Power-assist suit drive device for underwater work and power-assist suit system

Abstract

To provide a drive technique for a power-assist suit suitable for transporting heavy articles underwater such as leveling work for riprap input to a breakwater foundation part.SOLUTION: A device for driving a power-assist suit for underwater work in the pneumatic artificial muscle system includes: a regulator 1 that decompresses compressed air branched from a supply hose AH for driving the power-assist suit; a control unit 3 that controls the supply of the compressed air decompressed by the regulator 1 to the power-assist suit; and a waterproof and pressure-resistant container 8 that houses at least partial elements constituting the control unit 3. The regulator 1 is configured as a diaphragm system that automatically maintains a constant pressure of the compressed air supplied on the basis of the detection of water pressure.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to a power-assisted suit drive device for underwater work and a power-assisted suit system, and in particular to technology that can effectively reduce the burden on the body of a person performing underwater work. [Background technology]

[0002] Among the various underwater tasks that divers are involved in, one of the most typical tasks is the leveling of rubble to be thrown into the breakwater foundation. In this task, divers carry, move, and roll stones weighing about 30 to 300 kg each, until the surface of the foundation stones is even. This task places a large load on the diver's elbows, and it is known that this task causes repeated fatigue.

[0003] As a technology for reducing the physical burden on workers, power-assisted suits (PAS) have been provided and patent applications have been filed. For example, Patent Document 1, listed below, discloses a power-assisted suit that reduces the physical burden by appropriately limiting the swing angle range of the wearer's thighs relative to the waist, which includes an attachment to be worn around the waist, an assist unit with a driven pulley that is attached to the attachment and the wearer's thighs to assist the movement between the wearer's waist and thighs, and a power unit that generates an assist torque, and the driven pulley is provided with an arm connected to the thigh attachment unit and a stopper mechanism that restricts the swing range of the arm, which is the swing range of the thighs relative to the waist.

[0004] Patent Document 2 discloses a power assist suit suitable for agricultural work, which is made up of an elastic part made of a loop-shaped linear member worn along the back of the wearer, a pair of shoulder belts attached to the elastic part at one end and wrapped around the wearer's shoulders, a pair of leg belts attached to the elastic part at one end and wrapped around the wearer's lower legs, and a waist belt wrapped around the wearer's waist so that the elastic part comes into contact with the wearer's waist, and the linear member is made of a material that is difficult to stretch under the load caused by the wearer's movements. This is said to provide an assist effect for various movements such as forward bending, lateral bending, and twisting movements of the wearer. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] JP2020-93310A "Power Assist Suit" [Patent Document 2] JP 2021-145711 A "Agricultural Assist Suit" Summary of the Invention [Problem to be solved by the invention]

[0006] Thus, power-assisted suits are effective as a technology for reducing the physical burden on workers, but no power-assisted suit suitable for underwater work, such as reducing the load on the elbows when leveling rubble to be thrown into the base of a breakwater, has yet been provided. The problem that the present invention aims to solve is to provide a power-assisted suit suitable for underwater work, and a drive unit required to realize it. [Means for solving the problem]

[0007] The inventors of the present invention have set forth the above-mentioned problem, and have carried out research and development with the goal of reducing the load on the elbows during the work of leveling rubble. As a result, the following results have been obtained. Result 1: The power assist suit will be an exoskeleton type with a rigid frame and other components arranged to provide assistance to the elbows. Result 2: Development of a waterproof pressure-resistant container, a partial pressure regulator for air supply, and an underwater switch as the driving device for the power-assisted suit. Result 3: In particular, a waterproof and pressure-resistant container was developed that can house the power switch control circuit, a microcomputer, and a microbattery and is capable of diving to a depth of 30m. Result 4: In addition, an air supply partial pressure regulator was developed that can branch off the 1 MPa air supplied to divers from the ship, reduce the pressure to around 0.5 MPa, and supply air to the artificial muscle. It also has specifications that can automatically detect water pressure and maintain a constant air pressure when supplying air.

[0008] The achievement of these results gave a clear prospect for solving the above problems, and based on this, the present invention was completed. That is, the invention claimed in this patent application, or at least the invention disclosed therein, as a means for solving the above problems is as follows.

[0009] [1] A device for driving a power-assisted suit for underwater work using a pneumatic artificial muscle system, comprising a regulator that reduces the pressure of compressed air branched off from an air supply hose for driving the power-assisted suit, a control unit that controls the supply of the compressed air reduced in pressure by the regulator to the power-assisted suit, and a waterproof, pressure-resistant container that contains at least some of the elements that make up the control unit. [2] The power-assisted suit drive device for underwater work described in [1], characterized in that the regulator is formed in a manner that automatically adjusts the pressure of the compressed air being supplied to a constant value based on the detection of water pressure. [3] The power-assisted suit drive device for underwater work described in [2], characterized in that the regulator is equipped with an optional adjustment means that allows the wearer of the power-assisted suit to adjust the pressure of the compressed air being supplied at will. [4] The control unit of the power-assisted suit drive device for underwater work described in [2] is characterized in that it comprises a set of auxiliary equipment consisting of an electromagnetic valve control unit housed in the container and other drive or control equipment, a solenoid valve unit controlled by the solenoid valve control unit, and a command input unit related to commands that cause the solenoid valve unit to function, and the solenoid valve unit controls the intake, supply, and exhaust of compressed air for driving the power-assisted suit.

[0010] [5] The power-assisted suit drive device for underwater work described in [4], characterized in that the solenoid valve unit is provided outside the container. [6] The power-assisted suit drive device for underwater work described in [5], characterized in that the solenoid valve unit is waterproofed by molding. [7] The power assist suit drive device for underwater work described in either [4] or [5], characterized in that the control unit is configured to be able to set the time from when a drive command is issued to when drive of the pneumatic artificial muscle begins. [8] A power-assisted suit drive device for underwater work described in either [4] or [5], characterized in that the container is formed so that it can be worn by the person wearing the power-assisted suit. [9] The underwater work power assist suit drive device described in either [4] or [5], characterized in that the command input unit is formed so that the wearer can input commands at their fingertips.

[0011]

[10] A power assist suit drive device for underwater work described in either [4] or [5], characterized in that the command input unit uses an input method other than input at the wearer's hand.

[11] A power assist suit drive device for underwater work described in either [4] or [5], characterized in that it is used to assist a wearer of a power assist suit driven by pneumatic artificial muscles.

[12] A power assist suit drive device for underwater work described in either [4] or [5], characterized in that it is used for underwater work such as transporting heavy objects.

[13] A power-assisted suit system comprising a power-assisted suit drive device for underwater work described in either [4] or [5], a power-assisted suit equipped with the power-assisted suit drive device for underwater work, and an air supply means for supplying air to the power-assisted suit. Effect of the Invention

[0012] The power-assisted suit drive device for underwater work and the power-assisted suit system of the present invention are configured as described above, and therefore it is possible to provide a power-assisted suit suitable for underwater work, such as reducing the load on the elbows of divers when leveling rubble to be thrown into the base of a breakwater. This reduces the physical load in heavy load transportation and other underwater work, reduces the burden and fatigue of the worker, and improves the efficiency of underwater work. [Brief description of the drawings]

[0013] [Figure 1] FIG. 1 is an explanatory diagram conceptually showing the basic configuration of the power-assisted suit drive device for underwater work of the present invention. [Diagram 2] 2 is an explanatory diagram showing the basic operation of the power-assisted suit drive device for underwater work of the present invention shown in FIG. 1. [Diagram 3] An explanatory diagram showing an overview of an example of a power-assisted suit using the underwater work power-assisted suit drive device of the present invention. [Figure 4] FIG. 4 is a side view explanatory diagram conceptually showing an example of use of the power-assisted suit example shown in FIG. 3 (before driving begins). [Figure 4-2] FIG. 4 is a side view illustrating a conceptual example of the use of the power-assisted suit example shown in FIG. 3 (after starting to drive). [Diagram 5] An explanatory diagram conceptually showing an example of the configuration of a regulator for the underwater work power assisted suit drive device of the present invention. [Figure 6] An explanatory diagram conceptually showing an example of the configuration of a control unit for the underwater work power assisted suit drive device of the present invention. [Figure 7] This is an explanatory diagram of the main parts conceptually showing an example of the configuration of a power-assisted suit drive device for underwater work of the present invention, in which the solenoid valve unit is provided outside the container. [Figure 7-2] FIG. 8 is an explanatory diagram conceptually showing an example of the configuration in which an electromagnetic valve unit is molded in the example of the power-assisted suit drive device for underwater work of the present invention shown in FIG. 7. [Figure 8] This is an explanatory diagram conceptually showing an example of the configuration of a power-assisted suit drive device for underwater work of the present invention, in which an solenoid valve unit is installed inside a container. [Figure 9] FIG. 2 is an explanatory diagram of the main parts conceptually showing an example of the operation of the control unit of the power-assisted suit drive device for underwater work of the present invention. [Figure 10] FIG. 2 is an explanatory diagram conceptually illustrating an example of the configuration of the command input section of the power-assisted suit drive device for underwater work of the present invention. [Figure 11] 1 is an explanatory diagram conceptually showing the basic configuration of the power assist suit system of the present invention. [Figure 12] 1 is an explanatory diagram conceptually showing the basic configuration and operation of an embodiment of a power-assisted suit drive device for underwater work of the present invention. FIG. [Figure 13] FIG. 2 is an explanatory diagram conceptually illustrating a detailed configuration of a control unit according to an embodiment of the present invention. [Figure 14] FIG. 2 is a perspective view illustrating the external configuration of the embodiment of the present invention in a state where a hose is connected; [Figure 15] FIG. 2 is a photograph (rear view) showing the embodiment of the power assist suit system of the present invention worn by a worker. [Figure 16] FIG. 2 is a photograph (front) showing an embodiment of the power assist suit system of the present invention worn by a worker. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0014] The present invention will now be described in detail with reference to the drawings. Fig. 1 is an explanatory diagram conceptually showing the basic configuration of the power-assisted suit drive device for underwater work of the present invention. Fig. 2 is an explanatory diagram showing the basic operation of the power-assisted suit drive device for underwater work of the present invention shown in Fig. 1, and Fig. 3 is an explanatory diagram showing an overview of an example of a power-assisted suit using the power-assisted suit drive device for underwater work of the present invention shown in Fig. 1. Fig. 1 shows two examples, one in which the control unit 3 is housed in a container 8 ((a) in the figure) and the other in which a part of the control unit 3 is housed in the container 8 ((b) in the figure).

[0015] As shown in these figures, this underwater work power-assisted suit drive device 10 is a device for driving an underwater work power-assisted suit that uses a pneumatic artificial muscle system, and is mainly composed of a regulator 1 that reduces the pressure of compressed air branched off from the air supply hose AH for driving the power-assisted suit, a control unit 3 that controls the supply of the compressed air reduced in pressure by the regulator 1 to the power-assisted suit, and a waterproof, pressure-resistant container 8 that contains at least some of the elements that make up the control unit 3.

[0016] In this underwater work power-assisted suit drive device 10 having such a configuration, compressed air branched off from the air supply hose AH for driving the power-assisted suit is reduced in pressure in the regulator 1, and the supply of the reduced pressure compressed air to the power-assisted suit is controlled by the control unit 3 and sent to pneumatic artificial muscles (hereinafter simply referred to as "artificial muscles") AM, AM in both arms of the power-assisted suit wearer (worker) MN, driving the power-assisted suit.

[0017] The power assist suit shown in Fig. 3 is an example of a mechanism for assisting the elbow joint, in which artificial muscle AM ​​fixed to the upper arm is connected to the frame of the forearm with a wire, and when the artificial muscle AM ​​contracts, the forearm is pulled and the elbow is bent, providing assistance. This is merely one example, and the drive device of the present invention is not limited to elbow joint assistance, but can be used for all power assist suits driven by pneumatic artificial muscles. For example, a shoulder joint assist suit, a waist assist suit, or a lower limb assist suit.

[0018] Among the elements constituting the control unit 3, there are elements that require protection from water intrusion and water pressure, or for which protection from water intrusion and water pressure is desirable, and at least these elements are contained in a waterproof and pressure-resistant container 8, and by being contained therein, they are protected from water intrusion and water pressure.

[0019] That is, as described below, the control unit 3 may be configured to include electronic and electrical devices and parts such as a microcomputer, a microbattery, and a control circuit for a push button switch, which require appropriate waterproof protection and protection from water pressure. The container 8 of the underwater work power assist suit drive device 10 of the present invention is waterproof and pressure resistant, and has specifications that satisfy such requirements.

[0020] The difference between the configurations shown in (a) and (b) in Fig. 1 will be explained later using another drawing, and here it is only shown that both patterns exist. Also, in Fig. 2, the configuration of the (b) pattern in Fig. 1 is shown as a representative, but the configuration of the (a) pattern may of course be used. The fact that one of the patterns is sometimes shown as a representative is the same in the following drawings.

[0021] FIG. 4 and FIG. 4-2 are explanatory side views conceptually showing an example of the use of the power-assisted suit shown in FIG. 3, the former showing the state before the start of driving, and the latter showing the state after the start of driving. As shown in the figure, this is an example of a power-assisted suit for assisting an elbow joint. Compressed air branched from an air supply hose AH for driving the power-assisted suit is decompressed in a regulator 1 of the power-assisted suit driving device 10 for underwater work, and the supply of the decompressed compressed air to the power-assisted suit is controlled by a control unit 3 and sent to the artificial muscles AM, AM of both arms of the worker MN, driving the power-assisted suit. When the worker lifts a work object OB (FIG. 4) supported by his forearm, the action of lifting it upward is assisted by the driving force applied to the arm (FIG. 4-2).

[0022] 5 is an explanatory diagram conceptually showing an example of the configuration of a regulator for the underwater work power-assisted suit drive device of the present invention. As shown in the figure, the regulator 21 of this underwater work power-assisted suit drive device can be configured to include pressure-sensing means 21S for sensing water pressure, and automatic adjustment means 21P for automatically adjusting the pressure of the compressed air to be supplied based on the water pressure detected by the pressure-sensing means 21S.

[0023] Underwater, the water pressure increases by 0.1 MPa per 10 m of water depth, so the artificial muscles are subjected to external pressure according to the water depth, and the pressure of the compressed air inside the artificial muscles decreases. Therefore, if a constant pressure is supplied to the artificial muscles, the contracting force of the artificial muscles weakens as the water depth increases, and the assisting force of the assist suit decreases. However, with the present regulator 21 configured as described above, the pressure-sensing means 21 senses and detects the water pressure at the water depth where the underwater work power assist suit drive device is located, and the automatic adjustment means 21P automatically adjusts the pressure of the compressed air to be supplied to a constant value based on this detected water pressure. This allows the power assist suit to be used underwater without any problems, without the assisting force decreasing due to the influence of water pressure.

[0024] In this application, a system such as regulator 21 that automatically adjusts the pressure of the compressed air to be supplied to a constant value based on the detection of water pressure is also referred to as a "medium pressure maintenance system." The first stage used in scuba diving can be said to be exactly this medium pressure maintenance system, and regulator 21 according to the present invention also uses this principle. That is, the system is configured to detect water pressure using pressure sensing means 21 using a diaphragm or the like, and to use an elastic body such as a spring to utilize its elastic force to adjust the pressure in the medium pressure chamber by the force of the spring so that "pressure in medium pressure chamber - water pressure = constant."

[0025] This configuration makes it possible to use the assist suit underwater without the assist force being reduced by the influence of water pressure. In other words, with this regulator 21, the pressure value inside the artificial muscle can be kept constant even if the water depth changes, and a constant assist force can always be obtained. As mentioned above, the medium pressure retention method can use a diaphragm that deforms due to water pressure, and can be a method consisting of an air supply adjustment structure that adjusts whether or not compressed air is supplied by the deformation of the diaphragm.

[0026] As shown in the figure, the regulator 21 can be configured to include, in addition to the automatic adjustment means 21P, an optional adjustment means 22M that allows an operator to arbitrarily adjust the pressure of the compressed air to be sent, for example, manually. For example, an input unit for optional adjustment is provided in the automatic adjustment means 21P, and the pressure of the compressed air to be output can be changed and adjusted by the operator performing a predetermined operation on this input unit at his / her discretion. Although the method is not limited to this, the provision of the optional adjustment means 22M enables arbitrary adjustment of the compressed air pressure, which is the source of drive for the artificial muscle.

[0027] 6 is an explanatory diagram conceptually showing an example of the configuration of the control unit of the underwater work power-assisted suit drive device of the present invention. As shown in the figure, the control unit 33 of this underwater work power-assisted suit drive device mainly comprises a solenoid valve control unit 34 housed in a container (not shown) and a set of auxiliary equipment 35 consisting of other drive or control equipment, a solenoid valve unit 36 ​​controlled by the solenoid valve control unit 34, and a command input unit 37 related to commands that cause the solenoid valve control unit 36 ​​to function.

[0028] With this configuration, at least the solenoid valve control unit 34 and auxiliary equipment set 35 of the components of this control unit 33 are housed in a waterproof and pressure-resistant container, and are protected from water intrusion and water pressure. The solenoid valve unit 36 ​​controls the intake, supply and exhaust of compressed air for driving the power-assisted suit, and such control is performed by the function and action of the solenoid valve control unit 34.

[0029] Furthermore, in the command input section 37, a command for operating the solenoid valve control section 36 is input by the operator, and as a result, the above-mentioned control of the solenoid valve unit 36 ​​can be finally performed via the solenoid valve control section 34. As a specific method for controlling the supply and exhaust of compressed air, for example, a three-port solenoid valve can be suitably used.

[0030] FIG. 7 is a schematic diagram of a main part of a power-assisted suit drive device for underwater work according to the present invention, in which the solenoid valve unit is provided outside the container. As shown in the figure, the power-assisted suit drive device for underwater work can be structured such that the solenoid valve unit 36 ​​constituting the control unit 33 is provided outside the container 38. The solenoid valve unit 36 ​​can be configured, for example, so that compressed air is sucked, supplied, and exhausted at three ports of a three-port solenoid valve, but these connection ports are exposed underwater. Therefore, if the solenoid valve is installed inside the container 38, in the unlikely event that seawater or the like flows back, the inside of the container 38 will be flooded through the solenoid valve. Therefore, the solenoid valve unit 36 ​​is structured to be provided outside the container 38.

[0031] Fig. 7-2 is a schematic diagram of a main part of the embodiment of the drive device for the power-assisted suit for underwater work according to the present invention shown in Fig. 7, in which the solenoid valve unit is molded. As shown in the figure, when the solenoid unit 36 ​​is disposed outside the container 38, it is preferable that the solenoid valve unit 36 ​​is waterproofed with a mold MD. For example, polyurethane resin or the like can be suitably used for the molding process.

[0032] 8 is a schematic diagram of a main part of a configuration example of the drive device for a power-assisted suit for underwater work of the present invention, in which the solenoid valve unit is provided inside the container. As described above, in order to prevent water from entering the container 38 due to backflow, it is desirable to provide the solenoid valve unit 36 ​​outside the container 38, but the present invention is not limited to this. As shown in this figure, the solenoid valve unit 46 may be configured to be stored inside the container 48.

[0033] 9 is a schematic diagram of a main part of the control unit of the drive device for the power-assisted suit for underwater work of the present invention. As shown in the figure, the control unit 53 of the drive device for the power-assisted suit for underwater work can be configured to allow one or more settings for driving the artificial muscles. These settings can be made in advance, but they can also be configured to be set partially or entirely by command.

[0034] As shown in the figure, the drive control of the artificial muscle is as follows: "Artificial muscle drive" ON / OFF (connection / disconnection), "Drive command to drive start time" i.e., the time from when a drive command is issued to the artificial muscle to when drive starts, "Drive time", i.e., the time that the drive continues (drive retention time), "Drive stop" i.e., stopping the drive of artificial muscles, ... In particular, the "setting of the time from when the drive command is issued until the drive start" is useful for the power assist suit drive device for underwater work from the viewpoint of time difference control for each action in water.

[0035] For example, in the task of leveling riprap, there are three types of actions: a "lifting action" to lift up and set down the riprap, a "carrying action" to lift up and transport the riprap, and a "rolling action" to roll the riprap and transport it. The time that the riprap is held for each action is different. Therefore, it is essential to "set the time from the drive command to the start of drive" that corresponds to the riprap holding time for each action. In other words, the time from the drive command to the exhaust of compressed air to the artificial muscle should be set appropriately for each action. This will be explained later in the examples.

[0036] FIG. 10 is a schematic diagram of a main part of the underwater work power-assisted suit drive device of the present invention, conceptually showing an example of the configuration of the command input unit. As shown in the figure, the command input unit 67 of the underwater work power-assisted suit drive device 610 can be configured so that the wearer MN can input commands at his / her hand. With this configuration, the wearer MN can operate the command input unit 67 at his / her hand to control the drive of the artificial muscle AM. The command input unit 67 can be of any suitable structure, such as a push-button type underwater switch that can be operated by fingers. In addition, it is also possible to appropriately design the push-button switch to have a command mode such as a single push, a long push, or a double click, depending on the type of operation to be driven.

[0037] Regardless of the above explanation, the command input unit of the underwater work power assist suit drive device may of course be configured using an input method other than input at the wearer's hand, such as a method of operating with the neck or chin, or a method of issuing commands without contact using an electromagnetic system.

[0038] As shown in Fig. 10, the container 68 constituting the underwater work power assist suit drive device 610 can be configured so that it can be worn by the person MN wearing the power assist suit. The preferred wearing form is a back-carrying form as shown in Figs. 15 and 16, which will be described later in the embodiment, in terms of reducing the load on the body of the worker MN and improving workability, but is not limited to this. In addition, a non-wearing form is not excluded from the present invention.

[0039] As described above, the power assist suit drive device 10 of the present invention for underwater work and the like can be widely used to assist the wearer of a power assist suit driven by pneumatic artificial muscles. In other words, the power assist suit to which the drive device 10 and the like can be applied is not limited to elbow joint assistance, but can be used for all power assist suits driven by pneumatic artificial muscles. Note that the embodiment described below is for elbow joint assistance, but this is an example that is particularly suitable for heavy load transportation work underwater, such as leveling rubble.

[0040] In this way, the power assist suit drive device 10 for underwater work of the present invention, which is composed of a regulator 1, a control unit 3, a waterproof pressure-resistant container 8, etc., enables a power assist suit driven by pneumatic artificial muscles to be used as a stand-alone type underwater, in other words, it enables the underwater worker (diver) to operate and use it alone, without the need for a work assistant on land or on a ship to operate the power assist suit, or to adjust the pressure of the compressed air supplied to the artificial muscles.

[0041] 11 is an explanatory diagram conceptually showing the basic configuration of the power-assisted suit system of the present invention. As shown in the figure, the power-assisted suit system 60 is mainly composed of a power-assisted suit drive device 10 for underwater work having any of the configurations described above, a power-assisted suit 20 equipped with the power-assisted suit drive device 10 for underwater work, and an air supply means 30 for supplying air to the power-assisted suit 20.

[0042] According to the power-assisted suit system 60 having such a configuration, air is supplied from the air supply means 30 to the power-assisted suit 20, and this air is branched into breathing air for the worker MN and air for driving the artificial muscles AM. The compressed air branched off for driving the artificial muscles is reduced in pressure by the regulator 2 of the underwater work power-assisted suit driving device 10, and the intake, supply and exhaust are controlled by the control unit 3, and the air is supplied to the artificial muscles AM of the power-assisted suit 20, driving the artificial muscles AM. EXAMPLES

[0043] The following describes a drive device for an elbow joint power assist suit and the power assist suit as an embodiment of the present invention. However, as already mentioned, the drive device of the present invention can be applied to all power assist suits driven by pneumatic artificial muscles, such as for shoulder joints, waist assistance, and lower limbs, and the present invention, including the specific configuration and detailed specifications, is not limited to the embodiment described below.

[0044] [1] Power Assist Suit First, an overview of the power assist suit of this embodiment (hereinafter also simply referred to as the "assist suit") will be provided. This is an elbow joint assist suit that reduces the strain on a diver's arms when they carry or roll rubble that has been thrown into the sea to level the surface of the foundation, i.e., when they perform leveling work.

[0045] The frame of the assist suit is composed of the forearm and upper arm, and by connecting the artificial muscle fixed to the upper arm with the frame of the forearm with a wire, when the artificial muscle contracts, the forearm is pulled and the elbow is bent, providing assistance. Two Mckibben type artificial muscles are used in each arm. The frame is made of A5052 aluminum, which is seawater resistant and relatively rigid. In addition, rubber sheets and cushioning materials are used in designated places on the frame to improve the fit to the wearer's arms and protect the arms.

[0046] [2] Overview of drive unit configuration 12 is an explanatory diagram conceptually showing the basic configuration and operation of an embodiment of a power-assisted suit drive device for underwater work according to the present invention. As shown in the figure, the power-assisted suit drive device 710 for underwater work according to this embodiment is configured to include a regulator 71 that reduces the pressure of compressed air branched off from an air supply hose for driving the assist suit, a control unit 73 that controls the supply of the compressed air reduced in pressure by the regulator 71 to the assist suit, and a waterproof and pressure-resistant container 78 that contains some of the elements that make up the control unit 73.

[0047] The control unit 73 is composed of a solenoid valve control unit (switch control circuit) 74 and a set of auxiliary equipment 75, which are elements to be housed within the container 78, and a solenoid valve unit 76, which is an element to be placed outside the container 78. In addition, a command input unit 77 is provided for inputting commands to function the solenoid valve control unit 76. The command input unit 77 is a push-button type underwater switch. When the wearer presses the push button on this underwater switch, compressed air is supplied to the artificial muscle.

[0048] [3] Additional Technology: Emergency Valve Incidentally, the assist suit according to this embodiment is equipped with an emergency valve EE, as shown in Fig. 12, in addition to the drive unit 710. An overview of this emergency valve will be given below. The purpose of the emergency valve EE is to allow the wearer of the assist suit to manually release the air in the event of an emergency while working underwater. If the assist suit breaks down while working underwater and the wearer is assisted, the elbow joint will be constrained in a bent position. Therefore, the emergency valve EE is installed in a position where it can be operated even in this state, and by manually opening it, the compressed air filled in the artificial muscle AM ​​can be forcibly released, allowing the elbow joint to move freely.

[0049] It is recommended that emergency valves EE be installed near the left and right wrists of the assist suit. Even when the artificial muscle AM ​​is filled with compressed air and the elbow joint is fixed at 90 degrees, the emergency valve near the other wrist can be opened with the opposite hand to release the fixation. Note that even after the emergency valve is opened, compressed air continues to be supplied from the air supply hose, but the elbow joint can still be moved freely.

[0050] [4] Detailed configuration of the control unit 13 is an explanatory diagram conceptually showing the detailed configuration of a control unit according to an embodiment of the present invention. As shown in the figure, in addition to the solenoid valve control unit (switch control circuit) 74, a battery 75B and a main power supply circuit 75P are provided as a set of auxiliary equipment that are elements of the control unit 73 housed in a container 78. An Arduino microcomputer is used for the switch control circuit. The battery 75B serves as the power source for the solenoid valve control unit (switch control circuit) 74 and the main power supply circuit 75P.

[0051] A three-port solenoid valve was used for the solenoid valve unit 76, which controls the intake, supply, and exhaust of compressed air. The solenoid valve unit 76 was installed outside the container 78 and waterproofed with polyurethane resin molding. This makes it possible to prevent seawater from entering the container 78 even in the unlikely event that seawater flows back.

[0052] [5] Drive unit with hose connected 14 is an explanatory perspective view showing the external configuration of an embodiment of the present invention with a hose connected. The main power switch PW is an ON / OFF switch for the entire drive device, and when the power is turned on (ON), lighting fixtures such as LED lamps installed inside the container 78 are turned on. A transparent material such as polycarbonate is used for the top surface of the container 78 so that the lighting state and the inside of the container 78 can be seen.

[0053] Couplers were used to connect and disconnect each port 76a, 76b, 76c of the solenoid valve unit 76 to the hose DH, etc. Branching device BF is used to branch the compressed air supply path in order to supply air from the air supply hose AH to the artificial muscle. Check valves are provided at designated locations to prevent backflow of seawater from the exhaust port and backflow of compressed air inside the artificial muscle into the breathing air supply hose.

[0054] [6] Drive control program When leveling riprap, divers use both hands to touch and handle the riprap underwater, making it difficult to work while pressing a push-button underwater switch. Therefore, instead of starting operation immediately after turning on the underwater switch, we decided to use a method in which compressed air is supplied to the artificial muscle after a certain period of time, such as three seconds, has elapsed. This allows divers to lift the riprap with both hands free after finishing operating the underwater switch.

[0055] Since the amount of time the sacrificial stones are held varies for each of the three types of actions - the "lifting action" of lifting up and lowering the sacrificial stones, the "carrying action" of lifting up and transporting the sacrificial stones, and the "rolling action" of rolling the sacrificial stones and transporting them - a program was created that changes the amount of time until the compressed air is exhausted by operating a button switch corresponding to each action.

[0056] For the lifting, carrying, and rolling actions, the time from when compressed air is supplied to when it is exhausted is set to 5, 10, and 20 seconds, respectively, by pressing the push button switch once, holding it down, and double-clicking it. These times can be set to any length by rewriting the program. An Arduino microcomputer board is used for the switch control circuit, and the program for the above-mentioned push button switch operation was written using this.

[0057] [7] Regulator The pressure (input) of the compressed air sent from a ship for divers to breathe is about 0.9 MPa. Underwater, the water pressure increases by 0.1 MPa for every 10 m of water depth. As a result, the artificial muscle is subjected to external pressure according to the water depth, and the pressure of the compressed air inside the artificial muscle decreases. Therefore, if a constant pressure is supplied to the artificial muscle, the contracting force of the artificial muscle weakens as the water depth increases, and the assisting power of the assist suit decreases. Therefore, by using the principle of the first stage used in scuba diving, we created a regulator that can always supply a constant pressure of compressed air to the artificial muscle regardless of the water depth.

[0058] The regulator 71 we created has a mechanism where the pressure sensor detects the water pressure, and the pressure in the medium pressure chamber is adjusted by the force of a spring so that "pressure in the medium pressure chamber - water pressure = constant." Furthermore, by inserting a hexagonal wrench into the hexagonal hole in the pressure sensor and rotating it, the pressure of the compressed air output can be manually adjusted anywhere from about 0.4 MPa to about 0.9 MPa. This makes it possible to use the assist suit underwater without the assist power decreasing due to the influence of water pressure (performance testing will be described later).

[0059] [8] Diving test 15 and 16 are photographs showing the embodiment of the present invention worn by a worker (diver), showing the back and front, respectively. The diver was asked to wear the assist suit 720 and the drive device 710 of the present invention and dive to a depth of 10 m, where he stayed for 10 minutes while lifting riprap. When the condition inside the container 78 was checked after surfacing, no water was found inside or any other abnormality was found.

[0060] [9] Regulator performance test A performance test of the regulator in comparison with the prior art will now be described. A diver was asked to wear the assist suit 720 and the drive unit 710 and dive to a depth of 10 m. The pressure change inside the artificial muscle was measured and compared using the manufactured regulator and a conventional regulator that does not adjust the pressure according to the depth.

[0061] When the pressure values ​​before and during diving when using the regulator according to the embodiment were compared, both were about 0.43 MPa, with no difference in pressure values. On the other hand, when using a conventional regulator, the pressure value was 0.49 MPa before diving, but 0.39 MPa during diving, with a pressure reduction of 0.1 MPa at a dive depth of 10 m. Therefore, it was confirmed that the regulator according to the present invention is effective in keeping the pressure value inside the artificial muscle constant even when the water depth changes, and in always obtaining a constant assist force.

[0062] As described above, the power assist suit drive device for underwater work of the present invention enables assist suits driven by pneumatic artificial muscles to be operated as a stand-alone type underwater, and its high practicality has been confirmed. [Industrial Applicability]

[0063] The power-assisted suit drive device and power-assisted suit system for underwater work of the present invention can reduce the physical load in heavy load transportation work and other underwater work, reduce the burden and fatigue of the worker, and improve the efficiency of underwater work. Therefore, this invention has high industrial applicability in technical and industrial fields that support underwater work, including marine civil engineering, and all related fields.

[0064] This invention was made as a result of the 2022 Machinery Promotion Subsidy Project by the Japan Kabushiki Kaisha (Japan Construction Association) Public Interest Foundation (subsidized project name: "Development of a power-assisted suit for leveling rubble in port construction work"). [Explanation of symbols]

[0065] 1, 21, 61, 71...Regulator 3, 33, 43, 53, 63, 73…Control section 8, 38, 48, 68, 78…container 10, 610, 710...Power assisted suit drive device for underwater work 20, 720...Power Assist Suit 21P…Automatic adjustment means 21S…Pressure-sensitive means 22M…Arbitrary adjustment means 30...Air supply means 34, 44, 54, 64, 74...Solenoid valve control section (switch control circuit) 35, 45, 55, 65, 75...Set of own equipment 36, 46, 56, 66, 76...Solenoid valve unit 37, 47, 57, 67, 77...Command input section, underwater switch 60...Power Assist Suit System 75B…Battery 75P…Main power circuit 76a, 76b, 76c... AH…Air supply hose, hose AM: Pneumatic artificial muscle BF: Branching equipment EE…Emergency valve DH, LH, RH...Hose MD: Mold MN: Power-assisted suit wearer (worker) OB: Work object PW…Main power switch

Claims

1. A device for driving a pneumatic artificial muscle type power assist suit for underwater work, A regulator that reduces the pressure of the compressed air branched off from the air supply hose for driving the power-assisted suit; A control unit that controls the supply of compressed air decompressed by the regulator to the power-assisted suit; and a waterproof and pressure-resistant container that accommodates at least some of the elements that constitute the control unit. Power-assisted suit drive device for underwater work.

2. The power assist suit drive device for underwater work as described in claim 1, characterized in that the regulator is formed in a manner that automatically adjusts the pressure of the compressed air to a constant value based on the detection of water pressure.

3. The power-assisted suit drive device for underwater work as described in claim 2, characterized in that the regulator is equipped with an optional adjustment means that allows the power-assisted suit wearer to adjust the pressure of the compressed air being supplied at will.

4. The control unit is A set of auxiliary equipment including a solenoid valve control unit and other driving or control equipment contained in the container; a solenoid valve unit controlled by the solenoid valve control unit; a command input unit for inputting a command for causing the solenoid valve unit to function; The solenoid valve unit controls the intake, supply and exhaust of compressed air for driving the power-assisted suit. The power assist suit drive device for underwater work according to claim 2.

5. The power-assisted suit drive device for underwater work according to claim 4, characterized in that the solenoid valve unit is provided outside the container.

6. The power-assisted suit drive device for underwater work according to claim 5, wherein the solenoid valve unit is waterproofed by molding.

7. The power assist suit drive device for underwater work according to claim 4 or 5, characterized in that the control unit is configured to be able to set the time from when a drive command is issued until when drive of the pneumatic artificial muscle begins.

8. A power-assisted suit drive device for underwater work as described in claim 4 or 5, characterized in that the container is formed so that it can be worn by a person wearing the power-assisted suit.

9. 6. A power assist suit drive device for underwater work according to claim 4, wherein the command input section is formed so that the wearer can input the command at his / her hand.

10. 6. A power assist suit drive device for underwater work according to claim 4, wherein the command input unit uses an input method other than input at the wearer's hand.

11. 6. A power assist suit drive device for underwater work according to claim 4 or 5, characterized in that it is used to assist a wearer of a power assist suit driven by pneumatic artificial muscles.

12. 6. A power assist suit drive device for underwater work according to claim 4 or 5, characterized in that it is used for underwater work such as heavy load transportation work.

13. A power-assisted suit system comprising a power-assisted suit drive device for underwater work as described in claim 4 or 5, a power-assisted suit equipped with the power-assisted suit drive device for underwater work, and an air supply means for supplying air to the power-assisted suit.

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