JP6715793B2 - Assist suit - Google Patents

Description

The present invention relates to an assist suit capable of assisting an operation of a worker.

For example, Patent Document 1 describes a conventional assist suit. The assist suit includes a main body part attached to the back of the worker (“frame structure” in the same document), a drive device (“thigh drive motor” in the same document) that can assist the motion of the worker, and a drive device. And a setting switch (“− button” and “+ button” in the same document) by which the assist characteristic (“assist force” in the same document) can be manually set.

JP, 2015-47313, A

By the way, it is assumed that the assist suit is used for renting such as leasing. In such a case, for a plurality of assist suits, it is complicated to manually operate the setting switch a plurality of times in order to cancel the assist characteristics individually set by the operator, as in the above-described conventional technique. On the other hand, it is not preferable that the setting of the assist characteristic is canceled by an erroneous operation while the worker is using the assist suit.

In view of the above circumstances, it has been desired to provide an assist suit that can cancel the setting of the assist characteristic without trouble and can prevent the setting of the assist characteristic from being canceled by an erroneous operation during use.

The assist suit of the present invention is
A body part attached to the back of the worker,
A drive device that can assist the movement of the worker,
A setting switch capable of manually setting the assist characteristic by the drive device,
A release switch capable of manually releasing the setting of the assist characteristic by the setting switch is provided,
The release switch is arranged at a position biased to one side with respect to the left-right center of the main body, and the setting switch is arranged at a position biased to the other side with respect to the left-right center of the main body.

According to the present invention, the assist characteristic of the drive device can be set to an appropriate one according to, for example, the physique of an operator by manually operating the setting switch. Then, the set assist characteristic can be released without any trouble by only manually operating the release switch without manually operating the setting switch a plurality of times. Moreover, since the release switch is arranged on the side opposite to the setting switch with respect to the center of the left and right of the main body, for example, an operator does not mistakenly operate the release switch by mistake. Thus, it is possible to prevent the setting of the assist characteristic from being canceled by an erroneous operation during use.
As described above, according to the present invention, it is possible to cancel the setting of the assist characteristic without trouble and to prevent the setting of the assist characteristic from being canceled by an erroneous operation during use.

In the present invention,
The release switch can be switched to another mode in which the assisting action is different by a short press operation, and the setting of the assist characteristic can be released by a long press operation having a pressing time longer than the short press operation. It is suitable.

According to this configuration, the release switch also serves as a switch for switching to another mode in which the assisting action is different, so that the structure is simplified as compared with, for example, one having a switch for switching the mode and a release switch separately. it can.

In the present invention,
The setting switch can be switched to an adjustment mode for adjusting the assist characteristic by pressing.
In the adjustment mode, it is preferable that the setting of the assist characteristic can be canceled by operating the cancel switch.

According to this configuration, in the normal mode, even if the release switch is operated, the setting of the assist characteristic is not released, and in the adjustment mode in which the switch is pressed by pressing the setting switch for a long time, the setting of the assist characteristic is manually performed by the release switch. It is possible to cancel. Therefore, it is possible to preferably prevent the setting of the assist characteristic from being canceled by an erroneous operation during use.

In the present invention,
It is preferable that when the release switch is operated, the assist characteristic is reset to a preset standard value.

According to this configuration, the assist characteristic is reset to the standard value set in advance simply by operating the release switch.For example, when managing a plurality of assist suits at a lending company such as a leasing company, the assist suits are managed. It is possible to perform the initialization work of the setting of with a little labor.

In the present invention,
As the drive device, a waist assist device capable of assisting the rising motion of the worker is provided,
The parameter that defines the assist characteristic of the hip assist device includes at least one of an upper limit angle and a lower limit angle in an angle range in which the hip assist device exerts an assisting force. It is preferable that at least one of the lower limit angle can be changed.

According to this configuration, the optimum range of the angle range in which the waist assist device exerts the assisting force varies depending on, for example, the physique of the worker. As the assist characteristic of the hip assist device, at least one of an upper limit angle and a lower limit angle of the angle range can be changed based on a manual operation of a setting switch. By operating the release switch, the setting of the angular range of the hip assist device can be easily released.

In the present invention,
As the drive device, an arm assist device capable of assisting the lifting operation of the target object by suspending the target object is provided,
The parameter that defines the assist characteristic of the arm assist device includes at least one of an upper limit height and a lower limit height in a height range of a hanging position of an object that causes the arm assist device to exert an assisting force. In the adjustment mode, it is preferable that at least one of the upper limit height and the lower limit height can be changed.

According to this configuration, the optimum range of the height range of the hanging position of the target object that causes the arm assist device to exert the assisting force varies depending on, for example, the type of work. As the assist characteristic relating to the arm assist device, at least one of the upper limit height and the lower limit height of the height range can be changed based on a manual operation of the setting switch. By operating the release switch, the setting of the height range related to the arm assist device can be easily released.

In the present invention,
When the release switch is operated, both the setting of the assist characteristic of the hip assist device as the drive device and the setting of the assist characteristic of the arm assist device as the drive device are released at once. It is suitable.

According to this configuration, for example, by operating the release switch, only one of the release of the setting of the assist characteristic related to the hip assist device and the release of the setting of the assist characteristic related to the arm assist device is performed. In comparison, the operation of completely releasing the assist characteristics that can be set in the assist suit can be performed with less effort.

It is a side view which shows the assist suit with which the worker was equipped. FIG. 7 is a rear view showing the assist suit worn by the worker. It is a perspective view showing an assist suit. It is a top view which shows the switch case on the right. It is a top view which shows the switch case on the left. It is a block diagram which shows the control structure of an assist suit. 9 is a flowchart showing a flow of operations when canceling the assist characteristic.

An embodiment, which is an example of the present invention, will be described below with reference to the drawings. In addition, in the following description, notation regarding directions such as “up”, “down”, “front”, “rear”, “left”, and “right” is based on the viewpoint of the worker wearing the assist suit. I am trying.

[Basic structure of assist suit]
The assist suit shown in FIGS. 1 to 3 and the like is attached to the body of an operator, and is capable of giving an assisting force for assisting the operation of raising and lowering an object (load) by the operator.

As shown in FIGS. 1 to 3, the assist suit includes a main body 1 attached to the back (back) side of the worker and supported by the body of the worker, and a drive device capable of assisting the motion of the worker. A, a control device 4 that controls the drive device A, a battery 5 that can supply power to an electrical system related to the drive device A, and the like are provided.

As shown in FIGS. 1 to 3, as the drive device A, an arm assist device 2 that assists a change operation of a height position of a load, which is an example of an object, and supports muscle force of an arm portion, a bending portion of a leg portion. A waist assist device 3 that assists the stretching operation and supports the muscle strength of the waist and legs is provided.

As shown in FIGS. 1 to 3, the main body 1 is formed by assembling a plurality of members in a frame shape. In addition, the main body 1 is provided with a pair of left and right vertical frames 6, a vertical plate-shaped support frame 7 that connects the left and right vertical frames 6 to each other, and the like. An arm assist device 2, a waist assist device 3, a control device 4, and a battery 5 are supported by the main body 1.

As shown in FIGS. 1 and 3, left and right shoulder belts 8 and waist belts 9 are provided on the front surface side of the support frame 7. The worker attaches the main body 1 to the body by hanging the waist belt 9 around the waist through the arms corresponding to the left and right shoulder belts 8 and wrapping the waist belt 9 around the waist. As a result, as shown in FIGS. 1 and 2, the worker can wear the assist suit while carrying the main body 1 on the back side.

[About arm assist device]
As shown in FIGS. 1 and 2, the arm assist device 2 is capable of suspending a load and assisting the lifting operation of the load. The arm assist device 2 is a winch type device capable of suspending a load. The arm assist device 2 includes left and right arm portions 10 that determine a hanging fulcrum of the load, two left and right hanging cords 11 for hanging the load, and left and right hand portions 12 for holding the load. A reel mechanism 13 for feeding and winding the suspended cord 11, an elevating motor 14 for rotationally driving the reel mechanism 13, a speed change mechanism 15 for changing the power of the elevating motor 14 and transmitting it to the reel mechanism 13, and a reel. The mechanism 13 is provided with an electromagnetic brake 16 and the like that can apply a braking force.

As shown in FIGS. 1 and 2, the left and right arm portions 10 extend from the upper ends of the left and right vertical frames 6 in the main body portion 1 toward the front upper side. As shown in FIG. 1, the left and right arm portions 10 extend laterally to the head of the worker who is wearing them and extend to a position located above and above the head of the worker. As shown in FIG. 2, the left and right arm portions 10 are provided in such a manner that the distance between them is increased toward the front. As shown in FIG. 1, rotatable pulleys 17 are provided at the upper end portions (front end portions) of the left and right arm portions 10, respectively.

As shown in FIGS. 1 and 2, each hanging cord-shaped body 11 is provided with a tubular outer 18 and an inner wire 19 partially covered by the outer 18. One end of each inner wire 19 is fixed to the reel mechanism 13, an intermediate part is bridged over the pulley 17 of the arm 10, and the hand 12 is attached to the other end. Each outer 18 covers a portion of the corresponding inner wire 19 near the reel mechanism 13 to a portion of the arm 10 near the pulley 17.

As shown in FIG. 2, the left and right hand parts 12 are symmetrical with each other. The left and right hand portions 12 can support the load by being hooked on the handle portion of the load. The left and right hand parts 12 are suspended by two inner wires 19, respectively. One of the two inner wires 19 bears the load of the load engaged with the hand portion 12. On the other hand, the remaining inner wire 19 of the two wires is basically not applied with tension, and when one inner wire 19 that bears the load is defective, it bears the load of the load and prevents the load from falling. It has become a thing.

As shown in FIGS. 1 and 2, stoppers 20 for restricting excessive winding of the inner wire 19 are provided above the left and right hand portions 12, respectively.

The lifting/lowering motor 14 shown in FIGS. 1, 2, and 6 is an electric motor, and is driven by the electric power supplied from the battery 5 based on a command from the control device 4. The power of the elevating motor 14 is changed (decelerated) by the speed change mechanism 15, and the reel mechanism 13 is rotationally driven by the changed power. By rotating the reel mechanism 13, the inner wire 19 is taken up and unwound, whereby the left and right hand parts 12 that support the load are raised and lowered.

The electromagnetic brake 16 shown in FIGS. 1, 2, and 6 is configured as a so-called negative brake that exerts a braking force when not energized. To add to the description, the electromagnetic brake 16 exerts a braking force to prevent the reel mechanism 13 from rotating when the power is not supplied from the battery 5 to prevent the left and right hand parts 12 from being raised and lowered, while the battery 5 When the electric power is supplied from the device, the application of the braking force is released, the rotational drive of the reel mechanism 13 is allowed, and the left and right hand parts 12 can be raised and lowered.

As shown in FIG. 2, the reel mechanism 13, the lifting motor 14, the speed change mechanism 15, and the electromagnetic brake 16 are collectively attached to the rear surface of the upper portion of the support frame 7. The control device 4 is attached to the rear surface of the intermediate portion of the support frame 7 below the parts related to the arm assist device 2. The battery 5 is attached to the rear surface of the lower portion of the support frame 7 located below the control device 4.

The arm assist device 2 is configured to perform assist between the upper limit height and the lower limit height set for the height of the hand portion 12 (load). That is, the arm assist device 2 is configured to perform assist in the height range set for the height of the hand portion 12 (load). The arm assist device 2 basically keeps the state of the reel mechanism 13 in position so as to maintain the height of the hand portion 12 (load) by the action of the electromagnetic brake 16 while the assist is not performed. Has become.

[About waist assist device]
The waist assist device 3 shown in FIGS. 1 to 3 and the like is capable of assisting the worker's standing up motion and the like. The hip assist device 3 includes a pair of left and right base cases 21, left and right leg motors 22, and leg arms 23 attached to the front ends of the respective base cases 21 so as to be swingable around a horizontal axis P oriented in the left-right direction. , A leg belt 25 having a hook-and-loop fastener 24 attached to each leg arm 23, and the like.

As shown in FIG. 3, the base case 21 has a substantially L shape when viewed from above. As shown in FIG. 2, the left and right base cases 21 are substantially symmetrical with each other. As shown in FIGS. 1, 2 and 6, each base case 21 has a leg motor 22 that drives a leg arm 23, and a drive mechanism that decelerates the power of the leg motor 22 and transmits the power to the leg arm 23. , And are housed respectively. As shown in FIG. 1, the left and right leg belts 25 are respectively attached to the legs of the worker by winding them around the thighs of the worker and bringing the hook-and-loop fasteners 24 into the engaged state. By driving the left and right leg motors 22, the corresponding leg arms 23 can be swung with respect to the base case 21. The driving force of each leg motor 22 is transmitted to the thigh of the operator via the corresponding leg arm 23 and leg belt 25.

Each of the left and right leg motors 22 is an electric motor composed of, for example, a servo motor or the like. The left and right leg motors 22 are each driven by the electric power supplied from the battery 5 based on a command from the control device 4.

The waist assist device 3 is configured to perform assist between the upper limit angle and the lower limit angle set for the arm angle of the leg arm 23 (the relative angle of the leg arm 23 with respect to the base case 21). That is, the waist assist device 3 is adapted to assist in the angle range set for the arm angle of the leg arm 23. In the hip assist device 3, the leg arm 23 can swing while the assist is not performed.

[About the up switch and down switch]
As shown in FIGS. 1 and 2, one of the left and right hand parts 12 (right side) has a raising switch 26, and the other hand part of the left and right hand parts 12 (left side). 12 is equipped with a lowering switch 27. The raising switch 26 and the lowering switch 27 are connected to the control device 4. The raising switch 26 is operated when lifting a load, and the lowering switch 27 is operated when lowering a load. Based on the operation of the up switch 26 or the down switch 27, the arm assist device 2 and the hip assist device 3 are cooperatively driven. When both the raising switch 26 and the lowering switch 27 are pressed at the same time, both the raising switch 26 and the lowering switch 27 are invalidated.

[Mode]
As shown in FIG. 6, the assist suit can switch between a normal mode in which the operator's motion can be assisted and an adjustment mode in which the assist characteristics can be adjusted in the normal mode. The parameters that define the assist characteristics of the arm assist device 2 include the upper limit height and the lower limit height in the height range of the hanging position of the object that causes the arm assist device 2 to exert the assisting force. The parameters that define the assist characteristics of the hip assist device 3 include the upper limit angle and the lower limit angle in the angular range in which the hip assist device 3 exerts the assisting force.

The normal mode includes a practice mode (first normal mode), a beginner's mode (second normal mode), and an advanced mode (third normal mode). The practice mode has the weakest assisting action of the drive unit A among the plurality of normal modes (the assist torque is small, the assisting speed is slow), and the assisting action of the drive unit A is strong in the order of the practice mode, the beginner mode, and the advanced mode. Become.

The adjustment modes include an arm adjustment mode in which the assist range of the arm assist device 2 can be adjusted and a waist adjustment mode in which the assist range of the hip assist device 3 can be adjusted. In the arm adjustment mode, at least one of the upper limit height and the lower limit height can be changed. In the waist adjustment mode, at least one of the upper limit angle and the lower limit angle can be changed.

[About left and right switch cases]
As shown in FIGS. 1, 2, and 4, a right switch case 36 is provided on the right outside of the right base case 21. As shown in FIGS. 2 and 4, a left switch case 40 is provided on the left outer side of the left base case 21. The left switch case 40 and the right switch case 36 are arranged so as to be laterally distributed around the main body 1.

As shown in FIG. 4, on the upper surface side of the right switch case 36, a push-operated power switch 38, a push-operated changeover switch 39 (corresponding to a “release switch”), and a power supply for displaying the state of the power supply. A lamp 28, a practice lamp 30 for displaying a practice mode, a beginner lamp 31 for displaying a beginner mode, and an advanced lamp 32 for displaying an advanced mode are provided.

As shown in FIG. 5, on the upper surface side of the left switch case 40, a push-operation type setting switch 41, an arm lamp 34 indicating that the arm adjustment mode is in effect, and a waist lamp 35 indicating that the waist adjustment mode is in effect. And are provided.

[Change switch and setting switch]
In the normal mode, the change-over switch 39 can be switched to a different mode having a different assist action from a plurality of normal modes by a short press operation. Specifically, each time the switch 39 is pressed for a short time, the practice mode, the beginner mode, and the advanced mode are sequentially switched from the normal mode. That is, in the normal mode, the changeover switch 39 functions as a manual operation switch for changing over the strength of the assisting action of the drive device A.

On the other hand, in the adjustment mode, the setting of the assist characteristic can be canceled by operating the changeover switch 39. Specifically, in the adjustment mode, by pressing the changeover switch 39 for a long time, which has a longer pressing time than for a short press operation, the setting of the assist characteristic set by the setting switch 41 can be canceled based on a manual operation. Has become. In addition, in the adjustment mode, if the changeover switch 39 is operated by pressing and holding it, the setting of the assist characteristic of the hip assist device 3 as the drive device A and the setting of the assist characteristic of the arm assist device 2 as the drive device A are performed. Both and are canceled at once. Here, in the adjustment mode, if the change-over switch 39 is pressed for a long time, the assist characteristic of the drive unit A is reset to a preset standard value. As the standard value, for example, an appropriate value can be set according to a condition such as a work mode that is frequently used, according to a request from a lending company such as a leasing company.

In the normal mode, the setting switch 41 can be switched from the normal mode to the adjustment mode by a short push operation. That is, the setting switch 41 is a switch that can be switched to an adjustment mode for adjusting the assist characteristic by a short push operation. In addition, in the adjustment mode, by short-pressing the setting switch 41, the arm adjustment mode and the waist adjustment mode among the adjustment modes can be switched.

Specifically, in the normal mode, by performing a short push operation of the setting switch 41, the normal mode can be switched to the arm adjustment mode of the adjustment mode. Further, in the arm adjustment mode, by performing a short push operation of the setting switch 41, the arm adjustment mode can be switched to the waist adjustment mode. In the waist adjustment mode, the waist adjustment mode can be switched to the normal mode by short-pressing the setting switch 41.

Further, in the arm adjustment mode of the adjustment modes, when the setting switch 41 is pressed for a long time, which is longer than the short pressing operation, a new setting of the assist characteristic (height range) of the arm assist device 2 is accepted. .. In this state, the electromagnetic brake 16 does not exert a braking force, and the inner wire 19 can be pulled out freely. When the hand portion 12 (load) is set to a desired height and the setting switch 41 is pressed again for a long time, a new upper limit height of the arm assist device 2 is set in correspondence with the height of the hand portion 12 (load). Or a new lower limit height is set. Thereby, the assist characteristic (height range) of the arm assist device 2 can be changed according to the operator's preference.

In the waist adjustment mode of the adjustment modes, when the setting switch 41 is pressed for a longer time than the short pressing operation, a new setting of the assist characteristic (angle range) of the waist assist device 3 is accepted. In this state, if the leg arm 23 is set to a desired arm angle and the setting switch 41 is pressed again for a long time, a new upper limit angle or a new upper angle of the hip assist device 3 is set in correspondence with the arm angle of the leg arm 23. A lower limit angle is set. Thereby, the assist characteristic (angle range) of the waist assist device 3 can be changed according to the preference of the operator.

As described above, the setting switch 41 is a switch that can manually set the assist characteristic of the drive device A.

As shown in FIG. 2, the change-over switch 39 is arranged at a position that is biased to one side (right side) with respect to the left-right center C of the main body 1. Further, the setting switch 41 is arranged at a position deviated to the other side (left side) with respect to the left-right center C of the main body 1. That is, the changeover switch 39 and the setting switch 41 are arranged so as to be laterally distributed about the left-right center C of the main body 1.

As shown in FIG. 6, the assist suit includes, as sensors, a lift motor sensor 42 that detects the rotation speed of the lifting motor 14, and a feed sensor that detects the feed amount of the inner wire 19 based on the rotation speed of the reel mechanism 13. 43, a leg motor sensor 44 for detecting the rotation speed of the leg motor 22, a leg angle sensor 45 for detecting the arm angle of the leg arm 23, and the like.

The leg motor sensor 44 and the lift motor sensor 42 are each composed of, for example, a rotary encoder. Further, the leg angle sensor 45 and the feeding sensor 43 are each configured by, for example, a potentiometer. As shown in FIG. 6, the output signals of the lifting motor sensor 42, the feeding sensor 43, the leg motor sensor 44, and the leg angle sensor 45 are input to the control device 4.

[Control configuration]
As shown in FIG. 6, the control device 4 stores a memory that stores information based on a power supply unit 47 that turns on and off power supply from the battery 5, detection results of sensors, and assist characteristics set in each normal mode. Unit 48, drive control unit 50 that controls the drive of drive device A, switching unit 51 that can switch various modes, canceling unit 52 that cancels the assist characteristics set in each mode, and display of various lamps is controlled. A display control unit 53 and the like are provided.

Based on the operation of the power switch 38, the power supply unit 47 can switch between an ON state in which the power of the battery 5 can be supplied to each element and an OFF state in which the power of the battery 5 is not supplied to each element.

The drive control unit 50 operates the battery 5 based on the parameter set to the mode selected from the normal modes stored in the storage unit 48 and the operation input of the ascending switch 26 and the descending switch 27. The electric power is used to control driving of the lifting motor 14 and the electromagnetic brake 16 of the arm assist device 2 and the leg motors 22 of the waist assist device 3.

Based on the operation input of the change-over switch 39, the switching unit 51 can selectively switch between the practice mode, the beginner's mode, and the advanced mode to be used from the normal mode exhibiting the assisting action. Further, the switching unit 51 can switch between the normal mode in which the assisting action is exerted and the adjustment mode in which the assisting characteristic of the drive device A is adjusted, based on the operation of the setting switch 41.

The release unit 52 operates all the drive devices A (arm assist device 2 and hip assist device 3) in all the modes included in the normal mode stored in the storage unit 48 by long-pressing the changeover switch 39 in the adjustment mode. The assist characteristics of are reset to their standard values.

The display control unit 53 controls the display states of the power supply lamp 28, the practice lamp 30, the beginner's lamp 31, the advanced lamp 32, and the arm lamp 34 based on the information input from the power supply unit 47, the switching unit 51, and the like. ..

[Basic operation mode of assist suit]
A basic operation mode of the assist suit having the above structure will be described.
For example, in the case of lifting a load placed on the ground or floor and transferring the load to a higher place, first, the lowering switch 27 is continuously pressed. As a result, in the arm assist device 2, the inner wire 19 is paid out from the reel mechanism 13 to lower the left and right hand parts 12, and after the left and right hand parts 12 are lowered to some extent, the leg arm 23 of the hip assist device 3 is moved to the knee. It is driven in the direction of bending the part to assist the squatting motion of the worker. After the left and right hand parts 12 are hooked on a load, the raising switch 26 is continuously pressed. Thereby, in the arm assist device 2, the inner wire 19 is wound around the reel mechanism 13 to raise the left and right hand parts 12 in a state of supporting the load, and the leg arms 23 of the waist assist device 3 are bent in the direction in which the knee part is bent. It is driven to assist the worker's standing up motion. As a result, the muscle force of the worker's arm is assisted by the arm assist device 2, and the muscle force of the worker's legs and waist is assisted by the waist assist device 3, so that the load can be easily lifted.

When the pushing operation of the raising switch 26 is stopped and the raising operation of the hand portion 12 is stopped, the braking force of the electromagnetic brake 16 is exerted and the left and right hand portions 12 supporting the load are maintained at a desired height. It Further, when the assist of the waist assist device 3 is completed, the leg arm 23 is in a swingable state. Before the left and right hand parts 12 of the arm assist device 2 are raised to the upper limit position, the hip assist device 3 completes the assisting of the rising motion, so the left and right hand parts 12 supporting the load are raised to a desired height. In this state, the worker can walk freely and move the load to a predetermined place without using much muscle force of the arm.

Then, when the load is placed at a predetermined place, the lowering switch 27 is continuously pressed. Thereby, the inner wire 19 is paid out from the reel mechanism 13 in the arm assist device 2, and the left and right hand parts 12 supporting the load are lowered. When the load is placed at a low height, the waist assist device 3 is also driven to assist the operator in squatting. When the load is placed on the predetermined place, the work of transferring the load is completed.

[About adjustment mode]
As described above, the adjustment modes shown in FIG. 6 include the arm adjustment mode in which the assist range of the arm assist device 2 can be adjusted and the waist adjustment mode in which the assist range of the hip assist device 3 can be adjusted.

In the arm adjustment mode, if the setting switch 41 is pressed for a long time (the pressing time is longer than that for a short pressing operation), the arm assist device 2 is ready for adjustment of the assist range. In this state, the electromagnetic brake 16 of the lifting motor 14 does not exert a braking force, and the lifting motor 14 generates a small torque on the winding side of the inner wire 19.

When the height of the hand portion 12 located at the tip of the inner wire 19 is set to a desired height and the setting switch 41 is pressed and held again, the feeding amount of the inner wire 19 corresponding to the height of the hand portion 12 at that time is It is set to the limit value. At this time, the value of the unwinding position of the inner wire 19 (the height of the hand portion 12 that supports the load) when the setting switch 41 is pressed and held again is the mechanical upper limit for unwinding the inner wire 19 and Whichever of the possible mechanical lower limits is closest is automatically determined. Specifically, when the value of the payout position of the inner wire 19 when the setting switch 41 is long pressed is close to the mechanical upper limit, the payout position of the inner wire 19 is set as a new upper limit value (upper limit height). Is set. On the other hand, when the value of the payout position of the inner wire 19 when the setting switch 41 is long pressed is close to the mechanical lower limit, the payout position of the inner wire 19 is set as a new lower limit value (lower limit height). .. However, a dead zone having a predetermined width is provided at the center between the mechanical upper limit and the mechanical lower limit, and the value of the extended position of the inner wire 19 when the setting switch 41 is long pressed is in the dead zone. , No new upper limit value or lower limit value is set. In this way, the height range of the arm assist device 2 can be arbitrarily set according to the physique of the worker who wears it and the preference of the worker.

In the waist adjustment mode, if the setting switch 41 is pressed and held, the adjustment of the angular range of the waist assist device 3 is accepted. When the arm angle of the leg arm 23 is set to a desired angle and the setting switch 41 is pressed and held again, the arm angle of the leg arm 23 at that time is set to the limit value. At this time, the arm angle of the leg arm 23 when the setting switch 41 is pressed and held again is one of the mechanical upper limit for raising the leg arm 23 and the mechanical lower limit for lowering the leg arm 23. It is automatically determined which one is closer to. Specifically, when the value of the arm angle of the leg arm 23 at the time of pressing and holding the setting switch 41 is close to the mechanical upper limit, the value of the arm angle of the leg arm 23 becomes a new upper limit value (upper limit). Angle). On the other hand, when the value of the arm angle of the leg arm 23 at the time of long-pressing the setting switch 41 is close to the mechanical lower limit, the value of the arm angle of the leg arm 23 is set as a new lower limit value. However, a dead zone having a predetermined width is provided at the center between the mechanical upper limit and the mechanical lower limit, and the value of the arm angle of the leg arm 23 when the setting switch 41 is long pressed is set to the dead zone. In some cases, no new upper limit value or lower limit value is set. In this way, the angle range of the waist assist device 3 can be arbitrarily set according to the physique of the worker who wears it and the preference of the worker.

The adjustment mode (arm adjustment mode, waist adjustment mode) is individually provided for each of the practice mode, the beginner mode, and the advanced mode.

[About the operation to cancel the setting of assist characteristics]
An example of the operation for canceling the setting of the assist characteristic will be described with reference to FIG. 7.
As shown in FIG. 7, when the power switch 38 is manually operated to turn on the power supply unit 47, the practice mode in which the assisting action is weakest in the normal mode is first set (#1). Next, when the setting switch 41 is short-pressed (#2; Yes), the adjustment mode (arm adjustment mode) is set (#3). Next, when the setting switch 41 is pressed for a long time, a new setting of the assist characteristic is accepted (#4; Yes). In this state, if the change-over switch 39 is pressed for a long time (#5; Yes), all the assist characteristics of the drive unit A are reset to standard values (#6). Next, when the setting switch 41 is pressed again for a long time (#7; Yes), the process returns and returns to the normal mode.

Here, in #5, as the assist characteristics of the drive unit A, the angle range (upper limit angle and lower limit angle) of the arm assist device 2 and the hip movement in all the normal modes of the practice mode, the beginner mode, and the advanced mode. The height ranges (upper limit height and lower limit height) of the assist device 3 are collectively reset to the corresponding standard values.

[Another embodiment]
Hereinafter, another embodiment in which the above embodiment is modified will be described. The following other embodiments can be applied in combination with a plurality of the above embodiments as long as no contradiction occurs. The scope of the present invention is not limited to the contents shown in each embodiment.

(1) In the above embodiment, the changeover switch 39 and the setting switch 41 are exemplarily arranged so as to be laterally distributed about the left-right center C of the main body 1, but the present invention is not limited to this. For example, the changeover switch 39 and the setting switch 41 may be arranged on the same side with respect to the left-right center C of the main body 1.

(2) In the above embodiment, when the changeover switch 39 is pressed and held in the adjustment mode, both the setting of the assist characteristic relating to the waist assist device 3 and the setting of the assist characteristic relating to the arm assist device 2 are collectively released. However, the present invention is not limited to this. For example, when the changeover switch 39 is operated in the adjustment mode, only the assist characteristic of the drive device A corresponding to the selected region in the region adjustment mode (leg adjustment mode or waist adjustment mode) in the adjustment mode is released. It may be. For example, in this case, if the changeover switch 39 is operated during the arm adjustment mode, only the setting of the assist characteristic relating to the arm assist device 2 is canceled, and the setting of the assist characteristic relating to the lower back assist device 3 is not cancelled.

(3) In the above embodiment, the parameter that defines the assist characteristic of the hip assist device 3 includes the upper limit angle and the lower limit angle in the angular range in which the hip assist device 3 exerts the assisting force. However, it is not limited to this. For example, only one of the upper limit angle and the lower limit angle in the angle range in which the hip assist device 3 exerts the assist force may be included as the parameter that defines the assist characteristic of the hip assist device 3. That is, the parameter that defines the assist characteristic of the hip assist device 3 may include at least one of the upper limit angle and the lower limit angle in the angular range in which the hip assist device 3 exerts the assisting force.

(4) In the above-described embodiment, the parameters that define the assist characteristics of the arm assist device 2 include the upper limit height and the lower limit height in the height range of the hanging position of the load that causes the arm assist device 2 to exert the assisting force. However, the present invention is not limited to this. For example, even if the assist characteristic of the arm assist device 2 includes only one of the upper limit height and the lower limit height in the height range of the hanging position of the load that causes the arm assist device 2 to exert the assisting force. Good. That is, if the assist characteristic of the arm assist device 2 includes at least one of the upper limit height and the lower limit height in the height range of the suspending position of the load that causes the arm assist device 2 to exert the assisting force. Good.

(5) In the above-described embodiment, the state in which the new setting of the assist characteristic is received by the long pressing operation of the setting switch 41 is illustrated, but the present invention is not limited to this. For example, a short pressing operation of the setting switch 41 may be in a state of accepting a new setting of the assist characteristic.

(6) In the above embodiment, when the changeover switch 39 is pressed for a long time in the adjustment mode, the assist characteristic setting is reset to the standard value. However, the present invention is not limited to this. For example, if the change-over switch 39 is pressed and held in the adjustment mode, the assist characteristic setting may be returned (undoed) to the previous setting.

(7) In the above embodiment, the assist characteristics of the arm assist device 2 that can cancel the setting of the height range are illustrated, but the invention is not limited to this. For example, the setting of other elements such as assist torque and assist speed in the assist characteristics of the arm assist device 2 may be cancelable.

(8) In the above embodiment, the assist characteristic of the hip assist device 3 that can cancel the setting of the angle range is illustrated, but the invention is not limited to this. For example, setting of other elements such as assist torque and assist speed in the assist characteristics of the waist assist device 3 may be cancelable.

(9) In the above embodiment, the drive device A includes two types of the hip assist device 3 and the arm assist device 2, but the drive device A is not limited to this. For example, as the drive device A, only one of the hip assist device 3 and the arm assist device 2 may be provided.

(10) In the above embodiment, the load is exemplified as the object, but the object is not limited to this. For example, the object may be a crop planted in the field. In this case, for example, using the assist of the arm assist device 2, the crop can be pulled out from the field and lifted.

(11) The structure may be opposite to that of the above embodiment.

INDUSTRIAL APPLICABILITY The present invention can be used for an assist suit that can assist a worker in raising and lowering an object.

1: Main body 2: Arm assist device 3: Hip assist device 39: Changeover switch (release switch)
41: Setting switch A: Drive device C: Left/right center

Claims (7)

A body part attached to the back of the worker,
A drive device that can assist the movement of the worker,
A setting switch capable of manually setting the assist characteristic by the drive device,
A release switch capable of manually releasing the setting of the assist characteristic by the setting switch is provided,
An assist suit in which the release switch is arranged at a position biased to one side with respect to the left-right center of the main body, and the setting switch is arranged at a position biased to the other side with respect to the left-right center of the main body. The release switch can be switched to another mode in which the assisting action is different by a short press operation, and the setting of the assist characteristic can be released by a long press operation having a pressing time longer than the short press operation. The assist suit according to item 1. The setting switch can be switched to an adjustment mode for adjusting the assist characteristic by pressing.
The assist suit according to claim 1, wherein in the adjustment mode, the setting of the assist characteristic can be canceled by operating the cancel switch. The assist suit according to claim 1, wherein when the release switch is operated, the assist characteristic is reset to a preset standard value. As the drive device, a waist assist device capable of assisting the rising motion of the worker is provided,
The parameter that defines the assist characteristic of the hip assist device includes at least one of an upper limit angle and a lower limit angle in an angle range in which the hip assist device exerts an assisting force. The assist suit according to claim 1, wherein at least one of the lower limit angle is changeable. As the drive device, an arm assist device capable of assisting the lifting operation of the target object by suspending the target object is provided,
The parameter that defines the assist characteristic of the arm assist device includes at least one of an upper limit height and a lower limit height in a height range of a hanging position of an object that causes the arm assist device to exert an assisting force. The assist suit according to claim 1, wherein at least one of the upper limit height and the lower limit height can be changed in the adjustment mode. When the release switch is operated, both the setting of the assist characteristic of the hip assist device as the drive device and the setting of the assist characteristic of the arm assist device as the drive device are released at once. Item 7. The assist suit according to any one of items 1 to 6.

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