JP4989278B2 - Lower limb power amplifier - Google Patents

Description

The present invention relates to a lower limb power amplifying apparatus used for assisting walking of elderly people and the like, and assisting movement in a heavy labor work site.

A lower limb power amplifying apparatus has been proposed that is used for assisting walking of elderly people and the like, as well as assisting movement at a heavy labor work site. This lower limb power amplifying apparatus needs to support the weight of a person who is always on board. When it is necessary to constantly support the weight, it is common to use a self-weight compensation function using a spring in order to reduce the weight of the device and reduce the energy consumption.

  Such a self-weight compensation function is disclosed in, for example, Japanese Patent Application Laid-Open No. 2003-181789.

This self-weight compensation function has a link whose one end is pivotally attached to a base, and one end which is a fixed end, and the other end is connected to the link via a point of action vertically above the base of the link. A mechanical weight compensator to which an operating body that changes in a fixed posture by rotation of the link is attached to the link, wherein a self-weight torque of the link and the operating body is applied to the link. Since the compensation is made by the elastic force of the spring member without depending on the angle of the link, the three orthogonal axes in the space, that is, the pitch axis, the yaw axis, and the roll axis are not constrained by the angle factor. Multiple degrees of freedom can be secured.
JP 2003-181789 A

  However, the lower limb power amplifying device assists the movement of the human lower limb, and needs to be configured to operate smoothly with respect to the movement of the lower limb of the human, for example, the walking movement. In the walking motion, one leg is used as a standing leg from an upright state, the other leg is lifted as a free leg, and the knee of the free leg is bent in that state and thrown forward. And the operation | movement of landing a free leg forward is performed repeatedly, extending the knee of a free leg.

By the way, when such a self-weight compensation function is applied to the knee joint of the lower limb power amplifying device, in order to support the weight of the human being who is always on board and the weight of the device, it is compensated to the state where the knee joint is extended. Become. Therefore, such a weight compensation function works effectively for a stance that is in contact with the ground, and the knee can be prevented from bending due to gravity. It becomes an obstacle to the operation of bending.

  In other words, because the knee weight is extended by the self-weight compensation function, in the operation of bending the knee of the free leg, the self-weight compensation function becomes an obstacle, and the force to bend the knee increases and a large amount of energy is required. To do.

Therefore, the technical problem to be solved by the present invention is that in the lower limb power amplifying device, the load on the actuator can be reduced to prevent the knee from being bent in the standing leg, and the knee is applied to the free leg with less energy. can be bent, is to provide a leg power amplification equipment having a weight compensation function effectively function respectively stance and swing.

In order to solve the above technical problem, the present invention achieves the above object by devising a link structure instead of a self-weight compensation function by a spring. The present invention provides a lower leg power amplification equipment configured as described below.

According to a first aspect of the present invention, there is provided a leg power amplification equipment to assist the operation in accordance with the expansion operation of the lower limb knee of the occupant,
A pedal on which the rider places both left and right feet, a saddle on which the rider rides, a base member connected to the saddle, and legs that are swingably connected to the left and right sides of the base member in the front-rear and left-right directions. A unit ,
With
The leg unit includes a thigh support member, an upper leg member, a lower leg member, an upper leg crank, and a knee flexion / extension actuator that drives to extend and contract,
The thigh support member, the upper leg member, the lower leg member, and the upper leg crank have a quadrilateral shape with at least a part of each of the thigh support member, and connect two adjacent sides. Construct a four-joint mechanism with four joints with a point as a joint,
The lower leg member has a lower connection points provided on the lower end, the upper connecting point provided at the upper end, and an intermediate connecting point provided on a straight line near the connecting the lower connection point and the upper connection point, The pedal is swingably connected to the lower connection point;
The thigh support member is connected to the base member so as to be able to swing back and forth and to the left and right, and is positioned rearwardly with respect to the origin located behind the saddle, and positioned below and rearward with respect to the origin. A second connection point that is located below the origin and a third connection point that is positioned near an extension line on a straight line that connects the first connection point and the second connection point,
The upper leg member has its opposite ends, said first connection point of the thigh supporting member, said upper connecting point of the lower leg member is connected to,
The upper leg crank, its both ends, and the second connection point of the thigh supporting member, and the intermediate connecting point of the lower leg member is connected to,
The knee bending actuator, both ends thereof, and the third connection point of the thigh supporting member, said upper connecting point of the lower leg member is connected to the diagonal direction of the quadrilateral constituting the four-bar mechanism By deforming and driving the leg unit by deforming the quadrilateral that constitutes the four-bar mechanism by extending and contracting to
A lower limb power amplifying apparatus characterized by the above is provided.

According to the second aspect of the present invention, the thigh support member is further connected to the third connection point of the thigh support member and the upper connection point of the lower leg member so that the thigh support member and the lower leg member are brought closer to each other. A lower limb power amplifying device according to the first aspect is provided, comprising a spring biasing the limb .

According to a third aspect of the present invention, for connecting the intermediate connection points provided with a crank connecting points provided on the upper side of the connecting point between the lower leg member at an intermediate position of the upper leg crank of the pedal portion Further comprising a lower leg crank, the lower leg member , the pedal portion , the upper leg crank, and the lower leg crank have a quadrilateral shape with at least a part of each as a side and connect two adjacent sides A lower limb power amplifying device having a first or second aspect, characterized in that it comprises a second four-bar mechanism having four joints with the connecting point as a joint .

According to the present invention, the lower leg member is supported in a substantially triangular shape by the thigh support member, the upper leg member, and the knee flexion / extension actuator. Since the length of the upper leg member is constant, the upper connecting point of the upper leg member is pushed backward with the extension of the knee flexion / extension actuator, and the upper leg is centered on the first connecting point of the thigh support member. Perform circular motion with the length of the member as the radius. Further, since the lower leg member is provided with the upper leg crank at the intermediate connecting point, the intermediate connecting point is a circle having the radius of the length of the upper leg crank with the third connecting point as the center along with the extension of the knee flexion / extension actuator. Do exercise. In a thigh support member and upper leg member and the upper leg crank and lower leg member (first) constitute a four-bar mechanism, and the thigh support member, and the upper leg member, and the upper leg crank, of each When the upper end of the lower leg member moves rearward with the connecting point fixed, the arrangement direction of the lower leg member connected to the upper leg crank can be varied. In the first aspect, since the third connection point is located on the lower front side of the first connection point, the upper connection point moves backward in the arrangement direction of the upper connection point and the intermediate connection point of the upper leg member. Accordingly, the arrangement is such that the vertical direction approaches the horizontal direction.

As the knee flexion / extension actuator extends, the upper end of the lower leg member moves backward and the lower leg member moves so as to fall down so as to approach the horizontal direction. The pedal fixed to the lower connection point existing on the line is lifted in a substantially vertical direction, and the knee can be bent.

Moreover, according to the 2nd aspect of this invention, since the force is urged | biased by the direction which shrinks a knee flexion-extension actuator with a spring, it becomes easy to maintain the state which the knee extended.

Further, according to the third aspect of the present invention, the lower leg member, the pedal portion, the upper leg crank, and the lower leg crank have a quadrilateral shape with at least a part of each as a side and are adjacent to each other. A second four-joint mechanism having four joints with joints connecting two sides as joints is formed . By providing the second four-bar mechanism including the lower leg crank in this way, the angle formed by the pedal portion and the lower leg member can be automatically adjusted as the lower leg member moves in the horizontal direction. Can always be maintained at a constant angle.

Hereinafter, an embodiment of the lower limb power amplifier of the present invention will be described with reference to the drawings.

Figure 1 is a perspective view showing an external configuration of the lower limb power amplifier of the present invention. 2A is a plan view of the lower limb power amplifying device of FIG. 1, FIG. 2B is a front view of the lower limb power amplifying device of FIG. 1, and FIG. 2C is a side view when a human is riding on the lower limb power amplifying device of FIG. Respectively. In this specification, in order to show the positional relationship of this apparatus, as shown in FIG. 1, the XYZ coordinate axes are defined as the human front-rear direction, the Y-axis the human left-right direction, and the Z-axis the human vertical direction, respectively. To do. In each axis, the X axis is the forward direction, the Y axis is the left direction, and the Z axis is the upward direction.

  The lower limb power amplifying device 1 is a device for assisting the movement of the lower limbs of a human by placing the left and right feet on the pedal 2 and riding on the saddle 3 in a standing state. That is, the constituent members are driven in accordance with movements of the human lower limbs, for example, walking, hip joint movements, knee joint bending and stretching movements, and assist the force used for the human lower limb movements.

  The lower limb power amplifying apparatus 1 is connected to a saddle 3 so as to be swingable in the front-rear and left-right directions on both sides in the Y-axis direction of the base member 4 provided along the back of the passenger's buttocks. Two leg units 5 which are members extending along the legs of the passenger, and a handle unit 6 which is provided on the upper side of the base member 4 and extends forward from the back of the passenger through the side. Prepare.

  The base member 4 includes a pair of panel portions 10a and 10b arranged in parallel so as to face each other with an interval in the X-axis direction. The panel portions 10a and 10b are substantially T-shaped plate-like members, and the space provided between the pair of panel portions 10a and 10b is used to mount various members for driving the lower limb power amplification device 1. Used as a mounting space 10c.

  A saddle fixing portion 11 for fixing the saddle 3 is provided on the front panel portion 10a so as to protrude in the X-axis direction. The saddle 3 includes a seat 7 on which a passenger sits and a connecting member 8 extending downward from the lower side of the seat 7 in the Z-axis direction. The connecting member 8 is fixed to the saddle fixing portion 11 so that the fixing position can be changed in the Z-axis direction, and the distance from the pedal 2 to the seat 7 is adjusted according to the physique of the passenger by changing the fixing position. be able to.

  The leg unit 5 is a member extending in a direction along the lower limbs of a human, and performs a bending / extending operation according to the bending / extending motion of the occupant's knee joint.

  The base member 4 and the two leg units 5 are coupled by a coupling tool 12 so as to be swingable in the front-rear and left-right directions. The distance between the two leg units 5 in the Y-axis direction is preferably configured to be about the width of the pelvis of the passenger. The connector 12 is a member having a bearing of the connecting shaft 13X along the X-axis direction, a bearing of the connecting shaft 13Y along the Y-direction, and an inward extending portion 122, and is configured symmetrically according to the two leg units 5 Is done. In the present embodiment, the position of the connecting shaft 13Y is located behind the hip joint of the occupant in a state of being attached to the base member 4, as shown in FIG. 2C.

  The connector 12 is coupled to the base member 4 at the left and right end positions of the panel portions 10a and 10b of the mounting space 10c so as to be swingable with respect to the base member 4 by the connecting shaft 13X along the X-axis direction. Further, the leg unit 5 is connected to the connecting tool 12 so as to be swingable about the connecting shaft 13Y. Therefore, the leg unit 5 can swing around the X axis and the Y axis with respect to the base member 4.

  In the lower limb power amplifying apparatus 1, the left / right swing actuators 15 </ b> R and 15 </ b> L for driving the leg unit 5 in the left-right direction with respect to the base member 4 and the leg unit 5 are driven in the front-rear direction with respect to the base member 4. For this purpose, front and rear swing actuators 16R and 16L are provided. Details of the swinging operation of the leg unit 5 using these actuators will be described later.

The handle unit 6 is connected to the upper end of the base member 4. The handle unit 6 includes a substantially U-shaped handle body 20 and grips 21 provided at both ends of the handle body 20. The handle main body 20 is configured to extend forward from the back of the occupant through the waist side. The passenger can hold the grip 21 provided at the front end of the handle body 20 around the waist height to maintain a balance during boarding. In the present embodiment, the handle unit 6 is not intended to drive the lower limb power amplifying apparatus 1 but merely has a handrail function for the purpose of stability during boarding. However, for example, an operation button or the like may be provided on the handle unit 6 so as to have an operation function.

  The two leg units 5 provided on both the left and right sides of the base member 4 have a common configuration except for being configured symmetrically. The leg unit 5 includes a thigh support member 31, an upper leg member 32, a lower leg member 33, a knee flexion / extension actuator 34, an upper leg crank 35, a lower leg crank 36, a spring 37, and the pedal 2.

  The upper leg member 32, the lower leg member 33, the knee flexion / extension actuator 34, the upper leg crank 35, the lower leg crank 36, and the spring 37 are provided below the thigh support member 31, and are used for the flexion / extension motion operation of the knee joint of a human leg. It is configured to bend and stretch together. Details of a specific link mechanism for the bending and stretching operation will be described later.

  As shown in FIG. 2A, the thigh support member 31 is composed of two plate-like members 311 and 312 having a substantially right triangle shape, and these plate-like members 311 and 312 are along the Y-axis direction. Are arranged to face each other. The plate-like member is provided with an outer plate-like member 311 provided on the outer side with respect to the passenger and an inner plate-like member 312 provided on the inner side, and both have the same configuration.

  Next, regarding the link mechanism for the bending and stretching operation of the leg unit 5, the thigh support member 31 and the upper leg member 32, the lower leg member 33, the knee bending and stretching actuator 34, the upper leg crank 35, the lower leg crank 36, etc. The position will be described.

FIG. 2D is a diagram showing a configuration of a plate-like member 311 that constitutes the thigh support member 31. In FIG. 2D, the configuration of the outer plate-shaped member 311 will be described on behalf of the plate-shaped member, but the inner plate-shaped member 312 has the same configuration.

The outer plate-shaped member 311 is formed in a substantially right triangle shape as described above, and as shown in FIG. 2D, an origin 313 is provided at a right angle portion of the right triangle so that a connecting shaft with the base member 4 is disposed. It has been. The origin 313 is positioned obliquely behind the saddle 3 and at a position corresponding to the back of the hip joint of the passenger. Further, the outer plate-like member 311 is provided with a first connection point 314 provided in the negative direction of the X axis with respect to the origin 313, that is, behind the passenger. Further, a second connection point 316a and a second auxiliary connection point 316b are provided at the lower rear side with respect to the origin 313. A third connection point 315 is provided below the origin 313. The second connection point 316a and the second auxiliary connection point 316b are provided in the vicinity of a straight line connecting the first connection point 314 and the third connection point 315. In the present embodiment, the distance from the origin 313 to the first connection point 314 is 279 mm, the distance from the origin 313 to the third connection point 315 is 210 mm, and the distance from the first connection point 314 to the second connection point 316a. Is 249 mm, and the distance from the third connection point 315 to the second connection point 316 a is 100 mm. A front / rear drive support shaft 317 is provided between the origin 313 and the first connection point 314 .

  The plate-like members 311 and 312 constituting the thigh support member 31 are arranged so that the connecting shaft 12Y of the connecting tool 12 is aligned with the origin 313 and the connecting tool 12 is sandwiched between the two plate-like members 311 and 312. Be placed.

The upper leg member 32 is a rod-shaped member in which two members are a set, and connection points for connecting to other members are provided on the upper and lower ends. The upper leg member 32 is pivotally connected to the thigh support member 31 such that the upper connection point thereof coincides with the first connection point 314 of the thigh support member 31. Here, a connection point between the upper leg member 32 and the thigh support member 31 is a joint A. In the present embodiment, the distance between connecting points (joints AD) provided at the upper and lower ends of the upper leg member 32 is set to 350 mm.

Lower leg member 33, one of the bar-like member having an upper connection point provided at the upper end, the lower connection point, and a middle connecting points provided on a straight line near the line connecting the lower portion connecting point and the upper connection point It is. The lower leg member 33 is swingably connected to the upper leg member 32 such that the upper connection point thereof coincides with the lower connection point of the upper leg member 32. A connection point between the upper leg member 32 and the lower leg member 33 is a joint D. Further, the upper leg crank 35 is swingably connected to an intermediate connection point of the lower leg member 33, and the connection point is referred to as a joint E. Further, the pedal 2 is connected to a lower connection point of the lower leg member 33 so as to be swingable, and the connection point is defined as a joint F. In the present embodiment, the distance between the connection points (joint DF) provided at the upper and lower ends of the lower leg member 33 is 516 mm, and the upper connection point (joint D) and the intermediate connection point (joint E) The distance is configured to 126 mm.

The knee flexion / extension actuator 34 is a cylinder type linear actuator. The knee flexion / extension actuator 34 is configured to be extendable / contractable by a control signal from a control unit (not shown), and functions as a power source for the flexion / extension operation of the leg unit 5. Knee bending actuator 34 is disposed so as to be sandwiched between the two plate-like members 311 and 312, is connected to the third upper connection point of the connecting point 315 and the lower leg member 3 3 of the thigh support member 31 . The point of attachment to the knee bending actuator 34 and the third connecting point 315 of the femoral support member 31 and the joint C, also knee bending actuator 34 and the lower leg member 3 3 of the connection point of the upper connecting point is consistent with the joint D . In the present embodiment, the knee flexion / extension actuator 34 is configured to expand and contract between 350 mm to 550 mm in total length.

Upper leg crank 35 is a rod-shaped member to the two one set, and the upper connecting points provided on the upper end, the lower connection point, provided in a linear proximity connecting the lower connection point and the upper connection point and an intermediate connection point, a member having a. The upper leg crank 35 is swingably connected to the thigh support member 31 so that the upper connection point thereof coincides with the second connection point 316 a of the thigh support member 31. A connection point between the upper leg crank 35 and the second connection point 316a of the thigh support member 31 is defined as a joint B. Further, the upper leg crank 35 is pivotably connected with its lower connecting point coincident with the intermediate connecting point of the lower leg member 33 (joint E). In the present embodiment, the distance between the connection points (joint B-E) provided at the upper and lower ends of the upper leg crank 35 is 382 mm, and the upper connection point (joint B) and the intermediate connection point (joint) The distance to G) is 335 mm.

Lower leg crank 36 is one member of the rod-shaped with an upper connecting point provided at the upper end and a lower portion connecting points provided at the lower end. Lower leg crank 36 is swingably connected to the upper leg crank 35 by matching the upper connecting point to the intermediate connecting point of the upper leg crank 35. Let the connection point be a joint G. Further, the lower connecting point of the lower leg crank 36 is connected to the pedal 2 , and the connecting point is set as a joint H. The joint H, which is a connection point between the lower leg crank 36 and the pedal 2 , is located above the joint F. In the present embodiment, the distance between connection points provided on the upper and lower ends of the lower leg crank 3 6 (joint G-H) is configured to 361 mm. Further, the distance between the joint H and the joint F in the pedal 2 is configured to be 108 mm.

The spring 37 is connected in the vicinity of the second auxiliary connection point 316b of the thigh support member 31 and the upper connection point of the lower leg member 33, and biases the thigh support member 31 and the lower leg member 33 in a direction to attract each other. To do.

  As described above, the pedal 2 is a member on which a passenger places his / her foot. A pressure sensor unit 201 is provided on the toe side of the pedal 2 to detect the movement of the passenger's foot and transmit a detection signal to a control unit (not shown). Based on the detection signal from the pressure sensor unit 201, the control unit predicts what operation the passenger is using and controls the operation of the lower limb power amplification device 1. Further, the pedal 2 is provided with a heel 2a that contacts the ground Gr.

Incidentally, the lower leg member 33, the upper leg crank 35, the lower leg crank 36, the pedal 2 forms the joint E, F, G, the second four-bar mechanism to a node of the H. Therefore, in the bending / extending movement of the leg unit 5, the inclination of the pedal 2 with respect to the ground Gr can always be made constant by the second four-bar mechanism.

Next, a drive mechanism for swinging the leg unit 5 in the front-rear and left-right directions will be described.

First, the rocking | fluctuation operation | movement of the front-back direction of the leg part unit 5 is demonstrated. FIG. 3A is a side view of the lower limb power amplifying apparatus 1 with the leg unit 5 in the standard position. FIG. 3B is a side view of the lower limb power amplifying apparatus 1 with the leg unit 5 in the rear position. FIG. 3C is a side view of the lower limb power amplifying apparatus 1 with the leg unit 5 in the forward position.

The power sources for swinging the leg unit 5 in the front-rear direction are the front-rear swing actuators 16R, 16L. The front / rear swing actuators 16R and 16L are connected to the front / rear swing actuator support member 121 via a connecting shaft 161 along the Y axis so as to be swingable. Front and rear swing actuator support member 121 is provided behind the rear panel portion 10b in the connecting shaft 13 Y connecting member is a member that swings in accordance with the swinging of the X-axis direction of the connector 12.

The forward / backward swing actuators 16R and 16L are cylinder type linear actuators, and are driven so that the cylinder 162 can advance and retreat in the housing 160. The front end of the cylinder 162 is connected to the front / rear drive support shaft 317 of the thigh support member 31. Accordingly, the distance between the connecting shaft 161 and the front / rear drive support shaft 317 of the thigh support member 31 varies according to the advance / retreat of the cylinder 162 . As shown in FIG. 3A, when the leg unit 5 is in the standard position, the cylinders 162 of the front and rear swing actuators 16R and 16L are located in the vicinity of the center portion of the housing 160.

  As shown in FIG. 3B, when the leg unit 5 is in the rear position, the cylinders 162 of the front and rear swing actuators 16R and 16L contract, and the connection shaft 161 and the front and rear drive support shaft 317 of the thigh support member 31 The distance is shorter than when the distance is in the standard position. As described above, the thigh support member 31 is configured to be swingable in the Y-axis direction about the connecting shaft 13Y. Therefore, when the cylinder 162 contracts, the front-rear drive support shaft 317 moves upward. As a result, the leg unit 5 swings backward as a whole.

  On the other hand, as shown in FIG. 3C, when the leg unit 5 is in the forward position, the cylinders 162 of the front and rear swing actuators 16R and 16L are extended, and the front and rear drive support shafts of the connecting shaft 161 and the thigh support member 31 are extended. The distance from 317 is longer than when the distance is at the standard position. As the cylinder 162 extends, the front / rear drive support shaft 317 moves downward, so that the leg unit 5 swings forward as a whole.

Next, the horizontal swinging motion of the leg unit 5 will be described. FIG. 4A is a rear view of the lower limb power amplifying apparatus 1 with the leg unit 5 in the standard position. Figure 4B, leg units 5 of the left foot is in the outside position, leg units 5 of the right leg is a rear view of the leg power amplifier 1 in a state where the inside position. In FIG. 4A and FIG. 4B, some members are not shown in order to make it easy to see the mechanism for the swinging motion of the leg unit 5 in the left-right direction.

  Power sources for swinging the leg unit 5 in the left-right direction are left-right swing actuators 15R, 15L. The left and right swing actuators 15R and 15L are disposed substantially along the Z axis, and are connected to the mounting space 10c of the base member 4 via a connecting member 18 so as to be swingable. Further, the other ends of the left and right swing actuators 15R and 15L are connected to the inward extending portion 122 of the connector 12. The inwardly extending portion 122 is configured to extend inwardly with respect to the connecting shaft 13x of the connecting tool 12. Therefore, when the inwardly extending portion 122 moves in the vertical direction, the leg unit 5 swings about the connecting shaft 13x.

The left and right swing actuators 15R and 15L are cylinder type linear actuators. The distal end 152 of the cylinder 151 is connected to the inner extending portion 122 of the connector 12, and the inner extending portion 122 moves in the vertical direction according to the expansion and contraction of the cylinder 151 .

  As shown in FIG. 4A, when the leg unit 5 is in the standard position, the cylinders 151 of the left and right swing actuators 15R and 15L are in the intermediate position. When swinging the leg unit 5 inward, as shown in FIG. 4B, the cylinders 151 of the left and right swing actuators 15R and 15L (only the left and right swing actuator 15R in FIG. 4B) are extended to extend inward. The existing part 122 is moved upward. As a result, the entire leg unit 5 swings inward about the connecting shaft 13x. On the other hand, when swinging the leg unit 5 outward, the cylinders of the left and right swing actuators 15R and 15L in FIG. 4B (only the left and right swing actuator 15L in FIG. 4B) are shortened to extend inwardly. 122 is moved downward. As a result, the entire leg unit 5 swings outward about the connecting shaft 13x.

Next, the bending / extending operation of the leg unit 5 will be described. FIG. 5 is a diagram illustrating a bent state of the leg unit 5 . FIG. 6 is a schematic diagram for illustrating the operation of the connection point of the leg unit 5 . A solid line in FIG. 5 shows a state where the leg unit 5 is extended, and a two-dot chain line shows a state where the leg unit 5 is bent.

Each member of the leg unit 5 is coupled as shown in FIG. 2C, and the leg unit 5 performs a bending / extending operation by the expansion / contraction operation of the knee bending / extension actuator 34. That is, the upper leg member 32, the joint A, B, the distance between C length and thigh support member 31 of the upper leg crank 35 is constant, the total length of the knee bending actuator 34, i.e., the joint C - Only the distance between D varies. When the leg unit 5 is extended, the knee flexion / extension actuator 34 is in a contracted state, with the joints A - B - D at the vertices and the distances between the three sides connecting the connection points are constant. Therefore, the triangular shape is maintained, and the leg unit 5 maintains a constant shape.

Further, the joint A of the thigh support member 31, B, upper leg member 32, the lower leg member 33, the upper leg crank 35 is articulated A - the first four-bar mechanism to a node of the E - B - D formed, the upper leg crank 35 and the lower leg member 33 is interlocked in accordance with the movement of the upper leg member 32.

Knee bending actuator 34 is extended, i.e. the joint C - the distance between D extends, rheumatoid A - C, the joint A - the distance between D is constant, uniquely triangle according to extend the knee bending actuator 34 The shape of the ACD changes. With this shape change, the joint D draws an arc shape with the joint A as the center and the radius between the ADs as the radius according to the extension of the knee flexion / extension actuator 34. At this time, the spring 37 also extends as the joint D moves.

In accordance with the backward movement of the joint D, the joint E draws an arc shape with the radius between the distances between the BEs with the joint B as the center. When the joint D moves backward, the side BE also moves backward. Since the joint D is provided substantially downward and the joint B is provided forward and downward as viewed from the joint A, the side DE moves so as to approach the horizontal state from the standing state. Therefore, the lower leg member 33 by the rearward movement of the joint D orientation is changed to approach from the standing state to the horizontal state.

Since the joint D is the lower leg member 33 while moving backward is changed orientation from the standing state to the horizontal state, as shown in FIG. 6 (B), point of attachment to the pedal 2 and the lower leg member 33 (joint F) Moves substantially upward.

Figure 7A is a graph showing the relationship between the distance between the vertical position of the joint F CD. FIG. 7B is a graph showing the relationship between the horizontal position of the joint F and the distance between the CDs.

As shown in FIG. 7A, in the range of use of the knee bending actuator 34, having a knee length of bending actuator 34, namely a generally linear proportional relationship in a vertical direction at a distance and joint F between CD. Therefore, the height of the pedal 2 can be uniformly changed by changing the total length of the knee flexion / extension actuator 34 within the range.

On the other hand, the slope of the graph changes substantially linearly, but has a relationship that it becomes gentler as the distance between CDs becomes shorter. Therefore, the load applied to the knee flexion / extension actuator 34 can be reduced as the distance between the CDs is shorter, that is, as the leg unit 5 is in the extended state. Therefore, it has a structure that can easily support the gravity of the device itself and the weight of the person on board with a small force in the standing state. In the state where the distance between CDs is long, the inclination of the graph is large, and the displacement of the knee flexion / extension actuator 34 is amplified in the vertical direction with respect to the connection point (joint F 1 ) . Therefore, after the knee is bent shallowly, it is easy to perform the operation of bending the knee, and when the knee is bent by a walking operation or the like on the swing leg, it can be quickly operated. At this time, the spring 37 is greatly stretched and kinetic energy is accumulated.

  Further, in the operation of extending from the state where the knee is bent in the grounded state, the inclination of the graph is large as shown in FIG. Since the kinetic energy stored in 37 is released, the influence on the knee flexion / extension actuator 34 is reduced. Therefore, the spring 37 can easily return from the bent state to the extended state. That is, when the knee joint bends and shifts from a sitting state to a standing state against the gravity of the device, the load on the knee flexion / extension actuator 34 can be reduced by the elastic force of the spring 37.

Further, as shown in FIG. 7B, in the range of use of the knee flexion / extension actuator 34, the horizontal position of the connection point (joint F 1 ) changes much regardless of the length of the knee flexion / extension actuator 34, that is, the distance between the CDs. There is no. Therefore, the displacement of the actuator 34 is efficiently converted into a vertical variation of the connection point F. Further, in the change in the total length of the knee flexion / extension actuator 34, the pedal 2 performs an operation as if the passenger is stepping on while standing. In particular, a change appears in the horizontal direction as the CD distance decreases. In general, it is rare for a human to raise or lower a foot only in the vertical direction, often accompanied by a horizontal displacement. When the knee begins to bend, the movement of the connecting point (joint F 1 ) in the forward direction is common to the movement of the human lower leg from the standing position, and when the knee is fully extended, the connecting point (joint F 2) ) Moves backwards in common with the kicking out action during walking. By adopting the link mechanism having the above-described configuration, the connection point (joint F 1 ) can be operated in accordance with a more natural human movement by a simple operation of the knee flexion / extension actuator 34. Further, the shorter the CD distance is, that is, the longer the leg unit 5 is, the larger the inclination of the graph is, and the greater the influence of expansion / contraction of the knee flexion / extension actuator 34 on the horizontal movement of the connection point (joint F 1 ). Become. This has the operation and redundancy of the forward / backward swing actuators 16R, 16L. This redundancy allows more flexible control when attempting to balance in the front-rear direction with the leg unit 5 extended. For example, when it is likely to fall forward, the forward / backward swing actuators 16L and 16R are contracted to cause the state to bend backward, and at the same time, the knee flexion / extension actuator 34 is slightly extended from a sufficiently contracted state. If the force for moving the connecting point (joint F 1 ) forward in the horizontal direction is applied, the effects of the front and rear swing actuators 16L and 16R can be increased. When it is likely to fall backward, the same effect can be obtained by operating each actuator in the reverse direction.

As described above, according to the lower limb power amplifying apparatus 1 according to the present embodiment, an operation common to the movement of the human knee joint can be performed only by the expansion / contraction operation of the knee flexion / extension actuator 34. Further, it is possible to reduce the addition to the knee flexion / extension actuator 34 due to downward gravity when standing upright, and to reduce the power consumption of the knee flexion / extension actuator 34 when standing upright.

  In addition, the load on the knee flexion / extension actuator 34 can be reduced by the spring 37 when shifting from a sitting state to a standing state performed against the gravity of the device itself.

  In addition, this invention is not limited to the said embodiment, It can implement in another various aspect. For example, the size of each member constituting the leg unit 5 is merely an example. Unless the ratio of the lengths of these members is significantly different, the size of each member can be arbitrarily increased and decreased.

  The lower limb power amplifying apparatus according to the present invention is an apparatus that assists human movements when a person gets on board, and can be widely used in nursing care, construction sites, assistance for movement of physically handicapped persons, and the like.

Perspective view showing an external configuration of the lower limb power amplifier of the present invention FIG. 1 is a plan view of the lower limb power amplification device . 1 is a front view of the lower limb power amplification device . 1 is a side view of a person riding on the lower limb power amplification device . The figure which shows the structure of the plate-shaped member which comprises a thigh support member Side view of lower limb power amplification device with leg unit in standard position Side view of lower limb power amplification device with leg unit in rear position Side view of lower limb power amplification device with leg unit in forward position Rear view of lower limb power amplification device with leg unit in standard position Left leg unit is in the outer position, rear view of the leg power amplifying apparatus in a state in which the right foot of the leg units are in the inside position The figure which shows the bending state of the leg unit Schematic diagram for illustrating the operation of the connecting point of the leg unit A graph showing the relationship between the vertical position of the connecting point (joint F 1 ) and the distance between CDs A graph showing the relationship between the horizontal position of the connection point (joint F 1 ) and the distance between CDs

DESCRIPTION OF SYMBOLS 1 Lower limb power amplifier 2 Pedal 3 Saddle 4 Base member 5 Leg unit 6 Handle unit 7 Seat 8 Connecting member 10a Front panel part 10b Rear panel part 10c Mounting space 11 Saddle fixing part 12 Connecting tool 13X Connecting shaft 13Y Connecting shaft 15R, 15L Left / right swing actuator 16R, 16L Front / back swing actuator 20 Handle body 21 Grip 31 Thigh support member 32 Upper leg member 33 Lower leg member 34 Knee flexion / extension actuator 35 Upper leg crank 36 Lower leg crank 37 Spring 122 Inwardly extending portion 313 Origin 314 First connection point 315 Third connection point 316a Second connection point 316b Second auxiliary connection point 317 Front / rear drive support shaft

Claims (3)

In accordance with the expansion operation of the lower limb knee of the rider a leg power amplification equipment to assist the operation,
A pedal on which the rider places both left and right feet, a saddle on which the rider rides, a base member connected to the saddle, and legs that are swingably connected to the left and right sides of the base member in the front-rear and left-right directions. A unit ,
With
The leg unit includes a thigh support member, an upper leg member, a lower leg member, an upper leg crank, and a knee flexion / extension actuator that drives to extend and contract,
The thigh support member, the upper leg member, the lower leg member, and the upper leg crank have a quadrilateral shape with at least a part of each of the thigh support member, and connect two adjacent sides. Construct a four-joint mechanism with four joints with a point as a joint,
The lower leg member has a lower connection points provided on the lower end, the upper connecting point provided at the upper end, and an intermediate connecting point provided on a straight line near the connecting the lower connection point and the upper connection point, The pedal is swingably connected to the lower connection point;
The thigh support member is connected to the base member so as to be able to swing back and forth and to the left and right, and is positioned rearwardly with respect to the origin located behind the saddle, and positioned below and rearward with respect to the origin. A second connection point that is located below the origin and a third connection point that is positioned near an extension line on a straight line that connects the first connection point and the second connection point,
The upper leg member has its opposite ends, said first connection point of the thigh supporting member, said upper connecting point of the lower leg member is connected to,
The upper leg crank, its both ends, and the second connection point of the thigh supporting member, and the intermediate connecting point of the lower leg member is connected to,
The knee bending actuator, both ends thereof, and the third connection point of the thigh supporting member, said upper connecting point of the lower leg member is connected to the diagonal direction of the quadrilateral constituting the four-bar mechanism By deforming and driving the leg unit by deforming the quadrilateral that constitutes the four-bar mechanism by extending and contracting to
Lower limb power amplification device characterized by the above. And a spring that is connected to the second connection point of the thigh support member and the upper connection point of the lower leg member and biases the thigh support member and the lower leg member closer to each other. The lower limb power amplifying apparatus according to claim 1. A lower leg crank that connects a crank connection point provided above the connection point of the pedal portion with the lower leg member and an intermediate connection point provided at an intermediate position of the upper leg crank ;
The lower leg member , the pedal portion , the upper leg crank, and the lower leg crank each have a quadrilateral shape with at least a part of each of the lower leg member , a joint that connects two adjacent sides, and a joint. The lower limb power amplifying device according to claim 1 or 2, wherein a second four-bar mechanism having four joints is configured .

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