阅读说明：本技术 动作辅助装置 (Action assisting device ) 是由 小西真 松本圣矢 松本几代 幅崎昌平 岩井雄哉 森川史崇 宫地遼 于 2019-03-04 设计创作，主要内容包括：动作辅助装置(1)具有：第1穿戴部件(10),其穿戴于躯干；第2、第3穿戴部件(20、30),它们分别穿戴于双腿；以及动力产生机构(40),其一端与第1穿戴部件(10)连接,且另一端与第2、第3穿戴部件(20、30)连接,在一端与另一端之间产生拉伸力,动力产生机构(40)具有：绳状的第1动力传递部件(410),其与第2、第3穿戴部件(20、30)连接；第1滑动机构(421),其配置于第1穿戴部件(10)与第2、第3穿戴部件(20、30)之间的位置处,绕挂有第3部分(413)；以及致动器(430),其在第1动力传递部件(410)的至少一端与第2穿戴部件(20)和第3穿戴部件(30)之间产生拉伸力。(The action assisting device (1) comprises: a 1 st wearing member (10) worn on the trunk; 2 nd and 3 rd wearing parts (20, 30) respectively worn on both legs; and a power generation mechanism (40) having one end connected to the 1 st wearing member (10) and the other end connected to the 2 nd and 3 rd wearing members (20, 30), and generating a tensile force between the one end and the other end, the power generation mechanism (40) comprising: a rope-shaped 1 st power transmission member (410) connected to the 2 nd and 3 rd wearing members (20, 30); a 1 st slide mechanism (421) which is arranged between the 1 st wearing part (10) and the 2 nd and 3 rd wearing parts (20, 30) and around which a 3 rd part (413) is wound; and an actuator (430) that generates a tensile force between at least one end of the 1 st power transmission member (410) and the 2 nd wearing member (20) and the 3 rd wearing member (30).)

1. An action assisting device comprising:

a 1 st wearing member to be worn on a 1 st part of a human body;

a 2 nd wearing member and a 3 rd wearing member which are worn on a 2 nd site and a 3 rd site of the body on a side opposite to the 1 st site with a joint interposed therebetween, respectively; and

a power generating mechanism having one end connected to the 1 st wearing member and the other end connected to the 2 nd wearing member and the 3 rd wearing member, and generating a tensile force between the one end and the other end,

the power generation mechanism includes:

a rope-shaped 1 st power transmission member connected to the 2 nd wearing member and the 3 rd wearing member;

a 1 st sliding mechanism which is disposed at a position between the 1 st wearing member and the 2 nd wearing member and the 3 rd wearing member, and around which a 3 rd portion between a 1 st portion and a 2 nd portion of the 1 st power transmission member is wound, the 1 st portion being connected to the 2 nd wearing member, the 2 nd portion being connected to the 3 rd wearing member; and

an actuator that generates the tensile force between (i) the 1 st sliding mechanism and the 1 st wearing member, or (ii) at least one end of the 1 st power transmission member and the 1 st wearing member, or (iii) at least one end of the 1 st power transmission member and the 2 nd wearing member and the 3 rd wearing member.

2. The motion assist device according to claim 1,

the power generation mechanism further has:

a 2 nd slide mechanism provided on the 2 nd wearing member, the 1 st portion of the 1 st power transmission member being wound around the 2 nd sliding mechanism; and

a 3 rd sliding mechanism provided on the 3 rd wearing member and around which the 2 nd part of the 1 st power transmission member is wound,

the actuator is fixed to the at least one ends of the 1 st wearing member and the 1 st power transmission member, and the tensile force is generated between the at least one end of the 1 st power transmission member and the 2 nd wearing member and the 3 rd wearing member by pulling the at least one end of the 1 st power transmission member.

3. The motion assist device according to claim 1,

the power generation mechanism further includes a 2 nd power transmission member in a rope form, one end of the 2 nd power transmission member in a rope form is fixed to the 1 st slide mechanism, and the other end is fixed to the actuator,

one end of the 1 st power transmission member is fixed to the 2 nd wearing member, and the other end is fixed to the 3 rd wearing member,

the actuator is provided on the 1 st wearing member, and generates the tensile force between the 1 st sliding mechanism and the 1 st wearing member by pulling the other end of the 2 nd power transmission member.

4. The motion assist device according to claim 2,

the power generation mechanism further includes a guide mechanism which is disposed between the actuator and the 2 nd wearing member and the 3 rd wearing member and has a through hole through which the 1 st power transmission member is inserted.

5. The motion assist device according to claim 4,

the guide mechanism includes:

a support portion that supports a dorsal aspect of the body; and

a protruding portion protruding from the support portion toward the ridge back side,

the through hole penetrates through the protruding portion in the vertical direction.

6. The motion assist device according to claim 5,

a plurality of the protruding portions are arranged in the vertical direction,

each of the plurality of protruding portions has the through hole,

the 1 st power transmission member is inserted through the plurality of through holes.

7. The motion assist device according to claim 6,

a plurality of the support portions are arranged in the vertical direction,

the plurality of protruding portions are provided to the plurality of support portions, respectively.

8. The action assisting device according to any one of claims 1 to 7,

the 1 st wearing part is worn on a trunk of the body as the 1 st part,

the 2 nd wearing part and the 3 rd wearing part are respectively worn on the right leg as the 2 nd part and the left leg as the 3 rd part,

the power generation mechanism is disposed on a dorsal side of the body.

9. The motion assist device according to claim 8,

the 1 st sliding mechanism is disposed at the waist of the body,

the actuator is disposed above the 1 st slide mechanism.

Technical Field

The present invention relates to a motion assist device that assists a wearer in a motion by reducing a force required for the motion of the wearer.

Background

Patent document 1 discloses a walking exercise assisting device including: both ends of the wire are connected to the left and right legs of the wearer, respectively, and the motor is rotated in one direction to pull the wire connected to one of the left and right legs and send out the other, and the motor is rotated in the other direction to send out the wire connected to one of the left and right legs and pull the other.

Disclosure of Invention

Problems to be solved by the invention

However, in the conventional technique, when one of both ends of the thread is pulled, the other end is fed, and there is a problem that it is difficult to simultaneously and effectively assist a plurality of parts of the body of the wearer.

Further, if a plurality of portions of the wearer's body are to be effectively assisted at the same time using the related art, a plurality of motors are required, which causes a problem of an increase in weight of the device or an increase in manufacturing cost.

Accordingly, the present invention provides a motion assist device capable of simultaneously assisting a plurality of parts of a wearer's body with a simple configuration.

Means for solving the problems

An action assisting device according to an aspect of the present invention includes: a 1 st wearing member to be worn on a 1 st part of a human body; a 2 nd wearing member and a 3 rd wearing member which are worn on a 2 nd site and a 3 rd site of the body on a side opposite to the 1 st site with a joint interposed therebetween, respectively; and a power generation mechanism having one end connected to the 1 st wearing member and the other end connected to the 2 nd wearing member and the 3 rd wearing member, and generating a tensile force between the one end and the other end, the power generation mechanism including: a rope-shaped 1 st power transmission member connected to the 2 nd wearing member and the 3 rd wearing member; a 1 st sliding mechanism which is disposed at a position between the 1 st wearing member and the 2 nd wearing member and the 3 rd wearing member, and around which a 3 rd portion between a 1 st portion and a 2 nd portion of the 1 st power transmission member is wound, the 1 st portion being connected to the 2 nd wearing member, the 2 nd portion being connected to the 3 rd wearing member; and an actuator that generates the tensile force between (i) the 1 st sliding mechanism and the 1 st wearing member, or (ii) at least one end of the 1 st power transmission member and the 1 st wearing member, or (iii) at least one end of the 1 st power transmission member and the 2 nd wearing member and the 3 rd wearing member.

Effects of the invention

The invention provides a motion assisting device which can simultaneously assist a plurality of parts of a wearer's body with a simple structure.

Drawings

Fig. 1 is a perspective view of a motion assist device worn by a wearer as viewed from the rear.

Fig. 2 is a schematic diagram for explaining a specific structure of the power generation mechanism.

Fig. 3 is a schematic diagram for explaining a detailed structure of the guide mechanism.

Fig. 4 is a diagram for explaining the operation of the operation assisting device according to embodiment 1.

Fig. 5 is a diagram of the motion assist device according to embodiment 2 as viewed from the rear.

Fig. 6 is a diagram of the motion assist device according to embodiment 3 as viewed from the rear.

Fig. 7 is a diagram of the motion assist device according to embodiment 4 as viewed from the rear.

Detailed Description

In order to achieve the above-described movement assistance device, a movement assistance device according to an aspect of the present invention includes: a 1 st wearing member to be worn on a 1 st part of a human body; a 2 nd wearing member and a 3 rd wearing member which are worn on a 2 nd site and a 3 rd site of the body on a side opposite to the 1 st site with a joint interposed therebetween, respectively; and a power generation mechanism having one end connected to the 1 st wearing member and the other end connected to the 2 nd wearing member and the 3 rd wearing member, and generating a tensile force between the one end and the other end, the power generation mechanism including: a rope-shaped 1 st power transmission member connected to the 2 nd wearing member and the 3 rd wearing member; a 1 st sliding mechanism which is disposed at a position between the 1 st wearing member and the 2 nd wearing member and the 3 rd wearing member, and around which a 3 rd portion between a 1 st portion and a 2 nd portion of the 1 st power transmission member is wound, the 1 st portion being connected to the 2 nd wearing member, the 2 nd portion being connected to the 3 rd wearing member; and an actuator that generates the tensile force between (i) the 1 st sliding mechanism and the 1 st wearing member, or (ii) at least one end of the 1 st power transmission member and the 1 st wearing member, or (iii) at least one end of the 1 st power transmission member and the 2 nd wearing member and the 3 rd wearing member.

Thereby, the 1 st part and the 2 nd part of the 1 st power transmission member of the power generation mechanism are wound around the 1 st sliding mechanism, the 1 st part is connected with the 2 nd wearing member, and the 2 nd part is connected with the 3 rd wearing member. Therefore, in the power generation mechanism, when the tensile force is generated by the actuator and a large tensile force is distributed to one of the 2 nd wearing member and the 3 rd wearing member, the 1 st sliding mechanism moves to the side to which the tensile force in the longitudinal direction of the 1 st power transmission member is distributed to be small. Thus, the power generation mechanism can equally distribute the tensile force to the 2 nd wearing member and the 3 rd wearing member. Therefore, the force acting on the 1 st wearing member to be biased toward one of the 2 nd wearing member and the 3 rd wearing member can be reduced, and a plurality of portions of the body of the wearer can be effectively assisted at the same time. In addition, a plurality of parts of the wearer's body can be simultaneously assisted by one actuator, so that the weight and manufacturing cost of the device can be reduced.

Further, the power generation mechanism may further include: a 2 nd slide mechanism provided on the 2 nd wearing member, the 1 st portion of the 1 st power transmission member being wound around the 2 nd sliding mechanism; and a 3 rd sliding mechanism which is provided on the 3 rd wearing member, and around which the 2 nd portion of the 1 st power transmission member is wound, wherein the actuator is fixed to the 1 st wearing member and the at least one end of the 1 st power transmission member, and the tensile force is generated between the at least one end of the 1 st power transmission member and the 2 nd wearing member and the 3 rd wearing member by pulling the at least one end of the 1 st power transmission member.

Thus, the 2 nd sliding mechanism and the 3 rd sliding mechanism can function as the movable pulleys, and therefore, the assist operation rates for a plurality of portions of the body of the wearer can be effectively equalized.

Further, the power generation mechanism may further include a 2 nd power transmission member in a string shape, one end of the 2 nd power transmission member in a string shape is fixed to the 1 st sliding mechanism, and the other end thereof is fixed to the actuator, one end of the 1 st power transmission member is fixed to the 2 nd wearing member, and the other end thereof is fixed to the 3 rd wearing member, and the actuator may be provided in the 1 st wearing member, and the tensile force may be generated between the 1 st sliding mechanism and the 1 st wearing member by pulling the other end of the 2 nd power transmission member.

Further, the power generation mechanism may further include a guide mechanism that is disposed between the actuator and the 2 nd wearing member and the 3 rd wearing member and that has a through hole through which the 1 st power transmission member is inserted.

Thus, the 1 st power transmission member is inserted through the through hole of the guide mechanism and is therefore disposed on a predetermined line formed by the through hole. Therefore, the tensile force generated by the actuator can be efficiently applied to the 1 st power transmission member.

Further, the guide mechanism may include: a support portion that supports a dorsal aspect of the body; and a protrusion portion protruding from the support portion toward the back side, wherein the through hole penetrates the protrusion portion in a vertical direction.

Thus, the through hole through which the 1 st power transmission member is inserted is provided in the protruding portion that protrudes toward the back side from the support portion that supports the back of the person, and therefore, when a tensile force is applied to the 1 st power transmission member, a force in a direction in which the back is lifted is effectively applied. Therefore, the force required for the waist stretching operation when the person stands up from the squatting state can be effectively assisted. This can effectively assist the force required for the movement of stretching the waist in the movement of the person standing up in a state of holding a load or the like in a forward tilted posture, for example.

Further, a plurality of the protruding portions may be arranged in the vertical direction, each of the plurality of protruding portions may have the through hole, and the 1 st power transmission member may be inserted through the plurality of through holes.

Thus, since the 1 st power transmission member penetrates the plurality of protrusions, when a tensile force is applied to the 1 st power transmission member, a force can act on the back so that the plurality of protrusions are linearly arranged. That is, it is possible to effectively assist the force necessary for the human body to move from the posture in which the human body is inclined forward and the back is curved to the posture in which the back is straight.

Further, a plurality of the support portions may be arranged in the vertical direction, and the plurality of the protruding portions may be provided on the plurality of the support portions, respectively.

Therefore, the guide mechanism can be easily deformed along the shape of the back of the person. Therefore, the force required by a person to straighten the back can be effectively assisted.

Further, the 1 st wearing member may be worn on the trunk of the body as the 1 st part, the 2 nd wearing member and the 3 rd wearing member may be worn on the right leg as the 2 nd part and the left leg as the 3 rd part, respectively, and the motive power generation mechanism may be disposed on the dorsal side of the body.

Further, the 1 st sliding mechanism may be disposed at a waist portion of the body, and the actuator may be disposed above the 1 st sliding mechanism.

Hereinafter, the motion assisting apparatus 1 according to one embodiment of the present invention will be described in detail with reference to the drawings.

The embodiments described below are all specific examples of the present invention. The numerical values, shapes, materials, constituent elements, arrangement positions of constituent elements, connection modes, and the like shown in the following embodiments are merely examples, and are not intended to limit the present invention. Further, among the components of the following embodiments, components not recited in the independent claims indicating the uppermost concept will be described as arbitrary components.

(embodiment mode 1)

The operation assisting apparatus according to embodiment 1 will be described with reference to fig. 1 to 4.

[1-1. Structure ]

In the present embodiment, when the wearer wears the motion assist device, the lateral direction of the wearer is the X-axis direction, the front-back direction of the wearer is the Y-axis direction, and the vertical direction of the wearer is the Z-axis direction. Further, the left side of the wearer is defined as the X-axis direction negative side, and the right side of the wearer is defined as the X-axis direction positive side. Further, the front side of the wearer is defined as the Y-axis direction positive side, and the rear side of the wearer is defined as the Y-axis direction negative side. Further, the upper side of the wearer is defined as the positive side in the Z-axis direction, and the lower side of the wearer is defined as the negative side in the Z-axis direction. In the drawings, directions indicated by arrows indicating the X-axis direction, the Y-axis direction, and the Z-axis direction are positive sides in the respective directions, and a direction opposite to the arrow is a negative side in the respective directions. In other embodiments, the same applies to the definition of the above-described direction.

Fig. 1 is an external view of a motion assistance device worn by a wearer as viewed from the rear.

As shown in fig. 1, the motion assisting device 1 includes a 1 st wearing member 10, a 2 nd wearing member 20, a 3 rd wearing member 30, and a power generating mechanism 40.

The 1 st wearing member 10 is a member to be worn on the 1 st part of the human body. Specifically, the 1 st wearing member 10 is worn on the trunk of the human body. The 1 st wearing member 10 includes, for example: shoulder straps 11 worn on both shoulders of a human body; and a waist belt 12 worn around the waist of the trunk. The shoulder straps 11 and the waist strap 12 are belt-shaped members, and are made of, for example, synthetic fibers, natural fibers, metal fibers, leather (including artificial leather), silicone, or the like.

The 2 nd wearing member 20 and the 3 rd wearing member 30 are members to be worn on the 2 nd site and the 3 rd site, respectively, of the human body on the opposite side of the 1 st site with the joint interposed therebetween. Specifically, the 2 nd wearing part 20 and the 3 rd wearing part 30 are worn on the right leg and the left leg of the human body, respectively. The 2 nd wearing member 20 has: a leg strap 21 worn on the right leg; and an extension band 22 fixed to the leg band 21 and extending upward from the leg band 21. The 3 rd wearing member 30 has: a leg strap 31 worn on the left leg; and an extension band 32 fixed to the leg band 31 and extending upward from the leg band 31. The right leg and the left leg are located on the opposite side of the trunk with a joint such as a hip joint interposed therebetween. The leg straps 21, 31 are worn at positions below the knee joint, for example, at the lower leg portions. The leg bands 21 and 31 may be worn on the thigh as well as the lower leg. The leg band 21 and the extension band 32 are band-shaped members, and are made of, for example, synthetic fibers, natural fibers, metal fibers, leather (including artificial leather), silicone, or the like.

One end of the power generation mechanism 40 in the Z-axis direction is connected to the 1 st wearing member 10, and the other end is connected to the 2 nd wearing member 20 and the 3 rd wearing member 30, and a tensile force is generated between the one end and the other end. Specifically, the power generation mechanism 40 is disposed on the dorsal side of the human body, and has one end portion fixed to the shoulder strap 11 and the waist belt 12 of the 1 st wearing part 10, and the other end portion fixed to the upper end of the extension strap 22 of the 2 nd wearing part 20 and the upper end of the extension strap 32 of the 3 rd wearing part 30. Thus, for example, when the wearer moves from a position in which the waist is bent to a position in which the waist is stretched, the power generation mechanism 40 can generate a tensile force to apply a force in a direction in which the waist is stretched. Therefore, the power generation mechanism 40 can generate a force for assisting the operation of stretching the waist.

A specific structure of the power generation mechanism 40 will be described with reference to fig. 2.

Fig. 2 is a schematic diagram for explaining a specific structure of the power generation mechanism. Fig. 2 is a diagram for explaining a specific configuration of the power generation mechanism in the motion assistance device 1 of fig. 1, and is not necessarily drawn strictly.

As shown in fig. 2, the power generation mechanism 40 has a 1 st power transmission member 410, a 1 st slide mechanism 421, a 2 nd slide mechanism 422, a 3 rd slide mechanism 423, an actuator 430, and guide mechanisms 440, 450.

The 1 st power transmission member 410 is a rope-like member. The 1 st power transmission member 410 is, for example, a wire, a belt, a chain, or the like. The 1 st power transmission member 410 is connected to the 2 nd wearing member 20 and the 3 rd wearing member 30. The 1 st power transmission member 410 is disposed from one end to the other end of the power generation mechanism 40. Thus, the 1 st power transmission member 410 can transmit the tensile force generated by the power generation mechanism 40 from one end to the other end of the power generation mechanism 40 in the Z-axis direction.

The 1 st slide mechanism 421 is disposed between the 1 st wearing member 10 and the 2 nd wearing member 20 and the 3 rd wearing member 30, and has the 3 rd portion 413 of the 1 st power transmission member 410 wound therearound. The 3 rd portion 413 is a portion between the 1 st portion 411 and the 2 nd portion 412 in the 1 st power transmission member 410, the 1 st portion 411 is connected to the 2 nd wearing member 20, and the 2 nd portion 412 is connected to the 3 rd wearing member 30. Specifically, the 1 st sliding mechanism 421 is disposed at the guide mechanism 450, that is, at the waist of the human body, and the guide mechanism 450 is fixed to the waist belt 12 of the 1 st wearing member 10. The 1 st slide mechanism 421 is, for example, a pulley that rotates on a predetermined rotation axis. The predetermined rotation axis of the 1 st slide mechanism 421 is, for example, a rotation axis along the Y-axis direction in a state where the motion assistance device 1 is worn by a wearer in a standing state. The 3 rd part 413 of the 1 st power transmission member 410 is wound around the 1 st slide mechanism 421. The winding is not limited to the case of winding the side surface of the pulley by 1 turn or more, and includes the case of winding only a part of the side surface of the pulley.

The rotation shaft of the 1 st slide mechanism 421 may be vertically slidable in the internal space 452 of the guide mechanism 450, and may be biased upward by the spring 424.

The 2 nd sliding mechanism 422 is provided on the 2 nd wearing member 20, and wraps the 1 st part 411 of the 1 st power transmission member 410. The 1 st part 411 is a part between one end 414 of the 1 st power transmission member 410 and the 3 rd part 413. Specifically, the 2 nd sliding mechanism 422 is disposed at the upper end of the extension belt 22 of the 2 nd wearing member 20. The 2 nd slide mechanism 422 is, for example, a pulley that rotates on a predetermined rotation axis. As described above, the predetermined rotation axis of the 2 nd slide mechanism 422 is, for example, a rotation axis along the Y-axis direction in a state where the motion assistance device 1 is worn by a wearer in a standing state. A 1 st part 411 of the 1 st power transmission member 410 is wound around a lower side of a side surface of the 2 nd slide mechanism 422. The 2 nd sliding mechanism 422 is connected to the extension belt 22 such that a prescribed rotation shaft of the 2 nd sliding mechanism 422 does not move at a prescribed position of the upper end of the extension belt 22. That is, a predetermined rotation shaft of the 2 nd sliding mechanism 422 is fixed at a predetermined position of the upper end of the extension belt 22.

The 3 rd slide mechanism 423 is provided on the 3 rd wearing member 30, and wraps around the 2 nd part 412 of the 1 st power transmission member 410. The 2 nd part 412 is a part between the other end 415 of the 1 st power transmission member 410 and the 3 rd part 413. Specifically, the 3 rd sliding mechanism 423 is disposed at the upper end of the extension belt 32 of the 3 rd wearing member 30. The 3 rd slide mechanism 423 is, for example, a pulley that rotates on a predetermined rotation axis. As described above, the predetermined rotation axis of the 3 rd slide mechanism 423 is, for example, a rotation axis along the Y-axis direction in a state where the motion assistance device 1 is worn by a wearer in a standing state. A 2 nd part 412 of the 1 st power transmission member 410 is wound around a lower side of a side surface of the 3 rd slide mechanism 423. The 3 rd slide mechanism 423 is connected to the extension belt 32 such that a predetermined rotation shaft of the 3 rd slide mechanism 423 does not move at a predetermined position of an upper end of the extension belt 32. That is, a predetermined rotation shaft of the 3 rd sliding mechanism 423 is fixed at a predetermined position of the upper end of the extension belt 32.

The 1 st slide mechanism 421, the 2 nd slide mechanism 422, and the 3 rd slide mechanism 423 are mechanisms that allow the position of contact with the 1 st power transmission member 410, that is, the position of the 1 st power transmission member 410 in the longitudinal direction to be changed to different positions. That is, the 1 st power transmission member 410 is movable, i.e., slidable, in the longitudinal direction of the 1 st power transmission member 410 with respect to the respective slide mechanisms 421 to 423. Each of the sliding mechanisms 421 to 423 is, for example, a pulley, but may be another mechanism as long as the 1 st power transmission member 410 is provided slidably in the longitudinal direction, instead of having a mechanism that rotates on a predetermined rotation axis like a pulley. In the case where the 1 st power transmission member 410 is formed of a chain, the sliding mechanisms 421 to 423 may be formed of sprockets having a shape corresponding to the chain.

The actuators 430 are fixed to both ends (i.e., one end 414 and the other end 415) of the 1 st power transmission member 410 and the 1 st wearing member 10, and generate tensile force by pulling both ends of the 1 st power transmission member 410. Further, the actuator 430 may generate a tensile force between the one end 414 or the other end 415 and the 2 nd wearing member 20 and the 3 rd wearing member 30, not limited to both ends of the 1 st power transmission member 410.

Specifically, the actuator 430 includes: a motor 431; a pulley 433 rotated by the rotation of the motor 431; and a pulley 432 rotated by the rotation of the pulley 433. One end 414 of the 1 st power transmission member 410 is fixed to the pulley 432, and the other end 415 of the 1 st power transmission member 410 is fixed to the pulley 432. The motor 431 and the pulley 433 are engaged with each other by a gear not shown, and when the motor 431 rotates, the rotation of the motor 431 is transmitted to the pulley 433, and the pulley 433 rotates. Similarly, the pulley 433 and the pulley 432 are engaged with each other by a gear not shown, and when the pulley 433 rotates, the rotation of the pulley 433 is transmitted to the pulley 432, and the pulley 432 rotates. That is, the motor 431 rotates, whereby the pulleys 432, 433 rotate in a direction to wind up the 1 st power transmission member 410 or in a direction to send out the 1 st power transmission member 410. If the motor 431 rotates in the 1 st rotation direction, the pulleys 432, 433 rotate in a direction to wind up both ends of the 1 st power transmission member 410. Thus, the actuator 430 winds up the 1 st power transmission member 410, and generates a tensile force in the 1 st power transmission member 410. If the motor 431 rotates in the 2 nd rotation direction opposite to the 1 st rotation direction, the pulleys 432, 433 rotate in the direction of sending out the 1 st power transmission member 410. The motor 431 may not be driven to rotate in the 2 nd rotation direction, and may rotate in the 2 nd rotation direction according to a pulling force when the 1 st power transmission member 410 is pulled.

The guide mechanisms 440 and 450 are disposed between the actuator 430 and the 2 nd wearing member 20 and the 3 rd wearing member 30, and have through holes 443 and 451 through which the 1 st power transmission member 410 is inserted. Thus, even when the 1 st power transmission member 410 moves in the longitudinal direction, the guide mechanisms 440 and 450 can guide the same to pass through a predetermined path (on a predetermined line). A plurality of guide mechanisms 440 are arranged in the vertical direction. The plurality of guide mechanisms 440 are arranged in the vertical direction in a posture in which the through-holes 443 extend along the vertical direction from the lower end of the actuator 430. The guide mechanism 450 is disposed below the lowermost guide mechanism 440 among the plurality of guide mechanisms 440. The guide mechanism 450 is disposed on the rear side of the waist belt 12 in an overlapping state. The plurality of guide mechanisms 440 and the guide mechanism 450 are interconnected. The plurality of guide mechanisms 440 and the guide mechanism 450 are connected by, for example, a member having flexibility, i.e., being easily elastically deformed. The guide mechanisms 440 and 450 are made of, for example, resin or metal.

The detailed structure of the guide mechanism 440 will be described with reference to fig. 3.

Fig. 3 is a schematic diagram for explaining a detailed structure of the guide mechanism. Fig. 3 (a) is a plan view of one of the guide mechanisms 440 viewed from the rear side, and fig. 3 (b) is a cross-sectional view taken along the plane in fig. 3 (a) and IIIb-IIIb when the plane in fig. 3 (a) is cut by a plane parallel to the XY plane. The plurality of guide mechanisms 440 have the same shape, although the size is different from each other as the size of the guide mechanism 440 disposed above is smaller, and therefore, one guide mechanism 440 will be described as an example.

As shown in fig. 3, the guide mechanism 440 has a support portion 441 and a protruding portion 442.

The support portion 441 is a plate-like portion that supports the back side of the spine of the wearer's body. The support portion 441 is curved along the shape of the back of the wearer's body. That is, the support portion 441 is formed into a curved surface that is convex toward the rear side. The support portion 441 may be curved so as to protrude toward the Y-axis direction positive side with respect to the X-axis direction.

The protruding portion 442 protrudes from the support portion 441 toward the back (positive Y-axis direction). Specifically, the protruding portions 442 are two portions protruding from both ends of the support portion 441 in the X-axis direction toward the Y-axis direction positive side.

In addition, a through hole 443 is formed in the protruding portion 442. Specifically, the through-hole 443 is formed at the protruding end of each of the two protruding portions 442 and penetrates the protruding portions 442 in the vertical direction. Since the protruding portion 442 is provided for each of the plurality of guide mechanisms 440 arranged in the vertical direction, the plurality of guide mechanisms 440 have the plurality of protruding portions 442, and the plurality of protruding portions 442 are arranged in the vertical direction.

Further, a plurality of through holes 443 are formed in each of the plurality of protrusions 442 included in the plurality of guide mechanisms 440. The plurality of through holes 443 are arranged to be overlapped with each other when viewed from the direction in which the 1 st power transmission member 410 penetrates so as to be penetrated by the 1 st power transmission member 410. Therefore, the 1 st power transmission member 410 can easily pass through the plurality of through holes 443. The 1 st power transmission member 410 is inserted through the through-holes 443, and the through-holes 443 are provided in the plurality of protrusions 442 at both ends of the plurality of guide mechanisms 440 in the X-axis direction, so that the 1 st power transmission member 410 is disposed at the end portions of the plurality of guide mechanisms 440 on the X-axis direction positive side and the end portions of the plurality of guide mechanisms 440 on the X-axis direction negative side.

Referring back to fig. 2, the guide mechanism 450 will be described in detail.

The guide mechanism 450 has through holes 451 at both ends in the X axis direction. The through hole 451 disposed on the X-axis direction negative side is disposed to overlap the through holes 443 on the X-axis direction negative side of the guide mechanisms 440 in the vertical direction, and is penetrated by the 1 st power transmission member 410, and the 1 st power transmission member 410 penetrates the through holes 443 on the X-axis direction negative side of the guide mechanisms 440. Similarly, the through hole 451 disposed on the X-axis direction positive side is disposed to overlap the through holes 443 of the guide mechanisms 440 on the X-axis direction positive side in the vertical direction, and is penetrated by the 1 st power transmission member 410, and the 1 st power transmission member 410 penetrates the through holes 443 of the guide mechanisms 440 on the X-axis direction positive side.

Further, the guide mechanism 450 houses the 1 st slide mechanism 421 and the spring 424. The guide mechanism 450 has an internal space 452, and the internal space 452 accommodates the 1 st slide mechanism 421 and the spring 424. Further, the spring 424 may not be provided. The internal space 452 is disposed between the two through holes 451.

With this configuration, the first end 414 of the 1 st power transmission member 410 is fixed to the pulley 432 of the actuator 430, and the portion between the first end 414 and the 1 st portion 411 passes through the through holes 443, 451 on the X-axis direction positive side of the plurality of guide mechanisms 440, 450, and the 1 st portion 411 is wound around the 2 nd sliding mechanism 422. The 1 st power transmission member 410 extends to the 1 st slide mechanism 421 at the other end 415 side than the 1 st section 411, and is wound around the 1 st slide mechanism 421 at the 3 rd section 413. The 1 st power transmission member 410 extends to the 3 rd slide mechanism 423 on the other end 415 side of the 3 rd part 413, and is wound around the 3 rd slide mechanism 423 at the 2 nd part 412. The 1 st power transmission member 410 is inserted through the through holes 443, 451 on the X-axis direction negative side of the plurality of guide mechanisms 440, 450 at the other end 415 side of the 2 nd part 412, and the other end 415 is fixed to the pulley 433 of the actuator 430.

[1-2. actions ]

Next, the operation of the operation assisting apparatus 1 will be described.

Fig. 4 is a diagram for explaining the operation of the operation assisting device according to embodiment 1.

Fig. 4 illustrates the operation of the motion assistance device 1 when the wearer bends down and lifts the article 500.

As shown in fig. 4 (a), when the wearer bends down to hold the article 500, the waist of the wearer bends, and therefore, the distance between the guide mechanism 450 of the power generation mechanism 40 and the 2 nd slide mechanism 422 and the 3 rd slide mechanism 423 is increased to be d 1. That is, the length of the 1 st power transmission member 410 fed by the actuator 430 becomes the 1 st length.

Next, as shown in fig. 4 (b) and (c), the wearer stretches the waist to transition from the forward stooped state to the standing state. At this time, the actuator 430 of the motion assisting apparatus 1 rolls up the 1 st power transmission member 410 so that the interval between the guide mechanism 450 of the power generation mechanism 40 and the 2 nd slide mechanism 422 and the 3 rd slide mechanism 423 changes from the interval d1 to the interval d2 and from the interval d2 to the interval d 3. Thus, the length of the 1 st power transmission member 410 fed by the actuator 430 is changed from the 1 st length to the 2 nd length shorter than the 1 st length, and then to the 3 rd length shorter than the 2 nd length. By performing such rolling, the motion assisting device 1 assists the motion of extending the waist of the wearer. In addition, the spacing d1 is greater than the spacing d2, and the spacing d2 is greater than the spacing d 3.

When the actuator 430 winds up the 1 st power transmission member 410 in this manner, a tensile force is applied to the 1 st wearing member 10, the 2 nd wearing member 20, and the 3 rd wearing member 30 in a direction in which the distance between the 1 st sliding mechanism 421 and the 2 nd sliding mechanisms 422 and 423 becomes shorter, as indicated by the hollow arrow in fig. 2. This can effectively assist the wearer in lifting the article 500.

The actuator 430 may assist the operation of extending the waist of the wearer by rolling up the 1 st power transmission member 410 when a switch, not shown, is turned on. In this case, the actuator 430 of the motion assisting device 1 may be controlled not to be wound up when the distance between the guide mechanism 450 of the power generation mechanism 40 and the 2 nd slide mechanism 422 and the 3 rd slide mechanism 423 is smaller than the distance d 3. For example, an encoder may be provided in the actuator 430, and when the length of the 1 st power transmission member 410 fed out by the actuator 430 is such that it corresponds to the length of the interval smaller than the interval d3, the actuator 430 may be controlled not to operate.

The actuator 430 may not be operated by the switch described above. For example, an encoder may be provided in the actuator 430, and based on the detection result of the encoder, the actuator 430 may be controlled to perform the operation of rolling up the 1 st power transmission member 410 when the length of the 1 st power transmission member 410 fed out by the actuator 430 is equal to or more than a predetermined amount. Further, the operation may be performed based on the values of a gyro sensor, an acceleration sensor, or the like.

The actuator 430 may always apply a force to such an extent that the 1 st power transmission member 410 is not loosened.

[1-3. Effect, etc. ]

The motion assist device 1 according to the present embodiment includes a 1 st wearing member 10, a 2 nd wearing member 20, a 3 rd wearing member 30, and a power generation mechanism 40. The 1 st wearing part 10 is a part to be worn on the trunk of a human body. The No. 2 wearing part 20 and the No. 3 wearing part 30 are parts to be worn on the right leg and the left leg of the person, respectively. The power generation mechanism 40 is the following mechanism: one end is connected to the 1 st wearing member 10, and the other end is connected to the 2 nd wearing member 20 and the 3 rd wearing member 30, and a tensile force is generated between the one end and the other end. The power generation mechanism 40 has a 1 st power transmission member 410, a 1 st slide mechanism 421 and an actuator 430. The 1 st power transmission member 410 is a string-like member connected to the 2 nd wearing member 20 and the 3 rd wearing member 30. The 1 st sliding mechanism 421 is disposed between the 1 st wearing member 10 and the 2 nd wearing member 20 and the 3 rd wearing member 30, and wraps around the 3 rd portion 413 between the 1 st portion 411 and the 2 nd portion 412 of the 1 st power transmission member 410, the 1 st portion 411 is connected to the 2 nd wearing member 20, and the 2 nd portion 412 is connected to the 3 rd wearing member 30. The actuator 430 is connected to both ends of the 1 st power transmission member 410 and the 1 st wearing member 10, and generates a tensile force between both ends of the 1 st power transmission member 410 and the 1 st wearing member 10.

Thus, the 3 rd part 413 between the 1 st part 411 and the 2 nd part 412 of the 1 st power transmission member 410 of the power generation mechanism 40 is hung around the 1 st sliding mechanism 421, the 1 st part 411 is connected to the 2 nd wearing member 20, and the 2 nd part 412 is connected to the 3 rd wearing member 30. For example, when the wearer twists to the right or left side while holding the article 500, the 1 st power transmission member 410 is fed to one of the 2 nd wearing member 20 and the 3 rd wearing member 30 for a long time. Therefore, a large tensile force is assigned to one of the 2 nd wearing member 20 and the 3 rd wearing member 30. In this way, in the power generation mechanism 40, when the actuator 430 generates a tensile force and a large tensile force is assigned to one of the 2 nd wearing member 20 and the 3 rd wearing member 30, the 1 st sliding mechanism 421 moves to the one to which a small tensile force in the longitudinal direction of the 1 st power transmission member 410 is assigned. Thereby, the power generation mechanism 40 can equally distribute the tensile force to the 2 nd wearing member 20 and the 3 rd wearing member 30. Therefore, the force biased toward one of the 2 nd wearing member 20 and the 3 rd wearing member 30 can be reduced from acting between the first wearing member 10 and the 1 st wearing member, and a plurality of parts of the body of the wearer can be effectively assisted at the same time. In addition, a plurality of portions of the wearer can be simultaneously assisted by one actuator 430, so that the weight and manufacturing cost of the device can be reduced.

In the motion assist device 1 of the present embodiment, the power generation mechanism 40 further includes a 2 nd slide mechanism 422 and a 3 rd slide mechanism 423. The 2 nd sliding mechanism 422 is provided on the 2 nd wearing member 20, and wraps the 1 st part 411 of the 1 st power transmission member 410. The 3 rd slide mechanism 423 is provided on the 3 rd wearing member 30, and wraps around the 2 nd part 412 of the 1 st power transmission member 410. The actuators 430 are fixed to both ends (i.e., one end 414 and the other end 415) of the 1 st wearing member 10 and the 1 st power transmission member 410, and generate tensile force by pulling both ends of the 1 st power transmission member 410.

Thus, the 2 nd slide mechanism 422 and the 3 rd slide mechanism 423 can function as a movable pulley, and therefore, the assist operation rates for a plurality of portions of the body of the wearer can be effectively equalized.

In the motion assist device 1 of the present embodiment, the power generation mechanism 40 further includes guide mechanisms 440 and 450. The guide mechanisms 440 and 450 are disposed between the actuator 430 and the 2 nd wearing member 20 and the 3 rd wearing member 30, and have through holes 443 and 451 through which the 1 st power transmission member passes.

Thus, the 1 st power transmission member 410 is disposed on a predetermined line formed by the through holes 443, 451 of the guide mechanisms 440, 450 since it penetrates the through holes 443, 451. Therefore, the tensile force generated by the actuator 430 can be efficiently applied to the 1 st power transmission member 410.

In the motion assist device 1 of the present embodiment, the guide mechanism 440 includes the support portion 441 and the protruding portion 442. The support portion 441 is a portion that supports the dorsal side of the body. The protruding portion 442 protrudes from the support portion 441 toward the back side. The through hole 443 penetrates the protruding portion 442 in the vertical direction.

Thus, the through-hole 443 through which the 1 st power transmission member 410 is inserted is provided in the protruding portion 442, and the protruding portion 442 protrudes from the support portion 441 that supports the back of the person toward the back, so that when a tensile force is applied to the 1 st power transmission member 410, a force in a direction in which the back is lifted can be effectively applied. Therefore, the force required for the waist stretching operation when the person stands up from the squatting state can be effectively assisted. This can effectively assist the force required for the movement of stretching the waist in the movement of the person standing up in a state of holding a load or the like in a forward tilted posture, for example.

In the movement assistance device 1 of the present embodiment, a plurality of protrusions 442 are arranged in the vertical direction. Each of the projections 442 has a through hole 443. The 1 st power transmission member 410 passes through the plurality of through holes 443.

Thus, the 1 st power transmission member 410 penetrates the plurality of protrusions 442, and therefore, when a tensile force is applied to the 1 st power transmission member 410, a force can act on the ridge so that the plurality of protrusions 442 are linearly arranged. That is, it is possible to effectively assist the force necessary for the human body to move from the posture in which the human body is inclined forward and the back is curved to the posture in which the back is straight.

In the motion assist device 1 of the present embodiment, a plurality of support portions 441 are arranged in the vertical direction. The plurality of protrusions 442 are provided on the plurality of support portions 441, respectively. Therefore, the guide mechanism 440 can be easily deformed along the shape of the back of the person. Therefore, the force required by a person to straighten the back can be effectively assisted.

(embodiment mode 2)

The operation assisting apparatus according to embodiment 2 will be described with reference to fig. 5.

[2-1. Structure ]

Fig. 5 is a diagram of the motion assist device according to embodiment 2 as viewed from the rear.

As shown in fig. 5, the motion assist device 1A according to embodiment 2 includes a 1 st wearing member 10A, a 2 nd wearing member 20, a 3 rd wearing member 30, and a power generation mechanism 40A.

The 1 st wearing component 10A is different from the 1 st wearing component 10A of embodiment 1 in that the waist belt 12 is not provided. The 1 st wearing member 10A may have the same configuration as the 1 st wearing member 10 of embodiment 1.

The 2 nd wearing member 20 and the 3 rd wearing member 30 have the same configuration as the 2 nd wearing member 20 and the 3 rd wearing member 30 of embodiment 1. And thus a detailed description is omitted.

The power generation mechanism 40A has a 1 st power transmission member 410A, a 2 nd power transmission member 414A, a 1 st slide mechanism 421A, and an actuator 430A.

The 1 st part 411A as one end of the 1 st power transmission member 410A is fixed to the 2 nd wearing member 20, and the 2 nd part 412A as the other end is fixed to the 3 rd wearing member 30. Specifically, the 1 st part 411A is fixed at a position of an upper end of the extension band 22 of the 2 nd wearing member 20, and the 2 nd part 412A is fixed at a position of an upper end of the extension band 32 of the 3 rd wearing member 30. Further, the 1 st power transmission member 410A is wound around the 1 st slide mechanism 421A at the 3 rd part 413A which is a part between the 1 st part 411A and the 2 nd part 412A. The 1 st power transmission member 410A is a string-like member, such as a wire, a belt, or a chain.

The 2 nd power transmission member 414A is a rope-like member. The 2 nd power transmission member 414A is, for example, a wire, a belt, a chain, or the like. One end 415A of the 2 nd power transmission member 414A is fixed to the 1 st slide mechanism 421A, and the other end 416A is fixed to the actuator 430. Specifically, the 2 nd power transmission member 414A is fixed to the rotation shaft of the 1 st slide mechanism 421A. The 2 nd power transmission member 414A pulls the 1 st slide mechanism 421A upward by applying a tensile force to the actuator 430.

The 1 st slide mechanism 421A is different from the 1 st slide mechanism 421 of embodiment 1 in that it is not disposed on the 1 st wearing member 10A, but has the same other structure. And thus a detailed description is omitted.

The actuator 430A is fixed to the other end 416A of the 2 nd power transmission member 414A and the 1 st wearing member 10A, and generates a tensile force between the 1 st sliding mechanism 421A and the 1 st wearing member 10A by pulling the other end 416A of the 2 nd power transmission member 414A. Specifically, the actuator 430A includes a motor 431A and a pulley 432A that is rotated by the rotation of the motor 431A. The other end 416A of the 2 nd power transmission member 414A is fixed to the pulley 432A. The motor 431A and the pulley 432A are engaged with each other via a gear not shown, and when the motor 431A rotates, the rotation of the motor 431A is transmitted to the pulley 432A, and the pulley 432A rotates. That is, by rotating the motor 431A, the pulley 432A rotates in a direction to wind up the 2 nd power transmission member 414A or rotates in a direction to send out the 2 nd power transmission member 414A. If the motor 431A rotates in the 1 st rotation direction, the pulley 432A rotates in the direction to wind up the 2 nd power transmission member 414A. Thus, the actuator 430 winds up the 2 nd power transmission member 414A, and generates a tensile force in the 2 nd power transmission member 414A. If the motor 431A rotates in the 2 nd rotation direction opposite to the 1 st rotation direction, the pulley 432A rotates in a direction to send out the 2 nd power transmission member 414A. In addition, the motor 431A may not be driven to rotate in the 2 nd rotation direction, and may also rotate in the 2 nd rotation direction corresponding to the pulled force when the 1 st power transmission member 410 is pulled.

[2-2. actions ]

Similarly to the motion assist device 1 of embodiment 1, when the wearer bends down and holds the article 500, the waist of the wearer bends, and therefore the length of the 2 nd power transmission member 414A fed by the actuator 430A becomes the 1 st length. Then, the wearer stretches the waist to transition from the forward stooped state to the standing state. At this time, the length of the 2 nd power transmission member 414A fed by the actuator 430A changes from the 1 st length to the 2 nd length shorter than the 1 st length, and then to the 3 rd length shorter than the 2 nd length. By performing such rolling, the motion assisting device 1A assists the motion of extending the waist of the wearer.

As the 2 nd power transmission member 414A is thus wound up by the actuator 430A, a tensile force is applied to the 1 st wearing member 10, the 2 nd wearing member 20, and the 3 rd wearing member 30 in a direction in which the distance between the 1 st slide mechanism 421A and the actuator 430A becomes shorter, as indicated by the hollow arrow in fig. 5. This can assist the wearer in lifting the article 500.

(embodiment mode 3)

The operation assisting apparatus according to embodiment 3 will be described with reference to fig. 6.

[3-1. Structure ]

Fig. 6 is a diagram of the motion assist device according to embodiment 3 as viewed from the rear.

As shown in fig. 6, the motion assist device 1B according to embodiment 3 includes a 1 st wearing member 10A, a 2 nd wearing member 20, a 3 rd wearing member 30, and a power generation mechanism 40B.

The 1 st wearing member 10A has the same configuration as the 1 st wearing member of embodiment 2. And thus a detailed description is omitted.

The 2 nd wearing member 20 and the 3 rd wearing member 30 have the same configuration as the 2 nd wearing member 20 and the 3 rd wearing member 30 of embodiment 1. And thus a detailed description is omitted.

The power generation mechanism 40B has a 1 st power transmission member 410B, a 1 st slide mechanism 421B, and an actuator 430B.

The 1 st power transmission member 410B is a rope-like member. The 1 st power transmission member 410B is, for example, a wire, a belt, a chain, or the like. The 1 st part 411B as one end of the 1 st power transmission member 410B is fixed to the actuator 430B on the 2 nd wearing member 20, and the 2 nd part 412B as the other end is fixed to the 3 rd wearing member 30. Further, the 1 st power transmission member 410B is wound around the 1 st sliding mechanism 421B at the 3 rd part 413B which is a part between the 1 st part 411B and the 2 nd part 412B.

The actuator 430B is fixed to the 1 st part 411B of the 1 st power transmission member 410B and the 2 nd wearing member 20, and generates a tensile force by pulling the 1 st part 411B of the 1 st power transmission member 410B. Specifically, the actuator 430B is a motor, and the 1 st power transmission member 410B is wound or fed by rotating the motor. That is, the actuator 430B winds up the 1 st power transmission member 410B, and causes the 1 st power transmission member 410B to generate a tensile force. Further, the motor may not be driven to rotate in the rotational direction in which the 1 st power transmission member 410B is fed out, and may rotate in the rotational direction in which the 1 st power transmission member 410B is fed out in accordance with the force of being pulled when being pulled.

[3-2. actions ]

Similarly to the motion assist device 1A of embodiment 2, when the wearer bends down and holds the article 500, the waist of the wearer bends, and therefore the length of the 1 st power transmission member 410B fed by the actuator 430B becomes the 1 st length. Then, the wearer stretches the waist to transition from the forward stooped state to the standing state. At this time, the length of the 1 st power transmission member 410B fed by the actuator 430B is changed from the 1 st length to the 2 nd length shorter than the 1 st length, and then to the 3 rd length shorter than the 2 nd length. By performing such rolling, the motion assisting device 1B assists the motion of stretching the waist of the wearer.

By rolling up the 1 st power transmission member 410B by the actuator 430B in this way, as shown by the open arrow in fig. 6, a tensile force is applied to the 1 st wearing member 10A, the 2 nd wearing member 20, and the 3 rd wearing member 30 in a direction in which the distance between the 1 st sliding mechanism 421B and the 2 nd wearing member 20 and the 3 rd wearing member 30 becomes shorter. This can assist the wearer in lifting the article 500.

(embodiment mode 4)

The operation assisting apparatus according to embodiment 4 will be described with reference to fig. 7.

[4-1. Structure ]

Fig. 7 is a diagram of the motion assist device according to embodiment 4 as viewed from the rear.