JP6663392B2 - Motion support device - Google Patents

Description

  The present invention relates to an operation support device.

2. Description of the Related Art An operation support device that supports a person's standing action, sitting action, and the like usually requires a driving force to move a body in an ascending direction or a descending direction, respectively.
Such a device includes a moving member that is a carrier member that raises and lowers a human body, a driving member that is a driving source, and a transmission member such as a chain that transmits the driving force of the driving member to the carrier member. An apparatus is used (for example, Patent Document 1).

JP 2016-220859 A

  In this elevating device, in order to raise and lower the object by driving the driving member, a larger driving force is required as the weight of the elevating object increases. In addition, it is necessary to increase the size of a driving member using a motor or the like so that a large driving force can be output. Furthermore, if the output of the driving member is increased in order to increase the driving force of the lifting device, a large amount of driving energy is required.

  However, when the size of the driving member is increased, the lifting / lowering device itself becomes heavy and requires a space, and it becomes difficult to move the lifting / lowering device itself. In addition, a large amount of energy needs to be supplied to the driving member of the lifting / lowering device to output a large driving force, and the energy supply source is limited, so that the installation location and the moving range of the lifting / lowering device are also limited. That is, as for the operation support device that supports the operation, an operation support device that can be driven with a small driving force even for a heavy support target such as a human body is desired.

  An object of the present invention is to provide an operation support device that can move a moving member up and down without increasing a driving force by the driving member.

The operation support device of the present invention includes:
A substrate;
A moving member that moves up and down with respect to the base;
A driving member for generating a driving force for moving the moving member up and down,
A transmission member for transmitting a driving force of the driving member to the moving member with respect to the moving member,
An urging member connected to the base and the moving member and urging the moving member in a rising direction is provided,
The transmission member,
On the driving member side, a driving unit side rotating member that is rotated by driving of the driving member is provided,
A moving member-side rotating member that transmits a rotational force of the driving unit-side rotating member to the moving member as a driving force,
The driving unit-side rotating member and the moving member-side rotating member engage with each other, rotate together with the moving member-side rotating member by the rotation of the driving unit-side rotating member, and rotate by the rotation of the moving member-side rotating member. And a brake spring that generates a braking force against
In the brake spring, the movement of the moving member is regulated by rotation of the moving member-side rotating member due to a force input to the moving member in a non-driven state of the driving member, and in the regulated state of the moving member, The moving member is moved by rotating the driving unit side rotating member by the driving member in the same direction as the rotation direction of the rotation of the moving member side rotating member.

  According to the present invention, the moving member can be moved up and down without increasing the driving force by the driving member.

1 is an external front view of a walking support device to which a motion support device according to an embodiment of the present invention has been applied. FIG. 2 is an external perspective view of the walking support device in FIG. 1. FIG. 2 is a sectional view taken along line AA of FIG. 1. FIG. 2 is a diagram provided for describing a driving member and a transmission member of the walking assistance device in FIG. 1. It is a figure which shows typically the principal part structure of the transmission member seen from the base end side about the walking assistance apparatus of FIG. FIG. 6 is a diagram for explaining a driving unit-side rotating member of the transmission member of FIG. 5; FIG. 7 is a diagram provided for describing a driving unit side rotating member of FIG. 6. FIG. 6 is a diagram for explaining a moving member-side rotating member of the transmission member of FIG. 5; FIG. 2 is a diagram provided for describing a brake spring of the walking assistance device in FIG. 1. FIG. 2 is a diagram schematically illustrating a main configuration of a transmission member viewed from a base end side for describing a forward rotation operation of a driving unit side rotation member in the operation support device of FIG. 1. FIG. 2 is a diagram schematically illustrating a main configuration of a transmission member viewed from a base end side for describing a reverse rotation operation of a driving unit side rotation member in the operation support device of FIG. 1. FIG. 2 is a diagram schematically illustrating a main configuration of a transmission member viewed from a base end side for describing a forward rotation operation of a moving member side rotation member in the operation support device of FIG. 1. FIG. 2 is a diagram schematically illustrating a main configuration of a transmission member viewed from a base end side for describing a reverse rotation operation of a moving member-side rotation member in the operation support device of FIG. 1.

  Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.

<Overall configuration of motion support device>
FIGS. 1 and 2 show the entire walking support device 100 to which the motion support device 1 of the present embodiment is applied. FIG. 3 is a cross-sectional view of the operation support device 1 taken along line AA of FIG. In FIG. 1, each part in a state where the moving member is located closest to the base end is shown by a solid line, and the handle part 26 and the urging member 70 in a state where the support part 24 is extended to the end side are shown by a broken line. However, in FIGS. 1 and 2, members whose position or shape does not change due to movement of the moving member, such as the main body of the urging member 70, are indicated by solid lines for convenience. In FIG. 1, a part of the structure, such as the inside of the column portion 24 located closest to the base end, is shown in a transparent manner so that the internal structure can be described. Here, the base end side and the end side are referred to as the base end side of the apparatus 10 in the entire operation support apparatus 1 and the end side extending from the base 10 is referred to as the end side. The moving direction of the moving member 20 is indicated by which of the base end side and the end side becomes the reference. In FIGS. 1 and 2, the base side is the lower side of the operation support device 1 and the terminal side is the upper side of the operation support device 1. However, depending on the purpose of what kind of operation the operation support device 1 supports. , The base end and the end may be arranged in a horizontal direction, or the base end and the end may be arranged in a direction inclined with respect to the horizontal direction.

  The movement support device 1 can support a moving operation such as a lifting operation performed by an inanimate object that applies a load such as a load. When the motion assisting device 1 is used in the walking assisting device 100, the motion assisting device 1 has a function of assisting the user in rising from a seated state. In the walking support device 100, the motion support device 1 is configured to support a load connected to the moving member 20 that moves up and down, for example, when a user who is a target of motion support moves, such as standing up or squatting down. The portion 24 is supported by the handle portion 26 attached to the support portion 24 and assists the movement of the object. Although the support target is the user, the present invention is not limited to this, and any object that can be an operable target may be set as a target for operation support. The support part 24 and the handle part 26 constitute the frame 21. The support part 24 supports the handle part 26 and moves the handle part 26. The walking support device 100 is used by a user by placing an arm, an upper body, and the like on the handle portion 26.

  The operation support device 1 includes a base 10, a moving member 20, a driving member 40, a transmission member 50, and an urging member 70. In the motion assisting device 1 of the present embodiment, the moving member 20 is configured to move up and down with respect to the base 10 by driving the driving member 40 and not to move up and down with respect to the load applied by the user via the frame 21. Is done.

  The motion assisting device 1 of the present embodiment drives the driving member 40 of the motion assisting device 1 in a state where the user of the seated body leaves his / her upper body to the handle 26 at the base end position. Then, the moving member 20 moves to the upper end side which is the terminal side, and accordingly, the handle portion 26 fixed to the moving member 20 via the support portion 24 rises under a state where a load is applied by the user. At this time, the handle portion 26 rises by receiving the driving force of the driving member 40 and the urging force of the urging member 70, so that the load applied by the user entrusting the upper body or the weight of the handle portion 26 causes a load. Move to the end side against the applied load. For this reason, the upper body of the user on the handle 26 rises, and the user can easily stand up.

  When the handle portion 26 is lowered, the rotation of the spindle 58 by the drive member 40 is set in a direction opposite to the ascending direction in order to move the moving member 20 from the terminal end to the base end. Then, the moving member 20 moves to the base end side against the urging force of the urging member 70. For this reason, the urging member 70 becomes a resistance, so that it is possible to prevent the moving member 20 from suddenly dropping when the user applies weight or when a load is placed.

<Configuration of Base 10>
The base 10 is a member serving as a reference for the vertical movement of the moving member 20. The base 10 serves as a base that supports the moving member 20, the driving member 40, and the transmission member 50.
In the present embodiment, the base 10 is formed in a substantially U shape in plan view. The base 10 is provided so that the user side is concave. The base 10 has a space where the user can walk inside the base 10 with the base 10 surrounding the user.
A rail portion 14 extending upward is attached to the base 10.

Further, a base movement assisting member 12 for assisting movement of the base 10 is fixed to the base 10 of the present embodiment. The base 10 can be moved by a base movement assisting member 12.
The substrate movement assisting member 12 is a member that allows the substrate 10 to move smoothly. The base movement assisting member 12 is a rolling member such as a caster, for example, and is attached to the lower surface of the base 10. The rolling member rolls when the base 10 is moved, and allows the base 10 to move smoothly.

<Configuration of the moving member 20>
The moving member 20 moves up and down with respect to the base 10 by moving between the base end side and the end side. The moving member 20 moves by the driving force of the driving member 40. The moving member 20 is a member that moves by receiving a driving force from the driving member 40, but may be a part of a member that receives a load when a user operates, a part of the frame 21, or a frame. 21 may be integrated. In the present embodiment, the moving member 20 has the nut member 25, and moves between the proximal side and the terminal side by rotating the spindle 58 of the transmission member 50 around the axis. The support member 24 of the moving member 20 is arranged outside the moving member 20, and the moving member 20 is configured to be movable by the driving member 40 via the transmission member 50 inside the moving member 20.

  The support portion 24 is provided so as to be relatively movable in the axial direction with respect to the rail portion 14, and a handle portion 26 is fixed to an upper end. The support portion 24 is formed in a tubular shape, and is disposed outside the rail portion 14. The support portion 24 may be provided inside the rail portion 14 as long as the movable member 20 is configured to move by moving with respect to the rail portion 14. As the moving member 20 moves between the base end side and the terminal end side, the support portion 24 moves along the extending direction of the rail portion 14 on the outer periphery of the rail portion 14. With the movement of the support portion 24, the handle portion 26 moves up and down. The support portion 24 may be configured to be engaged with an engaged portion provided on the rail portion 14 and extending in the axial direction so that the support portion 24 is prevented from rotating in the direction around the axis and can move in the axial direction. For example, the rail portion 14 may have a prism-shaped outer surface, and a prism-shaped internal space that engages with a convex angle on the outer periphery of the rail portion 14 may be provided inside the support portion 24. The support portion 24 is composed of a plurality of tubular components, and a part of the support portion 24 can be extended as shown in FIG. 1 by partially moving. In FIG. 1, joints between a plurality of components are omitted.

In the present embodiment, the moving member 20 is a slider that slides movably in the rail portion 14 in the longitudinal direction along the rail portion 14. The moving member 20 is disposed inside the rail portion 14 in a state where the inner wall of the rail portion 14 restricts the movement of the rail portion 14 in a direction other than the longitudinal direction. The moving member 20 may have an engaging portion that engages with a ridge (for example, a prismatic corner on the outer periphery) extending in the axial direction of the rail portion 14.
In the present embodiment, as shown in FIG. 3, a gap is provided between the support portion 24 attached to the moving member 20 and the rail portion 14 in a direction orthogonal to the axial direction so as to be slidable. ing. As shown in FIG. 3, the outer periphery of the moving member 20 is square in cross section, and the rail portion 14 has a square internal space. When the rotation of the moving member 20 in the direction around the axis is suppressed by the rail portion 14, the protrusion of the moving member 20 slides while engaging with the notch extending in the axial direction of the rail portion 14, so that the rail member The rail 14 can be configured to move in a state where the rotation of the rail 14 around the axis is suppressed by engagement with the engaged portion extending in the axial direction of the rail 14.

  As shown in FIG. 1, the moving member 20 is restricted from moving toward the upper end by the upper end movement restricting portion 141 on the upper end side of the rail portion 14, and is moved toward the lower end side by the lower end restricting portion of the base 10 at the lower end side. Movement is regulated. The upper end side movement restricting portion 141 closes a guide portion for guiding the moving member 20 on the rail portion 14 at the upper end side.

The rail section 14 guides the moving member 20 in the longitudinal direction of the spindle 58 (extending direction of the rail section 14) while suppressing rotation of the spindle 58 around an axis described later. Further, the rail portion 14 has a length corresponding to the length of the spindle 58 in order to move the moving member 20 while suppressing rotation over the entire length of the spindle 58.
In the present embodiment, as shown in FIG. 3, the protrusion 22 a that protrudes from the moving member 20 and connects the support 24 to the moving member 20 interferes with the rail 14 in the direction around the axis of the rail 14. It is configured to be.
Thereby, the moving member 20 shown in FIGS. 1 and 3 moves in the axial direction of the spindle 58 and the rail portion 14 without rotating. Specifically, the support portion 24 is fixed to the bolt 23 as a fixing member from the inside of the rail portion 14 to the protruding portion 22 a protruding outside from the slit 58 extending in the axial direction of the spindle 58 and the rail portion 14 from the inside. As a result, the nut member 25 and the support portion 24 are connected, and the rotation of the nut member 25 is restricted by the protrusion 22 a coming into contact with the end of the slit 142. In addition, the moving member 20 is stabilized by forming an engagement structure guided in the elevating direction with the rail portion 14 while maintaining the engagement in which the rotation of the rail portion 14 around the axis is suppressed, with the rail portion 14. You can go up and down.

  The moving member 20 is connected to the transmission member 50. The moving member 20 is connected to the transmission member 50 so that when the driving member 40 is driven, the driving force is transmitted via the transmission member 50 to move. In the present embodiment, the moving member 20 is connected to the transmitting member 50 so as to move linearly by driving of the driving member 40.

  Specifically, the moving member 20 includes a nut member 25 provided on the spindle 58 and moved along the axial direction of the spindle 58, which is the same direction as the axial direction of the rail portion 14, by the rotation of the spindle 58. The moving member 20 is connected to the spindle 58 of the transmission member 50 by screwing through the nut member 25.

The nut member 25 raises and lowers the moving member 20 guided by the rail portion 14 so as to be vertically movable by the rotation of the spindle 58. The frame 21 moves as the moving member 20 moves between the base end and the end of the spindle 58 within the rail portion 14.
The nut member 25 (see FIGS. 1 and 3) is fixed to the moving member 20 by restricting movement in the axial direction and the direction around the axis. In the present embodiment, the outer periphery of the nut member 25 is formed in a polygonal shape and is fixed to the moving member 20.
The nut member 25 is screwed with the spindle 58 in a state where the rotation is restricted, and moves in the axial direction of the spindle 58 by rotation around the axis of the spindle 58. Accordingly, the moving member 20 connected to the nut member 25 moves with the movement of the nut member 25, and the user as an object connected to the frame 21 connected to the moving member 20 moves. Note that the nut member 25 and the moving member 20 may be integrated. For example, a through-hole having a screw groove to be screwed with the spindle 58 may be formed in the moving member 20, and this screw groove may be used as the nut member 25.
In the present embodiment, the nut member 25 has a female screw portion, is screwed with a spindle 58 having a male screw portion, and moves in the axial direction of the spindle 58 by rotating the spindle 58 around its axis.

<Configuration of biasing member 70>
The urging member 70 is connected to the base 10 and the moving member 20. The urging member 70 of the present embodiment urges the moving member 20 along the moving direction of the moving member 20. The urging member 70 is connected to each of the base 10 and the moving member 20. One end of the urging member 70 is connected to one of the base 10 and the moving member 20, and is connected to the other of the base 10 and the moving member 20 at the other end. The urging member 70 shown in FIGS. 1 and 2 is fixed to each of the base 10 and the handle portion 26 connected to the moving member 20, and is disposed between the base 10 and the handle portion 26.
The urging member 70 contracts when the moving member 20 moves from the terminal side, that is, the upper end side, to the base end side, that is, the lower end side, and expands and moves so that the moving member 20 moves from the base end side to the terminal side. The member 20 is urged. The urging member 70 urges the moving member 20 in the ascending direction with respect to the base 10. The urging member 70 urges the moving member 20 in a direction opposing an external force applied in a direction of lowering the moving member 20.

  The urging member 70 may have any function as long as it has a function of expanding and contracting, and urges the moving member 20 in the ascending direction by extending. The biasing member 70 may be a damper such as a coil spring, a gas spring air damper, an oil damper, or an air damper that is configured to be biased in a direction in which both ends are separated from each other. In the present embodiment, the urging member 70 of the present embodiment is a gas damper urged in a direction in which the other end is separated from one end, and urges the moving member 20 upward by the gas damper.

<Configuration of drive member 40>
FIG. 4 is a diagram provided for describing the drive member 40 and the transmission member 50 shown in FIG. 1, and is an enlarged view of the drive member 40 and the transmission member 50 shown in FIG. 1. In FIG. 4, the right side is shown in a cross section with respect to the rotation shaft extending to the terminal side and the base side, and the left side is a partial cross sectional view showing the stator 44 of the motor of the driving member 40 and the base body 10 in a cross section.

  The driving member 40 generates a driving force for moving the moving member 20 up and down with respect to the base 10. The driving member 40 moves the moving member 20 connected via a transmission member 50 including a speed reducer or the like between a base end side and a terminal end side by driving, and a frame connected to the moving member 20. 21 is raised and lowered. The driving member 40 may generate the driving force by itself such as an electric motor or a motor, or may generate the driving force by applying an external load other than electric power such as hydraulic power or manual power. The moving member 20 that is moved by the driving member 40 can be recognized as a moving member including the frame 21 and the handle portion 26.

  In the present embodiment, drive member 40 has a motor. As shown in FIG. 4, the motor has a stator 44 mounted on the lower surface of the central portion of the base body 10 such that the output shaft 42 of the rotor 46 is positioned vertically. The motor is connected to a driving source such as a battery (not shown), is driven by electric power from the driving source, and moves the moving member 20 via the transmission member 50.

  When the driving member 40 is a driving member that manually generates a driving force, the driving member 40 is a member that converts an operation via an operating member such as a handle or a lever that can be operated by an operator into a driving force. Is mentioned.

<Configuration of transmission member 50>
The transmission member 50 shown in FIG. 1 transmits the driving force of the driving member 40 to the moving member 20.
The transmission member 50 connects the driving member 40 and the moving member 20, and moves the moving member 20 up and down by the driving force of the driving member 40.
In the present embodiment, the transmitting member 50 converts the rotational force of the driving member 40 to the moving member 20 and transmits the driving force in the direction in which the moving member 20 moves.

  The transmission member 50 has a spindle 58 as a rotation axis, and transmits the rotational force of the drive member 40 to the moving member 20 by the rotation of the spindle 58. In this embodiment, the transmission member 50 uses the spindle 58 that is rotated by the motor when transmitting the rotational force of the driving member 40 to the moving member 20 to move the moving member 20. Any configuration may be used as long as it is configured to transmit a force to move the moving member 20 between the base end side and the end side. For example, a chain or a belt is wound around sprockets provided on the base end side and the end side, and the moving member 20 is fixed to the chain or the belt. The moving member 20 may be configured to move between them. Further, as the transmission member 50, a member having a function of transmitting a driving force, such as a wire or a telescopic member, may be used, and the transmission member 50 may be configured to transmit the driving force via a planetary gear or a clutch. When a wire or a chain is used, for example, in the walking support device 100, a direction changing member such as a pulley or a guide member provided on at least one of the terminal side and the base end side is provided, and the wire or the chain is wound. This can be realized by fixing the moving member 20 to a part of the wire or the chain and moving the wire or the like itself to one or the other in the extending direction by the driving member 40. The same applies when a belt is used. In the case where an elastic member is used, this can be realized by fixing the moving member 20 to a terminal end portion that expands and contracts with respect to a base end portion of the elastic member, and expands and contracts the elastic member. As described above, the transmission member 50 may transmit the rotational force of the drive member 40 to the moving member 20 by pushing back the wire, and expanding / contracting the expandable member, or the rotational force converted via the planetary gear as the drive force. Good.

  FIG. 5 is a diagram schematically illustrating a configuration of a main part of the transmission member 50 as viewed from the base end side. In FIG. 5, the brake spring 60 of the transmission member 50 is indicated by a hatched area for convenience. FIGS. 6 and 7 are diagrams for explaining the driving unit-side rotating member 52. FIG. 6A illustrates the driving unit-side rotating member 52 as viewed from the top surface side of the operation support device 1. FIG. 6B is a side view of the driving unit-side rotating member 52 when the driving unit-side rotating member 52 is viewed from the front side of the operation support device 1. FIG. 6C is a partial cross-sectional view taken along the line BB of FIG. 6A, and FIG. 6D is a view showing a part viewed from the arrow C in FIG. FIG. 7A is a rear view of the driving unit-side rotating member 52 when the driving unit-side rotating member 52 is viewed from the bottom surface side of the operation support device 1, and FIG. 7 (c) is a sectional view taken along line EE of FIG. 7 (a). FIG. 8 is a diagram for explaining the moving member-side rotating member 54, and FIG. 8A is a plan view of the moving member-side rotating member 54 when the moving member-side rotating member 54 is viewed from the upper surface side of the operation support device 1. 8B is a side view of the moving member-side rotating member 54, and FIG. 8C is a moving member-side rotating member when the moving member-side rotating member 54 is viewed from the bottom side of the operation support device 1. FIG.

  As shown in FIGS. 1 and 3 to 8, the transmission member 50 includes a driving unit side rotating member 52, a moving member side rotating member 54, a spindle 58, and a brake spring 60.

The drive unit side rotation member 52 is provided on the drive member 40 side of the transmission member 50, and is rotated by the drive of the drive member 40.
The driving unit side rotating member 52 is connected to the output shaft 42 of the motor of the driving member 40 by the same shaft, and rotates with the rotation of the output shaft 42.
When rotating, the drive unit side rotating member 52 is connected to the moving member side rotating member 54 and transmits a rotational force to the moving member side rotating member 54. The moving member-side rotating member 54 to which the rotational force has been transmitted from the driving unit-side rotating member 52 is supplied together with the driving unit-side rotating member 52.
Specifically, the drive unit side rotating member 52 has a drive unit side pressing unit. The driving section side pressing section has a driving section side first pressing section 521 and a driving section side second pressing section 522. In the driving unit-side rotating member 52, a space is formed between the driving unit-side first pressing unit 521 and the driving unit-side second pressing unit 522, and in the present embodiment, as shown in FIGS. The shaft 42 (see FIGS. 1 and 5) is provided as a notch having a shape cut radially inward on the outer peripheral edge of the disc-shaped drive unit side body 520 joined at the center output shaft connection portion 520a. I have. In FIGS. 6 and 7, a main notch portion 52 a formed by cutting out two portions of the driving portion side main body 520 with a center axis coaxial with the output shaft 42 in the driving portion side main body 520 and an auxiliary portion are provided. It has a notch 52b.

The moving member-side main pressing portion 54a of the moving member-side rotating member 54 is arranged in the space formed by the main notch portion 52a and having a length in the circumferential direction so as to be rotatable in the circumferential direction. In the space formed by the auxiliary notch 52b and having a length in the circumferential direction, the moving member-side auxiliary pressing portion 54b of the moving member-side rotating member 54 is disposed so as to be rotatable in the circumferential direction.
The main notch 52a forms an arc-shaped space, and has a driving unit side first pressing unit 521 and a driving unit side second pressing unit 522 that are separated in the circumferential direction.

As shown in FIG. 5, the driving unit side first pressing unit 521 and the driving unit side second pressing unit 522 move in the circumferential direction by the rotation of the driving unit side rotating member 52, and move together with the brake spring 60 on the moving member side. The main pressing portion 54a is pressed and moved in the circumferential direction, and the moving member side rotating member 54 is moved.
The drive unit-side first pressing unit 521 and the drive unit-side second pressing unit 522 face each other in different directions of rotation of the drive unit-side main body 520 so that a moment can be transmitted to the moving member side. However, in the present embodiment, it is formed in a planar shape protruding from the outer periphery of the drive unit side body 520 in parallel with the axis and radially outward of the drive unit side body 520. The drive unit-side first pressing unit 521 and the drive unit-side second pressing unit 522 are located at positions that overlap in the moving direction of the brake spring 60 and the moving member-side main pressing unit 54a, that is, in the circumferential direction that is the rotation direction. When the driving member side rotating member 54 is rotated, the driving unit side rotating member 52 is rotated by the driving of the driving member 40 so that the driving member side first pressing portion 521 and the driving unit side second pressing portion 522 rotate. It moves from a position separated from the first side pressing portion 541 and the second pressing portion 542 to a position where it comes into contact with any of the first pressing portion 541 and the second pressing portion 542, and presses the moving member side main pressing portion 54 a via the brake spring 60. The driving unit side first pressing unit 521 and the driving unit side second pressing unit 522 are configured to have a predetermined size in order to transmit a driving force to the moving member side first pressing unit 541 or the second pressing unit 542. ing.

The driving part side first pressing part 521 is provided with the moving member side first pressing part 541 of the moving member side main pressing part 54a sandwiching one end (hereinafter, referred to as “first end”) 61 of the brake spring 60 in the circumferential direction. Opposes. The drive unit side first pressing unit 521 is rotated by the drive of the drive unit 40, and rotates the brake spring 60 and the movement member side rotation member 54 simultaneously or substantially simultaneously when rotating the movement member side rotation member 54.
The driving part side second pressing part 522 sandwiches the other end part (hereinafter, referred to as “second end part”) 62 of the brake spring 60 in the circumferential direction, and the moving member side second pressing part of the moving member side main pressing part 54a. 542. The driving unit-side second pressing unit 522 also rotates by driving of the driving unit 40, and rotates the brake spring 60 and the moving member-side rotating member 54 simultaneously or substantially simultaneously when rotating the moving member-side rotating member 54. It will be.

The driving unit-side first pressing unit 521 moves in the same circumferential direction by rotating the driving unit-side rotating member 52 in one direction, and presses the moving member-side first pressing unit 541.
The drive unit-side second pressing unit 522 moves in the same circumferential direction by rotating in the opposite direction to one direction of the drive unit-side rotating member 52 to press the moving member-side second pressing unit 542.

  The auxiliary notch 52b forms a space having a length in the circumferential direction and has an arc shape like the main notch 52a. The auxiliary cutout portion 52b has a driving unit-side third pressing unit 523 and a driving unit-side fourth pressing unit 524 that are separated in the circumferential direction. The drive unit-side third pressing unit 523 and the drive unit-side fourth pressing unit 524 have a planar shape protruding from the outer periphery of the moving unit-side main body 520 so as to be parallel to the axis and to cross the moving member-side rotating member 54 side. Is formed. The driving unit-side third pressing unit 523 and the driving unit-side fourth pressing unit 524 are located at positions that overlap in the moving direction of the moving member-side auxiliary pressing unit 54b, that is, in the circumferential direction that is the rotation direction. The driving part side third pressing part 523 and the driving part side fourth pressing part 524 have substantially the same shape as the driving part side first pressing part 521 and the driving part side second pressing part 522. The driving unit side first pressing unit 521 presses the moving member side pressing unit 54a via the brake spring 60, and the driving unit side third pressing unit 523 presses the moving member side third pressing unit 543. An interval is provided between the moving member-side auxiliary pressing portion 54b and the auxiliary notch portion 52b so as to be almost simultaneously.

  As illustrated in FIG. 5, the driving unit-side third pressing unit 523 and the driving unit-side fourth pressing unit 524 move in the circumferential direction by the rotation of the driving unit-side rotating member 52 to move the moving member-side auxiliary pressing unit 54b. The moving member-side rotating member 54 is moved by being pressed and moved in the circumferential direction. The driving part side third pressing part 523 and the driving part side fourth pressing part 524 move simultaneously with the driving part side first pressing part 521 and the driving part side second pressing part 522 pressing the moving member side main pressing part 54a. It is formed so as to press the member-side auxiliary pressing portion 54b.

  Note that, in the present embodiment, the auxiliary notch 52b is disposed at a point-symmetric position with respect to the main notch 52a at the center of rotation, and has a circumferential length shorter than that of the main notch 52a.

The driving unit-side third pressing unit 523 and the driving unit-side fourth pressing unit 524 are formed in a surface shape protruding from the outer periphery of the flange portion toward the moving member-side rotating member 54 in parallel with the axis.
The driving unit side third pressing unit 523 faces the moving member side third pressing unit 543 of the moving member side auxiliary pressing unit 54b in the circumferential direction.
The driving part side fourth pressing part 524 faces the moving member side fourth pressing part 544 of the moving member side auxiliary pressing part 54b in the circumferential direction.

  The driving unit-side third pressing unit 523 moves in the same circumferential direction by rotating the driving unit-side rotating member 52 in one direction, and presses the moving member-side third pressing unit 543.

  The driving unit-side fourth pressing unit 524 moves in the same circumferential direction by rotating in the opposite direction to one direction of the driving unit-side rotating member 52 to press the moving member-side fourth pressing unit 544.

The moving member side rotating member 54 transmits the rotational force of the drive unit side rotating member 52 to the moving member 20 side as the driving force.
The moving member-side rotating member 54 connects the moving member 20 and the driving unit-side rotating member 52.
In the present embodiment, the moving member-side rotating member 54 is a member that is rotated by the rotation of the driving unit-side rotating member 52. The moving member-side rotating member 54 is connected to a spindle 58 that is a rotating shaft, and rotates the spindle 58 by the rotation of the driving unit-side rotating member 52. In the present embodiment, the moving member-side rotating member 54 is arranged so as to rotate on the same axis as the spindle 58.
The moving member-side rotating member 54 is a member that can also be rotated by input of a force from the moving member 20, that is, by rotation of the spindle 58.

The moving member side rotating member 54 shown in FIG. 8 includes a moving member side main pressing portion 54a, a moving member side auxiliary pressing portion 54b, a moving member side connecting portion 54c, and a rotating member main body 540.
In the moving member-side rotating member 54, the rotating member main body 540 is arranged to face the driving unit-side rotating member 52. The rotating member main body 540 has a plate shape. The moving member side main pressing portion 54a and the moving member side auxiliary pressing portion 54b are provided on the surface of the rotating member main body 540 on the side of the driving portion side rotating member 52 so as to protrude toward the driving portion side rotating member 52, and are provided on opposite sides. A moving member side connection portion 54c is provided at the center of the surface so as to protrude.

  The moving member-side main pressing portion 54a has a moving member-side first pressing portion 541 and a moving member-side second pressing portion 542 at both ends separated in the circumferential direction. The moving member-side first pressing portion 541 and the moving member-side second pressing portion 542 move around the axis of the rotating member main body 540 by the rotation of the moving member-side rotating member 54 due to the rotation of the spindle 58, and the brake springs respectively. The first end portion 60 is pressed or the second end portion 62 is pressed. Between the first end pressing portion and the second end portion 62 of the brake spring 60 and the driving portion side first pressing portion 521 and the driving portion side second pressing portion 522, the driving member 40 rotates the driving portion side. When the driving force is not input to the member 52, an interval is provided. Therefore, when the moving member-side first pressing portion 541 and the moving member-side second pressing portion 542 are moved by the rotation of the spindle 58, the first end portion pressing or the second end portion 62 of the brake spring 60 is moved at the interval. Is moved so as to approach the drive unit side first pressing unit 521 or the drive unit side second pressing unit 522, so that the braking force of the brake spring 60 is exerted. When the first end portion pressing or the second end portion 62 of the brake spring 60 makes such a movement, the brake spring 60 is deformed so as to change its diameter, and a braking action is generated.

  The moving member-side auxiliary pressing portion 54b has a moving member-side third pressing portion 543 and a moving member-side fourth pressing portion 544 at both ends separated in the circumferential direction. The moving member-side third pressing portion 543 and the moving member-side fourth pressing portion 544 are moved by the relative movement of the driving portion-side rotating member 52 and the moving member-side rotating member 54, and the driving portion-side third pressing portion 523 and the driving portion are moved. Or by the side fourth pressing portion 524.

  The moving member side connection portion 54c is joined at right angles to the base end of the spindle 58, and the moving member side main pressing portion 54a and the moving member side auxiliary pressing portion 54b move circumferentially around the spindle 58. In the present embodiment, the moving member side connection portion 54c is formed in a tubular shape, and the spindle 58 is internally fitted and joined.

  The shape of the rotating member main body 540 that connects the moving member side connection portion 54c with the moving member side main pressing portion 54a and the moving member side auxiliary pressing portion 54b is such that the moving member side rotating member 54 is moved toward the moving member 20 and the driving member side. Any structure may be used as long as the rotational force of the rotating member 52 is transmitted to the moving member 20 as a driving force. The rotating member main body 540 is preferably plate-shaped, like the drive unit side main body 520, in order to reduce the thickness in the axial direction. As shown in FIG. Formed.

  In the present embodiment, the driving member 40 is disposed on the base end side of the operation support device 1, and the output shaft 42 of the motor and the spindle 58 are coaxial and the driving unit side rotating member 52 and the moving member side rotating member 54 Connected through.

The spindle 58 is rotated by rotation of the output shaft 42 of the motor.
The spindle 58 is arranged to extend in the moving direction of the moving member 20. In the present embodiment, the spindle 58 is disposed inside the rail portion 14 along the direction in which the rail portion 14 extends, and is screwed to the nut member 25.
The spindle 58 is disposed on the same axis as the output shaft 42 of the motor of the driving member 40 in the rail portion 14, but is not limited thereto, and may not be disposed on the same axis. The motor may be arranged in parallel with the output shaft 42 of the motor through a gear or the like, or may be arranged in a direction crossing the gear so that the rotational force of the motor is transmitted to the moving member 20 as a driving force.

<Brake spring 60 of transmission member 50>
The brake spring 60 is engaged with the driving unit side rotating member 52 and the moving member side rotating member 54. The brake spring 60 rotates together with the moving member side rotating member 54 by the rotation of the driving unit side rotating member 52. That is, the brake spring 60 rotates by rotation from the drive member 40 side, which is rotation of the drive unit side rotation member 52 that has received rotation of the drive member 40.

The brake spring 60 rotates integrally with the moving member side rotating member 54 by the rotation from the driving member 40 side, so that the rotation of the moving member side rotating member 54 due to the rotating force of the driving member 40 is not hindered.
The brake spring 60 generates a braking force against the rotation of the moving member side rotating member 54 depending on the rotation of the moving member side rotating member 54. For example, when the brake spring 60 receives the rotation of the moving member-side rotating member 54 that has received the rotation of the moving member, here the rotation from the moving member 20, the brake spring 60 acts to stop the rotation. The brake spring 60 brakes the rotation from the moving member 20 side and does not transmit the rotation to the drive unit side rotating member 52 side. Accordingly, rotation from the moving member 20 side is not transmitted to the driving member 40 via the driving unit side rotating member 52, and the driving unit side rotating member 52 is not rotated by rotation from the moving member side. .

  The movement of the moving member 20 of the brake spring 60 is regulated by the rotation of the moving member side rotating member 54 due to the force input to the moving member 20 when the driving member 40 is not driven. Further, in the state in which the moving member 20 is regulated by the brake spring 60, the moving member side rotating member 54 is rotated by the rotation of the driving unit side rotating member 52 in the same direction as the rotation direction of the moving member side rotating member 54. By rotating the drive unit side rotating member 52, the restricted state is released and the moving member 20 moves.

The brake spring 60 does not generate a braking force with respect to a force input from one of the driving unit side rotating member 52 and the moving member side rotating member 54, transmits the braking force to the other side, and is input from the other side. A braking force is generated for the force and is not transmitted to one side.
In the present embodiment, one side is on the driving member 40 side, the other side is on the moving member 20 side, and the force input from the other side is an external force input via the moving member 20. Since the urging member 70 moves the moving member 20 in the ascending direction, the external force input via the moving member 20 is a force input against the urging force of the urging member 70, and this force is When input from the side 20, a braking force is generated.

The brake spring 60 has a diameter that is an outer diameter or an inner diameter that can be expanded and contracted, and exerts a braking force when the diameter changes, such as an increase or decrease in the diameter. The brake spring 60 does not increase in diameter when a force is input from one of the driving member 40 side and the moving member 20 side, but expands in diameter when a force is input from the other side.
The brake spring 60 generates a braking force against the force input from the other by expanding the diameter by the input of the force from the other. The expansion and contraction of the brake spring 60 causes engagement with a member that does not rotate with respect to the base body 10, so that the brake spring 60 functions as a braking member.
When the diameter of the brake spring 60 is increased, the brake spring 60 contacts the outside and generates a braking force due to frictional resistance. When the diameter of the brake spring 60 is not increased, the brake spring 60 rotates together with the driving unit side rotating member 52 and the moving member side rotating member 54 which are engaged without contacting the outside.

In the present embodiment, the outside that comes into contact when the brake spring 60 expands in diameter is the housing 17 that houses the brake spring 60 as shown in FIG. The housing 17 is provided on the base 10.
The diameter of the brake spring 60 is increased by the rotation of the moving member side rotating member 54. The outer diameter of the expanded brake spring 60, that is, the outer surface 60a of the brake spring 60 comes into frictional contact with the inner surface 17a of the housing 17, whereby the rotation of the brake spring 60 itself is restricted, and the rotation of the moving member side rotating member 54 is braked. I do.
In the present embodiment, the brake spring 60 is constituted by one torsion spring. The brake spring 60 can exert a braking force by rotation of the moving member-side rotating member 54 when an external force is input from the moving member 20 due to the urging force of the urging member 70 or a load from the moving object. .

  As shown in FIG. 9, the brake spring 60 includes a first end 61 which is one end bent at both ends of the coil 63 in the winding direction of the coil 63 and a second end which is the other end. 62. The first end portion 61 and the second end portion 62 of the brake spring 60 according to the present embodiment are formed by bending inward with respect to the winding direction of the coil portion 63, but are bent outward. A curved configuration may be used. The brake spring 60 is deformed by separating the first end portion 61 and the second end portion 62 in the winding direction of the coil portion 63, and the coil portion 63 expands in diameter. When the first end portion 61 and the second end portion 62 approach each other along the winding direction of the coil portion 63, the brake spring 60 is deformed, and the diameter of the coil portion 63 is reduced.

  The brake spring 60 is arranged in the housing 17 between the driving unit side rotating member 52 and the moving member side rotating member 54 so as to be rotatable in the circumferential direction around the rotation axis, and when the brake spring 60 is rotated in the circumferential direction. The first end 61 and the second end 62 are arranged so as to be able to engage with the driving unit side rotating member 52 and the moving member side rotating member 54. In the present embodiment, the brake spring 60 is provided in a state of being engaged with the moving member side rotating member 54.

As shown in FIG. 5, the first end 61 of the brake spring 60 is disposed between the moving member side first pressing part 541 and the driving part side first pressing part 521, and the second end of the brake spring 60 is provided. 62 is arranged between the moving member side second pressing portion 542 and the driving portion side second pressing portion 522.
When the first end 61 and the second end 62 move in the approaching direction, the coil portion 63 (see FIG. 9) of the brake spring 60 is reduced in diameter, and the first end 61 and the second end 62 are separated. When moved in the separating direction, the coil portion 63 of the brake spring 60 expands in diameter.

  Although the brake spring 60 is constituted by a torsion spring, it may be constituted by a flat wire, a leaf spring or the like, regardless of this, or constituted by a plurality of torsion springs each having a coil portion 63. Is also good. If the brake spring 60 is formed by a flat line, the moving member-side first pressing portion 541, the driving portion-side first pressing portion 521, the moving member-side second pressing portion 542, and the driving portion-side second pressing portion 522 are lined. Since contact or surface contact can be made, the contact portion becomes larger than point contact. Accordingly, when the moving member-side first pressing portion 541, the driving portion-side first pressing portion 521, the moving member-side second pressing portion 542, and the driving portion-side second pressing portion 522 contact and press the brake spring 60, The brake spring 60 can be reliably expanded and contracted to exert the braking force, or the braking force can be released.

  Further, in the present embodiment, the brake spring 60 is configured to exert a braking force when the diameter is increased. However, a cylindrical portion that is in frictional contact with the outer surface when the diameter is reduced is provided on the inner diameter side so that the brake spring 60 May be configured to exert a braking force.

<Operation support operation of operation support device 1>
FIG. 10 shows a case where the drive unit-side rotating member 52 side is driven to rotate. FIG. FIG. 4 is a diagram schematically illustrating a main part configuration of a member 50.

  As shown in FIG. 10A, the reference position of the brake spring 60, here, the state in which the brake spring 60 is not pressed is, for example, the moving member 20 is positioned at the base end side (the handle portion 26 in FIG. The position is an intermediate position between the position indicated by the solid line) and the position on the terminal side (the position of the handle portion 26 indicated by the broken line).

  In this position, the driving member 40 is driven. Specifically, the motor of the drive member 40 is driven in one direction, for example, in the forward rotation direction, and the output shaft 42 is rotationally driven in the forward rotation. Then, as shown in FIG. 10A, the drive unit side rotating member 52 connected to the output shaft 42 is driven in the same direction as the output shaft 42 (counterclockwise in the figure) by the driving force from the driving member 40. (The direction of the arrow D1).

  When the driving unit side rotating member 52 rotates in the direction of arrow D1 which is counterclockwise, the driving unit side first pressing portion 521 of the driving unit side rotating member 52 moves in a direction approaching the first end 61 of the brake spring 60. I do. At the same time, the driving unit side third pressing unit 523 of the driving unit side rotating member 52 moves in a direction approaching the moving member side third pressing unit 543 of the moving member side auxiliary pressing unit 54b.

  Next, as shown in FIG. 10B, the driving unit-side first pressing unit 521 presses the first end 61, and the driving unit-side third pressing unit 523 presses the moving member-side third pressing unit 543. . When the drive unit side first pressing unit 521 presses the first end 61, the brake spring 60 is moved in the direction in which the coil unit 63 of the brake spring 60 is reduced in diameter by the movement of the drive unit side first pressing unit 521. Pressing force is applied.

  Next, the driving unit-side rotating member 52 presses the moving member-side first pressing unit 541 via the first end 61 with the driving unit-side first pressing unit 521, and the moving member-side main pressing unit 54a is moved in the circumferential direction. (In the direction indicated by the arrow D2), and the second end portion 62 is pressed by the moving member-side second pressing portion 542. At the same time, the movable member side auxiliary pressing portion 54b is moved in the arrow D2 direction which is the circumferential direction by the moving member side third pressing portion 543 pressed by the driving portion side third pressing portion 523.

  As a result, the brake spring 60 rotates together with the drive unit-side rotating member 52 without increasing the diameter, and the moving member-side rotating member 54 also rotates. Thereby, the spindle 58 connected to the moving member side rotating member 54 rotates, and the spindle 58 rotates the nut member 25 screwed to the external thread formed on the outer periphery thereof.

  Since the movement of the moving member 20 having the nut member 25 around the axis that is the rotation direction of the spindle 58 is restricted by the rail portion 14, the nut member 25 moves on the spindle 58 in the axial direction of the spindle 58. Accordingly, the moving member 20 also moves.

  When the moving member 20 moves to the terminal side, the moving member 20 moves up with respect to the base 10. Thereby, when the user performs an operation when standing up using the walking support device 100, even if a load is applied to the moving member 20 via the handle portion 26, the moving member 20 is moved against the load. By raising the handle portion 26 with the handle, the operation can be supported.

  Further, since the moving member 20 is urged by the urging member 70 in the ascending direction, the driving member 40 is driven and the user's rising operation is performed by the urging force of the urging member 70 against the load of the user. And can support walking.

  Further, the upward movement of the moving member 20 is assisted by the upward urging force of the urging member 70, and therefore, when the motor of the driving member 40 for raising the moving member 20 is rotationally driven by the spindle 58, A load that intersects with the shaft to be screwed is less likely to be applied to the screwed portion with the nut member 25, and the load applied to the screwed portion can be reduced.

  In addition, since the load on the spindle 58 or the rail portion 14 along the moving direction during the movement of the moving member 20 is reduced, the moving member 20 can be smoothly moved. Here, when the moving member 20 moves from the base end side to the end side by driving the driving member 40, the moving member 20 is stably moved while reducing the driving force of the driving member 40 by the urging force of the urging member. Can be. In other words, the urging member 70 assists the movement of the moving member 20 to the end side, which is the urging direction, so that the driving force of the motor when the moving member 20 moves in the urging direction can be reduced, and Electrical energy can be reduced. In other words, a degree of freedom can be given to a configuration in which a battery is mounted to supply electric energy to the motor, and the range of design as the drive member 40 is widened, so that the size and weight can be reduced.

  FIG. 11 is a diagram schematically illustrating a main configuration of a transmission member 50 viewed from a proximal end side for describing a reverse rotation operation of the driving unit side rotation member 52 in the operation support device according to the embodiment of the present invention. It is.

  In the case where the motor of the driving member 40 is driven in the reverse direction, the rotation of the driving member 40 causes the driving unit side rotating member 52 connected to the output shaft 42 of the driving member 40 to rotate as shown in FIG. , From the reference position in the same direction as the output shaft 42 (the clockwise arrow -D1 direction).

  When the driving unit-side rotating member 52 rotates in the clockwise direction indicated by the arrow -D1, the driving unit-side second pressing unit 522 of the driving unit-side rotating member 52 is moved to the second end 62 that is the other end of the brake spring 60. Move in the approaching direction. At the same time, the drive unit side fourth pressing portion 524 of the drive unit side rotating member 52 moves in a direction approaching the moving member side fourth pressing portion 544 of the moving member side auxiliary pressing portion 54b.

  Next, as shown in FIG. 11B, the driving unit side second pressing unit 522 presses the second end 62, and the driving unit side fourth pressing unit 524 presses the moving member side fourth pressing unit 544. . When the drive unit side second pressing unit 522 presses the second end 62, the brake spring 60 is moved in the direction in which the coil unit 63 of the brake spring 60 is reduced in diameter by the movement of the drive unit side second pressing unit 522. Pressing force is applied.

  Next, the driving unit-side rotating member 52 presses the moving member-side second pressing unit 542 with the driving unit-side second pressing unit 522 via the second end 62, and the moving member-side main pressing unit 54a is moved in the circumferential direction. (The direction indicated by the arrow -D2), and the first end portion 61 is pressed by the first pressing portion 541 on the moving member side. At the same time, the moving member-side auxiliary pressing portion 54b is moved in the circumferential direction indicated by the arrow -D2 by the moving member-side fourth pressing portion 544 pressed by the driving portion-side fourth pressing portion 524.

  As a result, the brake spring 60 rotates together with the drive unit-side rotating member 52 without increasing the diameter, and the moving member-side rotating member 54 also rotates. Thus, the spindle 58 connected to the moving member side rotating member 54 rotates clockwise, which is the reverse rotation, to rotate the nut member 25 screwed to the external thread formed on the outer periphery thereof.

  Since the movement of the moving member 20 having the nut member 25 around the axis that is the rotation direction of the spindle 58 is restricted by the rail portion 14, the nut member 25 moves on the spindle 58 in the axial direction of the spindle 58. Accordingly, the moving member 20 also moves.

  When the moving member 20 moves to the base end side, the moving member 20 descends with respect to the base 10.

  Accordingly, when performing an operation of lowering the object leaning on the handle portion 26 using the motion support device 1, a load greater than the urging force of the urging member 70 is applied to the moving member 20 via the handle portion 26. Is applied, the moving member 20 is moved by the driving force of the driving member 40 to lower the handle 26 in a state where the load from the object is reduced by the urging force of the urging member 70 with respect to the load. This can support the operation. Further, even when the target object is lifted by the operation support device 1, the moving member 20 is not raised by the urging force of the urging member 70 by the brake spring 60, and the driving member 40 is driven by the moving member 20. Accordingly, the moving member 20 is moved by the driving force of the driving member 40 and the urging force of the urging member 70.

-When the moving member-side rotating member 54 is driven to rotate by an external force Fig. 12 is a view from the base end side for explaining the forward rotation operation of the moving member-side rotating member 54 in the operation support device according to the embodiment of the present invention. FIG. 5 is a diagram schematically illustrating a configuration of a main part of a transmission member 50 according to the first embodiment.

  For example, at the reference position of the brake spring 60 shown in FIG. 12A, the moving member side rotating member 54 rotates counterclockwise in the direction of arrow D2 by receiving an external force such as a load of the user via the moving member 20. .

  Then, as shown in FIG. 12B, the moving member-side second pressing portion 542 of the moving member-side main pressing portion 54a rotates in the direction of arrow D2 to approach the second end portion 62 of the brake spring 60. Go to At the same time, the moving member-side fourth pressing portion 544 of the moving member-side auxiliary portion pressing portion 54b moves in a direction approaching the driving portion-side fourth pressing portion 524.

  Next, the moving member-side second pressing portion 542 presses the second end 62, and the second end 62 is pressed by the moving member-side second pressing portion 542 together with the moving member-side second pressing portion 542. Moving. The moving member-side fourth pressing portion 544 presses the driving portion-side fourth pressing portion 524.

  At this time, the pressing force from the moving member side rotating member 54 side is not applied to the first end 61 of the brake spring 60, and the first end 61 and the second end 62 of the brake spring 60 are arranged in the circumferential direction. To move away. As a result, a pressing force is applied to the brake spring 60 in a direction to expand the diameter, and the brake spring 60 is deformed and expanded.

  As shown in FIG. 12B, the outer surface 60a of the expanded brake spring 60 comes into contact with the inner surface 17a of the housing 17 to generate frictional resistance.

  Due to this frictional resistance, a resistance to the pressing force of the moving member-side second pressing portion 542 and the moving member-side fourth pressing portion 544 is generated, and when the resistance exceeds the pressing force, the moving member-side second pressing portion 542 and The movement of the movable member-side fourth pressing portion 544 stops, that is, the rotational movement of the movable member-side rotating member 54 stops. Thus, the pressing force from the moving member-side rotating member 54 is not transmitted to the driving unit-side rotating member 52.

  Therefore, when the driving member 40 is not driven, the rotation of the moving member-side rotating member 54 is regulated by the rotation of the moving member-side rotating member 54 generated by an external force, that is, the force input to the moving member 20, whereby the spindle The movement of the nut member 25 screwed to the spindle 58 is stopped by restricting the rotation of the 58, and the movement of the moving member 20 itself is regulated.

  FIG. 13 is a diagram schematically illustrating a main configuration of the transmission member 50 viewed from the proximal end side for describing the reverse rotation operation of the moving member side rotation member 54 in the operation support device according to the embodiment of the present invention. It is.

  For example, at the reference position of the brake spring 60 shown in FIG. 13A, the moving member-side rotating member 54 rotates clockwise in the direction of arrow -D2 by receiving an external force such as a load of the user via the moving member 20. .

  Then, as shown in FIG. 13B, the moving member-side first pressing portion 541 of the moving member-side main pressing portion 54a rotates in the direction of the arrow -D2, and approaches the first end portion 61 of the brake spring 60. Move in the direction. At the same time, the moving member-side third pressing portion 543 of the moving member-side auxiliary portion pressing portion 54b moves in a direction approaching the driving portion-side third pressing portion 523.

  Next, the moving member-side first pressing portion 541 presses the first end 61, and the first end 61 is pressed by the moving member-side first pressing portion 541 together with the moving member-side first pressing portion 541. Moving. The moving member-side third pressing portion 543 presses the driving portion-side third pressing portion 523.

  At this time, the pressing force from the moving member side rotating member 54 side is not applied to the second end 62 of the brake spring 60, and the first end 61 and the second end 62 of the brake spring 60 are arranged in the circumferential direction. To move away. As a result, a pressing force is applied to the brake spring 60 in a direction to expand the diameter, and the brake spring 60 is deformed and expanded.

  As shown in FIG. 13B, the outer surface 60a of the expanded brake spring 60 comes into contact with the inner surface 17a of the housing 17 to generate frictional resistance.

  Due to this frictional resistance, a resistance to the pressing force of the moving member-side first pressing portion 541 and the moving member-side third pressing portion 543 is generated, and when the resistance exceeds the pressing force, the moving member-side first pressing portion 541 and The movement of the movable member-side third pressing portion 543 stops, that is, the rotational movement of the movable member-side rotating member 54 stops. Thus, the pressing force from the moving member-side rotating member 54 is not transmitted to the driving unit-side rotating member 52.

  Therefore, when the driving member 40 is not driven, the rotation of the moving member-side rotating member 54 is regulated by the rotation of the moving member-side rotating member 54 generated by an external force, that is, the force input to the moving member 20, whereby the spindle The movement of the nut member 25 screwed to the spindle 58 is stopped by restricting the rotation of the 58, and the movement of the moving member 20 itself is regulated.

  As described above, the external force is applied to the moving member 20, specifically, the external force is applied in a direction in which the moving member 20 descends or ascends, for example, when the weight of the user applied to the handle portion 26 or when a load is placed on the handle portion 26. Even in the case where it is added, it is possible to prevent the handle portion 26 from suddenly ascending or descending. In particular, when the moving member 20 descends, the urging force of the urging member 70 is opposed to the urging force of the urging member 70. Therefore, the external force applied to the moving member 20 in the descending direction is larger than the urging force of the urging member 70. In this case, by restricting the rotation of the moving member side rotating member 54 side, the lowering is prevented.

  Further, since the spindle 58 does not rotate, the movement of the moving member 20 is also suppressed by the self-restraining function of the spindle 58 and the nut member 25, and the moving member 20 is held at the stopped position.

<Summary of effects>
The urging member 70 urges the moving member 20 in the ascending direction, and the brake spring 60 prevents the moving member 20 from descending due to a force input to the moving member 20, for example, the weight of the user. Even if the weight is applied to the moving member 20, the moving member 20 can be supported by the driving force of the driving member 40 without lowering. Thereby, the moving member 20 can be moved up and down without increasing the driving force by the driving member 40.

  The embodiment of the invention has been described. The above description is an illustration of a preferred embodiment of the present invention, and the scope of the present invention is not limited to this. That is, the description of the configuration of the device and the shape of each part is merely an example, and it is apparent that various modifications and additions to these examples are possible within the scope of the present invention.

  The operation support device according to the present invention has an effect that the moving member can be moved up and down without increasing the driving force by the driving member, and is used as a fitting such as a window having a plurality of pull-down opening and closing bodies. Useful.

DESCRIPTION OF SYMBOLS 1 Operation | movement support apparatus 10 Base | substrate 12 Substrate movement auxiliary member 14 Rail part 17 Housing 20 Moving member 21 Frame 22a Projection part 23 Bolt 24 Support part 25 Nut member 26 Handle part 40 Drive member 42 Output shaft 44 Stator 46 Rotor 50 Transmission member 52 Drive Part-side rotating member 54 Moving member-side rotating member 58 Spindle 60 Brake spring 61 First end 62 Second end 70 Biasing member 100 Walking support device 141 Upper end side movement restricting part 142 Slit 520 Driving part side body 521 Driving part side 1st pressing part 522 Driving part side second pressing part 523 Driving part side third pressing part 524 Driving part side fourth pressing part 52a Main notch part 52b Auxiliary notch part 540 Rotating member main body 541 Moving member side first pressing part 542 Movement Member-side second pressing portion 543 Moving member-side third pressing portion 544 Moving member-side fourth pressing portion 54a Moving member-side main pressing portion 54b Moving member-side auxiliary pressing portion 54c Moving member-side connecting portion

Claims (3)

A substrate;
A moving member that moves up and down with respect to the base;
A driving member for generating a driving force for moving the moving member up and down,
A transmission member for transmitting a driving force of the driving member to the moving member with respect to the moving member,
An urging member connected to the base and the moving member and urging the moving member in a rising direction is provided,
The transmission member,
On the driving member side, a driving unit side rotating member that is rotated by driving of the driving member is provided,
A moving member-side rotating member that transmits a rotational force of the driving unit-side rotating member to the moving member as a driving force,
The driving unit-side rotating member and the moving member-side rotating member engage with each other, rotate together with the moving member-side rotating member by the rotation of the driving unit-side rotating member, and rotate by the rotation of the moving member-side rotating member. And a brake spring that generates a braking force against
In the brake spring, the movement of the moving member is regulated by rotation of the moving member-side rotating member due to a force input to the moving member in a non-driven state of the driving member, and in the regulated state of the moving member, In the same direction as the rotation direction of the rotation of the moving member side rotating member, the moving member moves by rotating the driving unit side rotating member by the driving member,
Motion support device. A housing for housing the brake spring,
The brake spring expands in diameter by the rotation of the moving member side rotating member, and the housing and the outer periphery of the brake spring come into frictional contact,
The operation support device according to claim 1. The drive member has a motor whose output shaft is connected to the drive unit side rotation member,
The transmission member has a spindle that is rotated by the drive of the motor that is transmitted through the moving member-side rotating member and the driving unit-side rotating member,
The moving member includes a nut member provided on the spindle and moving along the axial direction of the spindle by rotation of the spindle.
The operation support device according to claim 1 or 2.

Images