WO2018105470A1 - Dispositif actionneur et dispositif d'aide au mouvement articulaire - Google Patents

Dispositif actionneur et dispositif d'aide au mouvement articulaire Download PDF

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Publication number
WO2018105470A1
WO2018105470A1 PCT/JP2017/042946 JP2017042946W WO2018105470A1 WO 2018105470 A1 WO2018105470 A1 WO 2018105470A1 JP 2017042946 W JP2017042946 W JP 2017042946W WO 2018105470 A1 WO2018105470 A1 WO 2018105470A1
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WIPO (PCT)
Prior art keywords
expansion
contraction
cylindrical member
actuator device
moving
Prior art date
Application number
PCT/JP2017/042946
Other languages
English (en)
Japanese (ja)
Inventor
圭治郎 山本
Original Assignee
圭治郎 山本
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 圭治郎 山本 filed Critical 圭治郎 山本
Priority to CN201780076301.4A priority Critical patent/CN110087604B/zh
Priority to JP2018554953A priority patent/JP6632744B2/ja
Publication of WO2018105470A1 publication Critical patent/WO2018105470A1/fr

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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02—Stretching or bending or torsioning apparatus for exercising
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B15/00—Fluid-actuated devices for displacing a member from one position to another; Gearing associated therewith
    • F15B15/08—Characterised by the construction of the motor unit
    • F15B15/10—Characterised by the construction of the motor unit the motor being of diaphragm type

Definitions

  • the present invention relates to an actuator device and a joint motion assist device including the actuator device, and more particularly to a joint motion assist device that assists joint motion of a predetermined object.
  • the first exoskeleton member is attached to the first part connected to the joint (elbow joint, hip joint) to be assisted, and the second exoskeleton member is attached to the second part connected to the joint.
  • the first gear member made of steel is fixed to the joint side end of the first exoskeleton member, and the second gear member made of steel is fixed to the joint side end of the second exoskeleton member. The first gear member and the second gear member are engaged with each other.
  • the cylinder of the piston cylinder mechanism is attached to the first exoskeleton member, and the piston rod of the piston cylinder mechanism is attached to the first gear member via the arm.
  • the angle at which the first exoskeleton member and the second exoskeleton member intersect changes to assist the joint motion of the joint to be assisted.
  • the joint motion assist device includes the actuator device of the piston cylinder mechanism, so that the weight of the joint motion assist device becomes heavy.
  • a piston seal such as an O-ring is attached to the outer periphery of the piston, and the piston seal is a cylinder.
  • a seal for improving the sealing performance in the cylinder chamber is generally attached to a portion of the cylinder through which the piston rod passes.
  • a pump that outputs high-pressure air pressure is required to drive the piston.
  • Actuator device hardness the weight of the device and the hardness of the piston when not driven (hereinafter, (“Actuator device hardness”) may place a physical load on the wearer of the device. Furthermore, the actuator device of the piston cylinder mechanism is required to have high work accuracy for its manufacture.
  • the longest length of the piston cylinder mechanism including the protruding portion from the cylinder in the piston rod corresponds to the piston corresponding to the case where most of the piston rod is accommodated in the cylinder. It is only twice as long as the length when the cylinder mechanism is the shortest.
  • the ratio of the shortest length to the longest length of the actuator mechanism is referred to as “stretch ratio”.
  • a gear member that meshes with each other is fixed to the joint side end of the first exoskeleton member and the joint side end of the second exoskeleton member, and the change in the meshing position of the gear member changes the first.
  • the knee joint supports the entire weight excluding the lower limbs of the wearer of the apparatus, a very large load is applied. Therefore, when the technology of the conventional example is applied to the knee joint, a load exceeding the durability performance of the gear member may be applied, and it is not realistic to employ the gear member in the joint motion assist device.
  • the structure of the joint motion assist device excluding the actuator device Need to have a simple structure that can maintain strength.
  • the actuator device of the piston cylinder mechanism is adopted while the wearing exoskeleton structure is made simple, the movable range of joint motion cannot be expanded.
  • the present invention has been made in view of the above circumstances, and provides a new actuator device that can improve the ease of manufacture for the device producer and improve the convenience of the wearer.
  • the purpose is to provide. It is another object of the present invention to provide a new joint motion assist device that includes the actuator device and can appropriately assist joint motion.
  • the present invention has a tubular member; a first lid portion and a first extending portion extending from the first lid portion, and the first member is provided on one end side of the tubular member.
  • a first moving member fitted with an extending portion and capable of moving in a direction along the axial direction of the cylindrical member with respect to the cylindrical member; and extending from the second lid portion and the second lid portion A second extending portion that is present, the second extending portion is fitted on the other end side of the cylindrical member, and without colliding with the first moving member, the cylindrical member,
  • a second moving member capable of moving in a direction along the axial direction of the cylindrical member; an expansion / contraction member expanding and contracting along the axial direction of the cylindrical member; and a working fluid pressure in the expansion / contraction member.
  • the expansion of the expansion / contraction member causes the first lid portion of the first extension portion and the second lid portion of the second extension portion to move away from the cylindrical member, and
  • the actuator device is characterized in that the first lid portion of the first extending portion and the second lid portion of the second extending portion move in a direction approaching the cylindrical member by contraction.
  • the first moving member is fitted on one end side of the cylindrical member, and the second moving member is fitted on the other end side of the cylindrical member.
  • the first lid portion of the first moving member moves in the direction away from the cylindrical member along the axial direction of the cylindrical member.
  • the second lid portion of the second moving member moves in a direction away from the cylindrical member along the axial direction of the cylindrical member.
  • the length along the axial direction of the tubular member of the actuator device is about the sum of the length of the tubular member, the length of the first extending portion, and the length of the second extending portion.
  • the first lid portion of the first moving member moves along the axial direction of the cylindrical member in a direction approaching the cylindrical member.
  • the second lid portion of the second moving member moves along the axial direction of the cylindrical member in a direction approaching the cylindrical member.
  • the length along the axial direction of the cylindrical member of the actuator device is about the length of the cylindrical member.
  • the actuator device including the expansion / contraction member, excluding the adjusting portion, can be made of resin, and the actuator device can be reduced in weight.
  • the actuator device is driven by expanding / contracting the expansion / contraction member having high sealing performance. Therefore, the actuator device of the present invention does not require a seal for enhancing the sealing performance required for the actuator device of the piston cylinder mechanism, and the actuator device of the present invention can be manufactured with a simple work. For this reason, the actuator device of the present invention can be manufactured at low cost.
  • the actuator device of the present invention does not require a seal for enhancing the sealing performance, it can be driven at a low pressure. For this reason, a low vibration and low noise pump such as a diaphragm pump or a vane pump can be used, and the actuator device of the present invention has high practicality.
  • the actuator device of the present invention can be manufactured lightly by a simple work, can be driven at a low pressure, and can further increase the expansion / contraction ratio.
  • At least one first guide groove and at least one second guide groove that are open along a direction in which the cylindrical member extends are formed in the peripheral wall portion of the cylindrical member.
  • the first extending portion is the same number of first fitting insertion pieces as the number of the first guide grooves arranged at a predetermined interval in the circumferential direction of the first lid member
  • the second extending portion is 2 is the same number of second fitting inserts as the number of the second guide grooves arranged at predetermined intervals in the circumferential direction of the lid member, and the first fitting insertion pieces engage with the first guide grooves.
  • a first protrusion may be provided, and the second fitting insertion piece may be provided with a second protrusion that engages with the second guide groove.
  • each of the said 1st insertion piece and the said 2nd insertion piece is arrange
  • the first insertion piece (first extension part) in the first moving member and the second insertion piece (second extension part) in the second movement member are staggered in a comb shape. It is arranged to become. Then, due to the expansion / contraction of the expansion / contraction member, the first protrusion provided on the first insertion insertion piece slides along the first guide groove formed on the peripheral wall portion of the cylindrical member, and the second insertion insertion is performed.
  • the 2nd projection part provided in the piece slides and moves along the 2nd guide groove formed in the peripheral wall part of a cylindrical member. For this reason, when the length of the first extending portion and the second extending portion is substantially equal to the length of the cylindrical member, the length when the actuator device is the longest is the length when the actuator device is the shortest. Can be about three times the length.
  • the tubular member further includes a reinforcing tubular member fixed in a nested manner with a predetermined gap therebetween, and the first moving member has the first extension.
  • the portion is inserted into a gap between the tubular member and the reinforcing tubular member, slides relative to the tubular member and the reinforcing tubular member, and the second extension of the second moving member.
  • the existing portion can be inserted into a gap between the tubular member and the reinforcing tubular member, and can slide with respect to the tubular member and the reinforcing tubular member.
  • the first extending portion and the second extending portion are sandwiched between the tubular member and the reinforcing tubular member.
  • Such pinching can suppress the occurrence of a situation in which the expansion / contraction member meanders and expands in a direction other than the axial direction of the tubular member.
  • the expansion / contraction member expands / contracts in the axial direction of the tubular member, and the occurrence of backlash due to the sliding movement of the first extending portion with respect to the tubular member and the reinforcing tubular member is reduced, and the tubular member and the reinforcement Occurrence of backlash due to the sliding movement of the second extending portion relative to the tubular member for use is reduced.
  • the actuator device further includes a telescopic core member whose length is variable according to expansion / contraction of the expansion / contraction member, wherein the core member is inserted into the expansion / contraction member,
  • the inner space formed by the first moving member and the second moving member may be arranged along the central axis of the cylindrical member. Also in this case, it is possible to reduce the occurrence of the situation where the expansion / contraction member meanders in a direction other than the axial direction of the cylindrical member and expands. As a result, the expansion / contraction member expands / contracts in the direction of the central axis of the cylindrical member, and the expansion stroke and contraction stroke of the expansion / contraction member within the cylindrical member can be stabilized.
  • each of the first extending portion and the second extending portion is attached to the tubular member in a telescopic manner, and the first moving member is the tubular member. And the second moving member slides relative to the tubular member.
  • each of the first moving member and the second moving member is attached to the tubular member in a telescopic manner.
  • the first moving member and the second moving member are slid relative to the cylindrical member by the expansion / contraction of the expansion / contraction member.
  • the length when the actuator device is the longest is the length when the actuator device is the shortest. Can be about three times the length.
  • the present invention assists joint motion using a joint mechanism that is attached to a predetermined object having a skeletal structure and connects one side portion and the other side portion of the predetermined object.
  • An exoskeleton-type joint motion assisting device, the actuator device of the present invention a first exoskeleton member fixed to the one side portion along a direction in which the one side portion extends from the joint;
  • the second lid is connected to the first lid so as to be rotatable about a first predetermined axis parallel to the rotation axis of the joint motion, and the second exoskeleton member is the second moving member of the actuator device.
  • the second predetermined axis parallel to the pivot axis of the articulation and the axis is rotatably connected, it is articulated assist device according to claim.
  • the exoskeleton device to be attached to the predetermined object is composed of a first exoskeleton member fixed to one side portion and a second exoskeleton member fixed to the other side portion,
  • the first exoskeleton member and the second exoskeleton member are connected to the actuator device of the present invention.
  • the joint motion assist device of the present invention can be manufactured with a simple work and lightweight, can be driven at a low pressure, and has an actuator device with a large expansion / contraction ratio, so that the joint motion can be appropriately performed. Can assist.
  • the predetermined object may be a human body or an object other than a human body having a skeleton structure.
  • the joint of the predetermined object is a knee joint
  • the first exoskeleton member is fixed to the thigh
  • the second exoskeleton member is fixed to the crus. And so on. In this case, it is possible to assist the movement of the knee joint of the predetermined object.
  • the machine accuracy of the device can be facilitated, the weight can be reduced, and the actuator can be driven at a low pressure, and the expansion / contraction ratio of the actuator device can be increased. There is an effect that can be.
  • the actuator device is light and can be driven at a low pressure, and has an actuator device with a large expansion / contraction ratio. With the skeletal structure simplified, the range of motion of joint motion can be expanded and the joint motion can be assisted appropriately.
  • FIG. 1 is an external view of a joint motion assist device according to an embodiment of the present invention. It is an external view of the main-body part of the actuator apparatus of FIG. It is a disassembled perspective view for demonstrating the structure of the main-body part of the actuator apparatus of FIG. It is a figure for demonstrating the structure of the cylindrical member of FIG. It is a figure for demonstrating the structure of the 1st moving member of FIG. It is a figure for demonstrating the structure of the 2nd moving member of FIG. It is a figure for demonstrating the structure of the adjustment part of FIG. It is FIG. (1) for demonstrating the state of the main-body part of an actuator apparatus. It is FIG. (2) for demonstrating the state of the main-body part of an actuator apparatus. It is an external view of a joint motion assist device during joint extension. It is a figure for demonstrating the modification of an expansion / contraction member.
  • DESCRIPTION OF SYMBOLS 100 ... Articulation apparatus, 111 ... 1st skeleton member, 115 ... 1st attachment member, 117,118 ... Belt member, 121 ... 2nd skeleton member, 125 ... 2nd attachment member, 127,128 ... Belt member, 150 ... Actuator device, 151... Body portion, 158... Adjusting portion, 159 .. piping, 205 .. cylindrical member, 210... First moving member, 220 .. second moving member, 250. Compressed member, 261 n ... annular member, 270 ... core member, 311 ... pressurizing pump, 312 ... pressure reducing pump, 313 ... electro-pneumatic control valve, 314 ...
  • control unit 315, 316 ... piping, GC1 1 to GC1 4 ... first guide groove, GC2 1 ⁇ GC2 4 ... second guide groove, ET1 1 ⁇ ET1 4 ... first extending portion (first fitting ⁇ ), ET2 1 ⁇ ET2 4 ... second extending portion (second fitted ⁇ ), PR1 1 PR1 4 ... first projection, PR2 1 ⁇ PR2 4 ... second protrusion, HL ... hole, AXJ ... shaft member, AX1 ... shaft member (the first predetermined axis), AX2 ... shaft member (second predetermined axis)
  • a joint motion assist device that assists the joint motion performed using the mechanism of the knee joint of the “right leg of the human body” as the predetermined object will be described as an example.
  • the same or equivalent elements are denoted by the same reference numerals, and redundant description is omitted.
  • the joint motion assist device of the present invention is attached to the left leg and the right leg of the human body.
  • the joint motion assist device mounted on the left leg of the human body is configured in the same manner as the joint motion assist device mounted on the right leg of the human body.
  • FIG. 1 is an external view of a joint motion assist device 100 according to an embodiment.
  • FIG. 1 is an external view of a joint motion assist device 100 mounted on a leg of a human body as viewed from the right side of the human body when the knee joint is in a bent state.
  • the joint motion assist device 100 includes a first skeleton member 111, belt members 117 and 118, a second skeleton member 121, and belt members 127 and 128, as shown in FIG. Further, the joint motion assist device 100 includes a first attachment member 115 and a second attachment member 125. Further, the joint motion assist device 100 includes an actuator device 150.
  • first skeleton member 111 and the first attachment member 115 correspond to the first exoskeleton member.
  • second skeleton member 121 and the second attachment member 125 correspond to the second exoskeleton member.
  • the coordinate system (X, Y, Z) is such that when the joint motion assist device 100 is attached to the human body, a direction in which a cylindrical member (described later) of the actuator device 150 extends upward from the human body is the + Z direction, and the left side of the human body.
  • This is a coordinate system in which the direction from right to right is orthogonal to the + X direction, + Z direction, and + X direction, and the forward direction for the human body is the + Y direction.
  • the first skeleton member 111 is, for example, a long plate-shaped steel member.
  • the first skeleton member 111 is disposed on the right side (+ X direction side) of the right thigh along the direction in which the right thigh (one side portion) extends from the knee joint, and a belt member 117 made of cloth or resin is used. , 118 to the right thigh.
  • the second skeleton member 121 is, for example, a long plate-shaped steel member.
  • the second skeleton member 121 is arranged on the right side (+ X direction side) of the right lower leg part along the direction in which the right lower leg part (the other side part) extends from the knee joint, and is made of a belt member 127 made of cloth or resin. , 128 to the right lower leg.
  • the one end that is the knee joint side end of the first skeleton member 111 and the one end that is the knee joint side end of the second skeleton member 121 are centered on the shaft member AXJ. It is attached so that it can rotate.
  • the axial direction of the shaft member AXJ is parallel to the rotation axis of the joint motion of the knee joint.
  • the first mounting member 115 is a long plate steel member, for example. One end of the first attachment member 115 is fixed to the other end of the first skeleton member 111. Further, the other end of the first attachment member 115 is connected to a first fitting insertion portion (described later) of the actuator device 150 so as to be rotatable about the shaft member AX1 (first predetermined axis).
  • the axial direction of the shaft member AX1 is parallel to the rotation axis of the joint motion of the knee joint.
  • the second mounting member 125 is, for example, a long plate-shaped steel member. One end of the second attachment member 125 is fixed to the other end of the second skeleton member 121. The other end of the second mounting member 125 is connected to a second fitting insertion portion (described later) of the actuator device 150 so as to be rotatable about the shaft member AX2 (second predetermined axis).
  • the axial direction of the shaft member AX2 is parallel to the rotation axis of the joint motion of the knee joint.
  • the actuator device 150 includes a main body 151, an adjustment unit 158, and a pipe 159.
  • the main body 151 includes a cylindrical member 205, a first moving member 210, and a second moving member 220 as comprehensively shown in FIGS. 2A, 2 ⁇ / b> B, and 3.
  • the main body 151 includes a reinforcing tubular member 250, an expansion / contraction member 260, and a core member 270.
  • 2A and 2B are external views of the main body 151 in the coordinate system shown in FIGS. 2A and 2B. 2A and 2B show the state of the main body 151 when the expansion / contraction member 260 is contracted.
  • FIG. 3 is an exploded perspective view of the main body 151.
  • the cylindrical member 205 is a resin member, for example, and as shown comprehensively in FIGS. 3 and 4A to 4C, both end portions on the + Z direction side and the ⁇ Z direction side are provided. It is an open hollow cylindrical member. 4A to 4C are external views of the cylindrical member 205 in the coordinate system shown in FIGS. 4A to 4C.
  • first guide grooves GC1 1 to GC1 4 that open along the direction (Z direction) in which the cylindrical member 205 extends, and four second guide grooves GC2 1 to GC2 1 .
  • GC2 4 is formed.
  • groove GC1 4 in the order of the second guide groove GC2 4, eight guide grooves are formed at regular intervals on the peripheral wall of the cylindrical member 205.
  • first guide grooves GC1 1 to GC1 4 are collectively referred to as “first guide groove GC1”.
  • the second guide grooves GC2 1 to GC2 4 are collectively referred to as “second guide groove GC2”.
  • R 205" the outer diameter of the tubular member 205
  • r 205 the inner diameter of the tubular member 205
  • the first moving member 210 is a resin member, for example, and, as comprehensively shown in FIGS. 3 and 5A to 5C, the first lid portion LD1 and the first lid portion. Molded into a structure having four first insertion inserts (first extension portions) ET1 1 to ET1 4 extending in the ⁇ Z direction from LD1. Here, the first insertion pieces ET1 1 to ET1 4 are arranged at equal intervals along the circumferential direction of the first lid member LD1. Then, each of the first fitting ⁇ ET1 1 ⁇ ET1 4, first protrusions PR1 1 ⁇ PR1 4 is provided on the end side of the -Z direction.
  • the four first fitting insertion pieces ET1 1 to ET1 4 of the first moving member 210 are fitted into the opening of the tubular member 205 on the + Z direction side.
  • Each of the first protrusions PR1 1 to PR1 4 engages with the first guide grooves GC1 1 to GC1 4 .
  • each of the first protrusions PR1 1 to PR1 4 is inserted into the cylindrical member 205 after the first insertion pieces ET1 1 to ET1 4 are inserted into the first insertion pieces ET1 1 to ET1 4. Can be attached to.
  • the first protrusions PR1 1 to PR1 4 slide along the first guide grooves GC1 1 to GC1 4 of the cylindrical member 205, so that the first moving member 210 moves relative to the cylindrical member 205.
  • the slide can be moved.
  • the first protrusions PR1 1 to PR1 4 function as a stopper that restricts the movement of the first moving member 210 with respect to the tubular member 205, so that the first moving member 210 does not come off the tubular member 205. Yes.
  • a hole HL through which the pipe 159 passes is formed in the first lid portion LD1 of the first moving member 210.
  • first fitting insertion pieces (first extending portions) ET1 1 to ET1 4 are collectively referred to as “first fitting insertion pieces (first extending portions) ET1”
  • first protrusions The parts PR1 1 to PR1 4 are collectively referred to as “first projecting part PR1”.
  • the inner diameter of the first moving member 210 referred to as "r 210”.
  • the diameter of the hole HL is denoted as “R HL ”.
  • the second moving member 220 is, for example, a resin member, and as comprehensively shown in FIGS. 3 and 6A and 6B, the second lid portion LD2 and the second lid portion. It is molded into a structure having four second fitting insertion pieces (second extending portions) ET2 1 to ET2 4 extending in the + Z direction from LD2.
  • the second insertion pieces ET2 1 to ET2 4 are arranged at equal intervals along the circumferential direction of the second lid member LD2.
  • each of the second fitting ⁇ ET2 1 ⁇ ET2 4, the second protrusion PR2 1 ⁇ PR2 4 is provided on the end side of the + Z direction side.
  • the second mating ⁇ ET2 1 ⁇ ET2 4 4 pieces of the second moving member 220 is inserted in the -Z direction side of the opening of the tubular member 205.
  • Each of the second protrusions PR2 1 to PR2 4 engages with the second guide grooves GC2 1 to GC2 4 .
  • each of the second protrusions PR2 1 ⁇ PR2 4 after the second fitting ⁇ ET2 1 ⁇ ET2 4 is inserted into the cylindrical member 205, a second fitting ⁇ ET2 1 ⁇ ET2 4 Can be attached to.
  • the second protruding portions PR2 1 ⁇ PR2 4 is slid along the second guide groove GC2 1 ⁇ GC2 4 of the tubular member 205, the second moving member 220 relative to the tubular member 205 The slide can be moved.
  • the second protrusions PR2 1 to PR2 4 function as a stopper that restricts the movement of the second moving member 220 relative to the cylindrical member 205, and prevents the second moving member 220 from being detached from the cylindrical member 205. Yes.
  • the first fitting insertion pieces (first extending portions) ET1 1 to ET1 4 and the second fitting insertion are performed.
  • Each of the pieces (second extending portions) ET2 1 to ET2 4 is arranged to be staggered in a comb shape.
  • the second fitting insert pieces (second extending portions) ET2 1 to ET2 4 are collectively referred to as “second fitting insert pieces (second extending portions) ET2”, and the second protrusions
  • the parts PR2 1 to PR2 4 are collectively referred to as “second projecting part PR2”.
  • the outer diameter of the second moving member 220 labeled "R 220” the inner diameter of the second moving member 220 referred to as "r 220".
  • the reinforcing tubular member 250 is, for example, a resin member, and is a hollow tubular member having both ends on the + Z direction side and the ⁇ Z direction side opened as shown in FIG.
  • the reinforcing tubular member 250 is fixed in a nested manner inside the tubular member 205.
  • a gap is provided between the tubular member 205 and the reinforcing tubular member 250 so that the first fitting insertion pieces ET1 1 to ET1 4 and the second fitting insertion pieces ET2 1 to ET2 4 can be inserted.
  • each of the first insertion pieces ET1 1 to ET1 4 is inserted into the gap between the cylindrical member 205 and the reinforcing cylindrical member 250, and the first moving member 210 is connected to the cylindrical member 205 and the reinforcing cylindrical member 205.
  • the cylindrical member 250 can be slid and moved.
  • each of the second insertion pieces ET2 1 to ET2 4 is inserted into the gap between the cylindrical member 205 and the reinforcing cylindrical member 250, and the second moving member 220 is connected to the cylindrical member 205 and A sliding movement can be made with respect to the reinforcing cylindrical member 250.
  • the expansion / contraction member 260 is a resin member, and as shown in FIG. 3, is an expandable / contractible bellows having an annular groove.
  • the expansion / contraction member 260 is fitted into a space formed by the first moving member 210, the second moving member 220, and the reinforcing tubular member 250.
  • the + Z direction side end of the expansion / contraction member 260 is attached to the first lid portion LD1 of the first moving member 210.
  • an opening having a diameter “R HL ” is formed in the center of the + Z direction side end portion of the expansion / contraction member 260 (not shown in FIG. 3), and the hole HL of the first lid member LD1 is formed in the opening.
  • a threaded flexible pipe 159 is attached.
  • the ⁇ Z direction side end portion of the expansion / contraction member 260 is attached to the second lid portion LD2 of the second moving member 220.
  • the expansion / contraction member 260 is also referred to as “bellows 260”.
  • the outer diameter of the expansion / contraction part of the bellows 260 is “R 260 ”
  • the inner diameter of the expansion / contraction part of the bellows 260 is “r 260 ”
  • the relationship “R 260 > r 260 > R HL ” is established. Yes.
  • the core member 270 is a resin member, for example, and is a member configured to expand and contract in a telescopic manner as shown in FIG. As shown in FIG. 3, the core member 270 includes a first tubular portion 271, a second tubular portion 272, and a third tubular portion 273. A number of holes are formed in the first cylindrical portion 271, the second cylindrical portion 272, and the third cylindrical portion 273. The core member 270 is inserted into the expansion / contraction member 260 in the present embodiment. Then, the end portion on the + Z direction side of the first cylindrical portion 271 is attached to an opening portion at the end portion on the + Z direction side in the bellows 260. Further, the end portion on the ⁇ Z direction side of the third cylindrical portion 273 is attached to the end portion on the ⁇ Z direction side inside the bellows 260.
  • the length when the core member 270 is the shortest is substantially the same as the length of the cylindrical member 250 along the Z-axis direction.
  • the length when the core member 270 is the longest is the length of the cylindrical member 250 along the Z-axis direction, the length of the first moving member 210 along the Z-axis direction, and the length of the second moving member 220. It is substantially the same as the sum of the length along the Z-axis direction.
  • the outer diameter of the first cylindrical portion 271 is “R 271 ”
  • the outer diameter of the second cylindrical portion 272 is “R 272 ”
  • the outer diameter of the third cylindrical portion 273 is “R 273 ”.
  • the relationship of “r 250 > R 260 > r 260 > R 271 > R 272 > R 273 > R HL ” is established.
  • the ⁇ Z direction side end of the bellows 260 can be separated from the bellows 260 main body, and after the core member 270 is inserted into the bellows 260 main body, the ⁇ Z direction side end of the bellows 260 is inserted.
  • the part is adapted to be attached to the main part of the bellows 260.
  • the space in the bellows 260 communicates with the adjustment unit 158 via a large number of holes formed in the core member 270 and the piping 159.
  • the adjusting unit 158 communicates with the expansion / contraction member 260 of the main body 151 via the pipe 159.
  • the adjustment unit 158 having such a configuration includes a pressurization pump 311, a decompression pump 312, an electro-pneumatic control valve 313, a control unit 314, and pipes 315 and 316. .
  • the pressure pump 311 is connected to one side of the pump side connection port of the electro-pneumatic control valve 313 via a pipe 315.
  • the pressurizing pump 311 is used when air is forcibly supplied to the expansion / contraction member 260.
  • the decompression pump 312 is connected to the other side of the pump side connection port of the electro-pneumatic control valve 313 via a pipe 316.
  • the decompression pump 312 is used when forcibly discharging air from the expansion / contraction member 260.
  • the electro-pneumatic control valve 313 includes a flow path switching valve and a pressure control valve (proportional solenoid valve).
  • One of the inlet side of the flow path switching valve is connected to the pressurizing pump 311, and the other of the inlet side is connected to the decompression pump 312.
  • the flow switching valve forcibly supplies the air to the expansion / contraction member 260 under the control of the control unit 314, the pipe 315 and the expansion / contraction member connected to the pressure pump 311 are used.
  • a pipe 159 communicating with 260 is connected to form a flow path.
  • a flow path is formed by connecting a pipe 159 communicating with the pipe 159.
  • the control unit 314 controls the forced discharge of the air from the expansion / contraction member 260 and the switching of the forced supply of air to the expansion / contraction member 260.
  • the control unit 314 when forcibly supplying air to the expansion / contraction member 260, the control unit 314 forms a flow path in which the electro-pneumatic control valve 313 connects the pressurizing pump 311 and the expansion / contraction member 260.
  • the air pressure in the expansion / contraction member 260 is controlled to be adjusted.
  • the control unit 314 forms a flow path in which the electro-pneumatic control valve 313 connects the decompression pump 312 and the expansion / contraction member 260. Control is performed so as to adjust the air pressure in the contracting member 260.
  • Such control can be performed based on biological information regarding muscle strength that drives a joint based on experiments, simulations, and experiences.
  • the biological information related to the muscle force for driving the joint can be obtained by a detection unit (not shown) detecting an electromyogram, muscle hardness, and the like.
  • Such control can be performed based on an input operation to an input unit (not shown).
  • the air pressure in the expansion / contraction member 260 is not adjusted by the adjusting unit 158, and the knee joint is in a bent state as shown in FIG.
  • the state of the main-body part 151 of the actuator apparatus 150 at this time is a state shown by FIG. 2 (A) and (B).
  • the assist operation of the knee joint will be described mainly focusing on the operation of the actuator device 150.
  • the adjustment unit 158 performs control for forcibly supplying air to the expansion / contraction member 260.
  • the adjustment unit 158 forcibly supplies air to the expansion / contraction member 260, the air pressure in the expansion / contraction member 260 increases.
  • the expansion / contraction member 260 expands.
  • FIGS. 8 and 9 show the state of the main body 151 of the actuator device 150 when the expansion / contraction member 260 expands due to the expansion / contraction member 260 expansion process.
  • the first moving member 210 moves in the + Z direction with respect to the cylindrical member 205. The movement is performed until the first protrusion PR1 contacts the + Z direction end of the first guide groove GC1.
  • the second fitting insertion piece ET2 of the second moving member 220 attached to the expansion / contraction member 260 moves in the ⁇ Z direction along the second guide groove GC2 of the cylindrical member 205.
  • the second moving member 220 moves in the ⁇ Z direction with respect to the cylindrical member 205.
  • the movement is performed until the second protrusion PR2 comes into contact with the end of the second guide groove GC2 on the ⁇ Z direction side.
  • the length of the main body 151 of the actuator device 150 along the Z direction becomes long. In this embodiment, the length when the main body 151 is the longest is about three times the length when the main body 151 is the shortest.
  • the first skeleton member 111 indirectly attached to the first moving member 210 and the second moving member 220 are indirectly attached as shown in FIG.
  • the angle formed by the second skeleton member 121 attached to is increased.
  • the angle formed by the thigh to which the first skeleton member 111 is fixed and the crus to which the second skeleton member 121 is fixed becomes wide, and the knee joint changes from the bent state to the extended state.
  • FIGS. 8 and 9 show the state of the main body 151 of the actuator device 150 when the expansion / contraction member 260 contracts due to the contraction process of the expansion / contraction member 260.
  • the first moving member 210 moves in the ⁇ Z direction with respect to the cylindrical member 205. The movement is performed until the first protrusion PR1 contacts the end of the first guide groove GC1 on the ⁇ Z direction side.
  • the second fitting insertion piece ET2 of the second moving member 220 attached to the expansion / contraction member 260 slides in the + Z direction along the second guide groove GC2 of the cylindrical member 205.
  • the second moving member 220 moves in the + Z direction with respect to the cylindrical member 205. The movement is performed until the second protrusion PR2 contacts the + Z direction end of the second guide groove GC2.
  • the contraction process of the expansion / contraction member 260 the length along the Z direction of the main body 151 of the actuator device 150 is shortened.
  • the first skeleton member 111 indirectly attached to the first moving member 210 and the second moving member 220 are indirectly attached as shown in FIG.
  • the angle formed with the second skeleton member 121 attached to is narrowed.
  • the angle formed by the thigh to which the first skeleton member 111 is fixed and the crus to which the second skeleton member 121 is fixed becomes narrow, and the knee joint changes from the extended state to the bent state.
  • the main body 151 of the actuator device 150 includes the cylindrical member 205, the first moving member 210, the second moving member 220, and the expansion / contraction member 260.
  • the first moving member 210 is inserted into the opening on one end side of the cylindrical member 205
  • the second moving member 220 is inserted into the opening on the other end side of the cylindrical member 205.
  • the expansion / contraction member 260 is inserted into a space formed by the cylindrical member 205, the first moving member 210, and the second moving member 220.
  • the first guide groove that engages with the first protrusions PR1 1 to PR1 4 provided on the first fitting insertion pieces ET1 1 to ET1 4 of the first moving member 210 is formed in the peripheral wall portion of the cylindrical member 205.
  • GC1 1 to GC1 4 are formed.
  • the second guide groove GC2 that engages with the second protrusions PR2 1 to PR2 4 provided on the second fitting insertion pieces ET2 1 to ET2 4 of the second moving member 220 is provided on the peripheral wall portion of the cylindrical member 205. 1 to GC2 4 are formed.
  • the first insertion pieces ET1 1 to ET1 4 and the second insertion pieces ET2 1 to ET2 4 are respectively They are arranged in a comb-like pattern.
  • the first fitting insertion piece ET1 slides in the direction away from the tubular member 205 along the first guide groove GC1
  • the first moving member 210 moves in a direction away from the cylindrical member 205.
  • the second fitting member ET2 slides in the direction away from the tubular member 205 along the second guide groove GC2, so that the second moving member 220 is moved to the tubular member 205. Move away from the camera.
  • the length along the Z direction of the main body portion 151 of the actuator device 150 increases. In this embodiment, the length when the main body 151 is the longest is about three times the length when the main body 151 is the shortest.
  • the expansion / contraction ratio of the actuator device can be dramatically increased as compared with the actuator device of the piston cylinder mechanism.
  • the main body 151 of the actuator device 150 includes a reinforcing cylindrical member 250. Then, the first fitting insertion piece ET1 and the second fitting insertion piece ET2 are fitted into the gap between the cylindrical member 205 and the reinforcing cylindrical member 250, and the cylindrical member 205 and the reinforcing cylindrical member 250 are inserted. The slide can be moved. In this way, the bellows 260 is placed in a direction other than the axial direction of the tubular member 205 by sandwiching the first extending portion and the second extending portion between the tubular member 205 and the reinforcing tubular member 250. The occurrence of a meandering and expanding situation can be reduced.
  • the main body 151 of the actuator device 150 includes a telescopic core member 270.
  • the core member 270 is inserted into the expansion / contraction member 260.
  • the expansion / contraction member 260 expands / contracts along the central axis direction of the tubular member 205, and the expansion stroke and the contraction stroke of the expansion / contraction member 260 in the tubular member 205 can be stabilized.
  • the cylindrical member 205, the first moving member 210, the second moving member 220, the reinforcing cylindrical member 250, and the core member 270 are resin members.
  • the expansion / contraction member 260 is a resin bellows. For this reason, weight reduction of the main-body part 151 of the actuator apparatus 150 can be achieved.
  • an exoskeleton member having a simple configuration is attached to the human body to assist the joint motion of the knee joint.
  • the actuator device of the present invention the movable range of joint motion can be expanded while simplifying the mounting exoskeleton structure mounted on the human body.
  • an actuator device that can be manufactured lightly with a simple work, can be driven at a low pressure, and has a large expansion / contraction ratio. Further, in the present embodiment, it is possible to assist the joint motion appropriately by using an actuator device that is lightweight, can be driven at a low pressure, and has a large expansion / contraction ratio.
  • an actuator device that can improve the ease of manufacture for the device producer and improve the convenience of the wearer. Further, according to the present embodiment, it is possible to assist the joint motion appropriately using the actuator device.
  • the first extending portion of the first moving member and the second extending portion of the second moving member are used as fitting insert pieces, and the first fitting insert piece and the second fitting insert piece Each was arranged so as to alternate in a comb shape.
  • the first extension part and the second extension part are formed into a cylindrical shape, and each of the first extension part and the second extension part is attached to the cylindrical member in a telescopic manner. You may do it.
  • a first protrusion that engages with the first guide groove is provided in the cylindrical first extending portion, and a second protrusion that engages with the second guide groove in the cylindrical second extending portion. Is provided.
  • the first moving member and the second moving member move in the Z direction with respect to the tubular member, and the expansion / contraction member meanders in a direction other than the axial direction of the tubular member and expands. Can be reduced.
  • the first guide groove and the second guide groove are not formed on the peripheral wall portion of the tubular member. You may do it. If the first guide groove and the second guide groove are not formed in the tubular member, the first extension portion is not provided with the first protrusion portion, and the second extension portion is 2 Do not provide protrusions.
  • the edge of the opening on the + Z direction side of the cylindrical member and the edge of the first lid of the first moving member, the edge of the opening on the + Z direction side of the tubular member, and the edge of the second extending part of the second moving member on the + Z direction side At least one of them may be connected with a cloth or a plurality of strings slightly shorter than the length of the cylindrical member in the Z direction.
  • the cloth and the plurality of strings function as a stopper that restricts the movement of the moving member with respect to the cylindrical member on the side connected by the cloth and the plurality of strings, and the moving member is cylindrical. It can be prevented from coming off the member.
  • the material of the member that connects the edge of the opening of the cylindrical member and the moving member is a cloth, it is possible to prevent foreign matters such as dust from entering the gap between the cylindrical member and the moving member. it can.
  • the reinforcing cylindrical member is omitted from the components of the main body portion.
  • the core member may be a component of the main body, and the core member is omitted from the components of the main body. You may do it.
  • the bellows is inserted into the space formed by the cylindrical member, the first moving member, and the second moving member.
  • a first lid part having a hole communicating with the adjustment part is attached to the + Z direction side end part inside the bellows, and a second lid part is attached to the ⁇ Z direction side end part inside the bellows.
  • first moving member and the second moving member inserted into the bellows may be alternately arranged in a comb shape, or are telescopically arranged with respect to the cylindrical member. It may be a thing.
  • the expansion / contraction member was made into the bellows.
  • N hollow resin-made annular members 261 n shown in FIG. 11A are prepared, and the N annular members 261 n are stacked as shown in FIG. A thing can be used as the expansion / contraction member 260B.
  • a circle adjacent ring members to each other e.g., annular member 261 2 and the annular member 261 3
  • pipe 159 is attached, in communication with the adjusting portion through the pipe 159.
  • the number of the first guide grooves and the number of the second guide grooves formed on the cylindrical member are four. And the number of the 1st insertion pieces which a 1st moving member has was set to 4, and the number of the 2nd insertion pieces which a 2nd moving member has was set to 4.
  • the number of the first guide grooves, the number of the second guide grooves, the number of the first fitting insertion pieces, and the number of the second fitting insertion pieces may be 1 to 3, or 5 or more, respectively. .
  • the shape of the main body of the actuator device is a cylindrical shape.
  • the cylindrical member is formed into a polygonal cylindrical shape, and the shapes of the first lid portion of the first moving member, the second lid portion of the second moving member, the reinforcing cylindrical member, and the like are matched to the shape of the cylindrical member.
  • the shape of the main body portion may be a polygonal cylinder shape that matches the shape of the cylindrical member.
  • the main body portion includes the reinforcing cylindrical member.
  • the reinforcing cylindrical member may be omitted from the constituent elements of the main body portion.
  • the main body portion includes the core member.
  • the core member may be omitted from the components of the main body portion.
  • the joint motion assist device that assists the joint motion of the human knee joint has been described. Of course it is good.
  • the expansion / contraction member is a material that can be expanded and contracted and does not impose a burden such as a weight of a device attached to a human body. Other materials may be used as long as they exist.
  • the configuration of the adjusting unit may be a manual pump capable of discharging air and sucking air.
  • the working fluid is air, but it may be other gas or liquid such as water or oil.
  • the joint motion assist device of the present invention can be used not only for rehabilitation but also for a person with weak power as a power assist device when used in the field of care and welfare.
  • the joint motion assist device of the present invention can also be used as a power assist device for lifting an object in fields other than nursing care and welfare.
  • the present invention is applied to a joint motion assist device that assists joint motion of a human body.
  • a joint motion assist device that assists joint motion of a human body.
  • the present invention can also be applied to a joint motion assist device for a predetermined object such as the above.
  • the actuator device is applied to a joint motion assist device that assists joint motion.
  • the actuator device of the present invention may of course be applied to other uses.
  • the first lid of the first moving member of the actuator device is brought into contact with the ground or the like, and the second lid of the second moving member of the actuator device is brought into contact with the buttocks of the human body. Then, the actuator device of the present invention is operated, and the actuator device of the present invention can be used for assisting a human body from a squatting posture to standing posture, assisting a human body from standing posture to squatting posture, etc. it can.
  • the actuator device of the present invention can be used.
  • the actuator device of the present invention can be applied to an actuator device of a joint motion assist device that assists the joint motion of a predetermined object.
  • the joint motion assist device of the present invention can be applied to a joint motion assist device that assists the joint motion of a predetermined object.

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  • Engineering & Computer Science (AREA)
  • Health & Medical Sciences (AREA)
  • Mechanical Engineering (AREA)
  • Rehabilitation Therapy (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Epidemiology (AREA)
  • Pain & Pain Management (AREA)
  • Physical Education & Sports Medicine (AREA)
  • Robotics (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Fluid Mechanics (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Rehabilitation Tools (AREA)
  • Manipulator (AREA)
  • Actuator (AREA)
  • Invalid Beds And Related Equipment (AREA)
  • Prostheses (AREA)

Abstract

Lorsqu'un élément de gonflage et de dégonflage (260) se gonfle, un premier élément d'insertion (ET1) se déplace le long d'un premier canal de guidage (GC1) dans une direction s'éloignant d'un élément tubulaire (205), et un premier élément mobile (210) se déplace dans une direction s'éloignant de l'élément tubulaire (205). En outre, lorsque l'élément de gonflage et de dégonflage (260) se gonfle, un second élément d'insertion (ET2) se déplace le long d'un second canal de guidage (GC2) dans une direction s'éloignant de l'élément tubulaire (205), et un second élément mobile (220) se déplace dans une direction s'éloignant de l'élément tubulaire (205). Ainsi, lorsque l'élément de gonflage et de dégonflage (260) se gonfle, la longueur d'une partie de corps principal (151) du dispositif actionneur augmente dans une direction Z, et un angle entre un premier élément d'exosquelette fixé au premier élément mobile (210) et un second élément d'exosquelette fixé au second élément mobile (220) augmente. Par conséquent, l'articulation du genou adopte un état tendu. Le mouvement articulaire peut ainsi être assisté de manière appropriée en utilisant le dispositif actionneur, qui a un grand rapport d'expansion et de contraction.
PCT/JP2017/042946 2016-12-07 2017-11-30 Dispositif actionneur et dispositif d'aide au mouvement articulaire WO2018105470A1 (fr)

Priority Applications (2)

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CN201780076301.4A CN110087604B (zh) 2016-12-07 2017-11-30 致动器装置和关节运动辅助装置
JP2018554953A JP6632744B2 (ja) 2016-12-07 2017-11-30 アクチュエータ装置及び関節運動アシスト装置

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JP2016237367 2016-12-07

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WO2020079910A1 (fr) * 2018-10-15 2020-04-23 本田技研工業株式会社 Dispositif de génération de tension, et dispositif d'aide au mouvement de flexion et de traction doté de celui-ci
JP2021000691A (ja) * 2019-06-21 2021-01-07 ナブテスコ株式会社 筋力補助装置
WO2021153410A1 (fr) * 2020-01-29 2021-08-05 トヨフレックス株式会社 Dispositif d'aide au déplacement
JP2021534994A (ja) * 2018-10-29 2021-12-16 サフラン エレクトロニクス アンド ディフェンス 関節に近接して位置決めされるように設計された装置及び上記装置を有する一般システム

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WO2020079910A1 (fr) * 2018-10-15 2020-04-23 本田技研工業株式会社 Dispositif de génération de tension, et dispositif d'aide au mouvement de flexion et de traction doté de celui-ci
JPWO2020079910A1 (ja) * 2018-10-15 2021-09-02 本田技研工業株式会社 張力発生装置及びこれを備えた屈伸動作補助装置
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WO2021153410A1 (fr) * 2020-01-29 2021-08-05 トヨフレックス株式会社 Dispositif d'aide au déplacement

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JP6632744B2 (ja) 2020-01-22
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JPWO2018105470A1 (ja) 2019-10-24

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