by a passive rotating shaft consisting of another hinge pin perpendicular to the axis of the drive shaft 62. These hinge pins have an axial axis in the anteroposterior direction. As a result, the passive rotation shafts 73 and 83 around the axis in the front-rear direction at the intermediate positions of the upper arm 70 and the lower arm 80 in the longitudinal direction may be omitted. In yet another embodiment of the embodiment, the upper arm 70 and the lower arm 80 are formed into flat plates along the trunk 11 and the thigh 12, and the supporting force moment is transmitted with rigidity that does not bend around the axis in the left-right direction, and the axis in the anteroposterior direction. The structure may be flexible around the circumference, and the passive rotation shafts 73 and 83 around the axis in the front-rear direction may be omitted.

In yet another embodiment of the present invention, the first and second passive rotating shafts 91, 92 may be realized by spherical bearings. In this embodiment, the third and fourth passive rotation shafts 73 and 83 are provided at intermediate positions in the longitudinal direction of the upper arm 70 and the lower arm 80.

FIG. 15 is a cross-sectional view of a part of the glove device 190L worn on the left hand 16L of the wearer 10. Object sensors 191 and 192 are provided on the outer surface of the glove of the glove device 190. The object sensors 191 and 192 may be configured to detect contact with an object to be lifted or lifted, for example, and may be configured as a touch switch. For example, the change in capacitance due to contact with the object may be detected. It may be configured to detect and detect the displacement of the magnetic piece against the spring force due to the pressed pressure, or to perform the detection operation by turning the contact ON / OFF with a certain load and stroke. In another embodiment of the present invention, the object sensors 191 and 192 are realized by a configuration such as a strain sensor that outputs an electric signal indicating the mass of an object that the wearer 10 lifts and lowers. May be good.

FIG. 16 is a plan view showing the skeleton of the left hand 16L provided with the object sensors 191 and 192 as viewed from the back of the hand. The object sensor 191 is placed on the palm inside the vicinity of the distal phalanx 195 of the thumb. Another object sensor 192 is placed on the palm near the metacarpophalangeal joint 196, which is the base of the thumb. In another embodiment of the present invention, the object sensor 193 is placed on the glove device 190 in the palm of the hand near the distal phalanx 197 of the index finger. In yet another embodiment of the present invention, the object sensor 194 is placed on the glove device 190 in the palm of the hand near the proximal phalanx 198 of the index finger. These object sensors 191 to 194 may be provided only on the one-handed glove device 190, or may be provided on each glove of both the left and right hands, depending on the handling of the object.

These object sensors 191 to 194 may be attached to the inside of the glove device 190, and instead of being provided on the glove device 190, they may be attached to the wearer 10's hand with adhesive tape or the like, or a finger cot. It may be provided on a cap-shaped body such as.

The drive torque output by the drive shaft 62 of the drive source 60 and the angle θ detected by the angle sensor 67 will be described later in relation to FIG. 32. In FIGS. 1 and 2, when the wearer 10 is upright, the longitudinal direction of the upper arm 70 passing through the axis 61 of the drive shaft 62 and the first passive rotation shaft 91, and the axes 61 and the th of the drive shaft 62. 2 The longitudinal direction of the lower arm 80 passing through the passive rotation shaft 92 is vertical. The longitudinal direction of the lower arm 80 forms an angle θ with the vertical line. In order to walk forward, the direction in which the wearer 10 swings up and bends the thigh 12 of the swing leg is positive, and the direction in which the thigh 12 of the support leg on which the foot is landing is extended is negative. The axis 61 of the drive shaft 62 is on a straight line in the left-right direction passing through the center 17 (FIG. 1) of the femoral head as the acetabulum, which is fitted into the acetabulum at the left and right hip joints of the wearer 10. The drive torque of the drive source 60 output around the straight line, that is, the support force moment for the wearer 10, is given to the wearer 10 with high drive transmission efficiency, and the walking support is provided. , Lifting support, lifting brake support, mid-waist support, etc. are smoothly achieved.

The pair of left and right drive sources 60 has a drive shaft 62 having an axis in the straight line with respect to the hip joint, so that the axis of the drive shaft 62 is the lumbar joint, i.e. the vertebra, in work such as lifting, lifting brakes, mid-waist and the like. It is deviated from the position of the hip joint. However, since the axis of the drive shaft 62 is separated from the chest belt 22 of the wearer 10 and the thigh holder 40, which are the points of action (force points), by a sufficient distance, the drive torque from the drive shaft 62 is applied to the trunk. It can be sufficiently transmitted to 11 as a support force moment without any trouble.

Further, as will be described later, a plurality (for example, 2) of the lower trunk protective devices 30a and 30b forming a pair of the waist belt and the abdominal belt are provided at intervals in the vertical direction, and the trunk 11 and the drive source 60 are displaced from each other. Surely prevent.

FIG. 17 is a skeleton diagram for explaining the walking support operation of the wearer 10. The drive source 60 outputs a drive torque T between the upper arm 70 and the lower arm 80. As a result, the drive torque T from the drive source 60L on the swing leg side is the thigh of the thigh 12L around the axis 61 of the drive source 60 arranged on the left and right outer sides of the center 17 of the hip joint of the wearer 10 during walking support. The swinging force moment T1 acts in the direction of swinging up the thigh 12L by being transmitted to the holder 40L. The drive source 60L on the swing leg side transmits a reaction force moment T3 for supporting the thigh 12L of the swing leg that is swung up while maintaining the posture of the trunk from the trunk upper holder 20.

FIG. 18 is a side view seen from the swing leg side showing a state in which the wearer 10 is assisted in walking. The drive source 60L gives a swinging force moment T1 to the thigh 12L.

For walking support, as shown in FIG. 15, the drive torque T from the drive source 60R on the support leg side is transmitted to the thigh holder 40R of the thigh 12R, and the support force moment T2 is transmitted in the direction of supporting the thigh 12R. It works. The drive source 60R on the support leg side transmits a reaction force moment T4 for supporting the thigh 12R of the support leg on which the foot is landing while maintaining the posture of the trunk from the trunk upper holder 20.

FIG. 19 is a skeleton diagram for explaining the lifting support operation of the wearer 10. When the wearer 10 grabs the object with his / her hand 16 and tries to lift it, the drive torques T5 and T6 from the drive sources 60L and 60R are transmitted to the thigh holders 40L and 40R of the thighs 12L and 12R to support the thighs 12L and 12R. Lifting force moments T7 and T8 act in the direction of movement. The drive sources 60L and 60R provide reaction force moments T9 and T10 for maintaining the posture of the trunk and supporting the thighs 12L and 12R from the trunk upper holder 20. The moments given to both the left and right legs are not only the lifting force moments T7 and T8 for lifting support, but also the lifting braking force moments for lifting brake support.

FIG. 20 is a skeleton diagram for explaining the mid-waist support operation of the wearer 10. In the mid-waist state, the trunk 11 is upright and the thigh 12 is angularly displaced forward from the vertical. The processing circuit 113 continues to have a state in which the relative angle θ between the trunk 11 and each of the left and right thighs 12 detected by the left and right angle sensors 67 is decreasing, so that a predetermined time, for example, 3 seconds As described above, the mid-waist state is detected by bending at a predetermined angle, for example, 10 ° or more.

The mid-waist support force moment for mid-waist support and the stand-up support force moment for stand-up support are also the same as the lifting force moments T7 and T8 in FIG.

FIG. 21 is a simplified front view showing a state in which the trunk 11 is tilted to the left and right. Since the third passive rotation shaft 73 interposed in the middle position in the longitudinal direction of the upper arm 70 can be angularly displaced around the axis in the anterior-posterior direction, the trunk 11 is moved to 78 and 79 in the left-right direction by the action of the facet joints. Can be tilted and bent. Therefore, the support force moment can be smoothly applied according to the posture of the wearer.

FIG. 22 is a simplified front view showing a state in which the lower limbs are abducted and the legs are opened. Since the fourth passive rotation shaft 83 interposed in the middle position in the longitudinal direction of the lower arm 80 can be angularly displaced around the axis in the anteroposterior direction, the lower limbs are abducted and the legs are opened in the direction 84 by the action of the hip joint. Can be performed smoothly, and vice versa. Therefore, the support force moment can be smoothly applied according to the posture of the wearer 10 with the open legs.

FIG. 23 is a simplified skeleton diagram showing a state in which the trunk 11 is rotated. When the trunk 11 is twisted around its upright long axis in the rotation direction 85, the trunk lower holder 30 provided with the drive source 60 is angularly displaced in the rotation directions 85a and 85b together with the trunk 11. At this time, the thigh 12 of the lower limb is also angularly displaced in the rotational direction 85c. The drive source 60 is arranged on the left and right sides of the trunk 11, and the drive source 60 is provided with upper and lower arms 70 and 80 having rigidity that does not cause angular displacement around the long axis of the trunk 11, and the upper and lower arms 70 and 80 are provided with the upper and lower arms 70 and 80. Since it is connected to the upper trunk holder 20 and the thigh holder 40, even if the wearer 10 rotates, the trunk 11 still has the upper trunk holder 20, the lower trunk holder 30, and the thigh holder. It does not displace relative to 40 and the like, and no misalignment occurs. Therefore, since the support robot device 1 does not constrain the movement of the wearer 10 and does not separate from the body, no additional configuration for preventing the relative position change between the trunk 11 and the drive source 60 is required. Therefore, the configuration can be simplified. In the trunk upper holder 20, the role of preventing the displacement from the rotating trunk 11 is particularly the chest belt 22, and the shoulder belt 21 and the back belt 23 as secondary.

FIG. 24 is a front view showing a state in which the wearable support robot device 201, which is another embodiment of the present invention, is mounted on the wearer 10, and FIG. 25 is a side view showing a state in which the wearable support robot device 201 is mounted. Is. This embodiment is similar to the above-described embodiment, and the same reference numerals in the same and 200 series are added to the corresponding parts, and the description thereof will be omitted. It should be noted that in this embodiment, the lower trunk protector 230 is located at the position of the drive source 60, with the lower waist belt 233 surrounding the hip bones of the pelvis of the lower trunk 15 on the back and both ends of the lower waist belt 233. It has a lower abdominal belt 234 connected to the above, and the whole is formed in an annular shape. The lower abdominal belt 234 is detachable by being separated and connected to the left and right by a connecting tool 235 below the navel. The lower waist belt 233 is attached to the lower waist belt 233 by being connected to and fixed to the second upper arm piece 272 by the attachment means 294 (FIG. 8). The lower waist belt 233 is caught in the buttocks of the wearer 10 and does not shift downward. In this way, the drive source 60 is less likely to be misaligned with the trunk 11. In the above-described configuration in which the lower waist belt 233 and the lower abdomen belt 234 are provided, the waist belt 33 and the abdominal belt 34 may be omitted in another embodiment of the present invention. Other configurations and operations are the same as in the above-described embodiment.

FIG. 26 is a front view showing a state in which the wearable support robot device 301, which is another embodiment of the present invention, is mounted on the wearer 10, and FIG. 27 is a side view showing a state in which the wearable support robot device 301 is mounted. Is. This embodiment is similar to the above-described embodiments of FIGS. 24 and 25, and the same reference numerals in the same and 300 series are added to the corresponding parts, and the description thereof will be omitted. It should be noted that in this embodiment, the fifth passive rotating shaft 374, which is angularly displaced around the axis in the front-rear direction, is interposed in the second upper arm piece 72 at a position closer to the drive source 60. As a result, the trunk 11 can be tilted and bent in the left-right direction by the action of the facet joints, and the support force moment can be smoothly applied according to the posture of the wearer 10.

FIG. 28 is a front view showing a state in which the wearable support robot device 401, which is another embodiment of the present invention, is mounted on the wearer 10, and FIG. 29 is a side view showing a state in which the wearable support robot device 401 is mounted. 30 is an enlarged side view of the vicinity of the drive source 60. This embodiment is similar to the above-described embodiment of FIGS. 1 to 25, and the same reference numerals in the same and 400 series are added to the corresponding parts, and the description thereof will be omitted. FIG. 30A is an enlarged front view of the vicinity of the drive source 60 as viewed from the front, FIG. 30B is an enlarged rear view of the vicinity of the drive source 60 as viewed from behind, and FIG. 30C is an enlarged plan view of the vicinity of the drive source 60. It should be noted that in the assist drive mechanism 403 of this embodiment, the upper arm 470 has the first upper arm piece 471 and the second upper arm piece 472 at positions closer to the drive source 60 and around the axis in the front-rear direction. It is connected by a sixth passive rotating shaft 473 that can be angularly displaced. The lower end of the second upper arm piece 472 is fixed to the drive shaft 62 of the drive source 60, and the lower end of the support arm 455 is fixed to the drive shaft 62. The upper end of the support arm 455 is connected and fixed to the side 432b of the waist belt 433 by the attachment means 494b, so that the upper arm 470 is attached to the waist belt 433. The attachment means 494b is vertical and has a configuration similar to that of the attachment means 94a in FIG. 7 described above. The waist belt 433 is attached to the mounting means 94a, and the waist belt 433 is made of a rigid material such as metal like the upper and lower arms 70 and 80, and is formed in a U shape in a horizontal plane, and the above-mentioned abdominal belt 34 is fixed. Will be done. The lower waist belt 233 is provided with an adjusting mechanism 458 for adjusting the length surrounding the waist, as in the above-described embodiment.

FIG. 30D is an enlarged side view of the vicinity of the drive source 60 showing a state in which the wearable support robot device 401a, which is another embodiment of the present invention, is mounted on the wearer 10. FIG. 30D is similar to the embodiment of FIGS. 28-30C. The upper end of the support arm 455 is connected and fixed to the side portion 432b of the waist belt 430b by the attachment means 494b, and the control box 53 is attached to the rear portion 431b of the waist belt 430b. The waist belt 430b is not provided with the abdominal belt 34 of FIG.

FIG. 31 is an electric circuit diagram showing the electrical configuration of the support robot device 1. The control devices included in the support robot device 1 include a control box 53, motor driver units 120L and 120R having a similar configuration on the left and right, a handy terminal device 150, a battery box 54, and gloves having a similar configuration on the left and right. It is configured to include the devices 190L and 190R.

The handy terminal device 150 is a portable type and is held and operated by both the left and right hands of the wearer 10. The handy terminal device 150 is a communication device capable of transmitting and receiving, which is realized by, for example, a smartphone. The handy terminal device 150 may be provided only on one of the wearer's left hand or right hand.

The control box 53 includes a first wireless communication unit 111, a second wireless communication unit 112, a processing circuit 113, and a power supply control unit 114. The first wireless communication unit 111 is configured to be able to communicate with the glove device 190 by wireless communication, and relays information between the handy terminal device 150, the glove device 190, and the processing circuit 113. The second wireless communication unit 112 is configured to be able to communicate with the handy terminal device 150 by wireless communication, and transmits / receives information between the handy terminal device 150 and the processing circuit 113. The processing circuit 113 is configured to communicate with each motor driver unit 120 by wire communication. The power supply control unit 114 controls the battery box 54. The power supply control unit 114 is realized by a microcomputer.

Each of the left and right motor driver units 120 includes a right motor driver 122 that controls a power assist electric motor 64 mounted on the left side and the right side of the wearer 10, respectively. Each motor driver 121 communicates with the processing circuit 113 by wired communication, receives a command such as an output torque command required for assist from the processing circuit 113, and rotates the drive shaft 62 from the angle sensor 67 of the motor 64. Information such as position information representing the above is sent to the processing circuit 113. The output of the acceleration / angular velocity sensor 103 is given to the processing circuit 113. A memory 117 for storing information related to transmission / reception, a counter 118 for counting, a timer 119 for timing, and the like are connected to the processing circuit 113.

The glove device 190 includes a wireless communication unit 186, a battery 187, and object sensors 191 and 192. The battery 187 is a rechargeable storage battery and supplies electric power to the wireless communication unit 186 and the object sensors 191 and 192. The wireless communication unit 186 sends the state of the object sensors 191 and 192, that is, the detection result detected by the object sensors 191 and 192 to the processing circuit 113 via the first wireless communication unit 111. In another embodiment of the present invention, the glove device 190 is provided with an object sensor 193 or 194 instead of the object sensors 191 and 192. The object sensors 191 to 194 detect the presence or absence of a load acting on the palm side portion of the finger of the glove worn by the wearer 10, and further detect the value of the load.

The handy terminal device 150 is used to set parameters necessary for the operation of the support robot device 1. The battery box 54 includes a battery 46. The battery box 54 supplies electric power from the battery 46 to the control box 53 and each motor driver unit 120.

The processing circuit 113 uses information such as the object sensors 191 to 194 and the acceleration / angular velocity sensor 103 given by the first wireless communication unit 111 and the position information of the electric motor 64 given by the angle sensor 67 of each motor driver 121. Based on this, the drive torque required for assist is calculated, and an output torque command is sent to each motor driver 121.

In the present embodiment, as shown in FIG. 30, the control box 53 includes a first wireless communication unit 111 that communicates with the glove device 190 and a second wireless communication unit 112 that communicates with the handy terminal device 150. As a result, the communication speed is improved and parallel processing can be performed.

FIG. 32 is a diagram for explaining the drive torque output by the drive shaft 62 of the drive source 60. The angle sensor 67 detects the angle θ. The angle sensor 67 detects the relative angle between the trunk 11 and each of the left and right thighs 12. The angle sensor 67 is provided inside the drive source 60 and detects the angle of the drive shaft 62 corresponding to the output shaft 65 of the electric motor 64 of the drive source 60. The angle sensor 67 is for measuring a relative angle. When the wearer 10 wears the support robot device 1 and stands upright, and the power is turned on in an upright state with the trunk 11 and the thighs 12 which are the lower limbs vertical, the origin position of the angle sensor 67, that is, the angle θ becomes zero. It is decided to. When the angle θ is set to zero in this upright position, and then the thigh 12 is kept vertical and the trunk 11 is in a forward leaning posture, the drive shaft 62 is tilted forward from the direction directly above the vertical axis 61. The angle θ of the plumb bob is detected. Further, when the thigh 12 of the swing leg is swung up while walking with the trunk 11 kept vertical, the angle θ with respect to the vertical direction around the axis 61 of the drive shaft 62 is detected.

In one embodiment of the present invention, the drive torque T of the drive source 60, and therefore the support force moment, may be a predetermined value common to each support operation, or may be a predetermined value for each support operation. Good. These predetermined parameters can be set using the handy terminal device 150.

In another embodiment of the present invention, the mass of the lower limbs is m [kg], the length of the lower arm 80 from the axis 61 of the drive shaft 62 to the second passive rotation shaft 92 is L [m], and the gravitational acceleration is g. Then, the drive torque T [Nm] required to operate the lower limbs of the mass m is calculated by the following formula (Equation 1).
T = L ・ m ・ g ・ sin θ… (1)
Can be calculated by.

L and m are proportional constants and are fixed values determined by the wearer 10. The processing circuit 113 calculates the drive torque T, and therefore the support force moment, by setting these values as parameters in advance. The parameters can be set using the handy terminal device 150 and are stored in memory 118.

As described above, the wearable support robot device 1 calculates the drive torque T required to move the wearer 10 in various working postures by mechanically analyzing the drive torque T from the angle θ detected by the angle sensor 67. Therefore, it is possible to eliminate the trouble of wearing the surface myoelectric potential sensor without using a weak surface myoelectric potential signal that flows through the muscle when trying to move the muscle.

Further, since the support robot device 1 dynamically calculates the drive torque T instead of the preset operation pattern reproduction method, the support robot device 1 does not become discontinuous when the operation of the wearer 10 is switched.

Here, the parameters set by using the handy terminal device 150 are shown in Table 1 below. Parameters No. "01" to "07" are walking control parameters on the swing leg side, and parameters No. "11" to "13" are walking control parameters on the support leg side. The swing leg is the leg that is not on the ground, and the support leg is the leg that is on the ground. The walking control parameter is a parameter for assisting the walking motion.

Parameters No. "21" to "25" are upper body control parameters. The upper body control parameter is a parameter for assisting the movement of the upper body. Parameters No. "31" to "35" are mid-waist control parameters. The mid-waist control parameter is a parameter for assisting the movement of the mid-waist. Parameters No. "41" to "45" are teaching parameters. The handy terminal device 150 has a storage area for storing these parameters. s and sec indicate seconds. The initial values in Table 1 are initial setting values, which can be then changed and reset by the user by the handy terminal device 150. The range of values (unit:%) is the maximum support force moment that the motor 64 can output, that is, the ratio with the assist force as 100%.

With respect to the parameters set using the handy terminal device 150, in another embodiment of the present invention, the parameters set using the handy terminal device 150 are shown in Table 2 below. Parameter No. "01" is a walking control parameter on the swing leg side, and parameter No. "02" is a walking control parameter on the supporting leg side. The swing leg is the leg that is not on the ground, and the support leg is the leg that is on the ground. The walking control parameter is a parameter for assisting the walking motion.

The parameters No. "03" and "04" are upper body control parameters. The upper body control parameters are parameters for lifting assist control and lifting assist control for assisting the movement of the upper body. Parameter No. “05” is a mid-waist control parameter. The mid-waist control parameter is a parameter for assisting the movement of the mid-waist. The handy terminal device 150 has a storage area for storing these parameters. The initial setting value is set by the program, and then the user can change and set it again by the handy terminal device 150.

FIG. 33 is a flowchart showing a processing procedure of the assist suit control processing executed by the processing circuit 113 of the assisting robot device 1. The assist suit control process is composed of four processes: power supply activation sequence process, parameter rewrite sequence process, posture information input sequence process, and hip joint control sequence process. When the power of the processing circuit 113 is turned on, the supply of electric power to the components other than the power assist electric motor 64 is started, and the processing circuit 113 becomes operable, the process proceeds to step A11.

In step A11, the processing circuit 113 executes the power supply activation sequence processing. The processing circuit 113 waits for the completion of reception of the parameters required for assist transmitted from the handy terminal device 150. After the reception of the parameters required for assist is completed, the processing circuit 113 initializes the rotation angle θ of each thigh 12 by the left and right angle sensors 67 in the upright state in which the wearer 10 is upright, and is used for power assist. Turn on the power for the electric motor 64.

In the embodiment in which the parameters required for assist have already been received, the wearer uses the received parameters after a predetermined fixed time (for example, 3 seconds) elapses without waiting for transmission from the handy terminal device 150. The rotation angle of each thigh 12 is initialized in the upright state, and the power for the power assist electric motor 64 is turned on. This makes it possible to start the power supply without the handy terminal device 150.

In step A12, the processing circuit 113 executes the parameter rewriting sequence processing. The parameters required for assist are appropriately sent from the handy terminal device 150 owned by the wearer. In the assist suit control process, the parameter rewrite sequence process is performed in the main loop so that the update of this parameter can be executed at all times. The main loop is a loop of processing procedures formed by steps A12 to A14.

In step A13, the processing circuit 113 executes the posture information input sequence processing. The posture information input sequence process is a process of acquiring data related to the posture of the wearer 10.

In step A14, the processing circuit 113 executes assist control processing such as a hip joint control sequence, and returns to step A12. The assist control process is a process of calculating and outputting the assist torque required for driving by the power assist electric motor 64 for each of the walking motion, the upper body motion, and the mid-waist motion based on the data acquired in step A13. is there.

The processing circuit 113 executes the main loop at intervals of 20 msec, and the support robot device 1 realizes smooth assistance to the wearer. The processing circuit 113 determines the wearer's operation within a few seconds before starting the assist, and outputs the assist torque after the determination. The assist robot device 1 is intended to assist a healthy person, and there is no practical problem even if there is no assist for several seconds at the start of the operation.

FIG. 34 is a flowchart showing a processing procedure of posture information input sequence processing by the processing circuit 113. When step A13 shown in FIG. 32 is executed, the processing circuit 113 shifts to step C11.

In step C11, the processing circuit 113 receives and reads the output from the acceleration / angular velocity sensor 103.

In step C12, the processing circuit 113 reads the detection angle θ of each angle sensor 67, which is a motor encoder, and the output of the acceleration / angular velocity sensor 103. The processing circuit 113 determines the rotation angle of the drive shaft 62 corresponding to the output shaft 65 of the power assist electric motor 64, that is, the hip joint angle from the angle sensor 67 included in the power assist electric motor 64 via each motor driver 121. And read. In step C13, the processing circuit 113 calculates the hip joint angular velocity, that is, the angular velocity ω of the rotation angle of the drive shaft 62 by the power assist electric motor 64, and ends the posture information input sequence processing.

FIG. 35 is a flowchart showing a processing procedure of the assist control processing by the processing circuit 113. When the assist control step A14 shown in FIG. 33 is executed, the processing circuit 113 shifts to steps D11, D13, and D15. As shown in FIG. 35, the processing circuit 113 determines each operation of walking, lifting, lifting, and middle waist, and executes any of the assist control of walking, lifting, lifting, and middle waist. Steps D11 and D12 are processes for walking motion. Steps D13 and D14 are processes for lifting and lowering the upper body movement. Steps D15 and D16 are processes for the mid-waist movement. The processing for walking movement, the processing for upper body movement, and the processing for mid-waist movement are processed in parallel.

In step D11, the processing circuit 113 makes a walking determination. The processing circuit 113 determines whether or not the walking motion is performed in response to the detection angle θ by the angle sensor 67 and the output of the acceleration / angular velocity sensor 103. In step D12, the processing circuit 113 performs walking assist control. The processing circuit 113 calculates the assist torque of the swing leg and the assist torque of the support leg for assisting the walking motion based on the angle θ and the acceleration / angular velocity sensor 103 that change from moment to moment during the walking motion. ..

In step D13, the processing circuit 113 makes an upper body determination. The processing circuit 113 determines whether or not the upper body is operating in response to the detection angle θ of the angle sensor 67 and the output of the acceleration / angular velocity sensor 103. The upper body movement is the movement of bending the upper body and then raising the upper body for lifting and lowering. In step D14, the processing circuit 113 controls the upper body. The processing circuit 113 calculates the assist torque for the lifting assist control and the lifting assist control for assisting the upper body movement when the upper body movement is being performed. The processing circuit 113 calculates, for example, an assist torque proportional to the angle θ required for both legs.

In step D15, the processing circuit 113 makes a mid-waist determination. The processing circuit 113 determines whether or not the mid-waist assist operation is performed in response to the detection angle θ of the angle sensor 67 and the output of the acceleration / angular velocity sensor 103. The mid-waist assist operation is an operation in the mid-waist posture. In step D16, the processing circuit 113 performs mid-waist assist control. The processing circuit 113 calculates the assist torque for assisting the mid-waist operation when the mid-waist assist operation is being performed. The processing circuit 113 calculates the assist torque required for both legs, for example, proportional to the angle θ required for both legs. Steps D11 to D16 are steps for performing a calculation calculation operation.

In step D17, the processing circuit 113 adjusts each assist control output without duplication according to the determinations of steps D11, D13, and D15 with respect to the walking assist control, the upper body assist control, and the middle waist assist control, and the preset priority is set. The determination is made according to the order, and in the drive step D18, the processing circuit 113 controls each motor driver 121 so as to output the calculated assist torque according to the priority order, and drives the electric motor 64 for power assist. , Ends the assist control sequence processing.

In the processing circuit 113 of the present embodiment, the lifting assist control and the lifting assist control, which are the upper body assist control, have the highest priority, the middle waist assist control has the highest priority, and the walking assist control has the lowest priority. Is preset. This priority is set especially for assisting agricultural work, and the priority of walking assist control, upper body assist control, and mid-waist assist control can be appropriately set and changed as necessary.

As described above, in the present embodiment, the movement of the wearer 10 is estimated in the processing circuit 113 by setting the priority order for the walking assist control, the upper body assist control, and the middle waist assist control in advance, and the walking assist control is performed. , Clearly separate the upper body assist control and the middle waist assist control so that they are not mixed.

The processing procedure of the walking determination process in step D11 of FIG. 34 by the processing circuit 113 will be described later in relation to FIGS. 39 to 47.

FIG. 36 is a flowchart showing a processing procedure of walking assist control processing by the processing circuit 113. In the walking control process, the swing leg side torque and the support leg side required during walking are based on the detection angle θ by the angle sensor 67 and the output of the acceleration / angular velocity sensor 103, which change from moment to moment in the wearer's posture information. Calculate the torque. When step D12 shown in FIG. 34 is executed, the processing circuit 113 shifts to step F11.

In step F11, the processing circuit 113 detects the start of walking assist. The processing circuit 113 detects that the leg on the swing leg side is positioned at the walking determination point. In step F12, the processing circuit 113 calculates the assist torque on the swing leg side. In step F13, the processing circuit 113 calculates the assist torque on the support leg side. In step F14, the processing circuit 113 calculates the walking assist torque by correcting the walking ratio, which is the degree of repeated walking. The graph of FIG. 40 (2), which will be described later, is a support force moment calculated by multiplying the left and right angles θ at the start of walking shown in the graph of FIG. 40 (1) by a predetermined walking degree (that is, walking ratio). The output result of is shown.

FIG. 37 is a flowchart showing a processing procedure of the calculation processing of the assist torque on the swing leg side by the processing circuit 113. The processing circuit 113 shifts to step F21 when step F12 shown in FIG. 36 is executed.

In step F21, the processing circuit 113 determines whether or not the leg is a swing leg, and if it is determined to be a swing leg, the process proceeds to step F22 and reads the hip joint angle θ. If it is determined that the leg is not a swing leg, the calculation process is terminated. If it is determined that the leg is a swing leg, the swing leg assist control is sequentially executed.
In another embodiment of the present invention, when it is determined that the leg is a swing leg, when it is determined that the leg is a swing leg, the walking sequence is "start swinging" → "during swinging" →. It is executed in order from "start swing" → "during swing", and ends when the swing is completed.

In step F22, the hip joint angle θ detected from the angle sensor 67 is read. In step F23, a predetermined torque is maintained until the acceleration time elapses. In step F24, as the acceleration time elapses, the assist torque of the swing leg is reduced at a predetermined constant speed until the angle θ of the swing leg reaches a predetermined angle (for example, 20 °).

FIG. 38 is a flowchart showing a processing procedure of calculation processing of the assist torque on the support leg side by the processing circuit 113. When step F13 shown in FIG. 36 is executed, the processing circuit 113 shifts to step F31.

In step F31, the processing circuit 113 determines whether or not the leg is a support leg, and if it is determined that the leg is a support leg, the process proceeds to step F32, and if it is determined that the leg is not a support leg, the calculation is performed. End the process. When it is determined that the leg is a support leg, torque for maintaining an upright posture is output.

In step F32, the processing circuit 113 reads the hip joint angle θ by the angle sensor 67, and in step F33, the processing circuit 113 maintains a predetermined torque until the lapse of the acceleration time. In step F34, after the accelerating time elapses, until the angle θ of the support leg reaches a predetermined angle (for example, zero), or until the free leg, which is another leg, lands, the angle of the support leg is proportional to the angle of the support leg. Reduce the assist torque of the support legs to zero.

FIG. 39 is a time chart for explaining the operation when the walking support by the support robot device 1 is continued. FIG. 39 (1) shows the movement of the wearer 10 walking, and FIG. 39 (2) shows lines 126 and 127 of the respective waveforms of the detection angles θL and θR by the left and right angle sensors 67L and 67R, and FIG. 39 (3). ) Shows the waveform of the vertical acceleration α1 of the wearer 10 detected by the acceleration / angular velocity sensor 103, and FIG. 39 (4) shows the left and right support provided to the thighs 12L and 12R by the left and right drive sources 60L and 60R, respectively. The swing-down support force moments of force moments 128 and 129 are given a subscript a, and the swing-up force moments are given a subscript b to show their waveforms. In each of the walking periods W1 to W3 of the first step to the third step shown in FIG. 39, assuming that the entire period of the paired periods W1 and W2 is 100%, each period W1 and W2 is 50%. After the period W3, the same operation as the periods W1 and W2 is repeated.

First, at time t10 in the period W1, the right foot lands and becomes a supporting leg. The angle θ of the lower limbs and therefore the thighs when landing during walking is not around 0 ° but around 20 to 30 °. When either the left or right foot lands, the output of the acceleration α1 in the vertical direction of the acceleration / angular velocity sensor 103 reaches the maximum value as shown in FIG. 39 (3), which is detected by the processing circuit 113. The detection angle θR of the right foot angle sensor 67R is shown in line 127 of FIG. 39 (2), and at the landing time t10, it is a large value close to the maximum value, for example, 25 °, whereas the angle of the left foot is The detection angle θL of the sensor 67L is shown in line 126 of FIG. 39 (2), and at the landing time t10, it is a small value close to the minimum value, for example, 0 °. Therefore, the processing circuit 113 is a support leg on which the foot from which the larger angle θR (θL <θR) is obtained by comparing the magnitudes of these angles θR and θL at the landing time t10 is the landing support leg or is smaller. It is determined that the foot from which the angle θL is obtained is a free leg.

Only during the support period Wa from the landing time t10 to the time t13, the swing support force moment 129a (FIG. 39 (4)) in the direction 124 of swinging down to the support leg is provided by the drive source 60R. The support force moment 129a maintains a predetermined constant value (for example, 60 to 10 Nm) for a predetermined time Wc, and then decreases with the passage of time or an angle as the support force moment is weakened. It is given by the drive source 60R so that it decreases in proportion to the angle θR detected by the sensor 67R. The detection angle θR of the right foot angle sensor 67R is shown by line 127 in FIG. 39 (2), is at time t10, decreases with the passage of time from time t10, and the predetermined swing-down support ends. At the time t13 when the set angle θ0 (for example, 0 °) is reached, the swing-down support ends. That is, in the assist of the support leg, the predetermined time Wc outputs a predetermined swing-down assist force, that is, a swing-down force moment (for example, 60 Nm as described above). After this time, the angle θR of the support leg detected by the angle sensor 67R is proportional to the predetermined angle, for example, 0 °, and is proportional to the angle θR detected by the angle sensor 67R until another foot lands at the latest. Then, the support assist force, that is, the support force moment 129a is output. thus. When the right foot lands, the right hip joint angle lands at about 25 ° and then decreases. At that time, the angle of the left hip joint that has already landed is the minimum value near the bottom. Immediately after that, the left hip joint angle rises because the left leg, which is a free leg, is swung up.

In this period W1, the left foot, which is a swing leg, is set in advance as the time during which the swing-up force moment is accelerated by exerting the swing-up force in the swing-up period Wb from the landing time t10 to the time t11. For the time Wd (Wd <Wb), the swinging force moment 128b (FIG. 39 (4)) in the swinging direction 125 is given by the drive source 60L at a predetermined constant value (for example, a value in the range of 80 to 20 Nm). .. The detection angle θL of the angle sensor 67L of the left foot, which is a free leg in the period W1, is shown in line 126 of FIG. 39 (2), is a minimum value at time t10, for example, 0 °, and is accompanied by the passage of time from time t10. At time t11 after the lapse of this time Wd, the swing-up support end setting angle θ20 (for example, 20 °) is reached, and the swing-up support ends. After that, the angle θL of the swing leg reaches the maximum value at time t12. That is, the swing leg assist outputs a predetermined time Wd and a predetermined swing-up assist force 128b. After this time Wd has passed, the angle θL of the swing leg detected by the angle sensor 67L is subtracted at a predetermined angle, for example, up to 20 ° as described above, and the swing-up assist force 128b is output. In this way, when the right foot lands, the left foot swings up and becomes a free leg, and the hip joint angle increases, bends, and becomes larger. The right leg becomes a support leg, kicks backwards, and the hip joint angle decreases and becomes smaller and extends. Flexion and extension are indicated at 0 ° in the direct downward direction in FIG. 31, and the positive side in the clockwise direction is called flexion, and the negative side in the counterclockwise direction is called extension.

Next, in the period W2, after the time t20, the left and right control operations of the drive source 60 by the processing circuit 113 are performed in the reverse direction of the period W1. The left foot lands and becomes a support leg, and the support force moment 128a in the direction 124 of swinging down and supporting the support leg is provided by the drive source 60L for the support period Wa from the landing time t20 to the time t23. As shown in line 126 of FIG. 39 (2), the detection angle θL of the left foot angle sensor 67L is, for example, 25 ° at time t20, and decreases with the passage of time from time t20. At the time t23 when the support end setting angle θ0 is reached, the swing-down support is ended.

In this period W2, the right foot, which is the swing leg, is provided with a swinging force moment 129b in the swinging direction 125 for the swinging period Wb from the landing time t20 to the time t21 by the drive source 60R. The detection angle θR of the angle sensor 67R of the right foot, which is a free leg in the period W2, is the minimum value at time t20 as shown by line 127 in FIG. 39 (2), and increases with the passage of time from time t20. At time t21, the swing-up support end setting angle θ20 is set in advance, and the swing-up support ends. The angle θR of the swing leg reaches the maximum value at time t22.

The walking support is continued after the period W3 starting from the time t30 when the right foot lands, the same operation as the periods W1 and W2 is repeated.

In another embodiment of the present invention, in the period W1, the support period Wa for outputting the swing-down support force moment 129a may be a predetermined time, and after this time Wa, it is detected by the angle sensor 67. The support force moment is proportional to the angle θ detected by the angle sensor 67 until the angle θ of the support leg is a predetermined angle, for example, up to 0 °, and at the latest until the time t20 when the other foot, that is, the free leg lands. Outputs 129a.

In another embodiment of the present invention, the processing circuit 113 may realize the determination between the support leg and the swing leg by level-discriminating the angles θR and θL at the landing time t10 at a predetermined level. The end of the swing-down support may be set at the time t20 when the swing leg of the period W1 lands.

In the processing circuit 113, when the swing angles θR and θL of the left and right angle sensors 67 attached to the electric motor 64 become the minimum values near the direction directly below, for example, zero, the foot corresponding to the angle θR or θL has landed. You may judge that. The landing support leg detected by the angle sensor 67 is assisted in the supporting direction.

Either the left or right landed support leg may be detected by the angle sensor 67 as described above, but in another embodiment, the processing circuit 113 has the three-dimensional acceleration α1 detected by the acceleration / angular velocity sensor 103. , Α2, α3 may detect the support leg.

FIG. 40 is a time chart for explaining the operation of the processing circuit 113 when the walking support by the support robot device 1 is started. FIG. 40 (1) shows waveforms 126 and 127 of the angles θL and θR detected by the left and right angle sensors 67L and 67R, and FIG. 40 (2) is given to the thighs 12L and 12R by the left and right drive sources 60L and 60R, respectively. The waveforms of the left and right support force moments 128 and 129, which are the swing-down support force moments with the subscript a and the swing-up force moments with the subscript b, are shown. The periods W11 to W31 correspond to the periods W1 to W3 in FIG. 39, the times t101 to t301 correspond to the times t10 to t30 in FIG. 39, the subscript a indicates the support force moment, and the subscript b indicates the swinging force. Indicates the moment.

The processing circuit 113 detects that the foot has landed when the output of the vertical acceleration α1 of the acceleration / angular velocity sensor 103 reaches the maximum value at times t101 to t301 in each period W11 to W31. Further, the angles θL and θR detected by the left and right angle sensors 67 are swung in the left and right opposite directions by a predetermined first number of times (for example, twice) as shown in lines 126 and 127 in FIG. 40 (1). By detecting that, it is detected that the start of walking has been started. After that, the walking is increased by a predetermined second number of times (for example, three times) according to the degree of repeated walking (that is, the number of times of repetition), and the left and right support force moments 128 and 129 are increased according to this degree. As shown in FIG. 40 (2), by increasing the number, walking is supported by the drive sources 60 arranged near the left and right hip joints without delaying the timing of each start of walking. That is, the processing circuit 113 has a counter, and the counter counts and detects that the angle θ detected by the left and right angle sensors 67 swings in the opposite direction to the left and right two or three times for walking assist. , Detects the start of walking and increases the walking assist force during the subsequent 2-3 times. In this way, regarding walking assist, the processing circuit 113 first detects the start of walking by swinging the angles θL and θR detected by the left and right angle sensors 67 two or three times in the opposite directions to the left and right, and then 2 Increase walking assist power between ~ 3 times.

FIG. 41 is a time chart for explaining the operation when the walking support by the support robot device 1 is completed. FIG. 41 (1) shows the movement of the wearer 10 walking, FIG. 41 (2) shows the waveforms 126 and 127 of the detection angles θL and θR by the left and right angle sensors 67L and 67R, and FIG. 41 (3) shows the waveforms 126 and 127. The waveform of the vertical acceleration α1 of the wearer 10 detected by the acceleration / angular velocity sensor 103 is shown. 41 (1) to (3) correspond to FIGS. 39 (1) to (3), respectively. In each walking period W41 to W61 of the first step to the third step in which the walking support shown in FIG. 41 is completed, assuming that the entire period of the paired periods W41 and W51 is 100%, each period W41 and W51 50% each. In the period W41, after the landing time t401 of the right foot, the left and right angles θL and θR are obtained as shown in the lines 126 and 127 until the landing of the left foot. In the next period W51, after the landing time t501 of the left foot, the landing of the right foot causes the angle difference Δθ1 between the left and right angles θL and θR to be predetermined while the landing of both feet is until the time t601. When the processing circuit 113 detects that the time W502 having a value of less than Δθ10 is the predetermined time W70 or more (W41 <W70 ≦ W502), it is determined that walking is not repeated.

FIG. 42 is a time chart for explaining the operation of the processing circuit 113 when the walking support by the support robot device 1 is terminated. FIG. 42 (1) shows waveforms 126 and 127 of the angles θL and θR detected by the left and right angle sensors 67L and 67R, and FIG. 42 (2) is given to the thighs 12L and 12R by the left and right drive sources 60L and 60R, respectively. The waveforms of the left and right support force moments 128 and 129, which are the swing-down support force moments with the subscript a and the swing-up force moments with the subscript b, are shown. At time t701, the detection angles θL and θR by the left and right angle sensors 67L and 67R decrease, and the processing circuit 113 decreases accordingly, for example, a swing-down support force moment 129a1. After the time t801, the detection angles θL and θR remain at the minimum values, and the support force moment is set to zero. In this way, when the processing circuit 113 detects that the swing angles θL and θR detected by the left and right angle sensors 67L and 67R are small and the walking is completed, the walking assist is immediately terminated. If the object sensors 191 to 194 of the lifting assist glove device 190 are still pressed to detect an object and the lifting end angle is not reached and the lifting assist is continued, walking is detected even if walking is detected. Until the object sensors 191 to 194 are turned off, it is determined that the lifting assist is selected while the object is being lifted and carried and walked, and the walking support operation is not started.

FIG. 43 is a flowchart for explaining the walking support determination operation of the processing circuit 113. Regarding the walking determination, when the process moves from step s0 to step s1 and the lifting assist is continued, the walking angles θL and θR are detected in step s2, and the minimum values θL01 and θR01 predetermined in step s4 or more ( θL01≤θL, θR01≤θR), when the angles θL and θR are alternately opposite in step s5, that is, when the left and right sides are repeated in opposite phases, steps s3, s6, and s7 are repeated in steps s4 and s5. Is repeated a predetermined number of times (for example, r is a plurality of three times), and even if it is determined that walking is repeated, in step s8, until the glove switch is turned off, that is, the object sensor 191 to 194 of the glove device 190. If is detecting an object, it is determined that the lifting assist is selected in the carrying walk, and the walking assist operation is not started. If not, the walking support operation is performed in step s9. Furthermore, as described above, the waveform of the angle sensor 67 during walking is repeated in opposite phases on the left and right thighs 12, and for example, the maximum angle θ at which the foot is swung up is set as the previous value. Walking is judged by the fact that the increase changes to the decrease in comparison. It is determined that walking is repeated by accumulating the maximum number of times in this way with a counter and determining that the number of times has been repeated 2-3 times, which is a predetermined number of times, based on the integrated value of the counter. After that, as shown in FIG. 45 described later, the walking assist force can be increased as the integrated value of the counter increases.

If the runout angles θL and θR detected by the left and right angle sensors 67 in step s10 are small (θL <θL01, θR <θR01), the flag indicating that the left and right angles are small is turned ON in step s14, and the time when the left and right angles are small is set. When the timer for timing is counted up and the time is longer than the predetermined time W11a, the walking is finished in step s16 and the walking assist is finished. That is, when it is detected that the difference Δθ1 (FIG. 41 (2)) between the swing angles θ detected by the left and right angle sensors 67 is small and the walking is completed, the walking support is immediately terminated.
If the runout angles θL and θR detected by the left and right angle sensors 67 in step s10 are large (θL01 ≦ θL, θR01 ≦ θR), the flag indicating that the left and right angles are small in step s14 is turned off in step s11, and the flag indicating that the left and right angles are small is turned off in step s12. The timer for counting the time when the left-right angle is small is reset to zero, and the process returns to step s9.

44 to 47 are flowcharts for explaining the operation of walking support by the processing circuit 113. The process proceeds from step s20 in FIG. 44 to step s21, and when it is determined that the vertical acceleration α1 detected by the acceleration / angular velocity sensor 103 is maximized, the process proceeds to step s22. When the foot lands, the vertical acceleration α1 becomes maximum due to the impact of the landing. The angle of the swing leg that is about to land is, for example, about 20 ° after being swung to the maximum and then swung back. The support leg that has already landed is swung down and the angle θ is near 0 near the direction directly below, which is the minimum value. For example, if the angle θL of the left foot is almost zero, if the left foot lands in step s23, the left foot becomes a support leg and the right foot is swung up to become a free leg. If the right foot lands in step s24 and the angle θR of the right foot is almost zero, the right foot becomes a supporting leg by landing in step s25.

If the angles θL and θR are both large values in steps s22 and s24, it is determined that the wearer 10 is not walking and both feet are floating and running in step s26, and for safety. Stop the walking support operation.

After the landing is detected in steps s23 and s25 of FIG. 44, the process proceeds to step s27 and later in FIG. 45, and if the maximum values of the angles θL and θR are detected alternately in steps s2 and s29, the landing is reset to zero in step s27. The counter count value q is counted step by step in step s30, and the left and right support force moments TLq and TRq are gradually increased by an increase ΔT in step s31. Such an operation is repeated a predetermined number of times in step s32 (for example, q is a plurality of three times).

From step s23 in FIG. 45 to step s33 and later in FIG. 46, a support force moment is applied to the support legs. In step s33, after the landing is detected at the time t10 or t20 in FIG. 39, the time counting between the elapsed time W71 of the support leg and the elapsed time W81 of the swing leg is started. In step s34, a predetermined constant value of the support force moment (lines 129a, 128a in FIG. 39 (4)) is applied to the support leg. In step s35, it is determined whether or not the predetermined time Wc, which is the time when the elapsed time W71 of the support leg outputs the support force moment and supports it, has elapsed. If so, after the predetermined time Wc elapses, the next step The support force moment is output in s36 as a value proportional to the angle θ of the support leg until the angle θ of the support leg becomes 0 ° in step s37 or until the swing leg lands in step s38.

From step s37 or step s38 of FIG. 46, the process proceeds to step s39 of FIG. 47, and a predetermined constant value of swinging force moment (lines 128b and 129b of FIG. 39 (4)) is applied to the swing leg. In step s40, it is determined whether the elapsed time W81 of the swing leg has elapsed a predetermined time Wd. If so, after the predetermined time Wd elapses, the swing-up force moment is reduced at a predetermined constant speed in the next step s41. .. The swing-up force moment is output until the angle θ of the swing leg reaches a predetermined angle (for example, 20 °) in step s42.

FIG. 48 is a flowchart showing a processing procedure of the upper body determination processing for the lifting operation by the processing circuit 113. In the upper body determination process, the posture information of the wearer 10 is used to determine whether or not the hip joint is bent and then the upper body is to be raised. When step D13 shown in FIG. 34 is executed, the processing circuit 113 shifts to step G11.

In step G11, the processing circuit 113 calculates the hip joint detection angle θ and reads the hip joint angular velocity ω. In step G12, the processing circuit 113 detects the lifting assist operation start point. A position where the hip joint angular velocity ω calculated in step G11 exceeds the “flexion side” of the parameter No. “41” is detected, and that position is set as the upper body bending operation start point. In step G13, the processing circuit 113 waits for detection by the output of the object sensors 191 to 194 that act as a start switch for starting the lifting operation, and when the ON of the start switch is detected, the upper body control output is started. When the lift end angle is reduced to a predetermined level and reached, the lift assist upper body control is terminated (steps G14 to G16).

The timing of lifting is created by the detection signals of acceleration and angular velocity. The lifting timing is created by the acceleration shown in FIG. 50 described later and the detection signal of the angular acceleration.

FIG. 49 is a flowchart showing a processing procedure of the upper body control processing by the processing circuit 113. When step D14 shown in FIG. 35 is executed, the processing circuit 113 shifts to step H11. In step H11, the processing circuit 113 calculates the assist torque required for both legs in proportion to the hip joint angle θ by the angle sensor 67. In step H12, the calculated assist torque is maintained. When the angle θ becomes 0, that is, when the person gets up straight up, if a large lifting assist is applied, the wearer 10 tends to lose his balance, and this state must be avoided. Therefore, as described above, according to the present invention, the assist torque proportional to the hip joint angle θ is calculated, but in other embodiments, it may be a linear function or a quadratic function.

FIG. 50 is a flowchart for explaining the lifting support operation by the processing circuit 113. By grasping the object to be lifted by the wearer 10, the lifting assist is continued in the state where the object sensors 191 to 194 of the lifting assist glove device 190 are still pressed in step u3 and the lifting end angle is not reached. If this is the case, even if walking is detected in step u1, it is assumed that lifting assist is selected while the object is being lifted and carried and walking until the object sensors 191 to 194 are turned off. It does not include walking assistance. Regarding the lifting determination, even if the angles θL and θR detected by the left and right angle sensors 67 are almost the same on the left and right (θL = θR), or even when the legs are opened and lifted, step u2 Like, the hips are swinging in the bending direction (the posture of leaning forward, θL02 ≦ θL, θR02 ≦ θR, where θL02 and θR02 are predetermined values), and the walking is not assisted, and step u3. When the object sensors 191 to 194 in which the glove switch SW is ON are pressed, the lifting assist is started in step u4. In steps u5 and u6, whether the angles θL and θR are less than the predetermined lifting end angles θL02 and θR02 (θL <θL02, θR <θR02), the object sensors 191 to 194 are OFF, and the lifting assist is completed in step u8. To do. In step u7, if the detection angles θL and θR are equal to or greater than the predetermined lifting end angles θL02 and θR02 (θL02 ≦ θL, θR02 ≦ θR), the object sensors 191 to 194 hold the ON trigger to start lifting and latch. To do.

That is, regarding the lifting assist, when the angles θL and θR detected by the left and right angle sensors 67 are swinging in the direction in which the waist is bent and the walking assist is not performed, the object sensors 191 to 194 of the glove device 190 are pushed. By doing so, the lifting assist is started. In the lifting assist, a predetermined lifting force moment is output. When the lifting end angle reaches a predetermined value or the object sensors 191 to 194 are turned off, the lifting assist is ended. When the detection angles θL and θR are zero, for example, they are straight and upright angles, and when they are lifted, they gain momentum. Therefore, when the detection angles θL and θR are 0 °, it feels like they are cut in front. Therefore, the lifting end angles θL02 and θR02 are set to predetermined values slightly smaller than 0 °, for example, −20 °. The angle θ is positive in the clockwise direction of FIG. 31, and −20 ° is when the value exceeds 180 °, which is an angle beyond directly above.

In the above-described embodiment of the present invention, the glove switch in step u3 of FIG. 50 is turned on, that is, the object sensors 191 to 194 of the glove device 190 detect the start of lifting with an ON signal detecting an object, and step u7 The end of lifting is detected by the OFF signal that does not detect the object in.

On the other hand, in another embodiment, it is troublesome to use the glove device 190 by realizing the lifting assist control without using the object sensors 191 to 194 of the glove device 190 and making the system as simple as possible. It solves problems such as failure of object sensors 191 to 194. In the first embodiment without the glove device 190, the processing circuit 113 executes the flowchart of FIG. 60 instead of step u3 of FIG. In step u75 to the next step u76, when the vertical acceleration α1 exceeds a predetermined threshold value (for example, 1.15G) in response to the output of the same acceleration / angular velocity sensor 103 that detects the landing of walking, When the value becomes equal to or less than a predetermined second threshold value (for example, 0.85 G), the vertical movement at the time of lifting is started. In step u77, even when landing during walking, the acceleration / angular velocity sensor 103 can obtain the acceleration α1 in the vertical direction. Therefore, after detecting the non-walking state, it is determined that the detection is for lifting assist. Further, since the acceleration α1 in the vertical direction can be obtained even when the vehicle hits an object, the condition below the third threshold value (for example, 0.15G) in which the acceleration α2 in the front-rear direction and the acceleration α3 in the left-right direction are not detected. Within the range of (for example, −0.15G to 0.15G), the detection is for lifting assist.

In the embodiment in which the glove device 190 is not used, in step u76 and u77, and in step u78 under AND conditions, the angular velocity ω3 around the axis in the left-right direction detected by the acceleration / angular velocity sensor 103 is a predetermined first angular velocity. When the threshold value (for example, 300 ° / s) is exceeded, and when the angular velocity threshold value (for example, -300 ° / s) or less is exceeded, that is, when the negative absolute value becomes large, the rotational movement of the waist during lifting is increased. Detect as having occurred. In this way, in addition to the clockwise direction in FIG. 31 when lifting, a counterclockwise reverse motion may occur. Therefore, even when the negative absolute value, which is counterclockwise, is large, it is detected and the second is negative. The configuration based on the angular velocity threshold value is also realized.

In step u79, since the angular velocity ω can be obtained even when walking, the detection is performed in a non-walking state. In addition, since the angular velocity ω can be obtained even when the object is hit, the angular velocity ω2 around the vertical axis and the angular velocity ω3 around the front-rear axis do not exceed a predetermined third angular velocity threshold value (for example, 300 ° / s). In addition, the detection is performed under a condition that does not fall below a predetermined fourth angular velocity threshold value (for example, −300 ° / s).

In steps u76 to u79, further under AND conditions, and in step u80, further under AND conditions, the angle at which the trunk 11 is leaning forward (for example, 10 degrees to 10 degrees), which is a predetermined threshold for the angle detected by the left and right angle sensors 67. If it is within the range of 90 degrees), in step u82, the object sensors 191 to 194 of the glove device 190 output a trigger signal for lifting start, which is equivalent to the ON signal for detecting the object, and step u4 in FIG. Move to. If the determination in steps u76 to u80 is negative, the trigger signal of the ON signal is turned off in step u81, and the process returns to step u76.

In step u7a of FIG. 50, the object sensors 191 to 194 of the glove device 190 output an OFF signal, and in the embodiment without the glove device 190, the lifting end trigger signal equivalent to this OFF signal is the left and right electric motors. When the angle θ of the motor 64 exceeds a predetermined lifting end angle (for example, −20 °), the lifting end is obtained.

In still another embodiment of the present invention, the lifting timing is created by detecting the current (torque) of the electric motor 64 with a current detector instead of the acceleration detection signal and using the detection signal. You may. In particular, in a configuration in which the rated capacity of the electric motor 64 is small and the output torque is small, the load current fluctuates greatly, and detection is reliable, which is advantageous.

FIG. 51 is a flowchart showing a processing procedure of the upper body determination processing for the lifting brake operation by the processing circuit 113. In the upper body determination process, the posture information of the wearer 10 is used to determine whether or not the hip joint is bent and then the upper body is to be tilted forward. When step D13 shown in FIG. 34 is executed, the processing circuit 113 shifts to step G11a.

In step G11a, the processing circuit 113 calculates the hip joint detection angle θ and reads the hip joint angular velocity ω. In step G12a, the processing circuit 113 detects the lifting assist operation start point. In step G13a, the processing circuit 113 detects that the lifting speed is higher than the predetermined value. In step G14a, it is determined whether the lifting time ends, the lifting assist starts, or the walking assist starts. If the lifting time ends in step G14a, the braking force is set to zero in step G15a, and the upper body control of the lifting assist ends. If the lifting time is not completed in step G14a, a predetermined braking force is applied in step G16a to assist the lifting.

FIG. 52 is a flowchart showing a processing procedure of the lifting brake support control processing by the processing circuit 113. When step D14 shown in FIG. 34 is executed, the processing circuit 113 shifts to step u20. Regarding the lifting brake assist, the angle detected by the left and right angle sensors 67 in step u22 is swinging in the direction in which the waist is bent, the walking assist is not performed in step u21, and the object sensor of the glove device 190 in step u23. Since 191 to 194 are not pressed, the angular velocities ωL and ωR calculated from the angles detected by the left and right angle sensors 67 in steps u24 and u25 are out of the angular velocities ωL01 and ωR01 predetermined in the lifting direction ( ωL01 ≦ ωL, ωR01 ≦ ωR), and the lifting brake assist is started.

Initially, a predetermined braking force is output, and after the timed time W1 is the predetermined lifting time W01 (W01 ≦ W1), the braking force is set to 0 and the process ends. When the lifting assist or walking assist in steps u28 and u29 is started, the lifting brake assist ends immediately.

In another embodiment, without using the glove device 190, the acceleration / angular velocity of the wearer's trunk is detected by the output of the acceleration / angular velocity sensor 103, and the processing circuit 113 outputs from the acceleration / angular velocity sensor 103. In response to, the left and right drive sources 60 reduce the relative angle between the trunk 11 and each thigh 12 when the detected acceleration or angular velocity is a value corresponding to the initiation of the lifting brake assist of the object. Then, a lifting braking force moment is given so as to limit the moment acting in the lifting direction. Therefore, without using the glove device 190 and the object sensors 191 to 194, the acceleration and angular velocity of the wearer's trunk 11 are detected, and for example, the vertical acceleration α1 of the wearer's trunk 11 is detected, or For example, the angular velocity ω3 around the axis in the left-right direction of the trunk 11 is detected, or the velocity of the trunk 11 around the axis in the left-right direction, for example, is detected. From the range of acceleration α1, angular velocity ω3, or angular value, it is possible to determine, for example, the start of vertical movement during lifting, and further determine the end of them. It is also possible to detect the angle of the trunk 11 with an angle sensor and give a lifting braking force moment. As described above, even with the lifting brake support, the lifting brake support can be performed by setting the lifting speed to a preset speed without using the glove device 190.

In this embodiment, in which the lifting braking force moment is applied without using the glove device 190, the processing circuit 113 executes the operation of the flowchart of FIG. 60 described above in step u23 of FIG. 52 in the same manner as described above. .. In step u29a of FIG. 52, the same operation as in step u7a of FIG. 50 is executed.

FIG. 53 is a flowchart showing a processing procedure of the middle waist determination processing by the processing circuit 113. In the mid-waist determination process, the mid-waist posture is determined using the posture information of the wearer 10. When step D15 shown in FIG. 34 is executed, the processing circuit 113 shifts to step K11.

In step K11, the processing circuit 113 calculates the hip joint detection angle θ and reads the hip joint angular velocity ω. In step K12, the processing circuit 113 reaches the predetermined mid-waist angle and detects that the predetermined elapsed time has passed. In step K13, it is determined whether the mid-waist angle is finished, the walking assist is started, the lifting assist is started, or the lifting brake assist is started. In step K13, if the mid-waist angle ends, the walking assist starts, the lifting assist starts, and the lifting brake assist does not start, the mid-waist assist control is maintained. In step K13, if the middle waist angle ends, the walking assist starts, the lifting assist starts, or the lifting brake assist starts, the middle waist assist control ends.

FIG. 54 is a flowchart showing a processing procedure of the middle waist control processing by the processing circuit 113. When step D16 shown in FIG. 34 is executed, the processing circuit 113 shifts to step L11. In step L11, the mid-waist holding angle is calculated as the average value of the angles detected by the angle sensor 67 up to that point.

In step L11 by the processing circuit 113, after the start of the middle waist, the middle waist holding torque is output with a predetermined spring force proportional to the angle deeper than the middle waist holding angle. If the change width of the mid-waist angle is larger than the predetermined angle change width within the predetermined elapsed time, the spring constant of this spring force is reduced proportionally from the predetermined value to zero, and the mid-waist assist is performed. You can prevent it from working.

FIG. 55 is a flowchart showing the mid-waist support operation of the processing circuit 113. In steps u40 to u41 to u43, the processing circuit 113 provides left and right angle sensors with the lower limbs, and thus the thighs 12, upright in step u44 when lifting support, lifting brake support, and walking support are not provided. All of the angles θ40i detected in 67 are swinging in the direction in which the hips are bent (θ40i ≦ 0), and the mid-waist angle θ40 or more (θ40 ≦ θ40i). If it is continued after (for example, 3 seconds), in step u46, the predetermined mid-waist support is started. In this way, regarding the mid-waist assist operation, when the angle detected by the left and right angle sensors 67 is swinging in the direction in which the waist is bent and lifting assist, lifting brake assist, or walking assist is not performed, a predetermined mid-waist angle is obtained. When the predetermined elapsed time has passed, the predetermined mid-waist assist is started.

FIG. 56 is a flowchart showing a mid-waist support operation of the processing circuit 113 executed in step u46 of FIG. 55, and FIG. 57 corresponds to each detection angle of the wearer 10 within a predetermined elapsed time W42 (for example, 3 seconds). It is a skeleton diagram showing a posture, in which θmax shows a maximum value and θmin shows a minimum value in the period W42, and FIG. 58 is a partial skeleton diagram showing an average value θave. During the mid-waist support operation, in step u61, the mid-waist holding angle is set to the average value θave of the angles θ42j measured by the angle sensor 67 up to that point within the elapsed time W42. i is the number of times the sampling angle is detected within the time W42, and is a natural number from 1 to p.

For example, if the mid-waist holding angle is bent by 10 ° or more, which is a predetermined angle θ42j in 3 seconds or more, which is a predetermined time W42, the average mid-waist angle θave of that time W42 is used. In the middle waist support operation, the angle change width Δ42j is calculated in step u62.

Δθ42j = θ42j ―θave… (4)

In step u63, when the detection angle θ42j becomes an angle (θave ≦ θ40j) equal to or less than the average angle θave, in step u64, a predetermined spring constant k43 is set, and in step d25, the mid-waist support force moment T42j is set. It is calculated as follows.

T42j = k43 ・ Δθ42j… (5)

In step u63, when the detection angle θ42j becomes a deeper angle (θave ≦ θ40j) than the average angle θave, the process proceeds to step u66, and the angle change width Δ42j is equal to or greater than the predetermined angle change width Δ43 (Δ43 ≦ Δ42j). Is judged. In step u67, if the state in which the angle change width Δ42j is equal to or greater than the predetermined angle change width Δ43 continues for the predetermined elapsed time W43, in step u68, the spring constant k44j for the mid-waist support force moment is calculated.

FIG. 59 is a graph showing the characteristics of the spring constant k44j in the mid-waist support operation by the processing circuit 113. The spring constant k44j of this spring force is the difference Δ423 (= Δ42j−Δ43) when the change width Δ42j of the mid-waist angle θ42j is equal to or more than the predetermined angle change width Δ43 within the predetermined elapsed time W43 (Δθ42j ≦ Δ43). As shown in FIG. 59, the value k43 is reduced from the predetermined value k43 to zero by the linear function 116 (FIG. 59) so that the mid-waist support operation is not effective.
k44j = k43 (1-Δθ42j / Δ43)… (6)

The mid-waist support force moment T42j is calculated as follows.

T42j = k44j · Δθ42j… (7)

In this way, the mid-waist support force moment T42j generates a force that rises in proportion to the change width Δθ42j as shown in the equation (7). The constant of this proportional force is set to the spring constant k44j, and for example, assuming that the change width Δθ42j is 90 ° and the force is fully assisted, the mid-waist support force moment T42j is configured to generate a force for lifting an object of 10 kg.

The spring constant k44j has a predetermined change width Δθ42j of the mid-waist angle in 3 seconds, that is, (θmax−θmin) in FIG. 57. If this value Δθ42j is small and the posture change is small, the spring constant k44j is large. Make it a support that feels stiff. Further, when this value k44j is large and the posture change is large, soft support is provided.

As in steps u64 and u65 described above, when the detection angle θ42j is equal to or less than the average angle θave, the spring constant k44j is a constant value shown by the line 116a as shown in FIG. 59.

With reference to FIG. 55, in step u47, the angles θ40i detected by the left and right angle sensors 67 are all less than the predetermined mid-waist angle θ40 and become the predetermined mid-waist end angle, or in steps u48 to u50. , When the walking assist is started, the lifting assist is started, or the lifting brake assist is started, the mid-waist assist is ended. Each predetermined value is set by key input of the handy terminal device 150.

FIG. 61 is a front view showing a state in which the wearable support robot device 501, which is another embodiment of the present invention, is mounted on the wearer 10, and FIG. 62 is a side view showing a state in which the wearable support robot device 501 is mounted. Is. FIG. 63 is a front view showing the vicinity of the drive source 60 of the wearable support robot device 501, FIG. 64 is a side view showing the vicinity of the drive source 60 of the wearable support robot device 501, and FIG. 65 is a side view showing the vicinity of the drive source 60 of the wearable support robot device 501. It is a top view which shows the vicinity of the drive source 60 of 501. The wearable assistive robot device 501 shown in FIGS. 61 to 65 is similar to the above-described embodiments of FIGS. 1 and 2, but in particular, like the upper arm 70a, the angular displacement around the axis in the front-rear direction is flexible. The passive rotating shaft 73 (FIGS. 1 and 2), which is the above, is eliminated to make the configuration rigid. Since the upper limbs can be laterally bent in the left-right direction by the passive rotation shaft 83 around the axis in the front-rear direction on the lower arm 80, the passive rotation shaft 73 (FIGS. 1 and 2) that can be angularly displaced around the axis in the front-rear direction. ) May be omitted, and the configuration may be rigid as in the upper arm 70a of the wearable support robot device 501 shown in FIGS. 61 and 62.

The upper arm 70a may not have a linear shape but may have a shape that is convexly curved toward the wearer 10 so as to follow the body shape of the wearer 10.

The waist rear frame, which is the side portion 32 of the lower trunk holder 30, may be in the shape of a metal plate such as aluminum, but may be realized by a pipe structure made of synthetic resin or the like. By adopting a pipe structure, weight reduction and strength improvement can be achieved.

FIG. 66 is a front view showing a state in which the wearable support robot device 551, which is another embodiment of the present invention, is mounted on the wearer 10, and FIG. 67 is a side view showing a state in which the wearable support robot device 551 is mounted. Is. The wearable support robot device 551 shown in FIGS. 66 and 67 is similar to the embodiment of FIG. 30D described above, and is further configured in the same manner as the embodiment of FIGS. 61 to 65 described above. The above-mentioned passive rotation shaft 73 is omitted from the upper arm 470.

FIG. 68 is a front view showing a state in which the wearable support robot device 601 according to another embodiment of the present invention is mounted on the wearer 10, and FIG. 69 is a side view showing the mounted state of the wearable support robot device 601. FIG. 70 is a rear view showing the mounted state of the wearable support robot device 601. This embodiment is similar to FIGS. 61, 62 and other embodiments described above, but it should be noted that instead of the upper arm 70, a beveled planar frame 602 is used. .. The planar frame 602 is a curved member that covers at least a part of the upper part of the trunk, for example, from the lower side to the back of the left and right axillae (armpits) of the upper part of the trunk. The planar frame 602 is provided with the first passive rotation shaft 91, and the configuration in which the first passive rotation shaft 91 is connected to the lower trunk holder 230 is the same as in FIGS. 61, 62 and other embodiments. As shown in FIG. 70, the planar frame 602 is connected to the shoulder belt 21 and the chest belt 22, serves as the back belt 23 and the protective device 36 described above, is connected to the waist belt 33, and is connected to the drive source 60. The connection is the same as the configuration related to the upper arm 70 described above. The planar frame 602 may be made of a synthetic resin such as a fiber reinforced plastic, and is rigid.

FIG. 71 is a rear view showing a state in which the wearable support robot device 631, which is another embodiment of the present invention, is mounted on the wearer 10. This embodiment is similar to the above-described embodiment of FIGS. 68 to 70, but it should be noted that the slanted planar frame 633 corresponds to the abdomen of the wearer's trunk 11. Covers more widely than in the embodiment of FIG. 70. As a result, the force moment of the drive source 60 can be reliably transmitted between the trunk 11 and the thigh 12, and the supported movement of the wearer 10 can be further smoothed.

FIG. 72 is a front view showing a state in which the wearable support robot device 651, which is another embodiment of the present invention, is mounted on the wearer 10, and FIG. 73 is a side view showing a state in which the wearable support robot device 651 is mounted. Is. 74 is a front view showing the left side portion of the planar frame 653 of the wearable support robot device 651, FIG. 75 is a left side view of the planar frame 653 of the wearable support robot device 651, and FIG. 76 is a wearable type. It is a top view of the planar frame 653 of the support robot device 651. 74 and 76 show substantially the left half of the symmetrically configured planar frame 653. The wearable assistive robot device 651 shown in FIGS. 72 to 76 is similar to the embodiment of FIGS. 30, 30D, 66, and 67 described above, and further similar to the embodiment of FIGS. 68 to 71 described above. It is composed of. In the planar frame 653, the upper frame 654 and the lower frame 655 are connected behind each other by a connecting member 656 which can be called, for example, a back plate. The upper frame 654 and the lower frame 655 may be connected by an upper arm 70b arranged on the side of the wearer, but the upper arm 70b may be omitted. The upper frame 654 is connected to the shoulder belt 21 (FIG. 74) and, like the above-mentioned upper arm 70, is connected to the chest belt 22 (FIG. 75) by the first passive rotation shaft 91. The lower frame 655 is connected to either the drive shaft of the drive source 60 or the drive source main body, and the other is connected to the lower abdominal belt 234 (FIG. 75). The support arm 455 may be fixed to the lower frame 655, but may be omitted. The connecting member 656 may be configured in the same manner as the adjusting mechanism 58 described in connection with FIG. 10 described above. Other configurations of FIGS. 72-76 are similar to the embodiments described above.

FIG. 77 is a front view showing a state in which the wearable support robot device 701, which is another embodiment of the present invention, is mounted on the wearer 10, and FIG. 78 is a side view showing a state in which the wearable support robot device 701 is mounted. 79 is a rear view showing the mounted state of the wearable support robot device 701. This embodiment is similar to the above-described embodiments of FIGS. 61 and 62, but it should be noted that in order to ensure breathability and make it easier for the wearer 10 to see where the arm passes. To make it easier to put on and take off, a sleeveless front opening vest 703 with a mesh (net) is attached to the inner or outer surface of the upper trunk holder 20 as shown by diagonal lines, and the upper frame 70 , A mesh vest is used in combination with a planar frame 633 and the like. That is, the shoulder belt 21, the chest belt 22, the back belt 23, and the back connecting belt 704 connecting these belts 21, 22, and 23 behind are attached to the mesh-shaped vest 703 by, for example, suturing.

The vest 703 is a connector 705, 706 (fastener, zipper, mechanical fastener, hook-and-loop fastener) (for example, magic) to which the left and right front bodies (703L, 703R in FIG. 71) can be attached and detached with respect to the front center line in order to open the front. Tape (trademark), Velcro (trademark), etc.) are configured to connect in front of the wearer.

The vest 703 has internal pockets on both sides and back that allow for cold insulation, coolant or ventilation fans or body warmers for air conditioning.

FIG. 80 is a front view showing a state in which the wearable support robot device 751 which is another embodiment of the present invention is mounted on the wearer 10, and FIG. 81 is a side view showing a state in which the wearable support robot device 751 is mounted. Is. This embodiment is similar to the above-described embodiments shown in FIGS. 1 and 2. Preferably, the holding piece 43a has a substantially tubular shape extending upward from the portion of the belt-shaped belt as shown by diagonal lines in FIGS. 80 and 81, and rising and extending outward from the thigh 12. It is made of synthetic resin having a vertical width of 30 to 100 mm and a thickness of 5 mm, covering a range covering about 1/4 to 3/4 laps around the twelve. By making the thigh 12 1/4 to 3/4 laps by the holding piece 43a, the support force moment is easily transmitted from the lower arm 80 to the thigh 12.

FIG. 82 is a front view showing a state in which the wearable support robot device 801 according to another embodiment of the present invention is mounted on the wearer 10, and FIG. 83 is a side view showing the mounted state of the wearable support robot device 801. Is. This embodiment is similar to the above-described embodiments of FIGS. 1 and 2. It should be noted that the couplers 26, 35 and 45 of FIGS. 1 and 2 are shown in FIGS. 82 and 82 instead of the above-mentioned plastic buckle and one-touch connector having a configuration that is easy to operate for connecting and disconnecting. It is realized by a configuration commercially available as a fastener or hook-and-loop fastener (eg, Magic Tape ™ or Velcro ™ described above) shaded with references 826, 835, 845.

FIG. 84 is a front view showing a state in which the wearable support robot device 851, which is another embodiment of the present invention, is mounted on the wearer 10, and FIG. 85 is a side view showing the mounted state of the wearable support robot device 851. Is. This embodiment is similar to the above-described embodiments shown in FIGS. 1 and 2. It should be noted that the acceleration / angular velocity sensor 103a may be provided on the lumbar region of the trunk 11 of the wearer 10 as shown in FIG. 14, but in the embodiment of FIGS. 84 and 85, the acceleration / angular velocity sensor 103a may be provided. The sensor 103a is provided on the chest belt 22L or 22R at the front position of the wearer 10. The acceleration / angular velocity sensor 103a detects three-dimensional acceleration of the chest, that is, acceleration α1 in the vertical direction, acceleration α2 in the front-rear direction, and acceleration α3 in the left-right direction, respectively. When lifting an object, the movement of the chest provided with the acceleration / angular velocity sensor 103a in the wearer 10 is larger than the movement of the waist in the embodiment of FIG. 14, so that it is easier to detect and the acceleration / angular velocity is highly accurate. Can be detected with. The detection signal from the acceleration / angular velocity sensor 103a is given to the processing circuit 113 in the control box 53 via the flexible line 853 provided along the chest belt 22, the upper arm 70, and the waist belt 33.

FIG. 94 is a front view showing a state in which the wearable posture holding device 1 which is another embodiment of the present invention is attached to the wearer 10, and FIG. 95 is a side view showing a state in which the wearable posture holding device 1 is attached. FIG. 96 is an enlarged side view showing a part of the wearable posture holding device 1 in FIG. 95. The component references in each of the embodiments shown in FIGS. 94 to 119 are used uniformly in these FIGS. 94 to 119 and may differ from the component references in FIGS. 1 to 93. is there. FIG. 94 and the like may also show some configurations of other embodiments of the present invention. With reference to these drawings, the wearable posture holding device 1 includes a holding device 2 which is mounted and held by the wearer 10, a trunk 11 of the wearer 10 provided on the holding device 2, and left and right thighs 12. It has a clutch 60 that assists in maintaining the mid-waist posture. 1 to 3 show a posture in which the wearer 10 stands upright with both lower limbs including the left and right thighs 12 aligned with the trunk 11. Left and right refer to the direction in the wearer 10 as described above, and are therefore right and left in FIG. The wearable posture holding device 1 is configured to be substantially plane-symmetrical to the left and right with respect to the median sagittal plane 13 of the wearer 10 who wears the wearable posture holding device 1. The numbers are subscripted L and R, respectively, to indicate the overall or concatenated structure, and the left or right is indicated by the numbers only.

The holding device 2 is attached to the upper torso holder 20 attached to and held on the upper torso 14 near the thorax, clavicle, and shoulder blade of the wearer 10, and the lower torso 15 near the abdomen, hip pelvis, and hip joint. It includes a lower trunk holder 30 that can be called a waist cuff that is attached and held, and a thigh retainer 40 that is attached and held on the thigh 12.

4 is a front view of the planar frame 31, FIG. 5 is a left side view of the planar frame 31, FIG. 6 is a plan view of a part of the planar frame 31, and FIG. 7 is a planar frame 31. It is an exploded perspective view of. 4 and 6 show substantially the left half of the planar frame 31 formed symmetrically. The lower trunk holder 30 has a lower abdominal belt 36 of the lower trunk 15 at the position of the clutch 60. The lower abdominal belt 36 is detachable by being separated and connected to the left and right by a connecting tool 37 below the navel.

The lower trunk holder 30 that is mounted and held on the lower trunk of the wearer basically has a planar frame 31 and a belt 36 that are rigid as a whole. The planar frame 31 covers the latter half of the lower torso from both the left and right sides of the lower torso to the back (including the lumbar region and the lower spinal column above the buttocks and the sacrum behind the lower torso). It has a portion 35 and a back plate 34 that rises from the outer peripheral portion 35 behind the lower part of the trunk. The belt 36 is connected to the planar frame 31 and covers the front half circumference of the lower part of the trunk from both left and right sides of the lower part of the trunk to the abdomen.

As described above, the planar frame 31 of the lower trunk holder 30 is rigid and can also be called a waist side / back frame. The side frame 32 arranged on the waist side and the side frame 32 A back frame 33, which is arranged on the back of the waist in a row, is connected to the back by a back plate 34. The side frame 32 may be a member formed in a curved surface shape in which a part thereof covers at least a part of the lower part of the trunk 15, but in the embodiment shown in FIGS. 20 to 25 described later, the trunk 11 It may be realized by the outer enclosure piece 32a which is a long member elongated vertically in the side portion.

The height of the planar frame 31 is shortened to a position between the waist and the armpit, not the position where the upper part is immediately under the armpit, and the height of the back plate 34 is also between the waist and the armpit. Shorten to the position of to make it easier to install. The upper portion of the back plate 34 is connected to the shoulder belt 21. Therefore, since the lower trunk holder 30 is composed of the planar frame 31 having the outer peripheral portion 35 and the back plate 34 and the belt 36, the trunk 11 and the thigh holder 40 hold the mid-waist posture. The upward moment can be assisted reliably and quickly.

As shown in FIG. 9 described later, the lower portion of the side frame 32 is fixed to the clutch body 61 of the clutch 60, and the upper frame piece 81 of the thigh frame 80 is fixed to the rotating shaft 66 of the rotating body 62 of the clutch 60. Will be done. The lower part of the side frame 32 is also attached to both ends of the lower abdominal belt 36.

With the clutch 60 connected, the planar frame 31 and the lower abdominal belt 36 ensure an angle between the upper trunk holder 20 and the thigh holder 40 via the lower trunk holder 30 around the axis 75 of the rotating shaft 66. It acts as a secondary function to keep the clutch 60 in place, prevents the clutch 60 from being displaced, and prevents the axis 75 of the rotating shaft 66 from tilting in the left-right direction or in the front-rear direction. The planar frame 31 and the lower abdominal belt 36 also serve to align the axis 75 of the rotating shaft 66 with the straight line passing through the center of the left and right hip joints of the wearer 10 as much as possible so as not to shift. By doing so, it is possible to prevent the positions of the upper trunk holder 20, the lower trunk holder 30, and the thigh holder 40 from being displaced up and down. The wearer performs the walking, lifting, lifting, and mid-waist movements in an upright posture without bending the hips by the facet joints.

The thigh frame 80 is configured such that the upper frame piece 81 and the lower frame piece 82 are connected by a first passive rotation shaft 83 that can be angularly displaced around an axis in the front-rear direction and extend vertically. The upper and lower frame pieces 81 and 82 are rigid.

Each of the left and right thigh holders 40 has a belt body 41 that can be called a thigh cuff that surrounds the thigh 12 over the entire circumference, and the outer peripheral portion of the belt body 41 from the calf side, which is the outside of the thigh 12, to the front in the circumferential direction. It has a holding piece 43 that extends over a part and is fixed to the belt body 41 by the fixing piece 42. The lower end of the lower arm piece 82 and the outer side of the holding piece 43 are connected by a second passive rotating shaft 45 that can be angularly displaced around an axis in the left-right direction.

The upper trunk holder 20 is called a pair of left and right shoulder belts 21 arranged in an inverted U shape near the clavicle and scapula of the wearer 10, and a chest cuff that surrounds the chest and extends diagonally downward from the axilla. It has a chest belt 22 that can be used. The shoulder belt 21 and the chest belt 22 are connected to the upper part of the back plate 34.

The upper trunk holder 20 is composed of a shoulder belt 21 and a chest belt 22 in FIG. 1, but in another embodiment, it is in the shape of a vest or a so-called waistcoat for easy wearing. May be good.

It is important that the holding device 2 described above has a mechanism for not restricting movements other than holding the hip joint. A clutch 60, which is a posture holding device that supports a downward force moment so as to hold the target lumbar joint in the anti-gravity direction, is arranged, and the wearer can perform rotation directions other than the target lumbar joint angle holding direction. In order not to interfere with the operation of 10, the first passive rotating shaft 83 is a rotating shaft to which a drive device is not attached, and is a rotating shaft that spins idle. Depending on the configuration in which the first passive rotation shaft 83 is arranged around the outer side of the target joint, there are the following unique advantages a to c.

a. Only the side frame 31, which is the left and right side rigid body frame of the planar frame 31, and the back frame 33, which is the rear rigid body frame of the waist, are mounted from the lower side of the trunk 11 to the back, so that the weight can be reduced. , It can handle the twisting of the wearer and does not restrain the twisting movement of the wearer.

b. The upper frame piece 81 fixed to the lower ends of the clutch 60 attached to the left and right sides of the center of the left and right hip joints is passed through the passive rotation shaft 83 that rotates around the anteroposterior axis, and the lower frame that is a rigid thigh frame. Since the configuration of attaching to the piece 82 is realized, it is possible to cope with the inclination of the upper body of the wearer 11 to the left and right. Therefore, the tilting motion of the upper body of the wearer 11 to the left and right is not restricted.

Since c and the same configuration as b are realized, it is possible to correspond to the wearer's leg opening operation in the left-right direction. Therefore, the wearer 11 does not restrain the leg opening operation in the left-right direction.

FIG. 8 is a skeleton diagram showing a state in which the wearer 10 holds the mid-waist posture for explaining the lifting operation in the state of leaning forward for the mid-waist work operation. When the wearer 10 tries to lift the object by grasping it by hand, the trunk 11 is upright and the thigh 12 is angularly displaced forward from the vertical in the mid-waist state. In the mid-waist state, the trunk 11 is upright and the thigh 12 is angularly displaced forward from the vertical. The torque generated by the force of the wearer 10 is transmitted to the thigh holders 40L and 40R of the thighs 12L and 12R. The same is true for lifting work.

Since the connection of the clutch 60 to the chest, which is the contact portion with the wearer 11, and the thigh holder 40, which is the thigh cuff, is an important configuration, a partially overlapping portion will be described. A total of two clutches 60 are arranged on both the left and right sides of the center of the hip joint. Therefore, since the rotation center 75 of the clutch 60 coincides with the hip joint, the upper and lower frames, which are rigid thigh frames extending downward from one end of the clutch 60 when standing up, standing up, or swinging the foot in the front-rear direction. The pieces 81 and 82 rotate at the same angle as the thigh 12. Further, one ends of upper and lower frame pieces 81 and 82, which are rigid thigh frames, are attached to the lower part of the clutch 60 via a passive rotating shaft 83 that rotates around an axial axis in the front-rear direction, and the upper and lower frame pieces 81, which are thigh frames, are attached. A thigh holder 40, which is a thigh cuff, is attached to the other end of the thigh cuff via a passive rotation shaft 83 that rotates around an axis in the left-right direction, and the thigh holder 40, which is a thigh cuff, is attached to the lower body of the wearer 10. It conveys the posture holding power.

Therefore, when the trunk 11 which is the upper body is tilted to the left or right or when the legs are opened to the left or right, the position of the thigh holder 40, which is the thigh cuff, does not deviate from the original position, and the movement of the wearer 10 is restricted. Since it does not move away from the body, the length adjusting mechanism between the clutch 60 and the thigh holder 40, which is the thigh cuff, becomes unnecessary, and the weight and cost can be reduced.

Further, there is a planar frame 31 which is a rigid lower waist frame extending upward from the other end of the clutch 60 up to the waist, and as shown enlarged in FIG. 3, the back plate 34 chest cuff is placed on the waist. The chest belt 22 and the shoulder belt 21 of the upper trunk holder 20 are connected to the upper part of the back plate 34, and the chest belt 22 which is the chest cuff transmits the posture holding force to the upper body of the wearer 10. There is. Therefore, when the upper body is tilted to the left or right or the upper body is twisted, the position of the chest belt 22 which is the chest cuff does not deviate from the original position, and the wearer's movement is not restricted and the person can move away from the body. Therefore, the conventional waist rear rigid frame, the rear side rigid frame, and the two passive rotation shafts attached to the back center of the waist are not required, and the weight and cost can be reduced.

Further, since the clutches 60 are arranged on both the left and right sides of the center of the hip joint, the center of rotation of the clutch 60 deviates from the center of the hip joint for holding the hip joint during mid-waist work, but it is a point of action (force point). Since the wearer 10 is sufficiently separated from the chest and the thigh 12, the force in the connected state of the clutch 60 can be sufficiently transmitted.

FIG. 9 is a cross-sectional view showing the clutch 60 and its vicinity. The clutch 60 has a clutch body 61 as a stator and a rotating body 62 as an armature. The clutch body 61 has a field 64 in which the electromagnetic coil 63 is arranged and a friction plate 65 which is one of the clutch members, and the field 64 is fixed to the side frame 32. The rotating body 62 is close to the rotating shaft 66, the support member 67 fixed to the rotating shaft 66 so as to prevent relative displacement in the circumferential direction and the axial direction, and the friction plate 65 (to the right in FIG. 9). The friction plate 68, which is the other clutch member that is displaced and the clutch is engaged due to frictional contact and is displaced in the separation direction (left side in FIG. 9) to be in the disengaged state of the clutch 60, and the friction plate 68 are separated from the friction plate 65. It has a leaf spring 69 that applies a spring force in the separation direction. The support member 67 has a tubular portion 72 in which the rotating shaft 66 supports the field 64 via the insertion bearing 71, and a flange portion 73 connected to the tubular portion 72. A friction plate 68 is attached to the flange portion 73 via a leaf spring 69 to prevent relative displacement in the circumferential direction. Due to the electromagnetic force generated by the excitation of the electromagnetic coil 63, the friction plate 68 is displaced close to the friction plate 65 against the spring force of the leaf spring 69 and is in frictional contact, so that the clutch 60 is connected. When the electromagnetic coil 63 is degaussed without being excited, the friction plate 68 is displaced away from the friction plate 65 by the spring force of the leaf spring 69, and a gap Δd1 (for example, 0.3 mm) is opened to disengage the clutch. ..

The field 64 of the clutch body 61 is fixed to the side frame 32. The rotating shaft 66 of the rotating body 62 is fixed to the upper frame piece 81 of the thigh frame 80. The tubular portion 72 and the upper frame piece 81, together with the rotating shaft 66, are prevented from rotating by the parallel key 74, and therefore the friction plate 68 and the upper frame piece 81, and thus the thigh frame 80, are of the rotating shaft 66. There is no deviation around the axis.

When the electromagnetic coil 63 is excited, the friction plate 65 and the friction plate 68 are in frictional contact with each other, and the maximum allowable torque of the clutch 60 in the state where the wearable posture holding device 1 is operating is the posture holding state. When it is different from the wearer's intention, the value is set to a value less than a predetermined value that allows the wearer to move the clutch 60 by his / her own force. Therefore, when a torque equal to or higher than the predetermined value is applied by the wearer in the frictional contact state of the friction plates 65 and 68, the friction plates 65 and 68 can be displaced around the axis of the rotating shaft 66. As a result, a basically safe wearable posture holding device 1 is realized.

The force required for the wearer to maintain the mid-waist position is the force required to maintain the weight of the wearer's upper body. Therefore, the frictional force corresponding to the maximum allowable torque required of the friction plate type clutch 60 may be at least equal to the force required to hold the weight W1 of the upper body of the wearer. In addition to the weight W1 of the upper body, a general wearer has a back muscle strength W2 that lifts an object of 20 kg to 30 kg or more. Therefore, the predetermined value is such that a general wearer can exert a force equal to or greater than the frictional force W3 acting on the friction plates 65 and 68, that is, for example, (W1 ≦ W3 <W1 + W2). By selecting and setting, if the intention of the wearer is different, the friction plates 65 and 68 that are in frictional contact can be displaced by angular displacement, and the wearable posture holding device can be moved, ensuring safety. Will be done.

FIG. 10 is an electric circuit diagram related to the electromagnetic coil 63 of the clutch 60. A push button switch 101 is connected to the clutch 60 installed near the left and right hip joints of the wearer 10 via a flexible cable 102. The push button switch 101 has an elongated egg shape that is easy to push and hold, and has a size that fits comfortably in the palm of the hand (for example, the outer shape is 2 to 3 cm in length, 2 to 3 cm in width, 4 to 7 cm in total length, etc.), and is located near the clutch 60. It is provided near the wearer's hand and hung from the waist by, for example, a flexible cable 102 having a length of 0.1 to 0.5 m. One end of the flexible cable 102 may be connected to the pushbutton switch 101, and the other end may be fixed to, for example, the clutch body 61 of the clutch 60 or the lower trunk holder 30. The push button switch 101 may be provided on either the left or right side, but may be provided on the left or right side. In this way, the push button of the push button switch 101 can be easily pushed while holding the push button switch 101 with at least one hand, even when holding the luggage with both hands.

Excitation power is supplied from the battery 104 to the electromagnetic coil 60 of the clutch 60 via a push button switch 101, a flexible cable 102, and a fuse 103, and the back electromotive force is suppressed by the varistor 105. The fuse 103, the battery 104, and the like are housed in a control box 39 (FIG. 2) fixed to the back plate 34, and are connected to the flexible cable 102 by an electric wire.

The push button switch 101 has a self-holding function in which the on / off switching mode is alternately changed each time the push button is pressed. The self-holding function may be realized by the mechanical configuration or the electrical configuration of the pushbutton switch 101.

FIG. 11 is a flowchart for explaining the operation of the embodiment of FIGS. 1 to 9. Moving from step a1 to a2, when the push button switch 101 hung from the waist near the hand is operated by the wearer and the switching mode is turned on, the switching mode of the on is self-held, and the assist for holding the mid-waist posture in step a3. The operation is performed. In the assist operation for maintaining the mid-waist posture, in step a31, a current flows through the electromagnetic coil 63 to generate an electromagnetic force. As a result, in step a32, the clutch 60 is in a connected state when the friction plates 65 and 68 are in close contact with each other and are engaged with each other. In another embodiment described later, the meshing teeth of the rotor with meshing teeth and the armature with meshing teeth mesh with each other to form a connected state. In this way, in step a33, the side frame 32 of the upper body of the wearer 10 and the thigh frame 81 of the lower body are combined to prevent angular displacement, brake the bending and stretching motion of the waist, maintain the mid-waist posture, and maintain the mid-waist posture. Can assist holding.

When the push button switch 101 is operated by the wearer to turn off the switching mode, the self-holding of on is reset, the switching mode of off is self-held, and the assist operation for holding the mid-waist posture is released in step a4. In the assist operation for maintaining the mid-waist posture, no current flows through the electromagnetic coil 63 and no electromagnetic force is generated in step a41. In step a42, the spring 69 separates and disconnects the friction plates 65 and 68 of the clutch 60, and the clutch 60 is in a cutoff state. In this way, in step a43, the side frame 32 of the upper body of the wearer 10 and the thigh frame 81 of the lower body are separated from each other, angular displacement is possible, the waist can be bent and stretched freely, and the mid-waist posture is maintained. It expires. That is, when the hand switch 101 is pressed, the current from the battery 104 is stopped and the electromagnetic force is eliminated, and the clutch 60 is attached to the frames 20 and 30 attached to the trunk 11 of the upper body and the thigh 12 of the lower body by the force of the spring 69 of the clutch 60. The frame 40 is separated from the frame 40, and the bending and stretching movement of the waist around the axis 75 of the clutch 60 becomes free, and the assist for maintaining the mid-waist posture is cut off. The voltage applied to the electromagnetic coil 63 is the voltage of the battery 104, and is constant at, for example, DC 20 to 50 V. When a voltage is applied to the electromagnetic coil 63, a current flows and an electromagnetic force necessary for maintaining the mid-waist posture is generated.

In another embodiment of the present invention, the exciting power adjusting circuit that changes and adjusts the voltage from the battery 104, and therefore the value of the exciting power, to the electromagnetic coil 63 by the operation of the wearer is the battery 104 and the electromagnetic coil 63. It may be provided between and. As a result, the strength of the generated electromagnetic force is changed, and the maximum allowable torque of the clutch 60, and therefore the torque applied by the wearer, is the frictional contact state of the friction plates 65 and 68, and the friction plates 65 and 68 are rotated shafts 66. The predetermined value that causes the deviation around the axis of the above can be selected and set. For example, when used by a male wearer, the voltage is increased to increase the electromagnetic force, and when used by a female wearer, the voltage is decreased to weaken the electromagnetic force to minimize the power consumption of the battery 104. It can be limited to the required limit. The friction plate type clutch 60 can generate a force equal to or greater than the acting frictional force, and the tooth engagement type clutch 120 shown in FIGS. 15 and 16 can generate a force greater than the tooth skipping force. Since it is a device that can move the wearable posture holding device, it is basically safe.

FIG. 12 is an electric circuit diagram in still another embodiment of the present invention. This embodiment is similar to the above-described embodiment, and the corresponding reference numerals are given to the corresponding parts. It should be noted that the control contact 111 is used instead of the push button switch 101 described above, and the control contact 111 is turned on only during the period in which the wearer 10 is in the mid-waist position until he / she gets up. The battery 104 applies exciting power to the electromagnetic coil 63. The angle detector 112 shown in FIGS. 1 and 8 is provided in each of the left and right clutches 60, and detects the angle θ of the rotation shaft 66, respectively. This detected angle θ corresponds to the angle between the side frame 32 and the upper frame piece 81, and is, for example, a complementary angle. The output of the angle detector 112 is given to the processing circuit 113 realized by the microcomputer. The processing circuit 113 includes a timer 114 that measures the duration in which each of the left and right angle detectors 112 is in the mid-waist position. Further, the detection angle θ by each angle detector 112 is calculated to obtain the rising angular velocity ω1. The acceleration / angular velocity detector 115 is fixed to the control box 39, detects the upward acceleration α of the wearer's 10 trunks 11, and also detects the rotational angular velocity ω2 of the trunks 11. The output is given to the processing circuit 113.

FIG. 13 is a skeleton diagram for explaining a state in which the wearer 10 enters the mid-waist posture from the leaning posture for the mid-waist work operation. The left and right angle detectors 112 detect the angle θ, respectively. With respect to the angle θ, the threshold value θ1 for determining entering the mid-waist posture for the mid-waist work operation is predetermined, for example, in the range of 30 to 40 degrees.

The rotation angular velocity of the trunk is the speed of the rotation angle around the horizontal axis of the center of gravity of the trunk 11, and is the velocity ω which is the time derivative value of the angle θ in FIG. 13 of the trunk 11 (upper body). For example, the angular velocity measured by a similar angular velocity built into the angler 112 described above and the left and right electric motors 87 described in connection with FIG. 26 described later is the velocity ω1 at an angle θ1 between the trunk 11 and the left thigh 12L. Then, the velocity ω2 of the angle θ2 between the trunk 11 and the right thigh 12R is obtained. When the left and right thighs 12L and 12R are not moved, ω, ω1 and ω2 are the same, but otherwise they are different.

FIG. 14 is a skeleton diagram for explaining a state in which the wearer 10 gets up from the mid-waist posture in which the mid-waist work operation is performed. The acceleration / angular velocity detector 115 detects the upward acceleration α of the trunk 11, and the threshold value α1 for determining the rising state is predetermined, for example, in the range of 0.85 to 1.15G. The processing circuit 113 calculates the detection angle θ by each angle detector 112 to obtain the rising angular velocity ω1. Alternatively, the acceleration / angular velocity detector 115 also detects the rotational angular velocity ω2 of the trunk 11. With respect to the angular velocity ω, the threshold value ω3 for determining the rising state is set in advance to, for example, a value of 300 degrees / sec, where the larger of ω1 and ω2 is ω.

FIG. 15 is a flowchart for explaining the operation of the processing circuit 113 of FIG. From step b1 to step b2, the angles of the hip joints measured and detected by the left and right angle detectors 112 are given. In step b3, it is determined whether or not any of the detection angles by the left and right angle detectors 112 is the threshold value θ1 or more, and if so, the duration T which is the threshold value θ1 or more in step b4 is set by the timer 114. measure. The threshold value T1 of the duration T is predetermined, for example, in the range of 3 to 5 seconds. When the duration T exceeds the threshold value T1 (T1 ≦ T), it is determined that the wearer has entered the mid-waist posture, the mid-waist posture is detected, and then the operation of assisting the holding of the mid-waist posture is performed in step b6.

In step b6, the control contact 111 is conducted on in step b61, whereby a current flows through the electromagnetic coil 63 and an electromagnetic force is generated. Due to this electromagnetic force, the friction plates 65 and 68 are displaced close to each other against the spring force of the leaf spring 69, and the clutch is engaged. Therefore, the angular displacement of the upper trunk holder 20 and the lower trunk holder 30 of the upper trunk 11 and the thigh holder 40 of the lower thigh 12 is prevented and joined. In this way, the operation of assisting the holding of the mid-waist posture is performed.

In step b7, the acceleration / angular velocity detector 115 measures and detects the upward acceleration α of the trunk 11. In step b8, it is determined whether the acceleration α of the trunk 11 is equal to or higher than the threshold value α1 (α1 ≦ α), and if so, in step b9, based on the angle θ between the left and right thighs of the trunk 11 The angular velocity ω1 is calculated and measured. The rotation angular velocity ω2 of the trunk 11 is also measured. In step b10, it is determined whether the larger ω of the left and right angular velocities ω1 or ω2 is the threshold value ω3 or more (ω3 ≦ ω). Is detected and judged.

In this way, by the operation of steps b2 to b5 for detecting the mid-waist posture and steps b7 to b10 for detecting getting up, only during the period from which the mid-waist posture is reached until the person gets up, the battery 104 is used in step b6. Exciting power is applied to the electromagnetic coil 63.

In the next step b11, the operation of assisting the holding of the mid-waist posture is released. In step b111, the control contact 111 is shut off off, so that no current flows through the electromagnetic coil 63 and no electromagnetic force is generated. By eliminating this electromagnetic force, in step b112, the friction plates 65 and 68 are displaced apart by the spring force of the leaf spring 69, and the clutch 60 is in a disengaged state. Therefore, the angular displacements of the upper trunk holder 20 and the lower trunk holder 30 of the upper trunk 11 and the thigh holder 40 of the lower thigh 12 are separated. In this way, the operation of assisting the holding of the mid-waist posture is released.

FIG. 16 is a cross-sectional view showing the clutch 120 and its vicinity in another embodiment of the present invention. The clutch 120 engages the meshing teeth by an electromagnetic force instead of the frictional contact of the friction plate by the electromagnetic force in the clutch 60 of the above-described embodiment. The clutch 120 has a clutch body 121 as a field and a rotating body 122 as an armature. The clutch body 121 has a field 124 in which an electromagnetic coil 123 is arranged, and a rotor 125 with meshing teeth, which is one of the clutch members, and the field 124 is fixed to the side frame 32. The rotating body 122 meshes with the rotating shaft 126, the support member 127 fixed to the rotating shaft 126 by preventing relative displacement in the circumferential direction and the axial direction, and the other clutch member, the armature 128 with meshing teeth. It has a coil spring 129 that engages a toothed armature 128 and applies a spring force in a direction away from the toothed rotor 125 (to the left in FIG. 16). The meshing toothed armature 128 is prevented from being displaced from the support member 127 around the axis 75 of the rotating shaft 126, and thus to the rotating shaft 126. The meshing toothed armature 128 is displaced in the proximity direction (to the right in FIG. 16) to the meshing toothed rotor 125, and the clutch 120 is connected by the meshing teeth of the meshing toothed rotor 125, and is separated from the clutch 120 (to the left in FIG. 16). ), And the clutch 120 is shut off.

The rotor 125 with meshing teeth has a tubular portion 132 through which the rotating shaft 126 is inserted and supports the field 124 via the bearing 131, and a flange portion 133 connected to the tubular portion 132. On the outer peripheral portion of the flange portion 133, meshing teeth are formed so as to face to the left in the axial direction of FIG. 16, and a rotor 125 with meshing teeth is formed.

FIG. 17 is a partial circumferential development view showing a state in which the meshing teeth of the rotor 125 with meshing teeth and the armature 128 with meshing teeth are separated and the clutch 120 is shut off. Due to the electromagnetic force generated by the excitation of the electromagnetic coil 123, the armature 128 with meshing teeth is displaced close to the rotor 125 with meshing teeth against the spring force of the spring 129, and the meshing teeth mesh with each other, and the clutch 120 is connected. Become. When the electromagnetic coil 123 is degaussed without being excited, the armature 128 with meshing teeth is displaced away from the rotor 125 with meshing teeth by the spring force of the spring 129, and a gap Δd2 (for example, 0.4 mm) is opened to disengage the clutch. It becomes a state.

The field 124 of the clutch body 121 is fixed to the side frame 32. The rotation shaft 126 of the rotating body 122 is fixed to the upper frame piece 81 of the thigh frame 80. The tubular portion 132 and the upper frame piece 81, together with the rotating shaft 126, are prevented from rotating by the parallel key 134, and therefore the meshing toothed armature 128 and the upper frame piece 81, and thus the thigh frame 80, are rotating shafts. There is no deviation around the axis 75 of 126.

In the circumferential development view of FIG. 17, each meshing tooth of the meshing toothed rotor 125 and the meshing toothed armature 128 is symmetrically configured with respect to a virtual plane including the axis 75 of the rotating shaft 126. Therefore, when an excessive torque is applied by the wearer 10, a component force that displaces and displaces in the direction of the axis 75 is generated in any rotation direction, and the rotor 125 and the armature 128 have their so-called tooth skipping. It can occur and shift.

When the electromagnetic coil 123 is excited, the meshing teeth of the rotor 125 with meshing teeth and the armature 128 with meshing teeth mesh with each other, and the maximum allowable torque of the clutch 120 in the state where the wearable posture holding device 1 is operating is When the posture holding state is different from the intention of the wearer 10, the angle between the side frame 32 connected by the clutch 120 to which the wearer 10 is connected and the upper frame piece 81 is shifted by one's own force. It is set to a value less than a predetermined value that can be moved. This predetermined value is determined depending on the shape of the meshing teeth of the rotor 125 and the armature 128, the spring constant of the spring 129, and the like. Therefore, when a torque equal to or greater than the predetermined value is applied by the wearer in the meshed state between the rotor 125 with meshing teeth and the armature 128 with meshing teeth, the armature 128 with meshing teeth resists the spring force of the spring 129. The rotor 125 with meshing teeth and the armature with meshing teeth are displaced in the direction of separation to the left of 15, so to speak, tooth skipping occurs, and the displacement around the axis 75 of the rotating shaft 126 is the same as that of the clutch 60 described above. It can occur. As a result, a basically safe wearable posture holding device 1 is realized. Therefore, a general typical wearer 10 can move the wearable posture holding device when the meshing of the meshing teeth can exert a force equal to or greater than the force of tooth skipping, which is different from the intention of the wearer 10. Since it is a device that can be used, it is basically safe.

Other configurations in the embodiments of FIGS. 16 and 17 are the same as those of the above-described embodiments of FIGS. 1 to 15.

FIG. 18 is a cross-sectional view showing the clutch 140 and its vicinity in another embodiment of the present invention. This clutch 140 can be used in place of the clutches 60 and 120 of the above-described embodiment, and the friction contact of the plurality of friction plates 145 and 148 is performed by the handle operation of the wearer 10 instead of the electromagnetic force. .. The clutch 140 has a clutch main body 141 with a plurality of friction plates 145 as one clutch member, and a rotating body 142 having a rotating shaft 146 and having a plurality of friction plates 148 as the other clutch member. The clutch body 141 is inserted with an annular rotor 144 to which the friction plate 145 is fixed and displaceable in the direction of the axis 75, an inner sleeve 152 through which the rotor 144 is inserted and fixed to the side frame 32, and an inner sleeve 152. It has an outer sleeve 153 that can be displaced in the direction of the axis 75. The inner sleeve 152 has a lever 156 that can be swung by a pin 155 perpendicular to the axis 75 of the rotating shaft 146, and a plate that gives the lever 156 a spring force in a direction in which one end portion 156a separates the rotor 144 and the outer sleeve 153. A spring 149 is provided. A coil spring 159 applies a spring force to the friction plate 145 in the direction away from the friction plate 148. The inner sleeve 152 is fixed to the planar frame 31, and thus to the side frame 32 connected to the trunk 11.

The handle 157 is swung by a pin 158 perpendicular to the axis 75 of the rotating shaft 146, and the pin 158 is provided on the inner sleeve 152. By swinging the handle 157, the position for disengaging the clutch 140 can be switched as shown by the solid line in FIG. 18 and the position for connecting as shown by the virtual line, whereby the outer sleeve 153 can be switched to the position of the axis 75. Displace in the direction.

The rotating body 142 is capable of frictionally contacting the support member 147, which is an armature fixed to the rotating shaft 146 by preventing relative displacement in the circumferential direction and the axial direction, and the friction plate 145 fixed to the support member 147. It has a bearing 151 interposed between the friction plate 148 and the inner sleeve 152. The support member 147 and the upper frame piece 81 are prevented from rotating with each other by the parallel key 154, and therefore the rotating shaft 146 and the upper frame piece 81 connected to the thigh 12 are fixed.

The structures of the multi-plate friction plates 145 and 148 and the coil spring 159 will be further described. The structure is such that the three outer friction plates 148 attached to the support member 147 and the three inner friction plates 145 attached to the rotor 144 come into contact with each other and come off. The coil spring 159 is attached inward in the radial direction with respect to the friction plates 145 and 148, and a force acts in a direction in which the friction plates 148 and 145 of the armature support member 147 and the rotor 144 are separated from each other.

When the handle 157 is in the right clutch disengagement position as shown by the solid line in FIG. 18, one end portion 156a of the lever 156 is located between the rotor 144 and the outer sleeve 153 by the spring force of the spring 149, and the friction plates 145 and 148. The force for frictional contact does not act on the clutch, and the clutch is disengaged. When the handle 157 is moved to the right in FIG. 18 in this way, the armature 147 is separated by the coil spring 159, the friction plates 145 and 148 are released, and the lever 156 is returned by the leaf spring 149.

When the handle 157 is switched to the left clutch connection position as shown by the virtual line in FIG. 18, the outer sleeve 153 pushes down one end portion 156a of the lever 156 against the spring force of the spring 149 to cause an angular displacement, and the friction plate 145. 148 is pressed between the rotor 144 by the outer sleeve 153 and the other end 156b of the lever 156, is frictionally contacted, and is clutch-connected. In this way, when the handle is moved to the left in FIG. 18, the outer sleeve 153 is shifted to the left, the lever 156 is pushed in, the rotor 144 is shifted to the left, and the friction plates 145 and 148 come into contact with each other. Is. Other configurations and actions are similar to those of the embodiments described above.

FIG. 19 is a cross-sectional view showing the clutch 160 and its vicinity in another embodiment of the present invention. This clutch 160 can be used in place of the clutches 60, 120, 140 of the above-described embodiment, and the meshing teeth are engaged by the handle operation of the wearer 10 instead of the electromagnetic force. The clutch 160 has a clutch body 161 having a rotor 165 with meshing teeth, which is one clutch member, and a rotating body 162 having an armature 168 with meshing teeth, which is the other clutch member.

The clutch body 161 has a rotor 165 with meshing teeth that can be displaced in the direction of the axis 75, an inner sleeve 172 that is fixed to the side frame 32, and an outer sleeve 163 that can be displaced in the axial direction through which the inner sleeve 172 is inserted. Have. The inner sleeve 172 is provided with a handle 177 that can be swung by a pin 178 perpendicular to the axis 75 of the rotating shaft 166, and the outer sleeve 163 can be displaced in the direction of the axis 75 by the swing of the handle 177. The coil spring 179 disengages one meshing toothed rotor 165 from the other meshing toothed rotor 162 and applies a spring force in a direction in which the meshing is released.

By swinging the handle 177, it is possible to switch between the right position for disengaging the clutch 160 and the left position for connecting as shown in FIG. 18, whereby the outer sleeve 163 is displaced in the direction of the axis 75.

The rotating body 162 has a support member 167 fixed to the rotating shaft 166 so as to prevent relative displacement in the circumferential direction and the axial direction, and a meshing tooth that is fixed to the support member 167 and can mesh with the rotor 165 with meshing teeth. It has a bearing 171 interposed between the armature 168 and the inner sleeve 172. The support member 167 and the upper frame piece 81 are prevented from rotating with each other by the parallel key 174.

When the handle 177 is moved to the right as shown in FIG. 18, the rotor 165 is separated from the armature 168 by the coil spring 179, the meshing teeth are disengaged, and the clutch is disengaged.

When the handle 177 is moved to the left in FIG. 19, the outer sleeve 163 is shifted to the left, the roller 169 is pushed in, the rotor 165 with meshing teeth shifts to the left, and the meshing teeth with the rotor 168 with meshing teeth. Engage and reach the clutch connection position.

When a force around the axis 75 is applied to the meshing teeth, a force is applied in the direction in which the meshing is disengaged, which is the right direction of the axis 75, and this force is received by the inner sleeve 172. In this way, the rotor 165 and the armature 168 are displaced around the axis 75 to ensure safety. Since the roller 169 is fitted in the tapered portion of the inner sleeve 172, the component force of the force applied to the roller 169 acts in the outer peripheral direction. Since this force is received by the inner circumference of the outer sleeve 163, it is not transmitted to the handle 177 and the clutch 160 is not disengaged. Other configurations and actions are similar to those of the embodiments described above.

FIG. 20 is a side view showing a state in which the wearable posture holding device 1a, which is another embodiment of the present invention, is attached to the wearer 10, and FIG. 21 shows a part of the wearable posture holding device 1a in FIG. 20. It is an enlarged side view. This embodiment is similar to the above-described embodiment, but it should be noted that the planar frame 31a is implemented instead of the above-mentioned planar frame 31. In this embodiment, the portion corresponding to the above-described embodiment is indicated by adding a subscript a to a reference mark having the same number.

22 is a front view of the planar frame 31a, FIG. 23 is a left side view of the planar frame 31a, FIG. 24 is a plan view of a part of the planar frame 31a, and FIG. 25 is a planar frame 31a. It is an exploded perspective view of. 22 and 24 show substantially the left half of the symmetrically configured planar frame 31a. One of the clutch members 65 is fixed to the outer peripheral portion 35a of the planar frame 31, and the clutch member 65 rises diagonally backward from above and bends and extends to the rear of the lower part of the trunk, and the left and right ends are backed behind the lower part of the trunk. A pair of left and right outer peripheral pieces 32a fixed to the plate 34, respectively, are included. The lower trunk holder 30a basically has a planar frame 31a and a belt 36 that are rigid as a whole. The planar frame 31a covers the latter half of the lower torso from both the left and right sides of the lower torso to the back (behind the lower torso, including the lumbar region and the lower spinal column above the buttocks and the sacrum). It has a portion 35a and a back plate 34 that rises from the outer peripheral portion 35a behind the lower part of the trunk. The belt 36 is connected to the planar frame 31a and covers the front half circumference of the lower part of the trunk from both left and right sides of the lower part of the trunk to the abdomen.

As described above, the planar frame 31a of the lower trunk holder 30 is rigid and can also be referred to as a waist side / back frame. The height of the planar frame 31a is shortened to a position between the waist and the armpit, not the position where the upper part is immediately under the armpit, and the height of the back plate 34 is also between the waist and the armpit. Shorten to the position of to make it easier to install. Since the lower trunk holder 30a is composed of a planar frame 31a having an outer peripheral portion 35a and a back plate 34 and a belt 36, the trunk 11 and the thigh holder 40 hold the mid-waist posture and the upward moment. You will be able to perform the assist of the above reliably and quickly.

According to this embodiment, it is easy to realize the planar frame 31a with high rigidity. Since the outer peripheral piece 32a stands up diagonally backward from above, the wearer 10 is allowed to freely tilt the mid-waist posture, and the trunk 11 is allowed to tilt to the left and right, whereby a comfortable mid-waist posture can be assisted.

FIG. 26 is a cross-sectional view showing a drive source 89 in which a clutch 60 and an electric motor 87 with a speed reducer 88 are combined in another embodiment of the present invention, and a vicinity thereof. This embodiment is similar to the above-described embodiment, and the corresponding parts are designated by the same reference numerals. It should be noted that a drive source 89 is provided between one of the lower trunk holder 30 and the thigh holder 40 and the clutch 60, and the rotation axis of the clutch 60 is connected to the clutch 60. Generates torque around a common straight line. According to this embodiment, the lumbar spine (lumbar joint) and the back muscles are assisted to prevent low back pain by assisting the holding and lifting of the mid-waist posture in the mid-waist work by applying an upward force moment by a drive source. Can be done.

The main body 90, which is the housing of the motor 87, is fixed to the field 64 by the bracket 91 via the clutch main body 61, and is fixed to the side frame 32 of the trunk lower holder 30. The output shaft of the motor 87 is fixed to the clutch rotating body 62 and the thigh frame 80. When the electromagnetic coil 63 is not excited, the friction plate 68 is not attracted to the friction plate 65, and the rotational torque of the motor 87 is applied to the lower trunk holder. It acts as a relative angular displacement force between the side frame 32 of 30 and the upper and lower frame pieces 81, 82 of the thigh holder 40.

Regarding the on / off operation of the clutch 60, the motor 87 starts the rotational operation immediately after the clutch 60 is turned off. Further, the clutch 60 is immediately turned on after the motor 87 is stopped.

In another embodiment of the present invention, the clutch 140 of FIG. 18 described above may be used instead of the clutch 60 of FIG. The clutch 140 is turned off by the operation of the manual handle 157, and then the motor 87 immediately starts the rotational operation by the switch that detects the off operation. Immediately after the motor 87 is stopped, the manual handle 157 is used to perform the on operation. The clutches 120, 160 and the like shown in FIGS. 16 and 19 may be used.

The displacement of the friction plates 65 and 68, the tooth skipping of the clutches 120 and 160 described above, and the drive of the motor 87 are important from the viewpoint of safety. When the motor 87 operates in the direction opposite to the intention of the wearer 10, the motor 87 can rotate in the reverse direction from the wearer 10 side, that is, from the output shaft side of the motor 87 (reduction ratio is 1/100 to 1/50). It is configured to be back-dryable in degree). Further, when the motor 87 operates in the direction opposite to the intention of the wearer 10, even if the friction plates 65 and 68 are attracted by the electromagnetic force, the friction plates 65 and 68 are displaced by the force of the wearer 10 and reverse. It is configured so that it can be moved by rotating. When the motor 87 operates in the direction opposite to the intention of the wearer 10, even if the meshing teeth 125 and 128 are attracted by the electromagnetic force, the meshing teeth 125 and 128 are displaced by the force of the wearer 10 and the teeth are skipped. It is configured so that it can be moved by rotating in the reverse direction.

The advantages of each of the above-described embodiments will be described in comparison with Patent Document 1. Patent Document 1 provides a configuration based on voice detection, a motor, a ratchet mechanism, and a clutch. In this case, the voice detection, the motor, and the ratchet mechanism of Patent Document 1 are omitted. Instead, self-holding switch operation (Fig. 9) and automatic operation using the hip joint angle, trunk acceleration, and trunk rotation angular velocity detected by the motion sensor (Fig. 11) are performed in FIGS. 8 and 15. One or more friction plates can be brought into contact with each other by the electromagnetic force generated by the electromagnetic coil (or the manual mechanical handle operating force as shown in FIGS. 17 and 18) by passing an electric current using a battery as shown in. (FIGS. 8 and 17), a clutch structure (FIG. 8, FIG. 15, FIG. 17, FIG. 18) is formed in which a large number of meshing teeth are engaged (FIGS. 5 and 18) to be engaged and further separated by a spring force. ing. In this case, 1 of the ratchet mechanism of Patent Document 1 is performed by simple mechanical handle operation, switch operation, or automatic operation detected by the motion sensor, instead of troublesome voice detection when repeatedly uttering Patent Document 1. Rather than the meshing of two glossy locking claws, in this case the force is distributed by engaging all of a large number of meshing teeth, as well as by the coupling of one or more friction plates. By making it, it can cope with a strong force and can be configured compactly.

From the viewpoint of safety, when a force stronger than usual is applied, it is difficult and dangerous for Patent Document 1 to release one or two locking claws of the ratchet mechanism. On the other hand, in the meshing of a large number of meshing teeth in this case, the teeth are configured to be displaced by angular displacement, and the friction plate in frictional contact is configured to be displaced by angular displacement, so that it is safe. Is. In one or two locking claws in the ratchet mechanism of Patent Document 1, even if the locking claws come off and the teeth fly, the number of locking claws is small, so that the ratchet teeth and the locking claws are damaged or worn. , There is a risk that it will soon become unusable. The meshing configuration of a large number of meshing teeth in this case has an advantage of long life because it can be used until the teeth are skipped several times. Further, the bonding method using the friction plate of this case does not cause tooth skipping, can be used many times, and has an advantage of long life.

Regarding the clutch of the prior art (for example, Japanese Patent Application Laid-Open No. 2011-251507), the disengagement of teeth such as the locking claw of the ratchet mechanism has a disengagement structure that causes the locking claw locked by the spring member. .. On the other hand, in the embodiment of the present case (FIGS. 15 and 18), the gear having a large number of meshed teeth is separated in the axial direction, so that the structure is simple and compact, and the structure is also compact. The structure for pulling the combined friction plates apart in the axial direction is also simple and compact.
The present invention is capable of the following embodiments: (1) A holding device that is worn and held by the wearer.
It is an assist drive mechanism provided in the holding device, and has a pair of drive sources that are arranged on both the left and right sides of the lower part of the trunk of the wearer and generate drive torque around the axis in the left-right direction. An assist drive mechanism that gives a bearing moment between the trunk and the left and right thighs by the drive torque,
A pair of angle sensors that detect the relative angles between the wearer's trunk around the left-right axis and the left and right thighs, respectively.
An acceleration sensor installed in the holding device that detects the acceleration of the trunk,
A landing judgment means for judging the landing state of the foot in response to the output from the acceleration sensor and the angle sensor,
In response to the output from the landing determination means, the supporting leg in the landing state is given a supporting force moment in the supporting direction by the drive source on the supporting leg side, and the swing leg that has not landed is given a supporting force moment on the swing leg side. Including a drive control means that gives a swinging force moment in the swinging direction depending on the drive source.
The landing determination means determines that the foot has landed based on the maximum value of the acceleration in the vertical direction of the trunk detected by the acceleration sensor, and at the time when the acceleration sensor detects the maximum value of the acceleration, each of the above. Comparing the relative angles between the trunk detected by the angle sensor and the left and right thighs, the foot with the larger angle is the landing support leg, and the foot with the smaller angle is the landing leg. A wearable support robot device characterized in that it is determined to be a free leg.
(2) A holding device that is worn and held by the wearer,
It is an assist drive mechanism provided in the holding device, and has a pair of drive sources that are arranged on both the left and right sides of the lower part of the trunk of the wearer and generate drive torque around the axis in the left-right direction. An assist drive mechanism that gives a bearing moment between the trunk and the left and right thighs by the drive torque,
A pair of angle sensors that detect the relative angles between the wearer's trunk around the left-right axis and the left and right thighs, respectively.
In response to the output from the angle sensor and the landing judgment means for judging the landing state of the foot, and in response to the output from each angle sensor and the landing judgment means, the support leg in the landing state is driven by the support leg side. A drive control means that gives a supporting force moment in a supporting direction by a source and gives a swinging force moment in a swinging direction by a drive source on the swing leg side to a swing leg that has not landed.
The bearing capacity moment is maintained at a predetermined constant value for a predetermined time, and then decreases in proportion to the angle detected by the angle sensor.
The swinging force moment is characterized in that it maintains a predetermined constant value for a predetermined time and then decreases at a predetermined speed.
(3) The drive control means is
Each time the left and right detection angles are detected alternately in opposite directions, the bearing force moment and the swinging force moment are sequentially increased.
(4) Further including a detection means that is attached to the wearer's trunk and detects the acceleration, angular velocity or angle of the trunk.
The drive control means responds to the output from the detection means, and when the detected acceleration, angular velocity or angle is a value corresponding to the start of lifting assistance or lifting assist of the object, the body by the left and right drive sources. It is characterized by giving a lifting force moment in the lifting direction as the relative angle between the trunk and each thigh increases, or giving a lifting braking force moment so as to limit the moment acting in the lifting direction. And.
(5) Further includes an object sensor that is attached to the wearer's hand and detects that an object acts on the hand, and the drive control means responds to the outputs from the left and right angle sensors and the object sensor to detect the object. When this is done, the left and right drive sources increase the relative angle between the trunk and each thigh to give a lifting force moment in the lifting direction.
(6) Angular velocity calculation means for calculating the angular velocity in response to the output from each of the left and right angle sensors, and
It also includes an object sensor that is worn on the wearer's hand and detects the action of an object on the hand.
The drive control means responds to the outputs from the left and right angle sensors, the angular velocity calculation means, and the object sensor, and the angular velocity is in the direction of lowering, and when an object is detected, the drive control means is in the direction of lowering by the left and right drive sources. It is characterized in that a lifting braking force moment is applied so as to limit the moment acting on the sensor.
(7) The drive control means is provided with a time measuring means, and when the detected left and right angles are within a predetermined range of the middle waist in response to the output of the left and right angle sensors, the duration of the middle waist is measured and the time is measured. When the timed duration elapses for more than a predetermined time, the holding device (8) (j) is characterized in that a mid-waist support force moment is given so as to maintain the detected left-right angle by the left and right drive sources.
An upper torso holder that is attached and held on the upper torso of the wearer,
A lower trunk holder that is attached and held to the lower trunk of the wearer,
Including a femur holder that is worn and held on the wearer's thigh,
(K) The assist drive mechanism is
(K1) The drive source is
A drive shaft that rotates around the axis in the left-right direction near the hip joint,
The drive shaft has a drive source body that generates torque around the axis.
(K2) A pair of upper arms that extend vertically and are arranged on both the left and right sides of the upper part of the trunk, and the lower end of each upper arm and either the drive shaft or the drive source body are left and right. The upper arm, which is installed by blocking the relative rotation around the axis of the direction,
(K3) A first passive rotation axis that connects the upper end of the upper arm and the upper trunk holder with angular displacement around the axis in the left-right direction.
(K4) A pair of lower arms that extend vertically from the lower part of the trunk to the thighs on both the left and right sides, and the upper end of each lower arm and either the drive shaft or the drive source body are located on the other side. , The lower arm, which is installed by blocking the relative rotation around the axis in the left-right direction,
(K5) A second passive rotation shaft that connects the lower end of each lower arm and the thigh holder in an angular displacement around the axis in the left-right direction.
(K6) The lower trunk holder is characterized by having an attachment means for attaching any one of the longitudinal intermediate position of the upper arm, the drive shaft, the drive source main body, and the longitudinal intermediate position of the lower arm. To do.
The present invention is capable of the following embodiments.
(1) (a) An upper trunk holder that is attached and held on the upper trunk of the wearer,
(B) A lower trunk holder that is attached and held to the lower trunk of the wearer,
(C) A thigh holder that is attached and held on the wearer's thigh, and
(D) Drive sources located on both the left and right sides of the lower part of the trunk.
A drive shaft that rotates around the axis in the left-right direction near the hip joint,
A drive source having a drive source main body that generates torque around the axis of the drive shaft,
(E) A pair of upper arms that extend vertically and are arranged on both the left and right sides of the upper part of the trunk, and the lower end of each upper arm and either the drive shaft or the drive source body are left and right. The upper arm, which is installed by blocking the relative rotation around the axis of the direction,
(F) A first passive rotating shaft that connects the upper end of the upper arm and the upper trunk holder so that they can be angularly displaced around the axis in the left-right direction.
(G) A pair of lower arms that extend vertically from the lower part of the trunk to the thighs on both the left and right sides, and the upper end of each lower arm and either the drive shaft or the drive source body are located on the other side. , The lower arm, which is installed by blocking the relative rotation around the axis in the left-right direction,
(H) A second passive rotation shaft that connects the lower end of each lower arm and the thigh holder so as to be angularly displaced around the axis in the left-right direction.
(I) The lower trunk holder includes an attachment means for attaching any one of the longitudinal intermediate position of the upper arm, the drive shaft, the drive source main body, and the longitudinal intermediate position of the lower arm. Wearable support robot device.
The upper trunk holder, the lower trunk holder, and the thigh holder were attached to the wearer, and were connected to the upper trunk holder via the first passive rotation axis so as to be angularly displaced around the axis in the left-right direction. Between the lower end of the upper arm having the upper end and the upper end of the lower arm having the lower end connected to the thigh holder via the second passive rotation axis so that it can be angularly displaced around the axis in the left-right direction. Support force moments are applied to the left and right by drive sources located on both the left and right sides of the lower part of the trunk, and the lower part of the trunk holder is provided with the intermediate position of the upper arm in the longitudinal direction, the drive shaft, the drive source body, or the lower arm. Since any one of the longitudinal positions is attached by the attachment means, the support force moment around the axis in the left-right direction output by each drive source can be applied between the trunk and each of the left and right thighs. ..
The trunk tends to bend back and forth due to the facet joints of the vertebrae including the lumbar spine, but at each position above and below the trunk, the upper arm becomes the upper trunk holder and the lower trunk holder as described above. Since they are attached in relation to each other, the support force moment that the drive source outputs by driving the upper arm and the lower arm by relative angular displacement is surely given to the trunk with respect to the thigh. Therefore, the wearer can easily work with this support.
(2) The lower trunk holder is placed near the wearer's pelvis.
The middle position of the upper arm in the longitudinal direction is attached to the lower trunk holder by the attachment means.
The axis of the drive shaft is characterized by being near a straight line in the left-right direction passing through the center of the wearer's left and right hip joints as acetabular joints.
The lower torso holder is located near the pelvis and therefore near the upper part of the laterally protruding iliac crest in the pelvic wing, ensuring that it is caught near the pelvis and lower torso. It does not shift downward from the pelvis and is securely attached to the lower part of the trunk. Since the intermediate position of the upper arm in the longitudinal direction is attached to the lower trunk holder, the drive shaft or the drive source main body to which the lower end of the upper arm is attached is surely arranged near the hip joint of the wearer. As a result, the axis of the drive shaft of the drive source is on or along a horizontal straight line through the center of the left and right hip joints as the acetabulum, and thus the center of the hemispherical femoral head that fits into the acetabulum. It is surely possible to keep the state in the vicinity stable. In this way, the support force moment around the straight line is applied between the upper arm and the lower arm, and therefore between the trunk and the left and right thighs, and walking support, lifting support, lifting brake support, and middle waist. Support can be achieved smoothly.
(3) The upper arm is characterized in that it can be angularly displaced around the axis in the front-rear direction between the axis of the first passive rotation axis and the axis of the drive axis.
The upper arm is angularly displaced around its longitudinal axis by, for example, passive rotation axes 73, 83, between the first passive rotation axis at its longitudinal upper end and the axis of the drive shaft at its longitudinal lower end. Since it is free, the trunk can be tilted and bent in the left-right direction by the action of the facet joints by the vertebrae including the lumbar vertebra. Therefore, the support force moment can be smoothly applied according to the posture of the wearer. The passive rotation shaft 73 of the upper arm 70 can be omitted.
The upper arm 70 of FIGS. 61, 62 and the like may be a long, for example, rod-shaped or plate-shaped arm, but in other embodiments of the present invention, other than that, FIGS. 65 to 67, 68, and It may be realized by the planar frames 633 and 653 as shown in FIGS. 69 and 70. Instead of the upper arm 70, the planar frames 633 and 653 may be realized by a strong and light material and used.
Further, the upper arm may have a configuration in which a planar frame is arranged on the outer side opposite to the wearer of the rod-shaped or plate-shaped arm. The upper arm may be made of a material such as a flexible or elastic synthetic resin or metal capable of bending the trunk in the left-right direction. In addition, many small holes for ventilation are made in the planar frame, and a mesh material is attached to the inside (that is, the wearer side) to improve ventilation.
As described above, in the combined type in which the planar frames 633 and 653 are combined and used together with the upper arm 70, the upper arm 70 is made of a metal having high strength, for example, aluminum, so that the planar frames 633 and 653 are combined. Can be made of low-strength material, and it is easy to realize the wearable support robot device.
It is desirable that the hole diameter for ventilation to be formed in the planar frame is a circular shape having a diameter of, for example, about 3 to 20 mm as a punching hole diameter as large as possible within a range that does not impair the strength.
The mesh material to be attached to the inside is a material woven into a mesh. For the mesh-woven material, fabric, resin, metal, etc. are used. For meshes, for example, 100 meshes means that the number of meshes per inch of mesh is 100. Even with the same 100 mesh, it differs depending on the aperture ratio and the wire diameter. In the case of wire mesh, it is stipulated in the JIS (Japanese Industrial Standards) standard, but in the case of fabrics, the aperture ratio and wire diameter may differ even with the same 100 mesh. It is necessary to select the wire diameter or aperture ratio. For example, if the material is polyester and the intersection is stopped, if the wire diameter is 35 microns and 100 meshes, the number of meshes is 100 meshes, but the thread is thin, so the aperture ratio is as high as about 74%, and air is removed. It is suitable for this application because it is easy to pass through and the opening area of the mesh is small so that the strength can be maintained.
(4) The lower arm is characterized in that it can be angularly displaced around the axis in the front-rear direction between the axis of the drive shaft and the second passive rotation axis.
The lower arm is angularly displaced around the anterior-posterior axis between the axis of the drive shaft at the upper end in the longitudinal direction and the second passive rotation axis at the lower end of the lower arm. , The lower limbs can be abducted and the legs can be opened smoothly. Therefore, the support force moment can be smoothly applied according to the posture of the wearer's open legs. The lower arm may be made of a material such as a flexible or elastic synthetic resin or metal capable of bending the trunk left and right.
(5) The upper arm and the lower arm are characterized by having third and fourth passive rotation axes that can be angularly displaced around the axis in the front-rear direction, respectively, at intermediate positions in the longitudinal direction.
A plurality of rigid arm pieces can be connected via a passive rotation axis that can be angularly displaced around an axis in the front-rear direction to form an upper arm and a lower arm, and an upper arm and a lower arm can be formed, which is easy to realize. ..
(6) The upper arm is characterized by including a planar frame that covers at least the left and right sides of the upper part of the trunk in the circumferential direction.
The present invention is capable of the following embodiments.
(1) (a) A trunk holder that is attached to and held on the wearer's trunk, and
(B) A thigh holder that is attached and held on the wearer's thigh, and
(C) A clutch that has a rotation axis around the axis in the left-right direction near the hip joint and connects and disconnects the trunk holder and the thigh holder.
(D) A wearable posture holding device including a clutch control means for connecting a clutch in the wearer's mid-waist posture.

The wearable posture holding device can assist the lumbar spine (lumbar joint) and the back muscles in order to prevent low back pain, mainly by assisting the holding of the middle waist posture in the middle waist work. By using an electromagnetic clutch or a mechanical clutch without using a drive source such as an electric motor with a reducer installed near the left and right hip joints and hip joints, it is inexpensive, lightweight, compact, and consumes low power or power. By braking the bending and stretching motion of the waist without using it, it is not possible to generate an upward force moment, but since it can support a downward force moment, it is possible to assist in maintaining the mid-waist posture.

(2) A drive source that is provided between one of the trunk holder and the thigh holder and the clutch and generates torque around a straight line common to the rotation axis of the clutch when the clutch is connected is further provided. It is characterized by including.

The lumbar spine (lumbar joint) and back muscles can be assisted to prevent low back pain by assisting the holding and lifting of the mid-waist posture during mid-waist work by applying an upward force moment by a drive source.

(3) The clutch is
A pair of clutch members arranged in the axial direction, and at least one of them is displaced in a direction close to each other to be in a connected state, and is displaced in a direction away from each other to be in a cutoff state.
It has a spring that gives a spring force to the clutch member in the direction of separation from each other.
It is characterized in that when a torque equal to or more than a value predetermined by the wearer is applied in the connected state of the clutch members, the pair of clutch members are displaced around the axis.

The pair of clutch members of the clutch are, for example, a friction plate, or a rotor with meshing teeth and an armature, when a torque greater than or equal to a value predetermined by the wearer is applied, for example, against the electromagnetic force of the electromagnetic coil. Or, the pair of clutch members are displaced around the axis along with the spring force acting in the direction of separation by the spring between the pair of clutch members against the force acting on the operated handle. Therefore, the safety of the wearer is ensured.

(4) The clutch is
It has an electromagnetic coil that displaces one clutch member in the proximity direction of the other clutch member by an electromagnetic force against a spring force.
The clutch control means is
Batteries and
It is characterized by including a mid-waist posture detection control means that detects the mid-waist posture of the wearer and applies exciting power from the battery to the electromagnetic coil only during the period during which the wearer is in the mid-waist posture.

The mid-waist posture detection control means of the clutch control means detects that the wearer has entered the mid-waist posture by, for example, the duration of the angle between the trunk and the thigh, and the angular velocity, or the rotational angular velocity of the trunk, and the body. It detects that you have left the mid-waist posture due to the upward acceleration of the trunk, and applies exciting power from the battery to the electromagnetic coil only during the period when you are in the mid-waist posture, so it is possible to automatically assist in maintaining the mid-waist posture. At the same time, wasteful consumption of power from the battery can be suppressed.

(5) The mid-waist posture detection control means is
A mid-waist posture detecting means for detecting the wearer's mid-waist posture, and
A rising detection means for detecting that the wearer has risen from the mid-waist posture, and
In response to the output of the mid-waist posture detecting means and the rising-up detecting means, the switch means for applying exciting power from the battery to the electromagnetic coil is included only during the period in which the mid-waisted posture is reached until the person gets up. It is a feature.

As described above, the mid-waist posture detecting means detects that the wearer has entered the mid-waist posture by the duration of the angle between the trunk and the thigh, and the rising detection means is the body. It is detected that the person has left the mid-waist posture by the angular speed of the angle between the trunk and the thigh, the rotation angle speed of the trunk, the upward acceleration of the trunk, etc. Since exciting power is applied to the electromagnetic coil, wasteful consumption of power from the battery can be suppressed.

(6) (e) The trunk holder is
(E1) An upper trunk holder 20 that is attached and held on the upper trunk of the wearer,
(E2) A lower trunk holder 30 that is mounted and held on the lower trunk of the wearer.
(E2-1) An outer circumference covering the latter half of the lower torso from both left and right sides to the back (behind the lower torso, including the lumbar region and the lower spinal column above the buttocks and sacrum). And a planar frame 31 that is entirely rigid and has a back plate that rises from the outer periphery behind the lower part of the trunk.
(E2-2) A lower trunk holder 30 which is connected to a planar frame and has a belt 36 which covers the front half circumference of the lower trunk from both left and right sides of the lower trunk to the abdomen.
(F) In the clutch 60, one of the pair of clutch members that can be angularly displaced with respect to each other around the rotation axis in the disengaged state is attached to the planar frame 31.
(G) A thigh frame 80 attached to the thigh holder 40 and the other clutch member.
(G1) A pair of upper frame pieces that extend downward from the vicinity of the hip joint on both the left and right sides along the thigh, and the upper end of each upper frame piece and the other clutch member are in the left-right direction. The upper frame piece 81, which is attached by blocking the relative rotation around the axis of
(G2) A thigh frame 80 having a pair of lower frame pieces 82 extending upward from the thigh holder 40 on both the left and right sides along the thigh.
(H) A first passive rotation shaft 83 that connects the lower end of each upper frame piece 81 and each lower frame piece 82 with angular displacement around an axis in the front-rear direction.
(I) It is characterized by including a second passive rotating shaft 45 that connects the lower end portion of each lower frame piece 82 and the thigh holder 40 so as to be angularly displaced around an axis in the left-right direction.

The lower trunk holder 30 is composed of a planar frame 31 having an outer peripheral portion and a back plate, which is rigid as a whole, and a belt 36, and holds the trunk 11 and the thigh holder 40 in a mid-waist posture. The upward moment can be assisted reliably and quickly.

According to the first passive rotation shaft 83, (a) the lower side portion of the trunk 11 is provided only by the side frame 31 which is the left and right side rigid body frame of the planar frame 31 and the back frame 33 which is the rear rigid body frame of the waist. Since it is mounted behind the body, it can be made lighter and can handle the twisting of the wearer without restraining the twisting movement of the wearer. (B) The lower ends of the clutch 60 mounted on both the left and right sides of the center of the left and right hip joints. Since the configuration in which the upper frame piece 81 fixed to the portion is attached to the lower frame piece 82, which is a rigid thigh frame, via the passive rotation shaft 83 that rotates around the axis in the front-rear direction is realized, the upper body of the wearer 11 can be attached. It can cope with the tilting to the left and right, does not restrain the tilting motion of the upper body of the wearer 11 to the left and right, and can (c) respond to the leg opening motion of the wearer in the left-right direction. Does not constrain the leg opening movement in the direction.

The second passive rotation shaft 45 ensures that the angular displacement between the thigh holder 40 and the thigh frame 80 is smoothly performed.

(7) The outer peripheral portion of the planar frame 31 is
A pair of left and right side frames 32 to which one of the clutch members is fixed and rises upward,
It is characterized by including a pair of left and right back frames 33 extending from the side frame 32 to the rear of the lower part of the trunk and having left and right ends fixed to the back plate 34 behind the lower part of the trunk.

It is easy to realize the planar frame 31 with high rigidity. Since the side frame 32 stands up on the left and right sides of the trunk 11, the trunk 11 of the wearer 10 is suppressed from tilting to the left and right, whereby the assist of the mid-waist posture is ensured.

(8) The outer peripheral portion of the planar frame 31 is
One of the clutch members is fixed, rises diagonally backward from above, bends and extends to the rear of the lower part of the trunk, and the left and right ends are fixed to the back plate 34 behind the lower part of the trunk. It is characterized by including a enclosure.

It is easy to realize the planar frame 31 with high rigidity. Since the outer enclosure piece rises diagonally backward from above, the wearer 10 is allowed to freely tilt the mid-waist posture, and the trunk 11 is allowed to tilt to the left and right, whereby a comfortable mid-waist posture can be assisted.

The wearable support robot device is used for moving and handling objects such as objects and human bodies. For example, it is used for agricultural work support, and can be used not only for agriculture but also for factories, logistics, construction, nursing care, and walking rehabilitation support to restore physical function. Furthermore, as mentioned above, it can be used for snow shoveling work in snowy areas. It can also be used for emergency rescue work in the event of a disaster and for carrying out disaster waste such as debris.

The present invention not only assists the wearer in maintaining the mid-waist posture, but also supports or supports the angle of angular displacement between two members, for example, a trunk holder and a thigh holder, by connecting a clutch. It can be widely implemented in applications other than the wearer, such as industrial products, in connection with applications that allow free angular displacement by blocking.

The wearable posture holding device of the present invention is a device for assisting the lumbar spine (lumbar joint) and the back muscles in order to prevent low back pain by assisting the holding of the middle waist posture in the middle waist work, for example. The mid-lumbar posture maintenance assist attaches a frame to the outside of the wearer so as to bypass the lumbar spine and back muscles, reducing the force applied to the lumbar spine and back muscles without hindering the wearer's movements. Inexpensive, lightweight, compact, and low power consumption by using an electromagnetic clutch equipped with an electromagnetic coil or a mechanical clutch operated by a handle, without using an electric motor with a reducer installed near the left and right hip joints and hip joints. Alternatively, it is not possible to generate an upward force moment by braking the bending and stretching motion of the waist without using electric power, but since the downward force moment can be supported, it is possible to assist in maintaining the mid-waist posture.

909 Support 918 Horizontal member 919 Vertical member 930 Outer circumference holder 921 Shoulder belt 920 Upper body holder 903 Assist drive mechanism 946 Hip belt 901 Mountable support robot device 957 Connecting member 949 Axle flow fan 948 Through holes 1, 201, 301 , 401, 501, 551, 601, 631, 651, 701, 751, 801, 851, 901 Wearable support robot device 2 Holding device 3 Assist drive mechanism 10 Wearer 11 Trunk 12 Thigh 17 Hip joint center 20 Upper trunk Holder 21 Shoulder belt 22 Chest belt 23 Back belt 30 Lower trunk holder 31 Rear 32 Side 33 Waist belt 34 Abdominal belt 36a Protective equipment 37 Cushion material 40 Thigh holder 41 Belt body 42 Fixed piece 43 Holding piece 44 Cushion material 50 Mounting member 53 Control box 54 Battery box 60 Drive source 61 Axis line 62 Drive shaft 63 Drive source body 64 Electric motor 65 Output shaft 66 Reducer 67 Angle sensor 68 Motor body 70 Upper arm 71 First upper arm piece 72 Second upper arm Piece 73 3rd passive rotation shaft 80 Lower arm 81 1st lower arm piece 82 2nd lower arm piece 83 4th passive rotation shaft 91 1st passive rotation shaft 92 2nd passive rotation shaft 94 Mounting means 95 Belt mounting bracket 96 Passive rotation Axle 1 Wearable posture holding device 2 Holding device 10 Wearer 11 Trunk 12 Thigh 20 Trunk upper holder 30 Trunk lower holder 31 Plane frame 32 Side frame 32a Outer frame 33 Back frame 34 Back plate 35 Outside Enclosure 36 Belt 39 Control box 40 Thigh holder 45 Second passive rotation shaft 53 Planar frame 60, 120, 140, 160 Clutch 61 Clutch body 62 Rotating body 63, 123 Electromagnetic coil 65, 68, 145, 148 Friction plate 66 , 126, 146, 166 Rotating shaft 69 Leaf spring 75 Axis line 80 Thigh frame 81 Upper frame piece 82 Lower frame piece 83 1st passive rotating shaft 87 Electric motor 89 Drive source 101 Push button switch 102 Flexible cable 104 Battery 111 Control contact 112 Angle detector 113 Processing circuit 114 Timer 115 Acceleration / angular velocity detector 125, 165 Rotor with mesh teeth 128, 168 Armature with mesh teeth 129, 159, 179 Coil spring 157, 177 Handle

Claims (6)

(A) A pair of left and right rigid L-shaped supports, and each support is
A support having a lateral member extending laterally and a vertical member extending upward from the rear end of the lateral member on the back side of the wearer.
(B) An outer enclosure holder that receives a load on the wearer's waist.
An enclosure holder to which a support is attached to surround the waist, or to surround the waist with the support,
(C) An upper body holder having left and right shoulder belts attached to each vertical member,
(D) A thigh holder that is attached and held to each of the left and right thighs of the wearer, and (e) a pair of lower arms that extend vertically from the lower part of the trunk to the thighs on both the left and right sides. , The lower end of each lower arm is the lower arm connected to the thigh holder, respectively.
(F) Assist drive mechanism
It is attached to the lateral members of each support on both the left and right sides of the lower part of the trunk of the wearer, and has a pair of drive sources that generate drive torque around the axis in the left-right direction to drive the upper end of each lower arm. ,
A wearable support robot device including an assist drive mechanism that applies a support force moment between a lateral member and each of the left and right thighs according to the drive torque of each drive source. It covers the lower part of the wearer's buttock, and both ends are attached to the left and right sides of the enclosure holder, or to the left and right lateral members of the support, which allows the enclosure holder to become the trunk. The wearable support robot device according to claim 1, further comprising a hip belt that prevents the robot from being displaced upward. The length of the shoulder belt is such that when the wearer wears the wearable support robot device and stands upright, one to three fingers of one hand move up and down between the upper part of the wearer's shoulders and the lower surface of the shoulder belt. The wearable support robot device according to claim 1 or 2, wherein a gap having overlapping heights is defined. The outer peripheral holder is made of a flat flexible sheet-like body, which covers the horizontal members and vertical members of each support and has a connecting portion for connecting the vertical members of each support.
Of claims 1 to 3, the sheet-like body includes an elastic cushion material arranged on the wearer side of the support, and a mesh-like cover covering the support and the cushion material. The wearable support robot device described in one of the above. A through hole is formed in the connecting portion connecting the vertical members of the outer enclosure holding body, and an axial flow fan that takes in outside air is provided inward of the wearer side so as to face the through hole, and the axial flow fan is powered. The wearable support robot device according to claim 4, further comprising a driven secondary battery. The assist drive mechanism assists the lifting force in the lifting work by the wearer.
The invention according to claim 2, wherein at least one of a lifting brake assist during a lifting operation and an assist for supporting the mass of the upper body in order to maintain a mid-waist posture is performed. Wearable support robot device.

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