Assistive Device

Abstract

To provide an assist device which enables a worker to perform work smoothly on the whole even if work which does not need support for providing assisting force is included.SOLUTION: In one embodiment of the invention, an assist device includes upper limb support parts each of which detachably supports an upper limb of a worker and generates an assisting force against gravitational force applied to the upper limb. The upper limb support parts may be moved to and held at the outside of an area where work is performed with the upper limbs when the assisting function is turned off.SELECTED DRAWING: Figure 6

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. [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 while working has been actively introduced. Such an assist device has a function of generating an assist force against gravity acting on the upper limbs when the worker's upper limbs, such as the arms, are supported by an upper limb support section, which is a component of the assist device. This enables the worker to smoothly carry, for example, 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 inventor of the present application newly discovered that there are the following points that need to be improved on conventional assist devices. Specifically, depending on the content and type of work of the worker, there may be cases where the work requires the support of the assist force by having the upper limbs such as the arms of the worker supported by the upper limb support part of the assist device (assist-on work), and work does not require the support of the assist force (assist-off work). In the case of the latter work, if the upper limb support part is present in an area where the upper limbs can be used for the work, there is a risk that it may become difficult to smoothly perform the work that does not require the support of the assist force.

[0005] Therefore, an object of the present invention is to provide an assist device that allows a worker to perform tasks smoothly overall, even when the tasks include tasks that do not require the support of an assist force. [Means for solving the problem]

[0006] In order to achieve the above object, in one embodiment of the present invention, The present invention provides an upper limb support unit capable of detachably supporting an upper limb of a worker and generating an assist force against gravity acting on the upper limb, An assist device is provided that is capable of moving and holding the upper limb support part outside the area in which the upper limbs can be used for work when the assist is off. Effect of the Invention

[0007] According to one embodiment of the present invention, even when a task that does not require the support of an assist force is included, the worker can generally perform the task smoothly. [Brief description of the drawings]

[0008] [Figure 1] 1 is a side view showing a schematic diagram of an assist device according to an embodiment of the present invention when the assist is on (when a heavy object is being carried). FIG. [Diagram 2] 1 is a top view showing a schematic diagram of an assist device according to an embodiment of the present invention when the assist is on (when carrying a heavy object). FIG. [Diagram 3] FIG. 2 is a side view showing a schematic diagram of an assist device when assist is on (when working at height) according to an embodiment of the present invention. [Figure 4] FIG. 2 is a side view showing a schematic diagram of the assist device when the assist is on (when performing low-profile work) according to an embodiment of the present invention. [Diagram 5] 1 is a side view showing a schematic diagram of an assist device in an assist-off state according to an embodiment of the present invention; [Figure 6]FIG. 2 is a top view showing a schematic diagram of an assist device in an assist-off state according to an embodiment of the present invention. [Figure 7] 1 is a top view showing a schematic state of the upper limb support part of an assist device when assist is off in one embodiment of the present invention; FIG. [Figure 8] 1 is a top view showing a schematic state of the upper limb support part of an assist device when assist is on in one embodiment of the present invention; FIG. [Figure 9] FIG. 2 is a top view showing a schematic diagram of a first preferred embodiment of an assist device in an assist-off state according to an embodiment of the present invention. [Figure 10] FIG. 2 is a top view showing a schematic diagram of a first preferred embodiment of an assist device in an embodiment of the present invention when the assist is on. [Figure 11] 11 is a top view showing a schematic diagram of the difference in the tensile length of an elastic member, which is a component of an assist device when assist is on in one embodiment of the present invention. FIG. [Figure 12] 13 is a detailed top view showing a schematic diagram of the difference in the tension length of an elastic member, which is a component of an assist device when assist is on in one embodiment of the present invention. FIG. [Figure 13] FIG. 11 is a top view showing a schematic diagram of a second preferred embodiment of an assist device in an embodiment of the present invention when the assist is off. [Figure 14] FIG. 2 is a top view showing a schematic diagram of a second preferred embodiment of an assist device in an embodiment of the present invention when the assist is on. 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] [Basic configuration of the assist device] Before describing the characteristic features of the present invention, the overall configuration of an assist device according to one embodiment of the present invention will be described.

[0011] Fig. 1 is a side view showing a schematic diagram of an assist device when assist is on (when carrying a heavy load) according to one embodiment of the present invention. Fig. 2 is a top view showing a schematic diagram of an assist device when assist is on (when carrying a heavy load) according to one embodiment of the present invention. Fig. 3 is a side view showing a schematic diagram of an assist device when assist is on (when working at a height) according to one embodiment of the present invention. Fig. 4 is a side view showing a schematic diagram of an assist device when assist is on (when working in a low position) according to one embodiment of the present invention.

[0012] As shown in FIGS. 1 and 2, an assist device 100 according to an embodiment of the present invention includes a main body portion 10, a connecting portion 20, an upper limb support portion 30, and a pivot portion 40.

[0013] The main body 10 can be attached to the back 202 side of the worker 200, specifically, so as to face the back 202 of the worker 200. The connecting part 20 connects between the main body 10 and the upper limb support part 30, and at least one connecting part 20 is provided between the main body 10 and the upper limb support part 30 in a series arrangement and / or a parallel arrangement.

[0014] The upper limb support unit 30 is capable of detachably supporting the upper limb 201 of the worker 200 and generating an assist force against gravity acting on the upper limb 201. In this specification, the upper limb includes the upper arm, forearm, hand, etc. of the worker. Specifically, the upper limb support unit 30 is provided with an electric, hydraulic, or pneumatic pressure member, or an elastic member such as a compression spring, and is configured to apply a force to the upper limb 201 in a direction substantially opposite to the direction of gravity acting on the upper limb 201 when the pressure member or elastic member supports the upper limb 201. The pivot unit 40 is a portion where the connecting unit 20 and the upper limb support unit 30 are pivotally connected to be rotatable.

[0015] By providing the assist device 100 with the above components, as shown in Figures 1 and 2, when carrying a relatively heavy object 300, for example, a heavy object 300 weighing between 15 kg and 20 kg, the worker 200 can smoothly carry the heavy object 300 by supporting the upper limbs 201 on the upper limb support section 30 and receiving support from the assist force that resists gravity acting on the upper limbs 201.

[0016] Similarly, as shown in Figures 3 and 4, a worker 200 can smoothly perform work at heights or in a low position by receiving support from the assist device 100 in the form of an assist force that resists gravity acting on the upper limbs 201.

[0017] The worker 200 is supported by the assisting force of the assisting device 100 against the gravity acting on the upper limbs 201, and is thereby able to smoothly perform heavy muscle work.

[0018] [Characteristics of the present invention] Based on the above-mentioned basic configuration of the assist device 100, the characteristic features of the present invention will be described below (see FIGS. 5 and 6).

[0019] Fig. 5 is a side view showing a schematic diagram of the assist device in the assist-off state according to one embodiment of the present invention, and Fig. 6 is a top view showing a schematic diagram of the assist device in the assist-off state according to one embodiment of the present invention.

[0020] As described above, in the conventional assist device, depending on the type and content of the work of the worker, there may be cases where the work requires the support of the assist force by supporting the upper limbs such as the arms of the worker on the upper limb support part of the assist device, and the work does not require the support of the assist force. In the latter case, if the upper limb support part of the assist device is present within the upper limb motion area of ​​the work that does not require the support of the assist force, it may become difficult to smoothly perform the work that does not require the support of the assist force.

[0021] Therefore, the inventors of the present application have earnestly studied improvements that enable the worker to perform the work smoothly as a whole, even when the work does not require the support of the assist force. As a result, the inventors of the present application have devised the present invention having the technical idea of ​​"moving and holding the upper limb support unit 30 to an area Y outside an area X where the upper limbs 201 of the worker 200 can perform work when the assist is off," as shown in Figs. 5 and 6. Note that the "area X where the upper limbs can perform work when the assist is off" in this specification refers to an area where the upper limbs can perform light work, etc. without assistance from an assist device when the assist is off. The "area Y outside the area X where the upper limbs of the worker can perform work when the assist is off" in this specification refers to an area excluding an area where the upper limbs can perform light work, etc. without assistance from an assist device when the assist is off.

[0022] According to this technical idea, when performing work with the assist device 100 in "assist off," that is, work that does not require the support of an assist force (for example, light work such as screwing with a tool 400 in a normal position), the upper limb support section 30 does not exist in the area X where the upper limbs 201 can work in the assist off state. In this specification, "light work in a normal position" refers to work in a position where the gravity acting on the upper limbs is relatively small compared to the gravity acting on the upper limbs when working at height or transporting heavy objects.

[0023] This applies not only when working with "assist off" from the start of work, but also when working with "assist off" after working with "assist on". Specifically, in this case too, it is possible to move and hold the upper limb support unit 30 from the support position of the upper limb 201 with assist on to area Y outside area X where the upper limb 201 can work with the upper limb 201 with assist off, so that the upper limb support unit 30 is not present in area X where the upper limb 201 can work with the upper limb 201 with assist off.

[0024] This makes it possible to avoid the work during assist-off, i.e., the work not requiring the support of the assist force, being hindered by the upper limb support unit 30. As a result, even when the work includes the work not requiring the support of the assist force, the worker 200 can perform the work smoothly as a whole.

[0025] In addition, in one embodiment of the present invention, it is possible to perform work during "assist on" (for example, the above-mentioned high-altitude work, heavy-weight carrying work, etc.) after work during "assist off". That is, it is possible to transition from the state shown in Fig. 5 or 6 to the state shown in Fig. 1, Fig. 3, or Fig. 4. Specifically, it is possible to move the upper limb support part 30 that supports the upper limb 201 from an area Y outside the area X where the upper limb 201 can work during assist off to an area Z where the upper limb can work during assist on. Note that, in this specification, "area Z where the upper limb can work during assist on" refers to an area where heavy muscle work (the above-mentioned high-altitude work, heavy-weight carrying work, etc.) can be performed with the upper limbs while receiving assistance from the assist device.

[0026] This allows the work in the assist-on state to be suitably performed by the upper limb support section 30. Specifically, after performing the work in the assist-off state (for example, light work such as screwing in a normal position) without being hindered by the upper limb support section 30, the work in the assist-on state, such as working at height or carrying heavy objects, can be performed with the support of the upper limb support section 30.

[0027] In view of the above, in one embodiment of the present invention, the upper limb support section 30 is freely movable between area Y outside area X where the upper limbs 201 can work when the assist is off and area Z where the upper limbs 201 can work when the assist is on. This allows the worker 200 to perform both work when the assist is on (for example, the above-mentioned high-altitude work and heavy-duty transport work) and work when the assist is off (for example, light work such as screwing in a normal position) at the appropriate timing.

[0028] (Aspects of realizing movement and maintenance of the upper limb support unit 30 when the assist is off) The following describes how the movement and maintenance of the upper limb support section 30 is achieved during the above-mentioned assist-off state.

[0029] Fig. 7 is a top view showing a schematic state of an upper limb support part of an assisting device when the assist is off according to one embodiment of the present invention. Fig. 8 is a top view showing a schematic state of an upper limb support part of an assisting device when the assist is on according to one embodiment of the present invention.

[0030] 7, in one embodiment of the present invention, the assist device 100 further includes an elastic member 50 that connects the connecting part 20 and the upper limb support part 30 at a portion other than the pivot part 40 between the connecting part 20 and the upper limb support part 30. The elastic member 50 may be a tension spring or a rubber member. In this specification, the elastic member that connects the connecting part 20 and the upper limb support part 30 may be referred to as A.

[0031] 7, the connecting part 20 includes the rail member 21 and a fixed part 22 provided on the other end 21b of the rail member 21 opposite to the pivot part 40. The pivot part 40 is a part where one end 21a of the rail member 21 of the connecting part and one end 31 of the upper limb support part 30 are pivotally connected to each other so as to be rotatable. The elastic member 50 is configured such that one end 51 is connected to the other end 32 of the upper limb support part 30 and the other end 52 is connected to the fixed part 22.

[0032] In one embodiment of the present invention, the elastic member 50 can bias the upper limb support part 30 toward the connecting part 20 when the assist is off. As a result, when the assist is off, the elastic member 50 biases the upper limb support part 30 toward the connecting part 20, thereby making it possible to move and hold the upper limb support part 30 in the area Y outside the area X where the upper limb 201 can work when the assist is off (see Figs. 5 and 6). As a result, as described above, it is possible to perform work when the assist is off (for example, light work such as screwing in a normal position) without being hindered by the upper limb support part 30.

[0033] From the viewpoint of suitably moving and holding the upper limb support part 30 in an area Y outside the area X where the upper limb 201 can work when the assist is off, the connecting part 20 on the side in the direction in which the upper limb support part 30 is biased can be fixedly disposed outside the work motion area of ​​the upper limb 201. As an example, from this viewpoint, the connecting part 20 can be fixedly disposed on the shoulder 203 side of the worker 200 (see FIG. 6). Here, "outside the work motion area of ​​the upper limbs" refers to an area that is not reached by the work motion of the upper limbs at either the time of the assist being on or the time of the assist being off.

[0034] In order to suitably bias the upper limb support part 30 toward the connecting part 20 when the assist is off, at least one end of the elastic member 50 can be fixedly connected to the upper limb support part 30 and one of the connecting part 20. In the embodiment shown in Fig. 7 and Fig. 8, both ends 51, 52 of the elastic member 50 are fixedly connected to the other end 32 side of the upper limb support part 30 and the fixed side part 22 of the connecting part 20, respectively.

[0035] On the other hand, when assist is on, in order to move the upper limb support part 30 from "area Y outside area X in which the upper limbs 201 can work when assist is off" to "area Z in which the upper limbs can work when assist is on," the upper limb support part 30 is pivoted away from the connecting part 20, using the pivot part 40 as a base point, as shown in Figure 8.

[0036] Specifically, by supporting the upper limb 201 on the upper limb support part 30 and pivoting the supported upper limb 201 to an area Z where the upper limb can work when the assist is on, it is possible to pivot the upper limb support part 30 away from the connecting part 20, using the pivot part 40 as a base point. This allows the worker 200 to perform work when the assist is on (for example, the above-mentioned high-altitude work, heavy object transport work, etc.) in the area Z where the upper limb can work.

[0037] (Preferred embodiment of the present invention) Preferred embodiments of the present invention will now be described.

[0038] As described above, the movement and holding of the upper limb support section 30 during assist-off can be achieved by using the elastic member 50. In this regard, as described above, when both ends 51, 52 of the elastic member 50 are fixedly connected to the other end 32 side of the upper limb support section 30 and the fixed side part 22 of the connecting section 20, respectively, as shown in Fig. 7 and Fig. 8, further improvements can be achieved in the following points.

[0039] Specifically, in the case where a tension spring is used as the elastic member 50 (see FIG. 8), when the assist is on, the tension spring is tensioned to pivotally move the upper limb support part 30 from "area Y outside area X where the upper limbs 201 can work when the assist is off" to "area Z where the upper limbs can work when the assist is on."

[0040] In this case, if both ends 51, 52 of the elastic member 50 are fixedly connected to the other end 32 of the upper limb support part 30 and the fixed side part 22 of the connecting part 20, respectively, the length of the spring in the tensioned state becomes relatively long, and the tensile force can become relatively large.

[0041] As a result, the biasing force of the upper limb support part 30 toward the connecting part 20 side may become relatively large, and therefore, when the upper limb is removed from the upper limb support part 30, the upper limb support part 30 may pivot toward the connecting part 20 side due to its nature. In particular, when the connecting part 20 is fixedly disposed on the shoulder 203 side of the worker 200, the biasing force toward the shoulder 20 side of the worker may become relatively large, and as a result, the burden on the shoulder 20 of the worker may become large.

[0042] Considering these factors, from the viewpoint of reducing the burden on the operator, it is preferable to relatively reduce the tension force of the tension spring that is tensioned when the assist is on.

[0043] The present inventors have also conducted extensive research into preferred embodiments for reducing the tension of the tension spring when the assist is on. As a result, the present inventors have newly discovered the following two preferred embodiments. These preferred embodiments will be described below.

[0044] (First preferred embodiment) First, a first preferred embodiment will be described. In the first preferred embodiment, an example is taken of a case where one end 51A of the elastic member 50A is fixed to the upper limb support part 30. However, the present invention is not limited to this, and a mode in which one end of the elastic member 50A is fixed to the connecting part 20 side can also be adopted.

[0045] Fig. 9 is a top view showing a first preferred embodiment of an assist device when assist is off according to one embodiment of the present invention. Fig. 10 is a top view showing a first preferred embodiment of an assist device when assist is on according to one embodiment of the present invention. Fig. 11 is a top view showing a difference in the tensile length of an elastic member, which is a component of an assist device when assist is on according to one embodiment of the present invention. Fig. 12 is a detailed top view showing a difference in the tensile length of an elastic member, which is a component of an assist device when assist is on according to one embodiment of the present invention.

[0046] In one embodiment, during pivotal movement of the upper limb support section 30 about the pivot section 40, it is preferable that the other end 52A of the elastic member 50A is positionally changeable at the connecting section 20 so as to approach the pivot section 40. In a mode in which one end of the elastic member 50A is fixed to the connecting section 20 side, it is preferable that the other end of the elastic member 50A is positionally changeable at the upper limb support section 30 so as to approach the pivot section 40.

[0047] As an example, in the embodiment of Figure 9 compared to the embodiment of Figure 7, the connection portion 20 includes a rail member 21, a fixed part 22, a movable part 23, and an elastic member 50B (sometimes referred to as B) connecting between the fixed part 22 and the movable part 23.

[0048] The fixed part 22 is provided on the other end 21b of the rail member 21 opposite to the pivotal support 40. The movable part 23 is provided between the fixed part 22 and the pivotal support 40 so as to be movable on the rail member 21. The elastic member 50A corresponds to the elastic member 50 shown in FIG. 7, and is configured such that one end 51A is connected to the other end 32 of the upper limb support 30 and the other end 52A is connected to the movable part 23.

[0049] Moreover, the elastic member 50A can urge the upper limb support part 30 toward the movable part 23 of the connecting part 20 when the assist is off. The elastic member 50B can urge the movable part 23 toward the fixed part 22 when the assist is off. The elastic members 50A and 50B can be tension springs, rubber members, or the like.

[0050] During the assist-off state, since the elastic member 50A has the above-mentioned characteristics, the elastic member 50A is not in a tensile state, and therefore the other end 32 of the upper limb support part 30 and the end 23a of the movable part 23 are in a close state. Similarly, since the elastic member 50B has the above-mentioned characteristics, the elastic member 50B is not in a tensile state, and therefore the fixed part 22 and the movable part 23 are in a close state. This makes it possible to move and hold the upper limb support part 30 to the area Y outside the area X where the upper limb 201 can work during the assist-off state (see Figs. 5 and 6).

[0051] On the other hand, when the assist is on, the upper limb 201 is supported by the upper limb support part 30 and the supported upper limb 201 is pivoted to the area Z in which the upper limb can work when the assist is on, so that the upper limb support part 30 can be pivoted away from the connecting part 20 with the pivot part 40 as the base point, as shown in Figure 10.

[0052] In this embodiment, one end 51A of the elastic member 50A is connected to the other end 32 of the upper limb support 30, and the other end 52A is connected to the movable part 23, so that when the upper limb support 30 pivots around the pivot part 40, the movable part 23 connected to the other end 52A of the elastic member 50A can change position at the connecting part 20 so as to approach the pivot part 40. Accordingly, the elastic member 50B, one end of which is connected to the movable part 23, is pulled.

[0053] 11 and 12, the length of the spring in the tensioned state of the elastic member 50A can be relatively shorter than when both ends 51, 52 of the elastic member 50 are fixedly connected to the other end 32 side of the upper limb support part 30 and the fixed side part 22 of the connecting part 20 (see Figs. 7 and 8). As a result, the tension force of the tension spring tensioned when the assist is on can be relatively reduced. In this case, it is assumed that the elastic member 50 and the elastic member 50A shown in Figs. 11 and 12 have the same spring constant.

[0054] (Second Preferred Aspect) Next, a second preferred embodiment will be described. In the second preferred embodiment, an example is taken of a case where one end 51C of the elastic member 50C is fixed to the connecting part 20. The present invention is not limited to this, and a mode in which one end of the elastic member 50C is fixed to the upper limb support part 30 side can also be adopted.

[0055] Fig. 13 is a top view showing a second preferred embodiment of the assist device when the assist is off according to an embodiment of the present invention. Fig. 14 is a top view showing a second preferred embodiment of the assist device when the assist is on according to an embodiment of the present invention.

[0056] In one embodiment, it is preferable that the upper limb support section 30 further includes a sliding member 34 that is slidable in the longitudinal direction, and the other end 52C of the elastic member 50C is attached to the sliding member 34. When one end of the elastic member 50C is fixed to the upper limb support section 30 side, it is preferable that the connecting section 20 further includes a sliding member that is slidable in the longitudinal direction, and the other end 52C of the elastic member 50C is attached to the sliding member.

[0057] As an example, in the embodiment of FIG. 13, the connecting part 20 includes a rail member 21 and a fixed part 22. The upper limb support part 30 includes a link member 33 and a sliding member 34. The fixed part 22 is provided on the other end 21b side of the rail member 21 opposite to the pivot part 40. The sliding member 34 is configured to be slidable between both ends 33a, 33b of the link member 33, and is configured to be arranged on the other end 33b side of the link member 33 opposite to the pivot part 40 when the assist is off. In addition, the elastic member 50C is capable of biasing the upper limb support part 30 toward the fixed part 22 side of the connecting part 20 when the assist is off. The elastic member 50C can be a tension spring, a rubber member, or the like.

[0058] During the assist-off state, since the elastic member 50C has the above-mentioned characteristics, the elastic member 50C is not in a tensile state, and therefore the end 34a of the sliding member 34 to which the other end 52C of the elastic member 50C is attached is in a close state to the fixed part 22 to which one end 51C of the elastic member 50C is attached. This makes it possible to move and hold the upper limb support part 30 to the area Y outside the area X where the upper limb 201 can work during the assist-off state (see Figs. 5 and 6).

[0059] On the other hand, when the assist is on, the upper limb 201 is supported by the upper limb support part 30 and the supported upper limb 201 is pivoted to the area Z in which the upper limb can work when the assist is on, so that the upper limb support part 30 can be pivoted away from the connecting part 20 with the pivot part 40 as the base point, as shown in Figure 14.

[0060] In this embodiment, one end 51C of the elastic member 50C is attached to the fixed part 22, and the other end 52C of the elastic member 50C is attached to a sliding member 34 that can slide between both ends 33a, 33b of the link member 33. Therefore, when the upper limb support part 30 pivots around the pivot part 40, the sliding member 34 that was disposed on the other end 33b side of the link member 33 opposite the pivot part 40 when the assist is off can be changed in position by the link member 33 so as to approach the pivot part 40.

[0061] As a result, as shown in FIG. 14, the length of the spring in the tensioned state of the elastic member 50C can be relatively shorter than when both ends 51, 52 of the elastic member 50 are fixedly connected to the other end 32 of the upper limb support section 30 and the fixed part 22 of the connecting section 20, respectively (see FIG. 7 and FIG. 8). As a result, the tensile force of the tension spring tensioned when the assist is on can be relatively reduced. Note that it is assumed that the elastic member 50C shown in FIG. 13 and FIG. 14 and the elastic member 50 shown in FIG. 7 and FIG. 8 have the same spring constant.

[0062] From the above, in both the first and second preferred embodiments, the urging force of the upper limb support part 30 toward the connecting part 20 side can be relatively small by reducing the tensile force of the tension spring that is pulled when assist is on. Therefore, when the upper limb is removed from the upper limb support part 30, the upper limb support part 30 can be pivotally moved toward the connecting part 20 side without excess momentum due to its nature. As a result, even when the connecting part 20 is fixedly arranged on the shoulder 203 side of the worker 200, the urging force toward the shoulder 20 side of the worker is relatively small, and the burden on the shoulder 20 of the worker can be reduced (see FIG. 6).

[0063] 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]

[0064] The assist device 100 according to one embodiment of the present invention can be suitably used in automobile assembly. [Explanation of symbols]

[0065] 100 Assist Devices 10 Main body 20 Connecting part 21 Rail parts 21a One end of the rail member 21b Other end of rail member 22 Fixed parts 23 Movable parts 30 Upper limb support part 31 One end of upper limb support 32 Other end of upper limb support 33 Link member 33a One end of the link member 33b Other end of link member 34a End of sliding member 40 axis branches 50, 50A, 50B, 50C Elastic member 51, 51A, 51C One end of elastic member 52, 52A, 52C Other end of elastic member 200 workers 201 Worker's upper limbs 202 Back of worker 203 Worker's shoulders 300 heavy items 400 Tools X Area where the worker's upper limbs can work when the assist is off Y Area outside of area X where the worker's upper limbs can work when assist is off Z Area where upper limbs can work when assist is on

Claims

1. The device comprises an upper limb support section that detachably supports the upper limbs of a worker and is capable of generating an assist force against gravity acting on the upper limbs, a main body section that can be attached to the back side of the worker, at least one connecting section that connects the main body section and the upper limb support section, an elastic member A, and an elastic member B; One end of the connecting portion and one end of the upper limb support portion are rotatably supported by a shaft, The connecting portion and the upper limb support portion are connected via the elastic member A at a portion other than a pivot portion between the connecting portion and the upper limb support portion, One end of the elastic member A is fixed to one of the upper limb support portion and the connecting portion, the other of the upper limb support portion and the connecting portion includes a fixed part, a movable part, and the elastic member B connecting the fixed part and the movable part, The other end of the elastic member A is attached to the movable part, The elastic member A is capable of biasing the upper limb support part toward the connecting part side when the assist is off, and the elastic member B is capable of biasing the movable part toward the fixed part side when the assist is off, In the process of transitioning from assist-off to assist-on, the other end of the elastic member A is capable of approaching the pivot support portion when the upper limb support portion pivots around the pivot support portion.

2. The device comprises an upper limb support section that detachably supports the upper limbs of a worker and is capable of generating an assist force against gravity acting on the upper limbs, a main body section that can be attached to the back side of the worker, at least one connecting section that connects the main body section and the upper limb support section, and an elastic member C; One end of the connecting portion and one end of the upper limb support portion are rotatably supported by a shaft, One of the upper limb support part and the connecting part has a sliding member that is slidable in a longitudinal direction of the one of the upper limb support part and the connecting part at a portion other than a pivot support portion between the connecting part and the upper limb support part, The other of the upper limb support portion and the connecting portion includes a rail member and a fixed part, One end of the elastic member C is attached to the fixed part, and the other end of the elastic member C is attached to the sliding member, The elastic member C is capable of biasing the upper limb support part toward the fixed part of the connecting part during assist-off. An assist device in which, during the process of transitioning from assist off to assist on, the other end of the elastic member C is capable of approaching the pivot support portion when the upper limb support portion pivots around the pivot support portion.

3. An assist device as described in claim 1 or 2, which is capable of moving and holding the upper limb support part from a support position for the upper limb when the assist is on to outside the area in which the upper limb can be worked when the assist is off.

4. The assist device according to claim 1 or 2, wherein the upper limb support section that supports the upper limb is movable from outside an area in which the upper limb can be used for work when the assist is off to an area in which the upper limb can be used for work when the assist is on.

5. The assist device according to claim 1 or 2, wherein the upper limb support part is freely movable between an area outside the area in which the upper limbs can work when the assist is off and an area in which the upper limbs can work when the assist is on.

6. The assist device according to claim 1 or 2, wherein the connecting portion is fixedly disposed outside a working motion area of ​​the upper limbs.

7. The assist device according to claim 1 or 2, wherein the connecting portion is positioned on a side of the shoulder of the worker.

8. The assist device according to claim 1 or 2, wherein the elastic member A, B or C is a tension spring or a rubber member.

9. 3. The assist device according to claim 1, wherein the work performed when the assist is off is light work performed in a normal posture other than heavy muscle work.

10. 4. The assist device according to claim 3, wherein the work performed when the assist is on is heavy physical work, and the heavy physical work is at least one of work performed by the worker at a height and work of carrying a heavy object weighing 15 kg to 20 kg.

11. 3. The assist device according to claim 1 or 2, which is used for the assembly of an automobile.

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