JP6839758B2 - Work aid - Google Patents

Description

The present invention relates to work aids.

As disclosed in Patent Document 1, work aids that support the work of workers have been proposed. The work assisting tool is attached to the worker and assists the worker's muscular strength.

German Patent Application Publication No. 10209046068

When the actuator is provided in the work assisting tool, if the timing at which the actuator is started to be driven differs from the timing intended by the operator, the operator may feel a sense of discomfort. For example, when the actuator is started to be driven based on the detection result of the worker's movement or the detection result of the worker's biological signal, the worker is more likely to feel a sense of discomfort.

An aspect of the present invention is to provide a work assisting tool capable of driving an actuator at a timing intended by an operator.

According to the aspect of the present invention, at least a part of the main body member is mounted on the back of the worker, the arm member is movably connected to the main body member, and the arm member is supported and supported by the worker. Control to output a control signal for controlling the actuator based on a holding member that holds at least a part of the arm, an actuator that generates power to move the arm member, and a work start signal related to the start of work of the power tool. A device and a work aid provided with the device are provided.

According to the aspect of the present invention, there is provided a work assisting tool capable of driving the actuator at a timing intended by the operator.

FIG. 1 is a perspective view showing an example of a work assisting tool according to the first embodiment. FIG. 2 is a rear view showing an example of the work assisting tool according to the first embodiment. FIG. 3 is a side view showing an example of the work assisting tool according to the first embodiment. FIG. 4 is a top view showing an example of the work assisting tool according to the first embodiment. FIG. 5 is a block diagram showing an example of hardware configurations of the work aid and the power tool according to the first embodiment. FIG. 6 is a functional block diagram showing an example of the arithmetic processing unit according to the first embodiment. FIG. 7 is a flowchart showing an example of the compressor control method according to the first embodiment. FIG. 8 is a flowchart showing an example of the actuator control method according to the first embodiment. FIG. 9 is a timing chart showing a control signal according to the first embodiment. FIG. 10 is a diagram showing an example of each hardware configuration of the work assisting tool and the power tool according to the second embodiment. FIG. 11 is a functional block diagram showing an example of the arithmetic processing unit according to the second embodiment. FIG. 12 is a flowchart showing an example of the actuator control method according to the second embodiment. FIG. 13 is a flowchart showing an example of the actuator control method according to the second embodiment. FIG. 14 is a timing chart showing control signals according to the first embodiment and other embodiments related to the second embodiment. FIG. 15 is a schematic diagram for explaining the operation amount of the trigger switch and the timing at which each of the motor and the actuator starts driving according to the first embodiment and the other embodiments related to the second embodiment. FIG. 16 is a perspective view showing an example of the work assisting tool according to the third embodiment. FIG. 17 is a perspective view showing an example of the work assisting tool according to the third embodiment. FIG. 18 is a cross-sectional view showing a work assisting tool according to the third embodiment. FIG. 19 is a cross-sectional view showing a part of the work assisting tool according to the third embodiment. FIG. 20 is a cross-sectional view showing a solenoid mechanism according to the third embodiment. FIG. 21 is a plan view showing the solenoid mechanism according to the third embodiment. FIG. 22 is a cross-sectional view showing a solenoid mechanism according to the third embodiment. FIG. 23 is a cross-sectional view showing a solenoid mechanism according to the third embodiment. FIG. 24 is a cross-sectional view showing a solenoid mechanism according to the third embodiment. FIG. 25 is a cross-sectional view showing a solenoid mechanism according to the third embodiment. FIG. 26 is a cross-sectional view showing a part of the spring power mechanism according to the third embodiment. FIG. 27 is a front view showing the spring power mechanism according to the third embodiment. FIG. 28 is a cross-sectional view showing a spring power mechanism according to the third embodiment. FIG. 29 is a cross-sectional view showing a spring power mechanism according to the third embodiment. FIG. 30 is a cross-sectional view showing a spring power mechanism according to a third embodiment. FIG. 31 is a cross-sectional view showing a spring power mechanism according to the third embodiment. FIG. 32 is a schematic view showing the operation of the power mechanism according to the third embodiment. FIG. 33 is a diagram showing an example of the operating device according to the third embodiment. FIG. 34 is a diagram showing a power tool and a work assisting tool according to the third embodiment. FIG. 35 is a perspective view showing the battery according to the third embodiment. FIG. 36 is a perspective view showing the first relay member according to the third embodiment. FIG. 37 is a perspective view showing a second relay member according to the third embodiment. FIG. 38 is a block diagram showing the hardware configurations of the work aid and the power tool according to the third embodiment. FIG. 39 is a functional block diagram showing an example of the arithmetic processing unit according to the third embodiment. FIG. 40 is a flowchart showing an example of the actuator control method according to the third embodiment. FIG. 41 is a diagram showing a power tool and a work assisting tool according to the fourth embodiment. FIG. 42 is a block diagram showing the hardware configurations of the work aid and the power tool according to the fourth embodiment. FIG. 43 is a functional block diagram showing an example of the arithmetic processing unit according to the fourth embodiment. FIG. 44 is a flowchart showing an example of the actuator control method according to the fourth embodiment. FIG. 45 is a perspective view showing an example of the work assisting tool according to the fifth embodiment. FIG. 46 is a diagram showing a power tool and a work assisting tool according to the fifth embodiment. FIG. 47 is a perspective view showing a relay member according to the fifth embodiment. FIG. 48 is a block diagram showing the hardware configurations of the work aid and the power tool according to the fifth embodiment. FIG. 49 is a functional block diagram showing an example of the arithmetic processing unit according to the fifth embodiment. FIG. 50 is a diagram for explaining a communication method by the wireless communication device according to the fifth embodiment. FIG. 51 is a diagram for explaining a communication method by the wireless communication device according to the fifth embodiment. FIG. 52 is a block diagram showing the hardware configurations of the work aid and the power tool according to the sixth embodiment.

Hereinafter, embodiments according to the present invention will be described with reference to the drawings, but the present invention is not limited thereto. In the following description, the XYZ Cartesian coordinate system will be set, and the positional relationship of each part will be described with reference to the XYZ Cartesian coordinate system. The direction parallel to the X-axis in the predetermined plane is defined as the X-axis direction. The direction parallel to the Y-axis in a predetermined plane orthogonal to the X-axis is defined as the Y-axis direction. The direction parallel to the Z-axis orthogonal to the predetermined surface is defined as the Z-axis direction. In the following description, the predetermined plane is appropriately referred to as an XY plane, and the XY plane and the horizontal plane are parallel to each other.

Further, in the following description, the positional relationship of each part will be described using the terms “left”, “right”, “front”, “rear”, “top”, and “bottom”. These terms indicate relative positions or directions relative to the worker WM. In this embodiment, the X-axis direction is the left-right direction. The Y-axis direction is the front-back direction. The Z-axis direction is the vertical direction. The + X direction is the right direction. The −X direction is to the left. The + Y direction is the forward direction. The −Y direction is the backward direction. The + Z direction is upward. The −Z direction is downward.

First embodiment.
[Construction]
FIG. 1 is a perspective view showing an example of a work assisting tool 1 according to the present embodiment. FIG. 2 is a rear view showing an example of the work assisting tool 1 according to the present embodiment. FIG. 3 is a side view showing an example of the work assisting tool 1 according to the present embodiment. FIG. 4 is a top view showing an example of the work assisting tool 1 according to the present embodiment.

As shown in FIGS. 1, 2, 3, and 4, the work assisting tool 1 is movably connected to the main body member 2, which is at least partially mounted on the back of the worker WM, and the main body member 2. The arm member 3 is supported by the arm member 3 via the moving mechanism 50 and holds at least a part of the arm of the worker WM, and is supported by the main body member 2 to move the arm member 3. It includes an actuator 5 that generates power.

Further, the work assisting tool 1 includes a compressor 6 supported by the main body member 2 and compressing air, a tank 7 supported by the main body member 2 and temporarily storing compressed air supplied from the compressor 6, and the main body member 2. A pressure control mechanism 8 that is supported by and adjusts the pressure of compressed air supplied from the compressor 6 via the tank 7, a connector 10 that is supported by the main body member 2 and to which the battery 9 is detachably attached, and the main body member. A control device 11 supported by 2 is provided.

In the present embodiment, the holding member 4 holds at least a part of the right arm of the worker WM. The power tool KD is supported by the right arm held by the holding member 4. The worker WM holds the power tool KD with his right hand to carry out the work.

<Main body member>
The main body member 2 is attached to the back of the worker WM by the harness HS. The harness HS includes a shoulder belt HSa attached to the shoulder of the worker WM and a waist belt HSb attached to the waist of the worker WM.

The main body member 2 includes a first mounting member 21 mounted on the back of the worker WM, a second mounting member 22 mounted on the waist of the worker WM, and a first plate provided on the upper portion of the first mounting member 21. It has a member 23, a second plate member 24 provided below the first mounting member 21, and a strut member 25 provided between the first plate member 23 and the second plate member 24.

The first mounting member 21 is a plate-shaped member. The first mounting member 21 comes into contact with the back of the worker WM. A member different from the first mounting member 21 may be arranged between the first mounting member 21 and the worker WM. For example, a cushion member may be arranged between the first mounting member 21 and the worker WM. The second mounting member 22 is a curved plate-shaped member. The second mounting member 22 is connected to the lower part of the first mounting member 21. The second mounting member 22 comes into contact with each of the left and right hips of the worker WM.

Each of the first plate member 23 and the second plate member 24 is a plate-shaped member that is long in the left-right direction. The first plate member 23 and the second plate member 24 are arranged in the vertical direction. The first plate member 23 and the second plate member 24 face each other with a gap. The first plate member 23 and the second plate member 24 are arranged substantially in parallel.

The strut member 25 is a rod-shaped member that is long in the vertical direction. The strut member 25 is arranged between the first plate member 23 and the second plate member 24. The upper end of the support column member 25 is fixed to the guide member 17 connected to the first plate member 23. The first plate member 23 is fixed to the guide member 17. The lower end of the support column member 25 is fixed to the central portion of the second plate member 24.

The first plate member 23, the second plate member 24, and the support column member 25 are each made of metal. At least one of the first plate member 23, the second plate member 24, and the support column member 25 may be made of synthetic resin or a composite material. The composite material may be a fiber composite material such as CFRP (Carbon Fiber Reinforced Plastics) or GFRP (Glass Fiber Reinforced Plastics), or a material obtained by adhering different materials.

<Arm member>
The arm member 3 includes a first arm member 31 that supports the holding member 4, and a second arm member 32 that is connected to each of the main body member 2 and the first arm member 31. The first arm member 31 is rotatably connected to the second arm member 32 about the first rotation shaft AX1. The second arm member 32 is rotatably connected to the main body member 2 about the second rotation shaft AX2 extending in a direction different from that of the first rotation shaft AX1.

In this embodiment, the first rotation axis AX1 is substantially parallel to the XY plane. The second rotation axis AX2 is substantially orthogonal to the XY plane.

The first arm member 31 has a base end portion 31B and a tip end portion 31T. The second arm member 32 has a first end portion 32T and a second end portion 32B. The tip end portion 31T of the first arm member 31 is arranged outside the base end portion 31B in the radial direction of the first rotation axis AX1.

The base end portion 31B of the first arm member 31 and the first end portion 32T of the second arm member 32 are connected via the first joint mechanism 13. The second arm member 32 and the main body member 2 are connected via the second joint mechanism 14.

The first arm member 31 is a metal rod-shaped member. The first arm member 31 may be a member made of synthetic resin or may be made of sheet metal covered with synthetic resin. The first arm member 31 is a straight member. The first arm member 31 does not have to be a straight member. For example, at least a part of the first arm member 31 may be curved.

The second arm member 32 includes a first member 321 connected to the first joint mechanism 13 and a second member 322 connected to each of the first member 321 and the second joint mechanism 14. The first end portion 32T is arranged on the first member 321. The second end portion 32B is arranged on the second member 322. The first member 321 and the second member 322 are fixed.

The first member 321 is connected to the first arm member 31 via the first joint mechanism 13. The first member 321 is a metal rod-shaped member. The first member 321 is a straight member. In the XY plane, the first member 321 is parallel to the first arm member 31.

The second member 322 is connected to the main body member 2 via the second joint mechanism 14. The second member 322 is a metal rod-shaped member. The second member 322 is a straight member. In the XY plane, the second member 322 is orthogonal to the first member 321.

The second member 322 is fixed to the central portion in the longitudinal direction of the first member 321. The connecting portion 32C between the first member 321 and the second member 322 is provided at the central portion of the first member 321 in the longitudinal direction of the first member 321. The position of the connecting portion 32C can be adjusted according to, for example, the physique of the worker WM.

At least one of the first member 321 and the second member 322 may be a member made of synthetic resin, or may be made of a composite material as described above. At least a part of the first member 321 may be curved. At least a part of the second member 322 may be curved. The first member 321 and the second member 322 do not have to be orthogonal to each other. The first member 321 and the second member 322 may be separate members or a single member.

The first joint mechanism 13 supports the first arm member 31 and the second arm member 32 so as to be relatively rotatable around the first central axis AX1. The base end portion 31B of the first arm member 31 is connected to the first joint mechanism 13. The first end 32T of the second arm member 32 is connected to the first joint mechanism 13. The first arm member 31 is rotatably supported by the second arm member 32 about the first rotation shaft AX1 via the first joint mechanism 13. The first joint mechanism 13 includes a pulley 15 connected to a base end portion 31B of the first arm member 31.

The first joint mechanism 13 includes a rolling bearing. The first joint mechanism 13 includes an outer ring provided on one of the first arm member 31 and the second arm member 32, an inner ring provided on the other of the first arm member 31 and the second arm member 32, and an outer ring and an inner ring. Including a rolling element provided between them. The rolling bearing of the first joint mechanism 13 may be a ball bearing, a roller bearing such as a needle bearing, or a plain bearing.

The first joint mechanism 13 supports the first arm member 31 so that the tip portion 31T of the first arm member 31 swivels in a direction parallel to the first surface orthogonal to the first rotation axis AX1. In the present embodiment, the XY plane is parallel to the horizontal plane, and the first rotation axis AX1 is substantially parallel to the XY plane. The first plane is orthogonal to the XY plane. The first joint mechanism 13 rotatably supports the first arm member 31 about the first rotation axis AX1 so that the tip portion 31T of the first arm member 31 rotates in the vertical direction.

The second joint mechanism 14 supports the second arm member 32 and the main body member 2 so as to be relatively rotatable around the second central axis AX2. The second end 32B of the second arm member 32 is connected to the second joint mechanism 14. The second arm member 32 is rotatably supported by the main body member 2 about the second rotation shaft AX2 via the second joint mechanism 14.

The second joint mechanism 14 includes a rolling bearing. The second joint mechanism 14 includes an inner ring provided on the main body member 2, an outer ring provided on the second arm member 32, and a rolling element provided between the outer ring and the inner ring. The rolling bearing of the second joint mechanism 14 may be a ball bearing, a roller bearing such as a needle bearing, or a plain bearing.

The second joint mechanism 14 supports the second arm member 32 so that the first end portion 32T of the second arm member 32 swivels in a direction parallel to the second surface orthogonal to the first surface. In this embodiment, the first plane is orthogonal to the XY plane. The second plane is parallel to the XY plane. The second joint mechanism 14 rotatably supports the second arm member 32 about the second rotation axis AX2 so that the first end portion 32T of the second arm member 32 rotates in the horizontal direction.

The second joint mechanism 14 includes a housing member 16 connected to the second end 32B of the second arm member 32. The housing member 16 holds the outer ring of the rolling bearing of the second joint mechanism 14. The housing member 16 rotates together with the outer ring of the rolling bearing of the second joint mechanism 14. The second end 32B of the second arm member 32 is fixed to the housing member 16.

The second joint mechanism 14 is provided at the upper end of the main body member 2. The second joint mechanism 14 is supported by a guide member 17 connected to the first plate member 23. The guide member 17 guides the second joint mechanism 14 in the left-right direction. The guide member 17 has a guide groove 17G that guides the second joint mechanism 14. The guide groove 17G extends in the left-right direction.

The work assisting tool 1 can adjust the position of the second joint mechanism 14 in the left-right direction. The second joint mechanism 14 is fixed to the guide member 17 by a fixing member such as a bolt. When the fixing by the fixing member is released, the second joint mechanism 14 can move in the left-right direction while being guided by the guide member 17. When the second joint mechanism 14 moves in the left-right direction, each of the second arm member 32, the first joint mechanism 13, the first arm member 31, and the holding member 4 moves in the left-right direction together with the second joint mechanism 14. To do. The adjustment of the position of the second joint mechanism 14 in the left-right direction includes the adjustment of the positions of the second arm member 32, the first joint mechanism 13, the first arm member 31, and the holding member 4 in the left-right direction. For example, the second joint mechanism 14 is fixed at an arbitrary position in the left-right direction of the guide member 17 according to the physique of the worker WM.

The guide member 17 may be omitted, and a guide groove for guiding the second joint mechanism 14 may be provided in the first plate member 23.

In the radial direction of the second rotation axis AX2, the distance between the second rotation axis AX2 and the first rotation axis AX1 is longer than the distance between the second rotation axis AX2 and the connecting portion 32C. In the radial direction of the second rotation axis AX2, the first rotation axis AX1 and the first arm member 31 are arranged outside the second arm member 32. When the second arm member 32 rotates about the second rotation axis AX2, the first joint mechanism 13 and the first arm member 31 rotate around the second rotation axis AX2.

In a state where the holding member 4 is arranged in front of the main body member 2, the first rotation axis AX1 is arranged in front of the second rotation axis AX2. Further, the first rotation axis AX1 is arranged to the right of the second rotation axis AX2.

<Holding member>
The holding member 4 is a plate-shaped member on which at least a part of the arm of the worker WM is placed. The upper arm of the worker WM is placed on the holding member 4. The elbow of the worker WM may be placed on the holding member 4, or the forearm may be placed on the holding member 4.

The holding member 4 is movably supported by the first arm member 31. The holding member 4 is movable in the longitudinal direction of the first arm member 31. In the longitudinal direction of the first arm member 31, the dimension of the holding member 4 is smaller than the dimension of the first arm member 31.

The holding member 4 is manufactured by bending a metal plate member. The holding member 4 has a flat plate portion 41 having a mounting surface on which at least a part of the arm of the worker WM is placed, and a first side plate portion 42 arranged next to one of the flat plate portions 41 via a bent portion. And a second side plate portion 43 arranged next to the other of the flat plate portion 41 via the bent portion.

The distance between the first side plate portion 42 and the second side plate portion 43 increases as the distance from the flat plate portion 41 increases in the normal direction of the mounting surface of the flat plate portion 41. The angle formed by the mounting surface of the flat plate portion 41 and the inner surface of the first side plate portion 42 is larger than 90 [°]. The angle formed by the mounting surface of the flat plate portion 41 and the inner surface of the second side plate portion 43 is larger than 90 [°]. The angle formed by the mounting surface of the flat plate portion 41 and the inner surface of the first side plate portion 42 may be 90 [°]. The angle formed by the mounting surface of the flat plate portion 41 and the inner surface of the second side plate portion 43 may be 90 [°].

The first side plate portion 42 is arranged on the right side of the flat plate portion 41 in a state where the first arm member 31 is arranged substantially parallel to the Y axis. The second side plate portion 43 is arranged on the left side of the flat plate portion 41. The mounting surface of the flat plate portion 41 is a flat surface. The inner surface of the first side plate portion 42 is a flat surface connected to the right end portion of the mounting surface of the flat plate portion 41. In a state where the flat plate portion 41 is arranged parallel to the XY plane, the inner side surface of the first side plate portion 42 is inclined upward toward the right. The inner surface of the second side plate portion 43 is a flat surface connected to the left end portion of the mounting surface of the flat plate portion 41. In a state where the flat plate portion 41 is arranged parallel to the XY plane, the inner side surface of the second side plate portion 43 is inclined upward toward the left.

The worker WM can place the arm on the holding member 4 from above the holding member 4. The arm mounted on the holding member 4 and the holding member 4 may be fixed by, for example, a harness.

The mounting surface of the holding member 4 may include a curved surface. The holding member 4 may be made of a synthetic resin or a composite material as described above.

The holding member 4 does not have to be a plate-shaped member. The holding member 4 may be manufactured by combining a plurality of members. The holding member 4 may have a portion that supports the arm of the worker WM from below and a portion that supports the arm of the worker WM from the side. In addition, the cushion material may be arranged in the portion of the holding member 4 that comes into contact with the arm of the worker WM.

<Movement mechanism>
The moving mechanism 50 is provided between the first arm member 31 and the holding member 4, and supports the holding member 4 so as to be movable relative to the first rotating shaft AX1. The holding member 4 is movably supported by the first arm member 31 via the moving mechanism 50. The moving mechanism 50 supports the holding member 4 so that the first rotating shaft AX1 and the holding member 4 move relative to each other.

The moving mechanism 50 movably supports the holding member 4 in the first arm member 31 and adjusts the relative position between the first rotating shaft AX1 and the holding member 4. The relative position between the first rotating shaft AX1 and the holding member 4 includes the relative distance between the first rotating shaft AX1 and the holding member 4 in the longitudinal direction of the first arm member 31.

The moving mechanism 50 includes a linear guide mechanism having a linear bearing. The moving mechanism 50 includes a guide member 51 provided on the first arm member 31 and a movable member 52 connected to the holding member 4 and guided by the guide member 51.

The guide member 51 is a straight rail member provided on the upper surface of the first arm member 31. At least a part of the guide member 51 may be curved. The movable member 52 can slide the guide member 51. The moving mechanism 50 includes a linear ball bearing in which a ball is arranged between the guide member 51 and the movable member 52. The moving mechanism 50 may include a linear roller bearing in which a roller is arranged between the guide member 51 and the movable member 52. The moving mechanism 50 may include a linear plane bearing. Linear plane bearings are cheaper than linear ball bearings and linear roller bearings.

At least a part of the holding member 4 and the movable member 52 are fixed. The first side plate portion 42 of the holding member 4 and the movable member 52 are fixed. In a state where the first arm member 31 is arranged substantially parallel to the Y axis, the holding member 4 is arranged on the left side of the first arm member 31, and the left end portion of the holding member 4 and the movable member 52 are fixed. Will be done.

When the movable member 52 is guided by the guide member 51 and moves, the holding member 4 moves in the longitudinal direction of the first arm member 31. As the holding member 4 moves in the longitudinal direction of the first arm member 31, the relative position between the first rotation axis AX1 and the holding member 4 changes.

<Actuator>
The actuator 5 generates power to move the arm member 3. In the present embodiment, the actuator 5 is an air actuator that generates power based on compressed air supplied from the pressure control mechanism 8.

The actuator 5 generates a force that causes the tip portion 31T of the first arm member 31 to rotate upward. The force generated by the actuator 5 is transmitted to the first joint mechanism 13 via the transmission mechanism 60. The transmission mechanism 60 includes a wire member 61 connected to the pulley 15 of the first joint mechanism 13.

In this embodiment, the actuator 5 includes an artificial muscle which is a kind of air actuator. Artificial muscles are formed by stretchable flexible members. The actuator 5 has an internal space to which compressed air is supplied. The actuator 5 extends in the Z-axis direction. By supplying compressed air to the internal space of the actuator 5, the actuator 5 contracts. The actuator 5 is extended by discharging the compressed air from the internal space. When compressed air is supplied to the internal space of the actuator 5, the actuator 5 generates power.

The upper end of the actuator 5 is connected to the wire member 61 via the connecting member 62. The upper end of the actuator 5 is connected to the pulley 15 of the first joint mechanism 13 via the wire member 61. One end of the wire member 61 is fixed to the connecting member 62. The other end of the wire member 61 is fixed to the pulley 15 of the first joint mechanism 13. The lower end of the actuator 5 is connected to the second plate member 24 via the connecting member 63.

The pulley 15 is fixed to the base end portion 31B of the first arm member 31. When the first arm member 31 rotates about the first rotation shaft AX1, the pulley 15 rotates together with the first arm member 31.

The second arm member 32 has a support member 64 that supports an outer cable arranged around the wire member 61. The support member 64 is provided on the side surface of the first member 321 of the second arm member 32. The support member 64 prevents the wire member 61 from hanging down or moving unexpectedly. Further, since the outer cable is supported by the support member 64, the movement of the outer cable is suppressed, and the wire member 61 is suppressed from coming off from the pulley 15. As a result, the force generated by the actuator 5 is sufficiently transmitted to the first joint mechanism 13 via the wire member 61.

The upper end of the actuator 5 is fixed to the wire member 61 via the connecting member 62. The lower end of the actuator 5 is fixed to the second plate member 24 via the connecting member 63. The actuator 5 expands and contracts in the vertical direction. The connecting member 62 moves in the vertical direction in synchronization with the expansion and contraction of the actuator 5. The tip portion 31T of the first arm member 31 rotates in the vertical direction in synchronization with the movement of the connecting member 62.

When compressed air is supplied to the internal space of the actuator 5 and the actuator 5 contracts, the connecting member 62 moves downward. When the connecting member 62 moves downward, the first arm member 31 and the pulley 15 rotate so that the tip portion 31T of the first arm member 31 turns upward.

When compressed air is discharged from the internal space of the actuator 5 and the actuator 5 is extended, the connecting member 62 moves upward. When the connecting member 62 moves upward, the first arm member 31 and the pulley 15 rotate so that the tip portion 31T of the first arm member 31 rotates downward.

When compressed air is supplied to the internal space of the actuator 5 and the pressure in the internal space of the actuator 5 increases to a pressure higher than the atmospheric pressure, the actuator 5 has a power to rotate the tip portion 31T of the first arm member 31 upward. Occurs. When compressed air is discharged from the internal space of the actuator 5 and the pressure in the internal space of the actuator 5 is reduced to a pressure equal to the atmospheric pressure, the actuator 5 does not generate power.

As shown in FIG. 3, when the arm of the worker WM is placed on the holding member 4, for example, due to the gravitational action due to the weight of the arm, the tip portion 31T of the first arm member 31 is swiveled downward. 1 An external force acts on the arm member 31. When compressed air is discharged from the internal space of the actuator 5 and the actuator 5 is not generating power, the actuator 5 extends, and as shown by the arrow Rd, the tip 31T of the first arm member 31 is affected by gravitational force. Turns downwards. In this way, with the arm of the worker WM mounted on the holding member 4, the compressed air is discharged from the internal space of the actuator 5, so that the worker WM can lower the arm.

When compressed air is supplied to the internal space of the actuator 5 and the actuator 5 is generating power, the actuator 5 contracts and the tip 31T of the first arm member 31 swivels upward as shown by the arrow Ru. To do. In this way, with the arm of the worker WM mounted on the holding member 4, compressed air is supplied to the internal space of the actuator 5, so that the worker WM is assisted by the work assisting tool 1 to lift the arm. Can be raised. Since the arm of the worker WM moves upward by the force generated by the actuator 5, the muscular strength of the arm is assisted and the physical burden on the worker WM is reduced.

[motion]
Next, an example of the operation of the work assisting tool 1 according to the present embodiment will be described. When the worker WM moves the arm in the vertical direction, the relative position between the arm and the first arm member 31 changes.

The holding member 4 that holds the arm is supported by the moving mechanism 50 so as to be movable relative to the first rotating shaft AX1. As shown in FIG. 3, when the actuator 5 is driven and the arm of the worker WM is raised, the holding member 4 holding the arm of the first arm member 31 approaches the first rotation axis AX1. Move in the longitudinal direction. When the drive of the actuator 5 is stopped and the arm of the worker WM is lowered, the holding member 4 holding the arm moves in the longitudinal direction of the first arm member 31 so as to be separated from the first rotation axis AX1. In the example shown in FIG. 3, when the arm of the worker WM is raised, the holding member 4 is arranged at the position PVa in the longitudinal direction of the first arm member 31. When the drive of the actuator 5 is stopped and the worker WM lowers his arm, the holding member 4 is arranged at the position PVb in the longitudinal direction of the first arm member 31. In the first plane orthogonal to the first rotation axis AX1, the distance between the position PVa and the first rotation axis AX1 is shorter than the distance between the position PVb and the first rotation axis AX1. The position PVb is a position closer to the tip portion 31T of the first arm member 31 than the position PVa. The position PVa is a position closer to the base end portion 31B of the first arm member 31 than the position PVb.

In this way, when the worker WM moves the arm in the vertical direction, the holding member 4 holding the arm moves with respect to the first arm member 31. Therefore, when the worker WM moves the arm in the vertical direction, friction between the arm and the work assisting tool 1 is suppressed. As a result, deterioration of workability of the worker WM is suppressed.

Further, as shown by the arrow Rc in FIG. 4, the relative position between the arm and the first arm member 31 also changes when the worker WM moves the arm in the horizontal direction.

The holding member 4 that holds the arm is supported by the moving mechanism 50 so as to be movable relative to the first rotating shaft AX1. As shown in FIG. 4, when the worker WM moves the arm to the right, the holding member 4 holding the arm approaches the first rotation axis AX1 in the longitudinal direction of the first arm member 31. Moving. When the worker WM moves the arm forward, the holding member 4 that holds the arm moves in the longitudinal direction of the first arm member 31 so as to be separated from the first rotation axis AX1. In the example shown in FIG. 4, when the worker WM moves the arm to the right, the holding member 4 is arranged at the position PSa in the longitudinal direction of the first arm member 31. When the worker WM moves the arm diagonally forward, the holding member 4 is arranged at the position PSb in the longitudinal direction of the first arm member 31. When the worker WM moves the arm forward, the holding member 4 is arranged at the position PSc in the longitudinal direction of the first arm member 31. In the second plane orthogonal to the second rotation axis AX2, the distance between the position PSa and the first rotation axis AX1 is the distance between the position PSb and the first rotation axis AX1 and the distance between the position PSc and the first rotation axis AX1. Shorter than. In the second plane orthogonal to the second rotation axis AX2, the distance between the position PSb and the first rotation axis AX1 is shorter than the distance between the position PSc and the first rotation axis AX1. Of the position PSa, the position PSb, and the position PSc, the position PSc is the position closest to the tip end 31T of the first arm member 31. The position PSb is the position closest to the tip portion 31T of the first arm member 31 next to the position PSc. The position PSa is the position closest to the base end portion 31B of the first arm member 31.

In this way, even when the worker WM moves the arm in the horizontal direction, the holding member 4 holding the arm moves with respect to the first arm member 31. Therefore, when the worker WM moves the arm in the horizontal direction, friction between the arm and the work assisting tool 1 is suppressed. As a result, deterioration of workability of the worker WM is suppressed.

[Battery]
The battery 9 is a rechargeable battery. The battery 9 is detachably attached to the connector 10. The battery 9 supplies electric power to the compressor 6 while being attached to the connector 10. Further, the battery 9 supplies electric power to the control device 11 in a state of being attached to the connector 10. When charging the battery 9, the battery 9 is removed from the connector 10.

In the present embodiment, the battery 9 is a power tool battery that can be attached to the power tool KD. The battery 9 is detachably attached to the connector 10D provided on the power tool KD. In the work aid 1, the battery 9 can also be used as the power tool KD. In other words, the battery 9 can be attached to each of the connector 10 provided on the work assisting tool 1 and the connector 10D provided on the power tool KD.

[Hardware configuration]
FIG. 5 is a block diagram showing an example of each hardware configuration of the work assist tool 1 and the power tool KD according to the present embodiment. As shown in FIG. 5, the work aid 1 adjusts the pressure of the compressor 6 that compresses the air, the tank 7 that temporarily stores the compressed air supplied from the compressor 6, and the compressed air supplied from the compressor 6. It includes a pressure control mechanism 8 to generate power, an actuator 5 that generates power based on compressed air supplied from the pressure control mechanism 8, and a control device 11.

Further, the work assisting tool 1 includes a pressure sensor 71 (first pressure sensor) for detecting the pressure of compressed air supplied from the compressor 6 and an electromagnetic valve 81.

The compressor 6, the tank 7, the pressure control mechanism 8, and the actuator 5 are connected via a flow path 12 through which compressed air can flow. The compressed air supplied to the actuator 5 flows through the flow path 12. The compressed air generated by the compressor 6 is supplied to the actuator 5 via the flow path 12. In the present embodiment, the flow path 12 connects the flow path 12A connecting the compressor 6 and the tank 7, the flow path 12B connecting the tank 7 and the pressure control mechanism 8, and the pressure control mechanism 8 and the actuator 5. Includes the flow path 12C.

The compressor 6 is a rechargeable compressor. The compressor 6 is portable. The compressor 6 sucks in the air around the work aid 1 and compresses it. The compressor 6 supplies compressed air to the tank 7. The compressed air generated by the compressor 6 is supplied to the tank 7 via the flow path 12A.

The tank 7 is provided in the flow path 12 between the compressor 6 and the pressure control mechanism 8. The tank 7 temporarily stores the compressed air supplied from the compressor 6. In the present embodiment, the compressed air is supplied from the compressor 6 to the tank 7 until the pressure of the compressed air in the tank 7 is increased to a specified pressure. After the pressure of the compressed air in the tank 7 reaches the specified pressure, the compressed air is discharged from the tank 7 and supplied to the pressure control mechanism 8. After the compressed air is discharged from the tank 7 and the pressure of the compressed air in the tank 7 drops, the compressed air is supplied from the compressor 6 to the tank 7.

The pressure sensor 71 is provided in the flow path 12A between the compressor 6 and the tank 7. The pressure sensor 71 detects the pressure of the compressed air supplied from the compressor 6 to the tank 7 in the flow path 12A. The flow path 12A is connected to the tank 7. The pressure of the compressed air in the flow path 12A and the pressure of the compressed air in the tank 7 are substantially equal. The pressure sensor 71 detects the pressure of the compressed air in the tank 7 by detecting the pressure of the compressed air in the flow path 12A.

The solenoid valve 81 is provided in the flow path 12 through which the compressed air supplied to the actuator 5 flows. The solenoid valve 81 is provided in the flow path 12B between the tank 7 and the pressure control mechanism 8. Compressed air is supplied to the actuator 5 when the solenoid valve 81 is first operated. Compressed air is discharged from the actuator 5 when the solenoid valve 81 is operated in a second operation different from the first operation.

The solenoid valve 81 is a three-way solenoid valve. When the solenoid valve 81 is first operated, the compressed air stored in the tank 7 is supplied to the actuator 5 via the flow path 12B and the pressure control mechanism 8. When the solenoid valve 81 is second operated, the supply of compressed air from the tank 7 to the actuator 5 is stopped, and the compressed air of the actuator 5 is discharged to the external space via the solenoid valve 81.

The pressure control mechanism 8 adjusts the pressure of the compressed air supplied from the tank 7. In this embodiment, the pressure control mechanism 8 includes a pressure regulator that lowers the pressure of compressed air. The compressed air whose pressure has been adjusted by the pressure control mechanism 8 is supplied to the actuator 5 via the flow path 12C. In this embodiment, the pressure control mechanism 8 has an input device including an operation dial operated by the operator WM. The operator WM operates the input device to specify a target value of the pressure of the compressed air supplied from the pressure control mechanism 8 to the actuator 5. The pressure control mechanism 8 adjusts the pressure of the compressed air supplied from the pressure control mechanism 8 to the actuator 5 according to the target value of the designated pressure.

The battery 9 mounted on the work aid 1 supplies electric power to at least each of the compressor 6, the control device 11, the pressure sensor 71, and the solenoid valve 81.

The control device 11 includes an arithmetic processing device 90 including a processor such as a CPU (Central Processing Unit), a solenoid valve 81, a DC / DC converter 111 that supplies electric power to the solenoid valve 81, and an insulating portion 112. The control device 11 includes a control board supported by the main body member 2.

The control device 11 acquires a detection signal from the pressure sensor 71. The control device 11 outputs a control signal for controlling the compressor 6 and a control signal for controlling the solenoid valve 81.

Further, the control device 11 outputs a control signal for controlling the actuator 5 based on the work start signal related to the work start of the power tool KD. The work start signal includes a first operation signal generated when the operation device 100 (trigger switch 100A) of the power tool KD, which will be described later, is operated in the first operation state.

Further, the control signal for controlling the actuator 5 output from the control device 11 includes an activation signal for activating the actuator 5. The control device 11 outputs a start signal for activating the actuator 5 in conjunction with the start of work of the power tool KD.

Further, the control device 11 outputs a control signal for controlling the actuator 5 based on the work end signal related to the work end of the power tool KD. The work end signal includes a second operation signal generated when the operation device 100 (trigger switch 100A) of the power tool KD, which will be described later, is operated in the second operation state.

Further, the control signal for controlling the actuator 5 output from the control device 11 includes a stop signal for stopping the actuator 5. The control device 11 outputs a stop signal for stopping the actuator 5 in conjunction with the end of the work of the power tool KD.

The electric tool KD includes an arithmetic processing device 200 including a processor such as a CPU, a motor 210, a motor driver 220 for driving the motor 210, and an operating device 100 operated by an operator WM.

The battery 9 mounted on the power tool KD supplies electric power to at least each of the arithmetic processing unit 200 and the motor driver 220.

The operation device 100 generates an operation signal for operating the driving state of the motor 210 of the electric tool KD by being operated by the operator WM. In the present embodiment, the operation device 100 prohibits the drive of the motor 210 and the trigger switch 100A capable of generating an operation signal to operate in either the start state of starting the drive of the motor 210 or the stop state of stopping the drive. Includes a lock-off switch 100B capable of generating an operation signal to operate in either the locked state or the unlocked state. The operation device 100 may include a forward / reverse rotation switch that generates an operation signal for operating the motor 210 in either a forward rotation state in which the motor 210 is rotated in the forward direction or a reverse rotation state in which the motor 210 is rotated in the reverse direction. The operation signal generated by operating the operation device 100 is output to the arithmetic processing unit 200 of the power tool KD.

The work assist tool 1 has a communication unit 80 capable of communicating with the power tool KD. In the present embodiment, the communication unit 80 transmits the operation signal generated by operating the operation device 100 of the power tool KD to the control device 11. The control device 11 acquires an operation signal from the operation device 100 via the communication unit 80. The operation device 100 and the arithmetic processing unit 90 are connected via an insulating portion 112. The operation signal generated by operating the operation device 100 is output to the arithmetic processing unit 200 of the power tool KD, and is also output to the arithmetic processing unit 90 of the work assisting tool 1 via the communication unit 80.

As shown in FIGS. 1 and 3, the communication unit 80 includes a cable that connects the operation device 100 of the power tool KD and the control device 11 of the work aid 1. That is, the communication unit 80 transmits the operation signal generated by the operation device 100 to the control device 11 by wire. The communication unit 80 may wirelessly communicate the operation signal generated by the operation device 100 to the control device 11.

[Computational processing unit]
FIG. 6 is a functional block diagram showing an example of the arithmetic processing unit 90 according to the present embodiment. As shown in FIG. 6, the arithmetic processing unit 90 acquires an operation signal generated by operating the detection signal acquisition unit 91 that acquires the detection signal of the pressure sensor 71 and the operation device 100 of the electric tool KD. It has an operation signal acquisition unit 92 and a control unit 93 that outputs a control signal.

In the present embodiment, the arithmetic processing device 90 is connected to a storage device 99 including a volatile memory such as a RAM (Random Access Memory) and a non-volatile memory such as a ROM (Read Only Memory).

The detection signal acquisition unit 91 acquires a detection signal from the pressure sensor 71. The pressure sensor 71 detects the pressure of the compressed air supplied from the compressor 6. The detection signal acquisition unit 91 acquires a detection signal indicating the pressure of the compressed air supplied from the compressor 6 from the pressure sensor 71.

The operation signal acquisition unit 92 acquires an operation signal from the operation device 100 via the communication unit 80. The operation device 100 generates an operation signal for operating the driving state of the motor 210 of the power tool KD by being operated by the operator WM. The operation signal acquisition unit 92 acquires an operation signal for operating the drive state of the motor 210 of the power tool KD from the operation device 100.

The control unit 93 controls the drive state of the actuator 5 based on the operation signal of the first control unit 93A and the operation device 100, which outputs a control signal for controlling the drive state of the compressor 6 based on the detection signal of the pressure sensor 71. Includes a second control unit 93B that outputs a control signal to be output.

The first control unit 93A outputs a control signal to the compressor 6 to stop the driving of the compressor 6 when the pressure value Pa detected by the pressure sensor 71 is higher than the upper limit threshold value Sha. Further, the first control unit 93A outputs a control signal to the compressor 6 to start driving the compressor 6 when the pressure value Pa detected by the pressure sensor 71 is equal to or less than the lower limit threshold value Shb. The pressure value Pa indicates the pressure value of the compressed air in the tank 7. The upper limit threshold value Sha and the lower limit threshold value Shb are predetermined values for the pressure value Pa and are stored in the storage device 99. The upper threshold value Sha is a value higher than the lower limit threshold value Shb.

By driving the compressor 6, compressed air is stored in the tank 7. When the compressed air is supplied from the compressor 6 to the tank 7 with the flow path 12B closed by the solenoid valve 81, the pressure of the compressed air in the tank 7 gradually increases, and the compression detected by the pressure sensor 71. The air pressure value Pa gradually increases. In the present embodiment, the drive of the compressor 6 is stopped when the pressure value Pa is higher than the upper limit threshold value Sha. As a result, it is possible to prevent the compressor 6 from being continuously driven even though the pressure of the compressed air in the tank 7 has become sufficiently high. When the flow path 12B is opened by the solenoid valve 81 and the compressed air in the tank 7 is supplied to the actuator 5, the pressure of the compressed air in the tank 7 decreases, and the pressure value Pa of the compressed air detected by the pressure sensor 71 becomes. Decrease. In the present embodiment, the operation of the compressor 6 is started when the pressure value Pa is equal to or less than the lower limit threshold value Shb. As a result, the pressure of the compressed air in the tank 7 increases.

The second control unit 93B outputs a control signal for controlling the driving state of the actuator 5 based on the operating state of the operating device 100. The second control unit 93B outputs a control signal for driving the actuator 5 when the operation signal acquisition unit 92 acquires the operation signal of the operation device 100. In the present embodiment, the second control unit 93B outputs a control signal for controlling the solenoid valve 81 based on the operating state of the operating device 100.

The operation device 100 outputs an operation signal based on the operation state by the operator WM. For example, when the operating device 100 is operated in the first operating state, the operating device 100 generates the first operating signal. When the operating device 100 is operated in a second operating state different from the first operating state, the operating device 100 generates a second operating signal different from the first operating signal.

When the operation signal acquisition unit 92 acquires the first operation signal, the second control unit 93B outputs a control signal for controlling the solenoid valve 81 so that compressed air is supplied to the actuator 5 to the solenoid valve 81. When the operation signal acquisition unit 92 acquires the second operation signal, the second control unit 93B outputs a control signal for controlling the solenoid valve 81 so that the compressed air is discharged from the actuator 5 to the solenoid valve 81.

The solenoid valve 81 is first operated by a control signal (starting signal) supplied based on the first operation signal. When the solenoid valve 81 is first operated, compressed air is supplied to the actuator 5, and the actuator 5 is driven (started). The solenoid valve 81 is second-operated by a control signal (stop signal) supplied based on the second operation signal. When the solenoid valve 81 is secondly operated, compressed air is discharged from the actuator 5, and the drive of the actuator 5 is stopped.

[Compressor control method]
Next, an example of the control method of the compressor 6 according to the present embodiment will be described. FIG. 7 is a flowchart showing an example of the control method of the compressor 6 according to the present embodiment.

It is determined whether or not power is being supplied from the battery 9 to the control device 11 (step SA1). When it is determined in step SA1 that power is being supplied to the control device 11 (step SA1: Yes), power is supplied from the battery 9 to the pressure sensor 71 (step SA2), and power is supplied from the battery 9 to the solenoid valve 81. Is supplied (step SA3). When the electric power is supplied, each of the pressure sensor 71 and the solenoid valve 81 is activated. A specified voltage (for example, 24V) is applied to the solenoid valve 81 by the DC / DC converter 111.

The detection signal acquisition unit 91 acquires the detection signal of the pressure sensor 71. The first control unit 93A determines whether or not the pressure value Pa detected by the pressure sensor 71 is higher than the upper limit threshold value Sha (step SA4).

When it is determined in step SA4 that the pressure value Pa is higher than the upper limit threshold value Sha (step SA4: Yes), the first control unit 93A outputs a control signal for stopping the drive of the compressor 6 (step SA5). ). That is, when it is determined that the pressure value Pa is sufficiently high and the pressure of the compressed air stored in the tank 7 is sufficiently high, the driving of the compressor 6 is stopped.

When it is determined in step SA4 that the pressure value Pa is equal to or less than the upper limit threshold value Sha (step SA4: No), the first control unit 93A has the pressure value Pa detected by the pressure sensor 71 equal to or less than the lower limit threshold value Shb. Whether or not it is determined (step SA6).

When it is determined in step SA6 that the pressure value Pa is equal to or lower than the lower limit threshold value Shb (step SA6: Yes), the first control unit 93A outputs a control signal for driving the compressor 6 (step SA7). That is, when it is determined that the pressure value Pa is low and the pressure of the compressed air in the tank 7 is insufficient, the driving of the compressor 6 is started.

When it is determined in step SA1 that power is not being supplied to the control device 11 (step SA1: No), the power supply from the battery 9 to the pressure sensor 71 is cut off (step SA8), and the solenoid valve from the battery 9 The power supply to 81 is cut off (step SA9).

When any of the processes of step SA5, step SA7, and step SA9 is completed, or when it is determined in step SA6 that the pressure value Pa is not equal to or less than the lower limit threshold value Shb (step SA6: No), the control device 11 sets the step. Return to the processing of SA1.

As described above, in the present embodiment, when the pressure value Pa is higher than the upper limit threshold value Sha, the driving of the compressor 6 is stopped. On the other hand, when the pressure value Pa is equal to or less than the lower limit threshold value Shb, the compressor 6 is started to be driven. As a result, the tank 7 is filled with compressed air having a pressure higher than the lower limit threshold value Shb and lower than the upper limit threshold value Sha.

[Actuator control method]
Next, an example of the control method of the actuator 5 according to the present embodiment will be described. FIG. 8 is a flowchart showing an example of the control method of the actuator 5 according to the present embodiment.

In the following description, it is assumed that the operating device 100 related to the control of the actuator 5 is the trigger switch 100A. Further, it is assumed that the state in which the trigger switch 100A is operated is the first operation state, and the state in which the operation of the trigger switch 100A is released is the second operation state.

When the trigger switch 100A is in the first operating state, the driving of the motor 210 of the power tool KD is started. That is, the motor 210 is started by operating the trigger switch 100A. When the trigger switch 100A is in the second operating state, the driving of the motor 210 of the power tool KD is stopped. That is, when the operation of the trigger switch 100A is released, the motor 210 is stopped. When the trigger switch 100A is in the first operation state, the trigger switch 100A generates the first operation signal. When the trigger switch 100A is in the second operation state, the trigger switch 100A generates a second operation signal different from the first operation signal. The generation of the second operation signal may include the fact that the operation signal is zero, that is, the operation signal is not output.

The second control unit 93B determines whether or not the operation signal acquisition unit 92 has acquired the first operation signal from the trigger switch 100A (step SB1).

When it is determined in step SB1 that the first operation signal has been acquired (step SB1: Yes), the second control unit 93B electromagnetically so that the compressed air stored in the tank 7 is supplied to the actuator 5. A control signal is output to the valve 81 (step SB2).

When it is determined in step SB1 that the first operation signal has not been acquired (step SB1: No), the second control unit 93B sends a control signal to the solenoid valve 81 so that compressed air is discharged from the actuator 5. Is output (step SB3). The fact that the first operation signal has not been acquired includes the acquisition of the second operation signal.

For example, as shown in FIG. 3, when the worker WM uses the power tool KD to work on a high place such as a ceiling surface, the work assisting tool 1 is attached and at least a part of the arm is placed on the holding member 4. In this state, hold the power tool KD by hand. The worker WM operates the trigger switch 100A of the power tool KD held by hand in order to work on the ceiling surface with the power tool KD. For example, the worker WM pushes the trigger switch 100A with a finger.

By operating the trigger switch 100A, the driving of the motor 210 of the power tool KD is started. Further, the first operation signal generated by operating the trigger switch 100A is transmitted to the arithmetic processing unit 90 of the work assisting tool 1 via the communication unit 80.

When the operation signal acquisition unit 92 acquires the first operation signal, the second control unit 93B outputs a control signal to the solenoid valve 81 so that the compressed air stored in the tank 7 is supplied to the actuator 5. .. As a result, compressed air is supplied to the internal space of the actuator 5, and the actuator 5 is driven. The actuator 5 generates a power for turning the tip portion 31T of the first arm member 31 upward.

When the actuator 5 is driven, the arm supported by the first arm member 31 via the holding member 4 moves upward by the first arm member 31 and the holding member 4. The arm of the worker WM is assisted by the power generated by the actuator 5. By moving the first arm member 31 and the holding member 4 upward based on the power generated by the actuator 5, the arm of the worker WM is moved upward, so that the physical burden on the worker WM is reduced. ..

For example, when the power tool KD is a hammer drill, it may be necessary to perform the work of pressing the power tool KD against the ceiling surface with the arm raised for a long time. In the present embodiment, since the work assist tool 1 assists the muscular strength of the arm of the worker WM, the physical burden on the worker WM is effectively reduced.

When the worker WM stops the work using the power tool KD, the operator WM releases the operation of the trigger switch 100A of the power tool KD. For example, the worker WM releases the finger pressing the trigger switch 100A from the trigger switch 100A. When the operation of the trigger switch 100A is released, the driving of the motor 210 of the power tool KD is stopped. Further, the second operation signal generated by releasing the operation of the trigger switch 100A is transmitted to the arithmetic processing unit 90 of the work assisting tool 1 via the communication unit 80.

When the operation signal acquisition unit 92 acquires the second operation signal, the second control unit 93B outputs a control signal to the solenoid valve 81 so that the compressed air in the internal space of the actuator 5 is discharged from the actuator 5. As a result, compressed air is discharged from the internal space of the actuator 5, and the drive of the actuator 5 is stopped. The actuator 5 does not generate power.

When the drive of the actuator 5 is stopped, the tip portion 31T of the first arm member 31 turns downward due to the action of gravity. The arm supported by the first arm member 31 via the holding member 4 moves downward together with the first arm member 31 and the holding member 4.

FIG. 9 is a timing chart showing a control signal according to the present embodiment. The first operation signal generated by operating the trigger switch 100A is output to each of the arithmetic processing unit 200 of the power tool KD and the arithmetic processing unit 90 of the work aid 1. The second control unit 93B outputs a control signal for starting the driving of the actuator 5 at the time ts1 when the first operation signal generated by operating the trigger switch 100A is acquired by the operation signal acquisition unit 92. That is, the second control unit 93B outputs a control signal for supplying the compressed air of the tank 7 to the actuator 5 to the solenoid valve 81 at the time point ts1. The arithmetic processing unit 200 of the power tool KD outputs a control signal for driving the motor 210 to the motor driver 220 at the time point ts1. The motor 210 of the power tool KD starts driving at the time point ts1.

Further, when the operation of the trigger switch 100A is released, the output of the first operation signal is stopped. In the example shown in FIG. 9, the operation of the trigger switch 100A is released at the time point te1, and the output of the first operation signal is stopped. The second operation signal generated by releasing the operation of the trigger switch 100A is output to each of the arithmetic processing unit 200 of the power tool KD and the arithmetic processing unit 90 of the work assist tool 1. The second control unit 93B outputs a control signal for stopping the drive of the actuator 5 at the time point te1 when the second operation signal generated by releasing the operation of the trigger switch 100A is acquired by the operation signal acquisition unit 92. To do. That is, the second control unit 93B outputs a control signal for discharging compressed air from the actuator 5 to the solenoid valve 81 at the time point te1. The arithmetic processing unit 200 of the electric tool KD outputs a control signal for stopping the driving of the motor 210 to the motor driver 220 at the time point te1. The motor 210 of the power tool KD stops driving at the time point te1.

As described above, in the present embodiment, the timing at which the second control unit 93B outputs the control signal for starting the driving of the actuator 5 and the timing at which the arithmetic processing unit 200 outputs the control signal for starting the driving of the motor 210. Are the same.

Further, the timing at which the second control unit 93B outputs the control signal for stopping the drive of the actuator 5 and the timing at which the arithmetic processing unit 200 outputs the control signal for stopping the drive of the motor 210 are the same.

In the present embodiment, when the worker WM operates the trigger switch 100A to start driving the motor 210 in order to start the work using the power tool KD, the actuator 5 is interlocked with the operation of the trigger switch 100A. Is started, and the arm of the worker WM is raised. That is, the control device 11 outputs a start signal for activating the actuator 5 as a control signal in conjunction with the start of work of the power tool KD. On the other hand, when the operator WM releases the operation of the trigger switch 100A to stop the drive of the motor 210 in order to stop the work using the power tool KD, the actuator 5 is interlocked with the release of the operation of the trigger switch 100A. The drive of the WM is stopped, and the arm of the worker WM is lowered. That is, the control device 11 outputs a stop signal for stopping the actuator 5 as a control signal in conjunction with the end of the work of the power tool KD. As a result, the arm of the worker WM is raised or lowered based on the intention of the worker WM to start or stop the work. Therefore, it is suppressed that the worker WM feels uncomfortable, and the work using the power tool KD is smoothly carried out.

[effect]
As described above, according to the present embodiment, the work assisting tool 1 includes an operation signal acquisition unit 92 that acquires an operation signal generated by operating the operation device 100 of the power tool KD, and an operation signal. It includes a second control unit 93B that outputs a control signal for controlling the drive state of the actuator 5 based on the control. The control device 11 outputs a start signal for activating the actuator 5 as a control signal based on the first operation signal of the operation device 100, which is a work start signal indicating the start of work of the power tool KD, and ends the work of the power tool KD. A stop signal for stopping the actuator 5 is output as a control signal based on the second operation signal of the operation device 100, which is a work end signal indicating. As a result, the actuator 5 provided in the work assisting tool 1 is controlled based on the timing at which the operating device 100 of the power tool KD is operated. Therefore, the actuator 5 can start or stop driving at a timing intended by the operator WM.

Further, in the present embodiment, the power tool KD is supported by the arm (right arm) held by the holding member 4. The actuator 5 generates a power for turning the tip portion 31T of the first arm member 31 upward. The second control unit 93B outputs a control signal for starting the driving of the actuator 5 when the operation signal from the operation device 100 is acquired by the operation signal acquisition unit 92. As a result, when the worker WM works on a high place such as a ceiling surface using the power tool KD, the muscular strength of the arm of the worker WM is assisted at the timing intended by the worker WM.

Further, in the present embodiment, the trigger switch 100A, which is the operation device 100, generates an operation signal for operating the driving state of the motor 210 of the power tool KD. As a result, when the motor 210 of the electric tool KD is driven to perform the work using the electric tool KD, the work assisting tool 1 starts driving the actuator 5 and exerts an assisting force (assisting force). it can.

Further, in the present embodiment, the actuator 5 is an air actuator that generates power based on compressed air that is compressed by the compressor 6 and whose pressure is adjusted by the pressure control mechanism 8. As a result, the work assisting tool 1 can effectively exert a sufficient assisting force.

Further, according to the present embodiment, the solenoid valve 81 is provided in the flow path 12 through which the compressed air supplied to the actuator 5 flows. Compressed air is supplied to the actuator 5 when the solenoid valve 81 is first operated, and compressed air is discharged from the actuator 5 when the solenoid valve 81 is second operated. As a result, the drive start and drive stop of the actuator 5 can be switched by simply operating the solenoid valve 81.

Further, according to the present embodiment, a tank 7 for temporarily storing the compressed air supplied from the compressor 6 is provided. The compressed air stored in the tank 7 is supplied to the actuator 5 via the pressure control mechanism 8. As a result, the compressed air in the tank 7 increased to the specified pressure can be supplied to the actuator 5 via the pressure control mechanism 8.

Further, according to the present embodiment, the pressure sensor 71 is provided in the flow path 12A between the compressor 6 and the tank 7. The pressure sensor 71 detects the pressure of the compressed air supplied from the compressor 6 to the tank 7. Further, the pressure sensor 71 detects the pressure of the compressed air in the tank 7. The driving state of the compressor 6 is controlled based on the pressure value Pa detected by the pressure sensor 71. As a result, when the pressure of the compressed air in the tank 7 is low, the compressor 6 can be driven to increase the pressure of the compressed air in the tank 7. Further, when the pressure of the compressed air in the tank 7 is high, the driving of the compressor 6 can be stopped, and the unnecessary driving of the compressor 6 is suppressed.

Further, in the present embodiment, the connector 10 to which the battery 9 is detachably attached is provided. As a result, electric power can be supplied to an electric device such as the compressor 6. Since the battery 9 can be attached to and detached from the connector 10, when the charged state of the battery 9 attached to the connector 10 is lowered, it can be easily replaced with the battery 9 having a high charged state.

Further, in the present embodiment, the battery 9 is a power tool battery. Therefore, the work assisting tool 1 and the power tool KD can also be used as the battery 9.

Further, in the present embodiment, the arm member 3 includes a first arm member 31 that supports the holding member 4, and a second arm member 32 that is connected to each of the main body member 2 and the first arm member 31. The first arm member 31 is rotatably connected to the second arm member 32 about the first rotation shaft AX1, and the second arm member 32 extends in a direction different from that of the first rotation shaft AX1. It is rotatably connected to the main body member 2 about the rotation shaft AX2. As a result, the holding member 4 can smoothly move in the direction parallel to the first surface orthogonal to the first rotation axis AX1 and in the direction parallel to the second surface orthogonal to the second rotation axis AX2. When the first surface and the second surface are orthogonal to each other and the second surface is parallel to the horizontal plane, the holding member 4 can move smoothly in each of the vertical direction and the horizontal direction.

Further, in the present embodiment, a moving mechanism 50 that supports the holding member 4 so as to be movable relative to the first rotating shaft AX1 is provided. As a result, when the worker WM moves the arm, the holding member 4 that holds the arm moves relative to the first rotation axis AX1. Therefore, friction between the arm and the work assisting tool 1 is suppressed. Therefore, the decrease in workability of the worker WM is suppressed.

Second embodiment.
The second embodiment will be described. In the following description, the same components as those in the above-described embodiment are designated by the same reference numerals, and the description thereof will be simplified or omitted.

FIG. 10 is a diagram showing an example of each hardware configuration of the work assist tool 1 and the power tool KD according to the present embodiment. FIG. 11 is a functional block diagram showing an example of the arithmetic processing unit 90 according to the present embodiment.

In the present embodiment, the work assisting tool 1 includes a pressure sensor 72 (second pressure sensor) that detects the pressure of the compressed air supplied to the actuator 5, a displacement sensor 73 that detects the displacement of the actuator 5, and a holding member 4. It is provided with a force sensor 74 that detects an auxiliary force applied to the arm of the operator WM via.

The pressure sensor 72 is provided between the pressure control mechanism 8 and the actuator 5, and detects the pressure of the compressed air supplied from the pressure control mechanism 8 to the actuator 5. The pressure value Pb detected by the pressure sensor 72 indicates the pressure in the internal space of the actuator 5. The detection signal of the pressure sensor 72 is output to the arithmetic processing unit 90. The detection signal acquisition unit 91 acquires the detection signal of the pressure sensor 72.

The displacement sensor 73 detects the amount of displacement of the actuator 5. As described above, the actuator 5 expands and contracts. The lower end of the actuator 5 is fixed to the second plate member 24 via the connecting member 63. As the actuator 5 expands and contracts, the upper end of the actuator 5 moves in the vertical direction. In the present embodiment, the displacement amount of the actuator 5 includes the movement amount of the wire member 61 connected to the upper end portion of the actuator 5 via the connecting member 62. The displacement sensor 73 can detect the displacement amount of the actuator 5 by detecting the movement amount of the first plate member 23.

Further, the pulley 15 of the first joint mechanism 13 rotates in synchronization with the movement of the upper end portion of the actuator 5. The displacement amount of the actuator 5 and the rotation amount of the pulley 15 have a one-to-one correspondence. The displacement sensor 73 can detect the displacement amount of the actuator 5 by detecting the rotation amount of the pulley 15.

In the present embodiment, the displacement sensor 73 is an angle sensor that detects the amount of rotation of the pulley 15. The detection signal of the displacement sensor 73 is output to the arithmetic processing unit 90. The detection signal acquisition unit 91 acquires the detection signal of the displacement sensor 73. The storage device 99 of the control device 11 stores correlation data showing the relationship between the displacement amount of the actuator 5 and the rotation amount of the pulley 15. The correlation data is, for example, known data that can be derived from the design data of the work aid 1. The second control unit 93B can calculate the displacement amount of the actuator 5 based on the detection signal of the displacement sensor 73 and the correlation data stored in the storage device 99.

The force sensor 74 detects an auxiliary force applied to the arm of the worker WM held by the holding member 4. The work assisting tool 1 applies an assisting force to the arm of the worker WM via the holding member 4. The force sensor 74 detects the auxiliary force applied to the arm of the worker WM. In this embodiment, the force sensor 74 includes a strain sensor provided on the holding member 4. The larger the auxiliary force applied to the arm of the worker WM, the larger the detection value of the strain sensor, and the smaller the auxiliary force applied to the arm of the worker WM, the smaller the detection value of the strain sensor. Therefore, the strain sensor can detect the assisting force applied to the arm of the worker WM.

The force sensor 74 may be a pressure sensor provided on the holding member 4. The pressure sensor is provided between the arm of the worker WM and the holding member 4. The larger the auxiliary force applied to the arm of the worker WM, the larger the detection value of the pressure sensor, and the smaller the auxiliary force applied to the arm of the worker WM, the smaller the detection value of the pressure sensor. Therefore, the pressure sensor can detect the assisting force applied to the arm of the worker WM.

The detection signal of the force sensor 74 is output to the arithmetic processing unit 90. The detection signal acquisition unit 91 acquires the detection signal of the force sensor 74.

Further, in the present embodiment, the input device 113 for designating the target value of the auxiliary force is connected to the arithmetic processing unit 90. The input device 113 has an operation dial capable of designating a target value of the auxiliary force. The worker WM can operate the input device 113 to input the target value of the auxiliary force to the arithmetic processing unit 90. The arithmetic processing unit 90 has an input signal acquisition unit 94 that acquires an input signal generated by operating the input device 113.

Next, the control method of the actuator 5 according to the present embodiment will be described. FIG. 12 is a flowchart showing an example of the control method of the actuator 5 according to the present embodiment. FIG. 12 shows an example of a control method for controlling the driving state of the actuator 5 based on the detection signal of the pressure sensor 72 and the detection signal of the displacement sensor 73. The second control unit 93B outputs a control signal for controlling the driving state of the actuator 5 based on the detection signal of the pressure sensor 72 and the detection signal of the displacement sensor 73.

The worker WM operates the input device 113 to input the target value of the desired auxiliary force. The input signal acquisition unit 94 acquires an input signal indicating a target value of the auxiliary force (step SC1).

The second control unit 93B determines whether or not the operation signal acquisition unit 92 has acquired the first operation signal from the trigger switch 100A (step SC2).

When it is determined in step SC2 that the first operation signal has been acquired (step SC2: Yes), the detection signal acquisition unit 91 acquires the detection signal of the pressure sensor 72. The detection signal of the pressure sensor 72 indicates the pressure value Pb of the compressed air supplied to the actuator 5. The second control unit 93B acquires the pressure value Pb detected by the pressure sensor 72 (step SC3).

Further, the detection signal acquisition unit 91 acquires the detection signal of the displacement sensor 73. The detection signal of the displacement sensor 73 indicates the amount of displacement of the actuator 5. The second control unit 93B acquires the displacement amount of the actuator 5 detected by the displacement sensor 73 (step SC4).

The second control unit 93B calculates the tension of the actuator 5 based on the detection signal of the pressure sensor 72 and the detection signal of the displacement sensor 73 (step SC5). In the artificial muscle, the tension of the actuator 5 is determined based on the pressure in the internal space of the actuator 5 and the displacement amount of the actuator 5. The second control unit 93B calculates the tension of the actuator 5 based on the detection signal of the pressure sensor 72 indicating the pressure value Pb in the internal space of the actuator 5 and the detection signal of the displacement sensor 73 indicating the displacement amount of the actuator 5. (Step SC5).

The second control unit 93B determines whether or not the tension of the actuator 5 calculated in step SC5 is equal to the target value of the assisting force acquired in step SC1 (step SC6).

In step SC6, when it is determined that the tension of the actuator 5 calculated in step SC5 and the target value of the auxiliary force acquired in step SC1 are different (step SC6: No), the second control unit 93B of the actuator 5 The difference between the tension and the target value of the assisting force is calculated (step SC7).

The second control unit 93B calculates the target pressure of the actuator 5 based on the difference calculated in step SC7 so that the difference becomes small (step SC8).

The second control unit 93B outputs a control signal for controlling the solenoid valve 81 so that the internal space of the actuator 5 becomes the target pressure calculated in step SC8 (step SC9).

The solenoid valve 81 adjusts the compressed air supplied from the tank 7 to the actuator 5 via the pressure control mechanism 8 based on the control signal. The solenoid valve 81 adjusts the compressed air supplied to the actuator 5 based on the control signal to control the pressure of the actuator 5 to the target pressure (step SC10). By controlling the pressure of the actuator 5 to the target pressure, the difference between the tension of the actuator 5 and the target value of the auxiliary force becomes small.

When it is determined in step SC2 that the first operation signal has not been acquired (step SC2: No), the second control unit 93B sends the solenoid valve 81 so that the compressed air is discharged from the actuator 5. A control signal is output (step SC11).

When it is determined that the tension of the actuator 5 calculated in step SC5 and the target value of the assisting force acquired in step SC1 are equal (step SC6: Yes), or when the processing of step SC11 is completed, the arithmetic processing unit 90 Returns to the process of step SC1.

As described above, the second control unit 93B outputs a control signal for controlling the driving state of the actuator 5 based on the detection signal of the pressure sensor 72 and the detection signal of the displacement sensor 73. The second control unit 93B controls the solenoid valve 81 so that the auxiliary force applied to the arm of the worker WM becomes the target value input from the input device 113, and adjusts the pressure in the internal space of the actuator 5. The tension of the actuator 5 is adjusted. As a result, the work assisting tool 1 can assist the arm of the worker WM with the assisting force desired by the worker WM.

FIG. 13 is a flowchart showing an example of the control method of the actuator 5 according to the present embodiment. FIG. 13 shows an example of a control method for controlling the driving state of the actuator 5 based on the detection signal of the force sensor 74. The second control unit 93B outputs a control signal for controlling the driving state of the actuator 5 based on the detection signal of the force sensor 74.

The worker WM operates the input device 113 to input the target value of the desired auxiliary force. The input signal acquisition unit 94 acquires an input signal indicating a target value of the auxiliary force (step SD1).

The second control unit 93B determines whether or not the operation signal acquisition unit 92 has acquired the first operation signal from the trigger switch 100A (step SD2).

When it is determined in step SD2 that the first operation signal has been acquired (step SD2: Yes), the detection signal acquisition unit 91 acquires the detection signal of the force sensor 74. The detection signal of the force sensor 74 indicates an auxiliary force applied to the arm of the operator WM via the holding member 4. The second control unit 93B acquires the auxiliary force applied to the arm of the worker WM detected by the force sensor 74 (step SD3).

The second control unit 93B determines whether or not the auxiliary force applied to the arm of the worker WM acquired in step SD3 is equal to the target value of the auxiliary force acquired in step SD1 (step SD4).

In step SD4, when it is determined that the target value of the auxiliary force acquired in step SD1 and the auxiliary force applied to the arm of the worker WM acquired in step SD3 are different (step SD4: No), the second control unit 93B calculates the difference between the assisting force applied to the arm of the worker WM and the target value of the assisting force (step SD5).

The second control unit 93B calculates the target pressure of the actuator 5 based on the difference calculated in step SD5 so that the difference becomes small (step SD6).

The second control unit 93B outputs a control signal for controlling the solenoid valve 81 so that the internal space of the actuator 5 becomes the target pressure calculated in step SD6 (step SD7).

The solenoid valve 81 adjusts the compressed air supplied from the tank 7 to the actuator 5 via the pressure control mechanism 8 based on the control signal. The solenoid valve 81 adjusts the compressed air supplied to the actuator 5 based on the control signal to control the pressure of the actuator 5 to the target pressure (step SD8). By controlling the pressure of the actuator 5 to the target pressure, the difference between the auxiliary force applied to the arm of the worker WM and the target value of the auxiliary force becomes small.

When it is determined in step SD2 that the first operation signal has not been acquired (step SD2: No), the second control unit 93B sends the compressed air to the solenoid valve 81 so that the compressed air is discharged from the actuator 5. The control signal is output (step SD9).

When it is determined that the auxiliary force applied to the arm of the worker WM acquired in step SD3 and the target value of the auxiliary force acquired in step SD1 are equal (step SD4: Yes), or the process of step SD9 is completed. At that time, the arithmetic processing unit 90 returns to the processing of step SD1.

As described above, the second control unit 93B outputs a control signal for controlling the driving state of the actuator 5 based on the detection signal of the force sensor 74. The second control unit 93B controls the solenoid valve 81 so that the auxiliary force applied to the arm of the worker WM becomes the target value input from the input device 113, and adjusts the pressure in the internal space of the actuator 5. The assisting force applied to the arm of the worker WM via the holding member 4 is adjusted. As a result, the work assisting tool 1 can assist the arm of the worker WM with the assisting force desired by the worker WM.

The first embodiment and other embodiments related to the second embodiment.
In the above-described embodiment, as described with reference to FIG. 9, the timing at which the second control unit 93B outputs the control signal for starting the drive of the actuator 5 and the arithmetic processing device 200 start the drive of the motor 210. The timing of outputting the control signal to be operated is the same, the timing of outputting the control signal to stop the drive of the actuator 5 by the second control unit 93B, and the control signal to stop the drive of the motor 210 by the arithmetic processing device 200. It was decided that the output timing was the same.

The timing at which the second control unit 93B outputs the control signal for starting the driving of the actuator 5 and the timing at which the arithmetic processing unit 200 outputs the control signal for starting the driving of the motor 210 may be different. Further, the timing at which the second control unit 93B outputs the control signal for stopping the drive of the actuator 5 and the timing at which the arithmetic processing unit 200 outputs the control signal for stopping the drive of the motor 210 may be different.

FIG. 14 is a timing chart showing a control signal according to the present embodiment. As shown in FIG. 14, when the trigger switch 100A is operated, the first operation signal generated at the time point ts1 is sent to the arithmetic processing unit 200 of the power tool KD and the arithmetic processing unit 90 of the work assist tool 1, respectively. It is output. The second control unit 93B outputs a control signal for driving the actuator 5 at the time ts1 (first time point) when the operation signal acquisition unit 92 acquires the first operation signal. The motor 210 of the power tool KD starts driving at a time point ts2 (second time point) after the time point ts1. That is, the second control unit 93B outputs a control signal for supplying the compressed air of the tank 7 to the actuator 5 to the solenoid valve 81 at the time point ts1. The arithmetic processing unit 200 of the power tool KD outputs a control signal for driving the motor 210 to the motor driver 220 at the time point ts2 after the time point ts1.

As a result, when the trigger switch 100A is operated, the drive of the actuator 5 is started and the arm of the operator WM is raised before the drive of the motor 210 of the power tool KD is started. The worker WM can start driving the motor 210 of the power tool KD after the arm is raised.

Further, the second operation signal generated at the time point te1 when the operation of the trigger switch 100A is released is output to each of the arithmetic processing unit 200 of the power tool KD and the arithmetic processing unit 90 of the work assist tool 1. The motor 210 of the power tool KD stops driving at the time point te1. The second control unit 93B outputs a control signal for stopping the drive of the actuator 5 at a time point te2 after the time point te1 when the operation signal acquisition unit 92 acquires the second operation signal. That is, the arithmetic processing unit 200 of the electric tool KD outputs a control signal for stopping the driving of the motor 210 to the motor driver 220 at the time point te1. The second control unit 93B outputs a control signal for discharging compressed air from the actuator 5 to the solenoid valve 81 at the time point te2 after the time point te1.

As a result, when the operation of the trigger switch 100A is released, the operation of the motor 210 of the electric tool KD is stopped, and then the arm of the worker WM can be lowered.

FIG. 15 is a schematic diagram for explaining the operation amount of the trigger switch 100A according to the present embodiment and the timing at which each of the motor 210 and the actuator 5 starts driving. The trigger switch 100A has a specified range of motion. The operator WM can operate the trigger switch 100A with an arbitrary operation amount (pushing amount). The amount of operation when the trigger switch 100A is pushed to the end of the movable range is appropriately referred to as the first operation amount, and the amount of operation when the trigger switch 100A is pushed halfway in the movable range is appropriately referred to as the second operation amount. It is called. The second manipulated variable is smaller than the first manipulated variable. The first operation amount corresponds to a full push indicating the operation amount when the trigger switch 100A is fully pushed, and the second operation amount corresponds to a half push indicating the operation amount when the trigger switch 100A is slightly pushed. To do.

The motor 210 starts driving when the trigger switch 100A is operated by the first operation amount. The second control unit 93B outputs a control signal for driving the actuator 5 to the solenoid valve 81 when the operation signal indicating the second operation amount smaller than the first operation amount is acquired by the operation signal acquisition unit 92.

That is, when the trigger switch 100A is half-pressed, the drive of the actuator 5 is started so that the tip portion 31T of the first arm member 31 turns upward while the drive of the motor 210 is stopped. The operator WM can drive the power tool KD by pressing the trigger switch 100A halfway to lift the arm and then fully pressing the trigger switch 100A.

In each of the above-described embodiments, the drive state of the actuator 5 is controlled based on the operation of the trigger switch 100A. The drive state of the actuator 5 may be controlled based on the operation of the lock-off switch 100B. For example, when the lock-off switch 100B is operated to unlock the motor 210, the actuator 5 may be driven to raise the arm of the operator WM. After the arm is raised, the operator WM can operate the trigger switch 100A to start driving the motor 210. Further, not only the trigger switch 100A and the lockoff switch 100B, but also the drive state of the actuator 5 may be controlled based on the operation of various switches provided on the power tool KD that operate the drive state of the motor 210. .. Further, the drive state of the actuator 5 may be controlled based on the operation of various switches provided on the power tool KD that do not contribute to the operation of the drive state of the motor 210. For example, the power tool KD may be provided with a dedicated switch for controlling the driving state of the actuator 5.

In each of the above-described embodiments, the driving state of the actuator 5 is controlled based on the operating device 100 provided in the power tool KD. The work assisting tool 1 may be provided with an operating device for operating the driving state of the actuator 5.

In each of the above-described embodiments, a pressure control valve may be used as the pressure control mechanism 8. Further, in each of the above-described embodiments, the tank 7 may be omitted. The compressed air generated by the compressor 6 may be supplied to the actuator 5 via the pressure control mechanism 8 without being stored in the tank 7.

The pressure control mechanism 8 may be omitted in each of the above-described embodiments. The compressed air generated by the compressor 6 may be directly supplied to the actuator 5.

In each of the above-described embodiments, the actuator 5 is an artificial muscle. The actuator 5 may be an air cylinder.

In each of the above-described embodiments, the actuator 5 is an air actuator that operates based on compressed air. The actuator 5 may be, for example, a hydraulic actuator that operates based on hydraulic pressure, or an actuator that operates by a driving element such as a piezoelectric element.

In each of the above-described embodiments, the actuator 5 is supported by the main body member 2. The actuator 5 may be supported by, for example, the arm member 3, or may be supported by a member other than the main body member 2 and the arm member 3.

In each of the above-described embodiments, the first rotation axis AX1 is substantially parallel to the XY plane, and the second rotation axis AX2 is substantially orthogonal to the XY plane. The first rotation axis AX1 may be inclined with respect to the XY plane, and the second rotation axis AX2 may not be orthogonal to the XY plane. Further, in the above-described embodiment, the tip end portion 31T of the first arm member 31 swivels in a direction parallel to the first surface orthogonal to the first rotation axis AX1, and the first end portion 32T of the second arm member 32 It was decided to turn in a direction parallel to the second surface orthogonal to the first surface. The first surface and the second surface do not have to be orthogonal to each other.

In each of the above-described embodiments, the second rotation axis AX2 may be omitted. That is, the first arm member 31 may be rotatable about the first rotation shaft AX1 and may not rotate about the second rotation shaft AX2.

In each of the above-described embodiments, the work assisting tool 1 supports either the right arm or the left arm of the worker WM. The work aid 1 may support both the right arm and the left arm. By providing the arm member 3 and the holding member 4 for the right arm and the holding member 4, the work assisting tool 1 can assist the muscular strength of both the right arm and the left arm of the worker WM.

Third embodiment.
The third embodiment will be described. In the following description, the same components as those in the above-described embodiment are designated by the same reference numerals, and the description thereof will be simplified or omitted.

The work assisting tool 1 supports pressing the arm of the worker WM against the object when performing a drilling operation on the object at a high place by using, for example, a power tool KD such as a hammer drill. The work assisting tool 1 is also called an assist suit.

The work assisting tool 1 can take an assist state, a posture maintenance state, and an arm release state. The assist state is a state in which the work assisting tool 1 assists the force of pressing the arm of the worker WM against the object to support the worker WM. The posture maintenance state is a state in which the work assisting tool 1 supports the arm of the worker WM at a predetermined height to maintain the posture. In the posture maintenance state, the force of pressing the arm of the worker WM against the object does not act. The arm release state is a state in which the arm of the worker WM is released from the assist state or the posture maintenance state so that the worker can move freely.

[Construction]
FIG. 16 is a perspective view showing an example of the work assisting tool 1 according to the present embodiment, and shows a state in which the work assisting tool 1 is attached to the worker WM. FIG. 17 is a perspective view showing an example of the work assisting tool 1 according to the present embodiment.

As shown in FIGS. 16 and 17, the work assisting tool 1 includes a main body member 2 whose at least a part is mounted on the back of the worker WM, and an arm member 3 which is movably connected to the main body member 2. A holding member 4 that is supported by the arm member 3 via the moving mechanism 50 and holds at least a part of the arm of the worker WM, and an actuator 141 that is supported by the main body member 2 and generates power to move the arm member 3. The actuator 141 is provided with a power mechanism 1000 that is driven by the power generated to move the arm member 3. The power mechanism 1000 includes a drum drive mechanism 400 (second power mechanism) driven by the power generated by the actuator 141, and an arm drive mechanism 700 (first power mechanism) for moving the arm member 3.

Further, the work assisting tool 1 is supported by the main body member 2, and the connector 10 to which the battery 9 is detachably attached, the control device 11 supported by the main body member 2, and the assisting tool operation operated by the worker WM. The device 800 is provided.

The holding member 4 holds at least a part of the right arm of the worker WM. The power tool KD is supported by the right arm held by the holding member 4. The worker WM holds the power tool KD with his right hand to carry out the work.

The work assisting tool 1 is driven or stopped in conjunction with the driving state of the power tool KD. The work assisting tool 1 has an assisting tool operating device 800 for the operator WM to operate for driving or stopping. The work aid 1 has a connector 10 to which a battery 9 for a power tool KD that supplies electric power is mounted. The work assisting tool 1 has a harness HS for the worker WM to wear on his / her back while carrying it on his / her back. The work assisting tool 1 is controlled by the control device 11.

The harness HS is arranged on the main body member 2. The harness HS has a pair of shoulder belts HSa and a waist belt HSb. The pair of shoulder belts HSa are attached to the shoulder portion through the upper arm portion of the worker WM. In the pair of shoulder belts HSa, cushioning materials are arranged at positions where they come into contact with the shoulders of the operator. As a result, when the pair of shoulder belts HSa are worn on the shoulders of the operator, a good wearing feeling can be obtained. The waist belt HSb is wrapped around the worker's abdomen and worn. A cushioning material is arranged on the waist belt HSb at a position where it comes into contact with the waist of the operator. As a result, when the waist belt HSb is attached to the waist of the worker, a good wearing feeling can be obtained. Through such a harness HS, the work assisting tool 1 is worn while being carried on the back of the worker.

The main body member 2 supports a heavy object of the work assisting tool 1. A load acting on the arm member 3 acts on the main body member 2. Since the main body member 2 is formed in a frame shape, the load is dispersed and supported. The main body member 2 is made of a highly rigid and lightweight material including, for example, Fiber Reinforce Plastics (FRP). In particular, the main body member 2 is preferably formed of CFRP (Carbon Fiber Reinforced Plastics) using carbon fibers. The main body member 2 has a first frame 21B, a second frame 22, a third frame 23B, and a connecting portion 24B. A housing 29 is arranged on the main body member 2.

The first frame 21B is arranged so as to face the back of the worker WM. The second frame 22B is arranged at a position separated from the back of the worker WM in the Y-axis direction from the first frame 21B. The second frame 22B faces the first frame 21B. A heavy object such as a drum drive mechanism 400 is placed on the third frame 23B. The third frame 23B is formed in a rectangular shape protruding from the lower portion of the first frame 21B in the Y-axis direction. The third frame 23B projects in a direction away from the back of the worker WM. The third frame 23B is formed by assembling a plurality of columnar members in a rectangular shape. In the third frame 23B, the connecting portion 24B connects the upper side of the intermediate portion of the first frame 21B and the lower portion of the second frame 22B. The connecting portion 24B is formed in an L shape in the Z-axis direction. The connecting portion 24B is formed of a columnar member. The first frame 21B and the second frame 22B are connected via the connecting portion 24B and the housing 29. The first frame 21B and the second frame 22B are separated from each other by about several cm in the Y-axis direction.

The arm member 3 holds the arm portion of the worker WM. In the present embodiment, the arm member 3 holds the upper arm portion of the right arm of the worker WM. The arm member 3 is made of a highly rigid and lightweight material including, for example, fiber reinforced plastic. The arm member 3 supports the weight of the arm portion of the worker WM and the weight of the power tool KD gripped by the worker WM in a state where the arm member 3 is raised by the work assisting tool 1. For example, the weight of the arm of the worker WM is about 3 kg, and the weight of the power tool KD is about 5 kg. Further, when the power tool KD is driven, the arm member 3 is subjected to a reaction torque when the power tool KD is pressed against the object. The arm member 3 has a base portion 33, an arm portion 34, a guide rail 35, and a holding member 4.

The guide rail 35 is rotatably connected to the arm portion 34 about the first rotation shaft AX1. The base 33 is rotatably connected to the main body member 2 about a second rotation shaft AX2 extending in a direction different from that of the first rotation shaft AX1. Similar to the above embodiment, the first rotation axis AX1 is substantially parallel to the XY plane. The second rotation axis AX2 is substantially orthogonal to the XY plane.

The guide rail 35 and the arm portion 34 are connected via the first joint mechanism 13B. The first joint mechanism 13B includes a pulley 740. The pulley 740 includes a first rotation shaft AX1.

The base portion 33 and the main body member 2 are connected via the second joint mechanism 14B. The base 33 is connected to the second frame 22B via the second joint mechanism 14B. The second frame 22B includes a second rotation axis AX2.

The base portion 33 has a shaft hole portion 33A into which the first frame 21B is inserted, an arm hole portion 33B into which the arm portion 34 is inserted, and an adjusting hole portion 33C into which the bolt is inserted.

When the arm portion 34 is arranged in the arm hole portion 33B and the bolt is inserted into the adjusting hole portion 33C, the base portion 33 and the arm portion 34 are fixed by the bolt. The arm portion 34 can move in the radial direction of the second rotation axis AX2 in a state of being arranged in the arm hole portion 33B. By adjusting the relative positions of the base 33 and the arm 34 in the radial direction of the second rotation axis AX2, the distance between the second frame 22B and the arm 34 is adjusted. For example, the distance between the second frame 22B and the arm 34 is adjusted based on the shoulder width of the worker WM. The wider the shoulder width of the worker WM, the longer the distance between the second frame 22B and the arm 34 is adjusted.

In the present embodiment, the adjusting hole portion 33C includes a plurality of positioning holes into which bolts are inserted. A plurality of positioning holes are provided in the radial direction of the second rotation shaft AX2. The positioning hole regulates the movement of the bolt in the radial direction of the second rotating shaft AX2.

When the bolt is inserted into the positioning hole near the second rotation axis AX2, the base portion 33 and the arm portion 34 are fixed in a state where the arm portion 34 is deeply inserted into the arm hole portion 33B. That is, when the base 33 and the arm 34 are fixed by the bolt inserted into the positioning hole near the second rotation shaft AX2, the distance between the second frame 22B and the arm 34 becomes short.

When the bolt is inserted into the positioning hole far from the second rotation shaft AX2, the base 33 and the arm 34 are fixed in a state where the arm 34 is shallowly inserted into the arm hole 33B. That is, when the base portion 33 and the arm portion 34 are fixed by the bolt inserted into the positioning hole far from the second rotation shaft AX2, the distance between the second frame 22B and the arm portion 34 becomes long.

As a result, the distance between the second frame 22B and the arm 34 is adjusted in the radial direction of the second rotation axis AX2 based on the shoulder width of the worker WM.

The guide rail 35 guides the holding member 4. The holding member 4 is slidably arranged on the guide rail 35. The guide rail 35 is a pair of rod-shaped bodies extending in a straight line. The guide rails 35 are arranged in parallel. One end of the guide rail 35 is connected to the movable portion 7411 of the pulley 740 of the arm drive mechanism 700, and the holding member 4 is inserted through the other end. The guide rail 35 can rotate in conjunction with the movable portion 7411 of the pulley 740 of the arm drive mechanism 700. The guide rail 35 rotates around the arm shaft 744 (second rotating shaft AX2) of the pulley 740 in conjunction with the movable portion 7411. The guide rail 35 can rotate about the first rotation shaft AX1 so that the tip end portion of the guide rail 35 rotates in the vertical direction. The arm portion 34 can rotate about the second rotation axis AX2 so that the tip portion of the guide rail 35 rotates in the left-right direction. As a result, the guide rail 35 can take a state in which the tip end side is lowered downward and a state in which the guide rail 35 is lifted upward. The guide rail 35 may be one member of the holding member 4.

The holding member 4 holds the arm portion of the worker WM. In the present embodiment, the holding member 4 holds the upper arm portion of the worker WM. The holding member 4 is rotatably arranged with respect to the arm portion 34. The holding member 4 may take a state of being lowered downward and a state of being lifted upward in conjunction with the rotation of the guide rail 35.

The guide rail 35 is slidably inserted into the holding member 4. A pair of guide holes are formed in the holding member 4. The guide hole penetrates the holding member 4. The guide holes are formed in parallel. A guide rail 35 is inserted through the guide hole.

When the guide rail 35 turns around the first rotation shaft AX1, the holding member 4 turns around the first rotation shaft AX1 together with the guide rail 35. When the guide rail 35 turns around the second rotating shaft AX2, the holding member 4 turns around the second rotating shaft AX2 together with the guide rail 35.

The holding member 4 holds the lower part of the outer side of the upper arm of the worker WM. A magnet 44 is arranged on the inner surface of the holding member 4. Two magnets 44 are arranged on the holding member 4. The number of magnets 44 may be one, or may be three or more. The worker WM puts the upper arm on the holding member 4 with the arm band including the metal member attached to the upper arm. The holding member 4 and the upper arm are attracted by the magnetic force of the magnet 44. As a result, the holding member 4 can follow the movement of the arm of the worker WM. The worker WM can easily release the suction between the holding member 4 and the arm by quickly moving the arm inward.

FIG. 18 is a cross-sectional view showing the work assisting tool 1 according to the present embodiment. FIG. 19 is a cross-sectional view showing a part of the work assisting tool 1 according to the present embodiment.

The battery 9 supplies electric power to the work aid 1. The battery 9 is a rechargeable power tool battery. The battery 9 is attached to the connector 10. The battery 9 is removable from the connector 10.

The battery 9 has a raised portion 9a, a battery claw 9b, a battery button 9c, and a battery terminal. When mounting the battery 9 on the connector 10, the worker WM slides the battery 9 onto the connector 10 so that the battery terminal of the battery 9 and the mounting surface of the connector 10 face each other. As the battery 9 slides, the raised portion 9a comes into contact with at least a part of the connector 10. When the battery terminal of the battery 9 and the mounting surface of the connector 10 face each other, the battery claw 9b is inserted into the mounting recess 10a of the connector 10. As a result, the battery 9 is attached to the connector 10. When the battery 9 is attached to the connector 10, the battery terminal of the battery 9 and the attachment terminal of the connector 10 are connected.

When the battery 9 is removed from the connector 10, the battery button 9c is operated. By operating the battery button 9c, the battery claw 9b is removed from the mounting recess 10a, and the battery 9 is released from the connector 10. As the battery 9 slides, the battery 9 is removed from the connector 10.

The housing 29 internally houses the drum drive mechanism 400 and a part of the arm drive mechanism 700. The housing 29 has a first housing 291 and a second housing 292. The first housing 291 houses the spring 720 and the slide volume 730 inside. The first housing 291 is fixed to the second frame 22B. The first housing 291 is formed in a box shape. The second housing 292 houses the drum drive mechanism 400 inside. The second housing 292 is fixed to the lower part of the first housing 291. The second housing 292 is formed in a box shape. The connector 10 is arranged on the right side of the second housing 292. The lower portion of the second housing 292 is fixed to the third frame 23B via the housing 149 and the base 293.

The actuator 141 is a drive source for the work assisting tool 1. The actuator 141 is an electric actuator that is operated by the electric power supplied from the battery 9. In this embodiment, the actuator 141 is an electric motor operated by the electric power supplied from the battery 9. The power generated by the actuator 141 includes the rotational force generated by the electric motor.

The power mechanism 1000 is arranged between the arm member 3 and the actuator 141, and includes an arm drive mechanism 700 (first power mechanism) including a spring member 721 that expands and contracts by the operation of the actuator 141, and the arm drive mechanism 700 and the actuator 141. It has a drum drive mechanism 400 (second power mechanism) that is arranged between the actuators and transmits the power generated by the actuator 141 to the arm drive mechanism 700.

As will be described later, the drum drive mechanism 400 suppresses the force transmitted from the arm drive mechanism 700 to the actuator 141 when the motor of the power tool KD is being driven. Further, the drum drive mechanism 400 releases the suppression of the force transmitted from the arm drive mechanism 700 to the actuator 141 when the motor of the power tool KD shifts from the drive state to the stop state. Further, a slide volume 730 (spring sensor) for detecting the length of the spring member 721 is provided. The control device 11 controls the operation of the actuator 141 based on the detection signal from the slide volume 730. The control device 11 stops the actuator 141 when it is determined that the elastic force of the spring member 721 is equal to or higher than the first threshold value based on the detected value of the slide volume 730 while the motor of the power tool KD is being driven. It outputs a stop signal to activate the actuator 141, and outputs an activation signal to activate the actuator 141 when it is determined that the elastic force of the spring member 721 is equal to or less than the second threshold value.

The drum drive mechanism 400 rotates the guide rail 35 of the arm member 3 to generate power for raising or lowering the holding member 4. The drum drive mechanism 400 is driven by the electric power supplied from the rechargeable battery 9. The drum drive mechanism 400 includes an actuator 141, a gear unit 142, a drum 143, a cooling fan 414 for cooling the actuator 141, and a housing 149. The actuator 141, the gear unit 142, and the drum 143 can rotate about the rotation shaft AX3.

The actuator 141 is a drive source for the work assisting tool 1. The actuator 141 is driven by the electric power supplied from the battery 9. The rotational force of the actuator 141 is transmitted via the gear unit 142. The rotation axis AX3 of the actuator 141 is parallel to the X axis. The actuator 141 is a brushless motor. The actuator 141 is an inner rotor. The actuator 141 is connected to the control device 11 via a lead wire (not shown). The actuator 141 is driven and stopped by a control signal from the control device 11. More specifically, the actuator 141 has a cylindrical stator 411, a rotor 412 arranged inside the stator 411, and a motor shaft 413. The rotor 412 rotates about the rotation shaft AX3. The rotating shaft of the rotor 412 is a motor shaft 413. One end of the motor shaft 413 is rotatably supported by the motor bearing 421.

The gear unit 142 is a reduction mechanism. The gear unit 142 decelerates the rotational force of the actuator 141 and outputs it to the spindle 424 so that it can be transmitted. The gear unit 142 includes a motor bearing 421, a first planetary gear mechanism 422, a second planetary gear mechanism 423, a spindle 424, a spindle bearing 425, and a gear cover 429.

The motor bearing 421 rotatably supports the motor shaft 413. The motor bearing 421 is arranged on the left side of the stator 411 and the rotor 412 of the actuator 141 and on the right side of the gear unit 142.

At least a part of the first planetary gear mechanism 422 is arranged on the motor shaft 413. The first planetary gear mechanism 422 rotates about the rotation shaft AX3. The first planetary gear mechanism 422 is arranged on the left side of the motor bearing 421. The first planetary gear mechanism 422 decelerates the rotational force of the actuator 141 and transmits it to the second planetary gear mechanism 423.

The first planetary gear mechanism 422 has an output shaft 4221 and a connecting shaft 4222. The left end of the output shaft 4221 is fitted to the right end of the connecting shaft 4222. The output shaft 4221 and the connecting shaft 4222 rotate integrally around the rotation shaft AX3. The left end of the connecting shaft 4222 is fitted to the second planetary gear mechanism 423. The first planetary gear mechanism 422 transmits a rotational force to the second planetary gear mechanism 423 via the output shaft 4221 and the connecting shaft 4222.

The first planetary gear mechanism 422 has a ring-shaped internal gear 4223, a plurality of planetary gears 4224 that mesh with the internal gear 4223, and a plurality of pins 4225 that are axes of the planetary gear 4224. The internal tooth gear 4223 is arranged in the gear cover 429 in a state where rotation is restricted. The plurality of planetary gears 4224 are arranged inside the internal tooth gear 4223. The planetary gear 4224 is rotatable about the pin 4225. The second planetary gear mechanism 423 having such a configuration may be arranged in a plurality of stages.

At least a part of the second planetary gear mechanism 423 is arranged on the connecting shaft 4222. The second planetary gear mechanism 423 rotates about the rotation shaft AX3. The rotating shaft AX3 of the second planetary gear mechanism 423 is a connecting shaft 4222. The second planetary gear mechanism 423 is arranged on the left side of the first planetary gear mechanism 422. The second planetary gear mechanism 423 can reduce the rotational force of the actuator 141 transmitted from the first planetary gear mechanism 422 and transmit it to the spindle 424.

The second planetary gear mechanism 423 has a ring-shaped internal tooth gear 4231 and a plurality of planetary gears 4232 that mesh with the internal tooth gear 4231. The rotation of the internal tooth gear 4231 is locked or unlocked by the solenoid mechanism 500 described later. When the rotation of the internal gear 4231 is locked, the output from the actuator 141 is transmitted to the spindle 424 via the first planetary gear mechanism 422. The internal tooth gear 4231 idles when the rotation lock is released. The plurality of planetary gears 4232 are arranged inside the internal tooth gear 4231. The planetary gear 4232 is rotatable about an axis.

The spindle 424 can be connected to the motor shaft 413 via the first planetary gear mechanism 422 and the second planetary gear mechanism 423. The rotational force of the actuator 141 can be transmitted to the spindle 424 via the first planetary gear mechanism 422 and the second planetary gear mechanism 423. When the rotational force is transmitted from the actuator 141, the spindle 424 rotates about the rotation shaft AX3. The spindle 424 transmits the transmitted rotational force of the actuator 141 to the drum 143.

The spindle 424 has a cylindrical main body portion 4241, a large-diameter portion 4242 protruding to the right from the main body portion 4241 and formed in a cylindrical shape, and a disk-shaped portion protruding to the right from the large-diameter portion 4242 and formed in a disk shape. It has a 4243 and a small diameter portion 4244 formed in a cylindrical shape so as to project to the left from the main body portion 4241. The main body portion 4241 has a shape having an outer diameter smaller than that of the large diameter portion 4242. The main body portion 4241 has a shape having a larger outer diameter than the small diameter portion 4244. The main body portion 4241, the large diameter portion 4242, the disk-shaped portion 4243, and the small diameter portion 4244 are integrally formed. The spindle 424 is rotatably supported by a spindle bearing 425 and a spindle bearing 144.

The spindle bearing 425 is arranged on the right side of the drum 143 and on the left side of the disk-shaped portion 4243 of the spindle 424. The spindle bearing 425 rotatably supports the large diameter portion 4242.

The gear cover 429 is formed in a tubular shape with left and right ends open. The gear cover 429 houses the gear unit 142 inside. More specifically, the gear cover 429 internally houses the motor bearing 421, the first planetary gear mechanism 422, the second planetary gear mechanism 423, a part of the spindle 424, and the spindle bearing 425. The motor shaft 413 is inserted through the opening on the right side of the gear cover 429. A part of the spindle 424 of the gear cover 429 protrudes from the opening on the left side.

The drum 143 is arranged on the left side of the gear unit 142. The drum 143 is connected to the gear unit 142 via the spindle 424. The drum 143 rotates about the rotation axis AX3. The axis of rotation of the drum 143 is the spindle 424. The drum 143 rotates when the actuator 141 rotates and the rotational force is transmitted via the gear unit 142.

The drum 143 is formed in a cylindrical shape. The drum 143 has a main body 431 around which the first wire 711 is wound, a disk-shaped portion 432 that protrudes to the right side of the main body 431 and is formed in a disk shape, and a disk-shaped portion that protrudes to the left side of the main body 431. It has a disk-shaped portion 433. The main body portion 431, the disc-shaped portion 432, and the disc-shaped portion 433 are integrally formed. The main body portion 431 has a shape having a smaller outer diameter than the disc-shaped portion 432 and the disc-shaped portion 433.

The spindle bearing 144 is arranged on the left side of the drum 143. The spindle bearing 144 rotatably supports the small diameter portion 4244 of the spindle 424.

The cooling fan 414 generates cooling air when the actuator 141 rotates, and suppresses heat generation of the actuator 141.

The housing 149 is formed in a box shape for accommodating the actuator 141, the gear unit 142, the drum 143, and the spindle bearing 144. The housing 149 further accommodates a spindle lock mechanism 600 (one-way rotation holding mechanism). The housing 149 is fixed to the second housing 292. The housing 149 is attached to the base 293 and is mounted and fixed on the third frame 23B. Further, the housing 149 may be directly mounted on the third frame 23B without the intervention of the base 293.

Next, the solenoid mechanism 500 and the spindle lock mechanism 600 will be described with reference to FIGS. 19 to 25. FIG. 20 is a cross-sectional view showing the solenoid mechanism 500 according to the present embodiment, and corresponds to the cross-sectional view taken along the line DD of FIG. FIG. 21 is a plan view showing the solenoid mechanism 500 according to the present embodiment. FIG. 22 is a cross-sectional view showing the solenoid mechanism 500 according to the present embodiment, and corresponds to the cross-sectional view taken along the line FF of FIG. FIG. 23 is a cross-sectional view showing the solenoid mechanism 500 according to the present embodiment, and corresponds to the cross-sectional view taken along the line G1-G1 of FIG. FIG. 24 is a cross-sectional view showing the solenoid mechanism 500 according to the present embodiment, and corresponds to the cross-sectional view taken along the line FF of FIG. FIG. 25 is a cross-sectional view showing the solenoid mechanism 500 according to the present embodiment, and corresponds to the cross-sectional view taken along the line G2-G2 of FIG. 24.

The solenoid mechanism 500 locks and unlocks the rotation of the internal gear 4231 of the second planetary gear mechanism 423 of the gear unit 142. The solenoid mechanism 500 switches between a state in which the gear unit 142 meshes and can transmit the power of the actuator 141 to the output side, and a state in which the gear unit 142 does not mesh and does not transmit the power of the actuator 141 to the output side. The solenoid mechanism 500 includes a solenoid 501, a plunger 502, a solenoid lever 503, a stopper 504, and a solenoid detection device 505.

Solenoid 501 is an electromagnetic solenoid driven by electric power supplied from the battery 9. The solenoid 501 is supplied with electric power and driven when the work assisting tool 1 is in the assist state or in the posture maintenance state. Solenoid 501 produces an attractive force on the plunger 502 when driven. When the work assisting tool 1 is in the arm-released state, the solenoid 501 is stopped from being supplied with electric power to stop driving.

The plunger 502 is made of a magnetic metal material and is formed in a rod shape. The plunger 502 is arranged inside the solenoid 501 so as to be able to move forward and backward. The plunger 502 advances and retreats in conjunction with the drive and stop of the solenoid 501. More specifically, when the solenoid 501 is driven, the plunger 502 moves upward due to the attractive force of the solenoid 501. When the solenoid 501 is stopped, the plunger 502 moves downward due to its own weight and the spring 506 because the attractive force of the solenoid 501 does not act.

The solenoid lever 503 moves in conjunction with the advance / retreat of the plunger 502. The solenoid lever 503 moves the stopper 504 up and down. The solenoid lever 503 is made of a rod-shaped material. One end of the solenoid lever 503 is connected to the lower part of the plunger 502. The other end of the solenoid lever 503 is connected to the upper part of the stopper 504. The intermediate portion of the solenoid lever 503 is connected to the gear cover 429.

As shown in FIGS. 22 and 23, when the plunger 502 moves downward, the other end of the solenoid lever 503 moves upward to lift the stopper 504. As shown in FIGS. 24 and 25, when the plunger 502 moves upward, the other end of the solenoid lever 503 moves downward and pushes down the stopper 504.

The stopper 504 can advance and retreat to the groove portion 4231a of the internal tooth gear 4231. As a result, the stopper 504 locks and unlocks the rotation of the internal gear 4231. As shown in FIGS. 24 and 25, the stopper 504 is pushed down by the solenoid lever 503 when the solenoid 501 is driven. The stopper 504 enters the groove 4231a and comes into contact with the pin 4233. When the stopper 504 comes into contact with the pin 4233, it locks the rotation of the internal gear 4231.

As shown in FIGS. 22 and 23, the stopper 504 is lifted by the solenoid lever 503 when the solenoid 501 is stopped. At this time, the force acting on the stopper 504 will be described in detail. As shown in FIGS. 24 and 25, immediately after the solenoid 501 is stopped, the stopper 504 is in a state of entering the groove 4231a and contacting the pin 4233. In this state, the torque applied to the internal tooth gear 4231 is received by the stopper 504 via the pin 4233 and the pin 4291 arranged in the gear cover 429. As a result, the stopper 504 is lifted with a small force due to the rolling friction between the stopper 504 and the pin 4233 and the stopper 504 and the pin 4291. In this way, as shown in FIGS. 22 and 23, the stopper 504 is separated from the pin 4233 arranged in the groove 4231a. When the stopper 504 is separated from the pin 4233, the internal tooth gear 4231 is released from the rotation lock and idles.

The solenoid detection device 505 detects the state of the stopper 504. The solenoid detection device 505 compares the control signal from the control device 11 with the detected state of the stopper 504, and outputs an error signal to the control device 11 if they do not match. The error signal is a command signal for stopping the work assisting tool 1 and the power tool KD.

The solenoid mechanism 500 configured in this way switches whether or not to transmit power between the second planetary gear mechanism 423 of the gear unit 142 of the drum drive mechanism 400 and the spindle 424. The solenoid mechanism 500 enables transmission of rotational force between the second planetary gear mechanism 423 and the spindle 424 when the solenoid 501 is driven. The solenoid mechanism 500 disconnects the transmission of the rotational force between the second planetary gear mechanism 423 and the spindle 424 when the solenoid 501 is stopped.

More specifically, the solenoid mechanism 500 locks the rotation of the internal gear 4231 by the stopper 504 entering the groove 4231a of the internal gear 4231 when the solenoid 501 is driven. This state is a state in which so-called gears are engaged. When the rotational force is transmitted from the actuator 141 side, the spindle 424 rotates via the planetary gear 4232. As a result, the rotational force of the actuator 141 is transmitted from the planetary gear 4232 to the spindle 424.

Further, the solenoid mechanism 500 releases the lock of the internal gear 4231 by separating the stopper 504 from the groove 4231a of the internal gear 4231 when the solenoid 501 is stopped. When the lock is released, the internal tooth gear 4231 idles. More specifically, when the rotational force is transmitted from the spindle 424 side, the planetary gear 4232 rotates and the internal tooth gear 4231 idles. As a result, the rotational force from the spindle 424 side is not transmitted from the planetary gear 4232 to the actuator 141 side.

The spindle lock mechanism 600 is a one-way clutch. The spindle lock mechanism 600 holds the holding member 4 in an raised state and enables the force to be accumulated in the spring member 721. The spindle lock mechanism 600 is a connecting portion between the left end portion of the output shaft 4221 of the first planetary gear mechanism 422 and the right end portion of the connecting shaft 4222. The spindle lock mechanism 600 is arranged on the right side of the second planetary gear mechanism 423. The spindle lock mechanism 600 transmits a rotational force from the actuator 141 to the spindle 424. The spindle lock mechanism 600 regulates the transmission of rotational force from the spindle 424 to the actuator 141.

The spindle lock mechanism 600 is switched between valid and invalid by driving and stopping the solenoid mechanism 500. More specifically, the spindle lock mechanism 600 is effective because the rotation of the internal gear 4231 is locked when the solenoid 501 is driven. When the spindle lock mechanism 600 is effective, the holding member 4 is held in an raised state and the force can be accumulated in the spring member. The spindle lock mechanism 600 is invalid because the internal tooth gear 4231 idles when the solenoid 501 is stopped.

Next, the arm drive mechanism 700 will be described with reference to FIGS. 18 and 26 to 31. FIG. 26 is a cross-sectional view showing a part of the arm drive mechanism 700 according to the present embodiment. FIG. 27 is a front view showing the arm drive mechanism 700 according to the present embodiment. FIG. 28 is a cross-sectional view showing the arm drive mechanism 700 according to the present embodiment, and corresponds to the cross-sectional view taken along the line HH of FIG. 27. FIG. 29 is a cross-sectional view of the arm drive mechanism 700 according to the present embodiment. FIG. 30 is a cross-sectional view of the arm drive mechanism 700 according to the present embodiment. FIG. 31 is a cross-sectional view of the arm drive mechanism 700 according to the present embodiment. 29 and 30 correspond to the cross-sectional views taken along line I-I of FIG. FIG. 31 corresponds to a sectional view taken along line JJ of FIG. 29.

The arm drive mechanism 700 is a mechanism for moving the arm member 3 up and down to exert a force for pressing the arm of the worker WM. The arm drive mechanism 700 includes a wire 710, a spring 720, a slide volume 730, and a pulley 740.

The wire 710 moves the arm member 3 up and down. The wire 710 has a first wire 711, a second wire 712, and a wire case 719.

One end of the first wire 711 is fixed to the drum 143. The first wire 711 can be wound by the drum 143 in conjunction with the rotation of the drum 143. The other end of the first wire 711 is fixed to the second cap 723 of the spring 720.

One end of the second wire 712 is fixed to the stopper 726 of the spring 720. The other end of the second wire 712 is arranged inside the pulley 740. The other end of the second wire 712 can advance and retreat from inside the pulley 740. A ring 712a is arranged at the tip of the second wire 712. The ring 712a regulates the tip of the second wire 712 from coming out of the pulley 740.

The wire case 719 is formed in a tubular shape. The wire case 719 is flexible. The wire case 719 accommodates the second wire 712. The wire case 719 protects the second wire 712. One end of the wire case 719 is arranged above the spring case 729. The other end of the wire case 719 is connected to the pulley 740.

The spring 720, together with the spindle lock mechanism 600, functions to hold a state in which a force for pressing upward is applied to the holding member 4. In the compressed state of the spring 720, the spindle lock mechanism 600 is effective, the state in which the tensile force that pulls the second wire 712 toward the drum 143 side is applied is maintained, and the force that pushes the second wire 712 upward continues. To work. The spring 720 has a spring member 721, a first cap 722, a second cap 723, a third cap 724, an elastic member 725, a stopper 726, and a spring case 729.

The spring member 721 is a compression spring. The spring member 721 can be expanded and contracted. The spring member 721 is housed inside the spring case 729. One end of the spring member 721 is fixed to the first cap 722. One end of the spring member 721 is a fixed end. The spring member 721 is arranged parallel to the Z-axis direction. The other end of the spring member 721 is fixed to the second cap 723. The other end of the spring member 721 is a free end. The spring member 721 is inserted with the first wire 711 so as to be able to advance and retreat in parallel with the axial direction. The spring member 721 is compressed when the first wire 711 is wound around the drum 143 when the solenoid 501 is driven. The spring member 721 extends when the solenoid 501 is stopped.

One end of the spring member 721 is fixed to the first cap 722. The first cap 722 is fixed to the opening at one end of the spring case 729. The first cap 722 has a tubular shape with both ends open. The first cap 722 is inserted through the opening so that the first wire 711 can advance and retreat in parallel with the axial direction.

The second cap 723 is fixed to the opening at the other end of the spring case 729. The second cap 723 is formed by integrally assembling the cap member 7231, the cap member 7232, and the cap member 7233. The cap member 7231 is formed in a tubular shape with both ends open. The cap member 7231 is fixed to the other end of the spring member 721. The cap member 7231 is inserted through the opening so that the first wire 711 can advance and retreat in parallel with the axial direction. The cap member 7232 is formed in a tubular shape with both ends open. The cap member 7232 is assembled on the upper side of the cap member 7231. The cap member 7232 is fixed so that the first wire 711 inserted through the opening does not come out to the spring member 721 side. The cap member 7233 is formed in a tubular shape with one end open. The cap member 7233 is assembled on the upper side of the cap member 7232.

The second cap 723 configured in this way moves up and down integrally inside the spring case 729 in conjunction with the expansion and contraction of the spring member 721.

The third cap 724 is fixed to the opening at the other end of the spring case 729. The third cap 724 has a tubular shape with both ends open. The third cap 724 is inserted through the opening so that the second wire 712 can advance and retreat in parallel with the axial direction. The third cap 724 is arranged above the elastic member 725.

The elastic member 725 is, for example, an elastic body such as rubber. The elastic member 725 is arranged above the second cap 723 and below the third cap 724. The elastic member 725 acts as a cushioning material when the second cap 723 moves upward.

The stopper 726 is fixed to the opening at the other end of the spring case 729. The stopper 726 has a tubular shape with both ends open. The stopper 726 is inserted through the opening so that the second wire 712 can advance and retreat in parallel with the axial direction. The stopper 726 fixes the second wire 712 inserted through the opening so that it does not come out of the spring case 729. The stopper 726 is arranged above the third cap 724.

The spring case 729 has a tubular shape with both ends open. The spring case 729 houses a spring member 721, a first cap 722, a second cap 723, a third cap 724, an elastic member 725, and a stopper 726. The spring case 729 is inserted with the first wire 711 advancing and retreating through the opening at one end. The spring case 729 is inserted with the second wire 712 advancing and retreating through the opening at the other end.

Such a spring case 729 is movably arranged inside the first housing 291. The spring case 729 moves up and down inside the first housing 291. The stop position inside the first housing 291 of the spring case 729 is determined by the output of the actuator 141, the elastic modulus of the spring member 721, and the reaction force acting on the power tool KD.

The slide volume 730 detects the compressive force stored in the spring member 721. The slide volume 730 is a spring sensor that detects the length of the spring member 721. The slide volume 730 is fixed to the spring case 729. The slide volume 730 has a movable member 731, a guide member 732, and a case 739. The slide volume 730 allows compression of the spring member 721 up to a set value corresponding to the assist force set in the assist force adjustment dial 813 (FIG. 33) of the auxiliary tool operating device 800.

The movable member 731 moves in conjunction with the expansion and contraction of the spring member 721. The movable member 731 indicates the position of the upper end portion of the spring member 721. One end of the movable member 731 is arranged between the cap member 7231 and the cap member 7232. As a result, the movable member 731 moves in conjunction with the expansion and contraction of the spring member 721 and in conjunction with the second cap 723. The movable member 731 moves guided by the guide member 732. The amount of movement of the movable member 731 is detected by a detection unit (not shown) and output to the control device 11. The amount of movement of the movable member 731 corresponds to the compressive force stored in the spring member 721.

The guide member 732 guides the movement of the movable member 731. The guide member 732 extends in the case 739 in parallel with the expansion / contraction direction of the spring. The guide member 732 has a length adjusted to a range in which the spring member 721 can be expanded and contracted.

The case 739 is fixed to the top of the spring case 729.

The pulley 740 will be described. A second wire 712 is connected to the pulley 740. A guide rail 35 is connected to the pulley 740. The pulley 740 has a base 743 formed by an arm-side base 741 and a shoulder-side base 742, and an arm shaft 744.

The arm portion 34 is arranged on the arm side base portion 741. The arm side base 741 has a movable portion 7411. The movable portion 7411 is superposed on the arm side base portion 741. The movable portion 7411 is rotatably arranged with respect to the arm side base portion 741 about the arm shaft 744. The movable portion 7411 is formed in a circular shape. In the movable portion 7411, the guide rail 35 is rotatably arranged around the arm shaft 744. The partition wall 7431 is fixed to the movable portion 7411.

The shoulder side base 742 is arranged to face the arm side base 741. The shoulder side base 742 is formed in a shape corresponding to the arm side base 741. The shoulder side base 742 is integrally assembled so as to face the arm side base 741.

The base portion 743 is formed by integrally assembling the arm side base portion 741 and the shoulder side base portion 742. The base portion 743 is formed in a box shape whose outer shape is defined by the arm-side base portion 741 and the shoulder-side base portion 742. The space inside the base 743 is divided into a plurality of spaces by the partition wall 7431. In the present embodiment, the space inside the base 743 is divided into at least space 7432 and space 7433 by the partition wall 7431. Further, the base portion 743 has an advancing / retreating port 7434 in which the second wire 712 can advance / retreat.

Space 7432 and space 7433 will be described with reference to FIG. Space 7432 and space 7433 are partitioned by a spiral partition wall 7431. Space 7432 communicates with the entrance / exit 7434. The space 7432 is formed from the advancing / retreating opening 7434 along the outer circumference of the base 743. The space 7432 has about half the length in the circumferential direction of the base 743. The space 7433 communicates with the space 7432 through the opening 7435. The space 7433 is formed in a spiral shape around the arm shaft 744. The opening 7435 is smaller than the ring 712a located at the tip of the second wire 712. The extra length portion of the second wire 712 can move forward and backward in the opening 7435. The opening 7435 restricts the ring 712a from moving towards space 7432.

The stopper 7436 will be described with reference to FIG. The stopper 7436 is arranged in the space inside the base 743. When the second wire 712 is pulled, the stopper 7436 comes into contact with the outer circumference of the connecting portion 323 of the arm portion 34 to regulate the rotation of the pulley 740. The stopper 7436 regulates that the pulley 740 rotates excessively and the holding member 4 rises excessively.

The arm shaft 744 will be described with reference to FIG. 31. The arm shaft 744 rotatably supports the arm portion 34 on the base portion 743. The arm shaft 744 rotates about the rotation shaft AX4.

[Operation of power mechanism]
Next, the operation of the power mechanism 1000 will be described. FIG. 32 is a schematic view showing the operation of the power mechanism 1000 according to the present embodiment.

In order to start the work using the electric tool KD, the worker WM wearing the work assisting tool 1 operates the trigger switch 100A to drive the motor 210 of the electric tool KD. When the work of the power tool KD is started, electric power is supplied to the solenoid 501. When electric power is supplied to the solenoid 501 and the solenoid 501 is driven, the spindle lock mechanism 600 becomes effective as shown in FIG. 32 (A).

Further, when the work of the power tool KD is started, electric power is supplied to the actuator 141 in a state where the spindle lock mechanism 600 is effective. The actuator 141 is activated by supplying electric power to the actuator 141. The power generated by the actuator 141 is transmitted to the arm drive mechanism 700 via the drum drive mechanism 400. As a result, as shown in FIG. 32 (B), the first wire 711 is wound around the drum 143. When the bending of the first wire 711 is eliminated, the second wire 712 is pulled downward via the spring 720, and the bending of the second wire 712 is eliminated. When the actuator 141 is further operated in the state where the bending of the second wire 712 is eliminated, the ring 712a of the second wire 712 comes into contact with the partition wall 7431, and the partition wall 7431 is pulled to the second wire 712 via the ring 712a. The movable portion 7411 rotates. As a result, the guide rail 35 rotates so that the tip end portion of the guide rail 35 turns upward.

As shown in FIG. 32 (C), when the guide rail 35 is further turned upward by the operation of the actuator 141 and the tip tool of the electric tool KD supported by the arm of the worker WM comes into contact with the ceiling surface, the electric tool is electrically operated. The ceiling surface prevents the tool KD from moving upwards. As a result, the rotation of the guide rail 35 is suppressed. When the actuator 141 continues to be driven while the rotation of the guide rail 35 is suppressed, the second cap 723 is pulled downward by the first wire 711. As a result, as shown in FIG. 32 (C), the spring member 721 is compressed. By compressing the spring member 721, the elastic force of the spring member 721 increases.

In the present embodiment, when the spring member 721 is sufficiently compressed and the elastic force of the spring member 721 increases, the operation of the actuator 141 is stopped. That is, as shown in FIG. 32 (D), the control device 11 has a detection value of the slide volume 730 and a known elastic modulus of the spring member 721 when the motor 210 of the power tool KD is operating. Based on this, when it is determined that the elastic force of the spring member 721 is equal to or greater than the first threshold value, a stop signal for stopping the actuator 141 is output. That is, as shown in FIG. 32 (D), when the control device 11 determines that the spring member 721 is sufficiently compressed by the operation of the actuator 141 while the motor 210 of the power tool KD is operating, the actuator Stop 141.

Even if the actuator 141 is stopped, the spring member 721 is sufficiently compressed, so that the spring member 721 continues to exert a force for moving the tip end portion of the guide rail 35 upward. As a result, even if the actuator 141 is stopped, the muscular strength of the worker WM continues to be assisted.

When the motor 210 of the power tool KD is being driven, power is continuously supplied to the solenoid 501. That is, the spindle lock mechanism 600 maintains an effective state. Therefore, when the motor 210 of the power tool KD is being driven, the force is not transmitted from the guide rail 35 to the actuator 141.

Even if the actuator 141 is stopped, the power tool KD is pushed upward by the force of the spring member 721 while the motor 210 of the power tool KD is operating, so that the power tool KD is electrically driven as shown in FIG. 32 (E). Machining of the ceiling surface with the tool KD progresses. As the machining progresses, the power tool KD and the guide rail 35 gradually move upward. As a result, the spring member 721 gradually extends.

In the present embodiment, when the spring member 721 extends and the elastic force of the spring member 721 decreases, the actuator 141 is activated (restarted). That is, as shown in FIG. 32 (F), the control device 11 has a detection value of the slide volume 730 and a known elastic modulus of the spring member 721 when the motor 210 of the power tool KD is operating. Based on this, when it is determined that the elastic force of the spring member 721 is equal to or less than the second threshold value, an activation signal for activating the actuator 141 is output. That is, as shown in FIG. 32 (F), when the control device 11 determines that the elastic force is gradually released and the spring member 721 is extended while the motor 210 of the power tool KD is operating. The actuator 141 is activated.

As described above, in the present embodiment, when the spring member 721 is compressed by the drive of the actuator 141 and the elastic force of the spring member 721 (the assisting force for pushing up the guide rail 35 upward) is sufficiently increased, the actuator 141 The operation is stopped. Further, when the processing of the ceiling surface by the power tool KD progresses, the power tool KD and the guide rail 35 gradually rise, the spring member 721 gradually expands, and the elastic force of the spring member 721 decreases, the actuator 141 is restarted. As a result, an assist force can be obtained by the elastic force of the spring member 721 without constantly driving the actuator 141. Therefore, the power consumption of the battery 9 can be suppressed.

When the work using the power tool KD is completed, the worker WM wearing the work assisting tool 1 releases the operation of the trigger switch 100A. When the operation of the trigger switch 100A is released, the motor 210 of the power tool KD is stopped.

In the present embodiment, when the work using the power tool KD is completed, the control device 11 stops the supply of electric power to the solenoid 501. That is, when the work using the power tool KD is completed, the control device 11 stops driving the solenoid 501. When the drive of the solenoid 501 is stopped, the stopper 504 moves out of the groove 4231a, and as shown in FIG. 32 (G), the spindle lock mechanism 600 becomes invalid. That is, the solenoid mechanism 500 disables the spindle lock mechanism 600 and disconnects the force transmission in the drum drive mechanism 400 when the motor 210 of the power tool KD is stopped.

When the spindle lock mechanism 600 becomes invalid, the lock of the internal gear 4231 is released, so that the internal gear 4231 can rotate, and the force accumulated in the spring member 721 becomes idling of the internal gear 4231. As a result, the auxiliary by the power mechanism 1000 is released, so that the guide rail 35 can rotate freely.

[Auxiliary operating device]
Next, the auxiliary tool operating device 800 will be described. FIG. 33 is a diagram showing an example of the auxiliary tool operating device 800 according to the present embodiment. The auxiliary tool operating device 800 has a plurality of operating members for changing the operating state including start and stop of the work assisting tool 1, a lighting LED (Light Emitting Diode) 814, and a display unit 815 for displaying the operating state. ..

The display unit 815 has, for example, a function of displaying various abnormalities (errors) in the work assisting tool 1, a function of displaying the gear status of the drum drive mechanism 400, and whether or not the work assisting tool 1 outputs an assist force. Has a function to display. The display unit 815 displays the display data output from the control device 11.

The operation member of the auxiliary tool operation device 800 includes an interlocking mode selection switch 811, a speed adjustment dial 812, an assist force adjustment dial 813, an arm raising switch 818, a release switch 819, a lighting LED switch 820, and a buzzer 821. ..

The interlocking mode selection switch 811 is an operating member that switches whether or not the work assisting tool 1 is operated in conjunction with the power tool KD. The interlocking mode selection switch 811 includes a rocker switch. The interlocking mode selection switch 811 switches between an interlocking mode in which the work assisting tool 1 is interlocked with the power tool KD and an interlocking release mode in which the interlocking is released. The operation signal generated by operating the interlocking mode selection switch 811 is output to the control device 11.

The speed adjustment dial 812 is an operating member that adjusts the moving speed of the arm member 3. The moving speed of the arm member 3 is defined by the rotational speed of the actuator 141. By operating the speed adjustment dial 812, the rotation speed of the actuator 141 is adjusted. The operation signal generated by operating the speed adjustment dial 812 is output to the control device 11.

The assist force adjusting dial 813 is an operation member for adjusting the assist force of the arm member 3. The assist force is a force that pushes up the arm of the worker WM who supports the power tool KD. When the power tool KD is a hammer drill and the work of pressing the power tool KD against the ceiling surface is performed with the arm raised, the assist force is the pressing force that presses the tip tool of the power tool KD against the ceiling surface. Including. Thresholds (first threshold value and second threshold value) for switching between operation and stop of the actuator 141 based on the elastic force of the spring member 721 as described with reference to FIG. 32 by operating the assist force adjustment dial 813. Is adjusted.

For example, when the assist force is increased, the assist force adjustment dial 813 is adjusted so that the first threshold value becomes smaller. As a result, the actuator 141 can sufficiently compress the spring member 721 so that the spring member 721 can exert a large assist force (elastic force) after the actuator 141 is stopped. Further, when the assist force is increased, the assist force adjustment dial 813 may be adjusted so that the second threshold value is also decreased. As a result, in the state where the actuator 141 is stopped, the actuator 141 is restarted even if the spring member 721 is slightly extended. As a result, a large assisting force can be obtained without discomfort. Further, by increasing the first threshold value or increasing the second threshold value, the period in which the actuator 141 is driven is shortened, so that the power consumption of the battery 9 can be suppressed.

The arm-raising switch 818 is an operating member that moves the tip of the guide rail 35 upward. The operation signal generated by operating the arm raising switch 818 is output to the control device 11. When the arm raising switch 818 is operated while the solenoid 501 and the actuator 141 are stopped, the control device 11 outputs a signal based on the operation signal generated by the operation of the arm raising switch 818. While continuing, the control signal for driving the solenoid 501 is output to enable the spindle lock mechanism 600, and the control signal (starting signal) for activating the actuator 141 is output.

Further, when the arm raising switch 818 is pressed once and then the finger is released from the arm raising switch 818, the actuator 141 is stopped, but the solenoid 501 remains driven, and the posture can be maintained.

The release switch 819 is an operating member that releases the assist force of the guide rail 35. The operation signal generated by operating the release switch 819 is output to the control device 11. When the release switch 819 is operated while the solenoid 501 and the actuator 141 are being driven, the control device 11 outputs a control signal (stop signal) for stopping the actuator 141 and a control signal for stopping the solenoid 501. Is output to disable the spindle lock mechanism 600.

The illumination LED switch 820 is an operation unit seat that switches between turning on and off the illumination LED 814. The operation signal generated by operating the lighting LED switch 820 is output to the control device 11. The control device 11 outputs a control signal for switching between turning on and off the lighting LED 814 to the lighting LED 814.

The buzzer 821 is an output device that outputs an alarm sound when an abnormality occurs in the work assisting tool 1. The buzzer 821 outputs sound based on the control signal from the control device 11.

The auxiliary tool operating device 800 is provided on the work auxiliary tool 1. The auxiliary tool operating device 800 may be arranged at a position away from the work auxiliary tool 1. The auxiliary tool operating device 800 may remotely control the work assisting tool 1.

[Power tools and work aids]
FIG. 34 is a diagram showing a power tool KD and a work assisting tool 1 according to the present embodiment. Similar to the above-described embodiment, in the present embodiment as well, the control device 11 controls the actuator 141 based on the work start signal related to the work start of the power tool KD.

In the present embodiment, the work start signal includes a detection signal indicating that power supply to the power tool KD has been started. A power detection device 905 for detecting whether or not power is being supplied from the battery 9 to the power tool KD is provided. The power detection device 905 can detect that the power supply to the power tool KD from the battery 9 has started. The control device 11 outputs a start signal for activating the actuator 141 based on the detection signal of the power detection device 905 indicating that the power supply to the power tool KD has started. The power tool KD starts work when an electric current is supplied. The control device 11 outputs a start signal for activating the actuator 141 in conjunction with the start of work of the power tool KD.

Further, the control device 11 outputs a control signal for controlling the actuator 141 based on the work end signal related to the work end of the power tool KD.

In the present embodiment, the work end signal includes a detection signal indicating that the power supply to the power tool KD has been stopped. The power detection device 905 can detect that the power supply from the battery 9 to the power tool KD has been stopped. The control device 11 outputs a stop signal for stopping the actuator 141 based on the detection signal of the power detection device 905 indicating that the power supply to the power tool KD has been stopped. The power tool KD ends its work when the current supply is stopped. The control device 11 outputs a stop signal for stopping the actuator 141 in conjunction with the end of the work of the power tool KD.

As shown in FIG. 34, in the present embodiment, the battery adapter 900 is connected to the power tool KD. The battery adapter 900 connects the first relay member 901 mounted on the connector 10D of the power tool KD, the second relay member 902 on which the battery 9 is mounted, and the first relay member 901 and the second relay member 902. It has a cable 903 and. The second relay member 902 is connected to the control device 11 via the cable 904.

In the present embodiment, the power detection device 905 is arranged on the second relay member 902.

The battery 9 mounted on the second relay member 902 supplies electric power to the power tool KD via the second relay member 902, the cable 903, and the first relay member 901. The electric power output from the battery 9 is supplied to the motor 210 of the power tool KD via the battery adapter 900 including the first relay member 901 mounted on the connector 10D of the power tool KD.

FIG. 35 is a perspective view showing the battery 9 according to the present embodiment. FIG. 36 is a perspective view showing the first relay member 901 according to the present embodiment. FIG. 37 is a perspective view showing the second relay member 902 according to the present embodiment.

The battery 9 functions as a power source for the power tool KD. The battery 9 is a lithium ion battery having a plurality of battery cells. The battery 9 is a rechargeable battery. The battery 9 can be charged by a charger.

The battery 9 has a raised portion 9a, a battery claw 9b, a battery button 9c, a pair of battery terminals 9d, and a pair of slide rails 9e. The battery terminals 9d are arranged between the pair of slide rails 9e. One battery terminal 9d is a positive electrode terminal. The other battery terminal 9d is a negative electrode terminal.

The battery 9 is detachably attached to the second relay member 902. When the battery 9 is mounted on the second relay member 902, the battery 9 is slid onto the second relay member 902 so that the battery terminal 9d of the battery 9 and the mounting surface of the second relay member 902 face each other. As the battery 9 slides, the raised portion 9a comes into contact with at least a part of the second relay member 902. When the battery terminal 9d of the battery 9 and the mounting surface of the second relay member 902 face each other, the battery claw 9b is inserted into the mounting recess of the second relay member 902. As a result, the battery 9 is attached to the second relay member 902.

When the battery 9 is mounted on the second relay member 902, the battery terminal 9d of the battery 9 and the mounting terminal of the second relay member 902 are connected.

When the battery 9 is removed from the second relay member 902, the battery button 9c is operated. By operating the battery button 9c, the battery claw 9b is disengaged from the second relay member 902, and the battery 9 is released from the second relay member 902. By sliding the battery 9, the battery 9 is removed from the second relay member 902.

The first relay member 901 is connected to the connector 10D of the power tool KD. The connection structure of the first relay member 901 connected to the connector 10D and the connection structure of the battery 9 connected to the second relay member 902 are substantially the same.

As shown in FIG. 36, the first relay member 901 has a raised portion 901a, a battery claw 901b, a battery button 901c, a pair of battery terminals 901d, and a pair of slide rails 901e. The battery terminals 901d are arranged between the pair of slide rails 901e.

The outer shape and dimensions of the first relay member 901 and the outer shape and dimensions of the battery 9 are substantially the same. The first relay member 901 is a so-called dummy battery.

The first relay member 901 does not have a battery cell and is lighter than the battery 9. The first relay member 901 does not function as a power source for the power tool KD, but functions as a repeater for sending the electric power output from the battery 9 to the power tool KD.

The second relay member 902 is connected to the battery 9. The connection structure of the second relay member 902 connected to the battery 9 and the connection structure of the connector 10D of the electric tool KD are substantially the same.

As shown in FIG. 37, the second relay member 902 has a case 902a, a connection terminal 902b to which the cable 903 is connected, and a connection terminal 902c to which the cable 904 is connected. The connection terminal 902b and the connection terminal 902c are provided in at least a part of the case 902a. Further, the second relay member 902 has a power detection device 905 that detects whether or not power is being supplied from the battery 9 to the power tool KD. The power detection device 905 is housed in the case 902a.

Further, the second relay member 902 has a hook 902d provided on the case 902a. The hook 902d is hung on the waist belt HSb of the work aid 1.

The second relay member 902 does not have a battery cell and is lighter than the battery 9. It does not function as a power source for the power tool KD, but functions as a repeater that sends the power output from the battery 9 to the power tool KD.

The cable 903 connects the second relay member 902 and the first relay member 901 so as to be energized. One end of the cable 903 is connected to the first relay member 901. The other end of the cable 903 is connected to the second relay member 902. The battery 9 supplies electric power to the power tool KD via the second relay member 902, the cable 903, and the first relay member 901.

The cable 904 connects the second relay member 902 and the control device 11 so that data communication is possible. The control signal output from the control device 11 is output to the second relay member 902 via the cable 904. Further, the detection signal of the power detection device 905 is output to the control device 11 via the cable 904.

[Hardware configuration]
FIG. 38 is a block diagram showing each hardware configuration of the work assisting tool 1 and the power tool KD according to the present embodiment. As shown in FIG. 38, the work auxiliary tool 1 is equipped with an actuator 141, a solenoid 501, a solenoid detection device 505, a slide volume 730, an auxiliary tool operation device 800, a main power supply operation device 85, and a battery 9. The connector 10 to be used and the control device 11 are provided. The control device 11 is connected to each of the actuator 141, the solenoid 501, the solenoid detection device 505, the slide volume 730, the auxiliary tool operation device 800, the main power supply operation device 85, and the battery 9.

The main power supply operating device 85 includes a main power supply switch 851 and a main power supply LED 852. The main power switch 851 is operated to switch the main power of the work assisting tool 1 on and off. The main power supply LED 852 turns on or off in conjunction with turning on or off the main power supply of the work assisting tool 1. The main power supply operating device 85 is provided on the work assisting tool 1. The main power supply operating device 85 may be arranged at a position away from the work assisting tool 1. The main power supply operating device 85 may remotely control the main power supply of the work assisting tool 1.

The control device 11 has an arithmetic processing device 90 including a processor such as a CPU, and a driver 102 for driving a plurality of actuators provided in the work assisting tool 1. The driver 102 includes an actuator driver 103 for driving the actuator 141 and a solenoid driver 104 for driving the solenoid 501.

When the arm raising switch 818 is operated, the actuator driver 103 drives the actuator 141 based on the operation signal of the arm raising switch 818.

Further, when the motor 210 of the electric tool KD is driven in the state of being set to the interlocking mode, the actuator driver 103 drives the actuator 141 based on a drive signal indicating the drive of the motor 210.

Further, as described with reference to FIG. 32, the actuator driver 103 drives the actuator 141 based on the detection signal of the slide volume 730 when the elastic force of the spring member 721 becomes equal to or less than the second threshold value.

Further, when the release switch 819 is operated, the actuator driver 103 stops the actuator 141 based on the operation signal of the release switch 819.

Further, when the motor 210 of the electric tool KD is stopped in the state of being set to the interlocking mode, the actuator driver 103 stops the actuator 141 based on the drive stop signal indicating the drive stop of the motor 210.

Further, as described with reference to FIG. 32, the actuator driver 103 stops the actuator 141 based on the detection signal of the slide volume 730 when the elastic force of the spring member 721 becomes equal to or higher than the first threshold value.

Further, the actuator driver 103 controls the rotation speed of the actuator 141 based on the operation signal of the speed adjustment dial 812 when the speed adjustment dial 812 is operated.

Further, the actuator driver 103 stops the actuator 141 when an abnormality occurs in the work assisting tool 1. When the state of the stopper 504 of the solenoid mechanism 500 is abnormal, the actuator driver 103 stops the actuator 141 based on the abnormality signal of the solenoid detection device 505.

The solenoid driver 104 drives the solenoid 501 to enable the function of the spindle lock mechanism 600.

The solenoid driver 104 stops driving the solenoid 501 to disable the function of the spindle lock mechanism 600.

The first relay member 901 mounted on the power tool KD and the second relay member 902 on which the battery 9 is mounted are connected via a cable 903. The control device 11 of the work assisting tool 1 and the second relay member 902 are connected via a cable 904.

The power tool KD includes a control device 230, a motor 210, and a trigger switch 100A operated by an operator WM. The control device 230 includes an arithmetic processing device 200 including a processor such as a CPU, and a motor driver 220 for driving the motor 210.

The battery 9 supplies electric power to the electric tool KD via the electric power lines 907 provided in each of the second relay member 902, the cable 903, the first relay member 901, and the electric tool KD. The battery 9 is a DC power source (DC power source). In the present embodiment, the power line 907 includes a power line 907A through which a current supplied from the battery 9 to the power tool KD flows, and a power line 907B through which a current returning from the power tool KD to the battery 9 flows. The trigger switch 100A is provided on the power line 907A of the power tool KD. The power detection device 905 is provided on the power line 907B of the second relay member 902.

The battery 9 has an arithmetic processing device 910 including a processor such as a CPU. The arithmetic processing unit 910 of the battery 9 mounted on the second relay member 902 passes through a communication line 908 provided in each of the second relay member 902, the cable 903, the first relay member 901, and the power tool KD. Communication is possible with the arithmetic processing unit 200 of the power tool KD. When starting the motor 210 of the power tool KD, the arithmetic processing unit 200 of the electric tool KD outputs a request signal requesting power supply to the arithmetic processing unit 910 of the battery 9 mounted on the second relay member 902. To do.

After receiving the request signal, the arithmetic processing unit 910 of the battery 9 outputs a first authorization signal permitting the start of the motor 210 to the arithmetic processing unit 200 of the power tool KD. After receiving the first permission signal, the arithmetic processing unit 200 of the electric tool KD outputs a command of the motor driver 220 for starting the motor 210. After the arithmetic processing device 910 of the battery 9 receives the request signal and the arithmetic processing device 200 of the electric tool KD receives the first permission signal, the motor 210 is supplied with electric power from the battery 9 to the electric tool KD. to start.

On the other hand, when the battery 9 is in an abnormal state such as abnormal heat generation, the arithmetic processing unit 910 of the battery 9 calculates the power tool KD for the first prohibition signal for prohibiting the start of the motor 210 after receiving the request signal. Output to the processing device 200. When the first prohibition signal is output, power is not supplied from the battery 9 to the power tool KD. If power is not supplied from the battery 9 to the power tool KD, the motor 210 does not start.

Further, even when the battery 9 is in a normal state, if the communication line 908 is cut off and the first permission signal is not transmitted from the arithmetic processing unit 910 of the battery 9 to the arithmetic processing unit 200 of the electric tool KD, the arithmetic processing unit 200 is a motor. Since the driver 220 prohibits the motor 210 from being driven, the motor 210 does not start.

The second relay member 902 communicates between the power detection device 905 that detects whether or not power is being supplied from the battery 9 to the power tool KD, the arithmetic processing device 910 of the battery 9, and the arithmetic processing device 200 of the power tool KD. It has a connection switching device 906 capable of connecting and disconnecting the above.

The detection signal of the power detection device 905 is output to the control device 11 of the work assisting tool 1 via the communication line 909A provided on the cable 904. The connection switching device 906 operates based on the control signal output from the control device 11 of the work assisting tool 1. The control device 11 can output a control signal to the connection switching device 906 via the communication line 909B provided on the cable 904.

The connection switching device 906 is provided on the communication line 908 of the second relay member 902. The connection switching device 906 includes a switch device that switches between a state in which communication is performed and a state in which communication is interrupted on the communication line 908. When the communication line 908 is cut off, even if the arithmetic processing unit 910 of the battery 9 outputs the first permission signal, the arithmetic processing unit 910 of the battery 9 transmits the first authorization signal to the arithmetic processing unit 200 of the power tool KD. Not done. Therefore, when the communication line 908 is cut off, power is not supplied from the battery 9 to the power tool KD, and the motor 210 does not start.

The power detection device 905 can detect that the power supply to the power tool KD from the battery 9 has started. The control device 11 outputs a start signal for activating the actuator 141 based on the detection signal of the power detection device 905 indicating that the power supply to the power tool KD has started. The power tool KD starts work when an electric current is supplied. The control device 11 outputs a start signal for activating the actuator 141 in conjunction with the start of work of the power tool KD.

In the present embodiment, the power detection device 905 detects the current supplied from the battery 9 to the power tool KD. The current output from the battery 9 is supplied to the power tool KD via the power lines 907 provided in each of the second relay member 902, the cable 903, the first relay member 901, and the power tool KD.

The power detector 905 includes a shunt resistor provided on the power line 907B. When a current flows through the power line 907, the voltage changes in the shunt resistor. The power detection device 905 can detect that the supply of current from the battery 9 to the power tool KD has started based on the amount of change in voltage in the shunt resistor.

The power detection device 905 may detect that the supply of current from the battery 9 to the power tool KD has started by detecting the voltage drop between the power line 907A and the power line 907B.

When a current flows through the power line 907, the magnetic field changes around the power line 907. Therefore, the power detection device 905 may include a magnetic sensor arranged around the power line 907. Examples of the magnetic sensor include a Hall element, a magnetoresistive effect element, a coil, and the like. The power detection device 905 may detect that the supply of the current from the battery 9 to the power tool KD is started by detecting the magnetism that changes due to the current flowing through the power line 907.

[Computational processing unit]
FIG. 39 is a functional block diagram showing an example of the arithmetic processing unit 90 according to the present embodiment. As shown in FIG. 6, the arithmetic processing apparatus 90 receives at least one of a detection signal indicating that the power supply to the power tool KD has been started and a detection signal indicating that the power supply to the power tool KD has been stopped. It has a detection signal acquisition unit 91C to be acquired and a control unit 93C to output a control signal for controlling the actuator 141 based on the detection signal acquired by the detection signal acquisition unit 91C.

Further, the arithmetic processing unit 90 has a solenoid control unit 97 that outputs a control signal for controlling the solenoid 501.

Further, the arithmetic processing unit 90 supplies electric power to the power tool KD based on the abnormality signal acquisition unit 95 that acquires the abnormality signal indicating the abnormality of the work assisting tool 1 and the abnormality signal acquired by the abnormality signal acquisition unit 95. It has a prohibition unit 96 that outputs a second prohibition signal for prohibiting.

The detection signal acquisition unit 91C acquires a detection signal from the power detection device 905 provided in the second relay member 902 via the communication line 909A. The power detection device 905 can detect the power supplied to the power tool KD from the battery 9 mounted on the second relay member 902. Further, the power detection device 905 can detect whether or not the power supply to the power tool KD is started from the battery 9. As described above, in the present embodiment, the power detection device 905 detects the current supplied from the battery 9 to the power tool KD.

The detection signal acquisition unit 91C acquires a detection signal indicating that the current supply to the power tool KD has started from the power detection device 905. Further, the detection signal acquisition unit 91C acquires a detection signal indicating that the supply of the current to the power tool KD has been stopped from the power detection device 905.

In the present embodiment, the work start signal related to the work start of the power tool KD includes the detection signal acquired by the detection signal acquisition unit 91C. In the present embodiment, the detection signal related to the start of work of the power tool KD is a detection signal indicating that the current value detected by the power detection device 905 is equal to or higher than a predetermined current threshold value IS.

In the present embodiment, the work end signal related to the work end of the power tool KD includes the detection signal acquired by the detection signal acquisition unit 91C. In the present embodiment, the detection signal related to the end of work of the power tool KD is a detection signal indicating that the current value detected by the power detection device 905 is less than the predetermined current threshold value IS.

The control unit 93C outputs a control signal for controlling the driving state of the actuator 141 based on the detection signal of the power detection device 905. When the detection signal acquisition unit 91C acquires a detection signal indicating that power supply to the power tool KD has started, the control unit 93C outputs an activation signal for activating the actuator 141 as a control signal. Further, the control unit 93C outputs a stop signal for stopping the actuator 141 as a control signal when the detection signal acquisition unit 91C acquires a detection signal indicating that the power supply to the power tool KD has been stopped.

The power tool KD is supported by the arm of the worker WM held by the holding member 4. The actuator 141 generates a power to rotate the tip of the arm member 3 upward. The control unit 93C outputs a control signal for driving the actuator 141 when a detection signal indicating that the power supply to the power tool KD has been started is acquired.

In the present embodiment, the control unit 93C activates the actuator 141 when the detection signal indicating that the power supply to the power tool KD has started is continuously acquired by the detection signal acquisition unit 91C for a specified time. Output a signal.

The solenoid control unit 97 outputs a control signal for driving the solenoid 501. Further, the solenoid control unit 97 outputs a control signal for stopping the driving of the solenoid 501. As described above, when the solenoid 501 is driven, the function of the spindle lock mechanism 600 becomes effective, and when the drive of the solenoid 501 is stopped, the function of the spindle lock mechanism 600 becomes invalid.

The abnormality signal acquisition unit 95 acquires an abnormality signal indicating an abnormality of the work assisting tool 1. As an abnormality signal indicating an abnormality of the work assisting tool 1, an abnormality signal detected by the solenoid detection device 505 is exemplified.

As described above, the solenoid detection device 505 detects the state of the stopper 504. When the stopper 504 is abnormal, the solenoid detection device 505 outputs an abnormal signal indicating that the stopper 504 is abnormal.

When the control signal for driving the solenoid 501 is output from the solenoid control unit 97, the stopper 504 moves downward so as to enter the groove portion 4231a. When it is detected that the stopper 504 has not moved out of the groove 4231a (the stopper 504 has not moved upward) even though the control signal for stopping the solenoid 501 is output, the solenoid detection device 505 determines. An abnormal signal indicating that the stopper 504 is abnormal is output.

When the abnormality signal is acquired by the abnormality signal acquisition unit 95, the prohibition unit 96 outputs a second prohibition signal for prohibiting the drive of the actuator 141 of the work assisting tool 1 and the drive of the motor 210 of the power tool KD. That is, the prohibition unit 96 outputs a second prohibition signal for prohibiting the supply of electric power to the actuator 141 from the battery 9 mounted on the connector 10 of the work assisting tool 1 based on the abnormality signal. Further, the prohibition unit 96 outputs a second prohibition signal for prohibiting the supply of electric power from the battery 9 mounted on the second relay member 902 to the motor 210 of the power tool KD based on the abnormality signal.

When the abnormality signal is acquired by the abnormality signal acquisition unit 95, the prohibition unit 96 outputs the second prohibition signal to the connection switching device 906. The second prohibition signal includes a control signal that interrupts communication on the communication line 908. As described above, power is not supplied from the battery 9 to the power tool KD because the communication of the communication line 908 is cut off. As a result, even if the trigger switch 100A is operated, the motor 210 of the power tool KD does not start.

[Actuator control method]
Next, an example of the control method of the actuator 141 according to the present embodiment will be described. FIG. 40 is a flowchart showing an example of a control method of the actuator 141 according to the present embodiment.

When the main power of the work assisting tool 1 is turned on, the control device 11 is activated. When the battery 9 mounted on the second relay member 902 is normal, the arithmetic processing unit 200 of the power tool KD supplies power to the arithmetic processing unit 910 of the battery 9 mounted on the second relay member 902. Outputs a request signal that requests.

The abnormality signal acquisition unit 95 determines whether or not an abnormality signal has been acquired (step SE1).

When it is determined in step SE1 that the abnormal signal is not acquired (step SE1: No), the prohibition unit 96 outputs the second permission signal permitting the communication of the communication line 908 to the connection switching device 906 (step SE2). .. As a result, the connection switching device 906 does not interrupt the communication, and the arithmetic processing unit 910 of the battery 9 mounted on the second relay member 902 and the arithmetic processing unit 200 of the power tool KD can communicate with each other.

In a state where communication of the communication line 908 is permitted and communication between the arithmetic processing unit 910 of the battery 9 mounted on the second relay member 902 and the arithmetic processing unit 200 of the power tool KD is established, for example, the trigger switch 100A Is operated, power is supplied to the power tool KD from the battery 9 mounted on the second relay member 902. The power detection device 905 outputs a detection signal indicating that power supply to the power tool KD has started to the detection signal acquisition unit 91C.

The detection signal acquisition unit 91C determines whether or not the detection signal indicating that the power supply to the power tool KD has been started has been acquired (step SE3).

When it is determined in step SE3 that the detection signal has been acquired (step SE3: Yes), the detection signal acquisition unit 91C determines whether or not the current value detected by the power detection device 905 is equal to or higher than the predetermined current threshold value IS. Is determined (step SE4).

When it is determined in step SE4 that the current value detected by the power detection device 905 is equal to or higher than the current threshold value IS (step SE4: Yes), the detection signal acquisition unit 91C continuously acquires the detection signal for a specified time. The counter for counting the facts is incremented (step SE5).

The detection signal acquisition unit 91C determines, based on the counter, whether or not the detection signal indicating that the power supply to the power tool has been started has been continuously acquired for a specified time (step SE6). The specified time is, for example, 300 [msec. ].

If it is determined in step SE6 that the detection signal has not been continuously acquired for a specified time (step SE6: No), the process returns to step SE1.

If it is determined in step SE3 that the detection signal has not been acquired (step SE3: No), the process returns to step SE1. Further, if the detection signal is no longer acquired before it is determined that the detection signal has been continuously acquired for a specified time (step SE3: No), after the counter is reset (step SE7), the process of step SE1 is performed. go back.

When it is determined in step SE4 that the current value detected by the power detection device 905 is not equal to or higher than the current threshold value IS (step SE4: No), the process returns to step SE1. Further, if the current value detected by the power detection device 905 becomes less than the current threshold value IS before it is determined that the detection signal has been continuously acquired for a specified time (step SE4: No), the counter is reset. After that (step SE8), the process returns to the process of step SE1.

When it is determined in step SE6 that the detection signal has been continuously acquired for a specified time (step SE6: Yes), the control unit 93C outputs a control signal (startup signal) for driving the actuator 141 (step SE9). .. As a result, the assistance of the worker WM by the work assisting tool 1 is started in conjunction with the start of the work of the power tool KD.

When it is determined in step SE1 that an abnormal signal has been acquired (step SE1: Yes), the prohibition unit 96 outputs a second prohibition signal prohibiting communication on the communication line 908 to the connection switching device 906 (step SE10). .. As a result, communication between the arithmetic processing unit 910 of the battery 9 mounted on the second relay member 902 and the arithmetic processing unit 200 of the power tool KD is cut off.

When the communication of the communication line 908 is prohibited and the communication between the arithmetic processing unit 910 of the battery 9 mounted on the second relay member 902 and the arithmetic processing unit 200 of the electric tool KD is cut off, the electric tool KD is cut off from the battery 9. The power supply to the CPU is stopped. Further, the solenoid control unit 97 stops driving the solenoid 501 based on the abnormality signal, and the control unit 93C stops the actuator 141 of the work assisting tool 1 based on the abnormality signal (step SE11). As a result, the assistance of the worker WM by the work assisting tool 1 is completed in conjunction with the completion of the work of the power tool KD.

When the abnormality signal is not acquired and the motor 210 of the power tool KD is being driven, the control unit 93C has the actuator 141 based on the detection signal of the slide volume 730, as described with reference to FIG. 32. Switch between driving and stopping.

[effect]
As described above, according to the present embodiment, the work assisting tool 1 is based on the detection signal acquisition unit 91C that acquires the detection signal indicating that the power supply to the power tool KD has been started, and the detection signal. It includes a control unit 93C that outputs a control signal for controlling the drive state of the actuator 141. As a result, the actuator 141 provided in the work assisting tool 1 is controlled based on the timing at which the motor 210 of the power tool KD is started. Therefore, the actuator 141 can start or stop driving at a timing intended by the operator WM.

Further, in the present embodiment, the power tool KD is supported by the arm (right arm) held by the holding member 4. The actuator 5 generates power to turn the tip of the guide rail 35 upward. The control unit 93C outputs a control signal for starting the driving of the actuator 141 when the detection signal from the power detection device 905 is acquired by the detection signal acquisition unit 91C. As a result, when the worker WM works on a high place such as a ceiling surface using the power tool KD, the muscular strength of the arm of the worker WM is assisted at the timing intended by the worker WM.

Further, in the present embodiment, the actuator 141 of the work assisting tool 1 is activated when the detection signal indicating that power is being supplied to the power tool KD is continuously acquired for a specified time. That is, the actuator 141 is activated when the motor 210 of the electric tool KD is driven for a specified time or longer, and the actuator 141 is not activated when the driving time is less than the specified time even if the motor 210 of the electric tool KD is driven. .. At the work site, the worker WM may operate the trigger switch 100A for a moment by pressing the tip tool against the ceiling surface in order to carry out the positioning work between the tip tool and the ceiling surface. Also, when the bit is pulled out after drilling, it may get caught and cannot be pulled out. In such work, if the assisting force of the work assisting tool 1 is exerted, the worker WM may not be able to smoothly carry out the work. In the present embodiment, when such a motor 210 is driven only for a moment, the control device 11 does not exert the assisting force of the work assisting tool 1. As a result, the control device 11 can adjust the state in which the work assisting tool 1 exerts the assisting force and the state in which the work assisting tool 1 does not exert the assisting force according to the actual situation of the work site.

Further, in the present embodiment, when an abnormality occurs in the work assisting tool 1, the driving of the motor 210 of the electric tool KD is prohibited, and the driving of the actuator 141 of the working assisting tool 1 is prohibited. As a result, it is possible to prevent the motor 210 and the actuator 141 from continuing to be driven even though an abnormality has occurred in the work assisting tool 1.

Further, in the present embodiment, as described with reference to FIG. 32, the control device 11 determines that the elastic force of the spring member 721 is equal to or higher than the first threshold value based on the detected value of the slide volume 730. Occasionally, it outputs a stop signal to stop the actuator 141, and outputs a start signal to start the actuator 141 when it is determined that the elastic force of the spring member 721 is equal to or less than the second threshold value. As a result, the power consumption of the battery 9 can be suppressed.

Fourth embodiment.
A fourth embodiment will be described. In the following description, the same components as those in the above-described embodiment are designated by the same reference numerals, and the description thereof will be simplified or omitted.

The fourth embodiment is a modification of the third embodiment described above. In the third embodiment, the power source of the power tool KD is the battery 9 (DC power source). In the present embodiment, the power source of the power tool KD is a commercial power source (AC power source).

FIG. 41 is a diagram showing a power tool KD and a work assisting tool 1 according to the present embodiment. As shown in FIG. 41, in the present embodiment, the electric cable 920 is connected to the connector 10E of the power tool KD. At the tip of the electric cable 920, an insertion plug 921 that can be inserted into the insertion port 931 (plug receiver) of the commercial power supply 930 is provided.

In the present embodiment, the electric cable 920 is connected to the commercial power supply 930 via the relay member 940. The relay member 940 is provided with a power detection device 905B capable of detecting the power supplied from the commercial power supply 930 to the power tool KD. The relay member 940 is a cord reel. A cord reel is a member that holds an extension cable (extension cord) in a wound state. The insertion plug 941 of the electric cable 942 connected to the relay member 940 is inserted into the insertion port 931 of the commercial power supply 930.

Further, the relay member 940 is connected to the control device 11 via the cable 904B. The cable 904B connects the relay member 940 and the control device 11 so that data communication is possible. The control signal output from the control device 11 is output to the relay member 940 via the cable 904B. Further, the detection signal of the power detection device 905B is output to the control device 11 via the cable 904.

[Hardware configuration]
FIG. 42 is a block diagram showing each hardware configuration of the work assist tool 1 and the power tool KD according to the present embodiment. As shown in FIG. 42, the work auxiliary tool 1 is equipped with an actuator 141, a solenoid 501, a solenoid detection device 505, a slide volume 730, an auxiliary tool operation device 800, a main power supply operation device 85, and a battery 9. The connector 10 to be used and the control device 11 are provided. The work assisting tool 1 according to the present embodiment is the same as the work assisting tool 1 described in the third embodiment described above.

The power tool KD includes a control device 230, a motor 210, and a trigger switch 100A operated by an operator WM. The control device 230 includes an arithmetic processing device 200 including a processor such as a CPU, and a motor driver 220 for driving the motor 210.

The commercial power supply 930 supplies electric power to the electric tool KD via the electric power lines 913 provided in each of the electric cable 942, the relay member 940, the electric cable 920, and the electric tool KD. The commercial power supply 930 is an AC power supply.

The power detection device 905B is provided on the relay member 940. The power detection device 905B detects whether or not power is being supplied to the power tool KD from the commercial power supply 930. The power detection device 905B is provided on the power line 913 of the relay member 940.

Further, the relay member 940 has a connection switching device 911 capable of switching between supply and cut of electric power from the commercial power supply 930 to the power tool KD. The connection switching device 911 is provided on the power line 913. The connection switching device 911 includes a switch device that switches between a state in which power is supplied and a state in which power supply is stopped in the power line 913. When the power line 013 is cut off, power is not supplied from the commercial power supply 930 to the power tool KD, and the motor 210 does not start.

The power detection device 905B can detect that the power supply to the power tool KD is started from the commercial power supply 930. The control device 11 outputs a start signal for activating the actuator 141 based on the detection signal of the power detection device 905B indicating that the power supply to the power tool KD has started. The power tool KD starts work when an electric current is supplied. The control device 11 outputs a start signal for activating the actuator 141 in conjunction with the start of work of the power tool KD.

In the present embodiment, the power detection device 905B detects the current supplied from the commercial power supply 930 to the power tool KD. The current output from the commercial power supply 930 is supplied to the power tool KD via the power lines 913 provided in each of the electric cable 942, the relay member 940, the electric cable 920, and the power tool KD.

The power detection device 905B includes a rectifying unit 912 that converts alternating current into direct current. The power detection device 905B can detect that the supply of current from the commercial power supply 930 to the power tool KD is started based on the current value after the analog value of alternating current is converted to direct current by the rectifying unit 912. For example, as in the third embodiment described above, in the control device 11, the current value after changing the analog value of the alternating current detected by the power detection device 905B to direct current is equal to or higher than the predetermined current threshold value IS. When the detection signal is continuously acquired for a specified time, it can be determined that the current supply to the electric tool KD has been started from the commercial power supply 930.

Further, the power detection device 905B does not have to convert alternating current into direct current. When the analog value of AC is converted into a pulse signal, the period of the pulse signal is substantially equal to the frequency of AC of the commercial power supply 930. Therefore, the power detection device 905B can detect that the supply of the current from the commercial power supply 930 to the power tool KD is started based on the period of the pulse signal.

The detection signal of the power detection device 905B is output to the control device 11 of the work assisting tool 1 via the communication line 909C provided on the cable 904B. The connection switching device 911 operates based on the control signal output from the control device 11 of the work assisting tool 1. The control device 11 can output a control signal to the connection switching device 911 via the communication line 909D provided on the cable 904.

[Computational processing unit]
FIG. 43 is a functional block diagram showing an example of the arithmetic processing unit 90 according to the present embodiment. As shown in FIG. 6, the arithmetic processing apparatus 90 receives at least one of a detection signal indicating that the power supply to the power tool KD has been started and a detection signal indicating that the power supply to the power tool KD has been stopped. It has a detection signal acquisition unit 91D to be acquired and a control unit 93D to output a control signal for controlling the actuator 141 based on the detection signal acquired by the detection signal acquisition unit 91D.

Further, the arithmetic processing unit 90 has a solenoid control unit 97 that outputs a control signal for controlling the solenoid 501.

Further, the arithmetic processing unit 90 supplies electric power to the power tool KD based on the abnormality signal acquisition unit 95 that acquires the abnormality signal indicating the abnormality of the work assisting tool 1 and the abnormality signal acquired by the abnormality signal acquisition unit 95. It has a prohibition unit 96D for outputting a second prohibition signal.

The detection signal acquisition unit 91D acquires a detection signal from the power detection device 905B provided on the relay member 940 via the communication line 909C. The power detection device 905B can detect the power supplied to the power tool KD from the commercial power supply 930 connected to the relay member 940. Further, the power detection device 905B can detect whether or not the power supply to the power tool KD is started from the commercial power supply 930. As described above, in the present embodiment, the power detection device 905B detects the current supplied from the commercial power supply 930 to the power tool KD.

The detection signal acquisition unit 91D acquires a detection signal indicating that the current supply to the power tool KD has started from the power detection device 905B. Further, the detection signal acquisition unit 91D acquires a detection signal indicating that the supply of the current to the power tool KD has been stopped from the power detection device 905B.

In the present embodiment, the work start signal related to the work start of the power tool KD includes the detection signal acquired by the detection signal acquisition unit 91D. In the present embodiment, the detection signal related to the start of work of the power tool KD is a detection signal in which the pulse signal detected by the power detection device 905 indicates a specified period.

The control unit 93D outputs a control signal for controlling the driving state of the actuator 141 based on the detection signal of the power detection device 905B. When the detection signal acquisition unit 91D acquires a detection signal indicating that power supply to the power tool KD has started, the control unit 93D outputs an activation signal for activating the actuator 141 as a control signal. When the detection signal acquisition unit 91D acquires a detection signal indicating that the power supply to the power tool KD has been stopped, the control unit 93D outputs a stop signal for stopping the actuator 141 as a control signal.

The power tool KD is supported by the arm of the worker WM held by the holding member 4. The actuator 141 generates a power to rotate the tip of the arm member 3 upward. The control unit 93D outputs a control signal for driving the actuator 141 when a detection signal indicating that the power supply to the power tool KD has been started is acquired.

The control unit 93D outputs a start signal for activating the actuator 141 when it is determined that the detection signal indicating that the power supply to the power tool KD has been started has been continuously acquired by the detection signal acquisition unit 91D for a specified time. To do.

The solenoid control unit 97 outputs a control signal for driving the solenoid 501. Further, the solenoid control unit 97 outputs a control signal for stopping the driving of the solenoid 501.

The abnormality signal acquisition unit 95 acquires an abnormality signal indicating an abnormality of the work assisting tool 1. Similar to the above-described embodiment, as an abnormality signal indicating an abnormality of the work assisting tool 1, an abnormality signal detected by the solenoid detection device 505 is exemplified.

When the abnormality signal is acquired by the abnormality signal acquisition unit 95, the prohibition unit 96D outputs a second prohibition signal for prohibiting the drive of the actuator 141 of the work assisting tool 1 and the drive of the motor 210 of the power tool KD. That is, the prohibition unit 96 outputs a second prohibition signal for prohibiting the supply of electric power to the actuator 141 from the battery 9 mounted on the connector 10 of the work assisting tool 1 based on the abnormality signal. Further, the prohibition unit 96D outputs a second prohibition signal for prohibiting the supply of electric power from the commercial power supply 930 to the motor 210 of the power tool KD based on the abnormality signal.

When the abnormality signal is acquired by the abnormality signal acquisition unit 95, the prohibition unit 96D outputs the second prohibition signal to the connection switching device 911. The second prohibition signal includes a control signal that cuts off the supply of electric power by the electric power line 913. Since the power supply by the power line 913 is cut off, the power tool KD is not supplied with power from the commercial power supply 930. As a result, even if the trigger switch 100A is operated, the motor 210 of the power tool KD does not start.

[Actuator control method]
Next, an example of the control method of the actuator 141 according to the present embodiment will be described. FIG. 44 is a flowchart showing an example of a control method of the actuator 141 according to the present embodiment.

When the main power of the work assisting tool 1 is turned on, the control device 11 is activated. The abnormality signal acquisition unit 95 determines whether or not an abnormality signal has been acquired (step SF1).

When it is determined in step SF1 that the abnormal signal is not acquired (step SF1: No), the prohibition unit 96D outputs a second permission signal permitting power supply by the power line 913 to the connection switching device 911 (step). SF2). As a result, the connection switching device 911 does not cut off the power supply, and makes it possible to supply power from the commercial power supply 930 to the power tool KD.

When, for example, the trigger switch 100A is operated in a state where power can be supplied from the commercial power supply 930 to the power tool KD, power is supplied from the commercial power supply 930 to the power tool KD. The power detection device 905B outputs a detection signal indicating that power supply to the power tool KD has started to the detection signal acquisition unit 91D.

The detection signal acquisition unit 91D determines whether or not the detection signal indicating that the power supply to the power tool KD has been started has been acquired (step SF3).

When it is determined in step SF3 that the detection signal has been acquired (step SF3: Yes), the detection signal acquisition unit 91D has a first cycle in which the cycle of the AC pulse signal detected by the power detection device 905D is predetermined. It is determined whether or not the threshold value is Sp1 or more (step SF4). The first period threshold Sp1 is, for example, 40 [Hz].

When it is determined in step SF4 that the cycle of the AC pulse signal detected by the power detection device 905B is equal to or greater than the first cycle threshold value Sp1 (step SF4: Yes), the detection signal acquisition unit 91D is subjected to the power detection device 905D. It is determined whether or not the period of the detected AC pulse signal is equal to or less than the predetermined second period threshold value Sp2 (step SF5). The second period threshold Sp2 is larger than the first period threshold Sp1. The second period threshold Sp2 is, for example, 70 [Hz].

When the period of the pulse signal is less than the first period threshold Sp1 or when the period of the pulse signal is larger than the second period threshold Sp2, the detection signal detected by the power detection device 905B contains a large amount of noise components. Probability is high. On the other hand, when the period of the pulse signal is 1st period threshold Sp1 or more and 2nd period threshold Sp2 or less, the detection signal detected by the power detection device 905B is likely to be an alternating current output from the commercial power supply 930.

In step SF5, when it is determined that the period of the AC pulse signal detected by the power detection device 905B is equal to or less than the second period threshold value Sp2 (step SF5: Yes), that is, the period of the pulse signal is the first period threshold value Sp1. When it is determined that the second cycle threshold value is Sp2 or less, the detection signal acquisition unit 91D increments the counter for counting that the detection signal has been continuously acquired for a predetermined time (step SF6).

The detection signal acquisition unit 91C determines, based on the counter, whether or not the detection signal indicating that the power supply to the power tool KD has been started has been continuously acquired for a specified time (step SF7). The specified time is, for example, 300 [msec. ].

If it is determined in step SF7 that the detection signal has not been continuously acquired for a specified time (step SF7: No), the process returns to step SF1.

If it is determined in step SF3 that the detection signal has not been acquired (step SF3: No), the process returns to step SF1. Further, if the detection signal is no longer acquired before it is determined that the detection signal has been continuously acquired for a specified time (step SF3: No), after the counter is reset (step SF9), the process of step SF1 is performed. go back.

When it is determined in step SF4 that the period of the pulse signal detected by the power detection device 905B is not equal to or greater than the first period threshold value Sp1 (step SF4: No), the process returns to step SF1. Further, when the period of the pulse signal detected by the power detection device 905B becomes less than the first period threshold value Sp1 before it is determined that the detection signal has been continuously acquired for a specified time (step SF4: No), the counter Is reset (step SF10), the process returns to the process of step SF1.

When it is determined in step SF5 that the period of the pulse signal detected by the power detection device 905B is not equal to or less than the second period threshold value Sp2 (step SF5: No), the process returns to step SF1. Further, when the period of the pulse signal detected by the power detection device 905B becomes larger than the second period threshold value Sp2 before it is determined that the detection signal has been continuously acquired for a specified time (step SF5: No). After the counter is reset (step SF11), the process returns to the process of step SF1.

When it is determined in step SF7 that the detection signal has been continuously acquired for a specified time (step SF7: Yes), the control unit 93D outputs a control signal (startup signal) for driving the actuator 141 (step SF8). .. As a result, the assistance of the worker WM by the work assisting tool 1 is started in conjunction with the start of the work of the power tool KD.

When it is determined in step SF1 that an abnormal signal has been acquired (step SF1: Yes), the prohibition unit 96D outputs a second prohibition signal prohibiting the supply of power by the power line 913 to the connection switching device 911 (step). SF12). As a result, the supply of electric power from the commercial power supply 930 to the power tool KD is cut off.

Further, the solenoid control unit 97 stops driving the solenoid 501 based on the abnormality signal, and the control unit 93D stops the actuator 141 of the work assisting tool 1 based on the abnormality signal (step SF13). As a result, the assistance of the worker WM by the work assisting tool 1 is completed in conjunction with the completion of the work of the power tool KD.

When the abnormality signal is not acquired and the motor 210 of the power tool KD is being driven, the control unit 93C has the actuator 141 based on the detection signal of the slide volume 730, as described with reference to FIG. 32. Switch between driving and stopping.

As described above, also in the present embodiment, the actuator 141 can start or stop the drive at the timing intended by the operator WM.

In this embodiment, the power detection device 905B and the connection switching device 911 are provided on the relay member 940. A relay member may be provided between the electric cable 920 and the connector 10E of the electric tool KD, and the relay member may be provided with the power detection device 905B and the connection switching device 911.

Fifth embodiment.
A fifth embodiment will be described. In the following description, the same components as those in the above-described embodiment are designated by the same reference numerals, and the description thereof will be simplified or omitted.

FIG. 45 is a perspective view showing an example of the work assisting tool 1 according to the present embodiment, and shows a state of being attached to the worker WM. FIG. 46 is a diagram showing a power tool KD1 and a work assisting tool 1 according to the present embodiment.

The fifth embodiment is a modification of the third embodiment described above. Similar to the third embodiment, the power source of the power tool KD is the battery 9 (DC power source). As shown in FIGS. 45 and 46, in the present embodiment, the relay member 960 is attached to the connector 10D of the power tool KD. The battery 9 is connected to the relay member 960. The battery 9 supplies electric power to the motor 210 of the power tool KD via the relay member 960.

The work assisting tool 1 and the relay member 960 wirelessly communicate with each other via the wireless communication device 19. The wireless communication device 19 includes a wireless communication device 19A provided on the work assisting tool 1 and a wireless communication device 19B provided on the relay member 960. The wireless communication device 19A of the work assisting tool 1 can wirelessly communicate with the wireless communication device 19B of the relay member 960. The wireless communication device 19B of the relay member 960 can wirelessly communicate with the wireless communication device 19A of the work assisting tool 1.

The wireless communication device 19 can perform wireless communication by a specified communication method. The communication method may be, for example, a communication method according to a BLE (Bluetooth Low Energy) communication standard. "Bluetooth" is a registered trademark.

FIG. 47 is a perspective view showing a relay member 960 according to the present embodiment. The relay member 960 is connected to the connector 10D of the power tool KD. Further, the battery 9 is mounted on the relay member 960.

As shown in FIG. 47, the relay member 960 has a raised portion 960a, a battery claw 960b, a battery button 960c, a pair of battery terminals 960d, and a pair of slide rails 960e. The battery terminals 960d are arranged between the pair of slide rails 960e.

The outer shape and dimensions of the relay member 960 and the outer shape and dimensions of the battery 9 are substantially the same. The relay member 960 is a so-called dummy battery.

The relay member 960 does not have a battery cell and is lighter than the battery 9. The relay member 960 does not function as a power source for the power tool KD, but functions as a repeater for sending the electric power output from the battery 9 to the power tool KD.

Further, the relay member 960 has a mounting surface 960f on which the battery 9 is mounted. The connection structure of the mounting surface 960f of the relay member 960 connected to the battery 9 and the connection structure of the mounting surface of the connector 10D of the electric tool KD are substantially the same.

FIG. 48 is a block diagram showing each hardware configuration of the work assist tool 1 and the power tool KD according to the present embodiment. As shown in FIG. 48, the work auxiliary tool 1 is equipped with the actuator 141, the solenoid 501, the solenoid detection device 505, the slide volume 730, the auxiliary tool operation device 800, the main power supply operation device 85, and the battery 9. The connector 10 to be used and the control device 11 are provided. The work assisting tool 1 according to the present embodiment is the same as the work assisting tool 1 described in the third embodiment described above.

The power tool KD includes a control device 230, a motor 210, and a trigger switch 100A operated by an operator WM. The control device 230 includes an arithmetic processing device 200 including a processor such as a CPU, and a motor driver 220 for driving the motor 210.

In the work assisting tool 1, the control device 11 is connected to the wireless communication device 19A. The wireless communication device 19A wirelessly communicates with the wireless communication device 19B of the relay member 960. The wireless communication device 19 may be attached to and detached from the work assisting tool 1. The wireless communication device 19B may be attached to and detached from the relay member 960.

The battery 9 supplies electric power to the electric tool KD via the electric power lines 907 provided in each of the relay member 960 and the electric tool KD. The battery 9 is a DC power source (DC power source). The power line 907 includes a power line 907A through which a current supplied from the battery 9 to the power tool KD flows, and a power line 907B through which a current returning from the power tool KD to the battery 9 flows. The trigger switch 100A is provided on the power line 907A of the power tool KD.

The battery 9 has an arithmetic processing device 910 including a processor such as a CPU. The arithmetic processing unit 910 of the battery 9 mounted on the second relay member 902 communicates with the arithmetic processing unit 200 of the electric tool KD via communication lines 908 provided for each of the relay member 960 and the electric tool KD. Communication is possible. When starting the motor 210 of the power tool KD, the arithmetic processing unit 200 of the electric tool KD outputs a request signal requesting power supply to the arithmetic processing unit 910 of the battery 9 mounted on the second relay member 902. To do.

After receiving the request signal, the arithmetic processing unit 910 of the battery 9 outputs a first authorization signal permitting the start of the motor 210 to the arithmetic processing unit 200 of the power tool KD. After receiving the first permission signal, the arithmetic processing unit 200 of the electric tool KD executes the setting process of the motor driver 220 for starting the motor 210. After the arithmetic processing device 910 of the battery 9 receives the request signal and the arithmetic processing device 200 of the electric tool KD receives the first permission signal, the motor 210 is supplied with electric power from the battery 9 to the electric tool KD. to start.

On the other hand, when the battery 9 is in an abnormal state such as abnormal heat generation, the arithmetic processing unit 910 of the battery 9 calculates the power tool KD for the first prohibition signal for prohibiting the start of the motor 210 after receiving the request signal. Output to the processing device 200. When the first prohibition signal is output, power is not supplied from the battery 9 to the power tool KD. If power is not supplied from the battery 9 to the power tool KD, the motor 210 does not start.

Further, even when the battery 9 is in a normal state, if the communication line 908 is cut off and the first permission signal is not transmitted from the arithmetic processing device 910 of the battery 9 to the arithmetic processing device 200 of the electric tool KD, the battery 9 is sent to the electric tool KD. No power is supplied. If power is not supplied from the battery 9 to the power tool KD, the motor 210 does not start.

The relay member 960 connects the power detection device 905 that detects whether or not power is being supplied from the battery 9 to the power tool KD, the arithmetic processing device 910 of the battery 9, and the arithmetic processing device 200 of the power tool KD. And a connection switching device 906 capable of performing disconnection.

The detection signal of the power detection device 905 is wirelessly output to the control device 11 of the work assisting tool 1 via the wireless communication device 19. The connection switching device 906 operates based on the control signal output from the control device 11 of the work assisting tool 1. The control device 11 can wirelessly output a control signal to the connection switching device 906 via the wireless communication device 19.

The connection switching device 906 is provided on the communication line 908 of the relay member 960. The connection switching device 906 includes a switch device that switches between a state in which communication is performed and a state in which communication is interrupted on the communication line 908. When the communication line 908 is cut off, even if the arithmetic processing unit 910 of the battery 9 outputs the first permission signal, the arithmetic processing unit 910 of the battery 9 transmits the first authorization signal to the arithmetic processing unit 200 of the power tool KD. Not done. Therefore, when the communication line 908 is cut off, power is not supplied from the battery 9 to the power tool KD, and the motor 210 does not start.

The power detection device 905 can detect that the power supply to the power tool KD from the battery 9 has started. The control device 11 outputs a start signal for activating the actuator 141 based on the detection signal of the power detection device 905 indicating that the power supply to the power tool KD has started. The power tool KD starts work when an electric current is supplied. The control device 11 outputs a start signal for activating the actuator 141 in conjunction with the start of work of the power tool KD.

In the present embodiment, the power detection device 905 detects the current supplied from the battery 9 to the power tool KD. The current output from the battery 9 is supplied to the power tool KD via the power lines 907 provided in each of the relay member 960 and the power tool KD.

Similar to the embodiments described above, the power detector 905 includes a shunt resistor provided on the power line 907B. The power detection device 905 can detect that the supply of current from the battery 9 to the power tool KD has started based on the amount of change in voltage in the shunt resistor.

The power detection device 905 may detect that the supply of current from the battery 9 to the power tool KD has started by detecting the voltage drop between the power line 907A and the power line 907B.

When a current flows through the power line 907, the magnetic field changes around the power line 907. Therefore, the power detection device 905 may include a magnetic sensor arranged around the power line 907.

[Computational processing unit]
FIG. 49 is a functional block diagram showing an example of the arithmetic processing unit 90 according to the present embodiment. As shown in FIG. 49, the arithmetic processing apparatus 90 receives at least one of a detection signal indicating that the power supply to the power tool KD has been started and a detection signal indicating that the power supply to the power tool KD has been stopped. It has a detection signal acquisition unit 91C to be acquired and a control unit 93C to output a control signal for controlling the actuator 141 based on the detection signal acquired by the detection signal acquisition unit 91C.

Further, the arithmetic processing unit 90 has a solenoid control unit 97 that outputs a control signal for controlling the solenoid 501.

Further, the arithmetic processing unit 90 supplies electric power to the power tool KD based on the abnormality signal acquisition unit 95 that acquires the abnormality signal indicating the abnormality of the work assisting tool 1 and the abnormality signal acquired by the abnormality signal acquisition unit 95. It has a prohibition unit 96 that outputs a second prohibition signal for prohibiting.

The detection signal acquisition unit 91C acquires the detection signal via the wireless communication device 19. The power detection device 905 can detect the power supplied to the power tool KD from the battery 9 mounted on the relay member 960. Further, the power detection device 905 can detect whether or not the power supply to the power tool KD is started from the battery 9 mounted on the relay member 960. As described above, the power detection device 905 detects the current supplied from the battery 9 to the power tool KD.

The detection signal acquisition unit 91C acquires a detection signal indicating that the current supply to the power tool KD has been started from the power detection device 905 via the wireless communication device 19.

The work start signal related to the work start of the power tool KD includes a detection signal acquired by the detection signal acquisition unit 91C. The detection signal related to the start of work of the power tool KD is a detection signal indicating that the current value detected by the power detection device 905 is equal to or higher than a predetermined current threshold value IS.

Further, the work end signal related to the work end of the power tool KD includes a detection signal acquired by the detection signal acquisition unit 91C. The detection signal related to the end of work of the power tool KD is a detection signal indicating that the current value detected by the power detection device 905 is less than a predetermined current threshold value IS.

The control unit 93C outputs a control signal for controlling the driving state of the actuator 141 based on the detection signal of the power detection device 905. When the detection signal acquisition unit 91C acquires a detection signal indicating that power supply to the power tool KD has started, the control unit 93C outputs an activation signal for activating the actuator 141 as a control signal.

Similar to the above-described embodiment, when the control unit 93C determines that the detection signal acquisition unit 91C has continuously acquired the detection signal indicating that the power supply to the power tool KD has been started for a specified time, the actuator 141 Outputs a start signal to start.

The solenoid control unit 97 outputs a control signal for driving the solenoid 501. Further, the solenoid control unit 97 outputs a control signal for stopping the driving of the solenoid 501.

The abnormality signal acquisition unit 95 acquires an abnormality signal indicating an abnormality of the work assisting tool 1. Similar to the above-described embodiment, as an abnormality signal indicating an abnormality of the work assisting tool 1, an abnormality signal detected by the solenoid detection device 505 is exemplified.

When the abnormality signal is acquired by the abnormality signal acquisition unit 95, the prohibition unit 96 outputs a second prohibition signal for prohibiting the drive of the actuator 141 of the work assisting tool 1 and the drive of the motor 210 of the power tool KD. The prohibition unit 96 outputs a second prohibition signal for prohibiting the supply of electric power to the actuator 141 from the battery 9 mounted on the connector 10 of the work assisting tool 1 based on the abnormality signal. Further, the prohibition unit 96 outputs a second prohibition signal for prohibiting the supply of electric power from the battery 9 mounted on the relay member 960 to the motor 210 of the power tool KD based on the abnormality signal.

When the abnormality signal is acquired by the abnormality signal acquisition unit 95, the prohibition unit 96 outputs the second prohibition signal to the connection switching device 906. The second prohibition signal includes a control signal that interrupts communication on the communication line 908. Since the communication of the communication line 908 is cut off, power is not supplied from the battery 9 to the power tool KD. As a result, even if the trigger switch 100A is operated, the motor 210 of the power tool KD does not start.

Next, the communication method by the wireless communication device 19 will be described with reference to FIGS. 50 and 51. Each of FIGS. 50 and 51 is a diagram for explaining a communication method by the wireless communication device 19 according to the present embodiment.

The wireless communication device 19 performs wireless communication based on a specified communication method. The wireless communication device 19 can operate in one of the transmission-based mode and the search-based mode.

The transmission subject mode refers to a mode in which a specific signal is unilaterally and periodically wirelessly transmitted without specifying a transmission destination. That is, the transmission subject mode refers to a mode in which a characteristic signal is periodically broadcast.

The search-based mode is a mode in which a specific signal transmitted from another wireless communication device 19 is searched, and when a specific signal is received, processing is executed according to the received specific signal.

In the present embodiment, the wireless communication device 19B of the relay member 960 operates in the transmission subject mode. The wireless communication device 19A of the work aid 1 operates in the search-based mode. The wireless communication device 19B of the relay member 960 may operate in the search-based mode, and the wireless communication device 19A of the work aid 1 may operate in the transmission-based mode.

The transmission subject mode includes a standby transmission mode, an interlocking transmission mode, a registration transmission mode, and a deletion transmission mode. The standby transmission mode refers to a transmission operation mode in which standby notifications are periodically wirelessly transmitted. The interlocking transmission mode refers to a transmission operation mode in which interlocking notifications are periodically wirelessly transmitted. The registration transmission mode refers to a transmission operation mode in which registration notifications are periodically wirelessly transmitted. The deletion transmission mode refers to a transmission operation mode in which a deletion notification is periodically transmitted.

The search subject mode includes a standby search mode, an interlocking search mode, a registered search mode, and a deletion search mode. The standby search mode refers to a search operation mode in which the presence / absence of reception of a standby notification by the wireless communication device 19A is periodically scanned (searched). The interlocking search mode refers to a search operation mode in which the presence / absence of reception of the interlocking notification by the wireless communication device 19A is periodically scanned (searched). The registered search mode is a search operation mode in which the presence / absence of reception of the registration notification by the wireless communication device 19A is periodically scanned (searched). The deletion search mode refers to a search operation mode in which the presence / absence of reception of a deletion notification by the wireless communication device 19A is periodically scanned (searched).

The registration process will be described with reference to FIG. 50. When the relay member 960 is attached to the connector 10D of the power tool KD, the battery 9 is attached to the relay member 960, and power is supplied from the battery 9, the wireless communication device 19B and the control device 230 are activated. After the wireless communication device 19B and the control device 230 are activated, the control device 230 sets the wireless communication device 19B to the standby transmission mode.

Further, when the main power of the work assisting tool 1 is turned on and power is supplied from the battery 9, the wireless communication device 19A and the control device 11 are activated. After the wireless communication device 19A and the control device 11 are activated, the control device 11 sets the wireless communication device 19A to the standby search mode.

By operating an operation device (not shown) provided on the relay member 960, the control device 230 switches the wireless communication device 19B to the interlocking transmission mode.

Further, in the standby search mode, when the interlocking notification is received and the source identification information included in the interlocking notification is registered in the wireless communication device 19A, the control device 11 sets the wireless communication device 19A. Switch to interlocking search mode.

In the interlocking transmission mode, the wireless communication device 19B unilaterally transmits the interlocking notification (regular broadcast). The interlocking notification transmitted in the interlocking transmission mode includes device operation information (driving information or stopping information) based on the operation signal of the motor 210, and identification information of the wireless communication device 19B.

In the interlocking search mode, the control device 11 periodically scans the interlocking notification. When the identification information included in the received interlocking notification is registered in the control device 11, whether or not the control device 11 should perform the interlocking operation based on the device operation information included in the interlocking notification. to decide. In the interlocking search mode, when the state in which the driving information is not received elapses for a predetermined time, the control device 11 switches the wireless communication device 19A to the standby search mode.

Further, by operating an operation device (not shown) provided on the relay member 960, the control device 230 switches the wireless communication device 19B to the registration transmission mode (step SG1).

In the registration transmission mode, the wireless communication device 19B unilaterally transmits a registration notification (regular broadcast).

When the wireless communication device 19A is set to the registration search mode, the control device 11 periodically scans the registration notification. When the wireless communication device 19A set in the registration search mode receives the registration notification (step SH1), the control device 230 transmits a connection request from the wireless communication device 19A (step SH2).

If a connection request is transmitted from the wireless communication device 19A of the work assisting tool 1 in response to the registration notification during the period of transmitting the registration notification, the control device 230 stops the periodic transmission of the registration notification and wirelessly. The connection with the communication device 19A is established (step SG2). After the connection with the wireless communication device 19A is established, the control device 230 performs a predetermined data communication with the wireless communication device 19A on a one-to-one basis and performs a registration process (step SG3).

The registration process is a process of registering the wireless communication device 19 of the other party by transmitting and receiving identification information to and from the wireless communication device 19A, each of which acquires the identification information of the other party and stores it in a memory. Is. For example, when the identification information of the wireless communication device 19B of the relay member 960 is "A0" and the identification information of the wireless communication device 19A of the work assisting tool 1 is "B1", between the wireless communication device 19A and the wireless communication device 19B. When the registration process is performed in, the identification information is transmitted from one side to the other between the two, and the identification information "B1" of the other side is registered in the wireless communication device 19B of the relay member 960, and the work assisting tool is used. "A0", which is the identification information of the other party, is registered in the wireless communication device 19A of 1.

When the registration process is completed, the control device 230 disconnects the communication with the wireless communication device 19A and switches the wireless communication device 19B to the interlocking transmission mode. When the registration process is completed, the control device 11 disconnects the communication with the wireless communication device 19B from which the registration notification is transmitted, and switches the wireless communication device 19A to the interlocking search mode.

Next, the deletion process will be described with reference to FIG. 51. By operating an operation device (not shown) provided on the relay member 960, the control device 230 switches the wireless communication device 19B to the deletion transmission mode (step SJ1).

In the deletion transmission mode, the wireless communication device 19B unilaterally transmits a deletion notification (regular broadcast).

When the wireless communication device 19A is set to the deletion search mode, the control device 11 periodically scans the deletion notification. When the wireless communication device 19A set in the deletion search mode receives the deletion notification (step SH1), the control device 230 transmits a deletion request from the wireless communication device 19A (step SH2).

If a deletion request is transmitted from the wireless communication device 19A of the work assisting tool 1 in response to the deletion notification during the period in which the deletion notification is periodically transmitted, the control device 230 stops the periodic transmission of the deletion notification, and then Establish a connection with the wireless communication device 19A (step SJ2). After the connection with the wireless communication device 19A is established, the control device 230 performs a predetermined data communication with the wireless communication device 19A on a one-to-one basis to perform a deletion process (step SJ3).

The deletion process registers the other party's wireless communication device 19 by sending and receiving identification information to and from the wireless communication device 19A, thereby deleting the other party's identification information registered by each from the memory. This is the process to release.

When the deletion process is completed, the control device 230 disconnects the communication with the wireless communication device 19A and switches the wireless communication device 19B to the interlocking transmission mode. When the deletion process is completed, the control device 11 disconnects the communication with the wireless communication device 19B from which the deletion notification is transmitted, and switches the wireless communication device 19A to the interlocking search mode.

As described above, when the registration process is performed, the work assisting tool 1 can communicate with the registered specific power tool KD (relay member 960). Further, by performing the deletion process, the work assisting tool 1 can cancel the communication with the specific power tool KD (relay member 960).

Since the control method of the actuator 141 according to the present embodiment is the same as the control method of the actuator 141 described with reference to FIG. 40, the description thereof will be omitted.

As described above, also in the present embodiment, the actuator 141 can start or stop the drive at the timing intended by the operator WM.

Further, in the present embodiment, the power tool KD and the work assisting tool 1 wirelessly communicate with each other. As a result, cables can be omitted, so that the workability of the work using the power tool KD is improved.

Sixth embodiment.
The sixth embodiment will be described. In the following description, the same components as those in the above-described embodiment are designated by the same reference numerals, and the description thereof will be simplified or omitted.

FIG. 52 is a block diagram showing each hardware configuration of the work assisting tool 1 and the power tool KD according to the present embodiment. Similar to the above-described embodiment, each of the actuator 141 of the work aid 1 and the power tool KD is driven by the electric power supplied from the battery 9. In this embodiment, the battery 9 supplies power to both the actuator 141 and the power tool KD. That is, each of the actuator 141 of the work assisting tool 1 and the power tool KD is driven by the electric power supplied from one common battery 9. The actuator 141 of the work aid 1 and the power tool KD share one battery 9.

In the present embodiment, the actuator 141 of the work assisting tool 1 and the battery 9 shared by the power tool KD are attached to the connector 10 of the work assisting tool 1. The work aid 1 and the power tool KD are connected via a cable 903B. The electric power output from the battery 9 is supplied to the actuator 141, and is also supplied to the power tool KD via the cable 903B and the first relay member 901 (dummy battery) mounted on the power tool KD.

In the present embodiment, the power detection device 905 for detecting whether or not power is being supplied from the battery 9 to the power tool KD is provided in the work assist tool 1. The detection signal of the power detection device 905 is output to the control device 11 of the work assisting tool 1.

Further, a connection switching device 906 capable of connecting and disconnecting communication between the arithmetic processing unit 910 of the battery 9 and the arithmetic processing unit 200 of the power tool KD is provided in the work assist tool 1. The connection switching device 906 operates based on the control signal output from the control device 11 of the work assisting tool 1.

As described above, the actuator 141 of the work assisting tool 1 and the power tool KD may be supplied with electric power from a common battery 9.

The battery 9 shared by the actuator 141 of the work assisting tool 1 and the power tool KD may be mounted on the power tool KD.

In each of the above-described embodiments, the power tool KD has been described as an electric hammer drill, but the present invention is not limited to this. Electric tools KD include electric hammers, electric drills, electric drivers, electric wrench, electric grinders, electric circular saws, electric reciprocal saws, electric jigsaws, electric cutters, electric chainsaws, electric canna, and electric nail guns (including tacking machines). , Electric hedge trimmers, electric lawn varicans, electric brush cutters, electric cleaners, etc.

1 ... Work aid, 2 ... Main body member, 3 ... Arm member, 4 ... Holding member, 5 ... Actuator, 6 ... Compressor, 7 ... Tank, 8 ... Pressure control mechanism, 9 ... Battery, 9a ... Raised part, 9b ... Battery claw, 9c ... Battery button, 9d ... Battery terminal, 9e ... Slide rail, 10 ... Connector, 10a ... Mounting recess, 10D ... Connector, 10E ... Connector, 11 ... Control device, 12 ... Flow path, 12A ... Flow path, 12B ... Flow path, 12C ... Flow path, 13 ... 1st joint mechanism, 13B ... 1st joint mechanism, 14 ... 2nd joint mechanism, 14B ... 2nd joint mechanism, 15 ... Pulley, 16 ... Housing member, 17 ... Guide Member, 17G ... guide groove, 19 ... wireless communication device, 19A ... wireless communication device, 19B ... wireless communication device, 21 ... first mounting member, 21B ... first frame, 22 ... second mounting member, 22B ... second frame , 23 ... 1st plate member, 23B ... 3rd frame, 24 ... 2nd plate member, 24B ... connecting part, 25 ... strut member, 29 ... housing, 31 ... 1st arm member, 31B ... base end part, 31T ... Tip, 32 ... 2nd arm member, 32B ... 2nd end, 32C ... Connection, 32T ... 1st end, 33 ... Base, 33A ... Shaft hole, 33B ... Arm hole, 33C ... Adjustment hole , 34 ... arm, 35 ... guide rail, 41 ... flat plate, 42 ... first side plate, 43 ... second side plate, 44 ... magnet, 50 ... moving mechanism, 51 ... guide member, 52 ... movable member, 60 ... Transmission mechanism, 61 ... Wire member, 62 ... Connecting member, 63 ... Connecting member, 64 ... Support member, 71 ... Pressure sensor (first pressure sensor), 72 ... Pressure sensor (second pressure sensor), 73 ... Displacement sensor , 74 ... force sensor, 80 ... communication unit, 81 ... solenoid valve, 85 ... main power supply operating device, 90 ... arithmetic processing device, 91 ... detection signal acquisition unit, 91C ... detection signal acquisition unit, 91D ... detection signal acquisition unit, 92 ... Operation signal acquisition unit, 93 ... Control unit, 93A ... First control unit, 93B ... Second control unit, 93C ... Control unit, 93D ... Control unit, 94 ... Input signal acquisition unit, 95 ... Abnormal signal acquisition unit, 96 ... Prohibition part, 96D ... Prohibition part, 97 ... Solenoid control unit, 99 ... Storage device, 100 ... Operation device, 100A ... Trigger switch, 100B ... Lockoff switch, 102 ... Driver, 103 ... Actuator driver, 104 ... Solenoid driver , 111 ... DC / DC converter, 112 ... Insulation, 113 ... Input device, 141 ... Actuator, 142 ... Gear unit, 143 ... Drum, 144 ... Spindle bearing, 149 ... Housing , 200 ... Solenoid processing device, 210 ... Motor, 220 ... Motor driver, 230 ... Control device, 291 ... First housing, 292 ... Second housing, 293 ... Base, 321 ... First member, 322 ... Second member, 400 ... Drum drive mechanism (second power mechanism), 411 ... Solenoid, 412 ... Rotor, 413 ... Motor shaft, 414 ... Cooling fan, 421 ... Motor bearing, 422 ... First planetary gear mechanism, 423 ... Second planetary gear mechanism, 424 ... Spindle, 425 ... Spindle bearing, 429 ... Gear cover, 431 ... Main body, 432 ... Disc-shaped part, 433 ... Disc-shaped part, 500 ... Solenoid mechanism, 501 ... Solenoid, 502 ... Plunger, 503 ... Solenoid lever, 504 ... Stopper, 505 ... Solenoid detection device, 506 ... Spring, 600 ... Spindle lock mechanism, 700 ... Arm drive mechanism (first power mechanism), 710 ... Wire, 711 ... First wire, 712 ... Second wire, 712a ... Ring, 719 ... Wire case, 720 ... Spring, 721 ... Spring member, 722 ... 1st cap, 723 ... 2nd cap, 724 ... 3rd cap, 725 ... Elastic member, 726 ... Stopper, 729 ... Spring case, 730 ... Slide volume (Spring sensor), 731 ... Movable member, 732 ... Guide member, 739 ... Case, 740 ... Pulley, 741 ... Arm side base, 742 ... Shoulder side base, 743 ... Base, 744 ... Arm shaft, 851 ... Main power switch, 852 ... Main power LED, 800 ... Auxiliary tool operating device, 811 ... Interlocking mode selection switch, 812 ... Speed adjustment dial, 813 ... Assist force adjustment dial, 814 ... Lighting LED, 815 ... Display, 818 ... Arm raising switch, 819 ... Release switch, 820 ... Lighting LED switch, 821 ... Buzzer, 900 ... Battery adapter, 901 ... First relay member, 901a ... Raised part, 901b ... Battery claw, 901c ... Battery button, 901d ... Battery terminal, 901e ... Slide rail , 902 ... second relay member, 902a ... case, 902b ... connection terminal, 902c ... connection terminal, 902d ... hook, 903 ... cable, 903B ... cable, 904 ... cable, 904B ... cable, 905 ... power detector, 905B ... Power detector, 906 ... Connection switching device, 907 ... Power line, 907A ... Power line, 907B ... Power line, 908 ... Communication line, 909A ... Communication line, 909B ... Communication line, 909C ... Communication line, 90 9D ... communication line, 910 ... arithmetic processing device, 911 ... connection switching device, 912 ... rectifying unit, 913 ... power line, 920 ... electric cable, 921 ... plug, 930 ... commercial power supply, 931 ... plug, 940 ... Relay member, 941 ... Plug, 942 ... Electric cable, 960 ... Relay member, 960a ... Raised part, 960b ... Battery claw, 960c ... Battery button, 960d ... Battery terminal, 960e ... Slide rail, 960f ... Mounting surface, 1000 ... Power mechanism, 4221 ... Output shaft, 4222 ... Connecting shaft, 4223 ... Internal gear, 4224 ... Planetary gear, 4225 ... Pin, 4231 ... Internal gear, 4231a ... Groove, 4232 ... Planetary gear, 4233 ... Pin, 4241 ... Main body, 4242 ... Large diameter, 4243 ... Disc, 4244 ... Small diameter, 4291 ... Pin, 7231 ... Cap member, 7232 ... Cap member, 7233 ... Cap member, 7411 ... Movable part, 7431 ... Partition wall, 7432 ... Space, 7433 ... Space, 7434 ... Advance / Retreat, 7435 ... Opening, 7436 ... Stopper, AX1 ... 1st rotation axis, AX2 ... 2nd rotation axis, HS ... Harness, HSa ... Shoulder belt, HSb ... Waist belt, KD ... power tools, WM ... workers.

Claims (29)

At least part of the main body member that is attached to the back of the worker,
An arm member that is movably connected to the main body member,
A holding member that is supported by the arm member and holds at least a part of the worker's arm.
An actuator that generates power to move the arm member and
A work assisting tool including a control device that outputs a control signal for controlling the actuator based on a work start signal related to the work start of the power tool. The control signal includes an activation signal for activating the actuator.
The control device outputs the start signal in conjunction with the start of work of the power tool.
The work assisting tool according to claim 1. The control device includes an operation signal acquisition unit that acquires an operation signal generated by operating the operation device of the power tool, and a control unit that outputs the control signal based on the operation signal.
The work start signal includes the operation signal.
The work assisting tool according to claim 1 or 2. The actuator generates a power to rotate the tip of the arm member upward.
The control unit outputs a control signal for driving the actuator based on the operation signal.
The work assisting tool according to claim 3. The operation signal acquisition unit acquires the operation signal for operating the drive state of the motor of the power tool,
The work assisting tool according to claim 3 or 4. The control unit outputs a control signal for driving the actuator at the first time point when the operation signal is acquired before the second time point when the drive of the motor is started .
The work assisting tool according to claim 5. Before SL control unit outputs a control signal for driving the actuator when the operation signal indicating the second operation amount smaller than the first operation amount of the operating device for driving the motor is acquired,
The work assisting tool according to claim 5. A compressor that is supported by the main body member and compresses air,
A pressure control mechanism that is supported by the main body member and adjusts the pressure of compressed air supplied from the compressor is provided.
The actuator generates the power based on the compressed air supplied from the pressure control mechanism.
The work assisting tool according to any one of claims 3 to 7. The solenoid valve provided in the flow path through which the compressed air supplied to the actuator flows is provided.
The control unit supplies the compressed air to the actuator when the first operation signal is acquired, and discharges the compressed air from the actuator when the second operation signal is acquired. Control the valve,
The work assisting tool according to claim 8. A tank provided between the compressor and the pressure control mechanism to temporarily store the compressed air supplied from the compressor is provided.
The compressed air stored in the tank is supplied to the actuator.
The work aid according to claim 8 or 9. A first pressure sensor provided between the compressor and the tank and detecting the pressure of the compressed air supplied from the compressor is provided.
The control unit outputs a control signal for controlling the driving state of the compressor based on the detection signal of the first pressure sensor.
The work assisting tool according to claim 10. A second pressure sensor that detects the pressure of the compressed air supplied to the actuator, and
A displacement sensor for detecting the displacement amount of the actuator is provided.
The control unit outputs a control signal for controlling the driving state of the actuator based on the detection signal of the second pressure sensor and the detection signal of the displacement sensor.
The work assisting tool according to any one of claims 8 to 10. A force sensor for detecting an auxiliary force applied to an operator's arm via the holding member is provided.
The control unit outputs a control signal for controlling the driving state of the actuator based on the detection signal of the force sensor.
The work assisting tool according to any one of claims 3 to 10. The control device includes a detection signal acquisition unit that acquires a detection signal indicating that power supply to the power tool has started, and a control unit that outputs the control signal based on the detection signal.
The work start signal includes the detection signal.
The work assisting tool according to claim 1 or 2. The actuator generates a power to rotate the tip of the arm member upward.
The control unit outputs a control signal for driving the actuator based on the detection signal.
The work assisting tool according to claim 14. The control unit outputs an activation signal for activating the actuator as the control signal when the detection signal is continuously acquired for a predetermined time.
The work aid according to claim 14 or 15. The control device includes an abnormality signal acquisition unit that acquires an abnormality signal and a prohibition unit that outputs a prohibition signal that prohibits the supply of the power based on the abnormality signal.
The work assisting tool according to any one of claims 14 to 16. Before Symbol detection signal acquiring unit acquires the detection signal of the power provided in the relay member from detectable power detection device power to be attached to the connector of the power tool said power tool is supplied,
The work assisting tool according to any one of claims 14 to 17. A wireless communication device capable of wireless communication with the relay member is provided.
The detection signal acquisition unit acquires the detection signal via the wireless communication device.
The work aid according to claim 18. The actuator is driven by electric power supplied from a battery that supplies electric power to the power tool .
The work assisting tool according to any one of claims 14 to 19. A connector to which the battery is mounted.
The work assisting tool according to claim 20. A first power mechanism that is arranged between the arm member and the actuator and includes a spring member that expands and contracts by the operation of the actuator.
A spring sensor for detecting the length of the spring member is provided.
The control device controls the operation of the actuator based on the detection signal from the spring sensor.
The work assisting tool according to any one of claims 14 to 21. The control device stops the actuator when it is determined that the elastic force of the spring member is equal to or higher than the first threshold value based on the detection value of the spring sensor while the motor of the electric tool is being driven. Outputs a stop signal to activate the actuator, and outputs an activation signal to activate the actuator when it is determined that the elastic force of the spring member is equal to or less than the second threshold value.
The work assisting tool according to claim 22. It is provided between the first power mechanism and the actuator, and includes a second power mechanism that transmits the power generated by the actuator to the first power mechanism.
The second power mechanism suppresses the force transmitted from the first power mechanism to the actuator when the motor is being driven.
The work assisting tool according to claim 23. The second power mechanism releases the suppression of the force transmitted from the first power mechanism to the actuator when the motor shifts from the driving state to the stopped state.
The work assisting tool according to claim 24. Equipped with an auxiliary tool operating device
The control device outputs a start signal for activating the actuator based on an operation signal generated by operating the auxiliary tool operation device.
The work assisting tool according to any one of claims 14 to 25. The control device outputs a stop signal for stopping the actuator based on an operation signal generated by operating the auxiliary tool operation device.
The work aid according to claim 26. The control device outputs a control signal for controlling the actuator based on the work end signal related to the work end of the power tool.
The control signal includes a stop signal for stopping the actuator.
The control device outputs the stop signal in conjunction with the end of work of the power tool.
The work assisting tool according to any one of claims 1 to 27. The control device includes a detection signal acquisition unit that acquires a detection signal indicating that the supply of electric power to the power tool has been stopped, and a control unit that outputs the control signal based on the detection signal.
The work end signal includes the detection signal.
28. The work aid according to claim 28.

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