JP2007020602A

JP2007020602A - Work assisting apparatus

Info

Publication number: JP2007020602A
Application number: JP2005202709A
Authority: JP
Inventors: Yoshio Miyagi; 好夫宮城
Original assignee: Takeda Giken KK
Current assignee: Takeda Giken KK
Priority date: 2005-07-12
Filing date: 2005-07-12
Publication date: 2007-02-01

Abstract

<P>PROBLEM TO BE SOLVED: To provide a work assisting apparatus enabling a worker to work with reduced physical load on the legs of the worker by holding the waist of the worker with allowing three-dimensional movement with constantly applying a force to push up the waist. <P>SOLUTION: A movable member is moved in arbitrary directions in a two-dimensional space of a horizontal moving means. A supporting part is provided on the movable member. A body holding means is hung from the supporting part so as to swing and to move vertically for holding the body of the worker. A push-up force generation means is engaged with the body holding means for generating the push-up force acting on the body holding means in a range that the soles of feet of the worker held by the body holding means contact with a worker moving surface. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

本発明は、立ち姿勢から移動や腰の高さが変化する姿勢変更を頻繁に行いながら作業を行う作業者の脚部に掛かる負荷を軽減させる装置に関する。 The present invention relates to an apparatus for reducing a load applied to a leg of a worker who performs an operation while frequently performing a posture change in which a movement or a waist height changes from a standing posture.

従来、立ち姿勢で作業を行う作業者の脚部に掛かる負荷を軽減させる装置として特許文献１の作業補助装置が用いられていた。 Conventionally, the work assisting device of Patent Document 1 has been used as a device that reduces the load on the legs of a worker who works in a standing posture.

従来の作業者が作業を行う為に立つ位置の頭上に支持部を設け、その支持部に作業者の腰部を保持する身体保持手段と、前記身体保持手段に押上げ力を作用させる押上げ力発生手段を組合せ構成した特許文献１の作業補助装置がある。
その作業補助装置は身体保持手段を二次元空間内で任意の方向に移動可能にし又移動可能量を増す為に、左右移動手段や前後移動手段や旋回移動手段を組合せて構成していた。 A conventional holding part is provided on the head at a position where a worker stands to perform work, and a body holding means for holding the waist of the worker on the supporting part, and a pushing force for applying a pushing force to the body holding means There is a work auxiliary device of patent document 1 which combined and constituted generating means.
The work assisting device is configured by combining a left and right moving means, a back and forth moving means, and a swivel moving means in order to allow the body holding means to move in any direction in the two-dimensional space and increase the movable amount.

しかし、前記身体保持手段の移動の為に複数の移動手段を組合せることは機構を複雑化し加工費の増加や組立時間の増加により製造コストを増す原因となっていた。 However, combining a plurality of moving means for moving the body holding means complicates the mechanism and causes an increase in manufacturing costs due to an increase in processing costs and an increase in assembly time.

そこで上記の課題を解決し、立ち姿勢から移動や腰の高さが変化する姿勢変更を頻繁に行いながら作業を行う作業者の脚部に掛かる負荷を軽減させる作業補助装置を単純な構造で構成し安価に提供することを目的としている。
特願２００３−１３０８３５ To solve the above problems, the work assist device that has a simple structure that reduces the load on the legs of workers who perform work while frequently moving from standing posture and changing posture that changes waist height The purpose is to provide it at low cost.
Japanese Patent Application No. 2003-130835

上記の課題を解決する目的で可動部が二次元空間内を任意の方向に移動可能な単純な構造の水平移動手段を用いて構成した。 In order to solve the above-described problems, the movable portion is configured by using a horizontal moving means having a simple structure that can move in a two-dimensional space in an arbitrary direction.

前記の目的を達成するために、請求項１記載の発明のように二次元空間内で任意の方向に移動可能な可動部材及び固定部位に固定された転動受部材及び前記可動部材と前記転動受部材の間に介在する複数の転動体で構成される水平移動手段を作業者の立つ位置の頭上に位置する上部固定部材へ取付け、更に前記可動部材に支持部を設け、その支持部へ作業者の腰部を保持する身体保持手段を揺動動作及び上下動作が可能な状態に吊設して、その身体保持手段に押上げ力が作用するよう押上げ力を発生させる押上げ力発生手段を係合させて構成し、前記可動部材に取付けられた前記支持部の二次元空間内での任意の方向に変位可能な移動と、前記身体保持手段が吊設されたことによる揺動動作と前記押上げ力発生手段による上下動作の組合せによる係合した動作で前記身体保持手段が三次元空間内の任意の方向に変位可能にし、前記押上げ力発生手段の動作部の動作力を前記身体保持手段に作用させ、その身体保持手段に保持された作業者を足の裏面が作業者移動面に接地状態を保てる範囲内の押上げ力で押上げるように構成した作業補助装置とした。 In order to achieve the above object, as in the first aspect of the invention, a movable member movable in an arbitrary direction in a two-dimensional space, a rolling receiving member fixed to a fixed portion, the movable member, and the rolling member. A horizontal moving means composed of a plurality of rolling elements interposed between the receiving members is attached to an upper fixed member located above the head where the operator stands, and a support portion is provided on the movable member, and the support portion is provided. A lifting force generating means for suspending a body holding means for holding the waist of an operator in a state in which the body holding means can swing and move up and down, and generating a lifting force so that the lifting force acts on the body holding means. And a movement of the support portion attached to the movable member so as to be displaceable in an arbitrary direction in a two-dimensional space, and a swinging operation by the body holding means being suspended. For a combination of vertical movements by the push-up force generating means The body holding means can be displaced in an arbitrary direction in the three-dimensional space by the engaged movement, and the operating force of the operating portion of the push-up force generating means is applied to the body holding means, and the body holding means The work assisting device is configured to push up the held worker with a pushing force within a range in which the back surface of the foot can be in contact with the worker moving surface.

次に請求項２記載の発明のように二次元空間内で任意の方向に移動可能な可動部材及び固定部位に固定された転動受部材及び前記可動部材と前記転動受部材の間に介在する複数の転動体で構成される水平移動手段と、前記水平移動手段に作業者の胴体部を保持する身体保持手段と、その身体保持手段の上下移動を可能にする上下移動手段と、前記身体保持手段に押上げ力が作用するよう押上げ力を発生させる押上げ力発生手段を係合させて構成して作業者が移動を行う作業者移動面上の固定部材へ取付け、前記身体保持手段を三次元空間内の任意の方向に変位可能にし、前記押上げ力発生手段の動作部の動作力を前記身体保持手段に作用させ、その身体保持手段に保持された作業者を足の裏面が作業者移動面に接地状態を保てる範囲内の押上げ力で押上げるように構成した作業補助装置とした。 Next, as in the second aspect of the invention, a movable member movable in an arbitrary direction in a two-dimensional space, a rolling receiving member fixed to a fixed portion, and interposed between the movable member and the rolling receiving member A horizontal movement means composed of a plurality of rolling elements, a body holding means for holding a body part of an operator on the horizontal movement means, a vertical movement means for enabling the body holding means to move up and down, and the body The body holding means is constructed by engaging a pushing force generating means for generating a pushing force so that the pushing force is applied to the holding means, and is attached to a fixed member on a worker moving surface on which the worker moves. Can be displaced in any direction within the three-dimensional space, the operating force of the operating portion of the push-up force generating means is applied to the body holding means, and the operator holding the body holding means can Pushing up within the range where the worker moving surface can be kept in contact with the ground And a work assisting device configured to push up so by force.

本発明の作業補助装置は従来の作業補助装置と同様の下記のような効果と、その後に記するように従来の作業補助装置と比べ新しい効果がある。
作業者が本作業補助装置を使用して作業する際、身体保持手段に常時押上げ力が働く為作業者が床面に直立状態の立ち姿勢を保とうとする場合には、作業者は脚部に僅か力をいれることで姿勢の維持が可能になり、その立ち姿勢で膝の力を抜くと身体保持手段が下降して膝を直角に曲げた着座姿勢になり、下降途中で膝に僅か力を入れると中腰の姿勢で停止し姿勢の維持ができる。又、着座姿勢から立ち姿勢や中腰姿勢になる場合でも、足に僅かに力を入れ立ち上がり動作を行えば僅かな力で容易に可能になる。 The work assistance device of the present invention has the following effects similar to those of the conventional work assistance device, and new effects as compared with the conventional work assistance device as described later.
When an operator works using this auxiliary work device, the lifting force always works on the body holding means, so if the worker tries to maintain a standing posture on the floor surface, It is possible to maintain the posture by applying a slight force to the body, and if the knee is pulled out in the standing posture, the body holding means descends to a seated posture in which the knee is bent at a right angle, and a slight force is applied to the knee during the lowering. If you put in, you can stop at the posture of the middle waist and maintain the posture. In addition, even when the sitting posture is changed to the standing posture or the middle-waist posture, it is possible to perform the standing-up operation with a little force on the foot and easily with a little force.

従って、中腰姿勢、立ち姿勢、膝を直角に曲げた着座姿勢と膝の屈伸を頻繁に繰り返す作業の場合でも作業補助装置を使用しない場合に比べ、脚部への負荷が非常に少なくなり機敏に姿勢変更ができる。更に同一姿勢を維持する場合でも脚部への負荷が非常に少なく容易にでき、作業中に行なう上下、前後、左右、斜めと三次元に変化する作業者の腰部の動きを伴う作業でも軽快に移動や動作ができ作業者の脚部に掛かる負荷は非常に少ない。押上げ力の調整機能を有する作業補助装置の場合には押上げ力を調整することにより作業者の脚部に掛かる負荷が自由に調整可能になり適度の負荷に調整して動作し易くすることもできる。 Therefore, the load on the legs is much less agile even when working in the middle and lower back posture, the standing posture, the sitting posture with the knee bent at right angles, and the knee bending and stretching frequently compared to the case where the work auxiliary device is not used. The posture can be changed. In addition, even if the same posture is maintained, the load on the leg can be reduced very easily and lightly even during work involving the movement of the waist of the operator, which changes in three dimensions, up and down, front and rear, left and right, and diagonally. It can move and move, and the load on the operator's legs is very low. In the case of a work assist device that has a function to adjust the lifting force, the load applied to the operator's legs can be adjusted freely by adjusting the lifting force, making it easy to operate by adjusting to an appropriate load. You can also.

更にこの装置は押上げ力が働いている状態でも作業者の足が床等の移動面に着いている為、一定面積の範囲内で前後左右に身体保持手段で腰部を保持させた状態で通常床面を歩くように移動することができる。更にこの装置を使用する作業者の足元には空間を設けられ平らな作業者移動面が構成でき、作業者が一定面積の範囲内で床等の作業者移動面を移動する場合に素早く移動することが可能になる。 Furthermore, this device is usually in a state where the lumbar part is held by the body holding means in the front, back, left and right within a certain area because the operator's feet are on the moving surface such as the floor even when the lifting force is working. You can move as you walk on the floor. Furthermore, a space is provided at the foot of the worker who uses this device, and a flat worker moving surface can be formed, and when the worker moves the worker moving surface such as the floor within a certain area, it moves quickly. It becomes possible.

以上のように本発明の作業補助装置は、作業中に発生する上下、前後、左右、斜めと三次元空間内で変化する作業者の腰部の動きに身体保持手段が自然に追従しながら腰部に押し上げ力をあたえ続け、作業者が一定面積の範囲内で床等の作業者移動面を移動する場合に素早い移動を可能にすることを特徴としたものである。 As described above, the work assisting device of the present invention can be applied to the lumbar region while the body holding means naturally follows the movement of the lumbar region of the worker that changes during the work in the three-dimensional space. It is characterized in that it continues to give a pushing force and enables quick movement when the worker moves the worker moving surface such as the floor within a certain area.

作業者は年月を経て作業の熟練度が増すのと逆に足腰が衰えたり、作業により酷使される脚部の障害等で長年経験を積んだ熟練者が作業ができなくなることも多くあり、組立作業等のように中腰姿勢、立ち姿勢、膝を直角に曲げた着座姿勢と膝の屈伸を頻繁に繰り返す作業は体力的に若く脚部に障害が無い人に限られる傾向があったが、本作業補助装置により健常者はもとより足腰の弱った高齢者や体力のない人や下半身に障害のある人でも、前記のような作業を長時間容易に疲労が少なく行うことができる。これから人口の高齢化が進む時代に有効な装置である。 In many cases, skilled workers who have gained experience for many years due to obstacles in the legs that are overworked due to work, etc. can not work, as the degree of skill of work increases over the years, There was a tendency that the work of repeatedly repeating the knee posture and standing posture with the knee bent at right angles and the flexion and extension of the knee as in assembly work etc. was limited to those who are physically young and have no obstacles in the legs, This work assisting device can easily perform the above work for a long time with less fatigue, not only for a healthy person but also for an elderly person who has weak legs, a person with no physical strength, or a person with a disability in the lower body. It is an effective device for the era of population aging.

次に本発明の作業補助装置は特許文献１の作業補助装置に比べ下記のような新たな効果がある。
特許文献１の作業補助装置は身体保持手段を二次元空間内で任意の方向に移動可能にし又移動可能量を増す為に、左右移動手段や前後移動手段や旋回移動手段を組合せて構成していた。しかし本発明は可動部材と転動受部材の間に鋼球等の球形状の転動体や、平面上をあらゆる方向に移動可能な円筒状の転動体を介在させることにより、可動部材が二次元空間内で任意の方向に移動可能になり単純な構造の水平移動手段を構成でき、その水平移動手段を用いることにより作業補助装置の製造コストを下げる効果がある。 Next, the work assistance device of the present invention has the following new effects compared to the work assistance device of Patent Document 1.
The work assisting device of Patent Document 1 is configured by combining left and right moving means, back and forth moving means, and swivel moving means in order to enable the body holding means to move in any direction in a two-dimensional space and increase the amount of movement. It was. However, in the present invention, a spherical rolling element such as a steel ball or a cylindrical rolling element movable in any direction on a plane is interposed between the movable member and the rolling receiving member, so that the movable member is two-dimensional. It can move in an arbitrary direction in the space, and can constitute a horizontal moving means having a simple structure. By using the horizontal moving means, there is an effect of reducing the manufacturing cost of the work assisting device.

以下、本発明に係る作業補助装置の具体的な実施形態について図面に基づいて説明する。実施例１及び２の作業補助装置は上部固定部材に取付けて使用し、実施例３の作業補助装置は作業者が移動を行う作業者移動面上の固定部材へ取付けて使用する形式の装置を示す。 Hereinafter, specific embodiments of a work auxiliary device according to the present invention will be described with reference to the drawings. The work assisting devices of the first and second embodiments are used by being attached to the upper fixing member, and the work assisting device of the third embodiment is a device of a type that is used by being attached to the fixing member on the worker moving surface on which the worker moves. Show.

図１の側面図は請求項１記載の作業補助装置の一実施例を示す。
図１は二次元空間内で任意の方向に移動可能な可動部材３４１と、窪みを有し固定部位に固定された転動受部材３４３と、前記可動部材３４１と前記転動受部材３４３の間に介在し転動受部材３４３の窪みに自由に移動可能に収納された複数の転動体３４２で構成される水平移動手段を、作業者１０の立つ位置の頭上に位置する上部固定部材６１へ取付け、更に前記可動部材３４１に支持部１２を設け、その支持部１２へ押上げ力を発生させる押上げ力発生手段のシリンダ２１の動作部に作業者１０の腰部を保持する身体保持手段の身体保持具１ａを取付けて揺動動作が可能な状態に吊設して構成し、前記可動部材３４１に取付けられた前記支持部１２の二次元空間内での任意の方向に変位可能な移動と、前記身体保持具１ａが吊設されたことによる揺動動作と前記押上げ力発生手段のシリンダ２１による上下動作の組合せによる係合した動作で前記身体保持具１ａが三次元空間内の任意の方向に変位可能にし、前記押上げ力発生手段のシリンダ動作部の動作力を前記身体保持具１ａに作用させ、その身体保持具１ａに保持された作業者１０を足の裏面が作業者移動面に接地状態を保てる範囲内の押上げ力で押上げるように構成した作業補助装置を示す。 The side view of FIG. 1 shows an embodiment of the work assisting device according to the first aspect.
FIG. 1 shows a movable member 341 that can move in an arbitrary direction in a two-dimensional space, a rolling receiving member 343 that has a recess and is fixed to a fixed portion, and a position between the movable member 341 and the rolling receiving member 343. A horizontal moving means composed of a plurality of rolling elements 342 that are interposed in the recesses of the rolling receiving member 343 so as to be freely movable is attached to the upper fixing member 61 located above the head where the worker 10 stands. Further, the movable member 341 is provided with the support portion 12 and the body holding means for holding the waist of the operator 10 in the operating portion of the cylinder 21 of the push-up force generating means for generating the push-up force to the support portion 12 is supported. The tool 1a is attached and hung in a state where the swinging operation is possible, and the movement of the support portion 12 attached to the movable member 341 is displaceable in an arbitrary direction in a two-dimensional space; The body holder 1a is suspended. The body holder 1a can be displaced in an arbitrary direction in a three-dimensional space by an engaged operation by a combination of a swinging motion by the above and a vertical motion by the cylinder 21 of the lifting force generating device, and the lifting force generating device. The operating force of the cylinder operating portion is applied to the body holder 1a, and the operator 10 held by the body holder 1a is pushed up with a force within a range in which the back surface of the foot can be kept in contact with the operator moving surface. The work assistance apparatus comprised so that it may push up is shown.

この作業補助装置は前記押上げ力発生手段のシリンダ２１のシリンダ内に圧縮した空気を送り込み圧力制御機器で圧力を一定に保ちシリンダ２１を押出し状態にする。その押し出しにより前記身体保持具１ａに保持された作業者１０を足の裏面が作業者移動面の床６に接地状態を保てる範囲内の押上げ力で押上げる。その働きと、前記押上げ力発生手段及び前記身体保持手段が吊設されたことによる揺動動作と、押上げ力発生手段による上下動作の組合せによる係合した動作で前記身体保持具１ａに保持された作業者１０の腰部は押上げ力を受けながら三次元空間内の任意の方向に変位可能になる。 This work assisting device feeds compressed air into the cylinder 21 of the cylinder 21 of the push-up force generating means, keeps the pressure constant by a pressure control device, and puts the cylinder 21 into an extruded state. The operator 10 held by the body holder 1a is pushed up by the push-up force within a range in which the back surface of the foot can be kept in contact with the floor 6 of the operator moving surface. The body holding device 1a is held by the engagement of the function, the swinging motion caused by the lifting force generating means and the body holding means being suspended, and the vertical motion by the lifting force generating means. The lumbar part of the worker 10 thus made can be displaced in an arbitrary direction in the three-dimensional space while receiving a pushing force.

この状態の時、作業者１０は僅かに脚部に力を入れているだけで直立状態の立ち姿勢を保つことができる。更に作業者１０が脚部の力を抜くと全体重が前記身体保持具１ａを介して前記押上げ力発生手段に作用し、体重が押上げ力に勝るとシリンダ２１の動作部のロッドが下降し前記身体保持具１ａも下降する。下降途中で僅かに脚部に力を入れると前記身体保持具１ａの下降は止まり姿勢を維持できる。 In this state, the worker 10 can maintain a standing posture in an upright state with only a slight force applied to the legs. Further, when the operator 10 removes the leg force, the total weight acts on the push-up force generating means via the body holder 1a, and when the body weight exceeds the push-up force, the rod of the operating portion of the cylinder 21 descends. The body holder 1a is also lowered. If a slight force is applied to the leg part during the descent, the descent of the body holder 1a stops and the posture can be maintained.

更に立ち上がる際には脚部に僅か力を入れ通常の立ち上がり動作を行うと前記身体保持具１ａにシリンダ２１による押上げ力が働きながら腰部を押上げるように上昇する。
従って、この装置を使用した作業者１０の腰部は三次元空間内の任意の方向に変位可能な状態で常時腰部に押上げ力を受けながら作業を行うことができる。 Further, when standing up, if a normal force is applied to the leg portion and a normal standing up operation is performed, the body holder 1a is lifted to push up the waist while the pushing force of the cylinder 21 is applied.
Therefore, the lumbar part of the worker 10 using this apparatus can perform work while always receiving the pushing force on the lumbar part in a state in which the lumbar part can be displaced in any direction in the three-dimensional space.

尚、前記押上げ力発生手段に加圧した流体の圧力で動作し出力する駆動機器やシリンダ２１内に気体を密閉したガスシリンダで構成することもでき、モーターの出力、発条の反発力、弾性体の反発力や張力等を利用して構成することもできる。 In addition, it can also be comprised with the drive device which operate | moves and outputs with the pressure of the fluid pressurized to the said raising force generation means, and the gas cylinder which sealed gas in the cylinder 21, and is comprised of the output of a motor, the repulsive force of a striation, elasticity It can also be configured using the repulsive force or tension of the body.

図２の側面図は請求項１記載の作業補助装置の一実施例を示す。
図２は二次元空間内で任意の方向に移動可能な可動部材３４１と、窪みを有し固定部位に固定された転動受部材３４３と、前記可動部材３４１と前記転動受部材３４３の間に介在し転動受部材３４３の窪みに自由に移動可能に収納された複数の転動体３４２で構成される水平移動手段を、作業者１０の立つ位置の頭上に位置する上部固定部材６１へ取付け、更に前記可動部材３４１に支持部１２を設け、その支持部１２へ前記身体保持具１ａを押上げ力発生手段のシリンダ２１の動作部位に連結し揺動動作が可能な状態に吊設して構成した作業補助装置を示す。 The side view of FIG. 2 shows an embodiment of the work assisting device according to the first aspect.
FIG. 2 shows a movable member 341 that can move in an arbitrary direction in a two-dimensional space, a rolling receiving member 343 that has a recess and is fixed to a fixed portion, and a position between the movable member 341 and the rolling receiving member 343. A horizontal moving means composed of a plurality of rolling elements 342 that are interposed in the recesses of the rolling receiving member 343 so as to be freely movable is attached to the upper fixing member 61 located above the head where the worker 10 stands. Further, the movable member 341 is provided with a support portion 12, and the body holder 1 a is connected to the support portion 12 to the operation portion of the cylinder 21 of the push-up force generating means so as to be swingable. The constructed work auxiliary device is shown.

この作業補助装置は前記押上げ力発生手段のシリンダ２１のシリンダ内に圧縮した空気を送り込み圧力制御機器で圧力を一定に保ちシリンダ２１を牽引状態にする。その牽引により前記身体保持具１ａに保持された作業者１０の足の裏面が作業者移動面の床６に接地状態を保てる範囲内の押上げ力が前記身体保持具１ａに作用する。その働きと、二次元空間内で任意の方向に移動可能な可動部材３４１の移動と、吊設された前記押上げ力発生手段及び前記身体保持手段の揺動動作と、押上げ力発生手段による上下動作の組合せによる係合した動作で前記身体保持具１ａに保持された作業者１０の腰部は押上げ力を受けながら三次元空間内の任意の方向に変位可能になる。 This work assisting device feeds compressed air into the cylinder 21 of the cylinder 21 of the push-up force generating means, keeps the pressure constant by a pressure control device, and puts the cylinder 21 in a towing state. The pulling force within the range in which the back surface of the foot of the worker 10 held by the body holding tool 1a is kept in contact with the floor 6 of the worker moving surface by the pulling acts on the body holding tool 1a. The function, the movement of the movable member 341 movable in any direction in the two-dimensional space, the swinging operation of the lifting force generating means and the body holding means suspended, and the lifting force generating means The waist part of the operator 10 held by the body holder 1a by the engaged action by the combination of the up and down movements can be displaced in any direction in the three-dimensional space while receiving the pushing force.

この状態の時、作業者１０は僅かに脚部に力を入れているだけで直立状態の立ち姿勢を保つことができる。更に作業者１０が脚部の力を抜くと全体重が前記身体保持具１ａ部を介して前記押上げ力発生手段に作用し、体重が押上げ力に勝るとシリンダ２１の動作部のロッドが下降し前記身体保持具１ａも下降する。下降途中で僅かに脚部に力を入れると前記身体保持具１ａの下降は止まり姿勢を維持できる。 In this state, the worker 10 can maintain a standing posture in an upright state with only a slight force applied to the legs. Further, when the operator 10 removes the force of the leg, the whole weight acts on the lifting force generating means via the body holder 1a, and when the body weight exceeds the lifting force, the rod of the operating portion of the cylinder 21 is moved. The body holder 1a is lowered and lowered. If a slight force is applied to the leg part during the descent, the descent of the body holder 1a stops and the posture can be maintained.

更に立ち上がる際には脚部に僅か力を入れ通常の立ち上がり動作を行うと前記身体保持具１ａにシリンダ２１による押上げ力が働きながら腰部を押上げるように上昇する。
従って、この装置を使用した作業者１０の腰部は三次元空間内の任意の方向に変位可能な状態で常時腰部に押上げ力を受けながら作業を行うことができる。その際前記水平移動手段の可動部材３４１の移動量だけ二次元空間内で任意の方向に移動が可能になる。 Further, when standing up, if a normal force is applied to the leg portion and a normal standing up operation is performed, the body holder 1a is lifted to push up the waist while the pushing force of the cylinder 21 is applied.
Therefore, the lumbar part of the worker 10 using this apparatus can perform work while always receiving the pushing force on the lumbar part in a state in which the lumbar part can be displaced in any direction in the three-dimensional space. At that time, it becomes possible to move in an arbitrary direction in the two-dimensional space by the amount of movement of the movable member 341 of the horizontal moving means.

図３の側面図は請求項２記載される作業補助装置の一実施例を示す。
図３は二次元空間内で任意の方向に移動可能な可動部材３４１と、窪みを有し固定部位に固定された転動受部材３４３と、前記可動部材３４１と前記転動受部材３４３の間に介在し転動受部材３４３の窪みに自由に移動可能に収納された複数の転動体３４２で構成される水平移動手段を、作業者が移動を行う作業者移動面上の固定部材である作業台８に取付け、更に前記可動部材３４１に押上げ力を発生させる押上げ力発生手段で上下移動手段を有するシリンダ２１の動作部に作業者１０の腰部を保持する身体保持手段の身体保持具１ａを取付けて前記身体保持手段を三次元空間内の任意の方向に変位可能にし、前記押上げ力発生手段の動作部の動作力を前記身体保持手段に作用させ、その身体保持手段に保持された作業者の足の裏面が作業者移動面に接地状態を保てる範囲内の押上げ力で押上げるように構成した作業補助装置を示す。 The side view of FIG. 3 shows one Example of the work assistance apparatus described in Claim 2. FIG.
FIG. 3 shows a movable member 341 that can move in an arbitrary direction in a two-dimensional space, a rolling receiving member 343 that has a recess and is fixed to a fixed portion, and a position between the movable member 341 and the rolling receiving member 343. Work that is a fixed member on the operator moving surface on which the operator moves the horizontal moving means composed of a plurality of rolling elements 342 that are interposed in the recesses of the rolling receiving member 343 so as to be freely movable. The body holder 1a of the body holding means that holds the waist of the operator 10 on the operating portion of the cylinder 21 that is attached to the base 8 and further has a vertically moving means by a lifting force generating means for generating a lifting force on the movable member 341. The body holding means can be displaced in any direction in a three-dimensional space, and the operating force of the operating portion of the push-up force generating means is applied to the body holding means, and is held by the body holding means. The back of the worker's foot is working It shows the work assistance device constructed in upward force in the range capable of maintaining the contact state to the moving surface to push up so.

この作業補助装置は前記押上げ力発生手段のシリンダ２１のシリンダ内に圧縮した空気を送り込み圧力制御機器で圧力を一定に保ちシリンダ２１を押出し状態にする。その押し出しにより前記身体保持具１ａに保持された作業者１０の足の裏面が作業者移動面の床６に接地状態を保てる範囲内の押上げ力が前記身体保持具１ａに作用する。その働きと、二次元空間内で任意の方向に移動可能な可動部材３４１の移動と、押上げ力発生手段による上下動作の組合せによる係合した動作で前記身体保持具１ａに保持された作業者１０の腰部は押上げ力を受けながら三次元空間内の任意の方向に変位可能になる。 This work assisting device feeds compressed air into the cylinder 21 of the cylinder 21 of the push-up force generating means, keeps the pressure constant by a pressure control device, and puts the cylinder 21 into an extruded state. The push-up force within a range in which the back surface of the worker 10 held by the body holder 1a is kept in contact with the floor 6 of the operator movement surface by the pushing acts on the body holder 1a. An operator held on the body holder 1a by an engaged action by a combination of the function, the movement of the movable member 341 movable in an arbitrary direction in the two-dimensional space, and the vertical movement by the push-up force generating means. The ten waists can be displaced in any direction in the three-dimensional space while receiving a pushing force.

この状態の時、作業者１０は僅かに脚部に力を入れているだけで直立状態の立ち姿勢を保つことができる。更に作業者１０が脚部の力を抜くと全体重が前記身体保持具１ａを介して前記押上げ力発生手段に作用し、体重が押上げ力に勝るとシリンダ２１の動作部のロッドが下降し前記身体保持座１ａも下降する。下降途中で僅かに脚部に力を入れると前記身体保持具１ａの下降は止まり姿勢を維持できる。 In this state, the worker 10 can maintain a standing posture in an upright state with only a slight force applied to the legs. Further, when the operator 10 removes the leg force, the total weight acts on the push-up force generating means via the body holder 1a, and when the body weight exceeds the push-up force, the rod of the operating portion of the cylinder 21 descends. The body holding seat 1a is also lowered. If a slight force is applied to the leg part during the descent, the descent of the body holder 1a stops and the posture can be maintained.

更に立ち上がる際には脚部に僅か力を入れ通常の立ち上がり動作を行うと前記身体保持具１ａにシリンダ２１による押上げ力が働きながら腰部を押上げるように上昇する。
従って、この装置を使用した作業者１０の腰部は三次元空間内の任意の方向に変位可能な状態で常時腰部に押上げ力を受けながら作業を行うことができる。その際前記水平移動手段の可動部材３４１の移動量だけ二次元空間内で任意の方向に移動が可能になる。 When standing up, a slight force is applied to the leg portion to perform a normal standing up operation, and the body holding device 1a is lifted up to push up the waist while the pushing force of the cylinder 21 is applied.
Therefore, the lumbar part of the worker 10 using this apparatus can perform work while always receiving the pushing force on the lumbar part in a state in which the lumbar part can be displaced in any direction in the three-dimensional space. At that time, it becomes possible to move in an arbitrary direction in the two-dimensional space by the amount of movement of the movable member 341 of the horizontal moving means.

又、二次元空間内で任意の方向に移動可能な可動部材３４１に、作業者１０の腰部を保持する身体保持手段の身体保持具１ａを直接取付け、水平移動手段を押上げ力発生手段で押上げるように構成しても同様の効果が得られる。 Further, the body holder 1a of the body holding means for holding the waist of the operator 10 is directly attached to the movable member 341 that can move in any direction in the two-dimensional space, and the horizontal moving means is pushed by the lifting force generating means. The same effect can be obtained even if it is configured to be raised.

図４の斜視図は図１、図２、図３に使用した転動受部材３４３の片側と、転動受部材３４３の窪みに自由に移動可能に収納された複数の転動体３４２の一例を示す。
窪みの平面部には転動体３４２が可動部材３４１に接触して転動しながら移動する方向と逆の方向に転動体３４２を移動させる溝や通路を設けると転動体３４２が循環し易くなる。 4 is an example of a plurality of rolling elements 342 accommodated in one side of the rolling receiving member 343 used in FIGS. 1, 2, and 3 and a recess of the rolling receiving member 343 so as to be freely movable. Show.
If a groove or a passage for moving the rolling element 342 in a direction opposite to the direction in which the rolling element 342 contacts the movable member 341 and moves while rolling is provided in the flat portion of the recess, the rolling element 342 is easily circulated.

図５の側面図は前記の転動受部材３４３に設けた窪みを可動部材３４１の両面に設け、その窪みに複数の転動体３４２を自由に移動可能に収納した水平移動手段を示す。この場合転動受部材３４３側の転動体３４２の接触面は平面で構成することができる。
又、可動部材３４１と転動受部材３４３の両面に窪みを設けて構成することもできる。 The side view of FIG. 5 shows horizontal moving means in which depressions provided in the rolling receiving member 343 are provided on both surfaces of the movable member 341 and a plurality of rolling elements 342 are accommodated in the depressions so as to be freely movable. In this case, the contact surface of the rolling element 342 on the rolling receiving member 343 side can be configured as a flat surface.
Alternatively, the movable member 341 and the rolling receiving member 343 can be configured by providing depressions on both surfaces.

図６は転動体３４２ａがローラー状のもので、その転動体３４２ａを支持部材３４２ｄ
に回転自在に転動体軸３４２ｂで軸支し、その支持部材３４２ｄを可動部材３４１又は転動受部材３４３に支軸３４２ｃで取付けて構成することにより、前記と同様に可動部材３４１を二次元空間内で任意の方向に移動可能にすることもできる。 In FIG. 6, the rolling element 342a is a roller, and the rolling element 342a is supported by a support member 342d.
And the support member 342d is attached to the movable member 341 or the rolling receiving member 343 with the support shaft 342c, so that the movable member 341 can be two-dimensional space as described above. It can also be movable in any direction.

図７は可動部材３４１又は転動受部材３４３に球状の窪みを設け、その中に小さい複数の球状の転動体３４２ｅと、大きい１個の球状の転動体３４２を入れ、転動体３４２は自転可能に転動体３４２ｅは移動可能に構成する。この組合せを複数設けることにより前記と同様に可動部材３４１を二次元空間内で任意の方向に移動可能にすることもできる。 In FIG. 7, a spherical recess is provided in the movable member 341 or the rolling receiving member 343, and a plurality of small spherical rolling elements 342e and one large spherical rolling element 342 are placed therein, and the rolling element 342 can rotate. In addition, the rolling element 342e is configured to be movable. By providing a plurality of combinations, the movable member 341 can be moved in any direction in the two-dimensional space in the same manner as described above.

又、押上げ力発生手段を上部固定部材６１に取付け、その押上げ力発生手段の動作部に
水平移動手段を取付けて構成し、その水平移動手段の二次元空間内で任意の方向に移動可能な可動部材３４１に支持部１２を設けて身体保持具１ａを吊設して構成しても良い。前記作業補助装置と同様の効果が得られる。 Further, the lifting force generating means is attached to the upper fixing member 61, and the moving part is attached to the operating portion of the lifting force generating means so that it can move in any direction within the two-dimensional space of the horizontal moving means. The movable member 341 may be provided with the support portion 12 and the body holder 1a may be suspended. The same effect as the work auxiliary device can be obtained.

作業補助装置の側面図。（実施例１）The side view of a work auxiliary device. Example 1 作業補助装置の側面図。（実施例２）The side view of a work auxiliary device. (Example 2) 作業補助装置の側面図。（実施例３）The side view of a work auxiliary device. (Example 3) 転動受部材の斜視図。（実施例３）The perspective view of a rolling receiving member. (Example 3) 水平移動手段の断面図。（実施例４）Sectional drawing of a horizontal moving means. (Example 4) 転動体部の断面図。（実施例４）Sectional drawing of a rolling-element part. (Example 4) 転動体部の断面図。（実施例４）Sectional drawing of a rolling-element part. (Example 4)

符号の説明Explanation of symbols

１ａ身体保持具
６床
６１上部固定部材
８作業台
１０作業者
１２支持部
１５フレーム
１６連結部材
２１シリンダ
３４１可動部材
３４２転動体
３４３転動受部材
DESCRIPTION OF SYMBOLS 1a Body holder 6 Floor 61 Upper fixed member 8 Worktable 10 Worker 12 Support part 15 Frame 16 Connection member 21 Cylinder 341 Movable member 342 Rolling body 343 Rolling receiving member

Claims

二次元空間内で任意の方向に移動可能な可動部材及び固定部位に固定された転動受部材及び前記可動部材と前記転動受部材の間に介在する複数の転動体で構成される水平移動手段を作業者の立つ位置の頭上に位置する上部固定部材へ取付け、更に前記可動部材に支持部を設け、その支持部へ作業者の腰部を保持する身体保持手段を揺動動作及び上下動作が可能な状態に吊設して、その身体保持手段に押上げ力が作用するよう押上げ力を発生させる押上げ力発生手段を係合させて構成し、前記可動部材に取付けられた前記支持部の二次元空間内での任意の方向に変位可能な移動と、前記身体保持手段が吊設されたことによる揺動動作と、前記押上げ力発生手段による上下動作の組合せによる係合した動作で前記身体保持手段が三次元空間内の任意の方向に変位可能にし、前記押上げ力発生手段の動作部の動作力を前記身体保持手段に作用させ、その身体保持手段に保持された作業者を足の裏面が作業者移動面に接地状態を保てる範囲内の押上げ力で押上げるように構成したことを特徴とする作業補助装置。 Horizontal movement comprising a movable member movable in an arbitrary direction in a two-dimensional space, a rolling receiving member fixed to a fixed portion, and a plurality of rolling elements interposed between the movable member and the rolling receiving member. The means is attached to an upper fixing member located above the head where the worker stands, and a support portion is provided on the movable member, and the body holding means for holding the operator's waist on the support portion can be swung and moved up and down. The support portion attached to the movable member is constructed by engaging a push-up force generating means that suspends in a possible state and generates a push-up force so that the push-up force acts on the body holding means. Movement that can be displaced in an arbitrary direction in the two-dimensional space, an oscillating operation by suspending the body holding means, and an engaged operation by a combination of vertical movements by the push-up force generating means. The body holding means is assigned to a 3D space. The operating force of the operating portion of the push-up force generating means is applied to the body holding means, and the worker's back is grounded to the worker moving surface. A work assisting device configured to be pushed up by a pushing force within a range that can be maintained.

二次元空間内で任意の方向に移動可能な可動部材及び固定部位に固定された転動受部材及び前記可動部材と前記転動受部材の間に介在する複数の転動体で構成される水平移動手段と、前記水平移動手段に作業者の胴体部を保持する身体保持手段と、その身体保持手段の上下移動を可能にする上下移動手段と、前記身体保持手段に押上げ力が作用するよう押上げ力を発生させる押上げ力発生手段を係合させて構成して作業者が移動を行う作業者移動面上の固定部材へ取付け、前記身体保持手段を三次元空間内の任意の方向に変位可能にし、前記押上げ力発生手段の動作部の動作力を前記身体保持手段に作用させ、その身体保持手段に保持された作業者を足の裏面が作業者移動面に接地状態を保てる範囲内の押上げ力で押上げるように構成したことを特徴とする作業補助装置。 Horizontal movement comprising a movable member movable in an arbitrary direction in a two-dimensional space, a rolling receiving member fixed to a fixed portion, and a plurality of rolling elements interposed between the movable member and the rolling receiving member. Means, a body holding means for holding the operator's torso portion on the horizontal movement means, a vertical movement means for enabling the body holding means to move up and down, and a push-up force acting on the body holding means. A push-up force generating means for generating a lifting force is engaged to constitute a fixed member on an operator moving surface on which an operator moves, and the body holding means is displaced in an arbitrary direction in a three-dimensional space. The operating force of the operating portion of the push-up force generating means is applied to the body holding means, and the worker held by the body holding means is within a range where the back surface of the foot can be kept in contact with the worker moving surface. It is configured to be pushed up with the lifting force of Work assistance apparatus according to claim.