JP6616483B1 - Assist device - Google Patents

Abstract

Provided is an assist device to which an elastic force is not applied when a leg mounting portion is within a predetermined angle range with respect to a trunk mounting portion. An assist device includes a leg mounting portion, a trunk mounting portion, a connecting portion, a leg-side rotating portion, a trunk-side rotating portion, and an independent rotating portion. The connecting portion connects the leg mounting portion and the trunk mounting portion so as to be relatively rotatable about the axis. The leg-side rotating unit 4 can rotate and move between a predetermined non-contact angle range 11 and a predetermined contact angle range 12. The non-contact angle range 11 is an angle range in which the leg-side rotation unit 4 does not contact the independent rotation unit 6. The contact angle range 12 is an angle range in which the leg-side rotation unit 4 continues to one end side of the non-contact angle range 11 and contacts the independent rotation unit 6. The first independent rotating unit 61 is capable of rotational movement within the independent angle range 13. The assist device 1 is provided with an elastic member 8 that applies an elastic force with the independent rotating portion 6 directed toward the non-contact angle range 11 side. [Selection] Figure 7

Description

  The present invention relates to an assist device including a leg mounting portion and a trunk mounting portion.

  Conventionally, work auxiliary tools are known (see, for example, Patent Document 1). The work auxiliary tool includes a base mechanism that is grounded to the ground, a suspension mechanism that is supported by the base mechanism, and a connecting portion that rotatably connects the base mechanism and the suspension mechanism within a predetermined movable range.

  The base mechanism has a first frame along the operator's thigh, a second frame along the operator's lower leg, and a bottom portion to be attached to the operator's leg, and the left and right sides of the operator In addition, it is arranged so as not to inhibit the bending and stretching movements of the legs.

  The suspension mechanism includes a suspension frame disposed on the back side of the worker, and a belt for attaching the upper body of the worker to the suspension frame.

  The connecting portion is provided with a restricting means for restricting the rotation of the connecting portion from being rotated more than a certain angle, and when the suspension mechanism is tilted and rotated from a state of 180 degrees to a predetermined angle with respect to the connecting portion of the base mechanism. The restriction means for restricting the tilting of the suspension mechanism prevents further rotation. The suspension mechanism suspends the upper body of the worker in a state where the rotation at the connecting portion is restricted. Thus, when the worker bends to some extent, the suspension mechanism stops rotating at a predetermined position, and the worker can be supported. An operator can leave his / her own weight in the suspension mechanism and perform work, thereby reducing the physical burden.

  In addition, the connecting portion may include an elastic member that urges the suspension mechanism in a direction in which the worker is raised when the suspension mechanism is tilted in conjunction with the movement of bending the waist of the worker. Thereby, the operation | movement which a worker raises an upper body from a forward bending posture can be assisted. This elastic member is set so that the elastic force becomes zero when the suspension mechanism and the base mechanism are perpendicular to each other, that is, when the operator stands up.

JP 2012-200288 A

  In the auxiliary work tool described in Patent Document 1, the elastic force is zero when the operator stands up, and the elastic force according to the inclination angle when the upper body is inclined with respect to the thigh. It will take. For this reason, even when walking is not necessary, such as when walking, the elastic force from the elastic member is biased by the suspension mechanism, and unnecessary assisting force is applied between the thigh and the upper body, It was difficult to walk.

  The present invention has been invented in view of the above-described conventional problems, and provides an assist device to which no elastic force is applied when the leg mounting portion is in a predetermined angle range with respect to the trunk mounting portion. For the purpose.

In order to solve the above problem, the assist device of an embodiment according to the present invention includes a leg mounting portion, and a body attachment part, and a connecting portion, and the leg-side rotation unit, and the body-side rotation unit, a One independent rotating part and a second independent rotating part are provided. The leg attachment part is attached to a leg part of a human body. The torso attaching part is attached to a torso part of a human body. The connecting portion connects the leg mounting portion and the body mounting portion so as to be capable of relative rotation with respect to each other about an axis. The leg-side rotating part rotates integrally with the leg mounting part around the axis. The trunk side rotating part rotates integrally with the trunk part mounting part around the axis. The first independent rotating part and the second independent rotating part rotate around the axis.

The leg-side rotating unit is capable of rotating around a predetermined non-contact angle range and a predetermined contact angle range with respect to the trunk-side rotating unit around the axis. The non-contact angle range is an angle range in which the leg side rotation unit does not contact the first independent rotation unit. The contact angle range is an angle range in which the leg-side rotation unit is continuous with one end side of the non-contact angle range and contacts the first independent rotation unit. The first independent rotating portion is capable of rotating and moving within a predetermined independent angle range from an end of the contact angle range on the non-contact angle range side to the opposite side of the non-contact angle range. The second independent rotating part is in contact with the body side rotating part and cannot move further, so that the first independent rotating part that rotates integrally cannot rotate and move toward the non-contact angle range. It is to make. The assist device is provided with an elastic member that applies an elastic force with the first independent rotating portion directed toward the non-contact angle range.

  In the assist device according to one aspect of the present invention, when the leg-side rotating portion is in the non-contact angle range, the elastic force from the elastic member is not applied to the leg-side rotating portion. For this reason, when the leg mounting part is in a predetermined angle range with respect to the trunk mounting part, that is, when the leg side rotating part is in the non-contact angle range, the person wearing the assist device is elastic. You can walk without any force.

FIG. 1 is an overall perspective view of an assist device according to an embodiment of the present invention. FIG. 2 is a front view of the assist device. FIG. 3 is a side view of the same assist device. FIG. 4 is a cross-sectional side view of the vicinity of the left connecting portion of the assist device. FIG. 5 is an exploded perspective view of the above-described left connecting portion, leg portion connecting portion, and trunk portion connecting portion viewed obliquely from the front. FIG. 6 is an exploded perspective view of the left connecting part, the leg part connecting part, and the trunk part connecting part as seen from the oblique rear side. FIG. 7 is a front view for explaining the positional relationship among the left leg-side rotating unit, the trunk unit-side rotating unit, and the independent rotating unit on the left side. FIG. 8 is a front view for explaining the positional relationship among the left leg-side rotating part, the trunk part-side rotating part, and the independent rotating part.

  The present invention relates to an assist device, and more particularly to an assist device including a leg mounting portion and a trunk mounting portion. Hereinafter, an embodiment of an assist device according to the present invention will be described with reference to FIGS.

  The assist device is worn by an elderly person whose physical function has deteriorated, a disabled person who has been disabled due to illness, an accident, or the like, or a healthy person who lifts luggage or the like. In the following description, it is assumed that the person wearing the assist device is an operator, but the assist device is not worn only by an elderly person, a disabled person, or an operator. In other words, the assist device may be worn by a healthy person who does not lift luggage or the like, and the wearer is not limited.

  The assist device mainly assists an operation in which an operator tilts the trunk portion forward and grasps a load with a hand or arm, and then lifts the load by raising the trunk portion. Here, assist means assisting so that the force required for the operator to lift a load or the like is reduced. In the present embodiment, an average adult male Japanese is assumed as the worker.

  As shown in FIGS. 1 to 4, the assist device 1 includes a leg mounting part 2, a body mounting part 3, and a connecting part 10 that connects the leg mounting part 2 and the body mounting part 3. Prepare.

  The leg mounting unit 2 is mounted on the leg of the worker's human body. In the present embodiment, the thigh is assumed as a part to which the leg mounting part 2 is mounted, but the leg part to which the leg mounting part 2 is mounted may be a knee, a lower leg, or It may be a foot. The assist device 1 includes, as the leg mounting unit 2, a right leg mounting unit 2 that is mounted on the right leg of the operator and a left leg mounting unit 2 that is mounted on the left leg. Prepare each. Here, as shown in FIG. 1 to FIG. That is, the front / rear / left / right / up / down directions viewed from the operator wearing the assist device 1 are defined as the front / rear / left / right / up / down directions of the assist device 1. The leg mounting unit 2 includes a leg mounting main body 21 that mainly receives a force for transmitting the assist force, and a leg restraining unit that prevents the operator's leg from being detached from the leg mounting main body 21. 22 and a leg-side connecting portion 23.

  The leg mounting main body 21 includes a rod member 210. The rod member 210 is formed of a metal such as SUS or aluminum. The rod member 210 is mounted along the outer side surface of the operator's thigh. The rod member 210 has a rectangular bar shape that extends linearly. The length of the rod member 210 is approximately the length of the operator's thigh. The width of the rod member 210 is shorter than the diameter of the thigh and is approximately 3 to 10 cm, such as 3 cm, 5 cm, and 10 cm. The thickness of the rod member 210 is shorter than the width of the rod member 210, and is approximately 3 to 10 mm, such as 3 mm, 5 mm, and 10 mm. The material, length, width and thickness of the rod member 210 are not limited to the above material, length, width and thickness.

  The leg restraining part 22 has a front restraining part 221 that hits the leg part from the front side and a rear restraining part 222 that hits the leg part from the rear side. The front restraint portion 221 is provided at the lower end portion of the rod member 210. The front restraint portion 221 extends from the rod member 210 toward the front side and is curved inward (left side in the right leg mounting portion 2 and right side in the left leg mounting portion 2). The front restraint portion 221 has a generally semicircular arc shape along the front thigh just above the knee of the operator in plan view, and has a radius of curvature along the front thigh. The front restraint portion 221 is made of a metal such as SUS or aluminum. The width (vertical length) of the front restraint portion 221 is approximately 3 to 10 cm, such as 3 cm, 5 cm, and 10 cm. The thickness of the front restraint part 221 is approximately 1 to 3 mm, such as 1 mm and 3 mm. The material, length, width and thickness of the front restraint portion 221 are not limited to the above material, length, width and thickness.

  The rear restraint portion 222 is provided at the upper end portion of the rod member 210. The rear restraint part 222 extends from the rod member 210 toward the rear side, and is curved inward on the way. The rear restraint portion 222 has a substantially arc shape along the rear thigh of the base of the operator's leg in plan view, and has a radius of curvature along the rear thigh. The rear restraint portion 222 is made of a metal such as SUS or aluminum. The width (length in the vertical direction) of the rear restraint portion 222 is approximately 5 to 15 cm, such as 5 cm, 10 cm, and 15 cm. The thickness of the rear restraint portion 222 is approximately 2 to 5 mm, such as 2 mm and 5 mm. Note that the material, length, width, and thickness of the rear restraint portion 222 are not limited to the above-described material, length, width, and thickness.

  The leg portion side connecting portion 23 is rotatably connected to a trunk portion side connecting portion 33 described later by the connecting portion 10. In the present embodiment, the leg portion side connecting portion 23 is rotatably connected to the leg portion mounting main body portion 21. A shaft hole through which a shaft portion 24 whose axis is directed in the front-rear direction is formed in the lower end portion of the leg-side connecting portion 23 and the upper end portion of the leg mounting main body portion 21, and the shaft portion 24 is formed in this shaft hole. Threaded and connected. The leg mounting main body 21 can rotate in the left-right direction with respect to the leg-side connecting portion 23. This makes it easier for the operator wearing the assist device 1 to rotate the leg part to the left and right with respect to the trunk part.

  The torso mounting portion 3 is mounted on the torso of the operator's human body. In the present embodiment, the waist and the back are assumed as the parts to which the torso attaching part 3 is attached, but the parts of the torso to which the torso attaching part 3 is attached may be replaced with the waist and the back or In addition to the waist and back, it may be a buttocks. The torso mounting portion 3 includes a torso mounting main body 31 that is a main body that receives a force for transmitting assist force, and a torso restraining portion that suppresses the operator's torso from being detached from the torso mounting main body 31. And a trunk portion side connecting portion 33.

  The trunk portion mounting main body 31 includes a frame 310. The frame 310 is made of a metal such as SUS or aluminum. The frame 310 is mounted along the rear side surface of the operator's trunk (waist and back). The frame 310 is connected to a right vertical piece 311 that is located on the right side and extends linearly in the vertical direction, a left vertical piece 312 that is located on the left side and extends linearly in the vertical direction, and connects the right vertical piece 311 and the left vertical piece 312. The upper horizontal piece 313 and the lower horizontal piece 314 extend linearly in the left-right direction.

  The horizontal length of the upper horizontal piece 313 and the lower horizontal piece 314 is approximately the same as the shoulder width of the operator. The upper horizontal piece 313 and the lower horizontal piece 314 are formed of a metal such as SUS or aluminum. The width (length in the vertical direction) of the upper horizontal piece 313 and the lower horizontal piece 314 is approximately 5 to 15 cm, such as 5 cm, 10 cm, and 15 cm. The thickness of the upper horizontal piece 313 and the lower horizontal piece 314 is approximately 2 to 5 mm, such as 2 mm and 5 mm. In addition, the material, length, width, and thickness of the upper horizontal piece 313 and the lower horizontal piece 314 are not limited to the above material, length, width, and thickness.

  The upper horizontal piece 313 is set so as to be positioned on the back of the worker when the assist device 1 is mounted on the worker. The upper horizontal piece 313 connects the upper end portion of the right vertical piece 311 and the upper end portion of the left vertical piece 312. The lower horizontal piece 314 is set so as to be positioned on the waist of the worker when the assist device 1 is attached to the worker. The lower horizontal piece 314 connects the lower end portion of the right vertical piece 311 and the lower end portion of the left vertical piece 312. The upper horizontal piece 313 or the lower horizontal piece 314 and the right vertical piece 311 or the left vertical piece 312 are connected by a conventionally known appropriate means such as welding or screwing, and the connection method is not limited.

  Although not shown in the drawings, the body restraining part is a band that binds and fixes the frame 310 and the body part.

  The trunk portion side connecting portion 33 is rotatably connected to the leg portion side connecting portion 23 by the connecting portion 10. In this embodiment, the trunk | drum part side connection part 33 has the inner cover body 330 which carried out the side view circular shape which accommodates the part except the connection part 10 and the lower end part of the leg part side connection part 23 inside. The inner cover body 330 is fixed to the lower end portion of the body mounting body portion 31 with screws, whereby the body side coupling portion 33 and the body mounting body portion 31 are integrally connected.

  As shown in FIGS. 4-6, the connection part 10 connects the leg part mounting part 2 and the trunk | drum mounting part 3 so that a relative rotation is possible mutually around the axis line which faces a left-right direction. 4 to 6 show the left connecting part 10, the leg part connecting part 23, and the trunk part connecting part 33.

  In this embodiment, the connection part 10 connects the leg part side connection part 23 and the trunk | drum part side connection part 33 so that relative rotation is possible. The connecting part 10 has a connecting shaft 101 whose axis is directed in the left-right direction. A leg-side connecting shaft hole 231 through which the connecting shaft 101 passes is formed at the upper end of the leg-side connecting portion 23. The trunk portion side connecting portion 33 has a cylindrical portion inside, and this inside is a trunk portion side connecting shaft hole 331 through which the connecting shaft 101 passes. The connecting shaft 101 is passed through the leg-side connecting shaft hole 231 and the trunk-side connecting shaft hole 331, and the leg-side connecting portion 23 and the trunk-side connecting portion 33 are connected so as to be relatively rotatable. More specifically, the cylinder portion around the leg portion side connecting shaft hole 231 of the leg portion side connecting portion 23 is passed through the trunk portion side connecting shaft hole 331. The connecting shaft 101 may be fixed to one of the leg part side connecting part 23 and the trunk part side connecting part 33, or fixed to both the leg part side connecting part 23 and the trunk part side connecting part 33. It does not have to be done.

  Further, the assist device 1 includes a leg-side rotating unit 4, a trunk-side rotating unit 5, and an independent rotating unit 6.

  The leg-side rotating unit 4 rotates integrally with the leg mounting unit 2 around the axis of the connecting shaft 101. In the present embodiment, the leg-side rotating portion 4 has a block shape, and is integrated with the leg-side connecting portion 23 at a position away from the axis of the connecting shaft 101 by a predetermined length in the radially outward direction of the connecting shaft 101. Provided.

  The body side rotating unit 5 rotates integrally with the body mounting unit 3 around the axis of the connecting shaft 101. In the present embodiment, the trunk portion-side rotating portion 5 has a block shape, and is located at a position away from the axis of the connecting shaft 101 by a predetermined length in the radially outward direction of the connecting shaft 101, similar to the leg-side rotating portion 4. The body side connecting portion 33 is provided integrally. The body side rotation unit 5 is provided at two locations around the axis of the connecting shaft 101. In addition, the trunk | drum part side rotation part 5 may be provided in only one place around the axis line of the connection shaft 101, or three or more places.

  The independent rotating unit 6 rotates around the axis of the connecting shaft 101 independently of the leg mounting unit 2 and the trunk mounting unit 3. In the present embodiment, the independent rotating body 7 having the disc portion 71 and the side tube portion 72 along the inner cover body 330 of the trunk portion side connecting portion 33 is accommodated in the outer cover body 70. The outer cover body 70 includes a top wall portion having a circular shape when viewed from the side, and a side wall portion surrounding the axis. The outer cover body 70 is provided integrally with the independent rotating body 7. In the present embodiment, the independent rotating body 7 is fixed to the top wall portion of the outer cover body 70 by bolting or the like.

  Further, an intermediate cover body 230 is provided adjacent to the side wall portion of the outer cover body 70. The intermediate cover body 230 has a side wall portion that surrounds the axis line, similarly to the side wall portion of the outer cover body 70. The intermediate cover body 230 is provided integrally with the leg side connecting portion 23. In the present embodiment, the leg-side connecting portion 23 is fixed to the intermediate cover body 230 by bolting or the like.

  The inner cover body 330, the intermediate cover body 230, and the outer cover body 70 constitute a cover that accommodates the connecting portion 10, the leg-side rotating portion 4, the trunk-side rotating portion 5, the independent rotating portion 6, and the elastic member 8 described later. Is done.

  An independent rotation side connecting shaft hole 73 through which the connecting shaft 101 passes is formed in the center of the disc portion 71. By passing the connecting shaft 101 through the independent rotating side connecting shaft hole 73, the independent rotating body 7 is connected to the leg portion side connecting portion 23 and the trunk portion side connecting portion 33 so as to be relatively rotatable. In the present embodiment, the independent rotating portion 6 has a block shape, and has a predetermined length similar to that of the leg-side rotating portion 4 and the trunk-side rotating portion 5 in the radially outward direction of the connecting shaft 101 from the axis of the connecting shaft 101. It is provided integrally with the independent rotating body 7 at a remote position. The independent rotating part 6 is provided with a first independent rotating part 61 and a second independent rotating part 62 at two locations around the axis of the connecting shaft 101, respectively.

  Hereinafter, the operation of the assist device 1 will be described based on the positional relationship among the leg-side rotating unit 4, the trunk-side rotating unit 5, and the independent rotating unit 6.

  As shown in FIGS. 1 and 3, the leg-side rotating unit 4 and the trunk-side rotating unit 5 are in a state where the leg mounting unit 2 and the trunk unit mounting unit 3 are positioned in a straight line in a side view. And the positional relationship of the independent rotation part 6 will be in the state shown in FIG. The second independent rotating part 62 is in contact with the trunk part-side rotating part 5. In addition, although mentioned later, the 2nd independent rotation part 62 is given the elastic force in the direction which contacts the trunk | drum side rotation part 5. As shown in FIG.

  The leg-side rotating unit 4 is capable of rotating and moving around a predetermined non-contact angle range 11 around the axis of the connecting shaft 101 with reference to the trunk-side rotating unit 5. In the following description, for the sake of convenience, the angular position of the leg-side rotating portion 4 around the axis of the connecting shaft 101 refers to the angular position of the front end portion 40 of the leg-side rotating portion 4.

As shown in FIG. 8, the non-contact angle range 11 includes an angular position where the leg-side rotating unit 4 contacts the first independent rotating unit 61, and the leg-side rotating unit 4 contacts the second independent rotating unit 62 . This is the angular range between the angular positions. That is, contactless angular range 11, the leg-side rotation unit 4, an angle range that does not contact the independent rotation unit 6.

  Further, the leg-side rotating unit 4 can rotate and move within a predetermined contact angle range 12 continuous to one end side of the non-contact angle range 11. The contact angle range 12 is an angle range extending from the angular position where the leg-side rotation unit 4 contacts the first independent rotation unit 61 to the opposite side of the non-contact angle range 11. That is, the contact angle range 12 is an angle range in contact with the independent rotating unit 6. The end of the non-contact angle range 11 is not particularly limited.

  The first independent rotating portion 61 can rotate and move in a predetermined independent angle range 13 from the end of the contact angle range 12 on the non-contact angle range 11 side to the opposite side of the non-contact angle range 11. For convenience, the angular position of the first independent rotating portion 61 around the axis of the connecting shaft 101 refers to the angular position of the rear end portion 60 of the first independent rotating portion 61. Since the second independent rotating part 62 cannot contact the trunk-side rotating part 5 and rotate further backward, the first independent rotating part 61 cannot rotate and move toward the non-contact angle range 11. The end of the independent angle range 13 is not particularly limited.

  Next, the elastic member 8 provided in the assist device 1 will be described. 4 to 6, the elastic member 8 applies an elastic force with the independent rotating portion 6 directed toward the non-contact angle range 11 side. In the present embodiment, the elastic member 8 applies an elastic force between the trunk portion side connecting portion 33 and the independent rotating body 7. The elastic member 8 includes a first coil spring 81 to a fifth coil spring 85 positioned around the axis of the connecting shaft 101. As shown in FIG. 5, one end of each of the coil springs 81 to 85 is hooked into a hole 332 formed in the trunk portion side coupling portion 33 and fixed to the trunk portion side coupling portion 33. The end is hooked into a hole 74 formed in the disk part 71 of the independent rotating body 7 and fixed to the disk part 71. As shown in FIG. 4, the first coil spring 81 is located on the innermost side (that is, the center side in the radial direction of the connecting shaft 101). The second coil spring 82 is located just outside the first coil spring 81, the third coil spring 83 is located just outside the second coil spring 82, the fourth coil spring 84 is located just outside the third coil spring 83, and the fourth A fifth coil spring 85 is located just outside the coil spring 84. In this manner, by arranging the coil springs 81 to 85 so as to overlap with each other in the radial direction of the connecting shaft 101, a large number of elastic members 8 can be arranged in a small space, and a large elastic force can be generated. In the state shown in FIG. 7, the second independent rotating part 62 is pressed by the trunk side rotating part 5 with a predetermined elastic force.

  When the angular position of the leg-side rotating part 4 is within the non-contact angle range 11, the leg-side rotating part 4 does not receive force from the first independent rotating part 61 and the second independent rotating part 62, Rotational movement is possible with almost no load. The non-contact angle range 11 is appropriately determined, for example, 15 degrees, 30 degrees, 45 degrees, 60 degrees, 90 degrees, 120 degrees, and the like.

  Even if the leg-side rotating unit 4 enters the contact angle range 12, the force by which the leg-side rotating unit 4 pushes the first independent rotating unit 61 causes the first independent rotating unit 61 to move to the trunk-side rotating unit. In the case where the elastic force is equal to or less than the elastic force pushed by the first rotary part 61, the rotational movement of the leg part rotary part 4 is restricted by the first independent rotary part 61.

  If the force by which the leg-side rotating part 4 pushes the first independent rotating part 61 exceeds the elastic force by which the first independent rotating part 61 is pushed by the trunk-side rotating part 5, as shown in FIG. The leg-side rotating unit 4 enters the contact angle range 12 according to the force with which the part-side rotating unit 4 pushes the first independent rotating unit 61. More specifically, the force by which the leg-side rotating portion 4 pushes the first independent rotating portion 61 is proportional to the force that exceeds the elastic force by which the first independent rotating portion 61 is pushed by the trunk-side rotating portion 5. The leg-side rotating unit 4 enters the contact angle range 12 by an angle.

  In the assist device 1 described above, as shown in FIG. 7, when the leg-side rotating portion 4 is in the non-contact angle range 11, the elastic force from the elastic member 8 is applied to the leg-side rotating portion 4. Not granted. For this reason, when the leg mounting portion 2 is in a predetermined angle range, that is, when the angular position of the leg-side rotating portion 4 is in the non-contact angle range 11, the person wearing the assist device 1 is elastic. You can walk without any force.

  The force by which the operator tilts the torso forward and the leg-side rotating part 4 pushes the first independent rotating part 61 is the elastic force by which the first independent rotating part 61 is pushed by the torso-side rotating part 5. If it exceeds, the leg part rotation part 4 will approach into the contact angle range 12, and the trunk | drum will receive the same elastic force as the leg part rotation part 4 presses the 1st independent rotation part 61, as shown in FIG. It will be. As a result, when the operator tilts the torso forward and grabs the baggage, etc. with his hand or arm, the operator receives the elastic force when lifting the baggage by raising the torso, The movement of lifting is assisted.

  The worker assumed to be the wearer of the assist device 1 is not limited to the average Japanese adult male, and the worker's nationality, age, and gender are not limited, and the physique of the worker Such physical characteristics are not limited. That is, the assist device 1 according to the present invention can cope with the physical characteristics of any worker, and is preferably designed with the size and the like appropriately changed according to the physical characteristics of the worker.

  The leg mounting part 2 may be at least one of the right leg mounting part 2 and the left leg mounting part 2.

  The rod member 210 does not extend linearly, may be bent, and the shape is not limited. Further, the rod member 210 may have a round bar shape instead of a square bar shape, and the shape in a cross section orthogonal to the longitudinal direction is not limited.

  The leg restraining part 22 does not have the front restraining part 221 and the rear restraining part 222, but may be, for example, a band or the like that binds and fixes the rod member 210 and the thigh. Is not particularly limited. When the leg part restraining part 22 is a band, for example, it is not attached to the assist device 1 and any leg part restraining part 22 brought by the operator can be used.

  The front restraint portion 221 may not be a semicircular arc shape and may not be curved, and the shape of the front restraint portion 221 is not limited. The position at which the front restraint portion 221 is provided may not be the lower end portion of the rod member 210 but may be the upper end portion of the rod member 210 or the middle portion in the vertical direction.

  The rear restraint portion 222 may not be a ¼ arc shape, or may not be curved, and the shape of the rear restraint portion 222 is not limited. The position where the rear restraint portion 222 is provided may not be the upper end portion of the rod member 210 but may be the lower end portion of the rod member 210 or the middle portion in the vertical direction.

  The upper horizontal piece 313 may be set so as to be positioned on the waist of the worker when the assist device 1 is attached to the worker. The lower horizontal piece 314 may be set so as to be positioned on the buttocks or the back of the worker in a state where the assist device 1 is attached to the worker. The positions of the upper horizontal piece 313 and the lower horizontal piece 314 in the vertical direction are not particularly limited.

  The body mounting main body 31 is not limited to the frame 310 having the right vertical piece 311, the left vertical piece 312, the upper horizontal piece 313, and the lower horizontal piece 314.

  Of course, the body restraint portion may be attached to the assist device 1 or may not be attached to the assist device 1, and any body restraint portion brought by the operator can be used.

  Leg part side connecting part 23, trunk part side connecting part 33, connecting part 10, leg part side rotating part 4, trunk part side rotating part 5, independent rotating part 6, independent rotating body 7 and elastic member 8 are made of SUS or aluminum. The material is not particularly limited.

  The number of coil springs constituting the elastic member 8 may be one, two, three, four, six, etc., and is not particularly limited.

  As is apparent from the above-described embodiment and its modifications, the assist device 1 according to the first aspect includes the leg mounting part 2, the trunk mounting part 3, the connecting part 10, and the leg side rotation. The unit 4, the body side rotating unit 5, and the independent rotating unit 6 are provided. The leg attachment part 2 is attached to a leg part of a human body. The torso attaching part 3 is attached to the torso of the human body. The connecting portion 10 connects the leg portion mounting portion 2 and the trunk portion mounting portion 3 so that they can rotate relative to each other around the axis. The leg-side rotating unit 4 rotates integrally with the leg mounting unit 2 around the axis. The body side rotating unit 5 rotates integrally with the body mounting unit 3 around the axis. The independent rotating unit 6 rotates independently of the leg mounting unit 2 and the body mounting unit 3 around the axis.

  The leg-side rotating unit 4 is capable of rotating and moving around a predetermined non-contact angle range 11 and a predetermined contact angle range 12 with respect to the trunk-side rotating unit 5 around the axis. The non-contact angle range 11 is an angle range in which the leg-side rotating unit 4 does not contact the body mounting unit 3 and the independent rotating unit 6. The contact angle range 12 is an angle range in which the leg-side rotation unit 4 continues to one end side of the non-contact angle range 11 and contacts the independent rotation unit 6. The independent rotation unit 6 can rotate and move within a predetermined independent angle range 13 from the end of the contact angle range 12 on the non-contact angle range 11 side to the opposite side of the non-contact angle range 11. The assist device 1 is provided with an elastic member 8 that applies an elastic force with the independent rotating portion 6 directed toward the non-contact angle range 11 side.

  According to the first aspect, when the angular position of the leg-side rotating unit 4 is in the non-contact angle range 11, the person wearing the assist device 1 can perform a walking operation without receiving an elastic force.

  The second aspect is realized by a combination with the first aspect. In the second aspect, the elastic member 8 includes a plurality of coil springs 81 to 85 arranged so as to overlap around the axis.

  According to the 2nd aspect, many coil springs 81-85 can be arrange | positioned in a small space, and a big elastic force can be generated.

DESCRIPTION OF SYMBOLS 1 Assist device 10 Connection part 11 Non-contact angle range 12 Contact angle range 13 Independent angle range 2 Leg part mounting part 3 Torso part mounting part 4 Leg part side rotation part 5 Trunk part side rotation part 6 Independent rotation part 8 Elastic member

Claims (2)

A leg attachment part to be attached to the leg part of the human body;
A torso attaching part to be attached to the torso of the human body;
A connecting part for connecting the leg part mounting part and the body part mounting part to each other so as to be capable of relative rotation around an axis;
A leg-side rotating unit that rotates integrally with the leg mounting unit around the axis;
A body side rotating part that rotates integrally with the body mounting part around the axis;
A first independent rotating part and a second independent rotating part that rotate around the axis,
The leg-side rotating unit is continuous with a predetermined non-contact angle range that does not contact the first independent rotating unit and one end side of the non-contact angle range around the axis, with the trunk-side rotating unit as a reference. A predetermined contact angle range in contact with the first independent rotating part, and can be rotated.
The first independent rotating part is capable of rotating and moving in a predetermined independent angle range from an end of the contact angle range on the non-contact angle range side to the opposite side of the non-contact angle range,
The second independent rotating part is in contact with the body side rotating part and cannot move further, so that the first independent rotating part that rotates integrally cannot rotate and move toward the non-contact angle range. And
An assist device, characterized in that an elastic member is provided for applying an elastic force toward the first independent rotating portion toward the non-contact angle range side.   The assist device according to claim 1, wherein the elastic member includes a plurality of coil springs arranged so as to overlap around the axis.

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