JP6831519B2 - Muscle strength assist device - Google Patents

Description

The present invention relates to a muscular strength assisting device that is worn by the wearer to assist the wearer's muscular strength.

For example, as disclosed in Patent Document 1 (JP2009-268839A), a muscular strength assisting device has attracted attention for the purpose of reducing the muscular burden on workers engaged in agriculture, construction, nursing care, etc. There is. The muscular strength assisting device has a pair of attachments that are attached to two parts of the human body with movable parts in between, and holds the pair of attachments in predetermined relative positions, or a pair of attachments. By actively making relative movements, the wearer's muscular strength is assisted.

JP2009-268839A

By the way, it is possible to align the relative motion center (for example, the relative rotation axis) between the pair of fittings with the motion center (for example, the rotation axis) of the movable part (for example, a joint) located between the parts of the human body to which the fitting is attached. preferable. Otherwise, not only will the assist force from the muscle assist device not be able to efficiently act on the human body, but the wearer's movements will be constrained by the muscle assist device. For this reason, when a muscular strength assisting device or a fitting that is not suitable in size is worn, the wearer feels a sense of restraint because the range of motion of the movable portion that intends to receive muscular strength assisting is narrowed.

Such a problem can be avoided by preparing a plurality of muscle strength assisting devices having different sizes. However, in order to fit all the wearers' physiques, it is necessary to prepare a large number of muscle assisting devices, and it is practically difficult to solve the problem. In addition, preparing a plurality of muscular strength assisting devices causes other problems such as an increase in purchase cost and maintenance cost and securing of a storage place, and hinders the spread of muscular strength assisting devices.

The present invention has been made in consideration of the above points, and an object of the present invention is to provide a muscular strength assisting device capable of reducing the feeling of restraint received by the wearer.

The first muscular strength assisting device according to the present invention is
The first fitting attached to the first part of the human body,
A second attachment attached to the second part of the human body, which is different from the first part,
It is provided with an assist mechanism that is supported by the first attachment and transmits the force from the power source to the second attachment.
The first attachment has at least two frames and a position adjusting mechanism capable of changing the distance between the two frames.
The assist mechanism is a muscular strength assisting device having a transmission means capable of adjusting a transmission distance for transmitting force according to a distance between the two frames.

In the first muscular strength assisting device according to the present invention
The assist mechanism has one transmitting element supported by one of the two frames and the other transmitting element supported by the other of the two frames.
The transmission means may transmit the operation of the one transmission element to the other transmission element.

The second muscular strength assisting device according to the present invention is
The first fitting attached to the first part of the human body,
A second attachment attached to the second part of the human body, which is different from the first part,
It is provided with an assist mechanism that is supported by the first attachment and transmits the force from the power source to the second attachment.
The first attachment has at least two frames and a position adjusting mechanism capable of changing the relative positions of the two frames.
The assist mechanism comprises two transmission elements supported by the two frames, and a transmission means capable of transmitting force between the two transmission elements before and after changing the relative positions of the two frames. Have.

In the first or second muscular strength assisting device according to the present invention, the transmission means may have an endless annular member spanned between the one rotatable transmission element and the other transmission element. .. Further, the transmission means may further have a tensioner mechanism for maintaining the endless annular member in a stretched state.

In the first or second muscular strength assisting device according to the present invention, the transmission means is attached to one of the rotatable transmission elements and the other transmission element, respectively, and one of the transmission elements is rotated with the rotation of the one transmission element. It may have a string-like member that is wound around the transmission element of.

In the first or second muscular strength assisting device according to the present invention, the transmission means is attached to one of the rotatable transmission elements and the other transmission element, respectively, and rotates in one direction of the one transmission element. The first string-like member wound around the one transmission element, and the one attached to the one transmission element and the other transmission element, respectively, with the rotation of the one transmission element in the other direction. It may have a second string-like member which is wound around the transmission element of the above.

In the first or second muscular strength assisting device according to the present invention, the transmission means is provided between the rotatable one transmission element and the other transmission element that function as gears, and is provided between the two frames. It may have an intermediate gear that is movably supported relative to both the one transmitting element and the other transmitting element as the distance changes.

In the first or second muscular strength assisting device according to the present invention, the position adjusting mechanism may cause the two frames to move relative to each other along one direction.

In the first or second muscular strength assisting device according to the present invention, the first attachment may be attached to the body of the human body, and the second attachment may be attached to the upper or lower limbs of the human body. ..

In the first or second muscular strength assisting device according to the present invention
The first attachment includes a first frame attached to the body of the human body, a second frame that can move relative to the first frame, and a third frame that can move relative to the second frame. Have,
The second frame is arranged between the first frame and the third frame, and is located behind the shoulder of the human body.
The third frame may be located on the side of the shoulder and may be connected to the second attachment attached to the upper arm of the human body via the assist mechanism.

In the first or second muscular strength assisting device according to the present invention
The position adjusting mechanism can change the distance between the first frame and the second frame, or
The position adjusting mechanism can change the distance between the second frame and the third frame, or
A first position adjusting mechanism capable of changing the distance between the first frame and the second frame, and a second position adjusting mechanism capable of changing the distance between the second frame and the third frame. May be provided.

The third muscular strength assisting device according to the present invention is
The first fitting attached to the first part of the human body,
A second attachment attached to the second part of the human body, which is different from the first part,
It is provided with an assist mechanism that is supported by the first attachment and transmits the force from the power source to the second attachment.
The assist mechanism has an endless annular member using power as a transmission means.

The non-bearing annular member may have flexibility or may be formed flexibly in place of or in addition to flexibility.

According to the present invention, it is possible to reduce the feeling of restraint that the wearer of the muscular strength assisting device receives.

FIG. 1 is a diagram for explaining an embodiment of the present invention, and is a perspective view showing a muscle strength assisting device together with a wearer. FIG. 2 is a view showing a part of the muscle strength assisting device of FIG. 1 from the rear together with the wearer. FIG. 3 is a perspective view showing a part of the muscle strength assisting device of FIG. 1 from the front together with the wearer. FIG. 4 is a diagram showing a main part of a power source included in the assist mechanism of FIG. FIG. 5 is a diagram showing a main part of a power source included in the assist mechanism of FIG. 1 in a state different from that of FIG. FIG. 6 is a diagram for explaining the operation of the position adjusting mechanism and the transmission means included in the muscular strength assisting device of FIG. FIG. 7 is a diagram corresponding to FIG. 6 and is a diagram for explaining a modification of the transmission means. FIG. 8 is a diagram for explaining another example of the transmission means. FIG. 9 is a diagram showing the position adjusting mechanism and the transmission means of FIG. 8 in a state different from that of FIG. FIG. 10 is a diagram for explaining still another example of the transmission means. FIG. 11 is a diagram showing the position adjusting mechanism and the transmission means of FIG. 10 in a state different from that of FIG. FIG. 12 is a diagram for explaining still another modification of the position adjusting mechanism and the transmission means. FIG. 13 is a diagram showing the position adjusting mechanism and the transmission means of FIG. 12 in a state different from that of FIG. FIG. 14 is a diagram for explaining still another modification of the position adjusting mechanism and the transmission means. FIG. 15 is a diagram showing the position adjusting mechanism and the transmission means of FIG. 14 in a state different from that of FIG. FIG. 16 is a perspective view showing a modified example of the first attachment, the position adjusting mechanism, and the transmission means. FIG. 17 is a perspective view showing another modification of the first attachment, the position adjusting mechanism, and the transmission means.

Hereinafter, an embodiment of the present invention will be described with reference to the drawings. 1 to 17 are views for explaining an embodiment of the present invention and a modification thereof. Of these, FIG. 1 is a perspective view showing the entire muscle strength assisting device 10, and in particular, FIG. 1 shows the muscle strength assisting device in a state of being worn on a human body.

The muscular strength assisting device 10 is an assist mechanism (position control device) that controls the relative positions of the first fitting 20 and the second fitting 30 and the first fitting 20 and the second fitting 30 that are connected so as to be relatively movable. It has 15 and. The first fitting 20 and the second fitting 30 are attached to two parts of the human body connected by the movable part, respectively. Examples of the moving part may be indirect or the spine.

In the example described below, the first attachment 20 and the second attachment 30 can rotate relative to the first rotation axis d1 which is the assist axis. The assist mechanism 15 controls the rotation position of the second attachment 30 with respect to the first attachment 20 about the assist axis (first rotation axis d1) to assist the muscular strength of the two parts via the movable portion. .. That is, the assist axis refers to the rotation axes of the first attachment 20 and the second attachment 30 whose relative rotation is controlled by the assist force output from the muscular strength assisting device 10 for muscular strength assistance. There is. The supply and stop of the supply of the muscular strength assisting force from the assist mechanism 15 are controlled by a control unit (not shown) based on the sensor attached to the muscular strength assisting device 10 and the operation from the wearer of the muscular strength assisting device 10.

The power supplied from the assist mechanism 15 may be a force for holding the relative positions of the two parts of the human body, or a force for actively moving the two parts of the human body relative to each other. That is, the muscular force assisting force supplied from the assist mechanism 15 may be a force for holding the relative rotation positions of the first attachment 20 and the second attachment 30 centered on the assist axis, or may be centered on the assist axis. It may be a force that relatively rotates the first attachment 20 and the second attachment 30.

Hereinafter, description will be given based on the examples shown in the drawings. In the illustrated example, as shown in FIGS. 1 and 2, the first fitting 20 is attached to the wearer's torso p1 via the first frame 21. Here, the torso is a part excluding the head, neck and limbs of the human body, and includes a part called a torso and a waist. The second attachment 30 is attached to the upper limb, particularly the upper arm p2, via the attachment portion 35. The muscle strength assisting device 10 assists the movement of the shoulder. Here, one joint enables a plurality of types of relative rotational movements centered on different axes. As shown in FIG. 1, the shoulder joint has a flexion / extension motion in which the upper arm is rotated relative to the torso about the flexion / extension axis da, and an internal rotation outside in which the upper arm is rotated relative to the torso about the internal / external rotation axis db. It enables rotational movement and adduction / abduction movement in which the upper arm is rotated relative to the torso about the adduction / abduction axis dc.

In the illustrated example, the assist mechanism 15 has a power source 40 and a power transmission mechanism 60. The power source 40 functions as a power generating means that outputs at least one of a driving force for driving the second mounting tool 30 and a braking force for braking the second mounting tool 30. The power transmission mechanism 60 functions as a power transmission means for transmitting the power from the power source 40 to the second fitting 30. The power source 40 outputs a rotational force and a rotational regulation force, and the power transmission mechanism 60 transmits the rotational force and the rotational regulation force to the second fitting 30. The power transmission mechanism 60 includes a rotary connecting member (output shaft) 16 as an output unit of power (driving force or braking force). The rotary connecting member 16 is connected to the second attachment 30. The first rotation axis d1, which is the rotation axis of the rotation connection member 16, is provided corresponding to the flexion / extension axis da of the shoulder. Then, the muscular strength assisting device 10 outputs an assisting force that assists the flexion / extension movement of the shoulder joint.

In particular, in the following examples, the assist mechanism 15 has a state in which the free rotation of the rotary connection member 16 is allowed (free state), a state in which the free rotation of the rotary connection member 16 is restricted (maintenance state), and a rotary connection member. It switches to a state in which 16 is actively rotated (driving state). In the maintenance state, the free rotation of the rotation connecting member 16 is restricted, so that the position of the second attachment 30 centered on the first rotation axis (assist axis) d1 with respect to the first attachment 20 is maintained. In particular, in the following example, the upper arm is held in place so that it does not lower. In the driven state, the rotary connecting member 16 is rotationally driven so that the second mounting tool 30 moves relative to the first mounting tool 20 around the first rotating axis (assist axis) d1, and in particular, the following example. Then, the assist force for lifting the upper arm is output.

By the way, in the muscular strength assisting device 10, in the free state, the second fitting 30 rotates relative to the first fitting 20 about the first rotation axis d1, so that the upper arm is centered on the shoulder joint. Flexion and extension movements are possible. In order not to hinder the flexion extension movement of the wearer, it is important that the first rotation axis d1 of the muscular strength assisting device is located on the flexion / extension axis da of the wearer.

The muscular strength assisting device according to the present invention is not limited to the illustrated example, and assists any one or more of flexion movement, extension movement, adduction movement, abduction movement, internal rotation movement, and external rotation movement. May be good. Further, the muscular strength assisting device according to the present invention is not limited to the illustrated example, and may assist the movement of the human body in the elbows, neck, hips, crotch, upper limbs, wrists, and the like. Further, the illustrated strength assisting device 10 is configured to act on both shoulders, but is not limited to this example, the strength assisting device 10 is one shoulder, one wrist, one knee, one. It may act on the elbow and the like.

Hereinafter, each component will be described in order with reference to the illustrated specific example. In addition, in FIGS. 1 to 17 referred to below, the component shown in one drawing may be omitted in another drawing for easy understanding.

First, the first attachment 20 will be described. The first attachment 20 supports the assist mechanism 15. The first fitting 20 is attached to the body p1. In the illustrated example, the first fitting 20 is movable relative to the first frame 21 attached to the fuselage, the second frame 22 which is movable relative to the first frame 21, and the second frame 22. It has a third frame 23 and the like. Each frame 21 to 23 can be formed by using ABS resin, an aluminum alloy, or the like. Further, a position adjusting mechanism 25 is provided between the second frame 22 and the third frame 23. The position adjusting mechanism 25 connects the second frame 22 and the third frame 23.

The first frame 21 is a portion attached to the body of the human body. The second frame 22 is arranged behind the shoulder. The third frame 23 faces the shoulder from the outside in the lateral direction. The power source 40 of the assist mechanism 15 is supported by the first frame 21 and the second frame 22. The power transmission mechanism 60 of the assist mechanism 15 is supported by the second frame 22 and the third frame 23. The third frame 23 is connected to the second attachment 30 by the rotation connecting member 16 of the assist mechanism 15.

The illustrated muscle strength assisting device 10 that assists the movement of the shoulder is configured to act on both shoulders. Specifically, the second frame 22 is provided on both sides of the first frame 21. A separate third frame 23 and a position adjusting mechanism 25 are provided corresponding to each second frame 22. Then, each third frame 23 is connected to the corresponding second fitting 30. The pair of components provided on both sides of the first frame 21 have symmetry and can be similarly configured. Therefore, in the following description and the figures referred to in the following description, a configuration acting on one shoulder, specifically, a configuration acting on the right shoulder will be described.

The first frame 21 has a main plate 21a and a pair of support arms 21b. The main plate 21a is arranged so as to face the back of the human body. In the illustrated example, the main plate 21a is made of a resin or metal plate-like material. The support arm 21b is an arm-shaped member extending from the main plate 21a. A pair of support arms 21b are provided so as to sandwich the neck. Each support arm 21b rests on the wearer's shoulder from above. As schematically shown in FIGS. 1 to 3, the first frame 21 further includes a belt material 21c. The first frame 21 is fixed to the body by the belt material 21c extending from the front and armpits of the body to connect the main plate 21a and the support arm 21b. However, instead of such a first frame 21, a mounting member configured as a sewn product may be used, or a mounting member configured as a combination of a sewn product and a plate-like material (plate) is used. You may.

The second frame 22 is configured as an arm-shaped member extending laterally behind the shoulder. The second frame 22 is rotatably connected to the first frame 21 about the rotation axis dx. The rotation axis dx is provided corresponding to the internal / external rotation axis db of the shoulder. By rotating the second frame 22 relative to the first frame 21 about the rotation axis dx, it is possible to perform internal and external rotations of the upper arm centering on the shoulder joint.

The third frame 23 rotatably supports the rotary connection member 16 of the assist mechanism 15. Then, the rotary connection member 16 is connected to the second attachment 30. That is, the third frame 23 is connected to the second frame 22 via the position adjusting mechanism 25. The position adjusting mechanism 25 can change the distance between the second frame 22 and the third frame 23. In the illustrated example, the position adjusting mechanism 25 relatively moves the second frame 22 and the third frame 23 along one direction. The position of the second frame 22 can be changed back and forth with respect to the third frame 23 by the position adjusting mechanism 25. That is, by using the position adjusting mechanism 25, the size of the first wearing tool 20 can be changed according to the physique of the wearer. In particular, in the illustrated example, the position adjusting mechanism 25 can adjust the position of the third frame 23 that supports the rotation connecting member 16 and defines the first rotation axis d1.

In the illustrated example, the position adjusting mechanism 25 has a support rod 25a and a fixture 25b. The support rod 25a extends forward from the lateral portion of the second frame 22 in the lateral direction. That is, the support rod 25a extends forward and backward at a position facing the wearer's shoulder from the lateral side. The third frame 23 is supported by the support rod 25a and can move on the support rod 25a in the front-rear direction, which is the longitudinal direction of the support rod 25a. The fixture 25b fixes the third frame 23 at an arbitrary position on the support rod 25a. In a non-limiting example, the support rod 25a is a rod-shaped member on which a male screw is formed, the third frame 23 is a block material on which a female screw is formed, and the fixture 25b is screwed onto the male screw of the support rod 25a. Can be fitted nuts.

By the way, terms such as "front", "rear", "upper", "lower" and "lateral direction" used in the present specification are "front" and "front" based on the wearer wearing the muscle strength assisting device 10. It shall mean "back", "top", "bottom" and "lateral direction".

Next, the second attachment 30 will be described. The second mounting tool 30 is connected to a rotary connecting member 16 forming an output shaft of the assist mechanism 15, which will be described in detail later. The second mounting tool 30 rotates around the first rotation axis d1, which is the rotation axis of the rotation connection member 16, as the rotation connection member 16 rotates. As shown in FIGS. 1 and 3, the second mounting tool 30 has a mounting portion 35 to be attached to the human body and a connecting arm portion 31 for connecting the rotary connecting member 16 and the mounting portion 35. The connecting arm portion 31 extends from the rotary connecting member 16 in a direction non-parallel to the first rotary axis d1 which is the assist axis. Power is input to the connecting arm portion 31 from the rotary connecting member 16 which is the most downstream side (maximum output side) in the power transmission path of the assist mechanism 15. The connecting arm portion 31 connects the rotary connecting member 16 and the mounting portion 35 so that the mounting portion 35 rotates with respect to the first mounting tool 20 as the rotary connecting member 16 rotates with respect to the first mounting tool 20. There is.

First, the mounting portion 35 will be described. In the illustrated example, the mounting portion 35 is attached to the upper arm p2 of the human body, as shown in FIG. Since the mounting portion 35 efficiently transmits the power supplied from the assist mechanism 15 to the upper arm as an assist force, the relative movement with the upper arm in the moving direction accompanying the rotation around the first rotation axis d1 is restricted. Is preferable. In particular, when the muscular strength assisting device 10 assists in lifting the upper arm, it is preferable to effectively regulate the relative movement of the upper arm downward or backward with respect to the mounting portion 35. As is well shown in FIGS. 3 and 4, the illustrated mounting portion 35 has a mounting body 35a and an auxiliary belt 35b that form a tubular portion into which the upper arm is inserted. The mounting body 35a is made of, for example, a highly rigid resin molded product or the like. The mounting body 35a is connected to the connecting arm portion 31.

Next, the connecting arm portion 31 will be described. In order to efficiently transmit the force supplied from the assist mechanism 15 to the mounting portion 35, the connecting arm portion 31 prevents the mounting portion 35 and the rotary connecting member 16 from rotating relative to each other around the first rotation axis d1. It is preferable to connect the mounting portion 35 and the rotary connecting member 16. That is, since the second mounting tool 30 is subjected to a rotational force centered on the first rotation axis d1 from the assist mechanism 15, the rotational force is input from the assist mechanism 15 except for play and elastic deformation of the component itself. The connecting arm portion 31 and the mounting portion 35 that outputs an assist force to the human body do not move relative to each other in the direction of the force input from the assist mechanism 15, that is, in the circumferential direction centered on the first rotation axis d1. Is preferable.

As shown in FIGS. 1 and 3, as a specific configuration, the illustrated connecting arm portion 31 has the base member 32, the first member 33, and the first member 33 in this order from the side of the rotary connecting member 16 to the side of the mounting portion 35. It has two members 34. The base member 32 is fixed to the rotation connection member 16 and extends from the rotation connection member 16 in a direction non-parallel to the first rotation axis d1. The base member 32 rotates about the first rotation axis d1 in synchronization with the rotation connection member 16. As shown in FIG. 3, the first member 33 is connected to the base member 32 so as to be rotatable relative to the base member 32 about the third rotation axis d3. The second member 34 is connected to the first member 33 so as to be rotatable relative to the first member 33 about the fourth rotation axis d4. The mounting body 35a of the second member 34 and the mounting portion 35 are connected so as to be relatively rotatable about the fifth rotation axis d5.

The fact that the connecting arm portion 31 extends from the rotary connecting member 16 also includes the fact that the connecting arm portion 31 is integrally formed with the rotary connecting member 16. That is, a part or all of the connecting arm portion 31 may be integrally formed with the rotary connecting member 16. For example, the base member 32 may be integrally formed with the rotary connecting member 16.

When the illustrated connecting arm portion 31 is used, the distance from the connecting position between the connecting arm portion 31 and the mounting portion 35 to the first rotation axis d1 can be changed. Further, when the illustrated connecting arm portion 31 is used, the portion from the rotary connecting member 16 to the mounting portion 35 via the connecting arm portion 31 forms a mechanism with three degrees of freedom. According to such a second wearing tool 30, the feeling of restraint of the wearer can be effectively reduced.

The third rotation axis d3, the fourth rotation axis d4, and the fifth rotation axis d5 are parallel to each other. Further, the third rotation axis d3, the fourth rotation axis d4, and the fifth rotation axis d5 are perpendicular to the first rotation axis d1. The third rotation axis d3, the fourth rotation axis d4, and the fifth rotation axis d5 are provided corresponding to the adduction / abduction axis dc of the shoulder. The relative rotation of the components around the third to fifth rotation axes d3, d4, and d5 enables the adduction and abduction movements of the upper arm centering on the shoulder joint. In the illustrated example, the distance from the connection position between the connecting arm portion 31 and the mounting portion 35 to the third rotation axis d3 can be changed, and the wearer's feeling of restraint can be effectively reduced.

Next, the assist mechanism 15 will be described. As described above, the illustrated assist mechanism 15 has a power source 40 and a power transmission mechanism 60. The power source 40 can output a rotational force or a rotational regulation force centered on the second rotation axis d2 from the power shaft member 56. The power transmission mechanism 60 transmits the output from the power shaft member 56 to the rotary connection member 16. Hereinafter, each mechanism constituting the assist mechanism 15 will be described in order. The following power source 40 can output both the rotational force and the rotational regulation force from the power shaft member 56.

The power source 40 will be described. The power source 40 has a power generation mechanism 41 and a disc brake mechanism 45. The power generation mechanism 41 generates power to operate the disc brake mechanism 45. The disc brake mechanism 45 converts the power output from the power generation mechanism 41 into a rotational force or a rotational regulation force and outputs the power from the power shaft member 56.

First, the disc brake mechanism 45 of the power source 40 will be described. In the example shown in FIGS. 1 to 5, the disc brake mechanism 45 includes a power shaft member 56 rotatably supported by a second frame 22 of the first fitting 20 about a second rotation axis d2, and a power shaft member. It has a rotating body (disk) 51 fixed on the 56 and a pair of contact members 52 (see FIGS. 4 and 5) operably supported by an auxiliary frame 53 provided on the power shaft member 56. doing. The pair of contact members 52 can be brought into contact with and separated from the rotating body 51 along an arcuate trajectory centered on the rotation axis d7 (see FIGS. 4 and 5) of the holding arm 49 described later.

In the example shown in FIGS. 1 to 5, the disc brake mechanism 45 includes a power shaft member 56, a rotating body 51, and a contact member 52, as well as an auxiliary frame 53, an input lever 46, a driven pin 47, a moving body 48, and a holding body. It has an arm 49 and a positioning member 55. As shown in FIGS. 1 to 5, the auxiliary frame 53 is provided on the power shaft member 56 and is rotatable about the second rotation axis d2 with respect to the power shaft member 56. As is well shown in FIG. 2, the auxiliary frame 53 is connected to the second frame 22 of the first fitting 20 via the positioning member 55. More specifically, one side end of the positioning member 55 is attached to the bracket portion 22c extending rearward of the second frame 22. The auxiliary frame 53 is positioned at a predetermined position by the positioning member 55. However, the positioning member 55 is an elastically deformable member, for example, a compression spring. Therefore, by elastically deforming the positioning member 55, the auxiliary frame 53 can be rotated with respect to the second frame 22 of the first mounting tool 20 about the second rotation axis d2.

The input lever 46, the driven pin 47, the moving body 48, and the holding arm 49 are supported by the auxiliary frame 53. As shown in FIG. 2, the input lever 46 is rotatable (swingable) about the sixth rotation axis d6 with respect to the auxiliary frame 53. The driven pin 47 and the moving body 48 are movable relative to the auxiliary frame 53 in the radial direction (vertical direction on the paper surface of FIGS. 4 and 5) about the second rotation axis d2. The driven pin 47 moves in the radial direction with the operation of the input lever 46. Further, the moving body 48 moves in the radial direction due to the radial movement of the driven pin 47. As shown in FIGS. 4 and 5, a pair of holding arms 49 are arranged so as to be swingable around the seventh rotation axis d7. Each holding arm 49 holds the contact member 52. The pair of holding arms 49 are arranged so that the contact members 52 come into contact with the main surface of the rotating body 51 from different sides. The holding arm 49 operates by being pressed in the radial direction by the moving body 48. In order to facilitate the force transmission from the moving body 48 to the holding arm 49, the holding arm 49 has a roller 49a and comes into contact with the moving body 48 via the roller 49a.

In the example shown in FIGS. 1 to 5, the input lever 46 is connected to the power generation mechanism 41. The power generation mechanism 41 drives the input lever 46 by pulling the input lever 46. The power generation mechanism 41 can be, for example, a mechanism that outputs a linear motion. In the illustrated example, the power generation mechanism 41 has a fluid pressure source 42 and a telescopic member 43 that operates by supplying fluid from the fluid pressure source 42. The telescopic member 43 is connected to the input lever 46 and the second frame 22 (bracket portion 22c) of the first fitting 20, and the total length thereof is changed by the fluid supply from the fluid pressure source 42, and the input lever 46 is pulled. be able to. For example, as the telescopic member 43, a member that can be expanded and contracted by fluid pressure can be used. As a specific example, as the telescopic member 43, a McKibben artificial muscle known as a fluid pressure actuator can be used. As shown in FIGS. 1 to 5, the telescopic member 43 made of McKibben artificial muscle is expanded and shortened by supplying a fluid (typically a gas) to the inside. The telescopic member 43 generates a contraction force with this shortening, and pulls in the input lever 46.

As shown in FIG. 5, when the input lever 46 is pulled in by the power generation mechanism 41, the holding arm 49 operates and the rotating body 51 is sandwiched by the pair of contact members 52. As a result, the rotating body 51 and the power shaft member 56 are restricted from freely rotating with respect to the first fitting 20 about the second rotation axis d2. That is, the power shaft member 56 outputs a rotation regulating force.

However, the rotation regulating force of the power shaft member 56 regulates the rotation in the counterclockwise direction in FIG. On the other hand, by resisting the elastic force of the positioning member 55, the power shaft member 56 and the rotating body 51 together with the auxiliary frame 53 are shown in FIG. 2 with respect to the first mounting tool 20 with the second rotating axis d2 as the center. It can be rotated clockwise. That is, in the illustrated example, while allowing rotation in one direction (clockwise on the paper in FIG. 2), rotation in the direction opposite to one direction (counterclockwise on the paper in FIG. 2) is restricted. To do.

Note that FIGS. 1 and 2 show a state in which the input lever 46 is not pulled in, and FIG. 3 shows a state in which the input lever 46 is pulled in.

Next, when the power generation mechanism 41 pulls in the input lever 46 in a state where the pair of contact members 52 are in contact with the rotating body 51 to generate a braking force, the force is opposed to the elastic force of the positioning member 55. The auxiliary frame 53 rotates about the second rotation axis d2. At this time, since the pair of contact members 52 sandwich the rotating body 51, the rotating body 51 and the power shaft member 56 also rotate around the second rotation axis d2 together with the auxiliary frame 53. That is, not only the rotation of the power shaft member 56 in the other direction is restricted, but also the power for rotating the power shaft member 56 in one direction acts.

The disc brake mechanism 45 of the power source 40 described above is arranged near the lateral inner end of the second frame 22. Further, the telescopic member 43 of the power source 40 is provided corresponding to each disc brake mechanism 45 and is supported by the second frame 22. As shown in FIG. 1, the disc brake mechanism 45 and the telescopic member 43 for the right shoulder and the disc brake mechanism 45 and the telescopic member 43 for the left shoulder are located near the center of the fuselage and are symmetrical with respect to the center of the fuselage. Is located in. Since the center of gravity of such a muscular strength assisting device 10 is located near the center of the wearer's torso, the wearer can stably support it by using the first frame 21. Further, the fluid pressure source 42 may be shared by the elastic member 43 for the right shoulder and the elastic member 43 for the left shoulder, or the elastic member 43 for the right shoulder and the elastic member 43 for the left shoulder are separately provided. You may. The fluid pressure source 42 may be supported by the first frame 21 of the first fixture 20 as shown by the alternate long and short dash line in FIG. 2, or may be supported by the second frame 22 of the first fixture 20. Alternatively, it may be used as a force for a tank, a factory, or the like prepared separately from the muscle strength assisting device 10.

Next, the power transmission mechanism 60 will be described. As shown in FIG. 1, the power transmission mechanism 60 includes two or more transmission elements 61 to 64 for transmitting power and transmission means 66 to 68 for transmitting power between the two transmission elements. There is. In the illustrated example, the power transmission mechanism 60 includes a first transmission element 61, a second transmission element 62, and a third transmission element 63 that are rotatable with respect to the second frame 22 of the first attachment 20, and the first attachment. It has a fourth transmission element 64, which is rotatably supported by a third frame 23 of the tool 20. The first transmission element 61 is fixed to the power shaft member 56 and rotates in synchronization with the power shaft member 56. The fourth transmission element 64 is fixed to the rotary connection member 16 and rotates in synchronization with the rotary connection member 16. Further, the power transmission mechanism 60 transmits power between the first transmission means 66 that transmits power between the first transmission element 61 and the second transmission element 62, and the second transmission element 62 and the third transmission element 63. It has a second transmission means 67 and a third transmission means 68 for transmitting power between the third transmission element 63 and the fourth transmission element 64.

As shown in FIG. 1, all of the first to fourth transmission elements 61 to 64 are rotatably supported by the first fitting 20. The first transmission element 61 and the second transmission element 62 are rotatable about rotation axes (second rotation axis d2 and eighth rotation axis d8) extending in the front-rear direction, respectively. The third transmission element 63 and the fourth transmission element 64 are rotatable about rotation axes (9th rotation axis d9 and 1st rotation axis d1) extending in the lateral direction, respectively. The first to fourth transmission elements 61 to 64 can be configured by a pulley, gears, sprockets, or the like, although it depends on the configuration of the transmission means 66 to 68.

Since the first transmission means 66 transmits power between the first transmission element 61 and the second transmission element 62 that can rotate around the rotation axes d2 and d8 parallel to each other, the first transmission element 61 and the second transmission element 66 It can be composed of an endless annular member hung on the transmission element 62. As the endless annular member constituting the first transmission means 66, a belt material can be used when the transmission elements 61 and 62 are pulleys, and a toothed belt material is used when the transmission elements 61 and 62 are gears. A chain can be used if the transmission elements 61, 62 are sprockets. As the belt material, a toothed belt such as a timing belt or a toothless belt such as a V belt can also be used.

On the other hand, the second transmission means 67 transmits power between the second transmission element 62 and the third transmission element 63 that can rotate around the rotation axes d8 and d9 that are non-parallel (particularly vertical) to each other. A pair of bevel gears and a pair of screw gears that rotate in synchronization with the two transmission elements 62 and the third transmission element 63 can be used. In the illustrated example, the second transmission means 67 has a gearbox 22a installed at the lateral outer end of the second frame 22 and a pair of screw gears 22b rotatably housed in the gearbox 22a. Have.

The third transmission means 68 transmits power between the third transmission element 63 and the fourth transmission element 64, which are rotatable about the rotation axes d9 and d1 parallel to each other. However, the third transmission element 63 is rotatably supported by the second frame 22, and the fourth transmission element 64 is rotatably supported by the third frame 23. The second frame 22 and the third frame 23 are supported by the position adjusting mechanism 25. Therefore, the distance between the second frame 22 and the third frame 23 changes according to the physique of the wearer and the like. Therefore, the third transmission means 68 is configured as a variable transmission means 70 whose transmission distance for transmitting power can be adjusted according to the distance between the two frames 22 and 23. That is, the third transmission means 68 can transmit power between the two frames 22 and 23 arranged at different distances. In other words, the third transmission means 68 transmits power between the two frames 22 and 23 having variable distances. In other words, the third transmission means 68 can transmit power between the two frames 22 and 23 regardless of the distance between the two frames 22 and 23.

In the illustrated example, the third transmission means 68 as the variable transmission means 70 with adjustable power transmission distance is an endless annular member spanned between one rotatable transmission element 63 and the other transmission element 64. It has a tensioner mechanism 72 that keeps the endless annular member 71 stretched between one transmission element 63 and the other transmission element 64. The third transmission element 63 and the fourth transmission element 64 may be configured in the same manner as the first transmission element 61 and the second transmission element 62 described above. Further, the endless annular member 71 can be configured in the same manner as the endless annular member forming the first transmission means 66 described above.

As shown in FIGS. 3 and 6, the tensioner mechanism 72 has a roller 72a that comes into contact with the endless annular member 71, and a roller support portion 72b that supports the roller 72a. The roller 72a is rotatably supported by the roller support portion 72b. In the example shown in FIG. 6, the roller support portion 72b is in a direction non-parallel to the direction (front-back direction) connecting the rotation axis d9 of the third transmission element 63 and the rotation axis d1 of the fourth transmission element 64, in particular. The roller 72a is supported so as to be movable along the orthogonal direction (vertical direction). The roller 72a is fixed on the roller support portion 72b by using a fixture (not shown). As a result, the roller 72a can press the endless annular member 71 and maintain the endless annular member 71 in a stretched state regardless of the distance between the third transmission element 63 and the fourth transmission element 64. Then, the endless annular member 71 kept in a stretched state can efficiently transmit power between the third transmission element 63 and the fourth transmission element 64. Since the roller 72a can rotate with the operation of the endless annular member 71, the endless annular member 71 is maintained in a stretched state, but excessive resistance is not generated.

Here, FIG. 7 shows a modified example of the tensioner mechanism 72. The tensioner mechanism 72 shown in FIG. 7 is provided with two rollers 72a. The two rollers 72a are arranged inside the endless annular member 71 spanned by the two transmission elements 63 and 64. The two rollers 72a press outwardly from a pair of portions of the endless annular member 71 extending between the two transmission elements 63 and 64, which are different from each other. According to such an example, since the endless annular member 71 is pressed by the two rollers 72a in different directions, the range of the power transmission distance that can be transmitted by the variable transmission means 70 can be widened. That is, the distance between the two transmission elements 63 and 64 by the position adjusting mechanism 25 can be greatly changed.

Further, in the examples shown in FIGS. 6 and 7, the roller 72a arranged inside the endless annular member 71 pushes the endless annular member 71 outward, but the present invention is not limited to this example. The roller 72a arranged on the outside of the endless annular member 71 may push the endless annular member 71 inward.

Next, the operation of the muscular strength assisting device 10 having the above configuration will be described.

As shown in FIG. 1, the wearer first wears the muscle strength assisting device 10. Specifically, the first frame 21 of the first mounting tool 20 is mounted on the body by using the main plate 21a, the support arm 21b, and the belt material 21c. Further, the mounting portion 35 of the second mounting tool 30 is mounted on the upper arm by using the mounting body 35a of the mounting portion 35 and the auxiliary belt 35b.

The second frame 22 and the third frame 23 of the first mounting tool 20 are connected by the position adjusting mechanism 25. The position adjusting mechanism 25 can change the distance between the second frame 22 and the third frame 23. Therefore, before, after, or during wearing the muscular strength assisting device 10, the position adjusting mechanism 25 is operated to adjust the relative positions of the second frame 22 and the third frame 23 according to the physique of the wearer. deep. Preferably, the position of the first rotation axis d1, which is the relative rotation axis of the first attachment 20 and the second attachment 30, is adjusted so as to be located on the bending / stretching axis da of the wearer or in the vicinity of the bending / stretching axis da. The mechanism 25 is used to adjust the relative positions of the second frame 22 and the third frame 23. In this way, by adjusting the position of the first rotation axis d1, which is the assist axis, according to the wearer's physique, the range of motion of the wearer's shoulder joint is restricted and narrowed by the muscle strength assisting device 10. It can be effectively prevented. As a result, the feeling of restraint received by the wearer can be effectively reduced.

Further, in the muscular strength assisting device 10, the power source 40 of the assist mechanism 15 outputs power from the power shaft member 56 rotatably supported by the second frame 22. Then, the assist mechanism 15 transmits power between the plurality of transmission elements 61 to 64 supported by the second frame 22 and the third frame 23, regulates the rotation of the rotation connection member 16, or causes the rotation connection member 16. Rotationally driven. Of these, the third transmission element 63 of the assist mechanism 15 transmits power between the third transmission element 63 supported by the second frame 22 and the fourth transmission element 64 supported by the third frame 23. Then, when the distance between the second frame 22 and the third frame 23 is changed by using the position adjusting mechanism 25, the transmission distance to be power transmitted by the third transmission element 63 also changes.

Here, the third transmission element 63 is configured as a variable transmission means 70 capable of adjusting the transmission distance for transmitting power according to the distance between the two frames 22 and 23. Specifically, the endless annular member 71 spanned by the third transmission element 63 and the fourth transmission element 64 can be maintained in a stretched state by the tensioner mechanism 72. In the illustrated muscular strength assisting device 10, when the distances between the third transmission element 63 and the fourth transmission element 64 are adjusted by the position adjustment mechanism 25, the position of the roller 72a of the tensioner mechanism 72 is adjusted to form the endless annular member 71. It can be kept taut. As a result, regardless of the power transmission distance between the third transmission element 63 and the fourth transmission element 64, that is, the distance between the eighth rotation axis d8 and the first rotation axis d1, the third transmission element 63 and the fourth transmission element It is possible to transmit power stably and efficiently between 64.

By the way, when the power source 40 is supported by the third frame 23, the power is not transmitted between the second frame 22 and the third frame 23, and the power is transmitted from the third frame 23 to the second fitting 30. It will only be. In this case, it is not necessary to use the variable transmission means 70. However, when the power source 40 is supported by the third frame 23, the muscular strength assisting device 10 has a center of gravity at a position away from the center of the body. Therefore, it is expected that the muscular strength assisting device 10 will be displaced on the wearer during the use of the muscular strength assisting device 10. Then, when the muscular strength assisting device 10 is displaced, the assist axis (first rotation axis) d1 and the flexion / extension axis da, which are aligned by using the position adjusting mechanism 25 before wearing, are displaced. As a result, the feeling of restraint that the wearer receives cannot be reduced. Further, since the center of gravity of the muscular force assisting device 10 is located at a position away from the center of the body, the wearer receives a large inertial force during the work, which also impairs comfort and workability.

As described above, by using the position adjusting mechanism 25, the position of the first rotation axis d1 which is the assist axis of the muscular strength assisting device 10 is set with respect to the flexion / extension axis da of the wearer according to the physique of each wearer. Can be adjusted. Then, when the power is not output from the power source 40 of the assist mechanism 15, specifically, when the fluid is not supplied from the fluid pressure source 42 to the expansion / contraction member 43, the rotating body 51 is allowed to rotate freely. (Free state). At this time, the power shaft member 56 connected to the rotating body 51 and the rotary connecting member 16 whose power is transmitted to the power shaft member 56 via the power transmission mechanism 60 can rotate freely. Therefore, free relative rotation of the first fitting 20 and the second fitting 30 is allowed, and the wearer of the muscular strength assisting device 10 performs the bending motion and the extension motion of the upper arm without feeling an excessive restraint. be able to.

Next, when the fluid is supplied from the fluid pressure source 42 to the telescopic member 43 by a signal from the sensor or an operation of the wearer, the free rotation of the rotating body 51 is first restricted. In the illustrated example, the rotation of the rotating body 51 in the other direction (counterclockwise direction in FIG. 2) is restricted, and for example, the second fitting 30 is restricted from being lowered from the state shown in FIG. Will be done. At this time, the assist force acts on the wearer's upper arm via the second attachment 30 to maintain the wearer's upper arm in a lifted state (maintenance state).

As described above, from the state shown in FIG. 3, the wearer resists the elastic force of the positioning member 55 so that the power shaft member 56 and the rotating body 51 are centered on the second rotation axis d2 together with the auxiliary frame 53. As a result, the first fitting 20 can be rotated with respect to the second frame 22. That is, while the rotation of the second attachment 30 with respect to the first attachment 20 in the other direction around the first rotation axis d1 is restricted, the second attachment 30 resists the elastic force of the positioning member 55. The tool 30 can rotate in one direction with respect to the first mounting tool 20 about the first rotation axis d1. In the illustrated example, the wearer is restricted from lowering the upper arm while being able to lift the upper arm by resisting the elastic force of the positioning member 55.

Next, when a fluid is further supplied from the fluid pressure source 42 to the telescopic member 43 by a signal from the sensor or an operation of the wearer, the power shaft member 56 and the rotating body 51 together with the auxiliary frame 53 move in one direction (FIG. 2). Rotate in the clockwise direction). The power transmission mechanism 60 transmits the rotation output from the power shaft member 56 to the second mounting tool 30 via the rotation connection member 16. At this time, the power for rotating the second attachment 30 acts on the upper arm as an assisting force for lifting the upper arm via the second attachment 30 (driving state).

By the way, in the muscular strength assisting device 10, the power output from the power source 40 of the assist mechanism 15 is transmitted to the second attachment 30 via the power transmission mechanism 60. In such a muscular force assisting device 10, the assist mechanism 15 and the first attachment 20 that supports the assist mechanism 15 are deformed when the power is output, particularly when the rotational force is output (during driving). If this deformation becomes large, it may not be possible to stably realize power transmission by the assist mechanism 15 with high efficiency. It is considered that such a defect can be improved by improving the rigidity of the muscular strength assisting device 10, particularly the rigidity of the first attachment 20 that supports the assist mechanism 15. However, improving the rigidity of the muscular strength assisting device 10 worsens the feeling of restraint, and further leads to an increase in the weight of the muscular strength assisting device 10. On the other hand, in the illustrated example, the first transmission element 61 and the third transmission element 63 of the assist mechanism 15 transmit power as endless annular members having flexibility and flexibility. According to such an assist mechanism 15, power can be transmitted with high efficiency even if the rotation axis of the rotatable transmission element is inclined or the distance between the axes is changed.

In one embodiment described above, the muscular strength assisting device 10 is attached to a first fitting 20 attached to a first portion p1 of the human body and a second attachment to a second portion p2 of the human body different from the first portion p1. A mounting tool 30, an assist mechanism 15 that is supported by the first mounting tool 20 and transmits a force (driving force, braking force) from a power source (driving force source, braking force source) 40 to the second mounting tool 30. have. The first fitting 20 has at least two frames 22, 23 and a position adjusting mechanism 25 capable of changing the distance between the two frames 22, 23. The assist mechanism 15 has transmission means 68, 70 capable of adjusting the transmission distance for transmitting force according to the distance between the two frames 22, 23.

According to such a muscular strength assisting device 10, the position adjusting mechanism 25 can change the distance between the two frames 22 and 23 included in the first fitting 20. Further, the variable transmission means 70 and 68 of the assist mechanism 15 can adjust the transmission distance for transmitting force according to the distance between the two frames 22 and 23. From these facts, while ensuring that the assist force is efficiently applied to the human body through the second attachment 30, in addition, the first attachment 20 according to the physique of the wearer of the muscular strength assisting device 10. The size can be adjusted. As a result, without preparing a plurality of muscular strength assisting devices of different sizes, it is possible to avoid a decrease in the range of motion due to the wearer 20 of the muscular strength assisting device 10 not matching the physique of the wearer. It is possible to reduce the feeling of restraint that a person receives.

In addition, it is possible to design the arrangement of the power source 40 for supplying power such as driving force and braking force to the first fitting 20 and the transmission path of the power in the first fitting 20 with a high degree of freedom. As a result, the assist mechanism 15 can be stably supported by the first attachment 20. That is, it is also possible to effectively suppress the displacement of the first attachment 20 on the human body due to the deviation of the position of the center of gravity of the first attachment 20 or the like. Along with this, the feeling of restraint felt by the wearer can be further reduced.

In one specific example of the present embodiment, the assist mechanism 15 is supported by one of the two frames 22, 23 and the transmission element 63, and by the other of the two frames 22, 23. It has the other transmission element 64 and. The variable transmission means 70 transmits the operation of one transmission element 63 to the other transmission element 64. In such a muscular strength assisting device 10, the variable transmission means 70 is powered between the two transmission elements 63, 64 supported by the two frames 22, 23, regardless of the distance between the two frames 22, 23. Can be transmitted. As a result, the feeling of restraint felt by the wearer can be effectively reduced.

In one specific example of this embodiment, the variable transmission means 70 includes an endless annular member 71 bridged between one rotatable transmission element 63 and the other transmission element 64, and one transmission element 63 and the other. It has a tensioner mechanism 72 that keeps the endless annular member 71 stretched between the transmission elements 64 of the above. In such a muscular strength assisting device 10, the variable transmission means 70 can be configured by a simple mechanism. As a result, the useful muscular strength assisting device 10 can be made lighter and smaller.

Further, when the rigidity of the first mounting tool 20 is lowered and the two frames 22 and 23 are misaligned, it is assumed that an external force that limits the operation acts on the assist mechanism 15. On the other hand, in the above-mentioned specific example, since the power is transmitted by using the deformable endless annular member 71 and the tensioner mechanism 72, the distortion of the first mounting tool 20 causes the shaft to be displaced between the two frames 22 and 23. Even if the relative position changes, the endless annular member 71 can be deformed following the misalignment of the two frames 22 and 23, and the tensioner mechanism 72 keeps the endless annular member 71 stretched. can do. As a result, the assist mechanism 15 can stably exert the planned function. Therefore, it is possible to secure the relative movement of the second mounting tool 30 with respect to the first mounting tool 20, and to efficiently apply the assist force to the human body through the second mounting tool 30. In particular, such an action effect is extremely useful in a wearable muscular strength assisting device 10 in which it is not possible to simply increase the rigidity because there is a strong demand for smaller size and lighter weight.

In a specific example of the present embodiment, the position adjusting mechanism 25 relatively moves the two frames 22 and 23 along one direction. According to such a muscular strength assisting device 10, the size of the first fitting 20 can be adjusted by the position adjusting mechanism 25 having a simple structure while effectively avoiding a significant decrease in the rigidity of the first fitting 20. It can be adjusted according to the physique.

In one specific example of the present embodiment, the first fitting 20 is attached to the body of the human body, and the second fitting 30 is attached to the upper or lower limbs of the human body. When the first fitting 20 attached to the torso of the human body is not sized to fit the torso of the wearer, the movement of the upper limbs or lower limbs with respect to the torso is greatly restricted by the muscular strength assisting device 10, and the muscular strength assisting device 10 The wearer will feel a terrible sense of restraint due to the limited range of motion. According to the above-mentioned specific example, such a problem can be dealt with, and the expected action and effect can be effectively exhibited.

In one specific example of the present embodiment, the first fitting 20 includes a first frame 21 attached to the body of a human body, a second frame 22 that can move relative to the first frame 21, and a second frame 22. It has a third frame 23 that can move relative to the relative. The second frame 22 is arranged between the first frame 21 and the third frame 23, and is located behind the shoulder of the human body. The third frame 23 is located on the side of the shoulder and is connected to the second attachment 30 attached to the upper arm of the human body via the assist mechanism 15. The position adjusting mechanism 25 makes it possible to change the distance between the first frame 21 and the second frame 22. Alternatively, as in the modification described later with reference to FIGS. 16 and 17, the position adjusting mechanism 25 is placed between the second frame 22 (intermediate first frame 22A) and the third frame 23 (intermediate second frame 22B). The distance may be changeable. Alternatively, the distance between the first frame 21 (intermediate first frame 22A) and the second frame 22 (intermediate second frame 22B) can be changed as in the modification described later with reference to FIGS. 16 and 17. A first position adjusting mechanism 25A and a second position adjusting mechanism 25B capable of changing the distance between the second frame 22 (intermediate second frame 22B) and the third frame 23 may be provided. According to the first fitting 20 having such a configuration, the size of the first fitting 20 can be effectively adapted to the physique of the wearer. As a result, the feeling of restraint felt by the wearer can be effectively reduced.

Although one embodiment has been described by a plurality of specific examples, these specific examples are not intended to limit one embodiment. The above-described embodiment can be implemented in various other specific examples, and various omissions, replacements, and changes can be made without departing from the gist thereof.

Hereinafter, an example of modification will be described with reference to the drawings. In the following description and the drawings used in the following description, the same reference numerals as those used for the corresponding parts in the above-mentioned specific examples are used for the parts that can be configured in the same manner as the above-mentioned specific examples, and the same reference numerals are used, and duplicate explanations are given. Is omitted.

First, a modified example of the variable transmission means 70 capable of adjusting the transmission distance for transmitting a force according to the distance between the two frames will be described.

In the specific example described above, the variable transmission means 70 has an endless annular member 71 and a tensioner mechanism 72, but the present invention is not limited to this example. As in the example shown in FIGS. 8 and 9, the variable transmission means 70 is attached to one of the rotatable transmission elements 65A and the other transmission element 65B, respectively, and one with the rotation of the one transmission element 65A. It may have a string-like member 74 wound around the transmission element 65A of the above. The string-shaped member 74 has flexibility or flexibility enough to be wound around the rotatable transmission element 65A. For example, the string-shaped member 74 may be composed of a metal wire, a resin wire, or the like. Further, the transmission element 65A and the transmission element 65B may be configured as a pulley, for example, depending on the configuration of the string-shaped member 74. The transmission element 65A and the transmission element 65B are supported by two frames 24A and 24B included in the first fitting 20. The distance between the two frames 24A and 24B is variable by the position adjusting mechanism 25.

In the example shown in FIGS. 8 and 9, the string-shaped member 74x shown by the solid line is wound around the transmission element 65A when the transmission element 65A rotates in one direction (counterclockwise in FIGS. 8 and 9). It is taken and moved to the position indicated by reference numeral 74y. At this time, the transmission element 65B rotates in one direction (counterclockwise direction in FIGS. 8 and 9) in conjunction with the transmission element 65A, and the string-shaped member 74 is unwound from the transmission element 65B. Therefore, when the transmission element 65A outputs a rotational force in one direction, it is possible to assist, for example, the movement of raising the upper arm of the wearer.

On the other hand, when the rotation of the transmission element 65A is not regulated, the string-shaped member 74 does not regulate the rotation of the transmission element 65B in one direction (counterclockwise direction). However, at this time, the rotation of the transmission element 65B in the other direction (clockwise direction) is regulated by the string-shaped member 74, so that, for example, the wearer's upper arm is maintained in a raised state.

Next, when the assist mechanism 15 does not output power, for example, when the wearer lowers his upper arm, the transmission element 65B rotates in the other direction (clockwise in FIGS. 8 and 9), which is indicated by a solid line. The string-shaped member 74x is wound around the transmission element 65B and moves to the position indicated by reference numeral 74z. At this time, the transmission element 65A rotates in the other direction (clockwise direction) in conjunction with the transmission element 65B, and the string-shaped member 74 is unwound from the transmission element 65A. In this way, the string-shaped member 74 can transmit power between the two transmission elements 65A and 65B.

Further, as shown in FIGS. 8 and 9, when the position adjusting mechanism 25 shortens the distance between the two transmission elements 65A and 65B, the string-shaped member 74 is wound around the transmission elements 65A and 65B. The string-like member 74 can be maintained in a stretched state between the two transmission elements 65A and 65B. Further, when the position adjusting mechanism 25 increases the distance between the two transmission elements 65A and 65B, the string-shaped member 74 is unwound from the transmission elements 65A and 65B to wind the string-shaped member 74 from the two transmission elements 65A and 65B. It can be maintained in a stretched state between 65B. Thereby, the assist mechanism 15 including the string-shaped member 74 can adjust the power transmission distance between the two transmission elements 65A and 65B.

Further, as another example of the variable transmission means 70, the configurations shown in FIGS. 10 and 11 can be adopted. In the examples shown in FIGS. 8 and 9 above, the transmission element 65A is used as the upstream transmission element in the power transmission path by the assist mechanism 15, and the transmission element 65B is used as the downstream transmission element in the power transmission path by the assist mechanism 15. Then, the power for driving the rotation of the transmission element 65B in one direction (counterclockwise direction) and the power for braking the rotation of the transmission element 65B in the other direction (clockwise direction) can be transmitted. In the examples shown in FIGS. 10 and 11, by providing the additional string-shaped member 74B, the power for driving the rotation of the transmission element 65B in the other direction (clockwise direction) and one direction of the transmission element 65B are further provided. It is configured to be able to transmit power that brakes rotation in the (counterclockwise direction).

In the examples shown in FIGS. 10 and 11, the variable transmission means 70 is attached to one rotatable transmission element 65A and the other transmission element 65B, respectively, and in one direction (counterclockwise direction) of one transmission element 65A. ), The first string-shaped member 74A wound around one transmission element 65A, and the other direction (clockwise) attached to one transmission element 65A and the other transmission element 65B, respectively. It has a second string-shaped member 74B that is wound around one of the transmission elements 65A as it rotates in the clockwise direction). Of these, the first string-shaped member 74A can be configured in the same manner as the string-shaped member 74 of the example shown in FIGS. 8 and 9. Further, the first string-shaped member 74A and the second string-shaped member 74B can be configured symmetrically.

As shown in FIGS. 10 and 11, even when the distance between the two transmission elements 65A and 65B is changed by the position adjusting mechanism 25, the two transmission elements 65A of the first string-shaped member 74A and the second string-shaped member 74B By adjusting the winding amount to 65B, the first string-shaped member 74A and the second string-shaped member 74B can be maintained in a stretched state. As a result, the assist mechanism 15 including the first string-shaped member 74A and the second string-shaped member 74B can adjust the power transmission distance between the two transmission elements 65A and 65B. In the examples shown in FIGS. 10 and 11, for example, by changing the attachment position of the first string-shaped member 74A and the second string-shaped member 74B to the transmission elements 65A and 65B, the string The winding amount of the shaped members 74A and 74B to the transmission elements 65A and 65B can be adjusted.

In the muscle strength assisting device 10 shown in FIGS. 8 to 11, the transmission means 70 can be configured by a simple mechanism. As a result, the useful muscular strength assisting device 10 can be made lighter and smaller. In addition, in the examples shown in FIGS. 8 to 11, the string-shaped members 74, 74A, 74B having flexibility and flexibility are used, and the string-shaped members 74, 74A, 74B can be rotated. By winding around 65A and 65B, power can be transmitted between the two transmission elements 65A and 65B even if the distance between the two transmission elements 65A and 65B changes. According to such string-shaped members 74, 74A, 74B, for example, as in the example described later with reference to FIG. 17, the string-shaped members 74, 74A, 74B may bend to bend the power transmission path. It will be possible. Therefore, the power transmission path can be designed with a high degree of freedom, and power can be transmitted between two transmission elements that rotate around a non-parallel rotation axis, for example, as shown in FIG. In addition, by using the string-shaped members 74, 74A, 74B, even if the relative position such as the axis shift occurs between the two frames 24A, 24B due to the distortion of the first fitting 20, the two frames The string-shaped members 74, 74A, 74B can be deformed according to the misalignment of the 24A, 24B, and the string-shaped members 74, 74A, 74B are wound around the transmission elements 65A, 65B. , 74A, 74B can be maintained in a stretched state. As a result, the assist mechanism 15 can stably exert the planned function. In particular, these effects are extremely useful in the wearable muscular strength assisting device 10 in which it is difficult to simply increase the rigidity because there is a strong demand for smaller size and lighter weight.

Next, still another modification of the assist mechanism 15 will be described with reference to FIGS. 12 to 15. In the muscle strength assisting device 10 shown in FIGS. 12 to 15, the variable transmission means 70 is provided between one rotatable transmission element 65A and the other transmission element 65B, which functions as gears, and the two frames 24A, It has an intermediate gear that is movably supported relative to both one transmission element 65A and the other transmission element 65B as the distance between 24B changes. The transmission element 65A and the transmission element 65B are rotatably supported by frames 24A and 24B, respectively. The distance between the two frames 24A and 24B is variable by the position adjusting mechanism 25. According to such a muscular strength assisting device 10, the variable transmission means 70 can be configured by a simple mechanism. As a result, the useful muscular strength assisting device 10 can be made lighter and smaller.

First, the examples shown in FIGS. 12 and 13 will be described. In this example, the position adjusting mechanism 25 has a support plate 26 connected to one of the frames 24A. One frame 24A and the support plate 26 may be integrally formed. The support plate 26 has a first slot 26a and a second slot 26b. A part of the other frame 24B is inserted into the first elongated hole 26a and can move along the longitudinal direction of the first elongated hole 26a. As the other frame 24B moves on the support plate 26, the distance between the two frames 24A and 24B changes.

The variable transmission means 70 has a moving frame 77 movably supported by the support plate 26, and an intermediate gear 78 rotatably supported by the moving frame 77. The second elongated hole 26b of the support plate 26 has a longitudinal direction that is non-parallel to the longitudinal direction of the first elongated hole 26a. In the illustrated example, the second elongated hole 26b extends in an arc shape. A part of the moving frame 77 is inserted into the second elongated hole 26b so that the moving frame 77 can move along the longitudinal direction of the second elongated hole 26b. As the other frame 24B moves with respect to the support plate 26, the moving frame 77 moves with respect to the support plate 26 to maintain the intermediate gear 78 in mesh with both the transmission element 65A and the transmission element 65B. Can be done. That is, the variable transmission means 70 can adjust the transmission distance for transmitting force according to the distance between the two frames 24A and 24B.

Next, the examples shown in FIGS. 14 and 15 will be described. In this example, the position adjusting mechanism 25 has a support plate 26 connected to one of the frames 24A. One frame 24A and the support plate 26 may be integrally formed. The support plate 26 has a first slot 26a and a second slot 26b. The first slot 26a and the second slot 26b each have a longitudinal direction and extend linearly. The first slot 26a and the second slot 26b are parallel to each other in the longitudinal direction and are arranged along the longitudinal direction. That is, the first slot 26a and the second slot 26b are arranged in a straight line. A part of the other frame 24B is inserted into the first elongated hole 26a and can move along the longitudinal direction of the first elongated hole 26a. As the other frame 24B moves on the support plate 26, the distance between the two frames 24A and 24B changes.

The variable transmission means 70 includes a moving frame 77 movably supported by the support plate 26, a first intermediate gear 78A, a second intermediate gear 78B, and a third intermediate gear 78C rotatably supported by the moving frame 77. have. The three intermediate gears supported by the moving frame 77 mesh with each other in order. Therefore, when the first intermediate gear 78A rotates, the rotation is transmitted to the third intermediate gear 78C via the second intermediate gear 78B, and the third intermediate gear 78C rotates in the same direction as the first intermediate gear 78A. In the illustrated example, a part of the moving frame 77 is inserted into the second elongated hole 26b so that the moving frame 77 can move along the longitudinal direction of the second elongated hole 26b. Further, the moving frame 77 is rotatable with respect to the support plate 26. With the movement of the other frame 24B with respect to the support plate 26, the moving frame 77 moves with respect to the support plate 26 and further rotates with respect to the support plate 26, so that the first intermediate gear 78A meshes with the transmission element 65A. Moreover, the state in which the third intermediate gear 78C is in mesh with the transmission element 65B can be maintained. That is, the variable transmission means 70 can adjust the transmission distance for transmitting force according to the distance between the two frames 24A and 24B.

Next, a modified example of the position adjusting mechanism 25 that can change the distance between the two frames included in the first fitting 20 will be described.

For example, as shown in FIGS. 8 to 15, the position adjusting mechanism 25 can be deformed in response to the variable transmission means 70. As described above, in the examples shown in FIGS. 12 to 15, the position adjusting mechanism 25 has a support plate 26 that movably supports the frame 24B only in one direction. On the other hand, in the examples shown in FIGS. 8 to 11, the position adjusting mechanism 25 has a first portion 27a and a second portion 27b that are movably connected in only one direction.

Further, the position adjusting mechanism 25 may be integrally formed with one or both of the two frames 24A and 24B having variable distances. As an example, in the example shown in FIGS. 12 to 15, the support plate 26 of the position adjusting mechanism 25 may be integrally formed with the frame 24A. Further, in the examples shown in FIGS. 8 to 11, the first portion 27a of the position adjusting mechanism 25 may be integrally formed with the frame 24A that rotatably supports the transmission element 65A. Further, in the examples shown in FIGS. 8 to 11, the second portion 27b of the position adjusting mechanism 25 may be integrally formed with the frame 24B that rotatably supports the transmission element 65B.

Further, it is possible to appropriately change the arrangement of the position adjusting mechanism 25 as well as the configuration of the first mounting tool 20. In one specific example described above, the first fitting 20 has a first frame 21, a second frame 22, and a third frame 23, and a position adjusting mechanism 25 is located between the second frame 22 and the third frame 23. The distance could be adjusted. However, the present invention is not limited to this example, and the arrangement and quantity of the frames of the first mounting tool 20 and the arrangement and quantity of the position adjusting mechanism 25 can be variously changed. Further, when the configurations of the first mounting tool 20 and the position adjusting mechanism 25 are changed, the assist mechanism 15 can also be changed as appropriate.

For example, the distance between the first frame 21 and the second frame 22 of the first mounting tool 20 described above may be adjustable by the position adjusting mechanism 25. In this example, the assist mechanism 15 may have a transmission means 70 capable of adjusting the transmission distance for transmitting a force according to the distance between the first frame 21 and the second frame 22.

Further, as in the examples shown in FIGS. 16 and 17, the second frame 22 of the first fitting 20 in the above-described specific example may be replaced by two or more frames. In the example shown in FIGS. 16 and 17, the second frame 22 is divided into an intermediate first frame 22A and an intermediate second frame 22B. Both the intermediate first frame 22A and the intermediate second frame 22B will be located behind the wearer's back and shoulders. In this example, the first fitting 20 includes four frames connected in the order of the first frame 21, the intermediate first frame 22A, the intermediate second frame 22B, and the third frame 23. Then, the distance between the intermediate first frame 22A and the intermediate second frame 22B can be changed by the first position adjusting mechanism 25A, and the distance between the intermediate second frame 22B and the third frame 23 can be changed. The position adjusting mechanism 25B and the above are provided.

The second position adjusting mechanism 25B may be configured in the same manner as the position adjusting mechanism 25 of the specific example described above. The first position adjusting mechanism 25A makes it possible to adjust the distance between the intermediate first frame 22A and the intermediate second frame 22B along the lateral direction. In the illustrated example, the first position adjusting mechanism 25A has a support rod 25a fixed to the intermediate second frame 22B and a fixture provided on the support rod 25a, similarly to the second position adjustment mechanism 25B. It has 25b and. The support rod 25a is formed with a male screw, and the first position adjusting mechanism 25A has a female screw screwed into the male screw of the support rod 25a. According to the first position adjusting mechanism 25A and the second position adjusting mechanism 25B, the lateral dimension and the front-rear dimension of the first fitting 20 can be adjusted. That is, according to such a first attachment 20, the size of the muscular strength assisting device 10 can be adjusted more appropriately by the wearer according to the physique, thereby further reducing the feeling of restraint received by the wearer. can do.

In the example shown in FIG. 16, the power shaft member 56 of the assist mechanism 15 is rotatably supported by the intermediate first frame 22A. The assist mechanism 15 transfers the power output from the power shaft member 56 to the first transmission element 61 supported by the intermediate first frame 22A, the second transmission element 62 supported by the intermediate second frame 22B, and the intermediate second frame. The third transmission element 63 supported by the 22B and the fourth transmission element 64 supported by the third frame 23 are transmitted in this order. Then, the first variable transmission means 70 is responsible for the power transmission between the first transmission element 61 and the second transmission element 62, and the power transmission between the second transmission element 62 and the third transmission element 63 is carried out. The second transmission means 67 described above is responsible, and the second variable transmission means 70B is responsible for power transmission between the third transmission element 63 and the fourth transmission element 64. The configuration of the variable transmission means 70A and 70B is not particularly limited, and for example, as in the illustrated example, the variable transmission means 70A and 70B have a string-shaped member 74 described with reference to FIGS. 8 and 9. , The configuration may include the first string-shaped member 74A and the second string-shaped member 74B described with reference to FIGS. 10 and 11.

In the example shown in FIG. 17, the power shaft member 56 of the assist mechanism 15 is rotatably supported by the intermediate first frame 22A. The assist mechanism 15 transmits the power output from the power shaft member 56 to the first transmission element 61 supported by the intermediate first frame 22A, the intermediate transmission element 65c supported by the intermediate second frame 22B, and the third frame. The fourth transmission element 64 supported by 23 is transmitted in this order. The variable transmission means 70 is responsible for power transmission between the first transmission element 61 and the fourth transmission element 64. The variable transmission means 70 has string-shaped members 74, 74A, 74B described with reference to FIGS. 8 to 11. The intermediate transmission element 65c bends the transmission path by bending the string-shaped members 74, 74A, 74B.

Further, the power source 40 in the above-mentioned specific example is only one example, and can be appropriately changed. For example, in the above-mentioned specific example, the power source 40 has a braking force that regulates the rotation of the power shaft member 56 in the direction opposite to the one direction while allowing the power shaft member 56 to rotate in one direction. An example of outputting a driving force for rotating the power shaft member 56 in one direction has been shown, but as the power source 40, another configuration capable of outputting such braking force and driving force is adopted. You may. Further, the power source 40 may output a braking force that regulates rotation in both directions, and the power source 40 may output only one of the braking force and the driving force, for example, only the braking force. May be good. For example, in FIGS. 10 and 11, a power source 40, which is a combination of a motor and a brake mechanism, is supported by an intermediate first frame 22A.

Although some modifications to the above-described embodiments have been described above, it is naturally possible to apply a plurality of modifications in combination as appropriate.

10 Muscle strength assist device 15 Assist mechanism 20 1st attachment 21, 22, 22A, 22B, 23, 24A, 24B Frame 25, 25A, 25B Position adjustment mechanism 30 2nd attachment 40 Power source 61, 62, 63, 64, 65A, 65Bc Transmission element 66, 67, 68 Transmission means 70, 70A, 70B Transmission means 71 Endless annular member 72 Tensioner mechanism 74, 74A, 74B String member 78, 78A, 78B, 78C Intermediate gear

Claims (6)

The first fitting attached to the first part of the human body,
A second attachment attached to the second part of the human body, which is different from the first part,
It is provided with an assist mechanism that is supported by the first attachment and transmits the force from the power source to the second attachment.
The first attachment has at least two frames and a position adjusting mechanism capable of changing the distance between the two frames.
The assist mechanism sets a transmission distance for transmitting a force with one transmission element supported by one of the two frames and the other transmission element supported by the other of the two frames. One of possess an adjustable transmission means according to the distance, the between-frame,
The transmission means includes a rotatable endless annular member spanned between the rotatable transmission element and the rotatable other transmission element, and a tensioner that maintains the endless annular member in a stretched state. And
The tensioner has a roller located inside the endless annular member and in contact with the endless annular member, and a roller support portion that supports the roller, and the roller support portion has one transmission element and the other. A muscular strength assisting device that holds the rollers in a direction that is non-parallel to the direction in which the transmission elements are connected . The first fitting attached to the first part of the human body,
A second attachment attached to the second part of the human body, which is different from the first part,
It is provided with an assist mechanism that is supported by the first attachment and transmits the force from the power source to the second attachment.
The first attachment has at least two frames and a position adjusting mechanism capable of changing the distance between the two frames.
The assist mechanism sets a transmission distance for transmitting a force with one transmission element supported by one of the two frames and the other transmission element supported by the other of the two frames. It has a means of transmission that can be adjusted according to the distance between the frames
The transmission means is attached to the one rotatable transmission element and the other rotatable transmission element, respectively, and a string-shaped member that is wound around the one transmission element as the one transmission element rotates. Yes, and
The transmitting means transmits a rotational force in one direction to the other transmitting element or a rotational restricting force in the other direction to the other transmitting element via the string-shaped member, and the other transmitting element of the other transmitting element. A muscular strength assisting device that allows rotation in one direction . The muscle strength assisting device according to claim 1 or 2 , wherein the position adjusting mechanism relatively moves the two frames in one direction. The first attachment is attached to the body of the human body and
The muscular strength assisting device according to any one of claims 1 to 3, wherein the second attachment is attached to the upper limb or the lower limb of the human body. The first attachment includes a first frame attached to the body of the human body, a second frame that can move relative to the first frame, and a third frame that can move relative to the second frame. Have,
The second frame is arranged between the first frame and the third frame, and is located behind the shoulder of the human body.
The muscular strength assisting device according to claim 4 , wherein the third frame is located on the side of the shoulder and is connected to the second attachment attached to the upper arm of the human body via the assist mechanism. The position adjusting mechanism can change the distance between the first frame and the second frame, or
The position adjusting mechanism can change the distance between the second frame and the third frame, or
A first position adjusting mechanism capable of changing the distance between the first frame and the second frame, and a second position adjusting mechanism capable of changing the distance between the second frame and the third frame. The muscle strength assisting device according to claim 5 , wherein is provided.