JP6148192B2 - Assist suit - Google Patents

Description

  The present invention relates to an assist suit that is worn and used by an operator and assists the operator's work (operation) with power.

Patent Document 1 discloses an assist suit that assists an operator who lifts and carries a load or holds a care recipient.
In Patent Document 1, a trunk exoskeleton (160 in FIG. 1 of Patent Document 1), a load lifting mechanism (221 in FIG. 1 in Patent Document 1) extending forward from the outer trunk beyond the operator, and a load lifting An assist suit is configured by including a driving device that drives the mechanism.

  In Patent Document 1, in the load lifting mechanism, the right and left upper arm portions that extend forward from the extracorporeal skeleton beyond the right and left shoulder portions of the operator, and the lower portions from the right and left upper arm portions. The right and left cables (222 in FIG. 1 of Patent Document 1) extended to the right and the left and right ends connected to the right and left wires, which are held by the operator's hand. An effector (223 in FIG. 1 of Patent Document 1) is provided.

In Patent Document 1, an operator wears an assist suit by attaching an extracorporeal skeleton to the back part (by carrying it on the back part), and the operator holds the end effector of the load lifting mechanism by hand. It becomes a state.
Thereby, in a state where the assist suit is worn, the operator holds the load by the load lifting mechanism, and the load is supported by the load lifting mechanism in this state. The operator stabilizes the position of the load by holding the end effector of the load lifting mechanism by hand (to prevent the load from being shaken).
The end effector (load) of the load lifting mechanism can be lifted by driving the cable around the main body by the driving device, and lifting the load by driving the cable out of the main body by the driving device. The end effector (load) of the mechanism can be lowered.

Special table 2013-53593

  When the worker wears the assist suit of Patent Document 1, not only the work of carrying the load by the load lifting mechanism but also the worker performing another work by hand without using the load lifting mechanism. is there.

  The present invention is used by an operator, and in an assist suit that assists the operator's work (operation) with power, the load lifting mechanism is not used after the load is lifted by the load lifting mechanism. The purpose is to be able to shift to another work without difficulty.

[I]
(Constitution)
The first feature of the present invention resides in the following configuration in the assist suit.
A main body part attached to the back part of the operator; right and left upper arm parts extending forward from the main body part over the right and left shoulders of the operator; and the right and left upper arms The right and left wires extending downward from the part, and the right and left hand parts connected to the right and left wires in order to hold the luggage by the operator's hand,
A drive device that winds and drives the wire from the main body unit and a drive device that drives the wire out, and a rising operation unit and a lowering operation unit that are operated by an operator,
Based on the signal from the ascending operation part, the hand part is lifted by driving the wire around the body part, and the wire is driven out from the body part based on the signal from the descending operation part. A control device for operating the drive device to lower the hand part by
When the lowering operation unit is switched from the operated state to the non-operated state, the control device operates the driving device with a weak driving force to raise the hand unit not holding a load, and the wire Is configured to be wound around the main body.

(Operation and effect of the invention)
[I] -1
According to the first feature of the present invention, when the operator wears the assist suit, the right and left upper arm portions extend forward from the main body portion over the right and left shoulder portions of the operator, The right and left wires extend downward from the left upper arm portion, and the right and left hand portions are connected to the right and left wires. As a result, the right and left hand portions are positioned on the right and left front sides of the operator.

In the above-described state, the worker holds the hand portion by hand, and can hold the luggage by the hand portion.
When the operator operates the lifting operation unit, the hand unit (luggage) can be lifted by winding the wire around the main body by the driving device, and the worker operates the lowering operation unit. Thus, the hand unit (luggage) can be lowered by driving the wire out of the main body by the driving device.

[I] -2
Next, when performing another work that does not use the hand part, when the operator removes the load from the hand part and releases the hand from the hand part, the drive unit drives the wire to be wound around the main body part. Rises.
As a result, the right and left hand portions do not exist on the right and left front sides of the worker, and the right and left hand portions are positioned on the right and left upper sides of the worker. The hand portion does not get in the way when performing the above work, and another work without using the hand portion can be performed without any trouble.

In this case, the wire is wound around the main body by the driving device with a weak power enough to raise the hand portion not holding the load, and the hand portion is raised.
Therefore, even if there is a situation where the rising hand part is caught by another object, it is expected that the weak power will be lost to the resistance caused by the other object and the hand part will stop, It is unlikely that a situation in which the hand part is caught by another object and the other object is damaged will occur.

[I] -3
As described in [I] -2 above, when performing another work that does not use the hand part, the wire is wound around the main body part by the driving device with weak power that raises the hand part that does not hold the load. The hand part is raised by being driven.
As a result, when performing the work using the hand part from another work that does not use the hand part next time, the operator holds the upper hand part by hand and descends the hand part with a force enough to overcome the weak power described above. By doing so, the right and left hand portions can be positioned on the right and left front sides of the operator, and it is possible to easily shift from another operation that does not use the hand portion to an operation that uses the hand portion. .

[II]
(Constitution)
The second feature of the present invention resides in the following configuration in the assist suit of the first feature of the present invention.
A brake capable of stopping the descent of the wire is provided;
The control device is
When one of the ascending operation part and the descending operation part is operated, the brake is operated in a released state, and
When switching from a state where the ascending operation unit is operated to a state where it is not operated, the driving device is stopped, the brake is operated in a braking state, and
When both the raising operation unit and the lowering operation unit are operated at the same time, the drive device is stopped and the brake is operated in a braking state.

(Operation and effect of the invention)
According to the second feature of the present invention, when the operator operates one of the ascending operation part and the descending operation part, the brake is operated in the released state, and the raising and lowering of the hand part by the driving device is not hindered. Done.

  For example, an operator can wear an assist suit by holding a lower baggage by a hand unit, raising the hand unit to stop at a desired height, removing the baggage from the hand unit, and using a high shelf or truck. It is envisaged that the user places the empty hand part down and holds the next load below by the hand part.

In the above-described state, according to the second feature of the present invention, when the lift operation unit is switched from the operated state to the non-operated state (when the hand unit is lifted and stopped at a desired height), the driving device Is stopped and the brake is operated in a braking state, so that the hand portion does not descend by the weight of the load.
If the operator is operating both the ascending operation unit and the descending operation unit at the same time, it is assumed that the operator has mistakenly operated, so the brake is operated in the braking state and the hand unit is lowered by the weight of the load. There is nothing.

[III]
(Constitution)
The third feature of the present invention resides in the following configuration in the assist suit of the first or second feature of the present invention.
A clutch capable of transmitting and interrupting the power of the driving device to the wire, a luggage sensor for detecting whether or not the hand unit holds a load, and the hand in a state where no load is held by the hand unit. And a downward movement detecting means for detecting that the unit has been operated downward,
The control device is configured to operate the clutch in a disengaged state based on detection by the downward movement detection means.

(Operation and effect of the invention)
According to the third feature of the present invention, when the work using the hand part is performed from another work not using the hand part as described in [I] -2, 3 above, When the hand part is lowered, the clutch that transmits the power of the drive device to the wire is operated in a disconnected state because no load is held on the hand part. It will no longer be resistance.
Thus, the operator can quickly lower the hand part with a light force, and can place the right and left hand parts in front of the operator's right and left. It is possible to shift easily and quickly from the work to the work using the hand part.

It is a side view in a state where an operator wears an assist suit. It is a rear view in the state where a worker wore an assist suit. It is a side view of a leg action part. It is sectional drawing of a leg effect | action part. In the left hand portion, (a) a plan view, (b) a side view, and (c) a longitudinal rear view. In the right hand part, (a) a plan view, (b) a side view, and (c) a longitudinal rear view. It is a figure which shows the flowchart of control in the state which pushed and operated the raising and lowering operation switch. In the left hand part of 1st another form of implementation of invention, (a) Top view, (b) Side view, (c) Longitudinal rear view. In the right hand part of 1st another form of implementation of invention, (a) Top view, (b) Side view, (c) Longitudinal rear view. In 1st another form of implementation of this invention, it is a figure which shows the flowchart of control in the state which pushed and operated the 1st and 2nd raise operation switch and the descent operation switch. In 1st another form of implementation of this invention, it is a figure which shows the flowchart of control in the state which pushed and operated the 1st and 2nd raise operation switch and the descent operation switch. It is a figure which shows the flowchart of control in the state which pushed down operation switch in 2nd another form of implementation of invention.

[1]
First, the overall configuration of the assist suit and the main body 1 will be described.
As shown in FIG.1 and FIG.2, the main-body part 1 attached to a worker's back part, the right and left leg action part 2 extended from the main-body part 1, and acting on an operator's leg part, and a main body Assist suits are configured with right and left luggage action sections 3 that are extended from the section 1 to the front beyond the worker and hold the luggage and are operated by the operator by hand. ing.

  As shown in FIGS. 1 and 2, the main body 1 includes a right and left vertical frame 4, a horizontal frame 5 connected over the upper and lower portions of the right and left vertical frames 4, and right and left vertical frames. 4 includes a support plate 6 and the like connected across the middle portion of the frame 4 and is configured in a frame shape. An attachment belt 7 is provided over the lower part of the right and left vertical frames 4 (lower part of the main body 1), and right and left shoulder belts 8 are provided on the vertical frame 4 and the support plate 6.

Thereby, as shown in FIGS. 1 and 2, the right and left arm portions (right and left shoulder portions) of the worker are put on the shoulder belt 8, and the attachment belt 7 is wound around the waist portion of the worker and fixed. Thereby, the main-body part 1 is attached to an operator's back part.
In this case, the distance between the vertical frames 4 in the left-right direction is set to be narrower than the shoulder width of the operator (general adult male), and the support plate 6 is located at the lower part of the vertical frame 4 from the vertical frame 4 to the right and left. It is in a state of projecting laterally outward. The length of the vertical frame 4 is set so that the upper part (the upper horizontal frame 5) of the vertical frame 4 is positioned higher than the shoulder of the worker (general adult male).

  As shown in FIGS. 1 and 2, the weight of the assist suit and the load W is mainly applied to the operator's waist through the attachment belt 7, and the assist suit and the load W (see FIGS. 5 and 6). ) Is stably supported by the waist of the operator. The shoulder belt 8 mainly exhibits a function of stopping the state in which the main body 1 is about to be separated from the back of the operator.

[2]
Next, the right and left leg action portions 2 will be described.
As shown in FIGS. 1 and 2, right and left support portions 9 extend forward from the lower portions of the right and left vertical frames 4 (lower portions of the main body portion 1), and the support portions 9 (main body portions 1). The right and left lower arm portions 10 are supported so as to be swingable up and down around the horizontal axis P1 in the horizontal direction.
In this case, when the operator's waist part enters between the support parts 9, the left and right deflection of the main body part 1 is stopped. The length of the support portion 9 is set so that the position of the operator's hip joint and the position of the horizontal axis P1 are located at substantially the same position as viewed from the side.

  As shown in FIGS. 3 and 4, a guide portion 10 a is formed along the longitudinal direction of the lower arm portion 10 by folding back to the upper edge portion and the lower edge portion of the lower arm portion 10. A flat plate-like right and left support plate 11 is supported along the longitudinal direction of the lower arm portion 10 along the guide portion 10a.

As shown in FIGS. 3 and 4, a long hole 10 b is formed in the longitudinal direction of the lower arm portion 10, a support shaft 11 a is connected to the tip of the support plate 11, and the support shaft 11 a of the support plate 11 is It protrudes through the long hole 10b of the arm part 10 to the left and right center side. The curved right and left leg pads 12 are supported so as to be freely rotatable around the horizontal axis P2 in the left-right direction of the support shaft 11a of the support plate 11, and the leg pads 12 are placed in front of the thighs of the operator. The leg pad 12 is supported by the support plate 11 so as to be movable along the longitudinal direction of the lower arm portion 10.
As described above, the leg action portion 2 is configured by the lower arm portion 10, the support plate 11, the leg pad 12, and the like.

As shown in FIGS. 3 and 4, a bolt 13 with a knob is provided at the tip of a guide portion 10a on the lower arm portion 10, and the support plate 11 and the bolt 13 with a knob come into contact with the support plate 11 and The movement of the leg pad 12 is stopped.
Thereby, with respect to the movement of the support plate 11 and the leg pad 12 along the longitudinal direction of the lower arm portion 10, the movement limit position on the tip end side of the lower arm portion 10 can be determined by the bolt 13 with the knob. Yes, the movement limit position can be changed along the longitudinal direction of the lower arm portion 10 by changing the position of the bolt 13 with the knob along the longitudinal direction of the lower arm portion 10.

[3]
Next, the right and left cargo action portions 3 will be described.
As shown in FIGS. 1 and 2, the upper arm portion 14 on the right extends from the upper portion of the right vertical frame 4 over the right shoulder of the operator and extends obliquely upward to the right and forward. From the upper part of the vertical frame 4, the left upper arm portion 14 extends diagonally upward and obliquely forward to the left over the left shoulder of the operator. A lower pulley 15 is rotatably supported at the lower portion of the upper arm portion 14, and an upper pulley 16 is rotatably supported at the upper portion of the upper arm portion 14.

  As shown in FIG. 1, the length of the upper arm portion 14 is set so that the upper portion (upper pulley 16) of the upper arm portion 14 is positioned higher than the operator's head in a side view. . The protrusion length L1 in the side view from the main body part 1 to the front of the upper arm part 14 is set to be substantially the same as the length of the support part 9 (the protrusion length from the main body part 1 to the front). Thus, the upper portion (upper pulley 16) of the upper arm portion 14 is positioned slightly above the right and left shoulders of the operator in the rear view (front view) (see FIG. 2) and in a side view. It is comprised so that it may not protrude ahead from an operator's chest (refer FIG. 1).

As shown in FIGS. 1 and 2, right and left wires 18 are extended upward from a driving device 17 to be described later, wound around a lower pulley 15, wound around an upper pulley 16, and extended downward. The right and left hand portions 19 are connected to the lower portion of the wire 18.
In this case, as described above, the upper portion (upper pulley 16) of the upper arm portion 14 is located slightly above the laterally outer sides of the right and left shoulders of the operator in the rear view (front view), and the side surface. The right and left hand portions 19 are positioned on the right and left front sides of the operator (positioned close to the operator's hand) by being in a state that does not protrude forward from the operator's chest. State).

  As described above, the load acting portion 3 is configured by the upper arm portion 14, the wire 18, the hand portion 19, and the like. As described in [6] described later, when the wire 18 is wound around the main body 1 (drive device 17), the hand portion 19 is raised, and the wire 18 is driven out from the main body 1 (drive device 17). As a result, the hand unit 19 is lowered.

[4]
Next, the right and left hand portions 19 that hold the luggage by the operator's hand will be described.
As shown in FIGS. 5 and 6, the right and left hand portions 19 are configured by attaching a synthetic resin grip portion 21 to the outer surface of a metal hook portion 20. The hand portion 19 has a symmetrical shape.

  As shown in FIGS. 5 and 6, the hook portion 20 is configured by bending a metal plate material, and has a flat plate-like upper portion 20 a and a vertically extending portion extending downward from the outer portion of the upper portion 20 a. Flat side portion 20b, a flat bottom portion 20c extending inward from the lower portion of the lateral portion 20b, and a projecting portion extending obliquely upward from the inner side of the lower portion 20c 20d. The wire 18 is connected to the inner side portion at the front and rear center of the upper side portion 20a of the hook portion 20.

  As shown in FIGS. 5 and 6, the grip portion 21 is made of synthetic resin, and includes a first upper portion 21 a having a horizontal surface, and a second upper portion 21 b having an inclined surface descending obliquely rearward from the first upper portion 21 a. The lateral side portion 21c extending downward from the outer side of the first and second upper side portions 21a and 21b and slightly bulging laterally outward and the notch portion formed in the second upper side portion 21b 21d.

  As shown in FIGS. 5 and 6, the first and second upper side portions 21a, 21b of the grip portion 21 are attached (adhered) to the upper side portion 20a of the hook portion 20, and the lateral side portion 21c of the grip portion 21 is hooked. The wire 18 is attached (bonded) to the lateral side portion 20 b of the portion 20, and the wire 18 passes through the notch portion 21 d of the grip portion 21.

  As shown in FIG. 6, a push button type ascending operation switch 22 (corresponding to an ascending operation unit) is provided on the first upper side portion 21 a of the right grip portion 21 (right hand portion 19). As shown in FIG. 5, a push button type descent operation switch 23 (corresponding to a descent operation unit) is provided on the first upper side portion 21a of the left grip unit 21 (left hand unit 19).

  As shown in FIGS. 5 and 6, the upper portion 20 a of the hook portion 20 and the first and second upper portions 21 a and 21 b of the grip portion 21 are set to have the same front-rear width L <b> 2, and the upper portion of the hook portion 20. The front-rear width L3 of the lower side part 20c of the hook part 20 and the projecting part 20d is configured to be smaller than the front-rear width L2 of 20a (the first and second upper side parts 21a, 21b of the grip part 21).

As shown in FIGS. 5 and 6, when the worker has the hand portion 19 by hand, the first and second upper portions 21 a and 1 b of the grip portion 21 (upper portion 20 a of the hook portion 20) The thumb is brought into contact from above, the operator's palm is brought into contact with the lateral side portion 21c of the grip portion 21 (lateral side portion 20b of the hook portion 20) from the outside, and the operator's index finger is placed on the lower side portion 20c of the hook portion 20; By bringing the middle finger, the ring finger, and the little finger into contact from the lower side, the operator holds the hand unit 19 with his / her hand.
In the state of the hand portion 19 described above, the first upper portion 21a of the grip portion 21 is in the front-rear direction positioned on the front side, the lower portion 20c and the protruding portion 20d of the hook portion are directed to the left and right center side, and the operator The hand unit 19 is held so as to shake hands with a person in front.

  As described above, in the state where the worker holds the hand unit 19 by hand, the raising and lowering operation switches 22 and 23 are pushed by the operator's thumb. In this case, the ascending / descending operation switches 22, 23 are configured to be returnable, and when the operator pushes the ascending / descending operation switches 22, 23 with the thumb, the ascending / descending operation switches 22, 23 are used. A signal is output, and when the operator releases his / her thumb from the ascending / descending operation switches 22, 23 (when the pushing operation is stopped), the signal is stopped from the ascending / descending operation switches 22, 23.

[5]
Next, the driving device 17 will be described.
As shown in FIGS. 1 and 2, an electric motor (not shown) and a planetary reduction gear (not shown) are provided to form a drive unit 24 so that the two drive units 24 face each other. It is connected to the support plate 6 in the lateral direction, and one drive gear 25 is driven by the two drive units 24.

  As shown in FIGS. 1 and 2, an output shaft 26 is rotatably supported by the support plate 6 below the drive unit 24, and an electrically operated first clutch 27 is externally fitted to the output shaft 6. The input gear 27 a connected to the first clutch 27 is engaged with the drive gear 25. An output shaft 28 is rotatably supported by the support plate 6 on the upper side of the drive unit 24, and an electrically operated second clutch 29 (corresponding to a clutch) is externally fitted to the output shaft 6. The connected input gear 29 a meshes with the drive gear 25. An electrically operated brake 30 capable of braking the output shaft 28 is fitted on the output shaft 28.

As shown in FIGS. 1 and 2, a frame-like support frame 31 is connected to the upper side (rear side) of the support plate 6, and the control device 32 and the battery 33 are provided on the support frame 31.
In this case, the control device 32 and the battery 33 are supported by the support frame 31 so as to be slightly separated rearward from the main body 1, and the support portion 9 (leg operating portion 2) and upper arm extending forward from the main body 1. The control device 32 and the battery 33 function as a balance weight with respect to the portion 14 (the load acting portion 3).

As shown in FIGS. 1 and 2, the drive unit 17 includes the drive unit 24, the output shafts 26 and 28, the first and second clutches 27 and 29, the brake 30, the control device 32, the battery 33, and the like.
As described in [7] to [10], which will be described later, based on the signals of the ascending and descending operation switches 22 and 23, the drive unit 24, the first and second clutches are controlled by the control device 32 using the battery 33 as a power source. 27 and 29 and the brake 30 operate.

[6]
Next, the drive structure of the leg action part 2 and the luggage action part 3 by the drive device 17 will be described.
As shown in FIG. 1, the arm 34 is swingably supported around the horizontal axis P <b> 3 in the left-right direction of the support portion 9 and is urged downward (rearward) by a spring 42. Is supported rotatably. A pulley 36 is rotatably supported by the support portion 9 in a fixed position.

  As shown in FIGS. 1 and 2, a reel 26a is connected to the right and left sides of the output shaft 26, and a wire 37 connected to the reel 26a of the output shaft 26 is wound around a tension pulley 35 and a pulley 36. The lower arm 10 is connected to the fan-shaped base 10c. A reel 28 a is connected to the right and left portions of the output shaft 28, and a wire 18 is connected to the reel 28 a of the output shaft 28.

  With the above structure, as shown in FIGS. 1 and 2, the output shaft is driven by the drive unit 24 via the drive gear 25 and the first clutch 27 (input gear 27a) when the first clutch 27 is operated in the transmission state. 26 is rotated. When the wire 37 is wound around the main body 1 by the reel 26a of the output shaft 26, the lower arm 10 is driven downward.

  As shown in FIGS. 1 and 2, in the state where the second clutch 29 is operated in the transmission state and the brake 30 is operated in the released state, the drive gear 25 and the second clutch 29 (input gear 29a) are moved by the drive unit 24. The output shaft 28 is driven to rotate. When the wire 18 is wound around the main body 1 by the reel 28a of the output shaft 28, the hand portion 19 is raised. When the wire 18 is driven out from the main body 1 by the reel 28a of the output shaft 28, the hand portion 19 is moved. Descend.

  In this case, as shown in FIGS. 1 and 2, the input gear 27 a of the first clutch 27 is formed with a larger diameter than the input gear 29 a of the second clutch 29, and the input of the second clutch 29 from the drive gear 25. The reduction ratio from the drive gear 25 to the input gear 27a of the first clutch 27 is set larger than the reduction ratio to the gear 29a.

  The drive gear 25, the input gear 27a of the first clutch 27, and the input gear 29a of the second clutch 29 shown in FIGS. 1 and 2 can be changed to gears having different numbers of teeth. The reduction ratio to the input gear 29a and the reduction ratio from the drive gear 25 to the input gear 27a of the first clutch 27 can be arbitrarily changed.

[7]
For example, when the luggage W placed on the floor is placed on a high shelf or a truck bed, the operator squats down and holds the luggage W on the floor, and then holds the luggage W with the hand extended downward. It is assumed that the luggage W is lifted by hand and then lifted by hand, and the luggage W is placed on a high shelf or truck bed.
In the above-described state, the operation of the control device 32 based on the pressing operation of the ascending and descending operation switches 22 and 23 will be described with reference to [7] in this section, [8] to [11] described later, and FIG.

As shown in FIGS. 5 and 6, in the right and left hand portions 19, a pressure-sensitive thin sheet-like load sensor 41 is attached to the upper surface of the lower portion 20 c of the hook portion 20.
As a result, when the load W is held by the hand portion 19 by placing the handle portion Wa of the load W on the lower portion 20c of the hand portion 19 (hook portion 20) as will be described later, the load W It is detected by the luggage sensor 41 that the

When the operator wears the assist suit, the first clutch 27 is operated to be disconnected (step S20) and the second clutch 29 is operated to be transmitted (step S21) as described in [11] described later. ), The brake 30 is operated in the released state (step S22), the wire 18 is wound around the main body 1 with weak power by the drive unit 24 (step S26), and the hand unit 19 is positioned above the upper arm unit 14 (step S26). Assume that the vehicle has stopped at the upper pulley 16).
In this case, the wire 18 is wound around the main body 1 by the drive unit 24 with such a weak power that the hand 19 that does not hold the luggage W is raised.

  When the operator squats down and holds the floor load W by hand, the operator holds the upper hand portion 19 by hand and lowers the hand portion 19 with a force that can overcome the weak driving force of the drive unit 24. The right and left hand portions 19 can be positioned on the right and left front sides of the operator. Since the weak power of the drive unit 24 always acts on the wire 18, when the operator releases his hand from the hand unit 19, the hand unit 19 ascends as described in [11] described later.

When the operator squats, the operator bends the knee and drops the waist (because the operator's thigh is raised), so that the operator's thigh touches the leg pad 12. The lower arm part 10 is raised.
In this case, as shown in FIG. 3 and FIG. 4, the lower arm portion is provided by the bolt 13 with the knob so that the leg pad 12 comes into contact with an appropriate position of the operator's thigh (for example, slightly above the knee). What is necessary is just to determine the movement limit position of the front-end | tip part side of 10 (refer previous paragraph [2]).
Even when a difference occurs between the movement trajectory of the operator's thigh and the movement trajectory of the lower arm 10 when the operator squats down, the support plate 11 and the legs are moved along with the rise of the operator's thigh. By moving the pad 12 along the longitudinal direction of the lower arm portion 10, the difference between the movement trajectory of the operator's thigh and the movement trajectory of the lower arm portion 10 is absorbed. Can be crouched (see previous paragraph [2]).

Next, as shown in FIGS. 5 and 6, the operator's index finger, middle finger, ring finger and little finger, and the lower side portion 20c and the protruding portion 20d of the hand portion 19 (hook portion 20) are connected to the handle portion Wa of the load W. The handle portion Wa of the luggage W is placed on the lower side portion 20c of the hand portion 19 (hook portion 20).
In the hand part 19, the front-rear width of the lower part 20c and the protrusion part 20d of the hook part 20 is larger than the front-rear width L2 of the upper part 20a of the hook part 20 (first and second upper parts 21a, 21b of the grip part 21). By being configured to have a small L3, the lower side portion 20c and the protruding portion 20d of the hand portion 19 (hook portion 20) can be easily inserted into the handle portion Wa of the luggage W.

  As described above, as shown in FIGS. 5 and 6, the worker is in a state similar to the state in which the operator holds the load W (the handle portion Wa) with the index finger, middle finger, ring finger, and little finger. A state similar to the state of actually having the luggage W can be obtained.

[8]
Next, after the state described in the preceding item [7], a state in which the operator presses the lifting operation switch 22 will be described with reference to FIG.
After the state described in [7] above, the worker stands up to lift the load W from the floor. When the worker pushes the lifting operation switch 22 in this state (steps S1 and S3), the first clutch 27 is operated in the transmission state, the second clutch 29 is operated in the disengaged state, the brake 30 is operated in the braking state, and the wire 37 is wound up and driven by the drive unit 24 with strong power (step). S5 to S8) (a state in which power is applied from the drive unit 24 to the leg operating unit 2 and power is not applied from the drive unit 24 to the load operating unit 3).

Thereby, the lower arm part 10 is operated downward, and the lower arm part 10 (leg pad 12) operates the appropriate position (for example, a little upper part of the knee part) of the operator's thigh part downward, Helps workers to stand up.
When the worker stands up, if there is a difference between the movement trajectory of the operator's thigh and the movement trajectory of the lower arm 10, the support plate 11 and the legs are moved along with the lowering of the operator's thigh. By moving the pad 12 along the longitudinal direction of the lower arm portion 10, the difference between the movement trajectory of the operator's thigh and the movement trajectory of the lower arm portion 10 is absorbed. You can stand up.

As described above, when the worker stands up, the second clutch 29 is operated in the disengaged state and the brake 30 is operated in the braking state (steps S6 and S7), so the hand unit 19 (the luggage W) is lowered. Never do.
In this case, as shown in FIGS. 5 and 6, when the load W is lifted from the floor, the load W1 of the load W is applied to the left and right center of the lower side portion 20c of the hand portion 19 (hook portion 20). On the other hand, the connection point of the wire 18 to the hook portion 20 (hand portion 19) is located on the left and right center side.

As a result, as shown in FIGS. 5 and 6, the load W1 of the load W is applied to the lower portion 20c of the hand portion 19 (hook portion 20), and the hook portion 20 (hand portion 19) of the wire 18 is applied. Due to the difference A in the horizontal direction from the connecting point, the lower side 20c of the hand portion 19 (hook portion 20) is moved to the left and right center side of the load W (right side of the paper in FIG. 5) (left side of the paper in FIG. 6). A moment is generated to allow the hand portion 19 (hook portion 20) to be prevented from coming off the load W (the handle portion Wa).
In addition, the hand portion 19 (hook portion 20) is unlikely to be detached from the load W (the handle portion Wa) due to the protruding portion 20d of the hand portion 19 (hook portion 20).

As shown in FIG. 1, the protruding length L1 in the side view from the main body 1 to the front of the upper arm portion 14 is substantially the same as the length of the support portion 9 (the protruding length from the main body 1 to the front). By being set (see [3] in the previous section), the wire 18 extends obliquely forward and downward from the upper pulley 16 of the upper arm portion 14 in a side view.
As a result, when the load W is lifted from the floor, the load W1 of the load W tries to bring the load W closer to the worker, and the worker brings the load W into contact with the body and suppresses the swing of the load W. While standing up.

[9]
Next, after the state described in the preceding item [8], a state in which the operator pushes the lifting operation switch 22 will be described with reference to FIG.
A position sensor (not shown) for detecting that the lower arm portion 10 is located at a position substantially directly below is provided in the support portion 9.

  As described in [8] above, the operator stands up in a state where the operator presses the ascent operation switch 22, and when the position sensor detects that the lower arm portion 10 has reached a position substantially directly below (step S9). ), It is determined that the worker has completely started up, the first clutch 27 is operated in the disengaged state, the second clutch 29 is operated in the transmission state, the brake 30 is operated in the released state, and the driving unit 24 is stronger. The wire 18 is wound and driven around the main body 1 by power (steps S10 to S13) (power is applied from the drive unit 24 to the luggage operating unit 3 and power is not applied from the drive unit 24 to the leg operating unit 2). State).

As a result, the hand unit 19 (luggage W) rises. When the hand unit 19 (luggage W) rises to a desired position, if the pushing operation of the raising operation switch 23 is stopped (steps S14 and S1) (lifting operation) The drive unit 24 is stopped, the first and second clutches 27 and 29 are operated to be disconnected, and the brake 30 is operated to the brake state. As a result, the hand unit 19 (the luggage W) stops (steps S16 to S19).
In this case, the second clutch 29 is operated in the disengaged state (a state in which no power is applied from the drive unit 24 to the luggage operating unit 3), and the brake 30 is operated in the braking state, whereby the hand unit 19 (the luggage W ) Stops without descending, and no load is applied to the drive unit 24.

In the above-described state, when it is necessary to slightly lower the height of the hand unit 19 (the luggage W), when the operator pushes the lowering operation switch 23 (steps S1 and S2), the first clutch 27 is in the disconnected state. When operated, the second clutch 29 is operated in the transmission state, the brake 30 is operated in the released state, and the drive unit 24 drives the wire 18 out of the main body (steps S20 to S23) (from the drive unit 24). A state in which power is applied to the load acting unit 3 and no power is applied from the drive unit 24 to the leg acting unit 2).
In this case, since the drive unit 24 drives and drives the wire 18 from the main body 1 while supporting the load W, the hand portion 19 (the load W) does not fall rapidly (step S23).

  As a result, the hand unit 19 (luggage W) is lowered. When the hand unit 19 (luggage W) is lowered to a desired position, if the pushing operation of the lowering operation switch 23 is stopped (step S24), the hand unit 19 By holding the luggage W (because the luggage sensor 41 detects the luggage W) (step S25), the process proceeds to steps S16 to S19, and the hand unit 19 (the luggage W) is stopped.

  In the previous item [8] and this item [9], when the operator simultaneously presses both the raising and lowering operation switches 22 and 23 (steps S1 and S2) (steps S1 and S3) (steps S14 and S15), It is determined that the user has made a mistake. As a result, the process proceeds to steps S16 to S19, the drive unit 24 is stopped, the first and second clutches 27 and 29 are operated in the disconnected state, and the brake 30 is operated in the braking state.

[10]
Next, a state after the state described in [9] is described with reference to FIG.
As described in [9] above, in a state where the worker stands up and the luggage W is positioned at a desired position, the worker walks to a high shelf or a truck bed on which the luggage W is to be placed.
In this case, when the first clutch 27 is operated in the disconnected state (power is not applied from the drive unit 24 to the leg action unit 2), the lower arm unit 10 is in a free state. When moving, the lower arm portion 10 (leg operating portion 2) does not interfere with the operation of the operator's leg portion.

  When the worker arrives at a high shelf or a truck bed, the worker presses the lowering operation switch 23 as described in [9] above (steps S1 and S2), and lowers the hand unit 19 (luggage W). (Steps S20 to S23), the load W is placed on a high shelf or a truck bed, and the lower portion 20c and the protruding portion 20d of the hand portion 19 (hook portion 20) are removed from the handle portion Wa of the load W.

  In this case, if it is necessary to adjust the position of the load W when placing the load W on a high shelf or a truck bed, the wire 18 extends downward from the upper pulley 16 of the upper arm portion 14 within the allowable range. The position of the luggage W can be adjusted by moving the hand portion 19 in the front-rear direction and the left-right direction. In addition to this, the hand unit 19 in a state in which the operator holds the baggage W by the hand unit 19 by holding the hand unit 19 in a state of shaking hands with the person in front. (Package W) can be handled without difficulty.

  As described above, the luggage W is placed on a high shelf or a truck bed, the lower side 20c and the protruding part 20d of the hand part 19 (hook part 20) are removed from the handle part Wa of the luggage W, and the operator descends. When the pressing operation of the operation switch 23 is stopped (step S24) (corresponding to a state where the lowering operation unit is switched from the operated state to the non-operated state), the baggage W is not held by the hand unit 19 (the baggage sensor). (Since 41 does not detect the package W) (step S25), the process proceeds to step S26.

  Thereafter, when the same operation is performed on the next baggage W, the operator presses the ascending operation switch 22 or the descending operation switch 23 while holding the hand unit 19 even when the process proceeds to step S26. By doing so (steps S27 and S28), the operations described in the preceding items [7] [8] [9] and this item [10] are repeated.

[11]
As described in [10] above, the luggage W is placed on a high shelf or a truck bed, and the lower part 20c and the protruding part 20d of the hand part 19 (hook part 20) are removed from the handle part Wa of the luggage W. The case of shifting to another work that does not use the hand unit 19 will be described.
The luggage W is placed on a high shelf or a truck bed, the lower part 20c and the protruding part 20d of the hand part 19 (hook part 20) are removed from the handle part Wa of the luggage W, and the operator pushes the lowering operation switch 23. It is assumed that the operation is stopped and the operator releases his hand from the hand unit 19.

  In this case, when the operator stops pressing the lowering operation switch 23 (step S24) (corresponding to a state where the lowering operation unit is switched from the operated state to the unoperated state), the hand unit 19 holds the load W. (The fact that the load sensor 41 does not detect the load W) (step S25), the first clutch 27 is operated to be disconnected (step S20), and the second clutch 29 is operated to be transmitted ( In step S21), in a state where the brake 30 is operated in the release state (step S22), the wire 18 is wound around the main body 1 by the drive unit 24 with weak power (step S26).

  In this case, the wire 18 is wound up and driven by the drive unit 24 by the drive unit 24 with such a weak power that the hand portion 19 that does not hold the load W is raised, and the hand portion 19 is raised. When 19 reaches the upper part of the upper arm part 14 (upper pulley 16), the weak power of the drive unit 24 is lost, and the hand part 19 stops at the upper part of the upper arm part 14 (upper pulley 16).

As a result, the right and left hand portions 19 do not exist on the right and left front sides of the worker, and the right and left hand portions 19 are positioned on the right and upper left of the worker. The hand unit 19 does not get in the way when performing another operation that is not used, and another operation that does not use the hand unit 19 can be performed without any problem.
Even if the rising hand portion 19 is caught by another object, it is expected that the weak power of the drive unit 24 will be lost to the resistance caused by the other object and the hand portion 19 will stop. It is unlikely that a situation occurs in which the rising hand portion 19 is caught by another object and the other object is damaged.
When the first clutch 27 is operated in the disengaged state (a state in which no power is applied from the drive unit 24 to the leg action unit 2), the lower arm unit 10 is in a free state. Further, the lower arm portion 10 (the leg action portion 2) does not interfere with the operation of the operator's leg portion.

[First Alternative Embodiment of the Invention]
Instead of the structure shown in FIGS. 5 and 6, the following structure may be adopted.
As shown in FIG. 9, in the right hand portion 19, the first upper portion 21 a of the grip portion 21 extends laterally outward. A push button type first ascending operation switch 38 (outside) and a second ascending operation switch 39 (corresponding to the ascending operation portion) (inside the first gripping portion 21 (right hand portion 19)) ) Is provided.
As shown in FIG. 8, a push button type lowering operation switch 40 (corresponding to a lowering operation portion) is provided on the first upper side portion 21 a of the left grip portion 21 (left hand portion 19). Other structures of the right and left hand portions 19 are the same as those shown in FIGS.

  When the first raising operation switch 38, the second raising operation switch 39, and the lowering operation switch 40 are provided as described above, based on the signals of the first and second raising operation switches 38, 39 and the lowering operation switch 40, the battery As shown in FIGS. 10 and 11, the drive unit 24, the first and second clutches 27 and 29, and the brake 30 are operated by the control device 32 using 33 as a power source.

When the first raising operation switch 38 is pushed (steps S31, S34, S35), the first clutch 27 is operated in the transmission state, the second clutch 29 is operated in the disengaged state, and the brake 30 is operated in the braking state. Thus, the drive unit 24 winds and drives the wire 37 around the main body 1 with strong power (steps S46 to S49).
As a result, the lower arm portion 10 is operated downward to assist the worker to stand up. When the pressing operation of the first raising operation switch 38 is stopped (step S31), the drive unit 24 is stopped, The first and second clutches 27 and 29 are operated in the disconnected state, the brake 30 is operated in the braking state (steps S38 to S41), and the lower arm unit 10 is stopped.

  As described above, when the position sensor detects that the lower arm portion 10 has reached a position that is substantially downward (step S50) in a state in which the first ascent operation switch 38 is pressed, the operator completely It is judged that he has stood up. Thereby, it transfers to step S38-S41 and the lower arm part 10 stops.

  When the second raising operation switch 39 is pushed (steps S31, S36, S37), the first clutch 27 is operated in the disconnected state, the second clutch 29 is operated in the transmission state, and the brake 30 is operated in the released state. Thus, the wire 18 is wound and driven around the main body 1 with strong power by the drive unit 24 (steps S51 to S54).

  As a result, the hand unit 19 (the luggage W) is raised, and when the hand unit 19 (the luggage W) is raised to a desired position, the pushing operation of the raising operation switch 23 is stopped (step S31) (the raising operation unit This corresponds to a state where the state is switched from a state where the button is operated to a state where the button is not operated), and the process proceeds to steps S38 to S41, and the hand unit 19 (package) is stopped.

When the lowering operation switch 40 is pushed (steps S31, S32, S33), the first clutch 27 is operated in the disengaged state, the second clutch 29 is operated in the transmission state, and the brake 30 is operated in the released state, thereby driving. The wire 18 is driven out from the main body 1 by the unit 24 (S42 to S45).
In this case, since the drive unit 24 drives and drives the wire 18 from the main body 1 while supporting the load W, the hand portion 19 (the load W) does not descend rapidly (step S45).

  As a result, the hand unit 19 (luggage W) is lowered, and when the hand unit 19 (luggage W) is lowered to a desired position, the push operation of the descent operation switch 23 is stopped (step S55). In this case, if the baggage W is held by the hand unit 19 (if the baggage sensor 41 detects the baggage W) (step S56), the process proceeds to steps S38 to S41, and the hand unit 19 (baggage W). Stops.

  When the lowering operation switch 40 is pushed as described above (steps S31, S32, S33) and then the lowering operation switch 23 is stopped (step S55) (the operation is not performed from the state where the lowering operation unit is operated). If the baggage W is not held by the hand unit 19 (if the baggage sensor 41 does not detect the baggage W) (step S56), the first clutch 27 is operated to the disconnected state. (Step S42) When the second clutch 29 is operated in the transmission state (Step S43) and the brake 30 is operated in the released state (Step S44), the wire 18 is moved to the main body 1 with weak power by the drive unit 24. The winding is driven (step S57).

In this case, the wire 18 is wound up and driven by the drive unit 24 by the drive unit 24 with such a weak power that the hand portion 19 that does not hold the load W is raised, and the hand portion 19 is raised. When 19 reaches the upper part of the upper arm part 14 (upper pulley 16), the weak power of the drive unit 24 is lost, and the hand part 19 stops at the upper part of the upper arm part 14 (upper pulley 16).
Next, by pressing any one of the first and second ascent operation switches 38 and 39 and the descending operation switch 40 (steps S58, S59, and S60), the process proceeds to step S31.

  When two or more of the first and second ascent operation switches 38 and 39 and the descending operation switch 40 are simultaneously pressed (steps S31, S32, S33) (steps S31, S34, S35) (steps S31, S36, S37) ). As a result, the process proceeds to steps S38 to S41, the drive unit 24 is stopped, the first and second clutches 27 and 29 are operated in the disconnected state, and the brake 30 is operated in the braking state.

[Second Embodiment of the Invention]
In FIG. 7 of the above-mentioned [Mode for Carrying Out the Invention], steps S101 to S107 may be added to steps S25 to S28, and the configuration shown in FIG.
As shown in FIG. 12, the wire 18 is wound up and driven by the drive unit 24 by the drive unit 24 with a weak power that raises the hand portion 19 that does not hold the luggage W, and the hand portion 19 rises. The hand part 19 reaches the upper part (upper pulley 16) of the upper arm part 14, the weak power of the drive unit 24 is lost, and the hand part 19 stops at the upper part (upper pulley 16) of the upper arm part 14. (Steps S25 to S28) (refer to the previous section [11]).

  In the above-described state, as described in [7] above, it is assumed that the operator holds the upper hand portion 19 by hand and lowers the hand portion 19 with a force that can overcome the weak driving force of the driving unit 24. In this case, since the wire 18 is pulled out against the drive unit 24 attempting to wind the wire 18 around the main body 1, the voltage value (current value) of the drive unit 24 changes.

  As a result, the baggage W is not held by the hand unit 19 (the baggage sensor 41 does not detect the baggage W) (step S25), and the voltage value (current value) of the drive unit 24 changes ( In step S101), the control device 32 determines that the operator has lowered the hand unit 19 by hand (corresponding to a downward movement detecting means).

  As described above, when it is determined that the operator has lowered the hand unit 19 by hand, the drive unit 24 is stopped (step S102), and the second clutch 29 is operated to the disconnected state. (Step S103). Thus, the operator can easily and quickly lower the hand portion 19 without receiving resistance from the drive unit 24.

  When the drive unit 24 stops (step S102) and the second clutch 29 is operated in the disengaged state (step S103), when the operator stops holding the hand unit 19 by hand (step S106). ), The second clutch 29 is operated in the transmission state (step S107), and the process returns to steps S25 and S26. When the ascending operation switch 22 or the descending operation switch 23 is pressed (steps S104 and S105), the process returns to step S1 shown in FIG.

Steps S101 to S107 shown in FIG. 12 can also be applied to steps S56 and S57 in FIG. 11 of the above-mentioned [first alternative embodiment of the invention].
In this case, the configuration of “returning to step S1 shown in FIG. 7 (steps S104 and S105) when the raising operation switch 22 or the lowering operation switch 23 is pressed” shown in FIG. , 39, and any one of the lowering operation switches 40 is pushed to move to step S31 in FIG.

[Third Another Embodiment of the Invention]
In FIG. 5 and FIG. 6 of the above-mentioned [Detailed Description of the Invention], the following configuration may be used.
(3-1)
The first upper part 21a of the left grip part 21 (left hand part 19) is provided with a raising operation switch 22, and the lowering operation switch 23 is provided on the first upper part 21a of the right grip part 21 (right hand part 19). Prepare.

(3-2)
The ascending operation switch 22 and the descending operation switch 23 are provided on the first upper portion 21a of the right grip portion 21 (right hand portion 19) or the first upper portion 21a of the left grip portion 21 (left hand portion 19). Have both.

(3-3)
A lower operation portion 22 is provided on the lower side portion 20c of the right hook portion 20 (the right hand portion 19) (or the left hook portion 20 (the left hand portion 19)), and the left hook portion 20 (the left hand portion 19) The lower part 20c of the hand part 19) (or the right hook part 20 (right hand part 19)) is provided with a lowering operation switch 23 downward.

(3-4)
Both the ascending operation switch 22 and the descending operation switch 23 are provided on the lower side portion 20c of the right hook portion 20 (right hand portion 19) or the lower portion 20c of the left hook portion 20 (left hand portion 19). Prepare downwards.

[Fourth Embodiment of the Invention]
In FIG. 8 and FIG. 9 of the above-mentioned [first alternative embodiment of the invention], the following configuration may be adopted.
(4-1)
The first upper part 21a of the left grip part 21 (left hand part 19) is extended laterally outward, and the first ascending operation is performed on the first upper part 21a of the left grip part 21 (left hand part 19). A switch 38 (outside) and a second raising operation switch 39 (inside) are provided, and a lowering operation switch 40 is provided on the first upper side portion 21a of the right grip portion 21 (right hand portion 19).

(4-2)
In the first upper portion 21a of the right grip portion 21 (the right hand portion 19) (or the left grip portion 21 (the left hand portion 19)), a first raising operation switch 38 is provided on the inner side, and a second raising operation is performed. A switch 39 is provided outside.

(4-3)
First and second raising operation switches 38 and 39 are provided downward on the lower side portion 20c of the right hook portion 20 (the right hand portion 19) (or the left hook portion 20 (the left hand portion 19)). A lower operation switch 40 is provided downward on the lower side portion 20c of the hook portion 20 (left hand portion 19) (or right hook portion 20 (right hand portion 19)).

(4-4)
First and second raising operation switches 38 and 39 on the lower side portion 20c of the right hook portion 20 (right hand portion 19) or the lower side portion 20c of the left hook portion 20 (left hand portion 19), All of the lowering operation switches 40 are provided downward.

[Fifth Embodiment of the Invention]
In the above-mentioned [Mode for Carrying Out the Invention] [First Alternative Embodiment of the Invention] to [Fourth Alternative Embodiment of the Invention], the upper portion 20a of the hook portion 20 is abolished, and the first portion of the grip portion 21 is eliminated. The first and second upper side portions 21a and 21b may be eliminated, and the hand portion 19 (hook portion 20 and grip portion 21) may be configured in an L-shaped cross section.

  If comprised as mentioned above, the wire 18 will be connected with the upper side part of the side part 20b of the hook part 20, and the raising and lowering operation switches 22 and 23 (the 1st and 2nd raising operation switches 38 and 39, the lowering operation switch) 40) to (3-3) and (3-4) of the above-mentioned [Third Another Embodiment of the Invention] and (4-3) to (4-4) of the above-mentioned [Fourth Another Embodiment of the Invention]. ), The lower portion 20c of the hook portion 20 (hand portion 19)) may be provided downward.

[Sixth Embodiment of the Invention]
In the above-mentioned [Mode for Carrying Out the Invention] [First Another Mode for Carrying Out the Invention] to [Fifth Another Mode for Carrying Out the Invention], the springs for urging the right and left lower arm portions 10 upward ( (Not shown) may be provided. If comprised in this way, if the 1st clutch 27 is operated in the interruption | blocking state, the lower arm part 10 will be operated upwards with a spring, and the wire 37 will be drawn | fed out from the main-body part 1, and the lower arm part 10 ( The leg action part 2) does not interfere with the movement of the operator's leg.

[Seventh Embodiment of the Invention]
In the above-mentioned [Mode for Carrying Out the Invention] [First Another Mode for Carrying Out the Invention] to [Sixth Another Mode for Carrying Out the Invention], the drive gear 25 and the input gear 27a of the first clutch 27 shown in FIG. Instead of this, a worm gear mechanism (not shown) may be used. By comprising in this way, a big motive power can be given to the lower arm part 10 (leg action part 2).

[Eighth Embodiment of the Invention]
In the above-mentioned [Mode for Carrying Out the Invention] [First Another Mode for Carrying Out the Invention] to [Seventh Another Mode for Carrying Out the Invention], a horizontal axis in the horizontal direction is formed on the upper portion of the support frame 31 shown in FIG. A movable frame (not shown) is provided so as to be swingable around (not shown), and the battery 33 is moved back from the first position shown in FIG. 1 and the first position shown in FIG. It may be configured to be movable to the second position on the left side of the drawing.

  Accordingly, when the worker wearing the assist suit stands up while holding the luggage on the floor, the battery 33 is moved to the second position by the movable frame, and the center of gravity of the assist suit is determined by the weight of the luggage W. Move to the front side (away from the worker) to prevent the assist suit from leaning forward. When the worker stands up completely, the battery 33 is moved to the first position by the movable frame.

[Ninth Embodiment of the Invention]
In the above-mentioned [Mode for Carrying Out the Invention] [First Another Mode for Carrying Out the Invention] to [Eighth Another Mode for Carrying Out the Invention], the drive unit 24 drives the wire 18 to be wound around the main body 1, and Instead of driving out from the main body 1, the wire 18 fixed to the upper part of the upper arm 14 is extended downward, and the hand 19 is connected to the wire 18, so that the upper arm 14 is connected to the main body 1. The hand portion 19 may be moved up and down by swinging up and down.
The lower arm portion 10 (leg pad 12) is configured not to act on the operator's thigh but on the operator's lower leg (portion below the knee), thereby assisting the worker to stand up. Also good.
Instead of the two drive units 24, the drive gear 25 may be driven by one drive unit 24.
When the two drive units 24 are provided, the power of the two drive units 24 is not branched into two systems and transmitted to the leg action unit 2 and the load action unit 3, but the leg action unit is driven by one drive unit 24. 2 may be driven, and the load acting unit 3 may be driven by the other drive unit 24.

  INDUSTRIAL APPLICABILITY The present invention is used by an operator and can be applied to an assist suit that assists the operator's work (operation) with power.

DESCRIPTION OF SYMBOLS 1 Main-body part 14 Upper arm part 17 Drive apparatus 18 Wire 19 Hand part 22,39 Lifting operation part 23,40 Lowering operation part 29 Clutch 30 Brake 32 Control apparatus 41 Luggage sensor W Luggage

Claims (3)

A main body part attached to the back part of the operator; right and left upper arm parts extending forward from the main body part over the right and left shoulders of the operator; and the right and left upper arms The right and left wires extending downward from the part, and the right and left hand parts connected to the right and left wires in order to hold the luggage by the operator's hand,
A drive device that winds and drives the wire from the main body unit and a drive device that drives the wire out, and a rising operation unit and a lowering operation unit that are operated by an operator,
Based on the signal from the ascending operation part, the hand part is lifted by driving the wire around the body part, and the wire is driven out from the body part based on the signal from the descending operation part. A control device for operating the drive device to lower the hand part by
When the lowering operation unit is switched from the operated state to the non-operated state, the control device operates the driving device with a weak driving force to raise the hand unit not holding a load, and the wire An assist suit configured to be wound around the main body. A brake capable of stopping the descent of the wire is provided;
The control device is
When one of the ascending operation part and the descending operation part is operated, the brake is operated in a released state, and
When switching from a state where the ascending operation unit is operated to a state where it is not operated, the driving device is stopped, the brake is operated in a braking state, and
2. The assist suit according to claim 1, wherein when both the raising operation unit and the lowering operation unit are operated simultaneously, the driving device is stopped and the brake is operated in a braking state. A clutch capable of transmitting and interrupting the power of the driving device to the wire, a luggage sensor for detecting whether or not the hand unit holds a load, and the hand in a state where no load is held by the hand unit. And a downward movement detecting means for detecting that the unit has been operated downward,
The assist suit according to claim 1 or 2, wherein the control device is configured to operate the clutch in a disengaged state based on detection by the downward movement detection means.

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