JP6660827B2 - Assist equipment - Google Patents

Description

  The present invention relates to an assist device that is worn and used by a worker and assists a worker's work (operation).

As an assist device for lifting and carrying a load, there is an assist device disclosed in Patent Document 1.
In Patent Literature 1, a main body attached to an operator, an arm extending forward from the main body, a wire extending downward from the arm, and holding the luggage by being held by a worker by hand And a hand portion (19 in FIGS. 5, 6, 8, and 9 of Patent Document 1) connected to the wire.

  Furthermore, an elevating device that raises the hand unit by winding the wire and lowers the hand unit by unwinding the wire, and a manually operated unit that is manually operated (22 and 23 in FIGS. 5 and 6 of Patent Document 1) ), And a control device for operating the lifting device on the winding side and the feeding side based on the operation signal of the manual operation unit.

  Thereby, in a state where luggage is hung on the hand unit (see FIG. 5 (c) and FIG. 6 (c) of Patent Document 1), the hand unit is raised and lowered by operating the manual operation unit. The load can be easily lifted and carried, and the worker is in a state of holding the hand unit in order to stabilize the load.

JP 2015-182832 A

Patent Literature 1 assumes a baggage having an opening (see FIGS. 5, 6, 8, and 9 of Patent Literature 1) in a lateral wall portion of the baggage, such as a beer case.
As a result, the lower part of the hand part (20c in FIG. 5 of Patent Document 1) is inserted into the opening of the lateral wall of the luggage, so that the lower part of the hand does not come off the lateral wall of the luggage. An upwardly bent protrusion (20d in FIG. 5 of Patent Document 1) is provided on the lower side of the hand unit.

As described above, not only the luggage provided with the opening in the lateral wall of the luggage but also the luggage not provided with the opening in the lateral wall of the luggage as described above.
SUMMARY OF THE INVENTION It is an object of the present invention to provide a hand unit that can properly hold a load even when an opening is not provided in a lateral wall of the load in an assist device worn and used by an operator. .

(Constitution)
The feature of the present invention resides in that the assist device is configured as follows.
A main body attached to the worker, an arm extending forward from the main body,
A wire extending downward from the arm portion, and a hand portion connected to the wire for holding a load by being held by a worker,
A lifting device that raises the hand unit by winding the wire, and lowers the hand unit by unwinding the wire;
A manual operation unit that is artificially operated, and a control device that operates the lifting device on the winding side and the unwinding side based on an operation signal of the manual operation unit is provided,
In the hand part,
A lateral portion arranged vertically along the outside of the lateral wall portion of the luggage;
A lower portion protruding from a lower portion of the lateral portion toward the lateral wall portion of the load and entering the lateral wall portion of the load;
An upper portion protruding from the upper portion of the lateral portion toward the lateral wall portion of the load and positioned above the lateral wall portion of the load;
It said upper portion and an inner portion disposed in a vertical direction with al will be protruding to the lower side along the inside of the lateral wall of the cargo from
The wire is connected to a portion of the hand portion closer to the inner portion than to a central portion in the width direction between the lateral side portion and the inner portion.

(Action and effect of the invention)
According to the present invention, when the luggage is held by the hand unit, the lower side of the hand unit is inserted into the lateral wall of the luggage, with the lateral side of the hand unit extending along the outside of the lateral wall of the luggage. In this state, the upper portion of the hand portion is positioned above the horizontal wall portion of the load, and the inner portion of the hand portion extends along the inside of the horizontal wall portion of the load.

  Thus, when the weight of the luggage hangs on the hand portion, the weight of the luggage is supported by the lower portion of the hand portion. Even if the lower portion of the hand portion tries to escape from the side wall of the luggage (the hand portion) State of the hand part hitting the inside of the side wall part of the luggage, and the lower part of the hand part tries to get out of the side wall part of the luggage (the hand part (A state of disengaging from the side wall portion). This state is the same regardless of whether the luggage has an opening in the lateral wall or without the opening.

  As described above, even if there is an opening in the lateral wall of the luggage or not, the luggage can be appropriately held by the hand unit, thereby improving the workability of the assist device. Can be.

According to the present invention, when the weight of the load is applied to the lower portion of the hand portion and the wire is applied to the wire from the hand portion, the moment of causing the lower portion of the hand portion to enter the lateral wall portion of the load by the tension of the wire. Occurs.
As a result, even if the lower part of the hand part tries to escape from the side wall part of the load (even if the hand part comes off the side wall part of the load), the lower part of the hand part is moved by the aforementioned moment to the side part of the load. (A state in which the hand unit tries to come off the side wall of the luggage) is suppressed.

(Constitution)
The feature of the present invention resides in that the assist device is configured as follows.
A main body attached to the worker, an arm extending forward from the main body,
A wire extending downward from the arm portion, and a hand portion connected to the wire for holding a load by being held by a worker,
A lifting device that raises the hand unit by winding the wire, and lowers the hand unit by unwinding the wire;
A manual operation unit that is artificially operated, and a control device that operates the lifting device on the winding side and the unwinding side based on an operation signal of the manual operation unit is provided,
In the hand part,
A lateral portion arranged vertically along the outside of the lateral wall portion of the luggage;
A lower portion protruding from a lower portion of the lateral portion toward the lateral wall portion of the load and entering the lateral wall portion of the load;
An upper portion protruding from the upper portion of the lateral portion toward the lateral wall portion of the load and positioned above the lateral wall portion of the load;
An inner portion protruding downward from the upper portion and arranged vertically along the inside of the lateral wall portion of the luggage,
Than the longitudinal center portion of the upper portion intersecting the width direction, in the longitudinal direction one or the other end side portion of the upper portion of the hand portion, the wire is connected.

(Action and effect of the invention)
According to the present invention, when the luggage is held by the hand unit, the lower side of the hand unit is inserted into the lateral wall of the luggage, with the lateral side of the hand unit extending along the outside of the lateral wall of the luggage. In this state, the upper portion of the hand portion is positioned above the horizontal wall portion of the load, and the inner portion of the hand portion extends along the inside of the horizontal wall portion of the load.
Thus, when the weight of the luggage hangs on the hand portion, the weight of the luggage is supported by the lower portion of the hand portion. Even if the lower portion of the hand portion tries to escape from the side wall of the luggage (the hand portion) State of the hand part hitting the inside of the side wall part of the luggage, and the lower part of the hand part tries to get out of the side wall part of the luggage (the hand part (A state of disengaging from the side wall portion). This state is the same regardless of whether the luggage has an opening in the lateral wall or without the opening.
As described above, even if there is an opening in the lateral wall of the luggage or not, the luggage can be appropriately held by the hand unit, thereby improving the workability of the assist device. Can be.
According to the present invention, when the weight of the baggage hangs on the lower side of the hand unit and hangs on the wire from the hand unit, the tension of the wire causes the hand unit to rotate around a horizontal axis that intersects the horizontal wall of the baggage. The moment to be generated is generated.

  Thereby, the lower part (part of the lower part) of the hand part is pressed upward by the lateral wall of the load, and the upper part (part of the upper part) of the hand part is pressed downward by the lateral wall of the load. The frictional force is generated between the lower part of the hand part (part of the lower part) and the lateral wall of the luggage, and the upper part of the hand part (part of the upper part) and the luggage A state where a frictional force is generated between the side wall portion and the side wall portion.

  Therefore, even if the lower part of the hand part tries to get out of the lateral wall part of the load (even if the hand part comes off the lateral wall part of the load), the lower part of the hand part becomes the lateral wall part of the load due to the aforementioned frictional force. (A state in which the hand unit tries to come off the side wall of the luggage) is suppressed.

(Constitution)
The feature of the present invention resides in that the assist device is configured as follows.
A main body attached to the worker, an arm extending forward from the main body,
A wire extending downward from the arm portion, and a hand portion connected to the wire for holding a load by being held by a worker,
A lifting device that raises the hand unit by winding the wire, and lowers the hand unit by unwinding the wire;
A manual operation unit that is artificially operated, and a control device that operates the lifting device on the winding side and the unwinding side based on an operation signal of the manual operation unit is provided,
In the hand part,
A lateral portion arranged vertically along the outside of the lateral wall portion of the luggage;
A lower portion protruding from a lower portion of the lateral portion toward the lateral wall portion of the load and entering the lateral wall portion of the load;
An upper portion protruding from the upper portion of the lateral portion toward the lateral wall portion of the load and positioned above the lateral wall portion of the load;
An inner portion protruding downward from the upper portion and arranged vertically along the inside of the lateral wall portion of the luggage,
In the longitudinal direction of the upper portion intersecting with the width direction, the inner portion and the lower portion extend along the longitudinal direction of the upper portion so that an interval is generated between the inner portion and the lower portion. that have provided apart from each other.

(Action and effect of the invention)
According to the present invention, when the luggage is held by the hand unit, the lower side of the hand unit is inserted into the lateral wall of the luggage, with the lateral side of the hand unit extending along the outside of the lateral wall of the luggage. In this state, the upper portion of the hand portion is positioned above the horizontal wall portion of the load, and the inner portion of the hand portion extends along the inside of the horizontal wall portion of the load.
Thus, when the weight of the luggage hangs on the hand portion, the weight of the luggage is supported by the lower portion of the hand portion. Even if the lower portion of the hand portion tries to escape from the side wall of the luggage (the hand portion) State of the hand part hitting the inside of the side wall part of the luggage, and the lower part of the hand part tries to get out of the side wall part of the luggage (the hand part (A state of disengaging from the side wall portion). This state is the same regardless of whether the luggage has an opening in the lateral wall or without the opening.
As described above, even if there is an opening in the lateral wall of the luggage or not, the luggage can be appropriately held by the hand unit, thereby improving the workability of the assist device. Can be.
In the hand part, if the inner part protrudes downward from the upper part of the hand part, the interval between the inner part and the lower part of the hand part becomes narrow, and it becomes difficult to attach the hand part to the side wall part of the load. Can be considered.

  According to the present invention, since the inner portion and the lower portion of the hand portion are separated from each other along the longitudinal direction of the upper portion of the hand portion, the oblique distance between the inner portion and the lower portion of the hand portion is increased. The distance in the direction is wide. Thus, by making the posture of the hand unit oblique (by setting the above-mentioned oblique interval to the vertical direction), the hand unit can be attached to the lateral wall of the luggage without difficulty.

(Constitution)
In the present invention,
In the longitudinal direction of the upper portion, a portion where the wire is connected to the hand portion, such that the lower portion is located between a portion where the wire is connected to the hand portion and the inner portion, It is preferable that the inner part and the lower part are arranged.

(Action and effect of the invention)
According to the present invention, since the lower portion is located between the portion where the wire is connected to the hand portion and the inner portion, the weight of the load is applied to the lower portion of the hand portion and the wire is applied to the wire from the hand portion. Then, due to the tension of the wire, a moment is generated to rotate the hand around a horizontal axis that intersects the horizontal wall of the load.

  Thus, as described above, the lower part (a part of the lower part) of the hand part is pressed upward by the lateral wall of the luggage, and the upper part (a part of the upper part) of the hand part is placed on the lateral wall of the luggage. The lower part of the hand part (part of the lower part) and the lateral wall of the load generate frictional force, and the upper part of the hand part (the upper part of the hand part) is pressed. Frictional force is generated between the part) and the lateral wall of the luggage.

  Therefore, even if the lower part of the hand part tries to get out of the lateral wall part of the load (even if the hand part comes off the lateral wall part of the load), the lower part of the hand part becomes the lateral wall part of the load due to the aforementioned frictional force. (A state in which the hand unit tries to come off the side wall of the luggage) is suppressed.

It is a side view which shows the state which the operator mounted | worn the assist apparatus. It is a rear view showing the state where the worker wore the assist device. It is a front view which shows the state which the worker mounted the assist apparatus. It is a perspective view of a hand part. It is a side view of a hand part. It is a vertical front view which shows the state which attached the hand part to the horizontal wall part of the case. It is a vertical front view which shows the state at the time of attaching a hand part to the horizontal wall part of a case. It is a perspective view of a hand part in the 1st different form of an embodiment of the invention. It is a side view of a hand part in a 1st different form of an embodiment of the invention. FIG. 13 is a longitudinal sectional front view showing a state where a hand portion is attached to a lateral wall portion of a case in the first alternative embodiment of the present invention. It is a side view showing the state where a hand part was attached to a side wall part of a case in a 1st form of embodiment of the invention. It is a perspective view of a hand part in a 2nd different form of an embodiment of the invention. It is a side view of a hand part in a 2nd different form of embodiment of the invention.

  The front-rear direction and the left-right direction in the embodiment of the present invention are described as follows unless otherwise specified. When the worker wears the assist device, the front side is “front”, the rear side is “rear”, the right side is “right”, and the left side is “left” when viewed from the worker.

[1]
The overall configuration of the assist device and the main body 1 will be described.
As shown in FIGS. 1, 2, and 3, the main body 1 is attached to the back of the worker, the right and left arms 2 extending upward from the upper part of the main body 1, and the lower part of the main body 1. The right and left leg action parts 3 are provided, and an attachment belt 4 for wearing on an operator and the right and left shoulder belts 5 are provided to constitute an assist device.

  As shown in FIGS. 1, 2, and 3, the main body 1 includes right and left vertical frames 6, and support plates 7, 8, right and It has a horizontal frame 9 and the like connected over the lower part of the left vertical frame 6, and is configured in a frame shape. An attachment belt 4 is attached to the leg action section 3, and a shoulder belt 5 is attached to the vertical frame 6. A control device 14 is connected to the rear surface of the support plate 8, and a battery 16 is mounted on a support plate 15 connected to the support plate 8 so as to cover the rear side of the control device 14.

  Thus, as shown in FIGS. 1, 2, and 3, the arm (shoulder) of the worker is put on the shoulder belt 5, and the attachment belt 4 is wound around the waist of the worker and fixed, so that the back of the worker is secured. The main unit 1 is attached to the unit.

  As shown in FIGS. 1, 2, and 3, the weight of the assist device and the baggage mainly hangs on the waist of the worker via the mounting belt 4, and the weight of the assist device and the baggage depends on the waist of the worker. It is supported stably. The right and left shoulder belts 5 mainly have a function of stopping a state in which the main body 1 is going to move backward from the back of the worker.

[2]
Next, the right and left leg action parts 3 will be described.
As shown in FIGS. 1, 2, and 3, the leg action section 3 includes a base 10, a transmission case 11, an operation arm 12, a leg belt 13, and the like. A base 10 is slidably supported in the horizontal frame 9 in the left-right direction. A transmission case 11 is connected to an outer end of the base 10 in a forward direction.

  As shown in FIGS. 1, 2, and 3, an operation arm 12 is swingably supported around a horizontal axis P1 in the left and right direction at the front of the transmission case 11, and a wide belt-like leg belt 13 is provided. It is connected to the end of the operation arm 12. A transmission mechanism (not shown) constituted by a plurality of spur gears is provided inside the transmission case 11, and an electric motor (not shown) is provided in the base 10 in the left-right direction. The operation arm 12 is swingably driven around the horizontal axis P1 via the shaft.

As described in the above item [1], when attaching the main body 1 to the back of the worker, when the worker winds the fixing belt 4 around the waist and fixes it, the right and left of the fixing belt 4 are fixed together with the fixing belt 4. The leg action part 3 (base part 10) is movable in the left-right direction along the horizontal frame 9.
Thus, the distance between the right and left leg action parts 3 is determined according to the degree of winding of the attachment belt 4 around the waist so as to match the physical size of the worker. The position is determined.

Thereafter, as shown in FIGS. 1, 2, and 3, the worker wraps the leg belt 13 around the thigh and attaches the leg belt 13 to the thigh using a hook-and-loop fastener (not shown) with a magic tape (registered trademark). Attach to
When the worker wears the assist device, the right leg action part 3 (transmission case 11) is located on the right side of the worker's waist, and the left leg action part 3 (transmission case 11) is on the left side of the worker's waist. ) Is located.

[3]
Next, the right and left arm portions 2 will be described.
As shown in FIGS. 1, 2, and 3, the upper portions of the right and left vertical frames 6 extend diagonally upward and diagonally forward beyond the right and left shoulders of the worker to form right and left arms. The guide pulley 25 is rotatably supported at the upper end of the arm 2.

  As shown in FIGS. 1, 2, and 3, an elevating device 17 is connected to the rear surface of the support plate 7, and two right wires 18 and 19 and two left wires 18 and 19 are provided from the elevating device 17. Has been extended. A receiving member 21 is connected to an upper portion of the support plate 7, a receiving member 22 is connected to an upper portion of the arm portion 2, and outer 18 b, 19 b of the wires 18, 19 are connected to the receiving members 21, 22. , 19 are connected to the lifting device 17.

  As shown in FIGS. 1, 2, and 3, the inner wires 18a and 19a of the two right wires 18 and 19 are hung on the guide pulley 25 and extend downward. The right hand unit 20 is connected to the 19 inners 18a and 19a. Inners 18a, 19a of the two left wires 18, 19 are hung on the guide pulley 25 and extend downward, and the inner hands 18a, 19a of the two left wires 18, 19 are connected to the left hand. The unit 20 is connected.

[4]
Next, the lifting device 17 will be described.
As shown in FIGS. 1 and 2, the elevating device 17 is connected to the support plate 7, and is vertically connected to a lower case of the transmission case 30 which houses a transmission mechanism (not shown). An electric motor 29, a support case 26 connected to the upper part of the transmission case 30 in a lateral direction, and four rotating bodies (not shown) rotatable around a lateral axis inside the support case 26. .

  As shown in FIGS. 1 and 2, the outer members 18 b and 19 b of the wires 18 and 19 are connected to the receiving member 21, and the inner members 18 a and 19 a of the wires 18 and 19 are connected to the four rotating members inside the support case 26. Each is connected.

  With the above structure, as shown in FIGS. 1 and 2, the power of the electric motor 29 is transmitted to the rotating body inside the support case 26 via the transmission mechanism inside the transmission case 30, and the rotating body is wound. It is rotationally driven to a take-up side (upward side of the hand unit 20) and a payout side (downward side of the hand unit 20). The electric motor 29 is provided with an electromagnetic brake (not shown). When the electric motor 29 is operated, the electromagnetic brake is released, and when the electric motor 29 is stopped and the electric power is not supplied, the electromagnetic brake is in a braking state.

[5]
Next, the right and left hand units 20 will be described.
4 to 7, the right hand unit 20 is shown, and the left hand unit 20 has a symmetrical shape with respect to the right hand unit 20.
As shown in FIGS. 4 and 5, in the hand unit 20, a support member 27 formed by bending a metal plate material and a cover 28 made of synthetic resin are provided, and the cover 28 is attached to the support member 27. ing.

  As shown in FIGS. 1 to 5, in the right hand unit 20, a cover 28 is provided with a raising operation switch 23 (corresponding to a manual operation unit), and in the left hand unit 20, a lowering operation switch 24 ( (Corresponding to a manual operation unit). The up / down operation switches 23 and 24 are connected to the control device 14 via a harness (not shown).

  As shown in FIG. 4 and FIG. 5, in the support member 27, the vertical wall-shaped horizontal side portion 27 a, the lower side portion 27 b protruding from the lower side of the horizontal side portion 27 a to the horizontal side, and the horizontal side portion from the upper side of the horizontal side portion 27 a And an inner portion 27d protruding downward from the upper portion 27c. A cover 28 is attached to an upper portion 27c of the support member 27, and connection holes 27e for inners 18a and 19a of the wires 18 and 19 are opened in an inner portion 27d of the support member 27.

  As shown in FIG. 6, a lower side projecting laterally from a lower portion of the lateral side portion 27a of the support member 27 than a space L1 in the lateral width direction A1 between the lateral side portion 27a and the inner side portion 27d of the support member 27. The projection length L2 of the portion 27b is short.

  As shown in FIGS. 4 and 5, the connection hole 27 e of the support member 27 is provided below the inner part 27 d of the support member 27, and the support member 27 (the inner part 27 d and the lower part 27 b) has a longitudinal direction A2 (width). It is located at the central portion C1 of the length L3 in the longitudinal direction A2) intersecting with the direction A1.

  As shown in FIG. 6, by connecting the inner portions 18a and 19a of the wires 18 and 19 to the inner portion 27d (connection hole 27e) of the support member 27, the lateral portion 27a and the inner portion 27d of the support member 27 are connected to each other. The wires 18, 19 (inners 18a, 19a) are connected to a portion closer to the inner portion 27d of the hand portion 20 than the center portion C2 in the lateral width direction A1 (interval L1) therebetween.

  As shown in FIGS. 1, 2, and 3, in a state where the worker wears the assist device, the worker holds the right hand part 20 with the right hand and holds the left hand part 20 with the left hand. Hold.

  In the above-described state, the operator presses the up / down operation switches 23 and 24 with the right and left thumbs. In this case, the raising and lowering operation switches 23 and 24 are of a return type, and when an operator presses the raising and lowering operation switches 23 and 24, an operation signal is output from the raising and lowering operation switches 23 and 24. Is output, and when the operator stops pushing the up / down operation switches 23 and 24, the operation signals of the up / down operation switches 23 and 24 are stopped.

[6]
Next, attachment of the right and left hand units 20 to the case W (corresponding to luggage) will be described.
As shown in FIGS. 6 and 7, in a case W (corresponding to luggage) for storing fruits such as apples and oranges, an upper protruding portion W2 and a lower side are provided on right and left side walls W1 of the case W. (There is no opening penetrating the lateral wall portion W1 of the case W). The protruding portions W2 and W3 have a flat plate shape protruding laterally, and are provided over the entire circumference of the upper portion of the case W including the right and left lateral wall portions W1 of the case W.

  In the case W shown in FIGS. 6 and 7, when attaching the hand portion 20 to the side wall portion W1 of the case W, as shown in FIG. 7, the hand portion 20 is slightly inclined (the upper portion 27c of the support member 27 and the inner side). The portion 27d is slightly moved in the inner direction A3 of the case W, and the lower portion 27b of the support member 27 is slightly moved in the outer direction A4 of the case W). The horizontal wall portion W1 of the case W enters between the end of the portion 27d.

  Next, as shown in FIGS. 7 to 6, the horizontal wall portion W1 of the case W is inserted between the lateral side portion 27a and the inner side portion 27d of the support member 27, and the lower side portion 2b of the support member 27 is W is inserted under the protrusion W3.

  Thereby, as shown in FIG. 6, the lateral portion 27a of the support member 27 is vertically arranged along the outside of the lateral wall portion W1 of the case W, and the lower portion 2b of the support member 27 is Projecting from the lower portion of the lateral side portion 27a of the case W to the side of the lateral wall portion W1 of the case W, and enters the lower side of the projecting portion W3 of the case W.

  As shown in FIG. 6, the upper part 27c of the support member 27 projects from the upper part of the lateral part 27a of the support member 27 toward the side wall W1 of the case W and is disposed above the protrusion W2 of the case W. The inner portion 27d of the member 27 projects downward from the upper portion 27c of the support member 27, and is placed vertically along the inside of the horizontal wall portion W1 of the case W.

As shown in FIG. 6, if there is no opening penetrating the horizontal wall portion W1 of the case W, the width of the projecting portion W3 of the case W becomes narrow in the horizontal width direction A1.
In this case, as shown in FIG. 6, the protrusion protrudes laterally from the lower part of the lateral side portion 27a of the support member 27 beyond the interval L1 in the lateral width direction A1 between the lateral side portion 27a and the inner portion 27d of the support member 27. The lower part 27b of the supporting member 27 enters the lower side of the protruding part W3 of the case W without difficulty because the protruding length L2 of the lower part 27b is short.

[7]
Next, the support state of the case W by the right and left hand units 20 will be described.
In the state shown in FIG. 6, as described in [8] described later, when the weight of the case W hangs on the hand unit 20, the weight of the case W is supported by the lower portion 27 b of the support member 27.

  As shown in FIG. 6, even if the lower portion 27 b of the support member 27 tries to slip out from the lower side of the projecting portion W <b> 3 of the case W (even if the hand portion 20 is disengaged from the horizontal wall portion W <b> 1 of the case W), 27, the lower portion 27b of the support member 27 is about to come out from under the protruding portion W3 of the case W (the hand portion 20 is in contact with the case W). The state in which it is likely to come off the side wall portion W1) is suppressed. This state is the same whether the side wall portion W1 of the case W has an opening or not.

  In the state shown in FIG. 6, as described in [8] described later, when the weight of the case W hangs on the hand unit 20 and hangs on the wires 18 and 19 from the hand unit 20, the case W is supported by the tension of the wires 18 and 19. A moment M1 is generated which causes the lower portion 27b of the member 27 to enter the lower side of the projecting portion W3 of the case W.

  As a result, even if the lower portion 27b of the support member 27 tries to escape from the lower side of the projecting portion W3 of the case W (even if the hand portion 20 is disengaged from the lateral wall portion W1 of the case W), the support member 27 is caused by the moment M1. The state in which the lower side 27b of the 27 is about to escape from the lower side of the projecting portion W3 of the case W (the state in which the hand section 20 tends to come off from the horizontal wall W1 of the case W) is suppressed.

[8]
For example, when the case W placed on the floor is placed on a high shelf or a truck bed, the worker squats down, holds the floor case W by hand, and then holds the case W with the hand extended downward. It is assumed that the case W stands up, and then the case W is lifted by hand, and the case W is placed on a high shelf or a truck bed.
A description will be given of a state in which the control device 14 operates the right and left leg action portions 3 and the lifting / lowering device 17 based on the pressing operation of the raising / lowering operation switches 23 and 24 in the above-described state.

As shown in FIGS. 1, 2, and 3, when the worker wears the assist device and the worker does not press both the raising and lowering operation switches 23 and 24, the lifting device 17 stops, The electric motors of the right and left leg action parts 3 are stopped (free rotation state).
As a result, when the worker walks, or when the worker bends the knees to drop the waist (squats), the operation arm 12 swings so as to follow the thighs of the worker. The movement of the person is not hindered.

  Next, when the worker squats down and holds the case W on the floor with his / her hand, when the worker presses the lowering operation switch 24, the lifting / lowering device 17 operates to the feeding side, and the inners 18a and 19a of the wires 18 and 19 are moved. The right and left hand units 20 are lowered. When the pressing operation of the lowering operation switch 24 is stopped, the lifting device 17 stops, and the right and left hand units 20 stop. Thereby, the right and left hand parts 20 are attached to the side wall part W1 of the case W as described in the above item [6].

In the elevating device 17, since the electric motor 29 is provided with an electromagnetic brake (not shown), the electromagnetic brake is released when the electric motor 29 is operated, and the electromagnetic brake is braked when the electric motor 29 is stopped and when the electric motor 29 is not energized. State.
Thus, in a state where the electric motor 29 is stopped, the inners 18a and 19a of the wires 18 and 19 are not extended from the elevating device 17, and the weight of the case W is applied to the right and left hand portions 20 as described later. However, the right and left hand units 20 do not descend.

Next, the worker lifts the case W from the floor by standing up with the right and left hand units 20 attached to the lateral wall W1 of the case W. In this state, when the operator presses the lifting operation switch 23, the right and left leg action portions 3 (operation arms 12) are driven downward, and the thigh of the operator is operated downward, and the work is performed. Of the elderly is assisted.
As described above, when the worker stands up, the right and left hand portions 20 (case W) do not descend due to the brake function of the electric motor 29 described above.

  As described above, when it is detected that the right and left leg action parts 3 (the operation arms 12) have reached positions substantially directly below after the worker stands up while pressing the ascending operation switch 23. It is determined that the worker has completely risen, and the electric motors of the right and left leg action sections 3 are stopped (freely rotating).

  Next, the elevating device 17 is operated to the winding side, the inners 18a, 19a of the wires 18, 19 are wound up, and the right and left hand portions 20 (case W) are raised. When the right and left hand units 20 (case W) move up to the desired positions, the lifting operation of the right and left hand units 20 (case W) is stopped by stopping the push operation of the raising operation switch 23. Stop.

Next, the worker walks to a high shelf or a truck bed where the case W is to be placed. When the worker arrives at a high shelf, a truck bed, or the like, and presses the lowering operation switch 24, the elevating device 17 operates to the payout side, and the inners 18a, 19a of the wires 18, 19 are paid out. Then, the right and left hand units 20 (case W) descend. Thus, the case W is placed on a high shelf or a truck bed, and the right and left hand units 20 are removed from the case W.
As described above, when the case W is placed on a high shelf, a truck bed, or the like, the state returns to the initial state, and the same operation is performed on the next case W.

[First Embodiment of the Invention]
In the above-mentioned [Embodiment for carrying out the invention], the right and left hand units 20 are replaced by the following [9] [10] [11] instead of the right and left hand units 20 shown in FIGS. ] And shown in FIGS. 8 to 11.

[9]
The right and left hand units 20 will be described.
8 to 11, the right hand unit 20 is shown, and the left hand unit 20 has a symmetrical shape with respect to the right hand unit 20.

  As shown in FIGS. 8 and 9, in the hand unit 20, a support member 27 formed by bending a metal plate material and a cover 28 made of synthetic resin are provided, and the cover 28 is attached to the support member 27. ing. In the right hand unit 20, the cover 28 is provided with a raising operation switch 23, and in the left hand unit 20, the cover 28 is provided with a lowering operation switch 24 (see FIGS. 2 and 3). The up / down operation switches 23 and 24 are connected to the control device 14 via a harness (not shown).

  As shown in FIGS. 8 and 9, in the support member 27, a vertical side wall-like horizontal side portion 27 a, a lower side portion 27 b protruding laterally from a rear portion below the lower side portion 27 a, and an upper portion of the horizontal side portion 27 a are provided. An upper portion 27c protruding laterally from the front portion and an inner portion 27d protruding downward from the upper portion 27c are provided.

  As shown in FIG. 10, a lower side projecting laterally from a lower portion of the lateral side portion 27a of the support member 27 than a distance L1 in the lateral width direction A1 between the lateral side portion 27a and the inner side portion 27d of the support member 27. The projection length L2 of the portion 27b is short.

  As shown in FIG. 8 and FIG. 9, the inner side of the support member 27 is located at the upper part 27c of the support member 27 on the front side of the center part C3 of the length L4 in the longitudinal direction A2 of the upper part 27c of the support member 27. A portion 27d is provided. The inner part 27d of the support member 27 has a length L5 shorter than the length L4 of the upper part 27c of the support member 27 in the longitudinal direction A2.

  As shown in FIGS. 8 and 9, the support member 27 is provided at a portion of the lateral side portion 27a of the support member 27 on the rear side of the center portion C3 of the upper portion 27c of the support member 27 in the longitudinal direction A2 and the length L4. A lower portion 27b is provided. The lower part 27b of the support member 27 has a length L6 shorter than the length L4 of the upper part 27c of the support member 27 in the longitudinal direction A2.

As shown in FIGS. 8 and 9, the length L5 of the longitudinal direction A2 of the upper part 27c in the inner part 27d of the support member 27 and the length of the longitudinal direction A2 of the upper part 27c in the lower part 27b of the support member 27 L6 is set to be short.
Thus, the inner portion 27d of the support member 27 (the end on the lower portion 27b side of the inner portion 27d of the support member 27) and the lower portion 27b of the support member 27 (the inner portion of the lower portion 27b of the support member 27). 27d), an interval L7 along the longitudinal direction A2 of the upper portion 27c of the support member 27 is formed.

  As shown in FIGS. 8 and 9, a connection portion 27f protrudes upward at a rear portion of the upper portion 27c of the support member 27 and at a portion on the inner portion 27d side of the support member 27, and a connection hole is formed in the connection portion 27f. An opening 27e is provided, and inners 18a and 19a of the wires 18 and 19 are connected to the connection hole 27e. Thereby, the connection part 27f and the connection hole 27e of the support member 27 are located substantially directly above the lower part 27b of the support member 27 in a side view (see FIG. 9).

As shown in FIG. 10, the inner portions 18 a and 19 a of the wires 18 and 19 are connected to the connection portions 27 f (connection holes 27 e) of the support member 27, so that the lateral portions 27 a and the inner portions 27 d of the support member 27 are connected to each other. The wires 18, 19 (inners 18a, 19a) are connected to a portion closer to the inner portion 27d of the hand portion 20 (support member 27) than the center portion C2 in the lateral width direction A1 (interval L1) therebetween. ing.
At the same time, one or the other end of the upper portion 27c of the support member 27 in the hand portion 20 in the longitudinal direction A2 is located closer to the center portion C3 of the upper portion 27c of the support member 27 that intersects the width direction A1. The wires 18 and 19 are connected to the portions.

[10]
Next, attachment of the right and left hand units 20 to the case W will be described.
As shown in FIGS. 8 and 9, the length L5 of the longitudinal direction A2 of the upper part 27c in the inner part 27d of the support member 27 and the length of the longitudinal direction A2 of the upper part 27c in the lower part 27b of the support member 27 L6 is set to be short.

As a result, as shown in FIG. 11, the end of the inner side 27d of the support member 27 on the side of the lower side 27b and the end of the lower side 27b of the support member 27 on the side of the inner side 27d are linearly connected. An interval L8 (an oblique interval L8 between an end of the inner side 27d of the support member 27 on the lower side 27b side and an end of the lower side 27b of the support member 27 on the side of the inner side 27d) is large. It has become.
Therefore, the posture of the hand unit 20 is set to be oblique so that the interval L8 is along the up-down direction, and the hand unit 20 is set to the oblique posture similar to FIG. 7 (refer to the preceding section [6]). Thereby, the hand part 20 can be attached to the side wall part W1 of the case W without difficulty.

  As shown in FIGS. 10 and 11, the lateral portion 27 a of the support member 27 is vertically arranged along the outside of the lateral wall portion W1 of the case W, and the lower portion 2 b of the support member 27 is Projecting from the lower portion of the lateral side portion 27a of the case W to the side of the lateral wall portion W1 of the case W, and enters the lower side of the projecting portion W3 of the case W.

  As shown in FIG. 10, the upper part 27 c of the support member 27 projects from the upper part of the lateral part 27 a of the support member 27 toward the side wall part W <b> 1 of the case W and is disposed above the protrusion W <b> 2 of the case W. The inner portion 27d of the member 27 projects downward from the upper portion 27c of the support member 27 and is placed vertically along the inside of the horizontal wall portion W1 of the case W.

[11]
Next, the support state of the case W by the right and left hand units 20 will be described.
In the state shown in FIG. 10, when the weight of the case W hangs on the hand portion 20 as described in the above item [8], the weight of the case W is supported by the lower portion 27 b of the support member 27.

  As shown in FIG. 10, even if the lower portion 27 b of the support member 27 tries to slip out from the lower side of the projecting portion W <b> 3 of the case W (even if the hand portion 20 is disengaged from the horizontal wall portion W <b> 1 of the case W), 27, the lower portion 27b of the support member 27 is about to come out from under the protruding portion W3 of the case W (the hand portion 20 is in contact with the case W). The state in which it is likely to come off the side wall portion W1) is suppressed. This state is the same whether the side wall portion W1 of the case W has an opening or not.

  In the state shown in FIG. 10, as described in [8] above, when the weight of the case W hangs on the hand unit 20 and hangs on the wires 18 and 19 from the hand unit 20, the tension of the wires 18 and 19 causes the support member to move. A moment M1 is generated which causes the lower side 27b of the base 27 to enter the lower side of the protrusion W3 of the case W.

  As a result, even if the lower portion 27b of the support member 27 tries to escape from the lower side of the projecting portion W3 of the case W (even if the hand portion 20 is disengaged from the lateral wall portion W1 of the case W), the support member 27 is caused by the moment M1. The state in which the lower side 27b of the 27 is about to escape from the lower side of the projecting portion W3 of the case W (the state in which the hand section 20 tends to come off from the horizontal wall W1 of the case W) is suppressed.

[Second Alternative Embodiment of the Invention]
In the above-mentioned [First Embodiment of the Invention], the arrangement of the lateral portion 27a, the lower portion 27b, and the inner portion 27d of the support member 27 in the right and left hand portions 20 shown in FIGS. The right and left hand units 20 may be configured as shown in FIGS. 12 and 13.

  As shown in FIGS. 12 and 13, the support member 27 is provided at a portion of the upper portion 27c of the support member 27 on the rear side of the center portion C3 of the length L4 in the longitudinal direction A2 of the upper portion 27c of the support member 27. An inner portion 27d is provided. The inner portion 27d of the support member 27 has a length L5 shorter than the length L4 of the upper portion 27c of the support member 27 in the longitudinal direction A2.

  As shown in FIGS. 12 and 13, the upper part 27c of the support member 27 on the front side of the center part C3 of the length L4 in the longitudinal direction A2 of the upper part 27c of the support member 27 and the support member 27 The connection portion 27f and the connection hole 27e of the support member 27 are provided in a portion on the side of the inside portion 27d.

As shown in FIGS. 12 and 13, when the inner portions 18 a and 19 a of the wires 18 and 19 are connected to the connection portions 27 f (connection holes 27 e) of the support member 27, the lateral portions 27 a and the inner portions of the support member 27 are connected. The wires 18, 19 (inners 18a, 19a) are located closer to the inner portion 27d of the hand portion 20 (support member 27) than to the central portion C2 (see FIG. 10) in the width direction A1 (interval L1) between the wires 18 and 27d. ) Is connected.
At the same time, one or the other end of the upper portion 27c of the support member 27 in the hand portion 20 in the longitudinal direction A2 is located closer to the center portion C3 of the upper portion 27c of the support member 27 that intersects the width direction A1. The wires 18 and 19 are connected to the portions.

  As shown in FIGS. 12 and 13, in a central portion C3 of the length L4 in the longitudinal direction A2 of the upper portion 27c of the support member 27, a portion of the lateral side portion 27a of the front support member 27 is provided below the support member 27. A side portion 27b is provided. The lower part 27b of the support member 27 has a length L6 shorter than the length L4 of the upper part 27c of the support member 27 in the longitudinal direction A2.

Thereby, as shown in FIGS. 12 and 13, in plan view in the longitudinal direction A2 of the upper portion 27 c of the support member 27, the connection portion 27 f and the connection hole 27 e of the support member 27, and the inside portion 27 d of the support member 27 are formed. The lower portion 27b of the support member 27 is located between the two.
In this case, the lower portion 27b of the support member 27 is provided at a position slightly before (or slightly behind) the central portion C3 of the length L4 in the longitudinal direction A2 of the upper portion 27c of the support member 27. You may comprise.

  In the state shown in FIG. 13, as described in [8] above, when the weight of the case W hangs on the hand unit 20 and hangs on the wires 18 and 19 from the hand unit 20, the case W A moment M2 for rotating the hand unit 20 is generated around a horizontal axis that intersects the horizontal wall portion W1.

As shown in FIG. 13, the lower portion 27b of the support member 27 (the front portion of the lower portion 27b) is pressed upward by the lower surface of the projecting portion W3 of the case W, and the upper portion 27c of the support member 27 (the upper portion 27c). (A rear portion) is pressed downward against the upper surface of the projecting portion W2 of the case W.
Thereby, a frictional force is generated between the lower portion 27b of the support member 27 (the front portion of the lower portion 27b) and the lower surface of the projecting portion W3 of the case W, and the upper portion 27c of the support member 27 (the upper portion 27c). (Rear part) and the upper surface of the projection W2 of the case W.

  Therefore, even if the lower portion 27b of the support member 27 tries to slip out from the lower side of the projecting portion W3 of the case W (even if the hand portion 20 is disengaged from the horizontal wall portion W1 of the case W), the lower portion 27b is supported by the above-described frictional force. The state in which the lower portion 27b of the member 27 tries to slip out from the lower side of the projecting portion W3 of the case W (the state in which the hand portion 20 tries to come off the horizontal wall portion W1 of the case W) is suppressed.

  As shown in FIGS. 12 and 13, the lower side portion 27b of the support member 27 is formed as a separate member from the lateral side portion 27a of the support member 27. Two bolts 27g are connected to the lower part 27b of the support member 27, and a plurality of connection holes 27h are vertically arranged on the lateral part 27a of the support member 27.

  12 and 13, the bolt 27g of the lower portion 27b of the support member 27 is inserted into the connection hole 27h of the lateral portion 27a of the support member 27, and the nut 31 The lower portion 27b is connected to the lateral portion 27a of the support member 27. By changing the connection hole 27h in which the bolt 27g of the lower part 27b of the support member 27 is inserted, the connection position of the lower part 27b in the lateral part 27a of the support member 27 can be changed up and down.

[Third Alternative Embodiment of the Invention]
In the above-described [Embodiment of the Invention], the wires 18, 19 (inners 18a, 19a) are separated from the front part or the rear part (the center part C1 of the length L3 in the longitudinal direction A2) of the inner part 27d of the support member 27. May also be connected to the front side or the rear side.
With such a configuration, in addition to the occurrence of the moment M1 that causes the lower portion 27b of the support member 27 to enter the lower side of the projecting portion W3 of the case W, the above-described [Second Embodiment of the Invention] Form], a moment M2 is generated to rotate the hand unit 20 around a horizontal axis that intersects the horizontal wall portion W1 of the case W (see FIG. 13).

In the above-described [Embodiment of the Invention], the wires 18, 19 (inners 18a, 19a) are attached to the upper portion 27c of the support member 27 at a portion closer to the inner portion 27d of the support member 27 than the center portion C2. You may connect.
In this case, in the upper part 27c of the support member 27, the center part C1 of the length L3 in the longitudinal direction A2 of the support member 27 (the inner part 27d and the lower part 27b), a position in front of the center part C1, a center part C1 The wires 18, 19 (inners 18a, 19a) may be connected to a position further behind.

[Fourth Embodiment of the Invention]
In the above-mentioned [first embodiment of the invention], the lower part 27b is provided at the front lower part of the lateral part 27a of the support member 27, and the upper part is provided at the rear upper part of the lateral part 27a of the support member 27. 27c may be provided.
With such a configuration, the connecting portion 27f of the support member 27 may be provided at the front portion above the lateral portion 27a of the support member 27.

  In the above-mentioned [second embodiment of the invention], the upper part 27c of the support member 27 is supported by the upper part 27c of the support member 27 on the front side of the center part C3 of the length L4 in the longitudinal direction A2 of the upper part 27c of the support member 27. An inner portion 27d of the member 27 is provided, and a portion of the upper portion 27c of the support member 27 on the rear side of the center portion C3 of the length L4 in the longitudinal direction A2 of the upper portion 27c of the support member 27 and the support member 27 The connection portion 27f and the connection hole 27e of the support member 27 may be provided in the portion on the inner portion 27d side of the support member 27.

[Fifth Alternative Embodiment of the Invention]
In the above-mentioned [First Embodiment of the Invention] and [Second Embodiment of the Invention], the lower portion 27b and the inner portion 27d of the support member 27 are formed in a square shape in plan view (side view). Instead, the shape may be a semicircular shape or a trapezoidal shape.

  When configured as described above, the lower portion 27b and the inner portion 27d of the support member 27 are completely separated along the longitudinal direction A2 of the upper portion 27c of the support member 27, as shown in FIGS. Instead, a portion of the base of the lower portion 27b of the support member 27 (the portion connected to the lateral portion 27a of the support member 27) and the base of the inner portion 27d of the support member 27 (the side of the support member 27). The lower portion 27b and the inner portion 27d of the support member 27 may be separated to such an extent that a portion of the lower portion 27b and the inner portion 27d overlap with each other in a plan view.

[Sixth alternative embodiment of the invention]
The above-mentioned [Embodiment for carrying out the invention] [First variant of the invention] to [Fifth variant of the invention] may be configured as described below.

  The raising operation switch 23 may be provided on the left hand unit 20, and the lowering operation switch 24 may be provided on the right hand unit 20. Both the raising and lowering operation switches 23 and 24 may be provided in the right (left) hand unit 20.

  The right hand unit 20 shown in FIGS. 1, 2, and 3 may be provided with one wire 18 and the left hand unit 20 may be provided with one wire 18.

The right and left arm units 2 may be eliminated, and one arm unit 2 may be provided. In the case of such a configuration, two wires 18 are extended from one arm portion 2 and a right hand portion 20 is provided on one of the two wires 18 and a left hand portion is provided on the other of the two wires 18. A hand unit 20 is provided.
Alternatively, one wire 18 is extended from one arm 2 and the end of one wire 18 is branched into a forked shape. On the other hand, a left hand unit 20 is provided.

  In the case W, if the projecting portions W2 and W3 of the case W are not provided and the right and left lateral wall portions W1 of the case W are provided with lateral concave portions (not shown), the right and left hand portions 20 are provided. In this case, the right and left hand portions 20 can be attached to the case W by inserting the lower portion 27b of the support member 27 into the concave portion of the horizontal wall portion W1 of the case W.

[Seventh Embodiment of the Invention]
In the above-mentioned [Embodiment for carrying out the invention] [First embodiment of the invention] to [Sixth embodiment of the invention], it is configured such that the right and left leg action parts 3 are not provided. Is also good.

  In the above-mentioned [Embodiment for carrying out the invention] [First embodiment of the invention] to [Seventh embodiment of the invention], various combinations of modes are possible as long as no inconsistency occurs in the combinations. is there.

  INDUSTRIAL APPLICABILITY The present invention is worn and used by an operator, and can be applied to an assist device that assists an operator's work (operation).

DESCRIPTION OF SYMBOLS 1 Main body part 2 Arm part 14 Control device 17 Elevating device 18, 19 Wire 20 Hand part 23, 24 Manual operation part 27a Side part 27b Lower part 27c Upper part 27d Inner part 27e, 27f The wire is connected to the hand part. Part A1 Width direction A2 Longitudinal direction C2 Central part C3 Central part L7 Interval W Baggage W1 Baggage wall

Claims (4)

A main body attached to the worker, an arm extending forward from the main body,
A wire extending downward from the arm portion, and a hand portion connected to the wire for holding a load by being held by a worker,
A lifting device that raises the hand unit by winding the wire, and lowers the hand unit by unwinding the wire;
A manual operation unit that is artificially operated, and a control device that operates the lifting device on the winding side and the unwinding side based on an operation signal of the manual operation unit is provided,
In the hand part,
A lateral portion arranged vertically along the outside of the lateral wall portion of the luggage;
A lower portion protruding from a lower portion of the lateral portion toward the lateral wall portion of the load and entering the lateral wall portion of the load;
An upper portion protruding from the upper portion of the lateral portion toward the lateral wall portion of the load and positioned above the lateral wall portion of the load;
An inner portion protruding downward from the upper portion and arranged vertically along the inside of the lateral wall portion of the luggage,
An assist device in which the wire is connected to a portion of the hand portion closer to the inner portion than to a central portion in a width direction between the lateral side portion and the inner portion. A main body attached to the worker, an arm extending forward from the main body,
A wire extending downward from the arm portion, and a hand portion connected to the wire for holding a load by being held by a worker,
A lifting device that raises the hand unit by winding the wire, and lowers the hand unit by unwinding the wire;
A manual operation unit that is artificially operated, and a control device that operates the lifting device on the winding side and the unwinding side based on an operation signal of the manual operation unit is provided,
In the hand part,
A lateral portion arranged vertically along the outside of the lateral wall portion of the luggage;
A lower portion protruding from a lower portion of the lateral portion toward the lateral wall portion of the load and entering the lateral wall portion of the load;
An upper portion protruding from the upper portion of the lateral portion toward the lateral wall portion of the load and positioned above the lateral wall portion of the load;
An inner portion protruding downward from the upper portion and arranged vertically along the inside of the lateral wall portion of the luggage,
An assisting device in which the wire is connected to a portion of the hand portion closer to one or the other end in the longitudinal direction of the upper portion than to a central portion in the longitudinal direction of the upper portion that intersects the width direction. A main body attached to the worker, an arm extending forward from the main body,
A wire extending downward from the arm portion, and a hand portion connected to the wire for holding a load by being held by a worker,
A lifting device that raises the hand unit by winding the wire, and lowers the hand unit by unwinding the wire;
A manual operation unit that is artificially operated, and a control device that operates the lifting device on the winding side and the unwinding side based on an operation signal of the manual operation unit is provided,
In the hand part,
A lateral portion arranged vertically along the outside of the lateral wall portion of the luggage;
A lower portion protruding from a lower portion of the lateral portion toward the lateral wall portion of the load and entering the lateral wall portion of the load;
An upper portion protruding from the upper portion of the lateral portion toward the lateral wall portion of the load and positioned above the lateral wall portion of the load;
An inner portion protruding downward from the upper portion and arranged vertically along the inside of the lateral wall portion of the luggage,
In the longitudinal direction of the upper portion intersecting with the width direction, the inner portion and the lower portion extend along the longitudinal direction of the upper portion so that an interval is generated between the inner portion and the lower portion. Assist devices provided separately from each other.   In the longitudinal direction of the upper portion, a portion where the wire is connected to the hand portion, such that the lower portion is located between a portion where the wire is connected to the hand portion and the inner portion, The assist device according to claim 3, wherein the inner portion and the lower portion are arranged.

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