Auxiliary device

Abstract

The invention relates to an auxiliary device. An assist device (10) is provided with: a first wearing article (11) that is worn on at least the shoulder (BS) of a user; second wearing pieces (12) which are respectively worn on the left and right legs (BL) of the user; a third attachment (40) attached to the waist (BW) of the user; a belt body (13) provided along the back surface of the user across the first wearing member (11) and the second wearing member (12); an actuator (14) that is provided to the first wearing member (11) and that is capable of winding and feeding out a portion of the belt body (13); and a back frame (44) which connects the first wearing piece (11) and the third wearing piece (40) at the center of the back surface of the user and keeps a gap between the first wearing piece (11) and the third wearing piece (40). In the back frame (44), an outer side surface (44c) facing the opposite side of the user includes a first sliding contact surface (48) in sliding contact with the belt body (13).

Description

Technical Field

[0001] The present invention relates to assistive devices. Background Art

[0002] For example, Patent Document 1 discloses an assistive device comprising: a first wearing member worn on the back of a user, a second wearing member worn on the left and right legs of the user, a belt straddling the first wearing member and the second wearing member and arranged along the back side of the user, and an actuator arranged on the first wearing member.

[0003] The assist device generates tension on the belt by winding a portion of the belt with an actuator, and the tension acts on the user as an assist force.

[0004] In addition, the assist device includes a support mechanism for supporting the user's body. The support mechanism is a mechanism for allowing the tension of the belt to act efficiently on the user's waist as an assist force.

[0005] The supporting mechanism comprises a holding body for connecting and maintaining a distance between a waist wearing body fixed to the waist of the user and a back wearing body included in the first wearing member, and the holding body comprises a pair of frames connecting the waist wearing body and the back wearing body on the left and right sides of the user's body.

[0006] Patent Document 1: Japanese Patent Application Publication No. 2021-49601

[0007] The pair of frames included in the conventional assistive device are disposed on the left and right sides of the user's body.

[0008] Therefore, the arms of the user interfere with the pair of frames, or the movement of the user is greatly restricted, and the movement of the user may be hindered. Summary of the invention

[0009] The auxiliary device of the embodiment comprises: a first wearing member, which is worn on at least the shoulder of the user; a second wearing member, which is worn on the left and right legs of the user respectively; a third wearing member, which is worn on the waist of the user; a belt, which spans the first wearing member and the second wearing member and is arranged along the back of the user; an actuator, which is arranged on the first wearing member and can roll and send out a part of the belt; and a back frame, which connects the first wearing member and the third wearing member at the center of the back of the user and keeps the interval between them. In the back frame, the first surface facing the opposite side of the user includes a first sliding contact surface with which the belt slides.

[0010] According to the present invention, it is possible to suppress the situation where the user's actions are hindered. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] Figure 1 It is a rear view of the assisting device according to the embodiment, and shows a state where the assisting device is installed on the body of a user.

[0012] Figure 2 It is an explanatory diagram showing a state in which a user of a wearing assistance device is in a forward leaning posture.

[0013] Figure 3 This is an enlarged view of the main parts of the back of the auxiliary device.

[0014] Figure 4 This is a diagram showing the moment acting on the user in the forward leaning posture.

[0015] Figure 5 This is an enlarged view of the main parts of the back of the auxiliary device.

[0016] Figure 6 It is a schematic diagram showing a cross section of a holding body and a protective member.

[0017] Figure 7 This is a diagram showing the second wearing item in a state of being worn on the right leg of a user as viewed from the back.

[0018] Figure 8 1 and 2. This is a diagram showing the second wearing accessory as seen from the oblique front when worn on the right leg of the user.

[0019] Fig. 9 It is a diagram showing a holding body according to another embodiment.

[0020] Fig.10 is Fig. 9 Cross-sectional view in the direction of the arrow on line AA.

[0021] Fig.11 is Fig. 9 Cross-sectional view in the direction of arrows along line BB. DETAILED DESCRIPTION

[0022] First, the contents of the implementation modes are listed and described.

[0023] [Overview of Embodiments]

[0024] (1) An auxiliary device as an embodiment includes: a first wearing member, which is worn on at least the shoulder of a user; a second wearing member, which is worn on the left and right legs of the user respectively; a third wearing member, which is worn on the waist of the user; a belt, which spans the first wearing member and the second wearing member and is provided along the back of the user; an actuator, which is provided on the first wearing member and can wind and send out a part of the belt; and a back frame, which connects the first wearing member and the third wearing member at the center of the back of the user and maintains a gap between the two. In the back frame, a first surface facing the opposite side of the user includes a first sliding contact surface with which the belt slides.

[0025] According to the above configuration, since the back frame is provided to connect the first wearing member and the third wearing member, the interval between the first wearing member worn on the back and the third wearing member worn on the waist can be maintained without arranging structures such as frames on the left and right sides of the user's body.

[0026] As a result, it is possible to prevent the user's actions from being hindered.

[0027] In addition, since the back frame has the first sliding contact surface on the first surface on the opposite side to the user, it is possible to prevent the belt from sliding against the user's back or other parts other than the first sliding contact surface. This prevents the belt from sliding against the user's back or other parts, thereby preventing the movement of the belt from being hindered.

[0028] (2) The assist device preferably further comprises a first guide that prevents the belt from coming off the first sliding contact surface.

[0029] In this case, even if the user twists the upper body to the left and right while leaning forward, and the belt body is about to shift in the left and right direction, it is possible to prevent the belt body from being separated from the first sliding contact surface. As a result, it is possible to prevent the belt body from being separated from the back frame, slidingly contacting with parts other than the back frame to hinder the movement of the belt body, or the extension direction of the belt body from being greatly deviated from the winding direction of the actuator, and it is possible to suppress the loss of tension of the belt body, which is the source of the auxiliary force.

[0030] (3) In the above assist device, it is preferable that the first guide is a wall portion protruding from the first surface along both left and right sides of the first sliding contact surface.

[0031] In this case, the wall portion can prevent the belt body from coming off the first sliding contact surface.

[0032] (4) In addition, the assist device preferably further comprises: a plate-shaped protective member provided on the leg side of the back frame, wherein a second surface of the protective member facing the opposite side to the user includes a second sliding contact surface with which the belt body slides.

[0033] In this case, it is possible to suppress the belt from sliding in contact with the buttocks or the like below the waist of the user, thereby preventing the movement of the belt from being hindered.

[0034] (5) In the above-mentioned auxiliary device, it is preferable that the protection member includes a second guide that prevents the belt body from coming off the second sliding contact surface.

[0035] In this case, even if the user leans forward while twisting the upper body to the left and right and the belt attempts to shift in position in the left and right direction, it is possible to prevent the belt from coming off the second sliding contact surface.

[0036] In addition, in the above-mentioned assistive device, it is conceivable that the second wearing member is fixed to the knee by a belt or the like.

[0037] However, if the second wearing part is fixed to the knee, there is a concern that the second wearing part may be displaced due to the tension of the belt or the user's large posture change. If the second wearing part is displaced, the tension of the belt that serves as the auxiliary force is attenuated, and the auxiliary force cannot be generated efficiently.

[0038] (6) In contrast, the second wearable device preferably comprises: a pair of calf straps, whose upper ends are connected to the belt body; a foot strap, which connects the lower ends of the pair of calf straps and has a contact surface for contact with the soles of the user; and a retaining strap, which is arranged on the pair of calf straps and is worn on the knees of the user.

[0039] In this case, the foot strap of the second wearing member is worn on the sole of the user. Therefore, the tension of the strap acts to pull up the sole of the user, which can prevent the position of the second wearing member from being displaced.

[0040] (7) It is preferable that the holding belt and the pair of calf belt portions are provided so as to be relatively movable along the extending direction of the pair of calf belt portions.

[0041] The length obtained by adding the portion of the belt extending from the actuator and the second wearing component can be adjusted by the actuator.

[0042] Thus, even without adjusting the length of the pair of calf bands, if the position of the retaining belt is matched with the position of the user's knees, the second wearing member can be appropriately worn by users of various heights without adjusting the length of the pair of calf bands.

[0043] [Details of implementation]

[0044] Hereinafter, preferred embodiments will be described with reference to the accompanying drawings.

[0045] [Overall Structure of the Assisting Device 10]

[0046] Figure 1 It is a rear view of the assisting device according to the embodiment, showing a state in which the assisting device is worn on the body of a user. Figure 2 It is an explanatory diagram showing a state in which a user wearing an assistive device is in a forward leaning posture (forward bending posture).

[0047] In the assistive device 10 of the present invention, left and right refer to the left and right of a user in an upright position wearing the assistive device 10, front and back refer to the front and back of the user, and top and bottom refer to the top and bottom of the user. Top refers to the user's head side, and bottom refers to the user's leg side.

[0048] The assisting device 10 of the present embodiment includes one first wearing member 11 , two second wearing members 12 , one third wearing member 40 , and a belt 13 .

[0049] The first wearing member 11 is worn on the left and right shoulders BS of the user (person). The first wearing member 11 only needs to be worn on at least the shoulders BS of the user, and may be in a form other than that shown in the figure.

[0050] The second wearing member 12 is worn on the left and right legs BL of the user. In the present invention, the second wearing member 12 is worn on the calf BLL within the leg BL. The second wearing member 12 on the left side and the second wearing member 12 on the right side have the same structure.

[0051] The third wearing tool 40 is worn on the waist BW of the user.

[0052] The first wearing member 11 includes a base 21, a pair of left and right shoulder straps 22, and a cushioning member 23. The base 21 includes a control box 30 that accommodates a control unit 15 and the like described later.

[0053] The base 21 is placed on the user's back via the pair of shoulder straps 22 .

[0054] A pair of shoulder straps 22 are provided on the upper part of the base 21 (control box 30). The front end 22a of each of the pair of shoulder straps 22 is connected to the third wearing member 40. The length of the shoulder straps 22 is adjustable. By adjusting the length of the shoulder straps 22, the base 21 is fixed to the back BB of the user via the cushioning member 23.

[0055] The buffer component 23 is sandwiched between the back BB and the control box 30 to prevent the back BB from directly contacting the control box 30. The buffer component 23 is composed of a sponge, a structure with a mesh attached to the surface, etc. The structure is a component with buffering properties obtained by attaching a mesh to a frame assembled with spring wires in a predetermined three-dimensional shape.

[0056] The first wearing tool 11 is worn on the shoulder BS so as not to move in the front-back, left-right, and up-down directions. The first wearing tool 11 may include a hard member as a portion hung on the shoulder BS, for example.

[0057] Each of the pair of second wearing members 12 includes a pair of calf belt portions 24 , a foot belt 25 , and a holding belt 26 .

[0058] The pair of calf bands 24 are band-shaped members made of a non-elastic material and are worn along the calf portion BLL.

[0059] The upper end portions 24 a of the pair of calf belt portions 24 are connected to a belt body 13 (described later) extending from the control box 30 .

[0060] The foot strap 25 is connected to the lower end portions 24b of the pair of calf strap portions 24. The foot strap 25 is hung on the user's foot BF.

[0061] The holding belt 26 is a belt-shaped member made of a flexible cloth or the like, and is provided on the pair of calf belt portions 24. The holding belt 26 is worn on the knees BN. Thus, the holding belt 26 holds the pair of calf belt portions 24 at the positions of the knees BN.

[0062] As described above, by wearing each part of the second wearing tool 12 on the user's calf BLL, the second wearing tool 12 is worn on the user's calf BLL so as not to move in the front-back, left-right, and up-down directions.

[0063] The second wearing component 12 will be described in detail later.

[0064] The third wearing member 40 is a belt-shaped member made of a soft cloth or the like. Fastening members such as buckles and hooks (not shown) are provided at both ends of the third wearing member 40. When the third wearing member 40 is wrapped around the waist BW, both ends of the third wearing member 40 are fastened by the fastening members. Thus, the third wearing member 40 is worn on the waist BW in a manner that does not move in the front-back, left-right, and up-down directions.

[0065] The third wearing tool 40 includes a front belt portion 40a, a pair of rear belt portions 40b, and a pair of connecting portions 40c.

[0066] The front belt portion 40a is a portion of the third wearing tool 40 that is located on the front side of the user when the third wearing tool 40 is worn on the waist BW.

[0067] The pair of rear belt portions 40b are portions of the third wearing tool 40 that are located on the rear side of the user when the third wearing tool 40 is worn on the waist BW.

[0068] The pair of connecting parts 40c are parts that connect the two ends of the front belt part 40a and the two ends of the pair of rear belt parts 40b. The connecting parts 40c are located on the left and right sides of the waist BW. The position of the connecting parts 40c is a position that substantially coincides with the rotation axis of the thigh of the user.

[0069] The pair of rear belt portions 40b are disposed on the upper side portion and the lower side portion of the waist BW, thereby preventing the third wearing member 40 from shifting in the vertical direction relative to the waist BW when the user's posture changes.

[0070] The left and right connecting parts 40c are provided with connectors 40d. The connectors 40d are members for connecting the front end parts 22a of the pair of shoulder straps 22.

[0071] That is, the pair of shoulder straps 22 are connected to the position of the connecting portion 40 c of the third wearing member 40 .

[0072] The belt 13 is provided along the back side (back BB) of the user and connects the first wearing tool 11 and the second wearing tool 12 .

[0073] The belt body 13 includes a first belt 16, a second belt 17, and a connecting member 18. The first belt 16 is provided on the upper body side of the user. The second belt 17 is provided on the lower body side of the user. The connecting member 18 connects the first belt 16 and the second belt 17.

[0074] The first belt 16 and the second belt 17 are each long and flexible. The connecting member 18 will be described later, but is composed of, for example, a rectangular ring body called a "flat ring" or a "square ring" and a fastener such as a buckle.

[0075] The first belt 16 and the second belt 17 are belt-like components made of cloth or leather, and can be bent along the shape of the body. In addition, the first belt 16 and the second belt 17 may also be rope-like belts (wire-like components). The first belt 16 and the second belt 17 of the present invention are non-elastic components. That is, the first belt 16 and the second belt 17 have the characteristics of being difficult to stretch or not stretching in the long side direction.

[0076] Figure 3 FIG. 1 is an enlarged view of the main parts of the back side of the auxiliary device 10. Figure 3 In FIG. 3 , regarding the control box 30, the interior thereof is shown. Figure 3In the figure, for ease of understanding, the control box 30 and its interior, as well as a portion of the belt body 13 are shown, and other portions are omitted.

[0077] The assisting device 10 includes an actuator 14 , a control unit 15 , a battery 37 , and a sensor 38 in addition to the first wearing device 11 , the second wearing device 12 , the third wearing device 40 , and the belt 13 .

[0078] The actuator 14 , the control unit 15 , the battery 37 , and the sensor 38 are accommodated in a control box 30 which is a casing.

[0079] The control box 30 includes a back panel 31 and a cover 32 covering the back panel 31. Figure 3 In FIG. 1 , the cover 32 is indicated by an imaginary line (two-dot chain line).

[0080] An opening (notch) 32a is provided at the lower end of the cover 32. The first belt 16 passes through the opening 32a.

[0081] The actuator 14 can wind up and feed out a part of the belt 13. In other words, the actuator 14 expands and contracts the belt 13 between the first wearing member 11 and the second wearing member 12.

[0082] The actuator 14 includes a motor 33 , a speed reducer unit 34 , and a drive pulley 35 .

[0083] The motor 33 is a brushless DC motor. The motor 33 rotates at a predetermined torque and a predetermined rotation speed based on a control command issued from the control unit 15. In addition, the motor 33 can rotate forward and reverse based on the control command.

[0084] The rotation detector 36 detects the rotation angle, rotation speed, or rotation speed of the motor 33. The rotation detector 36 is provided on the motor 33. The rotation detector 36 of the present invention is a rotary encoder, but it may also be a Hall sensor or a resolver. The output of the rotation detector 36 is given to the control unit 15.

[0085] The speed reducer unit 34 is composed of a plurality of gears and reduces the speed of the motor 33 to rotate an output shaft 34 a of the speed reducer unit 34 .

[0086] The driving pulley 35 is connected to the output shaft 34 a so as to be rotatable as a whole. The one end portion 16 a side of the first belt 16 is fixed to the driving pulley 35 .

[0087] When the driving pulley 35 rotates in one direction by the forward rotation of the motor 33, the first belt 16 is wound around the driving pulley 35. When the driving pulley 35 rotates in the other direction by the reverse rotation of the motor 33, the first belt 16 is fed out from the driving pulley 35.

[0088] In this way, the actuator 14 can wind up and feed out the first tape 16 which is a part of the tape body 13 .

[0089] The control unit 15 is constituted by, for example, a microcomputer.

[0090] The control unit 15 has a function of controlling the actuator 14 based on the output of the rotation detector 36 and the output of the sensor 38. The processing performed by the control unit 15 will be described later.

[0091] The sensor 38 includes, for example, an acceleration sensor, and the output of the sensor 38 is supplied to the control unit 15 .

[0092] The sensor 38 may be composed of a plurality of sensor units instead of being composed of a single sensor unit.

[0093] In addition, the sensor 38 may be a tilt sensor, a gyro sensor, or a combination thereof, other than the acceleration sensor.

[0094] In addition, the sensor 38 may also be disposed outside the control box 30 .

[0095] The battery 37 supplies electric power to the control unit 15 , the motor 33 and other parts of the auxiliary device.

[0096] As described above, the belt body 13 includes the first belt 16, the second belt 17, and the connecting member 18. The first belt 16 is wound around the driving pulley 35 at one end 16a. The other end 16b of the first belt 16 is fixed to the connecting member 18. When the first belt 16 is wound around the driving pulley 35, the connecting member 18 is pulled up. When the connecting member 18 is forcibly pulled down, the first belt 16 is unwound (pulled out) from the driving pulley 35.

[0097] There is a correlation between the winding amount or unwinding amount (pulling amount) of the first belt 16 of the drive pulley 35 and the rotation amount of the output shaft of the motor 33. Therefore, the winding amount or unwinding amount of the first belt 16 can be obtained based on the parameter related to the rotation of the motor 33.

[0098] like Figure 3 As shown, the connecting member 18 includes an annular body 27 and a fastener (buckle) 28. The fastener 28 has a first member 28a and a second member 28b. The first member 28a and the second member 28b can be separated and connected. The first member 28a is attached to the other end 16b of the first belt 16. The second member 28b and the annular body 27 are connected by a short belt 29. The second belt 17 is inserted into the annular body 27.

[0099] The second belt 17 is folded back in the ring 27 and hung on the ring 27. The ring 27 supports the folded back second belt 17. Thus, the second belt 17 is supported by the ring 27 and is not fixed to the ring 27. Therefore, the second belt 17 can be moved in both directions ( Figure 3 Move in the direction of the arrow X).

[0100] like Figure 1 As shown, the second belt 17 is attached to the second wearing member 12. The second belt 17 is composed of a belt-shaped member. One end 17a of the second belt 17 is connected to the second wearing member 12 on the left. The other end 17d of the second belt 17 is connected to the second wearing member 12 on the right. The middle part 17c of the second belt 17 is hung on the connecting member 18.

[0101] The second strap 17 includes a left leg strap 19 and a right leg strap 20 in addition to the mid-section 17c. The left leg strap 19 is a portion of the second strap 17 extending from the connecting member 18 (mid-section 17c) to the second wearing member 12 on the left. The right leg strap 20 is a portion of the second strap 17 extending from the connecting member 18 (mid-section 17c) to the second wearing member 12 on the right.

[0102] As described above, the second belt 17 is not fixed to the annular body 27, so the length of the left leg belt 19 and the length of the right leg belt 20 can be freely changed. However, the total length of the left leg belt 19 and the length of the right leg belt 20 is constant. According to this structure, for example, the user's walking is not restricted by the second belt 17, and the user can walk easily.

[0103] The assist device 10 of the present embodiment further includes a holding body 42 and a protective member 50 .

[0104] The holding body 42 has a function of maintaining a distance between the first wearing member 11 and the third wearing member 40 .

[0105] like Figure 1 as well as Figure 2 As shown, the retaining body 42 includes a back frame 44 .

[0106] The back frame 44 connects the control box 30 of the first wearing member 11 and the rear belt portion 40b of the third wearing member 40 at the approximate center of the user's back BB. The back frame 44 is a plate-shaped member formed of resin or metal. The back frame 44 is disposed between the belt body 13 and the user.

[0107] The upper end 44a of the back frame 44 is fixed to the control box 30. The lower end 44b of the back frame 44 is fixed to the upper rear belt portion 40b. Thus, the back frame 44 maintains the interval between the control box 30 and the rear belt portion 40b.

[0108] The protective member 50 is provided on the leg BL side (lower side) of the back frame 44. The protective member 50 is a plate-shaped member formed of resin or metal. The protective member 50 is provided to extend downward from the lower end portion 44b of the back frame 44. The protective member 50 is also arranged between the belt 13 and the user, similarly to the back frame 44.

[0109] The holding body 42 and the protection member 50 will be described in detail later.

[0110] [Regarding the processing of the control unit 15]

[0111] As described above, the control unit 15 controls the actuator 14 based on the output of the rotation detector 36 and the output of the sensor 38 .

[0112] The control unit 15 can detect the user's motion or posture based on the output of the sensor 38. Therefore, the sensor 38 has a function as a detector for detecting the user's motion or posture. For example, based on the output of the sensor 38, it is possible to detect whether the upper body is in a forward leaning posture or an upright posture as the user's posture, or to detect a squatting state.

[0113] In addition, there is a correlation between the winding amount and the feeding amount of the belt body 13 by the driving pulley 35 of the motor 33 and the posture of the user. Therefore, the control unit 15 can also infer the posture of the user based on the rotation angle of the motor 33 detected by the rotation detector 36. Therefore, it can be said that the rotation detector 36 is a sensor for detecting the posture and movement of the user.

[0114] The control unit 15 generates a control command based on at least one of the output of the rotation detector 36 and the output of the sensor 38 , and supplies the control command to the actuator 14 (motor 33 ). The control unit 15 controls the actuator 14 in this way.

[0115] The actuator 14 operates based on the control command to wind up and deliver the belt 13, as well as temporarily stop the belt 13, and the like.

[0116] Thus, the actuator 14 is controlled according to the posture of the user.

[0117] When the assist device 10 is worn by the user, the motor 33 is always controlled to move the belt 13 in the winding direction with a force smaller than that in the case of generating assist force (to generate torque). Thus, weak tension is generated on the belt 13, and the belt 13 does not loosen.

[0118] For example, if the user changes from an upright posture to a forward leaning posture, the posture change generates tension in the belt 13. In this case, the motor 33 is forcibly rotated by the tension of the belt 13 caused by the posture change (the motor 33 idles), and the belt 13 is sent out without the power of the actuator 14. Alternatively, if the posture change starts to become a forward leaning posture, the actuator 14 operates, that is, the motor 33 is driven to rotate, and the belt 13 is sent out.

[0119] On the contrary, if the user changes from the forward leaning posture to the upright posture, the belt 13 attempts to relax due to the posture change. In this case, if the posture change starts in the upright posture, in order to maintain the tension acting on the belt 13, the actuator 14 moves, i.e., the rotation drive motor 33, and the belt 13 is wound.

[0120] In this way, the belt body 13 is wound or sent out due to the change in the user's posture. When winding or sending out, the motor 33 is actively or passively rotated at a predetermined rotation angle. The rotation angle at this time is detected by the rotation detector 36. In this way, the amount of movement of the actuator 14 (motor 33) when the belt body 13 is wound or sent out due to the change in the user's posture is detected by the rotation detector 36.

[0121] The control unit 15 obtains the movement amount (rotation angle of the motor 33) of the actuator 14 when the belt 13 is wound or sent out due to the user's posture change based on the output of the rotation detector 36, and controls the actuator 14 to apply an assist force to the user based on the movement amount.

[0122] [Regarding the assisting force of the assisting device 10]

[0123] The assist device 10 of the present embodiment applies an assist force to the user in accordance with a change in the user's posture.

[0124] When the first belt 16 is wound around the driving pulley 35 by the actuator 14 (the motor 33), the connecting member 18 pulls up the second belt 17 toward the actuator 14 side, that is, the upper side. The two end portions 17a and 17d of the second belt 17 are attached to the left and right second wearing parts 12. The second wearing part 12 is fixed to the calf BLL. Therefore, when the first belt 16 is wound around the driving pulley 35, tension acts on the first belt 16 and the second belt 17. This tension is used as an auxiliary force (auxiliary force) for the user.

[0125] That is, the actuator 14 generates an assist force between the first wearing member 11 and the second wearing member 12 .

[0126] When the user changes from the upright posture to the forward leaning posture, the belt 13 is not sent out by the power of the actuator 14. Thus, the user can easily take the forward leaning posture.

[0127] If the user changes his posture from the upright posture and maintains the posture at a predetermined forward tilt angle, the feeding (unwinding) of the belt 13 is stopped. In addition, the start and end of the posture change can be detected by the rotation detector 36 or the sensor 38.

[0128] On the contrary, if the user Figure 4 When the posture changes from the forward leaning posture (forward bending posture) shown in the figure to the upright posture, the actuator 14 winds up the belt 13 (first belt 16). As a result, a tension F is generated on the belt 13. The tension F generates a moment M in the direction of trying to make the upper body upright. In addition, the reaction force -F of the tension F is the force of the actuator 14 trying to pull up the belt 13.

[0129] The moment M acts around the thigh rotation axis C. The moment M allows the user to easily return to the upright position from the forward leaning position.

[0130] In addition, the auxiliary device 10 of the present embodiment has a back frame 44 (retaining body 42) that connects the control box 30 (first wearing component 11) and the third wearing component 40 and maintains a predetermined interval, so that the back frame 44 can support the tension F (reaction force -F) acting between the control box 30 and the third wearing component 40, and can suppress the load caused by the tension F from acting heavily on the user, and can efficiently generate the moment M.

[0131] The assist device 10 of the present embodiment can reduce the load on the back muscles, quadriceps muscles, and the like in the forward bending posture of the user by generating the moment M, and can assist the user's working action.

[0132] As a result, the burden on the waist in the forward bending posture can be reduced, and low back pain can be prevented.

[0133] [Regarding the holding body 42 and the protective member 50]

[0134] Figure 5 FIG. 1 is an enlarged view of the main parts of the back side of the auxiliary device 10. Figure 5 In FIG. 1 , the belt body 13 is shown by a two-dot chain line.

[0135] As described above, the back frame 44 of the holding body 42 is arranged between the belt body 13 and the user.

[0136] The belt 13 extending from the control box 30 is along the outer side surface 44c of the back frame 44. The outer side surface 44c (first surface) is a surface of the back frame 44 that faces the opposite side to the user.

[0137] The outer side surface 44 c of the back frame 44 includes a first sliding contact surface 48 .

[0138] The first sliding contact surface 48 is a surface of the outer side surface 44c with which the belt body 13 slides. The first sliding contact surface 48 extends from the upper end 44a to the lower end 44b of the back frame 44. The first sliding contact surface 48 is a smooth surface so as not to hinder the movement of the belt body 13.

[0139] The back part frame 44 has a narrow width portion 45a on the upper end portion 44a side and a wide width portion 45b on the lower end portion 44b side.

[0140] The width of the narrow portion 45a is substantially constant from the upper end portion 44a. That is, the narrow portion 45a is a portion of the back frame 44 where the width at the upper end portion 44a is constant. The width of the narrow portion 45a is slightly wider than the width of the first sliding contact surface 48.

[0141] The wide portion 45b is connected to the lower end of the narrow portion 45a. The width of the wide portion 45b gradually increases from the portion connected to the narrow portion 45a toward the lower end 44b.

[0142] The holding body 42 includes a first guide member 46 in addition to the back frame 44 .

[0143] The first guide member 46 is provided on the outer side surface 44 c to prevent the belt body 13 from being separated from the first sliding contact surface 48 .

[0144] The first guide member 46 has a pair of wall portions 46a. The pair of wall portions 46a are block-shaped components formed of resin or the like. The pair of wall portions 46a are provided at the portion of the wide width portion 45b. The pair of wall portions 46a are provided side by side on the left and right sides at a predetermined interval. The pair of wall portions 46a protrude from the outer side surface 44c along the left and right sides of the first sliding contact surface 48.

[0145] The belt body 13 passes between the pair of wall portions 46a. Therefore, the first sliding contact surface 48 passes through the portion between the pair of wall portions 46a of the outer side surface 44c.

[0146] The distance between the pair of wall portions 46 a is set to a size that allows the belt 13 to pass therethrough.

[0147] Figure 6 It is a schematic diagram showing a cross section of the holding body 42 and the protective member 50 . Figure 6 FIG. 4 shows a cross section along the vertical direction at the left-right center of the holding body 42. Figure 6 In FIG. 1 , the belt body 13 (the first belt 16 , the second belt 17 , and the connecting member 18 ) is shown by a two-dot chain line.

[0148] like Figure 6 As shown, the rear belt portion 40b is fixed to the lower end portion 44b of the back frame 44. The rear belt portion 40b is fixed to the inner side surface 44d of the back frame 44.

[0149] In addition, an upper end portion 44 a of the back frame 44 is fixed to the back panel 31 of the control box 30 .

[0150] The pair of wall portions 46 a prevent the belt body 13 from coming off the first sliding contact surface 48 by means of the facing surfaces 46 a 1 .

[0151] The protruding dimensions of the pair of wall portions 46 a from the outer side surface 44 c are set to such an extent that the connecting member 18 of the belt body 13 can be guided.

[0152] According to the above structure, the retaining body 42 has the back frame 44 connecting the first wearing member 11 and the third wearing member 40, so it is not necessary to configure a structure such as a frame on the left and right sides of the user's body, and the interval between the first wearing member 11 worn on the back BB and the third wearing member 40 worn on the waist BW can be maintained.

[0153] As a result, it is possible to suppress the movement of the user from being hindered by the holding body 42 .

[0154] In addition, in the present embodiment, the back frame 44 has the first sliding contact surface 48 on the outer side surface 44c on the opposite side to the user, so it is possible to suppress the belt body 13 from sliding contact with the user's back BB or the like other than the first sliding contact surface 48. Thus, it is possible to suppress the belt body 13 from sliding contact with the user's back BB or the like, thereby suppressing the movement of the belt body 13 from being hindered.

[0155] In addition, the retaining body 42 of the present embodiment includes the first guide 46, so even if the user leans forward while twisting the upper body to the left and right, and the belt 13 is about to be displaced in the left and right direction, it is possible to prevent the belt 13 from being separated from the first sliding contact surface 48. As a result, it is possible to prevent the belt 13 from being separated from the back frame 44, and from slidingly contacting with a portion other than the back frame 44 so that the movement of the belt 13 is hindered, or from the extension direction of the belt 13 being greatly deviated from the winding direction of the actuator 14, and it is possible to suppress the loss of the tension of the belt 13, which is the source of the auxiliary force.

[0156] like Figure 5 as well as Figure 6 As shown, the protection component 50 includes a protection plate 52 and a second guide 54 .

[0157] The protection plate 52 is disposed between the belt 13 and the user. Therefore, the belt 13 is provided along the outer side surface 52c of the protection plate 52. The outer side surface 52c (second surface) is a surface of the protection plate 52 that faces the opposite side to the user.

[0158] A hinge 56 is provided between the protection plate 52 and the back frame 44. The hinge 56 connects the protection plate 52 and the back frame 44 so as to be swingable in the front-rear direction.

[0159] The outer side surface 52 c of the protection plate 52 includes a second sliding contact surface 58 .

[0160] The second sliding contact surface 58 is a surface of the outer side surface 52c that comes into sliding contact with the belt body 13. The second sliding contact surface 58 is formed as a smooth surface so as not to hinder the movement of the belt body 13.

[0161] The second guide member 54 is disposed on the outer side surface 52 c to prevent the belt body 13 from being separated from the second sliding contact surface 58 .

[0162] The second guide 54 has a pair of wall portions 54a. The pair of wall portions 54a is a block-shaped component formed of resin or the like. The pair of wall portions 54a is provided at the substantially center of the outer side surface 52c in the vertical direction. The pair of wall portions 54a are provided side by side on the left and right sides at a predetermined interval. The pair of wall portions 54a protrude from the outer side surface 52c along the left and right sides of the second sliding contact surface 58.

[0163] The belt body 13 passes between the pair of wall portions 54a. Therefore, the second sliding contact surface 58 passes through the portion between the pair of wall portions 54a of the outer side surface 52c.

[0164] The distance between the pair of wall portions 54a is set to a size that allows the belt 13 to pass therethrough.

[0165] like Figure 6 As shown, the pair of wall portions 54 a prevent the belt body 13 from being separated from the second sliding contact surface 58 by the facing surface 54 a 1 .

[0166] The dimension of the pair of wall portions 54 a protruding from the outer side surface 52 c is set to such an extent that the connecting member 18 of the belt body 13 can be guided.

[0167] In the present embodiment, the protective member 50 (protective plate 52) has a second sliding contact surface 58 on the outer side surface 52c on the opposite side of the user, with which the belt body 13 slides in contact, so that it is possible to prevent the belt body 13 from sliding in contact with the buttocks or the like below the waist of the user, thereby preventing the movement of the belt body 13 from being hindered.

[0168] Moreover, when the user takes a forward leaning posture, the belt 13 applies tension along the back BB and buttocks of the user. Therefore, the belt 13 presses the back BB and buttocks.

[0169] Here, the protection plate 52 of this embodiment is swingably provided at the lower end portion 44b of the back frame 44, so when the user changes his posture from the upright posture to the forward leaning posture, the protection plate 52 swings according to the user's posture, and the back frame 44 and the protection plate 52 can be made to follow the back BB and buttocks of the user. As a result, the belt body 13 can be properly slidably contacted with the first sliding contact surface 48 and the second sliding contact surface 58.

[0170] In addition, the protection component 50 also includes a second guide member 54, similar to the retaining body 42, so even if the user twists the upper body left and right while leaning forward, thereby causing the belt body 13 to shift in the left and right direction, the belt body 13 can be prevented from detaching from the second sliding contact surface 58.

[0171] [Regarding the second wearing item 12]

[0172] Figure 7 is a diagram showing the second wearing member 12 worn on the right leg of the user as viewed from the back. Figure 8 This is a diagram showing the second wearing member 12 in a state of being worn on the right leg of the user as seen from the oblique front.

[0173] The second wearing member 12 has the same structure on the left and right sides. Therefore, in the following description, the second wearing member 12 on the right side will be described.

[0174] As described above, the second wearing material 12 includes the pair of calf belt portions 24 , the foot belt 25 , and the holding belt 26 .

[0175] The upper end portions 24a of the pair of calf belt portions 24 are connected to the second belt 17 (belt body 13). More specifically, a connector 60 is provided between the upper end portions 24a of the pair of calf belt portions 24 and the other end portion 17d of the second belt 17 of the belt body 13.

[0176] The connector 60 includes a buckle and the like. The connector 60 is disposed on the back side of the knee BN. The connector 60 includes a first member 60a and a second member 60b. The first member 60a and the second member 60b can be separated and connected.

[0177] The first member 60a is attached to the other end 17d of the second belt 17. The second member 60b is attached to the upper end 24a of the pair of calf belt portions 24. Therefore, the connector 60 detachably connects the pair of calf belt portions 24 to the belt body 13.

[0178] The pair of calf bands 24 separate from the connector 60 on the back side of the knee BN toward the left and right sides of the calf BLL and extend downward.

[0179] As described above, the lower end portions 24 b of the pair of calf belt portions 24 are connected by the foot belt 25 .

[0180] Of the pair of calf belt portions 24 , the right calf belt portion 24R along the right side of the calf portion BLL is connected to one end 25 a of the foot belt 25 .

[0181] Of the pair of calf belt portions 24 , the left calf belt portion 24L along the left side of the calf portion BLL is connected to the other end 25 b of the foot belt 25 .

[0182] In addition, the pair of calf belt parts 24 each includes a front belt 24f and a rear belt 24r.

[0183] The lower end of the front belt 24f of the right calf belt 24R is connected to the front end of the one end 25a of the foot strap 25. The lower end of the rear belt 24r of the right calf belt 24R is connected to the rear end of the one end 25a of the foot strap 25.

[0184] The lower end of the front belt 24f of the left calf belt 24L is connected to the front end of the other end 25b of the foot strap 25. The lower end of the rear belt 24r of the left calf belt 24L is connected to the rear end of the other end 25b of the foot strap 25.

[0185] The foot strap 25 is a belt-shaped member that passes through the sole of the user's foot SO in the left-right direction. The foot strap 25 has a contact surface 25c that contacts the sole of the user's foot SO. Therefore, the user's legs are hung on the foot strap 25.

[0186] The front belt 24f of the right calf belt 24R and the front belt 24f of the left calf belt 24L are connected by a connecting belt 24c. The connecting belt 24c is provided to connect the lower ends of the two belts 24f so as to follow the upper surface of the user's foot BF. Thus, the footrest belt 25 is prevented from being separated from the user's foot BF.

[0187] As described above, the holding belt 26 is worn on the knee BN. The holding belt 26 of this embodiment is worn below the knee BN.

[0188] The retaining belt 26 is provided with locking members such as hooks at both ends. When the retaining belt 26 is wound around the knee BN, both ends of the retaining belt 26 are locked by the locking members. Thus, the retaining belt 26 is worn around the knee BN.

[0189] A pair of holes 26a is provided in the holding band 26. The pair of holes 26a penetrates the holding band 26 in the up-down direction.

[0190] The pair of calf belt parts 24 pass through the pair of hole parts 26 a . Thus, the holding belt 26 is provided on the pair of calf belt parts 24 .

[0191] The pair of calf band portions 24 are movably inserted through the pair of hole portions 26 a .

[0192] The holding belt 26 and the pair of calf belt portions 24 are relatively movable in the extension direction of the pair of calf belt portions 24 by utilizing the pair of hole portions 26 a.

[0193] Here, the length obtained by adding the portion of the belt 13 extending from the actuator 14 and the second wearing component 12 can be adjusted by the actuator 14 .

[0194] Furthermore, since the holding belt 26 and the pair of calf belt portions 24 are relatively movable along the extension direction of the pair of calf belt portions 24, the interval between the footrest belt 25 and the holding belt 26 can be adjusted according to the height of the user's knees BN.

[0195] Thus, even without adjusting the length of the pair of calf bands 24, if the position of the retaining belt 26 is aligned with the position of the user's knee BN, the second wearing member 12 can be appropriately worn by users of various heights without adjusting the length of the pair of calf bands 24.

[0196] In the assist device 10 of the present embodiment, it is conceivable that the second wearing member 12 is fixed to the knee BN by a belt or the like.

[0197] However, if the second wearing member 12 is fixed only to the knee, there is a concern that the second wearing member 12 may be displaced due to the tension of the belt 13 and the user's large posture change. If the second wearing member 12 is displaced, the tension of the belt 13 that serves as the auxiliary force is attenuated, and the auxiliary force cannot be generated efficiently.

[0198] In this regard, preferably in the present embodiment, the second wearing member 12 comprises: a pair of calf bands 24 having an upper end 24a connected to the belt body 13; a footrest belt 25 connecting the lower end 24b of the pair of calf bands 24 and having a contact surface 25c that contacts the sole SO of the user; and a retaining belt 26 arranged on the pair of calf bands 24 and worn on the knee BN of the user.

[0199] In this case, the foot strap 25 of the second wearing device 12 is worn on the sole of the user's foot SO. Therefore, the tension of the belt body 13 acts to pull up the sole of the user's foot SO, and the positional displacement of the second wearing device 12 can be prevented.

[0200] As a result, assist force can be generated efficiently.

[0201] [Regarding other implementation methods]

[0202] Fig. 9 It is a diagram showing a holding body 42 according to another embodiment.

[0203] like Fig. 9As shown, this embodiment is different from the above-described embodiment in that the width of the back frame 44 is constant and the holding body 42 includes a pair of waist frames 64 .

[0204] The width of the back frame 44 of this embodiment is substantially constant from the upper end 44a to the lower end 44b. Therefore, the back frame 44 is a vertically elongated rectangular shape.

[0205] The first guide 46 of the present embodiment is provided along the left and right edges of the back frame 44 .

[0206] Fig.10 yes Fig. 9 Cross-sectional view in the direction of the arrow on line AA.

[0207] like Fig.10 As shown, the first guide member 46 has a pair of wall portions 70. The pair of wall portions 70 are formed integrally with the back frame 44. The pair of wall portions 70 extend in the up-down direction along the left and right edges of the back frame 44. Therefore, the pair of wall portions 70 extend along the left and right sides of the first sliding contact surface 48.

[0208] The pair of wall portions 70 protrude relative to the first sliding contact surface 48 .

[0209] Each of the pair of wall portions 70 includes a wall body 70 a that protrudes relative to the first sliding contact surface 48 , and a protruding portion 70 b that protrudes inward from the front end of the wall body 70 a .

[0210] The pair of wall portions 70 prevents the belt body 13 from being separated from the first sliding contact surface 48 by means of the wall body 70 a and the protruding portion 70 b.

[0211] That is, the belt 13 moves in a space surrounded by the back frame 44 and the pair of wall portions 70 .

[0212] This can more effectively prevent the belt body 13 from coming off the first sliding contact surface 48 .

[0213] return Fig. 9 , a pair of waist frames 64 extend from the lower end 44b of the back frame 44 in the left-right direction. The pair of waist frames 64 are formed of a resin or the like that can be elastically deformed. For example, when the back frame 44 is made of resin, the pair of waist frames 64 are provided integrally with the back frame 44. In addition, when the back frame 44 is made of metal, the pair of waist frames 64 are fixed to the back frame 44 by a fastening member such as a screw or a rivet.

[0214] In the present embodiment, the pair of waist frames 64 are provided integrally with the back frame 44 .

[0215] The pair of waist frames 64 extend along the upper rear belt portion 40b. The pair of waist frames 64 are fixed to the upper rear belt portion 40b. The end portions 64a of the pair of waist frames 64 extend to the connecting portion 40c.

[0216] The pair of waist frames 64 fixed to the upper rear belt portion 40 b are bent together with the upper rear belt portion 40 b and wrapped around the waist BW of the user, and are worn on the waist BW.

[0217] Thus, the back frame 44 is connected to the pair of waist frames 64 wound around the waist BW, so that the moment M ( Figure 4 ).

[0218] The protection plate 52 of the protection member 50 of the present embodiment is a vertically elongated rectangular shape. The second guides 54 are provided along the left and right edges of the protection plate 52 .

[0219] Fig.11 yes Fig. 9 Cross-sectional view in the direction of arrows along line BB.

[0220] like Fig.11 As shown, the second guide member 54 has a pair of wall portions 72. The pair of wall portions 72 are formed integrally with the protection plate 52. The pair of wall portions 72 extend in the up-down direction along the left and right edges of the protection plate 52. Therefore, the pair of wall portions 72 extend along the left and right sides of the second sliding contact surface 58.

[0221] The pair of wall portions 72 protrude relative to the second sliding contact surface 58 .

[0222] Each of the pair of wall portions 72 includes a wall body 72 a that protrudes relative to the second sliding contact surface 58 , and a protruding portion 72 b that protrudes inward from the front end of the wall body 72 a .

[0223] The pair of wall portions 72 prevents the belt body 13 from being separated from the second sliding contact surface 58 by means of the wall body 72 a and the protruding portion 72 b.

[0224] That is, the belt 13 moves in a space surrounded by the protection plate 52 and the pair of wall portions 72 .

[0225] This can more effectively prevent the belt body 13 from coming off the second sliding contact surface 58 .

[0226] 〔other〕

[0227] The embodiments disclosed this time are merely illustrative and not restrictive in all aspects.

[0228] In the above-described respective embodiments, the case where the back frame 44 and the protection member 50 are connected by the hinge 56 is exemplified, but the back frame 44 and the protection member 50 may be integrally formed.

[0229] In addition, in the above-mentioned embodiments, although the protective member 50 is provided, the protective member 50 may not be provided. In this case, the assisting device 10 can be made lighter. However, by providing the protective member 50, as described above, it is possible to prevent the belt 13 from sliding against the buttocks or the like below the waist, thereby preventing the movement of the belt 13 from being hindered.

[0230] In addition, in the above-mentioned embodiments, although the retaining belt 26 of the second wearing member 12 is worn below the knee BN, the retaining belt 26 may be worn above the knee BN, or may be in the form of a bracket worn from the upper part to the lower part of the knee BN.

[0231] The protection scope of the present invention is not limited to the above-mentioned embodiments, but includes all changes within the scope equivalent to the structure described in the technical solution.

[0232] Description of Reference Numerals

[0233] 10…Assisting device; 11…First wearing member; 12…Second wearing member; 13…Belt body; 14…Actuator; 15…Control unit; 16…First belt; 16a…One end; 16b…Other end; 17…Second belt; 17a…One end; 17c…Midway; 17d…Other end; 18…Connecting member; 19…Left leg belt; 20…Right leg belt; 21…Base; 22…Shoulder belt; 22a…Front end; 23…Buffering member; 24…Calf belt; 24L…Left Calf strap; 24R…right calf strap; 24a…upper end; 24b…lower end; 24c…connecting strap; 24f…front strap; 24r…rear strap; 25…foot strap; 25a…one end; 25b…other end; 25c…contact surface; 26…retaining strap; 26a…hole; 27…ring; 28…fastener; 28a…first component; 28b…second component; 29…short strap; 30…control box; 31…back panel; 32…cover; 32a…opening; 33…motor; 34…reducer unit; 34a…output shaft; 35…drive pulley; 36…rotation detector; 37…battery; 38…sensor; 40…third wear member; 40a…front belt unit; 40b…rear belt unit; 40c…connecting unit; 40d…connecting member; 42…holding member; 44…back frame; 44a…upper end; 44b…lower end; 44c…outer side; 44d…inner side; 45a…narrow width unit; 45b…wide width unit; 46…first guide; 46a…wall unit; 47…first guide; 48…second guide; 49…second guide; 50…second guide; 51…second guide; 52…second guide; 53…second guide; 54…second guide; 55…second guide; 56…second guide; 57…second guide; 58…second guide; 59…second guide; 60…second guide; 61…second guide; 62…second guide; 63…second guide; 64…second guide; 65…second guide; 66…second guide; 67…second guide; 68…second guide; 69…second guide; 70…second guide; 71…second guide; 72…second guide; 73…second guide; 74…second guide; 75…second guide; 76…second guide; 77…second guide; 78…second guide; 79…second guide; 80…second guide; 81…second guide; 82…second guide; 83…second guide; 84…second guide; 85…second guide; 86…second guide; 87…second guide; 88…second guide; 89…second guide; 90…second guide; 91…second guide; 92…second guide; 93…second guide; 94 6a1…opposing surface; 48…first sliding contact surface; 50…protective component; 52…protective plate; 52c…outer side surface; 54…second guide; 54a…wall; 54a1…opposing surface; 56…hinge; 58…second sliding contact surface; 60…connecting member; 60a…first component; 60b…second component; 64…lumbar frame; 64a…end; 70…wall; 70a…wall body; 70b…protrusion; 72…wall; 72a…wall body; 72b…protrusion.

Claims

1. An auxiliary device comprising: A first wearable member, which is worn on at least the shoulder of the user; A second wearable member, which is worn on the left and right legs of the user respectively; A third wearing item, which is worn on the waist of the user; A belt body, which spans the first wearing member and the second wearing member and is provided along the back of the user; an actuator, which is provided on the first wearable device and is capable of winding and delivering a portion of the belt; and a back frame that connects the first wearing member and the third wearing member at the center of the back of the user and maintains a distance therebetween; In the back part frame, the first surface facing the opposite side to the user includes a first sliding contact surface with which the belt body comes into sliding contact.

2. The auxiliary device according to claim 1, wherein: Also available: The first guide member prevents the belt body from being separated from the first sliding contact surface.

3. The auxiliary device according to claim 2, wherein: The first guide is a wall portion protruding from the first surface along both left and right sides of the first sliding contact surface.

4. The assisting device according to any one of claims 1 to 3, wherein: The invention further comprises a plate-shaped protective member provided on the leg side of the back frame, In the protection member, the second surface facing the opposite side to the user includes a second sliding contact surface with which the belt body comes into sliding contact.

5. The auxiliary device according to claim 4, wherein: The protection member includes a second guide that prevents the belt body from being separated from the second sliding contact surface.

6. The auxiliary device according to any one of claims 1 to 5, wherein: The second wearable article comprises: A pair of calf straps, the upper ends of which are connected to the strap body; a foot strap connecting the lower ends of the pair of calf straps and having a contact surface for the sole of the user to contact; and A holding belt is provided on the pair of calf belt portions and is worn on the knees of the user.

7. The auxiliary device according to claim 6, wherein: The holding belt and the pair of calf belt portions are provided so as to be relatively movable along the extension direction of the pair of calf belt portions.

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