JP5769057B2 - Work aid - Google Patents

Description

  The present invention relates to a work auxiliary tool that is attached to an operator and assists a work posture.

  A lot of human power work is still left in the farm work, and there is a work with a heavy physical burden such as a work that is performed for a long time with a bent forward posture with the waist bent, and a heavy load raising and lowering. In work in a forward bending posture, maintaining that posture is a heavy burden on the operator. Patent Documents 1 to 7 disclose devices that are attached to an operator and assist the operator in bending forward. The devices described in these patent documents attempt to relieve the load on the waist when bending forward using an elastic body or an actuator.

JP 09-552 A JP 2003-144467 A JP 2009-023828 A JP 2009-284944 A JP 2009-11818 A JP 2007-391 A JP 2008-67662 A

  In the apparatuses described in Patent Documents 1 to 7, when the worker bends forward, a reaction force is applied to any part of the worker by an elastic body or an actuator to reduce the burden on the waist of the worker. This is intended to reduce the load on the waist, but on the other hand, the corresponding reaction force is applied to any part of the operator. For this reason, if the design is made to assist the worker with a large assisting force, the load on the part other than the operator's waist increases, so that it is difficult to use the large assisting force.

  This invention is made | formed in view of such a condition, The objective is to provide the auxiliary tool for work which can raise the assistance force to an operator.

  In order to solve the above-described problems, a work auxiliary tool according to an aspect of the present invention includes a base mechanism having a bottom portion disposed between a sole of the worker and the ground, and a back surface of the worker supported by the base mechanism. A suspension mechanism having a suspension frame disposed on the side, and a connecting portion that rotatably connects the suspension mechanism and the base mechanism. This working auxiliary tool has a restricting means for restricting the tilting of the suspension mechanism when the suspension mechanism tilts and rotates to a predetermined angle with respect to the connecting portion of the base mechanism.

  According to this aspect, when the suspension mechanism is tilted, the rotation of the connecting portion is restricted and the tilt is stopped. When the tilting stops, the operator can be suspended by the suspension mechanism supported by the base mechanism. The reaction force that suspends the worker is transmitted from the bottom to the ground, and it can be avoided that it becomes a load on the worker. Thereby, the auxiliary work tool can exert a large auxiliary force to support the worker.

  ADVANTAGE OF THE INVENTION According to this invention, it becomes possible to raise the assistance force to an operator in the work assistance tool.

It is the perspective view which mounted | wore the operator with the work auxiliary tool which concerns on embodiment. FIG. 2A is a side view in which the work auxiliary tool according to the embodiment is attached to the worker, and FIG. 2B is a front view of the work auxiliary tool according to the embodiment attached to the worker. . It is a perspective view of the auxiliary tool for work concerning an embodiment. It is a side view of the auxiliary tool for work concerning an embodiment. It is a figure which shows three types of working modes at the time of performing experiment. It is a figure which shows the sensor and marker which were attached | subjected to the worker in the case of experiment. Fig.7 (a)-FIG.7 (d) are figures which show the measurement result of three types of work modes. It is a figure which shows the comparison of the muscular activity amount in the knee bending division and assist division which are shown in FIG.

  FIG. 1 is a perspective view in which a work auxiliary tool 10 according to the embodiment is mounted on an operator. Moreover, Fig.2 (a) is the side view which mounted | wore the operator with the work auxiliary tool 10 which concerns on embodiment, FIG.2 (b) mounted | worn the worker with the work auxiliary tool 10 which concerns on embodiment. It is a front view. FIG. 3 is a perspective view of the working aid 10 according to the embodiment. In FIG. 3, the belt is omitted. It should be noted that the same or equivalent components and members shown in the following drawings are denoted by the same reference numerals, and redundant description will be omitted as appropriate.

  The work auxiliary tool 10 is attached to the worker to assist the worker in a forward leaning posture. The work auxiliary tool 10 includes a base mechanism 38 that contacts the ground, and a suspension mechanism 16 that is supported by the base mechanism 38. The base mechanism 38 is arranged on the left and right sides of the worker so as not to inhibit the bending and stretching movement of the legs.

  As shown in FIG. 3, the connecting portion 36 connects the suspension mechanism 16 and the base mechanism 38 so as to be rotatable within a predetermined movable range. The connecting portion 36 is provided on the waist frame 14 and the first connecting plate 34 and relatively rotates the waist frame 14 and the first connecting plate 34. As shown in FIG. 1, the suspension mechanism 16 tilts in conjunction with the movement of bending the operator's waist.

  The base mechanism 38 includes a first frame 20, a second frame 22, a bottom portion 24, a third link 26, a first link 28, a second link 30, and a fourth link 32. One end of the first frame 20 is connected to the connecting portion 36 via the third link 26, and the other end is connected to the second frame 22 via the first link 28. One end of the second frame 22 is connected to the first frame 20 via the first link 28. The other end is connected to the second connecting plate 31 via the second link 30, and the second connecting plate 31 is connected to the bottom plate 25 via the fourth link 32.

  The first link 28 connects the first frame 20 and the second frame 22 so as to be rotatable within a predetermined movable range. The second link 30 connects the second frame 22 and the bottom 24 so as to be rotatable within a predetermined movable range. The rotation axis of the first link 28 and the rotation axis of the second link 30 are directed in the left-right direction of the operator and are substantially parallel. With these links, when the operator bends the knee and the waist position is lowered as shown in FIG. 1, the base mechanism 38 can also be interlocked to change the vertical length.

  The bottom portion 24 includes a bottom plate 25, a shoe 50 fixed to the bottom plate 25, and a second connecting plate 31. The bottom portion 24 is attached to the operator's feet and is disposed at least between the operator's feet and the ground. The shoe 50 may be detachable from the bottom plate 25 by binding. The bottom surface of the bottom plate 25 is formed larger than the shoe 50. Thereby, the load of the operator can be received firmly.

  The third link 26 is provided between the first frame 20 and the connecting portion 36 and connects the first connecting plate 34 and the first frame 20. The base mechanism 38 can operate with three degrees of freedom with respect to the suspension mechanism 16 by the connecting portion 36 and the third link 26. The third link 26 may be a two-degree-of-freedom link combining a one-degree-of-freedom link, or may be a ball joint. The third link 26 improves the mobility of the operator in the lateral direction, and enables the user to perform a twisting action.

  The fourth link 32 is provided on the second connecting plate 31 between the second frame 22 and the bottom portion 24. The rotation axis of the fourth link 32 is orthogonal to the rotation axis of the second link 30 and faces the operator's front-rear direction. The bottom portion 24 can be operated with two degrees of freedom by the second link 30 and the fourth link 32. By combining the third link 26 and the fourth link 32, the worker can move the ankle in the lateral direction, and the mobility of the worker in the lateral direction is further improved.

  Next, the suspension mechanism 16 includes a suspension frame 18 disposed on the back side of the worker and a belt 40 that attaches the upper body of the worker to the suspension frame 18. The suspension frame 18 includes a back frame 12 disposed on the back side of the worker and a waist frame 14 disposed around the waist of the worker. The back frame 12 is formed in a U shape, and both ends are connected to the waist frame 14. The waist frame 14 is formed in a substantially arc shape, and both ends thereof are connected to the left and right base mechanisms 38. The upper body of the worker means a portion above the worker's crotch.

  The belt 40 includes a shoulder belt 42, a waist belt 46, a first buckle 44 and a second buckle 48. Two shoulder belts 42 are provided to be placed on both shoulders of the operator, and one end of each is coupled to the upper end of the back frame 12 and the other end is coupled to the waist frame 14. As shown in FIG. 2B, each of the shoulder belts 42 is coupled by a first buckle 44 on the chest side of the operator. Both ends of the waist belt 46 are coupled to the back frame 12 and are configured to be detachable by a second buckle 48.

  Here, in farm work or luggage transport work, as shown in FIG. 1, the worker is forced to work in a forward bending posture by bending his / her waist, which places a heavy burden on the worker. Therefore, the work assisting tool 10 assists the operator's forward bending posture and reduces the burden. The operation of the work auxiliary tool 10 will be described with reference to FIG.

  FIG. 4 is a lateral view of the working aid 10 according to the embodiment. When the worker assumes a predetermined forward bending posture, the work auxiliary tool 10 is stopped by a restricting means described later, and maintains the forward bending holding state as shown in FIG. The auxiliary work tool 10 can receive the load 52 from the operator in the forward bent state and can support the operator. The load 52 from the operator is balanced with the load 54 that the bottom 24 receives from the ground.

  Specifically, the connecting portion 36 is provided with a restricting means for restricting the rotation of the connecting portion 36 from being rotated more than a certain angle, so that the suspension mechanism 16 tilts and is 180 degrees with respect to the connecting portion of the base mechanism 38. If it is rotated from a predetermined angle θ1 to a predetermined angle θ1, it cannot be rotated any more by the restricting means for restricting the tilting of the suspension mechanism 16. The suspension mechanism 16 suspends the upper body of the worker in a state where the rotation at the connecting portion 36 is restricted. Thus, when the operator bends to some extent, the suspension mechanism 16 stops rotating at a predetermined position, and the operator can be supported. An operator can work by entrusting his / her own weight to the suspension mechanism 16 and can reduce physical burden. Also, by hanging the worker, the reaction force applied to the worker can be minimized and the load can be transmitted to the ground.

  In addition to the restriction of the rotation at the connecting portion 36, the rotation is also restricted at the first link 28 and the second link 30. Specifically, the first link 28 is provided with first locking means for restricting the rotation of the first link 28 from being rotated more than a certain angle, and the first frame 20 is 180 degrees with respect to the second frame 22. When rotating from the state to a predetermined angle θ2, the rotation is restricted from further rotation by the first locking means. Further, the second link 30 is provided with a second locking means for restricting the rotation of the second link 30 from rotating more than a certain angle, and the second frame 22 is predetermined from a state of 180 degrees with respect to the bottom 24. When the angle θ3 is rotated, the rotation is restricted from further rotation by the second locking means. Thereby, when the operator lowers his / her waist to a predetermined position, the base mechanism 38 can stop the rotation of the first link 28 and the second link 30 and support the suspension mechanism 16.

  The connecting portion 36 may include an elastic member that urges the suspension mechanism 16 in a direction 56 to raise the worker when the suspension mechanism 16 is tilted in conjunction with the movement of bending the operator's waist. Thereby, the operation | movement which a worker raises an upper body from a forward bending posture can be assisted. The elastic member of the connecting portion 36 may be a spiral spring. This elastic member is set so that the elastic force becomes zero when the suspension mechanism 16 and the base mechanism 38 are perpendicular to each other.

  The shoulder belt 42 and the waist belt 46 attach the suspension frame 18 to the operator's shoulder and waist, respectively, and function as body suspension means. Thereby, the load concerning an operator can be disperse | distributed to a shoulder part and a waist | hip | lumbar part, and a worker's physical burden can be reduced. Next, the experimental result about the assist effect at the time of performing work with the auxiliary work tool 10 will be shown.

  FIG. 5 is a diagram illustrating three types of work modes when performing an experiment. The modeled work assumes cabbage harvesting. The working posture is seen in the conventional harvesting work, the knee is hardly bent, so the muscle load is small but the strain on the waist (the usual posture), the knee is bent from the conventional posture and the waist is lowered, the muscle strain is large Then, a posture (knee bending posture) that eased the burden on the waist was performed. In the knee bending posture, the case where the work auxiliary tool 10 was used and the case where it was not used were executed. These test categories are called a custom category, a knee bend category, and an assist category, respectively.

  FIG. 6 is a diagram showing sensors and markers attached to the worker during the experiment. In the measurement of the experiment, a motion capture system, an electromyograph, and a plantar pressure distribution meter were used. Markers for measuring the movement of the worker by the motion capture system are attached to the worker's shoulder peak point 60a, trochanter point 60b, outer epicondylar most projecting point 60c, outer fruit most projecting point 60d and toe point 60e.

  Sensors that measure the amount of muscle activity (iEMG) of the worker by means of an electromyograph are attached to the operator's rectus femoris 62a, spine upright muscle 62b, and gastrocnemius lateral head 62c. Moreover, in order to measure an operator's sole pressure with a sole pressure distribution meter, it attaches to an operator's sole.

  FIG. 7 is a diagram illustrating measurement results of three types of work modes. The dotted line in the figure indicates the measurement result in the customary section, the alternate long and short dash line indicates the measurement result in the knee bending section, and the solid line indicates the measurement result in the assist section. In the above posture, the worker performs the operation of placing the three front cabbages on the left side of the worker in the order of middle, right, and left, and the horizontal axis in FIG. 7 is the time axis of the operation. At each arrow, the worker is performing a mowing operation.

  The vertical axis in FIG. 7A indicates the trunk inclination angle, and the vertical axis in FIG. 7B indicates the trunk twist angle. The trunk twist angle is positive in the left direction. Moreover, the vertical axis | shaft of FIG.7 (c) shows a left sole load, and the vertical axis | shaft of FIG.7 (d) shows a right sole load. FIG. 7A to FIG. 7D all have the same time axis.

  7A shows that the smaller the trunk inclination angle, the greater the operator leans forward and the greater the load. The trunk inclination angle in the assist section shown in FIG. 7A changes in the same tendency as the other sections but is smaller than the conventional section. Thereby, the burden on the lower back can be suppressed by the work auxiliary tool 10 than the work in the customary division. As shown in FIG. 7 (b), even when the auxiliary work tool 10 is attached, a twisting operation close to the case where it is not attached is possible.

  In addition, the sole load in the assist section shown in FIGS. 7 (c) and 7 (d) is reduced by about 60% on average in comparison with the other sections. The load could be greatly reduced.

  FIG. 8 shows a comparison of the amount of muscle activity in the knee bending section and the assist section shown in FIG. The vertical axis indicates the muscle activity amount ratio, and the muscle activity amount in the customary category is 100%. In FIG. 8, the left spine standing muscle p1, the right spine standing muscle p2, the left rectus muscle p3, the left gastrocnemius p4, the right femoral rectus muscle p5, and the right gastrocnemius p6 are shown from the left.

  The amount of muscular activity in the knee bending section increases in the left spine standing muscle p1 and the rectus femoris p3 and p5 from the conventional section, and the muscle load increases. In the assist section, the amount of activity is reduced in all muscles than in the knee bending section, and in all muscles except the right femoral straight muscle p5 from the conventional section, and the work assisting tool 10 reduces the muscle burden on the operator. Yes.

  The present invention has been described based on the embodiments. This embodiment is an exemplification, and it is understood by those skilled in the art that various modifications can be made to the combination of the respective components, and such modifications are within the scope of the present invention.

  In the embodiment, the shoe 50 is fixed to the bottom plate 25 as the bottom 24, but the bottom 24 may be only shoes. Specifically, the second link 30 may be directly attached to the shoe.

  The first link 28 may include an elastic member that urges the first frame 20 and the second frame 22 in a direction in which the worker stands up. Thereby, the burden on the knee when the worker stands up from the forward bending posture can be reduced.

  Although the embodiment has been described in which the restricting means is provided in the connecting portion 36, the restricting means may be provided in the suspension mechanism 16 or the base mechanism 38. For example, when the waist frame 14 is provided with a projecting member that projects toward the first frame 20, and the angle of the waist frame 14 with respect to the first frame 20 becomes a predetermined angle θ 1, the projecting member is placed on the first frame 20. Abut and regulate relative rotation.

  Moreover, the 1st latching means provided in the 1st link 28 and the 2nd latching means provided in the 2nd link 30 may also be provided in another position. For example, the first locking means is a projecting member provided on the second frame, and abuts against the first frame 20 when the first frame 20 and the second frame 22 are at a predetermined angle θ2, Stop rotation. Further, the second locking means is a protruding member provided on the second connecting plate 31 of the bottom 24, and comes into contact with the second frame 22 when the second frame 22 and the bottom 24 become a predetermined angle θ3, Stop relative rotation.

  10 working aids, 12 back frame, 14 waist frame, 16 suspension mechanism, 18 suspension frame, 20 first frame, 22 second frame, 24 bottom portion, 25 bottom plate, 26 third link, 28 first link, 30 first link 2 link, 31 2nd connection plate, 32 4th link, 34 1st connection plate, 36 connection part, 38 base mechanism, 40 belt, 42 shoulder belt, 44 1st buckle, 46 waist belt, 48 2nd buckle, 50 shoes.

Claims (7)

A base mechanism having a bottom disposed between the soles of the workers and the ground;
A suspension mechanism supported by the base mechanism and having a suspension frame disposed on the back side of the operator;
A connecting portion that rotatably connects the suspension mechanism and the base mechanism,
When rotated to a predetermined angle relative to the connecting portion of the base mechanism said hanging mechanism is tilted, have a first regulating means for regulating the inclination of said hanging mechanism,
The base mechanism is
A first frame having one end connected to the connecting portion;
A second frame having one end connected to the other end of the first frame and the other end connected to the bottom;
A first link that rotatably connects the first frame and the second frame;
A second link that rotatably connects the second frame and the bottom;
When the first frame rotates to a predetermined angle with respect to the second frame, second restriction means for restricting the rotation;
A third restricting means for restricting the rotation of the second frame when the second frame rotates to a predetermined angle with respect to the bottom;
The base mechanism and the suspension mechanism are moved forward in a state in which rotation at the connecting portion, the first link, and the second link is restricted by the first restricting means, the second restricting means, and the third restricting means. An auxiliary tool for operation characterized by maintaining a bent state .   The work auxiliary tool according to claim 1, wherein the suspension mechanism is tilted in conjunction with a movement of bending an operator's waist.   The work auxiliary tool according to claim 1, wherein the suspension mechanism suspends the operator's body in a state where rotation at the connecting portion is restricted. The base mechanism has a third link between the first frame and the connecting portion, and the connecting portion and the third link can operate with three degrees of freedom with respect to the suspension mechanism. The work auxiliary tool according to any one of claims 1 to 3, characterized in that: The base mechanism has a fourth link between the second frame and the bottom portion, and the bottom portion can be operated with two degrees of freedom by the second link and the fourth link. The work aid according to any one of claims 1 to 4 . The connection portion includes an elastic member that biases the suspension mechanism in a direction in which the operator is raised when the suspension mechanism is tilted in conjunction with a movement of bending the waist of the operator. The work aid according to any one of 1 to 5 . The work support tool according to any one of claims 1 to 6 , wherein the suspension mechanism includes body suspension means for attaching the suspension frame to a shoulder portion and a waist portion of an operator.

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