Support device

Abstract

A support device (10) of an embodiment has a first harness (11) that sits on at least shoulders (BS) of a user, a second harness (12) that sits on both a right and a left leg (BL) of the user, a third harness (40) that sits on a waist (BW) of the user, a belt body (13) that is provided along a back of the user, bridging from the first harness (11) to the second harness (12), an actuator (14) that is provided in the first harness (11) and allows a portion of the belt body (13) to be taken in and out, and a back frame (44) that connects the first harness (11) and the third harness (40) at the center of the user's back and maintains a distance between them.An outer side surface (44c) of the back frame (44) facing away from the user includes a first sliding contact surface (48) over which the belt body (13) is guided into contact therewith.

Description

Technical FieldThe present invention relates to a support device.Background of the Prior ArtFor example, Patent Document 1 discloses a support device including a first harness that sits on the back of a user, a second harness that sits on the right and left legs of the user, a harness body provided along the back side of the user so as to bridge between the first harness and the second harness, and an actuator provided on the first harness. This assist device generates a tension force in the belt body by receiving a portion of the belt body with the actuator. This tension force acts as an assist force on the user.The support device also has a support mechanism for supporting the body of the user. This support mechanism is a mechanism for efficiently applying the tension force of the belt body as the support force at the waist of the user. The support mechanism has a waist fastening body fixed to the waist of the user, a back fastening body included in the first harness, and a holding body that connects and maintains a distance between the waist fastening body and the back fastening body. This holding body includes a pair of frames connecting the waist fastening body and the back fastening body on both the right side and the left side of the user's body.Related Documents of the Prior ArtPatent DocumentsPatent Document 1: Japanese Unexamined Patent Application Publication No. 2021-49601SUMMARY OF THE INVENTIONProblem to be Solved by the InventionThe paired frames of the above-described conventional assist device are disposed on both the right and left sides of the user's body. Accordingly, there are situations in which movements of the user are obstructed due to interference between the arms of the user and the pair of a frame, and movements of the user are significantly restricted.Solution of the ProblemAn embodiment is a support device including: a first harness that sits on at least shoulders of a user; a second harness that sits on both right and left legs of the user; a third harness that sits on a waist of the user; a harness body provided along a back of the user while bridging from the first harness to the second harness; an actuator that is provided in the first harness and allows a portion of the harness body to be received and fed out; and a back frame that connects the first harness and the third harness to a center of the back of the user and maintains a distance therebetween. A first surface of the rear side frame facing away from the user has a first sliding contact surface over which the belt body slides in contact therewith.Effects of the InventionAccording to the present invention, interference / hindrance of movements of a user can be restricted / prevented.Brief Description of the DrawingsFIG. 1 is a rear view of a support device according to an embodiment, showing a state of being attached to a body of a user. FIG. 2 is an explanatory view showing a state where the user wearing the support device is in a forwardly inclined posture. FIG. 3 is an enlarged view of main portions of a rear side of the support device. FIG. 4 is a diagram showing a moment acting on the user in a forwardly inclined position. FIG. 5 is an enlarged view of main portions of the back side of the support device. FIG. 6 shows a schematic illustration of a cross section of a holding body and of a protective element. FIG. 7 is a diagram of a second harness in a state of being seated on a right leg of a user when viewed from the rear side. FIG. 8 is a diagram of the second harness in a state of being seated on the right leg of the user when viewed diagonally from the front. FIG. 9 shows a representation of a holding body according to a further exemplary embodiment. FIG. 10 is a cross-sectional view taken in the direction of arrows on a line A-A in FIG. 9. FIG. 11 is a cross-sectional view taken in the direction of arrows on a line B-B in FIG. 9.Modes for Carrying Out the InventionFirst, the contents of the embodiments are listed and described.Overview of the Embodiments(1) A support device is an embodiment including: a first harness that sits on at least shoulders of a user; a second harness that sits on both right and left legs of the user; a third harness that sits on a waist of the user; a harness body provided along a back of the user while bridging from the first harness to the second harness; an actuator that is provided in the first harness and allows a portion of the harness body to be received and fed out; and a back frame that connects the first harness and the third harness to a center of the back of the user and maintains a distance therebetween. A first surface of the rear side frame facing away from the user has a first sliding contact surface over which the belt body slides in contact therewith.According to the above-described structure having the back frame connecting the first harness and the second harness, this enables the distance between the first harness seated on the back and the third harness seated on the waist to be maintained without disposing structures such as frames or the like on both the right and left sides of the body of the user. As a result, hindrance to movements of the user can be suppressed / avoided. In addition, the back frame has the first sliding contact surface (sliding contact side) on the first side facing away from the user, and accordingly, the belt body can be prevented from sliding in contact with parts other than the first sliding contact surface, such as the back or the like of the user. This prevents the belt body from sliding in contact with the user's back or the like and hindering movement of the belt body.(2) The support device explained above further preferably includes a first guide that prevents the belt body from falling off the first sliding contact surface. In this case, even if the user leans / tilts forward while turning the upper body to the right or left, thereby causing the belt body to shift the position in the right or left direction, the belt body can be prevented from dropping off the first sliding contact surface. As a result, the belt body can be prevented from dropping off the back frame and sliding in contact with other parts than the back frame, which would impede movement of the belt body or cause the direction in which the belt body extends to shift significantly from the receiving direction of the actuator, and accordingly, occurrence of loss of tension force in the belt body, which is a source of the assist force, can be prevented.(3) In addition, in the support device explained above, the first guide is preferably a wall portion that protrudes from the first side along both the right and left sides of the first sliding contact surface.In this case, the wall portion can prevent the belt body from dropping off the first sliding contact surface.(4) In addition, the above-mentioned support device may further include a guard member that is plate-like and that is provided on a side of the back frame toward the legs, in which a second side of the guard member faces away from the user and includes a second sliding contact surface over which the belt body slides in contact therewith. In this case, the belt body can be prevented from sliding on the buttocks or the like below the waist of the user, which would hinder movement of the belt body.(5) In addition, in the support device explained above, the protection member may include a second guide that prevents the belt body from falling off the second sliding contact surface. In this case, even if the user inclines forward while the upper body is twisted to the right or left, thereby causing the belt body to shift the position in the right or left direction, the belt body can be prevented from dropping off the second sliding contact surface.In addition, in the above-mentioned support device, it is conceivable to configure the second harness to be fixed to the knee by a strap or the like. However, when the second harness is configured to be fixed to the knee portion, there is a problem in that the second harness can be slid due to the tension force of the harness body or a significant change in posture of the user. When a displacement of the second harness occurs, this leads to weakening of the tension force of the belt body serving as the assist force, and an assist force may not be efficiently generated.(6) In contrast, the second harness preferably includes a pair of lower leg strap portions, upper end portions of which are connected to the harness body, a foot strap, which connects lower end portions of the pair of lower leg strap portions and which also has a contact surface that comes into contact with a sole of a foot of the user, and a tether, which is provided on the pair of lower leg strap portions and which sits at a knee of the user. In this case, the foot strap of the second harness sits on the sole of the user's foot. Accordingly, the tension force of the harness body acts to pull up the sole of the user's foot, thereby preventing the second harness from being displaced.(7) The tether and the pair of lower leg belt portions are preferably provided to be relatively movable along an extending direction of the pair of lower leg belt portions. A combined length of the portion of the harness body extending from the actuator and the second harness may be adjusted by the actuator. Thus, the second harness can be suitably seated on users having different shapes (different growth / size) without adjusting the length of the pair of lower leg strap portions by wearing it so that the position of the tether becomes aligned with the position of the user's knee even if the length of the pair of lower leg strap portions is not adjusted.Details of the EmbodimentsPreferred embodiments will be described below with reference to the drawings.Overall Structure of Support Device 10FIG. 1 is a rear view of a support device according to an embodiment, showing its attachment state to a user's body. FIG. 2 is an explanatory view showing a state where the user wearing the support device is in a forward inclined position (forward bent position).In a support device 10 of the present invention, right and left refers to the right side and left side of the user in an upright posture with the support device 10 put on (worn) front and back refers to the front and back of the user, and top and bottom refers to the top and bottom sides of the user. Top is the side to the user's head and bottom is the side to the user's legs / feet.The support device 10 of the present embodiment includes a first harness (harness) 11, two second harnesses (harness) 12, a third harness (harness) 40, and a belt body 13. It is sufficient for the first harness 11 to fit at least the shoulder BS of the user, and it may have a shape other than the shape shown in the drawings. The second harness 12 is seated on the user's right and left legs BL. In the present invention, the second harness 12 are seated on lower legs BLL of the legs BL (they are fitted to the lower leg). The second harness 12 on the left side and the second harness 12 on the right side have the same structure. The third harness 40 is seated at a waist BW of the user.The first harness 11 has a base 21, a pair of right and left shoulder belts 22, and a cushion member 23. the base 21 includes a control box 30 in which a control unit 15, etc., are accommodated, which will be described below. The base 21 is in a state of being worn on the back of the user by the pair of shoulder belts 22. The paired shoulder belts 22 are provided at an upper portion of the base 21 (control box 30). A distal end portion 22 aof each of the pair of shoulder straps 22 is connected to the third harness 40. The lengths of the shoulder belts 22 are adjustable. By adjusting the lengths of the shoulder belts 22, the base 21 is in a state of being fixed to a back BB of the user via the cushion member 23.The cushion member 23 is disposed between the back BB and the control box 30, and prevents the back BB from coming into direct contact with the control box 30. The post member 23 is made of a sponge material, a structure having a cross-linking sheet attached to its surface, or the like. The structure is a member having cushioning properties obtained by attaching a cross-linking sheet to a framework formed by assembling a spring wire material into a predetermined three-dimensional shape.The first harness 11 is seated on the shoulders BS so as not to move in the front-rear direction, the right-left direction, or the up-down direction. The first harness 11 may include, for example, a hard member as a portion riding over the shoulders BS.Each of the pair of second harness 12 includes a pair of lower leg strap portions (lower leg strap portions) 24, a foot strap 25, and a tether 26. The paired lower leg strap portions 24 are laid along the lower legs BLL. Upper end portions 24 aof the pair of lower leg belt portions 24 are connected to the belt body 13 (described below) while extending from the control box 30.The foot strap 25 connects lower end portions 24 bof the pair of lower leg strap portions 24 to each other. A foot BF of the user is disposed in the foot strap 25. The tether 26 is a belt-like member made of a fabric or the like that is flexible, and is provided at the pair of lower leg strap portions 24. The strap 26 is seated at a knee BN. Thus, the tether 26 holds the pair of lower leg strap portions 24 at the position of the knee BN.The application of each part of the second harness 12 to the user's lower legs BLL as described above fixes the second harness 12 so as not to move in the front-rear direction, the right-left direction, or the up-down direction relative to the user's lower legs BLL. The second harness 12 will be described in detail below.The third harness 40 is a belt-like member made of a fabric or the like that is flexible. Both ends of the third harness 40 are provided with holding members such as buckles, buckles, hook and loop type fasteners, or the like, which are not illustrated. In a state where the third harness 40 is wrapped around the waist BW, both ends of the third harness 40 are held by the holding members. Thus, the third harness 40 is seated not to move in the front-rear direction, the right-left direction, or the up-down direction relative to the waist BW.The third harness 40 includes a front belt portion 40 a, a pair of rear belt portions 40 b, and a pair of connecting portions 40 c. The front harness portion 40 ais a portion of the third harness 40 that is located at the front of the user when the third harness 40 is put on (seated at) the waist BW. The paired rear belt portions 40 bare parts of the third harness 40 that are located on the rear side (rear side) of the user when the third harness 40 is put on the waist BW. The pair of connecting portions 40 care parts at which both ends of the front belt portion 40 aand both ends of the pair of rear belt portions 40 bare connected to each other. The connecting portions 40 care located on the right and left sides of the waist BW. The positions of the connecting portions 40 care positions substantially matching the rotation axes of the user's legs (thigh).The paired rear belt portions 40 bare disposed at an upper side portion of the waist BW and a lower side portion of the waist BW. This prevents the third harness 40 from being displaced in the up-and-down direction relative to the waist BW when the user changes posture. The right and left connection portions 40 care provided with connection mounting parts (fittings) 40 d. The link mounting parts 40 dare members for connecting the distal end portions 22 aof the pair of shoulder belts 22 to each other. that is, the pair of shoulder belts 22 are connected to the third harness 40 at the positions of the connecting portions 40 c.The belt body 13 is provided / provided along the back (back BB) of the user. The harness body 13 connects the first harness 11 and the second harnesses 12 to each other. The belt body 13 includes a first belt 16, a second belt 17, and a connecting member 18. The second belt 17 is provided on the lower body side (lower body side) of the user. The connecting member 18 connects the first belt 16 and the second belt 17 to each other. Both the first strap 16 and the second strap 17 are elongated and flexible. The link member 18 described below is configured to include, for example, a rectangular ring-like body referred to as a "flat ring" or a "square ring", and a fastener such as a buckle.The first belt 16 and the second belt 17 are belt-like members made of a fabric or leather, and are capable of bending to conform to the shape of the body. Note that the first belt 16 and the second belt 17 may be rope-like belts (wire-like members). The first belt 16 and the second belt 17 of the present invention are non-elastic members. That is, the first belt 16 and the second belt 17 have a property of not easily stretching or not stretching in a longitudinal direction at all.FIG. 3 is an enlarged view of main portions of a rear side of the support device 10. Also, for ease of understanding, Fig. 3 shows the control box 30 and its inside and also a portion of the belt body 13, with the other parts omitted. In addition to the above-mentioned elements of the first harness 11, the second harnesses 12, the third harness 40, and the belt body 13, the assist device 10 further includes an actuator 14, the control unit 15, a battery 37, and a sensor 38. The control box 30 has a back plate 31 and a cover 32 covering the back plate 31. In FIG. 3, the cover 32 is shown by a hidden outline (dot-dash line). The cover 32 has an opening (notch) 32 aat a lower end portion thereof. The first belt 16 passes through the opening 32 a.The actuator 14 allows a portion of the belt body 13 to be received and taken out. In other words, the actuator 14 causes the belt body 13 to extend and retract between the first harness 11 and the second harnesses 12. the actuator 14 includes a motor 33, a reduction gear unit 34, and a drive pulley 35. the motor 33 is a brushless DC motor. The motor 33 rotates at a predetermined torque and a predetermined rotational speed on the basis of control commands issued by the control unit 15. Moreover, the motor 33 can rotate forward and backward based on control commands.By a rotation detector 36, parameters related to the rotation of the motor 33, such as a rotation angle, a rotation speed, a rotation speed, and the like, are detected. The rotation detector 36 is provided on the motor 33. The rotation detector 36 according to the present invention is a rotary encoder, but may be a Hall sensor or a resolver. An output signal of the rotation detector 36 is provided to the control unit 15.The reduction gear unit 34 is constructed of a plurality of gears. The reduction gear unit 34 reduces the rotational speed of the motor 33 and rotates an output shaft 34 aof the reduction gear unit 34. the drive pulley 35 is connected to the output shaft 34 aso as to be integrally rotatable therewith. One end portion 16 aside of the first belt 16 is fixed to the drive pulley 35. When the drive pulley 35 rotates in one direction due to forward rotation of the motor 33, the first belt 16 is taken up (wound) by the drive pulley 35. When the drive pulley 35 rotates in the other direction due to the reverse rotation of the motor 33, the first belt 16 is led out (unwound) from the drive pulley 15. Thus, the actuator 14 can take up (wind) and lead out (unwind) the first belt 16 which is a portion of the belt body 13.The control unit 15 is formed of, for example, a microcomputer. The control unit 15 has a function of controlling the actuator 14 on the basis of an output signal of the rotation detector 36 and an output signal of the sensor 38.The sensor 38 comprises, for example, an acceleration sensor. The output signal of the sensor 38 is supplied to the control unit 15. The sensor 38 may be constructed using one sensor unit or alternatively may be configured using a plurality of sensor units. Further, the sensor 38 may be an inclination sensor, a gyro sensor, or a combination thereof, in addition to an acceleration sensor. In addition, the sensor 38 may be provided on the outside of the control box 30. The battery 37 supplies power to each part of the assist device such as the control unit 15, the motor 33, and the like.As described above, the belt body 13 includes the first belt 16, the second belt 17, and the connecting member 18. The other end portion 16 bside of the first belt 16 is fixed to the connecting member 18. When the first belt 16 is wound by the drive pulley 35, the link member 18 is pulled upward. When the connecting member 18 is forcibly pulled downward, the first belt 16 is drawn out (pulled out / unwound) from the drive pulley 35. There is a correlation between the amount of unwinding of the first belt 16 or its amount of extraction (amount of extraction) from the drive pulley 35 and the amount of rotation (rotational value) of an output shaft of the motor 33.As shown in FIG. 3, the link member 18 includes a ring-like body 27 and a fastener (buckle) 28. the fastener 28 has a first member 28 aand a second member 28 b. The first element 28 aand the second element 28 bare separable and connectable. The first member 28 ais attached to the other end portion 16 bof the first belt 16. The second member 28 band the ring-like body 27 are connected by a short strap 29. The second belt 17 passes through the ring-like body 27.The second strap 17 is folded back on the ring-like body 27 and thus hooked on the ring-like body 27. The ring-like body 27 supports the second belt 17 which is folded back. As a result, the second belt 17 is supported by the ring-like body 27 without being fixed to the ring-like body 27. Thus, the second belt 17 is movable in both directions in its longitudinal direction (directions of arrows X in FIG. 3 ).As shown in FIG. 1, the second webbing 17 is attached to the second webbings 12. The second strap 17 is formed from a single strap-like element. An end portion 17 aof the second webbing 17 is connected to the second harness 12 on the left side. The other end portion 17 dof the second webbing 17 is connected to the second harness 12 on the right side. An intermediate portion 17 cof the second belt 17 is hooked to the connecting member 18.The second belt 17 includes a left leg belt portion 19 and a right leg belt portion 20 in addition to the intermediate portion 17 c. The left leg belt portion 19 is a part of the second belt 17 from the connecting member 18 (intermediate portion 17 c) to the second harness 12 on the left side. The right leg belt portion 20 is a part of the second belt 17 from the connecting member 18 (intermediate portion 17 c) to the second harness 12 on the right side. As described above, the second belt 17 is not fixed to the ring-like body 27, and accordingly, the length of the left leg belt portion 19 and the length of the right leg belt portion 20 can be freely changed. Note that, however, the sum of the length of the left leg belt portion 19 and the length of the right leg belt portion 20 is constant. According to this configuration, the user is not obstructed by, for example, the second belt 17 when walking, and the user can walk comfortably.The support device 10 of the present embodiment further includes a support body 42 and a protective member 50. the support body 42 has a function of supporting a distance between the first harness 11 and the third harness 40. as shown in FIGS. 1 and 2, the support body 42 includes a back frame 44. the back frame 44 connects the control box 30 of the first harness 11 and the back belt portion 40 bof the third harness 40 at approximately the center of the user's back BB. The rear side frame 44 is a plate-like member made of plastic or metal. The rear side frame 44 is disposed between the belt body 13 and the user.An upper end portion 44 aof the rear side frame 44 is fixed to the control box 30. A lower end portion 44 bof the rear side frame 44 is fixed to the rear belt portion 40 bat its upper side. Thus, the rear side frame 44 maintains the distance between the control box 30 and the rear belt portion 40 b.The protection member 50 is provided on the leg BL side (lower side) of the rear side frame 44. The protection member 50 is a plate-like member made of plastic or metal. The protection member 50 is provided to extend downward from the lower end portion 44 bof the rear side frame 44. The protective member 50 is also disposed between the belt body 13 and the user in the same manner as the rear side frame 44. The support body 42 and the protection member 50 will be described in detail below.Process by Control Unit 15As described above, the control unit 15 controls the actuator 14 on the basis of the output signal of the rotation detector 36 and the output signal of the sensor 38. the control unit 15 can detect actions or posture of the user on the basis of the output signal of the sensor 38. Accordingly, the sensor 38 has a function as an detector (detector) for detecting the actions or posture of the user. For example, on the basis of the output signal of the sensor 38, detection of a state may be performed with respect to whether the posture of the upper body is a forwardly tilted posture (forwardly tilted posture) or an upright posture, detection with respect to whether the user is now in a hooking posture, or the like is the posture of the user.In addition, there is a correlation between the take-up amount (take-up amount) of the belt body 13 and the take-out amount from the pulley 35 by the motor 33 and the posture of the user. Accordingly, the control unit 15 can estimate the posture of the user on the basis of the rotation angle of the motor 33 detected by the rotation detector 36. Thus, it can be said that the rotation detector 36 is a sensor for detecting the posture and actions of the user.The control unit 15 generates a control command on the basis of at least either the output signal of the rotation detector 36 and / or the output signal of the sensor 38, and provides the control command to the actuator 14 (motor 33).Accordingly, the control unit 15 controls the actuator 14. the actuator 14 operates on the basis of control signals for winding and lead out the belt body 13 and also for performing temporary suspension therefrom and the like. Thus, the actuator 14 is controlled according to the posture of the user.When the assist device 10 is seated on (worn by) the user, the motor 33 is controlled to constantly operate in a direction for winding the belt body 13 (for generating a moment) with a force weaker than in a case where an assist force is generated. Thus, a weak tension force is generated in the belt body 13, and the belt body 13 does not sag.For example, when the user changes his posture from an upright posture to a forwardly inclined posture, a tension force is generated in the belt body 13 due to the change of the posture. In this case, the motor 33 is urged to rotate (the motor 33 rotates freely) under the tension force of the main body 13 caused by the position change, and the belt body 13 is led out without the force of the actuator 14. Alternatively, when the position starts changing to a forwardly inclined position, the actuator 14 is operated, i.e., the motor 33 is rotationally driven, and the belt body 13 is led out.On the other hand, when the user changes his posture from a forwardly inclined posture to an upright posture, the belt body 13 tends to slacken due to the posture change. In this case, when the position starts changing to the standing position, the actuator 14 operates to maintain the tension force acting on the belt body 13, i.e., the motor 33 is driven to rotate, and the belt body 13 is taken up (wound).In this manner, the belt body 13 is wound or led out according to the change in posture of the user. When the winding or take-out is carried out, the motor 33 actively or passively rotates at a predetermined rotation angle. The rotation angle present at this time is detected by the rotation detector 36. Thus, the operation amount of the actuator 14 (motor 33) in picking up or taking out the belt body 13 due to the change in posture of the user is detected by the rotation detector 36.On the basis of the output signal of the rotation detector 36, the control unit 15 acquires the operation amount of the actuator 14 (the rotation angle of the motor 33) when the belt body 13 is wound (taken up) or taken out due to a posture change of the user, and controls the actuator 14 on the basis of the operation amount to provide an assist force to the user.Assisting Force by Assist Device 10The assist device 10 of the present embodiment applies an assist force to the user according to a posture change of the user. When the first belt 16 is wound (received) by the pulley 35 by the (motor 33) of the actuator 14, the link 18 pulls up the second belt 17 toward the actuator 14 side, i.e., upward. The second webbing 17 is configured such that both end portions 17 aand 17 dare attached to the right and left second webbing 12. The second harness 12 is fixed to the lower legs BLL. Accordingly, when the first belt 16 is wound by the pulley 35, a tension force acts on the first belt 16 and the second belt 17. That is, the actuator generates the assist force between the first harness 11 and the second harnesses 12, as it were.In a case where the user changes his posture from an upright posture to a forwardly inclined posture, the belt body 13 is led out without the force of the actuator 14. This allows the user to naturally take a forwardly inclined position. It is assumed that the user changes his posture from the standing posture and maintains a posture at a predetermined forward inclined angle, and the lead-out (unwinding) of the belt body 13 is stopped. Note that the start and the end of the posture change may be detected by the rotation detector 36 or the sensor 38.On the other hand, when the user starts changing his posture from the forwardly inclined posture (forwardly bent posture) as shown in FIG. 4, for example, to the standing posture, the actuator 14 receives (wraps) the belt body 13 (first belt 16). As a result, a tension force F is generated in the belt body 13. This tension force F generates a moment M acting in a direction to cause the upper body to stand upright. Note that a reaction force -F of the tension force F is a force by which the actuator 14 acts to pull up the belt body 13. The moment M acts around the vicinity of the axis of rotation C of the leg. This moment M allows the user to easily return from the forwardly inclined position to the upright position. In addition, the assist device 10 of the present embodiment has the rear side frame 44 (holding body 42) connecting the control box 30 (first harness 11) and the third harness 40 and maintaining the predetermined distance therebetween, and accordingly, the tension force F (reaction force -F) acting between the control box 30 and the third harness 40 can be assisted by the rear side frame 44, and the moment M can be efficiently generated while avoiding a load due to the tension force F from excessively acting on the user.The assist device 10 of the present embodiment generates the moment M as described above, thereby reducing muscular load on the back muscles, the quadriceps muscles, etc. when the user is in the forwardly inclined posture, and thus can assist the user in performing working movements. As a result, the load on the waist in the forwardly inclined position is reduced, thereby enabling pain in the lower back region to be avoided.Holding Body 42 and Protective Member 50FIG. 5 is an enlarged view of main portions of the rear side of the assist device 10. As described above, the rear side frame 44 of the support body 42 is disposed between the belt body 13 and the user. The belt body 13 extending from the control box 30 follows along an outer side surface 44 cof the rear side frame 44. the outer side surface 44 c(first surface) is a surface of the rear side frame 44 facing away from the user.The outer side surface / outer side 44 cof the rear side frame 44 includes a first sliding contact surface 48. the first sliding contact surface 48 is a surface of the outer side surface 44 cwith which the base body 13 is in sliding contact. The first sliding contact surface 48 bridges the upper end portion 44 ato the lower end portion 44 bof the rear side frame 44. the first sliding contact surface 48 has a smooth surface so that movement of the belt body 13 is not affected.The rear side frame 44 has a narrow width portion 45 aon the side of the upper end portion 44 aand a wide width portion 45 bon the side of the lower end portion 44 b. The width of the narrow width portion 45a is substantially constant from the upper end portion 44a. That is, the narrow width portion 45 ais a part of the rear side frame 44 having a constant width at the upper end portion 44 a. The width of the narrow width portion 45 ais slightly wider than the width of the first sliding contact surface 48. the wide width portion 45 bis connected to a lower end portion of the narrow width portion 45 a. The width of the wide width portion 45 bgradually increases from the part connected to the narrow width portion 45 ato the lower end portion 44 b.In addition to the rear side frame 44, the support body 42 has a first guide 46, and the first guide 46 is provided on the outer side surface 44 cand prevents the belt body 13 from falling off the first sliding contact surface 48. The first guide 46 has a pair of wall portions 46 a. The paired wall portions 46 aare block-like members made of plastic or the like. The paired wall portions 46a are provided in the part of the wide width portion 45b. The paired wall portions 46 aare provided side by side on the right and left sides by a predetermined distance. The paired wall portions 46 aprotrude from the outer side surface 44 calong both right and left sides of the first sliding contact surface 48. The belt body 13 passes between (passes between) the pair of wall portions 46 a. Accordingly, the first sliding contact surface 48 passes through (passes through) a part of the outer side surface 44 cbetween the paired wall portions 46 a. The distance between the paired wall portions 46a is set to such a degree that the belt body 13 can pass therethrough.FIG. 6 is a schematic diagram showing a cross section of the holding body 42 and the protection member 50; FIG. 6 is a cross section of the holding body 42 along the up-down direction at the center in the left-right direction. In FIG. 6, the belt body 13 (the first belt 16, the second belt 17 and the connecting member 18) is shown by a dot-and-dash line. As shown in FIG. 6, the rear belt portion 40 bis fixed to the lower end portion 44 bof the rear side frame 44. The rear belt portion 40 bis fixed to the inner side surface 44 dof the rear side frame 44. In addition, the upper end portion 44 aof the rear side frame 44 is fixed to the rear side plate 31 of the control box 30. The paired wall portions 46 aprevent the belt body 13 from dropping off the first sliding contact surface 48 by their opposing surfaces 46 a 1. Protruding amounts of the paired wall portions 46 awith respect to the outer side surface 44 care set so that the connecting member 18 of the belt body 13 can be guided.According to the above configuration, the support body 42 has the rear side frame 44 connecting the first harness 11 and the third harness 40, and accordingly, the distance between the first harness 11 seated on the back BB and the third harness 40 seated on the waist BW can be maintained without disposing such structures as frames and the like on both right and left sides of the user's body. As a result, the holding body 42 can prevent movements of the user from being impaired.In addition, in the present embodiment, the rear side frame 44 has the first sliding contact surface 48 on the outer side surface 44 cfacing away from the user, and thus it is possible to prevent the belt body 13 from sliding over parts other than the first sliding contact surface 48 such as the back BB or the like of the user. This prevents the belt body 13 from sliding in contact with the user's back BB or the like and hinders movement of the belt body 13.In addition, the support body 42 of the present embodiment has the first guide 46, and accordingly, even in a case where the user inclines forward while the upper body is rotated rightward or leftward, thereby causing the belt body 13 to shift the position in the leftward or rightward direction, the belt body 13 can be prevented from dropping off the first sliding contact surface 48. As a result, the belt body 13 can be prevented from dropping off the rear side frame 44 and sliding on parts other than the rear side frame 44, which would impede movement of the belt body 13 or cause the direction in which the belt body 13 extends to be significantly displaced from the receiving direction (winding direction) of the actuator 14, or the like, and accordingly, loss of tension force in the belt body 13, which is the source of the assist force, can be prevented.As shown in FIGS. 5 and 6, the protective member 50 has a protective plate 52 and a second guide 54. Accordingly, the belt body 13 is provided along an outer side surface 52 cof the protection plate 52. The outer side surface 52 c(second surface) is a surface of the protection plate 52 facing away from the user. A hinge 56 is provided between the protection plate 52 and the rear side frame 44. The hinge 56 connects the guard panel 52 and the rear frame 44 to allow pivotability in the front-rear direction.The outer side surface 52 cof the protection plate 52 includes a second sliding contact surface 58. the second sliding contact surface 58 is a surface of the outer side surface 52 cwith which the belt body 13 is in sliding contact. The second sliding contact surface 58 has a smooth surface so as not to interfere with movement of the belt body 13.The second guide 54 is provided on the outer side surface 52 cand prevents the belt body 13 from falling off the second sliding contact surface 58. The second guide 54 has a pair of wall portions 54 a. The paired wall portions 54 aare block-like members made of plastic or the like. The paired wall portions 54 aare provided at approximately the center in the up-down direction on the outer side surface 52 c. The paired wall portions 54 aare provided side by side on the right and left sides by a predetermined distance. The paired wall portions 54 aprotrude from the outer side surface 52 calong both right and left sides of the second sliding contact surface 58. The belt body 13 passes between the paired wall portions 54 a. Accordingly, the second sliding contact surface 58 passes through a part of the outer side surface 52 cbetween the paired wall portions 54 a. The distance between the paired wall portions 54a is set to such a degree that the belt body 13 can pass therethrough.As shown in FIG. 6, the paired wall portions 54 aprevent the belt body 13 from falling off the second sliding contact surface 58 through opposing surfaces 54 a 1. Protruding amounts of the pair of wall portions 54 awith respect to the outer side surface 52 care set so that the connecting member 18 of the belt body 13 can be guided.The present embodiment includes the guard member 50 (the guard plate 52 of the guard member 50) having the second sliding contact surface 58 on which the belt body 13 slides on the outer side surface 52 cfacing away from the user, thereby preventing the movement of the belt body 13 from being obstructed by the belt body 13 sliding under the waist in contact with the buttocks or other parts of the user.In addition, in a case where the user takes a forwardly inclined posture, a tension force is applied to the belt body 13 in a state of being aligned with the back BB and the buttocks of the user. Accordingly, with respect to the belt body 13, the back BB and the buttocks are pressed by the belt body 13. Now, in the present embodiment, the protection plate 52 is pivotally attached to the lower end portion 44 bof the rear side frame 44 such that when the user changes his posture from the upright posture to a forwardly inclined posture, the protection plate 52 pivots according to the posture of the user, and the rear side frame 44 and the protection plate 52 can be aligned with the back BB and the buttocks of the user. As a result, the belt body 13 can be brought into proper sliding contact with the first sliding contact surface 48 and the second sliding contact surface 58.Furthermore, like the support body 42, the protection member 50 also has the second guide 54, and accordingly, even in a case where the user inclines forward while the upper body is rotated rightward or leftward, thereby causing the belt body 13 to shift its position in the rightward direction or leftward direction, the belt body 13 can be prevented from dropping off the second sliding contact surface 58.Second Harness 12FIG. 7 is a diagram showing the second harness 12 in a state of being seated on the right leg of the user when viewed from the rear side, and FIG. 8 is a diagram showing the second harness 12 in a state of being seated on the right leg of the user when viewed from the front diagonally. The second harness 12 has the same structure on the right and left sides. Accordingly, the right second harness 12 will be described below.As described above, the second harness 12 has the pair of lower leg strap portions 24, the foot strap 25, and the tether 26. More specifically, a connection mounting part 60 is provided between the upper end portions 24 aof the paired lower leg belt portions 24 and the other end portion 17 dof the second belt 17 of the belt body 13. The link mounting part 60 includes a buckle or the like. The connection mounting part 60 is disposed at the back of the knee BN. The joint mounting part 60 includes a first member 60 aand a second member 60 b. The first member 60 aand the second member 60 bare separable and connectable. The first member 60 ais attached to the other end portion 17 dof the second belt 17. The upper end portions 24 aof the pair of lower leg belt portions 24 are attached to the second member 60 b. Thus, the connection mounting part 60 detachably (detachably) connects the pair of the lower leg belt portions 24 and the belt body 13.The paired lower leg strap portions 24 separate and extend downward from the joint mounting part 60 at the rear of the knee BN to both the right and left sides of the lower leg BLL. As described above, the lower end portions 24 bof the paired lower leg belt portions 24 are connected by the foot strap 25. Of the paired lower leg strap portions 24, a right lower leg strap portion 24R running along the right side of the lower leg BLL is connected to one end 25 aof the foot strap 25. Of the paired lower leg strap portions 24, a left lower leg strap portion 24L running along the left side of the lower leg BLL is connected to the other end 25 bof the foot strap 25.In addition, each of the pair of lower leg strap portions 24 includes a front strap 24 fand a rear strap 24 r. A lower end portion of the front strap 24 fof the right lower leg strap portion 24R is connected to a front end of the one end 25 aof the foot strap 25. A lower end portion of the rear strap 24 rof the right lower leg strap portion 24R is connected to a rear end of the one end 25 aof the foot strap 25. A lower end portion of the front strap 24 fof the left lower leg strap portion 24L is connected to a front end of the one end 25 bof the foot strap 25. A lower end portion of the rear strap 24 rof the left lower leg strap portion 24L is connected to a rear end of the other end 25 bof the foot strap 25.The foot strap 25 is a strap-like member that passes over the sole SO of the user's foot in the right and left direction. The foot strap 25 has a contact surface 25c with which the sole SO of the user's foot comes into contact. Thus, the user's leg is placed on the foot strap 25.The front belt 24f of the right lower leg belt portion 24R and the front belt 24f of the left lower leg belt portion 24L are connected by a connecting belt 24c. The connecting strap 24 cis provided to connect the lower end portions of the two straps 24 fso as to follow along an upper surface of the foot BF of the user. This prevents the foot strap 25 from dropping off the foot BF of the user.As described above, the tether 26 is fitted to the knee BN. In the present exemplary embodiment, the retaining strap 26 is seated at a lower portion of the knee BN. The strap 26 is provided with holding members such as hook and loop type fasteners or the like at both ends thereof. Both ends of the strap 26 are fixed by the holding members in a state where the strap 26 is wound (wound) around the knee BN. Thus, the tether 26 is fastened (seated) to the knee BN.The tether 26 is provided with a pair of holes 26a. The paired holes 26a pass through the retainer belt 26 in the up and down direction. The paired lower leg belt portions 24 pass through the pair of holes 26 a. Thus, the tether 26 is provided at the pair of lower leg strap portions 24. The paired lower leg belt portions 24 movably pass through the pair of holes 26a. This pair of holes 26 aallows the tether 26 and the pair of lower leg belt portions 24 to relatively move in an extending direction of the pair of lower leg belt portions 24.Now, the combined length of the part of the harness body 13 extending from the actuator 14 and the second harness 12 can be adjusted by the actuator 14. In addition, the tether 26 and the pair of lower leg strap portions 24 can move relative to each other in the extending direction of the pair of lower leg strap portions 24, and accordingly, the distance between the foot strap 25 and the tether 26 can be adjusted according to the height of the user's knee BN. Thus, the second harness 12 can be suitably fitted to users of different types without adjusting the length of the pair of lower leg strap portions 24 by being put on, with the positions of the straps 26 aligned with the positions of the user's knees BN, even without adjusting the length of the pair of lower leg strap portions 24.In the support device 10 of the present embodiment, it is conceivable to configure the second harness 12 to be fixed to the knees BN by straps or the like. However, when the second harness 12 is configured to be fixed to the knee portion alone, there is a problem in that the second harnesses 12 are displaced (displaced) due to the tension force of the belt body 13 or a significant change in posture of the user. Shifting the second harness 12 will result in weakening the tension force of the belt body 13 serving as the assist force, and an assist force may not be efficiently generated.In view of this point, in the present embodiment, each second harness 12 is preferably provided with the pair of lower leg strap portions 24 in which the upper end portions 24 aare connected to the strap body 13, the foot strap 25 that connects the lower end portions 24 bof the pair of lower leg strap portions 24 and also has the contact surface 25 cwith which the sole SO of the user's foot comes into contact, and the tether 26 that is provided on the pair of lower leg strap portions 24 and sits on the knee BN of the user. In this case, the foot strap 25 of the second harness 12 is seated on the sole SO of the user's foot. Therefore, the tension force of the harness body 13 acts to pull up the sole SO of the user's foot, thereby preventing the second harness 12 from being displaced. As a result, an assist force can be efficiently generated.Further Exemplary EmbodimentsFIG. 9 shows an illustration of a holding body 42 according to another exemplary embodiment. As shown in FIG. 9, the present embodiment is different from the above-described embodiment in a point that the width of the back frame 44 is constant and a point that the support body 42 has a pair of waist frames 64.In the present embodiment, the width of the rear side frame 44 is approximately constant from the upper end portion 44 ato the lower end portion 44 b. Accordingly, the rear side frame 44 has a rectangular shape elongated in the up-and-down direction. The first guide 46 in the present embodiment is provided along the right and left edges of the rear side frame 44.FIG. 10 is a cross-sectional view taken along the direction of the arrows on a line A-A in FIG. 9 ; as shown in FIG. 10, the first guide 46 has a pair of wall portions 70. the paired wall portions 70 are integrally formed with the rear frame 44. The paired wall portions 70 extend in the up-and-down direction along the right and left edges of the rear side frame 44. Accordingly, the paired wall portions 70 extend along both the right and left sides of the first sliding contact surface 48. Each of the pair of wall portions 70 has a wall body 70 aprotruding from the first sliding contact surface 48 and a protruding portion 70 bprotruding inward from a distal end of the wall body 70 a.The paired wall portions 70 prevent the belt body 13 from dropping off the first sliding contact surface 48 through the wall bodies 70 aand the protruding portions 70 b. That is, the belt body 13 moves through a space surrounded by the rear side frame 44 and the pair of wall portions 70. This enables the belt body 13 to be prevented from dropping off the first sliding contact surface 48 more efficiently.Referring to FIG. 9, the paired waist frames 64 extend in the right and left direction from the lower end portions 44 bof the rear side frame 44. For example, in a case where the back frame 44 is made of resin, the pair of waist frames 64 are integrally provided with the back frame 44. In addition, in a case where the rear side frame 44 is made of metal, the pair of waist frames 64 are fixed to the rear side frame 44 by connecting members such as screws, rivets, or the like. In the present embodiment, the pair of waist frames 64 are integrally provided with the back frame 44.The paired waist frames 64 extend along the rear belt portion 40b on the upper side. The paired waist frames 64 are fixed to the rear belt portion 40 bon the upper side. End portions 64 aof the pair of waist frames 64 extend to the connecting portions 40 c. The paired waist frames 64 fixed to the upper side rear belt portion 40 bare curved together with the upper rear belt portion 40 band wrapped around the waist BW of the user, thereby being seated at the waist BW. Thus, the rear side frame 44 is connected to the pair of waist frames 64 wrapped around the waist BW, so that a moment M (see FIG. 4 ) can be generated even more efficiently as compared with the case where the rear side frame 44 is fixed only to the rear belt portion 40 bof the third harness 40, which is a belt-like member made of fabric or the like, as in the above-explained embodiment.In addition, in the present embodiment, the protection plate 52 of the protection member 50 has a rectangular shape elongated in the up-and-down direction. The second guide 54 is provided along the right and left edges of the protection plate 52. FIG. 11 is a cross-sectional view taken along the direction of the arrows on the line B-B in FIG. 9 ; as shown in FIG. 11, the second guide 54 has a pair of wall portions 72. the paired wall portions 72 are integrally formed with the protection plate 52. The paired wall portions 72 extend along the right and left edges of the protection plate 52 in the up-and-down direction. Each of the pair of wall portions 72 has a wall body 72 aprotruding from the second sliding contact surface 58 and a protruding portion 72 bprotruding inward from a distal end of the wall body 72 a.The paired wall portions 72 prevent the belt body 13 from dropping off the second sliding contact surface 58 through the wall bodies 72 aand the protruding portions 72 b. That is, the belt body 13 moves through a space surrounded by the protection plate 52 and the pair of wall portions 72. Thereby, it can be made possible to more efficiently allow the belt body 13 to fall off the second sliding contact surface 58.Otherwise,The embodiments disclosed herein are exemplary in all respects and are not limiting. In each of the above-described embodiments, an example in which the rear side frame 44 and the protective member 50 are connected by the hinge 56 is given, but the rear side frame 44 and the protective member 50 may be integrally formed. In addition, in each of the above embodiments, a case where the protection member 50 is provided is explained, but the protection member 50 does not need to be provided. In this case, the weight of the support device 10 can be reduced. However, the provision of the protection member 50 as described above enables preventing the movement of the belt body 13 from being impaired because the belt body 13 comes into contact with the buttocks or the like below the waist.In addition, in each of the above-explained embodiments, a case is illustrated in which the straps 26 of the second harness 12 are attached to the lower portions of the knees BN, but the straps 26 may be attached to the upper portions of the knees BN, or they may be in the form of supports set from the upper portions to the lower portions of the knees BN.The scope of the present invention is not limited to the above embodiments, and includes all changes within the scope of equivalents to the configurations recited in the claims.List of reference characters10 Support device 11 First harness 12 Second harness 13 Belt body 14 Actuator 15 Control unit 16 First belt 16 aEnd portion 16 bOther end portion 17Second belt 17 aEnd portion 17 cInter portion 17 dOther end portion 18 Connection member 19 Left leg belt portion 20 Right leg belt portion 21 Base 22 Shoulder belt 22 a Distale end portion 23 Pad member 24Low leg belt portion 24L Left lower leg belt portion 24R Recht lower leg belt portion 24 a Oberer end portion 24 bLow end portion 24 cConnect belt 24 f Vorderer belt 24 r Hinter belt 25 Foot belt 25 aEnd 25 bOther end 25 cContact surface 26 Tether 26 a Loch portion 27 Ring-like body 28 Fastening device 28 aFirst member 28 bSecond member 29 Short belt 30 Control box 31 Back plate 32 Cover 32 aOpen 33 Motor 34 Reduction gear unit 34 a Abgabe shaft 35 Drive pulley 36 Rotation detector (rotation detector) 37 Battery 38 Sensor 40 Third mount 40 a Vorderer belt portion 40 b Hinter belt portion 40 cConnection portion 40 dConnection mounting part 42 Support body 44 Rear side frame 44 a Oberer end portion 44 b Unterer end portion 44 cOut side surface 44 d Side surface 45 a Schmaler width portion 45 b Width portion 46 First guide 46 aWall portion 46 a 1 Entgegengesetzt surfaces 48 First sliding contact surface 50 Protection member 52 Protection plate 52 cOut side surface 54 Second guide 54 aWall portion 54 a 1 Entgegengesetzt surfaces 56 Hinge 58 Second sliding contact surface 60Connection mounting part 60 aFirst member 60 bSecond member 64 Waist frame 64 aEnd portion 70Wall portion 70 aWall body 70 b Protruding portion 72 Wall portion 72 a Wall body 72 b Protruding portionReferences included in the specificationThis list of documents cited by the applicant has been produced in an automated manner and is only included for the better information of the reader. The list is not part of the German patent application or utility model application. The DPMA does not take any adhesion for any faults or omissions.Patent Literature citedJP 2021-49601 A

[0004]

Claims

A support device comprising: a first harness that sits on at least shoulders of a user; a second harness that sits on both right and left legs of the user; a third harness that sits on a waist of the user; a harness body provided along a back of the user bridging from the first harness to the second harness; an actuator provided in the first harness and allowing a portion of the harness body to be received and fed out; and a rear side frame connecting and maintaining a distance between the first harness and the third harness at a center of the user's back, wherein a first surface of the rear side frame facing away from the user has a first sliding contact surface over which the belt body slides in contact therewith, wherein the support device further includes a first guide that prevents the belt body from falling off the first sliding contact surface, and wherein the first guide is a wall portion that protrudes from the first surface along both right and left sides of the first sliding contact surface.- coated -- coated -The support device according to claim 1, further comprising a protection member that is plate-like and that is provided on a side of the back frame toward the legs, wherein a second surface of the protection member facing away from the user has a second sliding contact surface over which the belt body slides in contact therewith.The support device according to claim 4, wherein the protection member includes a second guide that prevents the belt body from falling off the second sliding contact surface.The support device according to any one of claims 1, 4, and 5, wherein the second harness includes: a pair of lower leg strap portions, upper end portions of which are connected to the strap body; a foot strap, which connects lower end portions of the pair of lower leg strap portions and also has a contact surface that comes into contact with a sole of a foot of the user; and a holding strap, which is provided on the pair of lower leg strap portions and which sits at a knee of the user.The support device according to claim 6, wherein the tether and the pair of lower leg belt portions are provided to be relatively movable along an extending direction of the pair of lower leg belt portions.

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