Assistive Device

Abstract

To provide an assist device which can achieve both of a function of providing assist force and a joint function related to motion of supported bodies, such as upper limbs of a worker, with a simple structure.SOLUTION: In one embodiment of the invention, an assist device 100A may generate assist force against gravity force applied to supported bodies and includes: a body part 10A; support parts 30A capable of supporting the supported bodies; and link mechanism composite bodies 20A each of which connects the body part and the support part with each other. Each link mechanism composite body is formed having a first link mechanism part 21A and a second link mechanism part 22A which are arranged parallel to each other and integrally formed. Each link mechanism part may pivot. Further, at least the first link mechanism part is configured to be connected at one end to the body part side and connected at the other end to the support part side and includes an elastic member, in the assist device.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to an assist device, and more particularly to a wearable assist device that can be worn by a worker and a non-wearable assist device that can be attached to a predetermined structure. [Background technology]

[0002] In recent years, in order to reduce the workload and improve the working environment, a method in which a worker wears an assist device before working has been actively introduced. Also, a method in which a worker works after attaching an assist device to a specific structure has been introduced. Such an assist device has a function of generating an assist force against gravity acting on the supported object when the supported object, such as the worker's upper limbs or a specific work, is supported by a support part, which is a component of the assist device. This allows, for example, the worker to smoothly carry a heavy object that is relatively heavy. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Special Publication No. 2014-503320 [Patent Document 2] JP 2017-159442 A [Patent Document 3] Special Publication No. 2017-512666 Summary of the Invention [Problem to be solved by the invention]

[0004] Here, the inventors of the present application have newly discovered that there are the following points that need to be improved on conventional assist devices. Specifically, in conventional assist devices, the parts that have the function of supporting the supported body, such as the upper limbs of the worker, and providing the above-mentioned assist force, and the parts that provide the joint function related to the movement of the supported body, are located at positions separated from each other, and therefore it is necessary to prepare parts for each function separately. Therefore, the number of parts becomes relatively large, which can make it difficult to reduce the weight of the assist device.

[0005] Therefore, an object of the present invention is to provide an assist device that can combine the function of providing an assist force with the joint function related to the movement of a supported person, such as the worker's upper limbs, with a simple structure. [Means for solving the problem]

[0006] In order to achieve the above object, in one embodiment of the present invention, An assist device capable of generating an assist force against gravity acting on a supported body, The present invention includes a main body, a support portion capable of supporting a supported object, and a link mechanism complex that interconnects the main body and the support portion, The link mechanism complex includes a first link mechanism portion and a second link mechanism portion that are integrally configured in parallel with each other, and each link mechanism portion is pivotable; and An assist device is provided in which at least the first link mechanism is configured to have one end connected to the main body and the other end connected to the support, and includes an elastic member. Effect of the Invention

[0007] According to one embodiment of the present invention, it is possible to achieve both a function of providing an assist force and a joint function related to the movement of a supported body such as the upper limbs of a worker with a simple structure. [Brief description of the drawings]

[0008] [Figure 1] FIG. 1 is a perspective view showing a schematic diagram of an assist device according to an embodiment of the present invention (in a configuration in which the position of the tip side of the support part is set near the chest of a user). [Diagram 2] FIG. 1 is a top view showing a schematic diagram of an assist device according to an embodiment of the present invention (in a state in which the position of the tip side of the support part is set near the chest of the worker). [Diagram 3] FIG. 1 is a side view showing a schematic diagram of an assist device according to an embodiment of the present invention (in a configuration in which the position of the tip side of the support part is set near the chest of the worker). [Figure 4] FIG. 1 is a perspective view showing a schematic diagram of an assist device according to an embodiment of the present invention (in a configuration in which the position of the tip side of the support portion is set near the shoulder of a worker). [Diagram 5] FIG. 1 is a top view showing a schematic diagram of an assist device according to an embodiment of the present invention (in a state in which the position of the tip side of the support part is set near the shoulder of the worker). [Figure 6] FIG. 1 is a side view showing a schematic diagram of an assist device according to an embodiment of the present invention (in a configuration in which the position of the tip side of the support portion is set near the shoulder of a worker). [Figure 7] 1 is a perspective view showing a schematic diagram of an assist device according to an embodiment of the present invention (in a configuration in which the position of the tip side of the support portion is set near the waist of a user). FIG. [Figure 8] FIG. 1 is a top view showing a schematic diagram of an assist device according to an embodiment of the present invention (in a configuration in which the position of the tip side of the support part is set near the waist of the user). [Figure 9] FIG. 1 is a side view showing a schematic diagram of an assist device according to an embodiment of the present invention (in a configuration in which the position of the tip side of the support portion is set near the waist of a user). [Figure 10] FIG. 2 is a perspective view showing a schematic diagram of an assist device according to one embodiment of the present invention (in an embodiment in which the shape of the support part is different from that in FIG. 1). [Figure 11] FIG. 3 is a top view showing a schematic diagram of an assisting device according to one embodiment of the present invention (in an embodiment in which the shape of the support part is different from that in FIG. 2). [Figure 12]FIG. 4 is a side view showing a schematic diagram of an assist device according to one embodiment of the present invention (in which the shape of the support part is different from that in FIG. 3). [Figure 13] FIG. 1 is a partial perspective view showing a schematic diagram of a first preferred embodiment of an assisting device according to an embodiment of the present invention. [Figure 14] FIG. 2 is a partial perspective view showing a schematic diagram of a second preferred embodiment of an assisting device according to an embodiment of the present invention. [Figure 15] FIG. 13 is a partial perspective view showing a schematic view of a third preferred embodiment of an assisting device according to an embodiment of the present invention (in a state before the link mechanism complex is slidably moved). [Figure 16] FIG. 13 is a partial perspective view showing a schematic view of a third preferred embodiment of the assist device according to an embodiment of the present invention (after the link mechanism complex has been slid). [Figure 17] FIG. 11 is a side view showing a schematic diagram of a fourth preferred embodiment of the assist device according to one embodiment of the present invention (with the main body standing upright). [Figure 18] FIG. 11 is a side view showing a schematic diagram of a fourth preferred embodiment of the assist device according to one embodiment of the present invention (main body part inclined forward). DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0009] Hereinafter, an assist device according to an embodiment of the present invention will be described in more detail with reference to the drawings. Various elements in the drawings are merely shown as schematic and illustrative elements for the purpose of understanding the present invention, and the appearance, dimensional ratio, etc. may differ from the actual ones.

[0010] [Configuring the Assist Device] The configuration of an assist device according to one embodiment of the present invention will be described below.

[0011] As described above, the inventors of the present application have newly discovered that in conventional assist devices, the parts that provide the assist force and the parts that provide the joint function were located apart from each other, resulting in a relatively large number of parts, which can make it difficult to reduce the weight of the assist device.

[0012] Therefore, the inventors of the present application have earnestly studied improvements for enabling both the function of providing an assist force and the joint function related to the movement of the upper limbs of the worker to be compatible with a simple structure. As a result, the inventors of the present application have devised the present invention, which has the idea of ​​realizing the provision of both the function of providing an assist force and the joint function related to the movement of the upper limbs of the worker with a single integrated part using a link mechanism (see Figs. 1 to 3).

[0013] FIG. 1 is a perspective view showing a schematic diagram of an assisting device according to an embodiment of the present invention (in a state in which the tip of the support part is positioned near the chest of the worker). FIG. 2 is a top view showing a schematic diagram of an assisting device according to an embodiment of the present invention (in a state in which the tip of the support part is positioned near the chest of the worker). FIG. 3 is a side view showing a schematic diagram of an assisting device according to an embodiment of the present invention (in a state in which the tip of the support part is positioned near the chest of the worker).

[0014] As shown in Figs. 1 to 3, an assisting device 100A according to one embodiment of the present invention includes a main body 10A, a support section 30A capable of supporting a supported person, and a link mechanism complex 20A connecting the main body 10A and the support section 30A. In this specification, the term "supported person" refers to the upper limbs of a worker or a predetermined workpiece. In this specification, the term "upper limbs" refers to the upper arms, forearms, hands, etc. of a worker.

[0015] The main body 10A can be worn by a worker or attached to a movable structure. That is, the assist device 100A according to one embodiment of the present invention can be used not only as a so-called "wearable type" that is worn by a worker, but also as a so-called "non-wearable type" that is attached to a movable structure other than the worker, such as a movable stand.

[0016] As shown in Figs. 1 to 3, taking the so-called "wearable type" worn by the worker as an example, the main body 10A comprises a support part 11A, a waist-mounted part 12A, and a belt part (not shown). The support part 11A can be positioned on the back of the worker. The waist-mounted part 12A can be attached to the lower end side of the support part 11A. The belt part is attached to the support part 11A and can be slung around the shoulder of the worker.

[0017] Taking the so-called "non-mounted type" attached to the movable structure as an example, the main body can be attached so that the support portion is positioned in the central region of the movable structure. The main body 10A can have a fixed attachment member or a movable attachment member. In this case, the link mechanism complex 20A can interconnect the attachment member of the main body 10A and the support portion 30A.

[0018] The link mechanism complex 20A includes a first link mechanism part 21A and a second link mechanism part 22A that are configured as an integral part in parallel to each other. In this specification, "the first link mechanism part 21A and the second link mechanism part 22A that are configured as an integral part in parallel to each other" refers to the first link mechanism part 21A and the second link mechanism part 22A that are arranged in parallel as a single inseparable unit. Note that in this specification, "the link mechanism complex" refers to two or more link mechanism parts that are integrated into one.

[0019] As shown in Fig. 1, the first link mechanism 21A has a first link 21AX and a second link 21AY, and both links 21AX and 21AY are pivotally connected. Similarly, the second link mechanism 22A has a first link 22AX and a second link 22AY, and both links 22AX and 22AY are pivotally connected. That is, each link mechanism has two links pivotally connected. This allows the first link mechanism 21A and the second link mechanism 22A to each be pivoted.

[0020] The support part 30A has a receiving space 31A capable of receiving a supported person such as an upper limb. The receiving space 31A is shown in the drawing as a simplified flat plate, but from the viewpoint of suitable reception of a supported person such as an upper limb, it is preferable that the receiving space 31A has a U-shaped cross section or is provided with a predetermined cushion member.

[0021] In particular, in one embodiment of the present invention, at least the first link mechanism part 21A is configured such that one end is connected to the main body part 10A side and the other end is connected to the support part 30A side, and includes an elastic member 21Aa. A torsion spring, a compression spring, or the like can be used as the elastic member 21Aa. From the viewpoint of smooth horizontal movement of the link mechanism complex 20A described later, it is preferable to use a torsion spring.

[0022] By adopting such a configuration, the following effects can be achieved. First, taking as an example a form in which a supported person such as an upper limb of a worker is placed in receiving space 31A of support part 30A, such placement first applies gravity to receiving space 31A, i.e., the supported person supported by support part 30. This causes support part 30 itself to move in the direction of gravity, i.e., downward.

[0023] In this regard, in one embodiment of the present invention, as described above, the first link mechanism 21A is pivotable, and at least one end of the first link mechanism 21A is connected to the main body 10A side, and the other end is connected to the support 30A side. Specifically, the second link 21AY of the first link mechanism 21A is connected to the main body 10A side, and the first link 21AX of the first link mechanism 21A is connected to the support 30A side.

[0024] As described above, when a supported body such as the upper limbs of a worker is supported on the support part 30A, the object that moves downward is the support part 30. Therefore, the first link 21AX of the first link mechanism part 21A connected to the support part 30 side can also move downward. At this time, by arranging the elastic member 21Aa at a position where the elastic member 21Aa can contract or the like when the first link 21AX moves downward, it becomes possible for the elastic member 21Aa to contract or the like in a suitable manner.

[0025] As a result, the elastic deformation force acts on the elastic member 21Aa to return it to its original shape, and the first link 21AX of the first link mechanism 21A with the elastic member 21Aa can move upward. This allows the support part 30A connected to the first link 21AX to move upward while transmitting the elastic deformation force to the support part 30A.

[0026] As a result, the supported object supported by the support portion 30A can be moved upward while transmitting the elastic deformation force to the supported object. Therefore, the elastic deformation force can be used as an assist force against the gravity acting on the supported object.

[0027] For the above reasons, at least the first link mechanism part 21A is capable of both pivoting and elastic deformation, making it possible to provide an upward and downward movement of the first link 21AX of the first link mechanism part 21A, as well as an assist force that resists gravity acting on the supported body.

[0028] Furthermore, as described above, the first link mechanism 21A and the second link mechanism 22A are integrally configured in parallel with each other. In this regard, in the embodiment shown in Figures 1 to 3, the first link mechanism 21A is located on the inside, while the second link mechanism 22A is located on the outside.

[0029] In this case, when a force is generated by the supported object, such as the upper limbs of the worker supported by support portion 30A, tending to move it horizontally, a force tending to move it horizontally may also act on the "first link 21AX of first link mechanism portion 21A connected to support portion 30A" and the "first link 22AX of second link mechanism portion 22A configured integrally in parallel with first link mechanism portion 21A."

[0030] To explain this in more detail, the link mechanism complex 20A may further include a cylindrical member. In this case, one side of each of the first link mechanism part 21A and the second link mechanism part 22A is connected to the main body part 10A. Specifically, the second link 21AY side of the first link mechanism part 21A is connected to the main body part 10A, and the second link 22AY side of the second link mechanism part 22A is connected to the main body part 10A.

[0031] In addition, the other side of the link mechanism can be attached so as to be insertable into a cylindrical member. Specifically, the first link 21AX side of the first link mechanism 21A is inserted into the cylindrical member, and the first link 22AX side of the second link mechanism 22A is inserted into the cylindrical member.

[0032] In this state, when a force acts to move the first link of each link mechanism in the horizontal direction, if the degree of insertion of the first link of one link mechanism is relatively large, the degree of insertion of the first link of the other link mechanism may become relatively small, whereas if the degree of insertion of the first link of one link mechanism is relatively small, the degree of insertion of the first link of the other link mechanism may become relatively large.

[0033] In other words, by utilizing the difference in the degree of insertion of the first link 21AX of the first link mechanism part 21A and the first link 22AX of the second link mechanism part 22A into the tubular member, the support part 30A can move in a substantially horizontal direction. In other words, by utilizing the difference in the degree of insertion of the first link mechanism part 21A and the second link mechanism part 22A into the tubular member on the other side, the support part 30A can move in a substantially horizontal direction. From the viewpoint of performing the movement in the substantially horizontal direction more smoothly, it is preferable that the support part 11A of the main body part 10A to which the link mechanism complex 20A is connected is axially rotatable.

[0034] In view of the above, according to one embodiment of the present invention, it is possible to provide (1) upward and downward movement of the first link 21AX of the first link mechanism part 21A, (2) horizontal movement of the first link 21AX of the first link mechanism part 21A and the second link mechanism part 22A, and (3) an assist force that resists gravity acting on the supported body.

[0035] According to one embodiment of the present invention, the mechanism connecting the main body 10A and the support part 30A has a simple structure, that is, a link mechanism, which can provide both the function of providing an assist force and the joint function related to the movement of the supported body, such as the worker's upper limbs.

[0036] Therefore, unlike conventional assist devices, there is no need to separately prepare a part that has a function of providing an assist force by supporting a supported person such as the upper limbs of a worker, and a part that provides a joint function related to the movement of the upper limbs, etc. In other words, in one embodiment of the present invention, compared to conventional assist devices, the link mechanism complex 20A itself can provide "a function of providing an assist force" and "a joint function related to the movement of a supported person such as the upper limbs of a worker."

[0037] Therefore, overall, the number of parts can be reduced compared to conventional assist devices, which is advantageous in that it makes the assist device lighter and also reduces the manufacturing costs of the assist device.

[0038] According to one embodiment of the present invention, the following advantageous effects can be achieved. Specifically, compared to the case where the first link mechanism 21A is used alone, the presence of the integrally configured second link mechanism 22A makes it possible to balance the link mechanism complex 20A as a whole. In addition to this, the second link mechanism 22A can at least indirectly receive gravity and the like acting on the supported object in addition to the first link mechanism 21A. This makes it possible to preferably avoid events such as deviation and rotation of the link mechanism that may occur when the first link mechanism 21A is used alone.

[0039] In one embodiment of the present invention, the first link mechanism part 21A of the link mechanism complex 20A is configured such that one end thereof is connected to the main body part 10A as described above. That is, the first link mechanism part 21A of the link mechanism complex 20A capable of providing both functions is connected to the main body part 10A.

[0040] Therefore, when the main body 10A is attached to the worker or to the movable structure, the link mechanism complex 20A can be positioned at the back of the worker or the central area of ​​the movable structure. In particular, as described above, when the main body 10A has the support column portion 11A and the support column portion 11A is disposed so as to extend in the height direction, the link mechanism complex 20A can be more suitably positioned at the back of the worker or the central area of ​​the movable structure by attaching or mounting the main body 10A to the support column portion 11A.

[0041] In conventional assist devices, the parts that provide the assist force and the parts that provide the joint function related to the movement of the upper limbs, etc., were located in separate positions. In such positions, the parts that provide the joint function are provided on both shoulders, and the parts that provide the assist force are provided on both arms. In this case, the weight of the total of four parts is applied to both shoulders and both arms as a whole, which may cause a relatively large burden on the worker.

[0042] In contrast, in one embodiment of the present invention, the link mechanism complex 20A is a single integrated part having both functions, and can be positioned on the back of the worker or in the central area of ​​the movable structure. Therefore, as a whole, the lightweight integrated part can be positioned on the center line of the worker, which can reduce the burden on the worker and make it easier to balance the body when wearing or attaching the device.

[0043] By using the assisting device 100A of the present invention, when carrying a relatively heavy object, for example, an object weighing 15 kg or more and 20 kg or less, the worker can support the upper limbs as the supported object on the support unit 30 and receive support of an assisting force against gravity acting on the upper limbs. This makes it possible to smoothly carry the heavy object. Similarly, by receiving support of the assisting force against gravity acting on the upper limbs from the assisting device 100A, the worker can smoothly perform work at high altitudes or in a low position.

[0044] From the above, according to one embodiment of the present invention, the worker can smoothly perform heavy muscle work by receiving support from the assist device 100A in the form of an assist force that resists gravity acting on the upper limbs.

[0045] According to an embodiment of the present invention, tasks other than the heavy muscle tasks, such as light tasks such as screwing in a normal position, can be performed without the support of the assisting force of the assisting device 100A. Therefore, when performing tasks other than the heavy muscle tasks, the worker's upper limbs are free to move. Therefore, tasks other than the heavy muscle tasks can be performed smoothly.

[0046] In the above, a so-called "wearable type" that is worn by a worker has been taken as an example, and a description has been given based on a mode in which the position of the tip side of the support part 30A is set near the chest of the worker, with reference to Figures 1 to 3. However, the present invention is not limited to this, and a mode in which the position of the tip side of the support part 30B is set near the shoulder of the worker can also be adopted, as shown in Figures 4 to 6.

[0047] The embodiment shown in Figures 4 to 6 can be realized by moving the position of the link mechanism complex 20B to which the main body portion 10B is connected toward the upper end side of the support portion 11B, compared to the embodiment shown in Figures 1 to 3.

[0048] As shown in Figures 7 to 9, a configuration may be adopted in which the position of the tip side of the support part 30C is set near the waist of the worker. The configuration shown in Figures 7 to 9 can be realized by reversing the positional relationship between the link mechanism complex 20C and the support part 30C connected thereto, compared to the configuration shown in Figures 1 to 3.

[0049] 10 to 12, the shape of the support part 30 may be different from that of the support part 30 shown in Fig. 1 to 3. Specifically, in the embodiment shown in Fig. 1 to 3, an assist device 100A having a linear support part 30A is provided, whereas in the embodiment shown in Fig. 10 to 12, an assist device 100D having an outwardly curved support part 30D can be used depending on the physique of the worker and the working environment.

[0050] (Preferred embodiment of the present invention) Preferred embodiments of the present invention will now be described.

[0051] In one embodiment, it is preferable that in addition to the first link mechanism 21A, the second link mechanism 22A also has an elastic member 21AY (see Figs. 1 to 3, etc.).

[0052] As described above, in order to realize the technical idea of ​​the present invention, it is necessary that at least the first link mechanism 21A is pivotable, one end of which is connected to the main body 10A and the other end of which is connected to the support 30A, and that it is provided with an elastic member 21Aa. This allows the first link mechanism 21A to perform both pivoting and elastic deformation. As a result, it becomes possible to provide an assist force that resists the upward and downward movement of the first link 21AX of the first link mechanism 21A and the gravity acting on the supported object.

[0053] In this regard, when only the first link mechanism 21A has the above-mentioned configuration, the second link mechanism 22A can only pivot by the two pivotally connected links. Therefore, it is preferable that not only the first link mechanism 21A but also the second link mechanism 22A have the same configuration as the first link mechanism 21A. This allows the second link mechanism 22A to perform both pivoting and elastic deformation.

[0054] In this case, the elastic member 22Aa that can be used in the second link mechanism 22A may be a torsion spring, a compression spring, etc. From the viewpoint of smooth horizontal movement of the above-described link mechanism complex 20A, it is preferable to use a torsion spring.

[0055] Although not particularly limited, examples of combinations of "types of elastic members 21Aa that can be used in the first link mechanism part 21A" and "types of elastic members 22Aa that can be used in the second link mechanism part 22A" include the following combinations (see Table 1).

[0056] [Table 1]

[0057] In addition, when using a compression spring for horizontal movement, in order to prevent twisting at both ends of the compression spring, as is the case with a torsion spring, it is possible to configure the compression spring so that one end is connected to a support portion and the other end is attached to a movable mounting member (rather than a fixed mounting member) of the main body portion 10A.

[0058] In one embodiment, it is preferable that the link mechanism complex 20E further has a third link mechanism part 23E with an elastic member 23Ea and that the support part 30E has a slidable slide member 32E, so that the abutment between the third link mechanism part 23E and the slide member 32E can be controlled (see FIG. 13).

[0059] FIG. 13 is a partial perspective view showing a schematic diagram of a first preferred embodiment of an assisting device according to an embodiment of the present invention.

[0060] As shown in FIG. 13, this embodiment is an embodiment in which the link mechanism complex 20E, which is a component of the assist device according to one embodiment of the present invention, further includes a third link mechanism 23E. In this embodiment, the first link mechanism 21E to the third link mechanism 23E are not all used at all times when the assist device is driven. The third link mechanism 23E is preferably used in a work environment in which the gravity acting on the supported object tends to be relatively large. One example is a case in which "work at height" is performed with the main body of the assist device attached to a movable structure and a supported object such as a workpiece supported in the receiving space 31E.

[0061] In this embodiment, the support part 30E includes a slidable slide member 32E, and the abutment between the third link mechanism part 23E and the slide member 32E can be controlled. The slide member 32E is preferably configured such that a part of it protrudes outward from the outer surface of the support part 30E so as to be able to abut against the third link mechanism part 23E. In other words, the slide member 32E can be called a slide protrusion member.

[0062] Such contact control can be realized, for example, by making it possible to change the position of the work receiving space 31E and by making the position of the slide member 32 changeable in conjunction with the position change. Specifically, when starting "work at height," the position of the work receiving space 31E is changed, and in conjunction with this, the slide member 32 is slid to a position where it can contact the first link 23EX of the third link mechanism 23E. This makes it possible to contact the slide member 32E with the first link 23EX of the third link mechanism 23E.

[0063] When each of the link mechanisms of the first link mechanism 21E to the third link mechanism 23E has an elastic member, the third link mechanism 23A as well as the first link mechanism 21E and the second link mechanism 22E can perform both pivoting and elastic deformation. This allows the first link of the third link mechanism 23A to move upward and downward as well as provide an assist force against the gravity acting on the workpiece in addition to the first link mechanism 21E and the second link mechanism 22E. This allows the support of the assist force from the third link mechanism 23A to be provided, making it possible to smoothly perform work at heights where the gravity acting on the workpiece is likely to be relatively large.

[0064] In one embodiment, at least two linkage assemblies 20F1, 20F2 are interconnected, and each linkage assemblies 20F1, 20F2 is preferably connected to a support 30F1, 30F2 (see FIG. 14).

[0065] FIG. 14 is a partial perspective view showing a schematic diagram of a second preferred embodiment of an assisting device according to an embodiment of the present invention.

[0066] In this embodiment, at least two link mechanism complexes 20F1, 20F2 are interconnected as shown in Fig. 14. In this embodiment, when working at height or the like where the gravity acting on the workpiece, the upper limbs of the worker, etc. is likely to be relatively large, the workpiece and the upper limbs of the worker are supported in the receiving space 31F2 of the second support part 30F2 connected to the second link mechanism complex 20F2 which is located at a relatively high position as viewed from the main body part.

[0067] In this case, the first link mechanism complex 20F1 is connected to the main body, and the second link mechanism complex 20F2 is connected to the first link mechanism complex 20F1, i.e., the first link mechanism complex 20F1 and the second link mechanism complex 20F2 are connected in series.

[0068] With this, when a workpiece or the upper limbs of a worker are supported in the receiving space 31F2 of the second support portion 30F2, the workpiece or the upper limbs of the worker can be supported by both the assisting force of the first link mechanism complex 20F1 and the assisting force of the second link mechanism complex 20F2. As a result, work at heights where the gravity acting on the workpiece or the like tends to be relatively large can be performed smoothly.

[0069] On the other hand, in work where the gravity acting on the workpiece, etc. is relatively not as great as in work at heights, the workpiece and the worker's upper limbs are supported in the receiving space 31F1 of the first support part 30F1 connected to the first link mechanism complex 20F1, which is located at a relatively low position from the main body part.

[0070] In this case, the first link mechanism complex 20F1 is connected to the main body and can provide an assist force to the support part 30F1. On the other hand, the first link mechanism complex 20F1 is also connected to the second link mechanism complex 20F2, but does not receive the assist force provided to the first support part 30F1 by the second link mechanism complex 20F2.

[0071] Therefore, when a workpiece or the upper limbs of a worker are supported in the receiving space 31F1 of the first support portion 30F1, the workpiece or the upper limbs of the worker are supported only by the assisting force of the first link mechanism complex 20F1. As a result, work in which the gravity acting on the workpiece or the like is relatively not large compared to work at height can be performed smoothly.

[0072] From the above, in this embodiment, taking the case of supporting the upper limbs of a worker as an example, when working at height, one arm (for example, the right arm) is placed on the receiving space 31F2 of the second support part 30F2, and when working at height, the arm (for example, the right arm) is placed on the receiving space 31F1 of the first support part 30F1. That is, in this embodiment, the position on which the arm is placed can be changed according to the content and type of work, and an appropriate assist force can be received according to the difference in the position.

[0073] In one embodiment, the link mechanism complex 20G is slidable, the support portion 30G has an axle portion 32G at a predetermined location, and it is preferable that the abutment points P1, P2 between the support portion 30G and the link mechanism complex 20G can be shifted to change the distance between the abutment points P1, P2 and the axle portion 32G of the support portion 30G (see Figures 15 and 16).

[0074] Fig. 15 is a partial perspective view showing a third preferred embodiment of the assisting device according to an embodiment of the present invention (before the link mechanism complex is slidably moved). Fig. 16 is a partial perspective view showing a third preferred embodiment of the assisting device according to an embodiment of the present invention (after the link mechanism complex is slidably moved).

[0075] This embodiment utilizes the property that the applied force changes depending on the difference in the distance relationship between the force point and the fulcrum. In order to utilize this property, in this embodiment, the link mechanism complex 20G is slidable, and the support portion 30G has a pivot portion 32G at a predetermined location. In this case, as shown in FIG. 15, before the link mechanism complex 20G slides on a predetermined fixed rail member 40G, the distance between the abutment point P1 of the support portion 30G and the link mechanism complex 20G and the pivot portion 32G serving as the fulcrum is relatively long. On the other hand, as shown in FIG. 16, after the link mechanism complex 20G slides on a predetermined fixed rail member 40G, the distance between the abutment point P2 of the support portion 30G and the link mechanism complex 20G and the pivot portion 32G serving as the fulcrum is relatively short. When the difference in distance, specifically, the distance, is relatively short, the applied force can be increased.

[0076] Specifically, the assist force provided by the link mechanism complex 20G can be increased. This makes it possible to smoothly carry out work at heights and work transporting heavy objects, in which the gravity acting on the workpiece, the upper limbs of the worker, etc. tends to be relatively large. For these reasons, this embodiment is advantageous in that the assist force can be adjusted by the simple method of shifting the contact point between the support part 30G and the link mechanism complex 20G.

[0077] In one embodiment, it is preferable that the main body portion 10H has a support portion 11H, and the support portion 11H is tiltable forward (see FIG. 17).

[0078] Fig. 17 is a side view showing a fourth preferred embodiment of the assist device according to an embodiment of the present invention (main body standing upright) and Fig. 18 is a side view showing a fourth preferred embodiment of the assist device according to an embodiment of the present invention (main body leaning forward).

[0079] This embodiment is intended for the case where the worker performs work in a forward-leaning position. If the support column of the main body 10H is kept upright when performing a certain task in a forward-leaning position, the worker may end up putting a strain on his / her lower back, etc.

[0080] Therefore, it is preferable that the support column portion 11H of the main body portion 10H is capable of tilting forward. Such a forward tilting posture can be realized by providing a compression coil spring or the like in the support column portion 11H of the main body portion 10H. This allows the support column portion 11H of the main body portion to be tilted forward in accordance with the forward tilting posture of the worker, thereby reducing the burden on the worker's lower back, etc.

[0081] The present invention is not limited to the exemplified embodiments, and various improvements and design changes are possible without departing from the gist of the present invention. [Industrial Applicability]

[0082] An assist device according to one embodiment of the present invention can be suitably used in automobile assembly. [Explanation of symbols]

[0083] 100A, 100B, 100C, 100D, 100E, 100F, 100G, 100H... Assist device 10A, 10B, 10C, 10D, 10H...Main body 11A, 11H...Strut part 20A, 20B, 20C, 20D, 20E, 20F1, 20F2, 20G, 20H... Link mechanism complex 21A, 21B, 21C, 21E, 21F1, 21F2, 21G... First link mechanism part 21AX: First link of the first link mechanism 21AY: Second link of the first link mechanism 22A, 22B, 22C, 22E, 22F1, 22F2, 22G...Second link mechanism part 22AX: 1st link of the 2nd link mechanism 22AY: Second link of the second link mechanism 23E...Third link mechanism 23EX... 1st link of the 3rd link mechanism 23EY: Second link of the third link mechanism 30A, 30B, 30C, 30D, 30E, 30F1, 30F2, 30G, 30H...Support part 31A, 31B, 31C, 31D, 31E, 31F1, 31F2, 31G, 31H... Receptacle space 40G···Fixed rail parts

Claims

1. An assist device capable of generating an assist force against gravity acting on a supported body, The present invention includes a main body, a support portion capable of supporting a supported object, and a link mechanism complex that interconnects the main body and the support portion, The link mechanism complex includes a first link mechanism portion and a second link mechanism portion that are integrally configured in parallel with each other, and each link mechanism portion is pivotable; and At least the first link mechanism is configured to have one end connected to the main body and the other end connected to the support, and includes an elastic member; The main body is attachable to a worker or attachable to a movable structure, and when the main body is attached or attached, the link mechanism complex can be positioned on the back of the worker or on a central area of ​​the movable structure; When the elastic member is a torsion spring, the link mechanism complex further has a tubular member, one side of each of the first and second link mechanism parts is connected to the main body part side, and the other side of the link mechanism part is attached so as to be insertable into the tubular member.

2. The assist device according to claim 1 , wherein at least the first link mechanism is capable of both pivoting and elastic deformation.

3. 3. The assist device according to claim 1 or 2, wherein in addition to the first link mechanism portion, the second link mechanism portion also has an elastic member, thereby enabling the second link mechanism portion to perform both pivoting and elastic deformation operations.

4. The assist device according to claim 1 , wherein the assist force is provided by an elastic deformation force of the elastic member.

5. An assist device as described in any one of claims 1 to 4, wherein the main body portion has a fixed mounting member, and the mounting member of the main body portion and the support portion are interconnected by the link mechanism complex.

6. An assist device as described in any one of claims 1 to 5, wherein the support part is capable of moving in an approximately horizontal direction depending on the degree of insertion of the other side of the first link mechanism part and the second link mechanism part into the tubular member.

7. An assist device as described in any one of claims 1 to 6, wherein the link mechanism complex further has a third link mechanism part with an elastic member and the support part has a slidable slide member, and it is possible to control the contact between the third link mechanism part and the slide member.

8. The assist device according to any one of claims 1 to 7, wherein at least two of the link mechanism complexes are interconnected, and each link mechanism complex is connected to the support portion.

9. An assist device as described in any one of claims 1 to 8, wherein the link mechanism complex is slidably movable, the support part has an axle portion at a predetermined location, and the abutment point between the support part and the link mechanism complex can be shifted to change the distance between the abutment point and the axle portion of the support part.

10. The assist device according to any one of claims 1 to 9, wherein the main body portion has a support portion that is tiltable forward.

11. The assist device according to any one of claims 1 to 10, wherein the supported object is an upper limb of the worker or a predetermined workpiece.

12. The assist device according to claim 11 , wherein the upper limbs of the worker are supported by the support portion during heavy muscle work.

13. The assist device according to claim 12 , wherein the upper limbs are free to move during work other than the heavy muscle work.

14. 14. The assist device according to claim 12, wherein the upper limbs of the worker are supported by the support portion during heavy muscle work, such as at least one of work at height and carrying a heavy object weighing 15 kg or more and 20 kg or less.

15. The assist device according to any one of claims 1 to 14, which is used for assembly of an automobile.

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