Coupler and power assist tool

Abstract

To provide a coupler capable of assisting a subsequent operation by connecting an object and utilizing elastic energy accumulated at the time of initial movement.SOLUTION: A coupler includes a case 13, an elastic deformation body 14 accommodated in the case 13, a contact body 15 whose tip side is connected to a first object and whose base side is in contact with the elastic deformation body 14 inside the case 13, and a second connection member 17 whose tip side is connected to the case 13 and whose base side is connected to a second object, where the elastic deformation body 14 is compressed to accumulate elastic energy in the time of toeing operation of the second object by the first object, and the elastic deformation body is restored during toeing operation of the second object by the first object, whereby the elastic energy accumulated in the elastic deformation body assists toeing operation of the second object by the first object or toeing operation of the first object by the second object.SELECTED DRAWING: Figure 2

Description

Technical Field

[0001] The present invention relates to a coupler and a power assist device that can utilize the elastic energy accumulated during startup to assist subsequent operations.

Background Art

[0002] Conventionally, in order to assist the movements of users whose muscle strength has declined due to illness or aging, or users who perform various operations in factories, transportation and handling operations at logistics sites, caregiving or agricultural work, etc., various assist devices have been proposed. For example, Patent Document 1 discloses an air-electric hybrid power assist robot for walking and posture rehabilitation. Patent Document 2 also discloses a wearable motion assist device that mounts a drive unit, a frame unit, and a communication unit in accordance with the shapes of the first and second body parts around the joints of the wearer (user). Furthermore, Patent Document 3 discloses a wearable work support suit that can assist in tasks involving bending and stretching of the waist and back.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Patent Document 2

Patent Document 3

Summary of the Invention

Problems to be Solved by the Invention

[0004] However, the power assist robot of Patent Document 1 is a large-scale device that is worn so as to cover the entire body of the user, and combines a pneumatic actuator and an electric actuator to control the torque necessary to assist the user's movement. Therefore, there are problems in that the structure and control are complex and lack mass productivity and practicality. In addition, the wearable motion assist device of Patent Document 2 also transmits the driving torque of the actuator corresponding to the movement of the joints of the wearer as an assist force to the first and second body parts, and as physical quantities related to the rotational movement between the first and second housing parts, the absolute angle, rotational angle, angular velocity, angular acceleration, and driving torque between the first and second housing parts are detected, and a communication unit is also required. Therefore, similar to Patent Document 1, there are problems in that the structure and control are complex and lack mass productivity and practicality. On the other hand, the work support suit of Patent Document 3 mainly corrects the left-right balance of the tensile force received from the belt and the belt due to the subtle left-right difference of the body of the worker (user), corrects it so as to be a left-right symmetric load during work, and also corrects the load balance associated with the movement of the upper body during work even in a situation where work with a lot of bending of the upper body and work in a standing posture are mixed. Therefore, it is not assumed to supply torque from the outside using an actuator to assist the movement of the user, and the structure is simplified and the weight is reduced compared to Patent Documents 1 and 2. In addition, Patent Document 3 describes that an elastic body is provided inside the back body worn on the back of the worker, and the movement of the worker is assisted by the elastic force of the elastic body. That is, in the work support suit of Patent Document 3, as the posture of bending the upper body of the worker is accompanied, the elastic body deforms and an elastic force is generated, and the elastic force acts in a direction that naturally prevents the worker from rolling forward by himself / herself. The burden on the back muscles and the burden on the legs and waist during work are reduced, and when performing a return motion of returning the upper body, the elastic force of the elastic body acts and the return motion for raising the body is assisted. However, since the elastic body is arranged along the back of the worker, the elastic body becomes a resistance to the movement of bending the upper body of the worker, increasing the load on the worker, and there is a problem that the elastic body hitting the back easily gives the worker a sense of discomfort (unease).In addition, since it is intended to assist work involving bending and stretching of the operator's waist and back, its use is limited, and there is also a problem of lacking versatility.

[0005] The present invention has been made in view of such circumstances, and is a coupler that can connect objects and utilize the elastic energy accumulated at the start-up to assist subsequent operations, and is worn on the body of a user who performs a reciprocating rotational motion. An object of the present invention is to provide a power assist device that can utilize the elastic energy accumulated during the forward rotation operation (start-up) to assist the subsequent reverse rotation operation.

Means for Solving the Problems

[0006] The coupler according to the first invention that meets the above object connects a first object and a second object, accumulates a part of the kinetic energy accompanying the relative movement between the first object and the second object as elastic energy, and uses the accumulated elastic energy to assist the operation of the first object or the second object.

[0007] In the coupler according to the first invention, a case, an elastic deformable body housed in the case, a first connecting member having a contact body or a connecting body whose front side is connected to the first object and whose base side abuts on or is connected to the elastic deformable body inside the case, and a second connecting member whose front side is connected to the case and whose base side is connected to the second object are provided. When the second object is pulled by the first object or when the first object is pulled by the second object, the elastic deformable body is compressed or stretched to accumulate elastic energy, and during the continuation of the pulling operation of the second object by the first object or the pulling operation of the first object by the second object, the elastic deformable body is restored, and the elastic energy accumulated in the elastic deformable body is used to assist the pulling operation of the second object by the first object or the pulling operation of the first object by the second object. This is preferable.

[0008] In the coupler according to the first invention, the base-side end portion of the first connecting member is fixed inside the case, and the contact body may be a moving pulley rotatably held on the base side of the first connecting member.

[0009] In the coupler according to the first invention, a case, a first elastic deformable body and a second elastic deformable body accommodated in the case, a first connecting member having a first contact body or a first connecting body whose front side is connected to the first object and whose base side abuts on or is connected to the first elastic deformable body inside the case, and a second connecting member having a second contact body or a second connecting body whose front side abuts on or is connected to the second elastic deformable body inside the case and whose base side is connected to the second object are provided. When the first object pulls the second object or the second object pulls the first object, the first elastic deformable body and the second elastic deformable body are compressed or extended to accumulate elastic energy, and during the continuation of the pulling operation of the second object by the first object or the pulling operation of the first object by the second object, the first elastic deformable body and / or the second elastic deformable body is restored, and the pulling operation of the second object by the first object or the pulling operation of the first object by the second object can be assisted by the elastic energy accumulated in the first elastic deformable body and / or the second elastic deformable body.

[0010] In the coupler according to the first invention, the base-side end portion of the first connecting member is fixed inside the case, the first contact body is a first moving pulley rotatably held on the base side of the first connecting member, the front-side end portion of the second connecting member is fixed inside the case, and the second contact body may be a second moving pulley rotatably held on the front side of the second connecting member.

[0011] In the coupler according to the first invention, the case is divided into a first case part and a second case part, the first elastic deformable body and the first contact body or the first connecting body are accommodated inside the first case part, and the second elastic deformable body and the second contact body or the second connecting body are accommodated inside the second case part. The first case part and the second case part may be rotatably connected.

[0012] The power assist device according to the second invention that meets the above object is a power assist device attached across a first body part of a user and a second body part of the user whose distal end is pivotally connected to the proximal side of the first body part so as to be reciprocally rotatable, It includes a first mounting part mounted on the first body part, a second mounting part mounted on the second body part, and a coupler that connects the first body part and the second body part via the first mounting part and the second mounting part, accumulates a part of the kinetic energy accompanying the forward rotation operation of the first body part with respect to the second body part as elastic energy, and assists the reverse rotation operation of the first body part with respect to the second body part with the accumulated elastic energy.

[0013] In the power assist device according to the second invention, the coupler includes a case, an elastic deformable body accommodated in the case, and a first connecting member having a contact body or a connecting body that is connected to the first body part via the first mounting part at the distal end and contacts or is connected to the elastic deformable body inside the case at the proximal end, and a second connecting member that is connected to the case at the distal end and is connected to the second body part via the second mounting part at the proximal end. When the first body part rotates forward with respect to the second body part, the elastic deformable body is compressed or stretched to accumulate elastic energy, and when the first body part rotates backward with respect to the second body part, the elastic deformable body is restored, so that the elastic energy accumulated in the elastic deformable body assists the reverse rotation operation of the first body part with respect to the second body part, which is preferable.

[0014] In the power assist device according to the second invention, the base end portion of the first connecting member may be fixed inside the case, and the contact body may be a moving pulley rotatably held on the base side of the first connecting member.

Effect of the Invention

[0015] According to the coupler according to the first invention, since the elastic energy accumulated while the first object and the second object are in relative motion is used to assist the subsequent operation of the first object or the second object, a separate drive source such as a motor is not required, and it is excellent in compactness and energy saving.

[0016] In the coupler according to the first invention, a case, an elastically deformable body housed in the case, a first connecting member having a contact body or a connecting body whose front side is connected to the first object and whose base side abuts on or is connected to the elastically deformable body inside the case, and a second connecting member whose front side is connected to the case and whose base side is connected to the second object are provided. When the second object is pulled by the first object or the first object is pulled by the second object, the elastically deformable body is compressed or extended to accumulate elastic energy, and during the continuation of the pulling operation of the second object by the first object or the pulling operation of the first object by the second object, the elastically deformable body is restored, so that the elastic energy accumulated in the elastically deformable body is used to assist the pulling operation of the second object by the first object or the pulling operation of the first object by the second object. In this case, the load at the start can be reduced and a smooth pulling operation can be realized.

[0017] In the coupler according to the first invention, when the base end portion of the first connecting member is fixed inside the case and the contact body is a moving pulley rotatably held on the base side of the first connecting member, the force required for pulling at the start can be halved, and it is excellent in labor saving.

[0018] In the coupler according to the first invention, a case, a first elastic deformable body and a second elastic deformable body accommodated in the case, a first contact body or a first connecting body having a tip connected to a first object and a base side contacting or being connected to the first elastic deformable body inside the case, and a second contact body or a second connecting body having a tip contacting the second elastic deformable body inside the case and a base side connected to a second object are provided. When the second object is pulled by the first object or the first object is pulled by the second object, the first elastic deformable body and the second elastic deformable body are compressed or stretched to accumulate elastic energy. During the continuation of the pulling operation of the second object by the first object or the pulling operation of the first object by the second object, when the first elastic deformable body and / or the second elastic deformable body is restored, the pulling operation of the second object by the first object or the pulling operation of the first object by the second object is assisted by the elastic energy accumulated in the first elastic deformable body and / or the second elastic deformable body. In this case, the assist force can be increased, there is no need to worry about the mounting direction during use, and the handleability is excellent.

[0019] In the coupler according to the first invention, when the base side end of the first connecting member is fixed inside the case, the contact body is a first moving pulley rotatably held on the base side of the first connecting member, the tip side end of the second connecting member is fixed inside the case, and the second contact body is a second moving pulley rotatably held on the tip side of the second connecting member, the force required for pulling at the start can be halved, and the labor saving property is excellent.

[0020] In the coupler according to the first invention, when the case is divided into a first case part and a second case part, the first elastic deformable body and the first contact body or the first connecting body are accommodated inside the first case part, the second elastic deformable body and the second contact body or the second connecting body are accommodated inside the second case part, and the first case part and the second case part are rotatably connected, even if the first object and the second object are not aligned in a straight line, the first elastic deformable body or the second elastic deformable body can be surely deformed to accumulate elastic energy and assist the pulling operation by the accumulated elastic energy.

[0021] According to the power assist device according to the second invention, the elastic energy accumulated along with the forward rotation operation of the first body part with respect to the second body part assists the subsequent reverse rotation operation of the first body part with respect to the second body part. Therefore, a drive source such as a motor is not required separately, and it is excellent in compactness and energy saving.

[0022] In the power assist device according to the second invention, the coupler includes a case, an elastically deformable body housed in the case, a first connecting member having a contact body or a connecting body whose front side is connected to the first body part via the first mounting part and whose base side abuts against or is connected to the elastically deformable body inside the case, and a second connecting member whose front side is connected to the case and whose base side is connected to the second body part via the second mounting part. When the elastic energy is accumulated by compressing or stretching the elastically deformable body during the forward rotation operation of the first body part with respect to the second body part, and the elastically deformable body is restored during the reverse rotation operation of the first body part with respect to the second body part, the elastic energy accumulated in the elastically deformable body assists the reverse rotation operation of the first body part with respect to the second body part. In this case, the user can accumulate elastic energy by the forward rotation operation of the first body part with respect to the second body part of the user himself / herself without receiving a large resistance (load), and the burden on the body during the reverse rotation operation is reduced.

[0023] In the power assist device according to the second invention, when the base side end of the first connecting member is fixed inside the case and the contact body is a moving pulley rotatably held on the base side of the first connecting member, the force required at the start of the forward rotation operation of the first body part with respect to the second body part is halved to reduce the load on the user, and elastic energy can be surely accumulated and the reverse rotation operation can be effectively assisted.

Brief Description of the Drawings

[0024]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Figure 8

Embodiments for Carrying Out the Invention

[0025] Subsequently, with reference to the attached drawings, embodiments embodying the present invention will be described to facilitate understanding of the present invention. The coupler 10 according to the first embodiment of the present invention will be described with reference to FIGS. 1(A), (B) and FIGS. 2(A), (B). The coupler 10 connects the first object 11 and the second object 12, accumulates a part of the kinetic energy accompanying the relative movement of the first object 11 and the second object 12 as elastic energy, and uses the accumulated elastic energy to assist the operation of the first object 11. As shown in FIGS. 2(A) and (B), the coupler 10 includes a case 13, an elastically deformable body 14 housed in the case 13, and a first connecting member 16 having a contact body 15 whose front side is connected to the first object 11 and whose base side abuts against the elastically deformable body 14 inside the case 13, and a second connecting member 17 whose front side is connected to the case 13 and whose base side is connected to the second object 12. Therefore, when the second object 12 is pulled by the first object 11, the connector 10 compresses the elastic deformable body 14 to accumulate elastic energy, and when the elastic deformable body 14 is restored during the continuation of the pulling operation of the second object 12 by the first object 11, the elastic energy accumulated in the elastic deformable body 14 can assist the pulling operation of the second object 12 by the first object 11.

[0026] As the material of the case 13, synthetic resins such as polyethylene, polystyrene, polycarbonate, polyamide, polyacetal, and ABS resin, or metals such as stainless steel are preferably used, but are not limited thereto, and are appropriately selected according to the use location of the connector 10 and the sizes and weights of the first object 11 and the second object 12. In the present embodiment, as shown in FIGS. 2(A) and 2(B), a total of four columnar elastic deformable bodies 14 are arranged in series on the left and right of the first connecting member 16. However, the elastic deformable body only needs to be able to accumulate elastic energy by being compressed between the case and the contact body during operation, and the shape, size, number, and arrangement of the elastic deformable body are appropriately selected. For example, the shape of the elastic deformable body may be spherical. Further, when a plurality of elastic deformable bodies are used, it is not necessary for the shapes and sizes of all the elastic deformable bodies to be the same, and a plurality of elastic deformable bodies having different shapes and / or sizes may be combined and used.

[0027] As the material of the elastic deformable body 14, an elastomer is preferable, and a thermoplastic elastomer is preferably used, but is not limited thereto, and synthetic rubbers such as butadiene rubber, urethane rubber, and silicone rubber may be used. When a plurality of elastic deformable bodies are used, it is not necessary for the materials of all the elastic deformable bodies to be the same, and a plurality of elastic deformable bodies having different materials may be combined and used. Further, a coil spring may be used as the elastic deformable body. As the material of the contact body 15, the same synthetic resin or metal as that of the case 13 is preferably used. The first connecting member 16 and the second connecting member 17 are preferably formed of a non-stretchable or low-stretchable (high-rigidity) material in order to transmit the relative movement between the first object 11 and the second object 12 to the contact body 15 and the case 13 without waste and compress the elastic deformable body 14 reliably (efficiently). Specifically, as the first connecting member 16 and the second connecting member 17, a belt made of synthetic fiber such as polyamide or leather is preferably used, but is not limited thereto. For example, a rope made of synthetic fiber such as polyethylene, polypropylene, polyester, polyamide, or a wire rope or chain made of metal may be used. Further, when the first object 11 and the second object 12 are large (heavy objects), a metal plate material (plate) or bar material may be used as the first connecting member and the second connecting member.

[0028] In the present embodiment, as shown in FIGS. 2(A) and 2(B), the coupler 10 has partition portions 19 disposed inside the case 13 on both sides in the width direction of the first connecting member 16 along the longitudinal direction of the first connecting member 16. By partitioning between the first connecting member 16 and the left and right elastic deformable bodies 14 with the partition portions 19 respectively, displacement of the elastic deformable body 14 and interference between the elastic deformable body 14 and the connecting member 16 are prevented, and the elastic deformable body 14 can be reliably compressed by the contact body 15 during the operation of the coupler 10. In the present embodiment, as shown in FIG. 2(A), the contact body 15 has left and right contact portions 20 that contact the elastic deformable body 14 on both sides of the first connecting member 16, and a connecting shaft 21 that connects the left and right contact portions 20 and is fixed to the base side of the first connecting member 16. Further, in the present embodiment, as shown in FIG. 2(B), a guide hole 22 is formed along the longitudinal direction of the first connecting member 16 at the center in the width direction of the partition portion 19. By inserting the connecting shaft 21 of the contact body 15 into the guide hole 22, the contact body 15 slides smoothly along the guide hole 22 during the operation of the coupler 10, and the compression and restoration of the elastic deformable body 14 are reliably performed. Note that the shapes, sizes, arrangements, etc. of the contact body and the partition portion are not limited to the present embodiment, and are appropriately selected according to the shape, size, number, arrangement, etc. of the elastic deformable body.

[0029] Also, in the present embodiment, as shown in FIGS. 2(A) and 2(B), the coupler 10 has a guide portion 25 inside the case 13 that sandwiches the first connecting member 16 between two rollers 23 and 24 of different sizes. When the first connecting member 16 connected to the contact body 15 passes through the insertion hole 27 of the case 13, it is guided by the guide portion 25, slides smoothly without slack, and has excellent operating stability. The number, size, and arrangement of the rollers are appropriately selected. Also, the guide portion only needs to be able to guide the slide of the first connecting member, and its form is not limited to the present embodiment and is appropriately selected. In the present embodiment, the contact body 15 is attached to the base side of the first connecting member 16. However, the base side end portion of the first connecting member may be fixed inside the case, and the contact body may be a moving pulley rotatably held on the base side of the first connecting member. That is, by folding the base side of the first connecting member so as to wrap around the connecting shaft of the contact body and fixing the base side end portion inside the case (here, the upper end side in FIG. 2(B)) to make the contact body function as a moving pulley, the force required for traction at the start of movement can be halved by the action of the contact body (moving pulley), and it has excellent labor-saving performance.

[0030] Hereinafter, the operation of the coupler 10 will be described. The coupler 10 is applied to the connecting portions of various traction means. For example, when vehicles such as trains or freight trains (container trucks) are connected by the coupler 10, each vehicle becomes the first object 11 and the second object 12. When a tractor (cab) of a truck and a trailer (loading platform) are connected by the coupler 10, the tractor becomes the first object 11 and the trailer becomes the second object 12. When the first object 11 pulls the second object 12, when the first object 11 starts to move, first, the first connecting member 16 is pulled by the first object 11 and moves together with the first object 11. Then, as the first connecting member 16 slides inside the case 13, the elastic deformable body 14 is compressed by the contact body 15 attached to the base side of the first connecting member 16. Thereby, a part of the kinetic energy of the first object 11 is accumulated in the elastic deformable body 14 as elastic energy. During this period, the first object 11 can move without receiving a load from the second object 12. After that, when the first object 11 continues to move and the elastic deformable body 14 is compressed to the limit, the case 13 is pulled by the first connecting member 16 and starts to move together with the first object 11. Further, the second object 12 is also pulled by the second connecting member 17 connected to the case 13 and starts to move. And the coupler 10 can assist the pulling operation of the second object 12 by the first object 11 with the elastic energy accumulated in the elastic deformable body 14 when the elastic deformable body 14 is restored during the continuous pulling operation of the second object 12 by the first object 11.

[0031] As described above, by applying the coupler 10 to the connecting part of the pulling means, the load at the start is reduced and smooth start-up is realized. At the same time, the elastic energy accumulated in the elastic deformable body 14 with the relative movement of the first object 11 and the second object 12 is effectively utilized, and the power required for the pulling operation is reduced. In addition, in the present embodiment, the operation when the first object 11 pulls the second object 12 has been described. However, even when the second object 12 pulls the first object 11 with the same configuration as the present embodiment, the same operations and effects as the present embodiment can be obtained.

[0032] Next, with reference to FIGS. 3 and 4, the coupler 10A according to the second embodiment of the present invention will be described. Note that the same components as those in the first embodiment are denoted by the same reference numerals and the description thereof is omitted. The connector 10A includes a case 13A, a first elastic deformable body 14A and a second elastic deformable body 14B housed in the case 13A, a first connecting member 16A having a first contact body 15A whose front side is connected to a first object (not shown) and whose base side abuts against the first elastic deformable body 14A inside the case 13A, and a second connecting member 17A having a second contact body 15B that abuts against the second elastic deformable body 14B inside the case 13A on the front side and whose base side is connected to a second object (not shown). In the present embodiment, the base side end of the first connecting member 16A is fixed inside the case 13A (here, the upper end side in FIG. 4), the first contact body 15A is a first moving pulley rotatably held on the base side of the first connecting member 16A, the front side end of the second connecting member 17A is fixed inside the case 13A (here, the lower end side in FIG. 4), and the second contact body 15B is a second moving pulley rotatably held on the front side of the second connecting member 16B.

[0033] When the second object is pulled by the first object, the connector 10A compresses the first elastic deformable body 14A and the second elastic deformable body 14B to accumulate elastic energy, and when the pulling operation of the second object by the first object continues, the first elastic deformable body 14A and / or the second elastic deformable body 14B is restored, so that the pulling operation of the second object by the first object can be assisted by the elastic energy accumulated in the first elastic deformable body 14A and / or the second elastic deformable body 14B. In the connector 10A, when the second object is pulled by the first object, the first elastic deformable body 14A is compressed in the initial stage, and then the second elastic deformable body 14B is compressed. During this time, the first contact body 15A and the second contact body 15B function as the first moving pulley and the second moving pulley, respectively, so that the force required for pulling is halved. After that, when the first object continues to move and the first elastic deformable body 14A and the second elastic deformable body 14B are compressed to the limit, the first object and the second object move (pull) together. Note that which of the first elastic deformable body 14A and the second elastic deformable body 14B and how much they are restored during the continuation of the pulling operation of the second object by the first object vary depending on various conditions.

[0034] Since the materials of the case 13A of the connector 10A, the first elastic deformable body 14A, the second elastic deformable body 14B, the first contact body 15A, and the second contact body 15B, the first connecting member 16A, and the second connecting member 17A are the same as those of the case 13, the elastic deformable body 14, the contact body 15, the first connecting member 16, and the second connecting member 17 of the connector 10, respectively, the description thereof will be omitted. Also, the first guide portion 25A and the second guide portion 25B of the connector 10A are the same as the guide portion 25 of the connector 10, and the first insertion hole 27A and the second insertion hole 27B of the connector 10A are the same as the insertion hole 27 of the connector 10, respectively, so the description thereof will be omitted.

[0035] In the present embodiment, the base side of the first connecting member 16A and the tip side of the second connecting member 17A are each folded back so as to be wound around the connecting shaft 21A of the first contact body 15A and the connecting shaft 21B of the second contact body 15B, and the base side end of the first connecting member 16A and the tip side end of the second connecting member 17A are each fixed inside the case 13A, causing the first contact body 15A and the second contact body 15B to function as the first movable pulley and the second movable pulley. However, similar to the connector 10, the first contact body 15A and the second contact body 15B may be attached (fixed) to the base side of the first connecting member 16A and the tip side of the second connecting member 17A, respectively. In the present embodiment, the left and right contact portions 20A of the first contact body 15A and the left and right contact portions 20A of the second contact body 15B are formed in a columnar shape. However, the shape of the contact portion is not limited to this and is appropriately selected. Also, in the present embodiment, the operation when the second object is pulled by the first object has been described. However, even when the first object is pulled by the second object with the same configuration as the present embodiment, the same operations and effects as those of the present embodiment can be obtained.

[0036] Next, with reference to FIG. 5, the connector 10B according to the third embodiment of the present invention will be described. Those same as those in the first embodiment are denoted by the same reference numerals and the description thereof will be omitted. The difference between the connector 10B and the connector 10 is that the elastic deformable body 14C housed in the case 13B is a coil spring, and the connector 10B has a connecting body 15C connected to the elastic deformable body 14C inside the case 13B on the base side of the first connecting member 16B, and the elastic deformable body 14C is extended during the pulling operation of the second object by the first object to accumulate elastic energy. This connector 10B, similar to the connectors 10 and 10A, can assist the pulling operation of the second object by the first object and the pulling operation of the first object by the second object, and has the same functions and effects as the connectors 10 and 10A.

[0037] The shape of the case 13B may be cylindrical or rectangular tubular. In this embodiment, the base side (here, the lower side) of the elastic deformable body 14C is fixed to the case 13B by the fixing plate 28, but the fixing method of the elastic deformable body is appropriately selected. Also, in this embodiment, the connecting body 15C is composed of the belt portion 29 and the ring portion 30, but the connecting body only needs to be able to connect the first connecting member and the elastic deformable body, and its configuration and connecting method are appropriately selected. Note that the material of the first connecting member 16B and the belt portion 29 is preferably the same as the material of the first connecting member 16. Also, the belt portion may be formed integrally with the first connecting member. As the material of the ring portion 30, a metal such as stainless steel is preferably used, and the ring portion 30 may be formed integrally with the elastic deformable body 14C or fixed by welding. When the belt portion 29 is made of metal, it is preferable that the belt portion 29 and the ring portion 30 are fixed by welding.

[0038] Next, with reference to FIG. 6, the connector 10C according to the fourth embodiment of the present invention will be described. Note that the same components as those in the second and third embodiments are denoted by the same reference numerals and the description thereof is omitted. The difference between the connector 10C and the connector 10B is that the case 13C is divided into a first case part 31 and a second case part 32. Inside the first case part 31, a first elastic deformable body 14D using a coil spring similar to the elastic deformable body 14C and a first connecting body 15D similar to the connecting body 15C are accommodated. Inside the second case part 32, a second elastic deformable body 14E using a coil spring similar to the elastic deformable body 14C and a second connecting body 15E similar to the connecting body 15C are accommodated. The first case part 31 and the second case part 32 are rotatably connected by a rotational connection part 33. Incidentally, the material of the second connecting member 17B is the same as that of the first connecting member 16B.

[0039] When a first object and a second object (both not shown) are connected to the first connecting member 16B and the second connecting member 17B of the connector 10C respectively, the connector 10C can assist the pulling operation of the second object by the first object and the pulling operation of the first object by the second object, and has the same functions and effects as the connectors 10A and 10B. Further, since the first case part 31 and the second case part 32 are rotatably connected by the rotational connection part 33, not only when the first object and the second object move straight, but also when the traveling direction of the first object or the second object changes (when the moving path is bent or curved), the connector 10C can surely assist the pulling operation.

[0040] Next, with reference to FIG. 7, a power assist tool 35 according to the fifth embodiment of the present invention will be described. The same components as those in the first embodiment are denoted by the same reference numerals and the description thereof will be omitted. The power assist tool 35 is mounted so as to straddle a first body part of a user (here, the upper body) and a second body part of the user (here, both legs) whose distal side is pivotally connected to the proximal side of the first body part so as to be reciprocally rotatable. The power assist device 35 includes a first mounting portion 36 mounted on a first body part, a second mounting portion 37 mounted on a second body part, and a coupler 10 that connects the first body part and the second body part via the first mounting portion 36 and the second mounting portion 37, accumulates a part of the kinetic energy associated with the forward rotation movement of the first body part with respect to the second body part as elastic energy, and assists the return rotation movement of the first body part with respect to the second body part with the accumulated elastic energy.

[0041] Since the configuration of the coupler 10 is as described above, the description thereof will be omitted. The first mounting portion 36 has a fork-shaped connector 38 attached to the distal side of the first connecting member 16, and left and right fixing belts 39, 40 that are connected to the connector 38 and wound around the user's left and right shoulders respectively, and are fixed to the upper body (not shown) of the user, which is the first body part. The second mounting portion 37 has left and right annular bodies 41, 42 that are respectively attached to the proximal sides of the left and right second connecting members 17 and wound around and attached to both legs (not shown) of the user, which is the second body part.

[0042] With the above configuration, the distal side of the first connecting member 16 is connected to the first body part via the first mounting portion 36, and the proximal side of the second connecting member 17 is connected to the second body part via the second mounting portion 37. Therefore, the power assist device 35 compresses the elastic deformable body 14 during the forward rotation movement of the first body part with respect to the second body part to accumulate elastic energy, and when the elastic deformable body 14 returns during the return rotation movement of the first body part with respect to the second body part, the elastic energy accumulated in the elastic deformable body 14 can assist the return rotation movement of the first body part with respect to the second body part.

[0043] Specifically, for example, when a user in a standing position rotates the upper body forward (during the forward rotation operation), the elastic deformable body 14 is compressed to accumulate elastic energy, and when lifting a load or the like and rotating the upper body backward to return to the standing position (during the backward rotation operation), the elastic deformable body 14 is restored, so that the elastic energy accumulated in the elastic deformable body 14 can assist the return movement (backward rotation operation) of the upper body. Thereby, the user can lift a heavy load with a small force, or assist in the position change or movement of a patient or a care recipient, etc. at the medical or care site with a small force.

[0044] In this embodiment, the case 13 of the coupler 10 is arranged at the waist of the user. When the upper body is reciprocally rotated with respect to both legs, the elastic deformable body 14 is compressed and restored with the waist as the center (starting point). Therefore, the force is likely to concentrate on the elastic deformable body 14, and the utilization efficiency of the elastic energy can be improved. Further, during the forward rotation operation, the case 13 arranged at the waist of the user is pulled by the first connecting member 16 and the second connecting member 17, so that the waist is stretched and the waist is pressed by the case 13 to obtain a stretching effect or a massage effect. In this embodiment, the coupler 38 of the case 13 of the coupler 10 and the first mounting portion 36 is connected by a plate-shaped connector 43. By arranging this connector 43 along the back of the user, the first connecting member 16 can be supported and the first connecting member 16 can be smoothly slid to stabilize the operation of the power assist device 35.

[0045] As the material of the connector 43, a synthetic resin having flexibility such as polyvinyl chloride, polypropylene, polyethylene terephthalate, etc. is preferably used, but it is not limited thereto. Since the connector 43 has flexibility, when the user rotates (tilts forward) the upper body forward, even if the back is bent (rounded), the connector 43 can easily deform following the curvature of the back, and the first connecting member 16 can be surely guided without imposing a load on the user. Further, by forming the cutout holes 44 at key portions of the connector 43, the weight of the connector 43 can be reduced and the flexibility can be improved. The shape, size, number, arrangement, etc. of the cutout holes 44 are appropriately selected according to the material and thickness of the connector 43, etc. Note that the cutout holes 44 are not an essential configuration and may be omitted.

[0046] Next, with reference to FIG. 8, the power assist device 35A according to the sixth embodiment of the present invention will be described. Note that the same components as those in the third embodiment are denoted by the same reference numerals and the description thereof will be omitted. The difference between the power assist device 35A and the power assist device 35 is that a connector 10B is used instead of the connector 10. Since the configuration of the connector 10B is as described above, the description thereof will be omitted. According to this power assist device 35A, the same operations and effects as those of the power assist device 35 can be obtained.

[0047] Although the embodiments of the present invention have been described above, the present invention is not limited to the above-described embodiments, and includes other embodiments and modifications conceivable within the scope of the matters described in the claims, and all changes and modifications without departing from the gist are within the scope of application of the present invention. Further, when a power assist device is configured using the connectors according to the respective embodiments, the present invention is also applicable. In the above-described first to fourth embodiments, the case where the first object and the second object are connected by one connector has been described, but the first object and the second object may be connected by a plurality of connectors arranged (connected) in series or in parallel. In addition, in the fifth and sixth embodiments described above, the case where the power assist device is attached across the upper body and both legs of the user has been described. However, the present invention is not limited to this, and the power assist device is used by being attached across a first body part and a second body part of the user that are pivotally connected. For example, the power assist device may be attached across the forearm and upper arm of the user, or may be attached across the lower leg and thigh. In addition to being used for the purpose of assisting (supporting) the daily movements of the user, the power assist device may be used for the purpose of rehabilitation or training (muscle strengthening). Note that the elastic modulus or spring constant of the elastic deformable body (including the first elastic deformable body and the second elastic deformable body) is appropriately selected according to the purpose of use of the power assist device.

Explanation of Reference Numerals

[0048] 10, 10A, 10B, 10C: Connector, 11: First object, 12: Second object, 13, 13A, 13B, 13C: Case, 14: Elastic deformable body, 14A: First elastic deformable body, 14B: Second elastic deformable body, 14C: Elastic deformable body, 14D: First elastic deformable body, 14E: Second elastic deformable body, 15: Contact body, 15A: First contact body, 15B: Second contact body, 15C: Connecting body, 15D: First connecting body, 15E: Second connecting body, 16, 16A, 16B: First connecting member, 17, 17A: Second connecting member, 19: Partition portion, 20: Contact portion, 21, 21A, 21B: Connecting shaft, 22: Guide hole, 23, 24: Roller, 25: Guide portion, 25A: First guide portion, 25B: Second guide portion, 27: Insertion hole, 27A: First insertion hole, 27B: Second insertion hole, 28: Fixed plate, 29: Belt portion, 30: Ring portion, 31: First case portion, 32: Second case portion, 33: Rotational connection portion, 35, 35A: Power assist device, 36: First mounting portion, 37: Second mounting portion, 38: Connector, 39, 40: Fixed belt, 41, 42: Annular body, 43: Connecting body, 44: Cutout hole

Claims

1. A coupler for connecting a first object and a second object, accumulating a part of kinetic energy accompanying relative movement between the first object and the second object as elastic energy, and assisting an operation of the first object or the second object with the accumulated elastic energy.

2. The coupler according to Claim 1, further comprising: a case; an elastically deformable body accommodated in the case; a first connecting member having a contact body or a connecting body that is connected to the first object at the front end and contacts or is connected to the elastically deformable body inside the case at the base end; and a second connecting member that is connected to the case at the front end and connected to the second object at the base end. When the first object pulls the second object or the second object pulls the first object, the elastically deformable body is compressed or extended to accumulate elastic energy, and during the continuation of the pulling operation of the second object by the first object or the pulling operation of the first object by the second object, the elastically deformable body is restored, and the elastic energy accumulated in the elastically deformable body is used to assist the pulling operation of the second object by the first object or the pulling operation of the first object by the second object.

3. The coupler according to Claim 2, wherein a base end portion of the first connecting member is fixed inside the case, and the contact body is a movable pulley rotatably held on the base side of the first connecting member.

4. In the coupler according to claim 1, a case, a first elastic deformable body and a second elastic deformable body accommodated in the case, a first contact body having a tip connected to the first object and a base side contacting the first elastic deformable body inside the case or a first connecting member to be connected, and a second contact body having a tip contacting the second elastic deformable body inside the case or a second connecting member to be connected with a base side connected to the second object, and when the first object pulls the second object or the second object pulls the first object, the first elastic deformable body and the second elastic deformable body are compressed or extended to accumulate elastic energy, and during the continuation of the pulling operation of the second object by the first object or the pulling operation of the first object by the second object, the first elastic deformable body and / or the second elastic deformable body is restored, and the elastic energy accumulated in the first elastic deformable body and / or the second elastic deformable body is used to assist the pulling operation of the second object by the first object or the pulling operation of the first object by the second object. A coupler characterized by that.

5. In the coupler according to claim 4, a base side end portion of the first connecting member is fixed inside the case, the first contact body is a first movable pulley rotatably held on the base side of the first connecting member, a tip side end portion of the second connecting member is fixed inside the case, and the second contact body is a second movable pulley rotatably held on the tip side of the second connecting member. A coupler characterized by that.

6. In the coupler according to claim 4, the case is divided into a first case portion and a second case portion, the first elastic deformable body and the first contact body or the first connecting body are accommodated inside the first case portion, the second elastic deformable body and the second contact body or the second connecting body are accommodated inside the second case portion, and the first case portion and the second case portion are rotatably connected. A coupler characterized by that.

7. A power assist device attached across a first body part of a user and a second body part of the user whose tip is pivotally connected to the base side of the first body part so as to be reciprocally rotatable. A power assist device, comprising: a first mounting part mounted on the first body part; a second mounting part mounted on the second body part; and a connecting device that connects the first body part and the second body part via the first mounting part and the second mounting part, accumulates part of the kinetic energy associated with the forward rotation movement of the first body part relative to the second body part as elastic energy, and uses the accumulated elastic energy to assist the reverse rotation movement of the first body part relative to the second body part.

8. The power assist device according to claim 7, wherein the connecting device includes a case, an elastically deformable body accommodated in the case, and a first connecting member having a contact body or a connecting body that is connected to the first body part via the first mounting part at the front side and contacts or is connected to the elastically deformable body inside the case at the base side, and a second connecting member that is connected to the case at the front side and is connected to the second body part via the second mounting part at the base side. When the first body part rotates forward relative to the second body part, the elastically deformable body is compressed or stretched to accumulate elastic energy, and when the first body part rotates backward relative to the second body part, the elastically deformable body is restored, and the elastic energy accumulated in the elastically deformable body is used to assist the reverse rotation movement of the first body part relative to the second body part.

9. The power assist device according to claim 8, wherein the base end of the first connecting member is fixed inside the case, and the contact body is a movable pulley rotatably held on the base side of the first connecting member.

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