JP6478217B2 - Holding mechanism - Google Patents

Holding mechanism Download PDF

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JP6478217B2
JP6478217B2 JP2015005299A JP2015005299A JP6478217B2 JP 6478217 B2 JP6478217 B2 JP 6478217B2 JP 2015005299 A JP2015005299 A JP 2015005299A JP 2015005299 A JP2015005299 A JP 2015005299A JP 6478217 B2 JP6478217 B2 JP 6478217B2
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displaced
ratchet
ratchet pawl
displacement
holding
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矢野　賢一
賢一 矢野
安之 小林
安之 小林
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Mie University NUC
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Description

本発明は、相対的な姿勢変位可能に設けられた第１部材および第２部材を所定位置で保持可能な保持機構に関するものである。   The present invention relates to a holding mechanism capable of holding a first member and a second member provided so as to be capable of relative posture displacement at a predetermined position.

第１本体に対し姿勢変位可能に連結された第２本体を適宜位置で停止保持可能な保持機構として、ラチェット機構がある(特許文献１)。このラチェット機構は、第１本体および第２本体の何れか一方の本体に配設されて複数の歯を備えた歯車と、第１本体および第２本体の何れか他方の本体に配設され、歯車と係合した規制位置および該歯車との係合が解除された許容位置に切り替え可能な歯止めとを備えている。従って、歯止めが許容位置に変位することで第２本体の姿勢変位が許容され、歯止めが規制位置に変位することで第２本体を停止保持するよう構成されている。   There is a ratchet mechanism as a holding mechanism capable of stopping and holding a second main body connected to the first main body so as to be displaceable in an appropriate position. The ratchet mechanism is disposed on one of the first main body and the second main body and provided with a gear having a plurality of teeth, on the other main body of the first main body and the second main body, A restricting position engaged with the gear and a pawl that can be switched to an allowable position released from the engagement with the gear are provided. Accordingly, the posture displacement of the second main body is allowed when the pawl is displaced to the allowable position, and the second main body is stopped and held when the pawl is displaced to the restriction position.

特開２０００−１１０９１１号公報JP 2000-110911 A

従来のラチェット機構は、歯止めが自重または駆動手段等により規制位置および許容位置に変位するよう構成されている。ここで、第２本体の姿勢位置によっては、歯止めが許容位置から規制位置へ変位する際に、歯止めの爪と歯車の歯の先端が当接することがある。歯止めが規制位置まで変位することなく駆動手段の駆動が停止すると、歯車と歯止めとが係合しない状態で該歯止めが停止することになり、、第２部材を適宜位置で停止保持できなくなる問題がある。また、特許文献１に開示のラチェット機構では、歯止めを規制位置および許容位置に変位させる駆動手段を備えていない。また、特許文献１に開示のラチェット機構はコイルバネを備えているが、該コイルバネは、駆動手段に連係されたものではないから、歯止めを許容位置に姿勢変位させる機能を有していない。   The conventional ratchet mechanism is configured such that the pawl is displaced to a restricting position and an allowable position by its own weight or driving means. Here, depending on the posture position of the second main body, when the pawl is displaced from the allowable position to the restricting position, the pawl of the pawl and the tip of the gear tooth may contact each other. If driving of the driving means is stopped without the pawl being displaced to the regulation position, the pawl is stopped in a state where the gear and the pawl are not engaged, and the second member cannot be stopped and held at an appropriate position. is there. In addition, the ratchet mechanism disclosed in Patent Document 1 does not include a driving unit that displaces the pawl to the restriction position and the allowable position. Moreover, although the ratchet mechanism disclosed in Patent Document 1 includes a coil spring, the coil spring is not linked to the driving means, and therefore does not have a function of moving the pawl to an allowable position.

本発明では、モータの駆動が停止してもラチェット爪を規制位置に姿勢変位させ得るよう構成した保持機構を提供することを目的とする。 An object of the present invention is to provide a holding mechanism configured to be able to displace the ratchet pawl to the restricted position even when the driving of the motor is stopped.

前記課題を解決し、所期の目的を達成するため、本発明の請求項１に記載の発明は、相対的な姿勢変位可能に設けられた第１部材および第２部材を所定位置で保持可能な保持機構であって、
前記第１部材および第２部材の一方に連動して変位するラチェット歯車と、
前記ラチェット歯車の歯溝に係合して該ラチェット歯車の変位を規制可能な規制位置および該歯溝から離間して該ラチェット歯車の変位を許容する許容位置に変位可能なラチェット爪と、
モータの駆動に伴って第１位置および第２位置に変位可能な作動部材と、
前記ラチェット爪および作動部材を接続するよう設けられて当該作動部材の変位に伴ってラチェット爪を変位させると共に、当該作動部材に対してラチェット爪を一定方向へ付勢するよう弾性変形可能に形成された連係部材とを備え、
前記モータの駆動により前記作動部材を前記第１位置および第２位置に切り替わるよう変位させた際に、当該作動部材の第１位置への変位に伴って前記ラチェット爪が規制位置に向けて変位すると共に当該作動部材の第２位置への変位に伴って前記ラチェット爪が許容位置に向けて変位し、当該作動部材の位置の切り替わりに伴って当該モータの駆動を停止することで前記ラチェット爪が変位した規制位置および許容位置で保持されると共に、
前記作動部材の第１位置への変位に伴って前記ラチェット爪が前記規制位置へ変位する途中で当該ラチェット爪の変位が規制された際には、前記連係部材が弾性変形してラチェット爪を規制位置へ向けて付勢するよう構成されたことを要旨とする。
請求項１に係る発明によれば、ラチェット爪と作動部材とを接続した連係部材により、モータの駆動に伴って作動部材が第１位置に変位することで、ラチェット爪を規制位置へ変位させ得ると共に、該モータの駆動に伴って作動部材が第２位置に変位することで、ラチェット爪を許容位置へ姿勢変位させ得る。そして、作動部材が第１位置に変位した際にラチェット爪が規制位置まで変位不能な場合には、連係部材が弾性変形することで作動部材が第１位置へ変位することが許容され、モータが停止した状態であっても、連係部材の付勢力によりラチェット爪を規制位置へ変位させ得るから、モータの停止後であってもラチェット歯車を適切に停止保持して第１部材に対して第２部材を保持することが可能である。 In order to solve the above-mentioned problems and achieve the intended purpose, the invention according to claim 1 of the present invention can hold the first member and the second member provided so as to be capable of relative posture displacement in a predetermined position. Holding mechanism,
A ratchet gear that is displaced in conjunction with one of the first member and the second member;
A ratchet pawl that is displaceable to a restriction position that engages with the tooth groove of the ratchet gear and restricts the displacement of the ratchet gear and to an allowable position that allows the displacement of the ratchet gear apart from the tooth groove;
An actuating member displaceable to a first position and a second position in accordance with driving of the motor ;
The ratchet pawl and provided so as to connect the actuating member with makes Displacement ratchet pawl with the displacement of of the actuating member, the actuating member a ratchet pawl elastically deformable so as to bias the predetermined direction with respect to A linkage member formed ,
When the actuating member is displaced so as to be switched between the first position and the second position by driving the motor, the ratchet pawl is displaced toward the regulation position in accordance with the displacement of the actuating member to the first position. the said ratchet pawl with the displacement of the second position of the actuating member is displaced toward the permitting position, the ratchet pawl by stopping the driving of the motor with the switching position of the actuating member is displaced together with Are held in the restricted and allowable positions ,
When the displacement of the middle in the ratchet pawl, wherein the ratchet pawl with the displacement of the first position of the actuating member is displaced to the restriction position is regulated, regulating the ratchet pawl the linkage member is elastically deformed and summary that it has been made by cormorants configured for urging to the position.
According to the first aspect of the present invention, the linkage member connecting the ratchet pawl and the actuating member displaces the ratchet pawl to the regulation position by displacing the actuating member to the first position as the motor is driven. At the same time, the operating member is displaced to the second position as the motor is driven, whereby the ratchet pawl can be displaced to the allowable position. The actuating member when the ratchet pawl when displaced in the first position is impossible displaced to the restricting position, the linkage member is actuating member by the elastic deformation is allowed to be displaced to the first position, the motor Even in the stopped state, the ratchet pawl can be displaced to the restricting position by the urging force of the linking member. Therefore, even after the motor is stopped, the ratchet gear is appropriately stopped and held to the second member with respect to the first member. It is possible to hold the member.

請求項２に記載の発明では、前記連係部材は、前記作動部材に係合される係合部と、前記係合部に連設されると共に前記ラチェット爪に固定される固定部とを備え、
前記係合部は、前記第２位置から第１位置に変位する作動部材に係合する第１係合部と、前記第１位置から第２位置に変位する作動部材に係合する第２係合部とからなり、
前記作動部材が前記第１位置へ変位する際に前記第１係合部が押されることで前記ラチェット爪が前記規制位置に変位し、前記作動部材が前記第２位置へ変位する際に前記第２係合部が押されることで前記ラチェット爪が前記許容位置に変位するよう構成されたことを要旨とする。
請求項２に係る発明によれば、モータの駆動に伴って第１位置へ変位する作動部材により第１係合部が押されることで、ラチェット爪を規制位置に適切に変位させ得ると共に、モータの駆動により第２位置へ変位する作動部材により第２係合部が押されることで、ラチェット爪を許容位置に適切に姿勢変位させ得る。 According to a second aspect of the present invention, the linkage member includes an engaging portion that is engaged with the actuating member, and a fixing portion that is connected to the engaging portion and is fixed to the ratchet claw.
The engagement portion includes a first engagement portion that engages with an operation member that is displaced from the second position to the first position, and a second engagement that engages with an operation member that is displaced from the first position to the second position. Consisting of joints,
When the actuating member is displaced to the first position, the first engaging portion is pushed to displace the ratchet pawl to the restricting position, and when the actuating member is displaced to the second position, The gist is that the ratchet pawl is displaced to the allowable position when the two engaging portions are pushed.
According to the second aspect of the present invention, the ratchet pawl can be appropriately displaced to the restriction position by pressing the first engagement portion by the operating member that is displaced to the first position as the motor is driven, and the motor The ratchet pawl can be appropriately displaced to the permissible position by pressing the second engagement portion by the operating member that is displaced to the second position by the driving of.

請求項３に記載の発明では、前記ラチェット歯車は、該ラチェット歯車の往復変位に連動して変位する第１歯部および第２歯部を備え、
前記ラチェット爪として、前記第１歯部の歯溝との係合により前記ラチェット歯車の一方への変位を規制する第１ラチェット爪と、前記第２歯部の歯溝との係合により前記ラチェット歯車の他方への変位を規制する第２ラチェット爪とを備え、
前記作動部材として、第１モータの駆動に伴って第１位置および第２位置に変位可能な第１作動部材と、第２モータの駆動に伴って第１位置および第２位置に変位可能な第２作動部材とを備え、
前記連係部材として、前記第１ラチェット爪と前記第１作動部材とを連係する第１連係部材と、前記第２ラチェット爪と前記第２作動部材とを連係する第２連係部材とを備え、
前記第１モータの駆動に伴って、前記第１歯部の歯溝との係合位置および許容位置に前記第１ラチェット爪を変位させ得ると共に、前記第２モータの駆動に伴って、前記第２歯部の歯溝との係合位置および許容位置に前記第２ラチェット爪を変位させ得るよう構成されたことを要旨とする。
請求項３に係る発明によれば、第１ラチェット爪および第２ラチェット爪の両方を規制位置とすることでラチェット歯車の往復変位が規制され、第１部材および第２部材の相対的な姿勢変位を規制し得る。そして、第１ラチェット爪および第２ラチェット爪の両方を許容位置とすることでラチェット歯車の往復変位が許容され、第１部材および第２部材の相対的な姿勢変位を規制し得る。また、第１ラチェット爪を規制位置とすると共に第２ラチェット爪を許容位置とすることで、ラチェット歯車の一方への変位が規制されると共に他方への変位が許容されるようにし得ると共に、第１ラチェット爪を許容位置とすると共に第２ラチェット爪を規制位置とすることで、ラチェット歯車の一方への変位が許容されると共に他方への変位が規制されるようにし得るので、第１部材および第２部材の相対的な姿勢変位を許容し得る。 In the invention according to claim 3, the ratchet gear includes a first tooth portion and a second tooth portion that are displaced in conjunction with a reciprocating displacement of the ratchet gear,
As the ratchet pawl, the ratchet is engaged by engagement between a first ratchet pawl that restricts displacement of the ratchet gear to one side by engagement with the tooth groove of the first tooth portion, and a tooth groove of the second tooth portion. A second ratchet pawl for restricting the displacement of the gear to the other,
As the actuating member, a first actuating member that can be displaced to a first position and a second position as the first motor is driven, and a first actuating member that can be displaced to a first position and a second position as the second motor is driven. Two actuating members,
The linkage member includes a first linkage member that links the first ratchet pawl and the first actuation member, and a second linkage member that links the second ratchet pawl and the second actuation member,
As the first motor is driven, the first ratchet pawl can be displaced to an engagement position and a permissible position of the first tooth portion with the tooth groove, and as the second motor is driven, the first The gist is that the second ratchet pawl can be displaced to an engagement position and a permissible position with the tooth gap of the two tooth portions.
According to the invention of claim 3, the reciprocating displacement of the ratchet gear is restricted by setting both the first ratchet pawl and the second ratchet pawl to the restricting position, and the relative posture displacement of the first member and the second member. Can be regulated. The reciprocating displacement of the ratchet gear is allowed by setting both the first ratchet pawl and the second ratchet pawl to an allowable position, and the relative posture displacement of the first member and the second member can be restricted. In addition, by setting the first ratchet pawl as the restriction position and the second ratchet pawl as the allowance position, the displacement of the ratchet gear to one side can be restricted and the displacement to the other can be allowed, and the first Since the one ratchet pawl is set to the allowable position and the second ratchet pawl is set to the restricting position, the displacement of the ratchet gear to one side can be allowed and the displacement to the other can be restricted. The relative posture displacement of the second member can be allowed.

本発明に係る保持機構によれば、モータの駆動が停止しても、ラチェット爪を規制位置に姿勢変位させて該ラチェット爪をラチェット歯車に係合させ得るので、第１部材と第２部材とを適切に保持させ得る。 According to the holding mechanism of the present invention, even when the driving of the motor is stopped, the ratchet claw can be displaced in the posture to the restriction position and the ratchet claw can be engaged with the ratchet gear, so the first member and the second member Can be held appropriately.

本発明の実施例に係る身体動作補助装置を、左腕に装着した状態を後方左斜め上方から見た斜視図である。It is the perspective view which looked at the state equipped with the body movement auxiliary device concerning the example of the present invention on the left arm from the back diagonally upward. 実施例の身体動作補助装置の平面図である。It is a top view of the body movement auxiliary device of an example. 実施例の身体動作補助装置を、作動装置の各カバー部材を取り外した状態で示す右側面図である。It is a right view which shows the body movement assistance apparatus of an Example in the state which removed each cover member of the action | operation apparatus. 実施例の身体動作補助装置の左側面図である。It is a left view of the body movement auxiliary device of an example. (ａ)は、身体動作補助装置における作動装置を構成する第１サポート部材および第２サポート部材を、各カバー部材を取り外した状態で示す右側面図であり、(ｂ)は、各カバー部材を取り外した作動装置の平面図である。(a) is the right view which shows the 1st support member and 2nd support member which comprise the action | operation apparatus in a body movement assistance apparatus in the state which removed each cover member, (b) is each cover member. It is a top view of the operating device removed. 図２のＡ部拡大図である。It is the A section enlarged view of FIG. 保持機構における第１保持機構の一部および第２保持機構を示す斜視図である。It is a perspective view which shows a part of 1st holding mechanism in a holding mechanism, and a 2nd holding mechanism. (ａ)は、第１保持機構および第２保持機構が許容位置の場合を示す説明図であり、(ｂ)は、第１保持機構および第２保持機構が規制位置の場合を示す説明図である。(a) is explanatory drawing which shows the case where a 1st holding mechanism and a 2nd holding mechanism are permissible positions, (b) is explanatory drawing which shows the case where a 1st holding mechanism and a 2nd holding mechanism are a control position. is there. (ａ)は、第１保持機構における第１作動モータに配設した第１偏心カムが第１停止位置に変位した状態を示す説明図であり、(ｂ)は、第１作動モータの駆動により第１偏心カムが第１停止位置と第２停止位置との中間にある状態を示す説明図であり、(ｃ)は、第１偏心カムが第２停止位置に変位した状態を示す説明図である。(a) is explanatory drawing which shows the state which the 1st eccentric cam arrange | positioned in the 1st operating motor in a 1st holding mechanism displaced to the 1st stop position, (b) is the drive of a 1st operating motor. It is explanatory drawing which shows the state which has a 1st eccentric cam in the middle of a 1st stop position and a 2nd stop position, (c) is explanatory drawing which shows the state which the 1st eccentric cam displaced to the 2nd stop position. is there. 第１連係部材が弾性変形する場合を示す説明図であって、(ａ)は、第１ラチェット爪部材が規制位置に変位不能な場合に、第１連係部材が弾性変形することで第１偏心カムが第２停止位置まで回転可能であることを示し、(ｂ)は、第１ラチェット爪部材が規制位置に変位可能となった場合に、弾性変形した第１連係部材に発現した付勢力により該第１ラチェット爪が規制位置に変位可能なことを示している。It is explanatory drawing which shows the case where a 1st linkage member elastically deforms, Comprising: (a) is 1st eccentricity because a 1st linkage member elastically deforms when a 1st ratchet claw member cannot be displaced to a control position. The cam can be rotated to the second stop position, and (b) shows that when the first ratchet pawl member is displaceable to the restricting position, the biasing force generated in the elastically deformed first linkage member It shows that the first ratchet pawl can be displaced to the restricting position. 制御ユニットによる各作動モータの制御態様を示すタイミングチャートである。It is a timing chart which shows the control mode of each operation motor by a control unit.

次に、本発明に係る身体動作補助装置につき、好適な実施例を挙げて、添付図面を参照しながら以下説明する。実施例では、使用者(被補助者)の左腕Ａにおける肘関節Ａ３を挟む上腕部Ａ１および前腕部Ａ２に装着して、該肘関節Ａ３の屈伸(屈曲、伸展)動作による左腕Ａの曲げ・伸ばし動作を補助する身体動作補助装置ＳＵを例示して説明する。なお、実施例における身体動作補助装置ＳＵの各方向は、身体前方へ水平に伸ばして手のひらを使用者から見て右側に向けた左腕Ａに該身体動作補助装置ＳＵを装着した状態において、該左腕Ａの長手方向を前後方向(手首側を前側、肩側を後側)とし、左腕Ａの胸部を指向する内側を右側、左腕Ａの胸部と反対を指向する外側を左側、垂直方向を上下方向と指称する。すなわち図１は、実施例の身体動作補助装置ＳＵを、後方左斜め上方から見ている。   Next, a preferred embodiment of the body motion assisting device according to the present invention will be described below with reference to the accompanying drawings. In the embodiment, the left arm A is attached to the upper arm portion A1 and the forearm portion A2 sandwiching the elbow joint A3 in the left arm A of the user (subject), and the left arm A is bent and stretched by the elbow joint A3. The body motion assisting device SU that assists the stretching motion will be described as an example. Note that each direction of the body motion assist device SU in the embodiment is such that when the body motion assist device SU is attached to the left arm A that is horizontally extended forward and the palm is directed to the right side when viewed from the user, the left arm The longitudinal direction of A is the front-rear direction (the wrist side is the front side, the shoulder side is the rear side), the inner side facing the chest of the left arm A is the right side, the outer side facing the chest of the left arm A is the left side, and the vertical direction is the vertical direction Referred to. That is, FIG. 1 is looking at the body motion assisting device SU of the embodiment from the upper left obliquely upward.

(身体動作補助装置ＳＵの概要について)
実施例の身体動作補助装置ＳＵは、図１〜図４に示すように、作動装置１０と、該作動装置１０の第１サポート部材(第１部材)２０が取り付けられ、左腕Ａにおいて肘関節(関節)Ａ３に対し近位身体部位である上腕部Ａ１に着脱可能に装着される第１装具１２と、作動装置１０の第２サポート部材(第２部材)６０が取り付けられ、左腕Ａにおいて肘関節(関節)Ａ３に対して遠位身体部位である前腕部Ａ２に着脱可能に装着される第２装具１３とを備えている。 (About the outline of the body motion assist device SU)
As shown in FIGS. 1 to 4, the body motion assisting device SU according to the embodiment is provided with an actuating device 10 and a first support member (first member) 20 of the actuating device 10, and an elbow joint ( Joint) A first brace 12 that is detachably attached to the upper arm portion A1 that is a proximal body part with respect to A3 and a second support member (second member) 60 of the actuator 10 are attached, and an elbow joint is attached to the left arm A. (Joint) The second brace 13 is detachably attached to the forearm portion A2 which is a distal body part with respect to A3.

(作動装置１０について)
身体動作補助装置ＳＵの作動装置１０は、上腕部Ａ１に保持される第１サポート体１０Ａと、第１サポート体１０Ａに対して回転変位可能に連結されると共に、前腕部Ａ２に保持される第２サポート体１０Ｂとを備えている。また、作動装置１０は、第１サポート体１０Ａに対する第２サポート体１０Ｂの回転変位を規制可能な補助機構１４を備えている。更に、作動装置１０は、補助機構１４を構成する駆動手段である第１作動モータ１０９および第２作動モータ１１０(後述)を駆動制御する制御ユニット１６を備えている。 (About Actuator 10)
The actuating device 10 of the body motion assisting device SU is connected to the first support body 10A held by the upper arm portion A1 and the first support body 10A so as to be rotatable and displaceable, and is also held by the forearm portion A2. 2 support body 10B. In addition, the operating device 10 includes an auxiliary mechanism 14 that can restrict the rotational displacement of the second support body 10B relative to the first support body 10A. Furthermore, the operating device 10 includes a control unit 16 that drives and controls a first operating motor 109 and a second operating motor 110 (described later) that are driving means constituting the auxiliary mechanism 14.

(第１サポート体１０Ａについて)
前記第１サポート体１０Ａは、図１〜図４に示すように、補助機構１４を構成する部材が配設される第１サポート部材２０と、第１サポート部材２０における第１装具１２の取り付け側と反対側に装着される第１カバー部材２４とを備えている。第１サポート体１０Ａは、第１サポート部材２０に対して第１カバー部材２４を組み付けることで、補助機構１４の各部材や後述するバッテリーＢＴを収容可能な第１収容空間２６が内部に画成される。 (About the first support body 10A)
As shown in FIGS. 1 to 4, the first support body 10 </ b> A includes a first support member 20 on which members constituting the auxiliary mechanism 14 are disposed, and a side of the first support member 20 on which the first appliance 12 is attached. And a first cover member 24 mounted on the opposite side. In the first support body 10A, the first cover member 24 is assembled to the first support member 20, so that a first accommodation space 26 that can accommodate each member of the auxiliary mechanism 14 and a battery BT described later is defined inside. Is done.

(第１サポート部材２０について)
前記第１サポート部材２０は、図２〜図５に示すように、身体動作補助装置ＳＵを左腕Ａに装着した際に上腕部Ａ１の左部に位置して、該上腕部Ａ１の長手方向(前後方向)が長手となるプレート状に形成されている。第１サポート部材２０は、その前後方向の略中間から前側が、前述した補助機構１４が配設される第１配設部２０ａとなっていると共に、該第１配設部２０ａの後側が、補助機構１４の後述する第１作動モータ１０９および第２作動モータ１１０に対して電源を供給するバッテリーＢＴ等が配設される第２配設部２０ｂとなっている。第１配設部２０ａは、第２配設部２０ｂよりも上下幅が大きく、該第２配設部２０ｂよりも下方へ突出している。なお、第１サポート部材２０は、アルミニウム等の軽量金属や強化プラスチック等の合成樹脂から形成され、捻れ変形や撓み変形が発現し難く構成されている。 (About the first support member 20)
As shown in FIGS. 2 to 5, the first support member 20 is positioned on the left portion of the upper arm portion A1 when the body motion assisting device SU is attached to the left arm A, and is arranged in the longitudinal direction of the upper arm portion A1 ( It is formed in a plate shape whose longitudinal direction is the longitudinal direction. The first support member 20 has a first arrangement portion 20a on which the auxiliary mechanism 14 described above is arranged, from the substantially middle in the front-rear direction, and a rear side of the first arrangement portion 20a. The auxiliary mechanism 14 is a second disposing portion 20b in which a battery BT and the like for supplying power to a first operating motor 109 and a second operating motor 110 described later are disposed. The first placement portion 20a has a larger vertical width than the second placement portion 20b and protrudes downward from the second placement portion 20b. The first support member 20 is made of a lightweight metal such as aluminum, or a synthetic resin such as reinforced plastic, and is configured to hardly exhibit torsional deformation or bending deformation.

図５(ｂ)および図６に示すように、前記第１配設部２０ａの前部に、左方へ開口する軸支持孔３０が設けられており、該軸支持孔３０には、前記第２サポート体１０Ｂの第２サポート部材６０を回転自在に支持する回転支持軸(回転軸)３１が、左方へ延出した状態で立設固定されている。また、第１配設部２０ａには、補助機構１４を構成する第１作動モータ１０９を固定して保持する第１モータ固定部材３２と、該補助機構１４を構成する第２作動モータ１１０を固定して保持する第２モータ固定部材３３とが、ネジ等により取り付けられている。更に、図７および図８に示すように、第１配設部２０ａには、第１保持機構Ｒ１における第１ラチェット爪部材(第１ラチェット爪)１００を回転可能に支持する第１支持軸３４と、第２保持機構Ｒ２における第２ラチェット爪部材(第２ラチェット爪)１０１を回転可能に支持する第２支持軸３５とが、左方へ延出した状態で固定されている。第１支持軸３４は、回転支持軸３１の後側斜め下方に位置し、第２支持軸３５は、該回転支持軸３１の下側斜め後方に位置している。   As shown in FIGS. 5B and 6, a shaft support hole 30 that opens to the left is provided in the front portion of the first disposition portion 20 a, and the shaft support hole 30 has the first support hole 30. A rotation support shaft (rotation shaft) 31 that rotatably supports the second support member 60 of the two support body 10B is erected and fixed in a state of extending leftward. In addition, the first motor fixing member 32 that fixes and holds the first operating motor 109 that constitutes the auxiliary mechanism 14 and the second operating motor 110 that constitutes the auxiliary mechanism 14 are fixed to the first arrangement portion 20a. The second motor fixing member 33 to be held is attached by screws or the like. Further, as shown in FIGS. 7 and 8, the first support shaft 34 that rotatably supports the first ratchet pawl member (first ratchet pawl) 100 in the first holding mechanism R1 is provided in the first disposing portion 20a. The second support shaft 35 that rotatably supports the second ratchet pawl member (second ratchet pawl) 101 in the second holding mechanism R2 is fixed in a state of extending leftward. The first support shaft 34 is positioned obliquely below the rear side of the rotation support shaft 31, and the second support shaft 35 is positioned obliquely rearward below the rotation support shaft 31.

また、図５(ａ)および図８に示すように、前記第１配設部２０ａには、回転支持軸３１に支持された第２サポート体１０Ｂにおける第２サポート部材６０の回転変位可能な範囲を規定する第１ストッパ３６および第２ストッパ３７が設けられている。第１ストッパ３６は、回転支持軸３１の前側斜め下方に設けられて、肘関節Ａ３が伸展して左腕Ａを伸ばすことで第１サポート部材２０に対して第２サポート部材６０が直線状態となった場合(図５(ａ)に実線で表示)に、第２サポート部材６０の下縁が当接するようになっている。従って、第２サポート体１０Ｂは、第１ストッパ３６に当接した状態よりも前部が下方へ変位するように回転することが規制される。一方、第２ストッパ３７は、回転支持軸３１の後側斜め上方に設けられて、肘関節Ａ３が屈曲して左腕Ａを曲げることで第１サポート部材２０に対して第２サポート部材６０が屈曲状態となった場合(図５(ｂ)に２点鎖線で表示)に、第２サポート部材６０の上縁に当接するようになっている。従って、第２サポート体１０Ｂは、第２ストッパ３７に当接した状態よりも更に屈曲するように回転することが規制される。   Further, as shown in FIGS. 5A and 8, the first disposing portion 20a has a range in which the second support member 60 can be rotationally displaced in the second support body 10B supported by the rotation support shaft 31. A first stopper 36 and a second stopper 37 are provided to define the above. The first stopper 36 is provided obliquely below the front side of the rotation support shaft 31, and the second support member 60 is in a linear state with respect to the first support member 20 by extending the elbow joint A <b> 3 and extending the left arm A. In this case (indicated by a solid line in FIG. 5A), the lower edge of the second support member 60 comes into contact. Therefore, the second support body 10 </ b> B is restricted from rotating so that the front portion is displaced downward relative to the state where the second support body 10 </ b> B is in contact with the first stopper 36. On the other hand, the second stopper 37 is provided obliquely above the rear side of the rotation support shaft 31 so that the second support member 60 is bent with respect to the first support member 20 by bending the elbow joint A3 and bending the left arm A. When the state is reached (indicated by a two-dot chain line in FIG. 5B), the second support member 60 comes into contact with the upper edge. Therefore, the second support body 10 </ b> B is restricted from rotating so as to bend more than the state in which it is in contact with the second stopper 37.

図５(ａ)および図５(ｂ)に示すように、前記第２配設部２０ｂには、補助機構１４の第１作動モータ１０９および第２作動モータ１１０に対する電源供給用のバッテリーＢＴを保持するバッテリー保持部３８が設けられている。バッテリー保持部３８は、矩形状をなすバッテリーＢＴの外形形状に合わせて、第２配設部２０ｂの左面から凹んだ矩形凹状に形成されている。そして、バッテリー保持部３８に配設されたバッテリーＢＴは、第１サポート部材２０に取り付けた第１カバー部材２４が該バッテリーＢＴに左側から当接することで、該バッテリー保持部３８に保持されるようになっている(図１参照)。また、第２配設部２０ｂの後部には、第１カバー部材２４を支持すると共に、該第１カバー部材２４を第１サポート部材２０に固定するネジ(図示せず)が挿通されるボス３９が、左方へ突出した状態に形成されている。   As shown in FIGS. 5A and 5B, the second disposing portion 20b holds a battery BT for supplying power to the first operating motor 109 and the second operating motor 110 of the auxiliary mechanism 14. A battery holding portion 38 is provided. The battery holding portion 38 is formed in a rectangular concave shape that is recessed from the left surface of the second arrangement portion 20b in accordance with the outer shape of the battery BT having a rectangular shape. The battery BT disposed in the battery holding unit 38 is held by the battery holding unit 38 when the first cover member 24 attached to the first support member 20 contacts the battery BT from the left side. (See FIG. 1). Further, a boss 39 that supports a first cover member 24 and a screw (not shown) for fixing the first cover member 24 to the first support member 20 is inserted in a rear portion of the second arrangement portion 20b. However, it is formed so as to protrude to the left.

(第１カバー部材２４について)
前記第１カバー部材２４は、図１および図２に示すように、第１サポート部材２０に所定の間隔で対向する側壁部と、該側壁部の外縁に沿って延在すると共に第１サポート部材２０側へ延出する周壁部とを備え、該周壁部の延出端部が第１サポート部材２０の外縁部に当接した状態で該第１サポート部材２０に取り付けられる。第１カバー部材２４の側壁部内面には、第１サポート部材２０の前記ボス３９に挿通したネジが締結されるネジ孔と、前記回転支持軸３１の延出端(左端)に装着されたスリーブ２９に当接する支持部２４ａと、バッテリーＢＴに当接する当接面２４ｂとが設けられている(図２、図６参照)。また、第１カバー部材２４の周壁部における前側上部には、第２サポート部材６０のアーム部６０ｂとの干渉を回避するための開口部２４ｃが設けられている。 (About the first cover member 24)
As shown in FIGS. 1 and 2, the first cover member 24 extends along the side wall portion facing the first support member 20 at a predetermined interval, and along the outer edge of the side wall portion. And a peripheral wall portion extending toward the side 20, and the peripheral end portion of the peripheral wall portion is attached to the first support member 20 in contact with the outer edge portion of the first support member 20. A screw hole in which a screw inserted into the boss 39 of the first support member 20 is fastened on the inner surface of the side wall portion of the first cover member 24 and a sleeve attached to the extending end (left end) of the rotation support shaft 31. A support portion 24a that comes into contact with the battery 29 and a contact surface 24b that comes into contact with the battery BT are provided (see FIGS. 2 and 6). Further, an opening 24 c for avoiding interference with the arm portion 60 b of the second support member 60 is provided at the front upper portion of the peripheral wall portion of the first cover member 24.

(第２サポート体１０Ｂについて)
前記第２サポート体１０Ｂは、図１〜図４に示すように、第１サポート部材２０に対して回転可能に支持された第２サポート部材６０と、該第２サポート部材６０における第２装具１３の取り付け側と反対側に装着される第２カバー部材６４とを備えている。第２サポート体１０Ｂは、第２サポート部材６０に対して第２カバー部材６４を組み付けることで、制御ユニット１６等を収容可能な第２収容空間６６が内部に画成される。 (About the second support body 10B)
As shown in FIGS. 1 to 4, the second support body 10 </ b> B includes a second support member 60 that is rotatably supported with respect to the first support member 20, and the second appliance 13 in the second support member 60. And a second cover member 64 mounted on the opposite side to the attachment side. In the second support body 10B, a second housing space 66 that can accommodate the control unit 16 and the like is defined inside by assembling the second cover member 64 to the second support member 60.

(第２サポート部材６０について)
前記第２サポート部材６０は、図２〜図５に示すように、身体動作補助装置ＳＵを左腕Ａに装着した際に前腕部Ａ２の左部に位置して、該前腕部Ａ２の長手方向(前後方向)が長手となる細長のプレート状に形成されている。第２サポート部材６０は、第２身体保持部材(装具)６２や制御ユニット１６等が配設される取付板部６０ａと、該取付板部６０ａから後方へ延出したアーム部６０ｂとを備えている。アーム部６０ｂの後部には、該アーム部６０ｂの厚み方向(左右方向)へ貫通する支持孔７０が形成されており、第１サポート部材２０に配設された回転支持軸３１が、該支持孔７０に挿通可能となっている。従って、第２サポート部材６０は、支持孔７０に挿通した回転支持軸３１により第１サポート部材２０に対して回転可能に連結され、第１サポート部材２０の前方へ延出した第１姿勢(図５に実線で示す)および第１サポート部材２０から上方斜め後方へ立ち上がった第２姿勢(図５に２点鎖線で示す)の間で姿勢変位が可能となっている。支持孔７０の内径は、回転支持軸３１の外径より大きく設定されており、回転支持軸３１と支持孔７０との間に形成された隙間により、第２サポート部材６０は、上腕部Ａ１に対する前腕部Ａ２の変位に合わせて前部が左右方向へ変位するように姿勢変位可能となっている。なお、第２サポート部材６０は、アルミニウム等の軽量金属や強化プラスチック等の合成樹脂から形成され、捻れ変形や撓み変形が発現し難く構成されている。 (About the second support member 60)
As shown in FIGS. 2 to 5, the second support member 60 is positioned on the left side of the forearm portion A2 when the body motion assisting device SU is attached to the left arm A, and the longitudinal direction of the forearm portion A2 ( It is formed in a long and narrow plate shape whose longitudinal direction is the longitudinal direction. The second support member 60 includes a mounting plate portion 60a on which the second body holding member (orthoscope) 62, the control unit 16 and the like are disposed, and an arm portion 60b extending rearward from the mounting plate portion 60a. Yes. A support hole 70 penetrating in the thickness direction (left-right direction) of the arm part 60b is formed at the rear part of the arm part 60b, and the rotation support shaft 31 disposed in the first support member 20 is provided in the support hole. 70 can be inserted. Accordingly, the second support member 60 is rotatably connected to the first support member 20 by the rotation support shaft 31 inserted through the support hole 70, and extends to the front of the first support member 20 (see FIG. 5 is indicated by a solid line) and a second attitude (indicated by a two-dot chain line in FIG. 5) rising diagonally upward from the first support member 20 is possible. The inner diameter of the support hole 70 is set to be larger than the outer diameter of the rotation support shaft 31. Due to the gap formed between the rotation support shaft 31 and the support hole 70, the second support member 60 is located with respect to the upper arm portion A1. The posture can be changed so that the front part is displaced in the left-right direction in accordance with the displacement of the forearm part A2. The second support member 60 is made of a lightweight metal such as aluminum or a synthetic resin such as reinforced plastic, and is configured not to easily exhibit torsional deformation or bending deformation.

(補助機構１４について)
次に、作動装置１０において、第１サポート体１０Ａに対する第２サポート体１０Ｂの回転変位を規制可能な補助機構１４について説明する。実施例の補助機構１４は、図２、図７および図８に示すように、第１サポート部材２０および第２サポート部材６０の相対的な姿勢変位に連動して変位するラチェット歯車９０と、駆動手段である第１作動モータ１０９および第２作動モータ１１０の駆動に伴い、ラチェット歯車９０の変位を規制する規制位置および肘関節Ａ３の屈伸動作に伴う該ラチェット歯車９０の変位を許容する許容位置に変位するラチェット爪９２とを備え、上腕部Ａ１に対する前腕部Ａ２の動作を検知する検知センサＳ(図１１参照)からの検知信号を受信した前記制御ユニット１６により作動制御されるように構成されている。この補助機構１４は、ラチェット爪９２の許容位置では、肘関節Ａ３の屈曲動作または伸展動作に伴う第１サポート部材２０および第２サポート部材６０(第１サポート体１０Ａおよび第２サポート体１０Ｂ)の相対的な姿勢変位を許容する。すなわち、補助機構１４は、ラチェット爪９２の許容位置において、肘関節Ａ３の屈伸動作による上腕部Ａ１に対する前腕部Ａ２の動きを規制せず、当該身体動作補助装置ＳＵを装着した使用者が左腕Ａを自由に動かすことを可能とする。また、補助機構１４は、ラチェット爪９２の規制位置において、第１サポート部材２０に対して第２サポート部材６０を姿勢変位規制位置で保持して、肘関節Ａ３の屈伸動作による上腕部Ａ１に対する前腕部Ａ２の動きを規制するよう構成されている。 (About the auxiliary mechanism 14)
Next, the auxiliary mechanism 14 capable of restricting the rotational displacement of the second support body 10B relative to the first support body 10A in the operating device 10 will be described. As shown in FIGS. 2, 7 and 8, the auxiliary mechanism 14 of the embodiment includes a ratchet gear 90 that is displaced in conjunction with the relative posture displacement of the first support member 20 and the second support member 60, and a drive. With the driving of the first operating motor 109 and the second operating motor 110 as means, the restriction position for restricting the displacement of the ratchet gear 90 and the permissible position for allowing the displacement of the ratchet gear 90 accompanying the bending and extending operation of the elbow joint A3. And a ratchet claw 92 that is displaced, and is configured to be controlled by the control unit 16 that has received a detection signal from a detection sensor S (see FIG. 11) that detects the operation of the forearm A2 with respect to the upper arm A1. Yes. In the permissible position of the ratchet pawl 92, the auxiliary mechanism 14 is provided with the first support member 20 and the second support member 60 (the first support body 10A and the second support body 10B) that accompany the bending operation or the extension operation of the elbow joint A3. Allow relative posture displacement. That is, the auxiliary mechanism 14 does not restrict the movement of the forearm portion A2 relative to the upper arm portion A1 due to the bending and extending operation of the elbow joint A3 at the allowable position of the ratchet claw 92, and the user wearing the body movement auxiliary device SU is left Can be moved freely. Further, the auxiliary mechanism 14 holds the second support member 60 at the posture displacement restriction position with respect to the first support member 20 at the restriction position of the ratchet claw 92, and moves the forearm against the upper arm portion A1 by the bending and stretching operation of the elbow joint A3. The movement of the part A2 is configured to be restricted.

ここで、実施例の補助機構１４は、前述したラチェット歯車９０およびラチェット爪９２によるラチェット機構となっている。そして、補助機構１４は、第１保持機構Ｒ１および第２保持機構Ｒ２とを備えている。第１保持機構Ｒ１は、肘関節Ａ３の屈曲動作に伴う第１サポート部材２０に対する第２サポート部材６０の回転変位を規制すると共に、該肘関節Ａ３の伸展動作に伴う第１サポート部材２０に対する第２サポート部材６０の回転変位を許容するよう構成されている。また、第２保持機構Ｒ２は、肘関節Ａ３の屈曲動作に伴う第１サポート部材２０に対する第２サポート部材６０の回転変位を許容すると共に、該肘関節Ａ３の伸展動作に伴う第１サポート部材２０に対する第２サポート部材６０の回転変位を規制するよう構成されている。   Here, the auxiliary mechanism 14 of the embodiment is a ratchet mechanism using the ratchet gear 90 and the ratchet pawl 92 described above. The auxiliary mechanism 14 includes a first holding mechanism R1 and a second holding mechanism R2. The first holding mechanism R1 regulates the rotational displacement of the second support member 60 with respect to the first support member 20 associated with the bending operation of the elbow joint A3, and the first holding mechanism R1 performs the first operation with respect to the first support member 20 associated with the extension operation of the elbow joint A3. 2 It is comprised so that rotation displacement of the support member 60 may be permitted. Further, the second holding mechanism R2 allows the second support member 60 to be rotationally displaced with respect to the first support member 20 accompanying the bending operation of the elbow joint A3, and also the first support member 20 accompanying the extension operation of the elbow joint A3. It is comprised so that the rotational displacement of the 2nd support member 60 with respect to may be controlled.

(ラチェット歯車９０について)
補助機構１４におけるラチェット歯車９０は、図５、図６および図８に示すように、第１サポート部材２０および第２サポート部材６０の相対変位に対して姿勢変位する。ラチェット歯車９０は、第１保持機構Ｒ１を構成する第１歯部９４および第２保持機構Ｒ２を構成する第２歯部９５を備えており、第２サポート部材６０のアーム後部(連結部)６０ｃの左側に隣接して回転支持軸３１に嵌合される円板部材８８(図６、図７参照)に係止されている。ラチェット歯車９０は、円形状の剛性を有する部材であり、中心から外周縁に向けて開口すると共に厚み方向の両端面に開口した嵌合凹部(嵌合部)９６が設けられている。すなわち、ラチェット歯車９０は、厚み方向から見た端面形状が略「Ｕ」形となっている。ラチェット歯車９０の嵌合凹部９６には、第２サポート部材６０のアーム部６０ｂにおけるアーム後部６０ｃの外縁形状に合致する内縁形状に形成されており、該アーム後部６０ｃが隙間なく嵌合するよう構成されている。そして、嵌合凹部９６に第２サポート部材６０のアーム後部６０ｃが嵌合した状態では、アーム部６０ｂに形成された支持孔７０の開口中心と、円形状をなすラチェット歯車９０の中心とが一致するようになっている。また、ラチェット歯車９０は、第２サポート部材６０の回転方向において該第２サポート部材６０に対して相対的な姿勢変位が不能となっており、該第２サポート部材６０の回転変位に追従して回転支持軸３１を中心として第１サポート部材２０に対して相対的に回転変位する。なお、ラチェット歯車９０は、金属や強化プラスチック等の合成樹脂から形成され、第１歯部９４および第２歯部９５の損耗および破損が発生し難く構成されている。 (Ratchet gear 90)
As shown in FIGS. 5, 6, and 8, the ratchet gear 90 in the auxiliary mechanism 14 is displaced in posture with respect to the relative displacement of the first support member 20 and the second support member 60. The ratchet gear 90 includes a first tooth portion 94 constituting the first holding mechanism R1 and a second tooth portion 95 constituting the second holding mechanism R2, and an arm rear portion (connecting portion) 60c of the second support member 60. Is engaged with a disk member 88 (see FIGS. 6 and 7) fitted to the rotation support shaft 31 adjacent to the left side. The ratchet gear 90 is a member having a circular rigidity, and is provided with fitting recesses (fitting portions) 96 that open from the center toward the outer peripheral edge and open at both end surfaces in the thickness direction. That is, the ratchet gear 90 has a substantially “U” shape as viewed from the thickness direction. The fitting recess 96 of the ratchet gear 90 is formed in an inner edge shape that matches the outer edge shape of the arm rear portion 60c of the arm portion 60b of the second support member 60, and the arm rear portion 60c is configured to fit without a gap. Has been. In the state where the arm rear portion 60c of the second support member 60 is fitted to the fitting recess 96, the opening center of the support hole 70 formed in the arm portion 60b coincides with the center of the circular ratchet gear 90. It is supposed to be. Further, the ratchet gear 90 cannot be displaced relative to the second support member 60 in the rotational direction of the second support member 60, and follows the rotational displacement of the second support member 60. The rotary support shaft 31 is rotated and displaced relative to the first support member 20 around the rotation support shaft 31. The ratchet gear 90 is made of a synthetic resin such as metal or reinforced plastic, and is configured so that the first tooth portion 94 and the second tooth portion 95 are less likely to be worn and damaged.

図５〜図８に示すように、第１歯部９４および第２歯部９５は、ラチェット歯車９０の外周端面に、該外周端面の周方向へ並んで設けられている。ここで、第１歯部９４は、肘関節Ａ３の屈曲動作に伴う前腕部Ａ２の動きに伴って第２サポート部材６０が第１姿勢側から第２姿勢側に向けて回転変位する際に、ラチェット歯車９０の外周端面における後方へ移動する領域に設けられている。また、第２歯部９５は、肘関節Ａ３の伸展動作に伴う前腕部Ａ２の動きに伴って第２サポート部材６０が第２姿勢側から第１姿勢側に向けて回転変位する際に、ラチェット歯車９０の外周端面における後方へ移動する領域に設けられている。   As shown in FIGS. 5 to 8, the first tooth portion 94 and the second tooth portion 95 are provided on the outer peripheral end surface of the ratchet gear 90 side by side in the circumferential direction of the outer peripheral end surface. Here, when the second support member 60 is rotationally displaced from the first posture side toward the second posture side in accordance with the movement of the forearm portion A2 accompanying the bending operation of the elbow joint A3, It is provided in the area | region which moves to the back in the outer peripheral end surface of the ratchet gear 90. FIG. The second tooth portion 95 is a ratchet when the second support member 60 is rotationally displaced from the second posture side toward the first posture side in accordance with the movement of the forearm portion A2 accompanying the extension operation of the elbow joint A3. It is provided in the area | region which moves to the back in the outer peripheral end surface of the gearwheel 90. FIG.

前記第１歯部９４は、ラチェット歯車９０の外周端面から径方向外方へ鋭角的に突出した複数の第１係合歯９４ａが、該外周端面の周方向へ所定ピッチで並んで形成されており、隣接する第１係合歯９４ａ,９４ａの間に凹状の歯溝９４ｂが形成されている(図７、図８参照)。ここで、図８に示すように、各第１係合歯９４ａは、基部から先端部にいくにつれて、肘関節Ａ３の屈曲動作に伴う前腕部Ａ２の動きに伴って第２サポート部材６０が第１姿勢側から第２姿勢側に向けて回転変位する際に、ラチェット歯車９０の外周端面が移動する方向へ偏倚する三角形をなしている(図８では、先端にいくにつれて時計方向へ偏倚する三角形をなしている)。一方、第２歯部９５は、ラチェット歯車９０の外周端面から径方向外方へ鋭角的に突出した複数の第２係合歯９５ａが、該外周端面の周方向へ所定ピッチで並んで形成されており、隣接する第２係合歯９４ａ,９４ａの間に凹状の歯溝９５ｂが形成されている(図７、図８参照)。ここで、図８に示すように、各第２係合歯９５ａは、基部から先端部にいくにつれて、肘関節Ａ３の伸展動作に伴う前腕部Ａ２の動きに伴って第２サポート部材６０が第２姿勢側から第１姿勢側に向けて回転変位する際に、ラチェット歯車９０の外周端面が移動する方向へ偏倚する三角形をなしている(図８では、先端にいくにつれて反時計方向へ偏倚する三角形をなしている)。すなわち、各第１係合歯９４ａおよび各第２係合歯９５ａは、先端にいくにつれて逆方向へ偏倚している。   The first tooth portion 94 is formed by a plurality of first engaging teeth 94a projecting acutely outward in the radial direction from the outer peripheral end surface of the ratchet gear 90 and arranged at a predetermined pitch in the circumferential direction of the outer peripheral end surface. In addition, a concave tooth groove 94b is formed between the adjacent first engaging teeth 94a and 94a (see FIGS. 7 and 8). Here, as shown in FIG. 8, each first engagement tooth 94 a is moved from the base portion to the distal end portion by the second support member 60 in accordance with the movement of the forearm portion A <b> 2 accompanying the bending operation of the elbow joint A <b> 3. When rotationally displaced from the first posture side toward the second posture side, a triangular shape is formed in which the outer peripheral end face of the ratchet gear 90 is biased in the moving direction (in FIG. 8, a triangular shape that is biased in the clockwise direction toward the tip). ) On the other hand, the second tooth portion 95 is formed by a plurality of second engaging teeth 95a projecting acutely outward in the radial direction from the outer peripheral end surface of the ratchet gear 90 and arranged at a predetermined pitch in the circumferential direction of the outer peripheral end surface. A concave tooth groove 95b is formed between adjacent second engaging teeth 94a and 94a (see FIGS. 7 and 8). Here, as shown in FIG. 8, each second engagement tooth 95 a has the second support member 60 in the second support member 60 in accordance with the movement of the forearm part A <b> 2 accompanying the extension operation of the elbow joint A <b> 3 as it goes from the base part to the tip part. When the rotational displacement from the second posture side toward the first posture side is performed, the outer peripheral end face of the ratchet gear 90 has a triangular shape that deviates in the moving direction (in FIG. 8, it deviates in the counterclockwise direction toward the tip). A triangle). That is, each first engagement tooth 94a and each second engagement tooth 95a are biased in the opposite direction toward the tip.

前記ラチェット歯車９０は、図６に示すように、回転支持軸３１の軸方向(左右方向)における幅寸法Ｗ１が、第２サポート部材６０のアーム部６０ｂにおける左右方向の厚み寸法Ｗ２よりも僅かに大きく設定されている。また、ラチェット歯車９０の嵌合凹部９６に嵌合させたアーム部６０ｂは、回転支持軸３１の軸方向において、該ラチェット歯車９０の端面からはみ出さないようになっている。すなわち、第２サポート部材６０のアーム部６０ｂは、回転支持軸３１の軸方向において、厚み方向の全体がラチェット歯車９０と重なった状態で該ラチェット歯車９０に連結されている。従って、ラチェット歯車９０は、第１サポート部材２０に対向する端面と該第１サポート部材２０との間隔が、第２サポート部材６０のアーム後部６０ｃと該第１サポート部材２０との間隔以下で配設されている(図６参照)。また、ラチェット歯車９０は、第１サポート部材２０と反対側が、第２サポート部材６０のアーム後部６０ｃから僅かに突出した状態で配設されている(図６参照)。すなわち、第２サポート部材６０のアーム後部６０ｃは、回転支持軸３１の軸方向におけるラチェット歯車９０の幅の範囲内で該ラチェット歯車９０に係止されている。なお、ラチェット歯車９０の幅寸法Ｗ１を、第２サポート部材６０のアーム部６０ｂの厚み寸法Ｗ２と同じに設定して、ラチェット歯車９０における第１サポート部材２０と反対側の端面と第２サポート部材６０のアーム部６０ｂの端面とが面一となるよう構成して、該ラチェット歯車９０が第２サポート部材６０のアーム部６０ｂからはみ出さないようにしてもよい。   As shown in FIG. 6, the ratchet gear 90 has a width dimension W1 in the axial direction (left-right direction) of the rotation support shaft 31 slightly smaller than a thickness dimension W2 in the left-right direction of the arm portion 60b of the second support member 60. It is set large. Further, the arm portion 60 b fitted in the fitting concave portion 96 of the ratchet gear 90 does not protrude from the end surface of the ratchet gear 90 in the axial direction of the rotation support shaft 31. That is, the arm portion 60 b of the second support member 60 is connected to the ratchet gear 90 in a state where the entire thickness direction overlaps the ratchet gear 90 in the axial direction of the rotation support shaft 31. Accordingly, the ratchet gear 90 is arranged such that the distance between the end surface facing the first support member 20 and the first support member 20 is less than the distance between the arm rear portion 60c of the second support member 60 and the first support member 20. (See FIG. 6). Further, the ratchet gear 90 is disposed in a state where the side opposite to the first support member 20 slightly protrudes from the arm rear portion 60c of the second support member 60 (see FIG. 6). That is, the arm rear portion 60 c of the second support member 60 is locked to the ratchet gear 90 within the range of the width of the ratchet gear 90 in the axial direction of the rotation support shaft 31. The width dimension W1 of the ratchet gear 90 is set to be the same as the thickness dimension W2 of the arm portion 60b of the second support member 60, and the end surface of the ratchet gear 90 opposite to the first support member 20 and the second support member. The ratchet gear 90 may be configured not to protrude from the arm portion 60b of the second support member 60 by being configured to be flush with the end surface of the arm portion 60b of the 60.

(ラチェット爪９２について)
実施例の補助機構１４におけるラチェット爪９２として、図５、図７および図８に示すように、第１保持機構Ｒ１を構成して第１歯部９４に係脱する第１ラチェット爪部材１００と、第２保持機構Ｒ２を構成して第２歯部９５に係脱する第２ラチェット爪部材１０１とを備える。第１ラチェット爪部材１００は、第１サポート部材２０の第１配設部２０ａに設けられた前述の第１支持軸３４に回動可能に取り付けられている。第１ラチェット爪部材１００は、第１支持軸３４から上方へ延出したレバー状部材であって、第１支持軸３４から離間した先端部に、第１歯部９４側に突出して第１係合歯９４ａに係合可能な第１規制爪１００ａが設けられ、第１支持軸３４に対して往復回転することで、第１規制爪１００ａが第１係合歯９４ａ間の歯溝９４ｂに係合した規制位置(図８(ｂ)参照)と、第１規制爪１００ａが第１係合歯９４ａから離間して係合が解除された許容位置(図８(ａ)参照)との間を姿勢変位可能となっている。一方、第２ラチェット爪部材１０１は、第１サポート部材２０の第１配設部２０ａに設けられた前述の第２支持軸３５に回動可能に取り付けられている。第２ラチェット爪部材１０１は、第２支持軸３５から前方へ延出したレバー状部材であって、第２支持軸３５から離間した先端部に、第２歯部９５側へ突出して第２係合歯９５ａに係合可能な第２規制爪１０１ａが設けられ、第１支持軸３４に対して往復回転することで、第２規制爪１０１ａが第２係合歯９５ａ間の歯溝９５ｂに係合した規制位置(図８(ｂ)参照)と、第２規制爪１０１ａが第２係合歯９５ａから離間して係合が解除された許容位置(図８(ａ)参照)との間を姿勢変位可能となっている。 (About ratchet nail 92)
As the ratchet pawl 92 in the auxiliary mechanism 14 of the embodiment, as shown in FIGS. And a second ratchet claw member 101 that constitutes the second holding mechanism R2 and engages and disengages with the second tooth portion 95. The first ratchet pawl member 100 is rotatably attached to the first support shaft 34 provided in the first arrangement portion 20 a of the first support member 20. The first ratchet pawl member 100 is a lever-like member that extends upward from the first support shaft 34, and protrudes toward the first tooth portion 94 at the tip portion that is separated from the first support shaft 34. A first restricting claw 100a that can be engaged with the tooth 94a is provided, and the first restricting claw 100a is engaged with the tooth groove 94b between the first engaging teeth 94a by reciprocatingly rotating with respect to the first support shaft 34. Between the combined restriction position (see FIG. 8 (b)) and the permissible position (see FIG. 8 (a)) where the first restriction pawl 100a is separated from the first engagement teeth 94a and released from engagement. Posture displacement is possible. On the other hand, the second ratchet pawl member 101 is rotatably attached to the second support shaft 35 provided in the first disposition portion 20a of the first support member 20. The second ratchet pawl member 101 is a lever-like member that extends forward from the second support shaft 35, and protrudes toward the second tooth portion 95 at the distal end portion that is separated from the second support shaft 35. A second restricting claw 101a that can be engaged with the tooth 95a is provided, and the second restricting claw 101a is engaged with the tooth groove 95b between the second engaging teeth 95a by reciprocatingly rotating with respect to the first support shaft 34. Between the combined restriction position (see FIG. 8 (b)) and the allowable position (see FIG. 8 (a)) where the second restriction claw 101a is separated from the second engagement tooth 95a and released from engagement. Posture displacement is possible.

前記第１ラチェット爪部材１００および第２ラチェット爪部材１０１は、回転支持軸３１の軸方向(左右方向)における幅寸法Ｗ３(図７参照)が、ラチェット歯車９０の幅寸法Ｗ１より小さく設定されている。そして、第１ラチェット爪部材１００および第２ラチェット爪部材１０１は、回転支持軸３１の軸方向において、ラチェット歯車９０の端面からはみ出さないように配設されている(図６参照)。すなわち、第１ラチェット爪部材１００は、回転支持軸３１の軸方向におけるラチェット歯車９０の幅の範囲内で第１歯部９４の第１係合歯９４ａに係合すると共に、第２ラチェット爪部材１０１は、回転支持軸３１の軸方向におけるラチェット歯車９０の幅の範囲内で第２歯部９５の第２係合歯９５ａに係合する。   In the first ratchet pawl member 100 and the second ratchet pawl member 101, the width dimension W3 (see FIG. 7) in the axial direction (left-right direction) of the rotation support shaft 31 is set to be smaller than the width dimension W1 of the ratchet gear 90. Yes. The first ratchet pawl member 100 and the second ratchet pawl member 101 are arranged so as not to protrude from the end face of the ratchet gear 90 in the axial direction of the rotation support shaft 31 (see FIG. 6). That is, the first ratchet pawl member 100 engages with the first engagement teeth 94a of the first tooth portion 94 within the range of the width of the ratchet gear 90 in the axial direction of the rotation support shaft 31, and the second ratchet pawl member 101 engages with the second engagement teeth 95 a of the second tooth portion 95 within the range of the width of the ratchet gear 90 in the axial direction of the rotation support shaft 31.

(連係部９１について)
実施例の補助機構１４は、図５〜図８に示すように、駆動手段とラチェット爪９２とを連係して、該駆動手段に作動に伴ってラチェット爪９２を姿勢変位させる連係部９１を備えている。連係部９１として、第１保持機構Ｒ１を構成して第１ラチェット爪部材１００と第１作動モータ１０９とを連係する第１連係部材(連係部材)１０５と、第２保持機構Ｒ２を構成して第２ラチェット爪部材１０１と第２作動モータ１１０とを連係する第２連係部材(連係部材)１０６とを備える。第１連係部材１０５は、第１ラチェット爪部材１００に固定される固定支持部１０５ａと、第１作動モータ１０９に設けられた後述の第１偏心カム(作動部材)１１５に係合する係合部１０５ｂ,１０５ｃとを備え、固定支持部１０５ａと係合部１０５ｂ,１０５ｃとの間に折曲部１０５ｄが形成されている。第１連係部材１０５は、弾性変形可能な帯板状のバネ鋼部材を折り曲げて形成したもので、第１係合部１０５ｂおよび第２係合部１０５ｃが、第１偏心カム１１５のカム面を両側から挟むように構成されている。すなわち、第１連係部材１０５は、第１作動モータ１０９の作動により第１偏心カム１１５が回転して第１係合部１０５ｂおよび第２係合部１０５ｃの位置が移動することにより、第１支持軸３４に支持された第１ラチェット爪部材１００を規制位置および許容位置に姿勢変位させ得る。一方、第２連係部材１０６は、第２ラチェット爪部材１０１に固定される固定支持部１０６ａと、第２作動モータ１１０に設けられた第２偏心カム(作動部材)１１６に係合する係合部１０６ｂ,１０６ｃとを備え、固定支持部１０５ａと係合部１０５ｂ,１０６ｃとの間に折曲部１０６ｄが形成されている。第２連係部材１０６は、弾性変形可能な帯板状のバネ鋼部材を折り曲げて形成したもので、第１係合部１０６ｂおよび第２係合部１０６ｃが、第２偏心カム１１６のカム面を両側から挟むように構成されている。すなわち、第２連係部材１０６は、第２作動モータ１１０の作動により第２偏心カム１１６が回転して第１係合部１０６ｂおよび第２係合部１０６ｃの位置が移動することにより、第２支持軸３５に支持された第２ラチェット爪部材１０１を規制位置および許容位置に姿勢変位させ得る。 (About the link 91)
As shown in FIGS. 5 to 8, the auxiliary mechanism 14 according to the embodiment includes a linkage portion 91 that links the driving means and the ratchet claw 92, and moves the ratchet claw 92 in its posture as the driving means operates. ing. As the linking portion 91, a first holding mechanism R 1 is configured, a first linking member (linking member) 105 that links the first ratchet pawl member 100 and the first operating motor 109, and a second holding mechanism R 2 is configured. A second linkage member (linkage member) 106 that links the second ratchet pawl member 101 and the second operating motor 110 is provided. The first linkage member 105 includes a fixed support portion 105 a that is fixed to the first ratchet pawl member 100 and an engagement portion that engages with a first eccentric cam (operation member) 115 described later provided in the first operation motor 109. 105b and 105c, and a bent portion 105d is formed between the fixed support portion 105a and the engaging portions 105b and 105c. The first linkage member 105 is formed by bending an elastically deformable strip-shaped spring steel member, and the first engagement portion 105b and the second engagement portion 105c are formed on the cam surface of the first eccentric cam 115. It is configured to be sandwiched from both sides. That is, the first linking member 105 has a first supporting member that is moved by the first eccentric cam 115 by the operation of the first operating motor 109 and the positions of the first engaging portion 105b and the second engaging portion 105c are moved. The posture of the first ratchet pawl member 100 supported by the shaft 34 can be displaced to the restriction position and the allowable position. On the other hand, the second linkage member 106 is engaged with a fixed support portion 106 a fixed to the second ratchet pawl member 101 and a second eccentric cam (operation member) 116 provided in the second operation motor 110. 106b, 106c, and a bent portion 106d is formed between the fixed support portion 105a and the engaging portions 105b, 106c. The second linkage member 106 is formed by bending an elastically deformable strip-shaped spring steel member, and the first engagement portion 106b and the second engagement portion 106c are formed on the cam surface of the second eccentric cam 116. It is configured to be sandwiched from both sides. That is, the second linking member 106 is moved to the second support when the second eccentric cam 116 is rotated by the operation of the second operating motor 110 and the positions of the first engaging portion 106b and the second engaging portion 106c are moved. The posture of the second ratchet pawl member 101 supported by the shaft 35 can be displaced to the restriction position and the allowable position.

前記第１連係部材１０５および第２連係部材１０６は、回転支持軸３１の軸方向(左右方向)における幅寸法Ｗ４(図６参照)が、ラチェット歯車９０の幅寸法Ｗ１より小さく設定されている。また、第１連係部材１０５および第２連係部材１０６の幅寸法Ｗ４は、対応する第１ラチェット爪部材１００または第２ラチェット爪部材１０１の幅寸法Ｗ３と略同じに設定されている。そして、第１連係部材１０５および第２連係部材１０６は、回転支持軸３１の軸方向において、該ラチェット歯車９０における左腕Ａ側と反対側の端面からはみ出さないように配設されている(図６参照)。   In the first linkage member 105 and the second linkage member 106, the width dimension W4 (see FIG. 6) in the axial direction (left-right direction) of the rotation support shaft 31 is set smaller than the width dimension W1 of the ratchet gear 90. The width dimension W4 of the first linkage member 105 and the second linkage member 106 is set to be substantially the same as the width dimension W3 of the corresponding first ratchet claw member 100 or second ratchet claw member 101. The first linkage member 105 and the second linkage member 106 are disposed so as not to protrude from the end surface of the ratchet gear 90 opposite to the left arm A side in the axial direction of the rotation support shaft 31 (see FIG. 6).

(第１作動モータ１０９および第２作動モータ１１０について)
図７および図８に示す駆動手段としての第１作動モータ１０９および第２作動モータ１１０は、第２サポート部材６０に配設された制御ユニット１６と電気的に接続されており、該制御ユニット１６の制御に基づいてバッテリーＢＴから供給される異なる極性の直流電流が流れることで正逆回転し、ギアボックス１１１を備えた同一仕様の直流ギヤモータである。第１作動モータ１０９は、ギアボックス１１１から延出した駆動軸１１２に第１偏心カム１１５が固定されており、第２作動モータ１１０は、ギアボックス１１１から延出した駆動軸１１２に第２偏心カム１１６が固定されている。第１作動モータ１０９は、駆動軸１１２の先端側から見て(図１０参照)、第１偏心カム１１５が、該駆動軸１１２の右方へ偏った第１停止位置(図１０(ａ))と、第１停止位置から左方へ回転して駆動軸１１２の左方へ偏った第２停止位置(図１０(ｃ))との間を、往復回転するように作動制御される。これにより、第１保持機構Ｒ１では、第１偏心カム１１５が第１停止位置に向けて回転して停止する場合に、第１連係部材１０５における第１係合部１０５ｂが該第１偏心カム１１５に押されることで第１ラチェット爪部材１００が許容位置に姿勢変位し(図８(ａ))、第１偏心カム１１５が第２停止位置に向けて回転して停止する場合に、第１連係部材１０５における第２係合部１０５ｃが該第１偏心カム１１５に押されることで第１ラチェット爪部材１００が規制位置に姿勢変位するよう構成されている。なお、第１連係部材１０５の第２係合部１０５ｂおよび第２係合部１０５ｃは、第１停止位置および第２停止位置の間を回転する第１偏心カム１１５に常に接触して係合するようになっている。 (About the first operating motor 109 and the second operating motor 110)
The first operating motor 109 and the second operating motor 110 as driving means shown in FIGS. 7 and 8 are electrically connected to the control unit 16 disposed on the second support member 60, and the control unit 16 This is a direct-current gear motor of the same specification provided with a gear box 111 that rotates forward and reverse by direct currents of different polarities supplied from the battery BT based on the control of the above. The first operating motor 109 has a first eccentric cam 115 fixed to a drive shaft 112 extending from the gear box 111, and the second operating motor 110 has a second eccentricity to the drive shaft 112 extending from the gear box 111. A cam 116 is fixed. The first operating motor 109 is viewed from the front end side of the drive shaft 112 (see FIG. 10), and a first stop position where the first eccentric cam 115 is biased to the right of the drive shaft 112 (FIG. 10 (a)). And the second stop position (FIG. 10 (c)) that is rotated leftward from the first stop position and biased to the left of the drive shaft 112 is controlled to reciprocate. As a result, in the first holding mechanism R1, when the first eccentric cam 115 rotates and stops toward the first stop position, the first engaging portion 105b of the first linkage member 105 is moved to the first eccentric cam 115. When the first ratchet pawl member 100 is displaced to the permissible position by being pushed (FIG. 8 (a)), and the first eccentric cam 115 rotates toward the second stop position and stops, the first linkage The first ratchet pawl member 100 is configured to be displaced to the restricted position when the second engaging portion 105 c of the member 105 is pushed by the first eccentric cam 115. The second engagement portion 105b and the second engagement portion 105c of the first linkage member 105 are always in contact with and engaged with the first eccentric cam 115 that rotates between the first stop position and the second stop position. It is like that.

一方、第２作動モータ１１０は、駆動軸１１２の先端側から見て、第２偏心カム１１６が、該駆動軸１１２の左方へ偏った第１停止位置(図８(ａ))と、第１停止位置から右方へ回転して駆動軸１１２の右方へ偏った第２停止位置(図８(ｂ))との間を、往復回転するように作動制御される。これにより、第２保持機構Ｒ２では、第２偏心カム１１６が第１停止位置に向けて回転して停止する場合に、第２連係部材１０６における第１係合部１０６ｂが該第２偏心カム１１６に押されることで第２ラチェット爪部材１０１が許容位置に姿勢変位し、第２偏心カム１１６が第２停止位置に向けて回転して停止する場合に、第２連係部材１０６における第２係合部１０６ｃ該第２偏心カム１１６に押されることで第２ラチェット爪部材１０１が規制位置に姿勢変位するよう構成されている。なお、第２連係部材１０６の第２係合部１０６ｂおよび第２係合部１０６ｃは、第１停止位置および第２停止位置の間を回転する第２偏心カム１１６に常に接触して係合するようになっている。   On the other hand, the second operating motor 110 has a first stop position (FIG. 8A) in which the second eccentric cam 116 is biased to the left of the drive shaft 112 when viewed from the front end side of the drive shaft 112, and The operation is controlled so as to reciprocate between the second stop position (FIG. 8 (b)) that is rotated rightward from the first stop position and biased rightward of the drive shaft 112. As a result, in the second holding mechanism R2, when the second eccentric cam 116 rotates and stops toward the first stop position, the first engagement portion 106b of the second linkage member 106 has the second eccentric cam 116. When the second ratchet pawl member 101 is displaced to the permissible position by being pushed, and the second eccentric cam 116 rotates toward the second stop position and stops, the second engagement of the second linkage member 106 is performed. The second ratchet pawl member 101 is configured to be displaced to the restricted position by being pushed by the portion 106c and the second eccentric cam 116. The second engagement portion 106b and the second engagement portion 106c of the second linkage member 106 are always in contact with and engaged with the second eccentric cam 116 that rotates between the first stop position and the second stop position. It is like that.

第１偏心カム１１５は、図９に示すように、その外周面に、第１停止位置において第１サポート部材２０の外面に当接する第１当接面１１５ａと、第２停止位置において第１サポート部材２０の外面に当接する第２当接面１１５ｂとが設けられている。これにより、第１偏心カム１１５は、第１停止位置において第１当接面１１５ａが第１サポート部材２０の外面に当接することで、第２停止位置側と反対側への回転が規制されるようになっており、第１当接面１１５ａが第１サポート部材２０に当接した状態で第１作動モータ１０９が作動した場合に、該第１作動モータ１０９に流れる電流値が増加するようになっている。また、第１偏心カム１１５は、第２停止位置において第２当接面１１５ｂが第１サポート部材２０の外面に当接することで、第１停止位置側と反対側への回転が規制されるようになっており、第２当接面１１５ｂが第１サポート部材２０に当接した状態で第１作動モータ１０９が作動した場合も、該第１作動モータ１０９に流れる電流値が増加するようになる。一方、第２偏心カム１１６は、図７に示すように、その外周面に、第１停止位置において第１サポート部材２０の外面に当接する第１当接面１１６ａと、第２停止位置において第１サポート部材２０の外面に当接する第２当接面１１６ｂとが設けられている。これにより、第２偏心カム１１６は、第１停止位置において第１当接面１１６ａが第１サポート部材２０の外面に当接することで、第２停止位置側と反対側への回転が規制されるようになっており、第１当接面１１６ａが第１サポート部材２０に当接した状態で第２作動モータ１１０が作動した場合に、該第２作動モータ１１０に流れる電流値が増加するようになる。また、第２偏心カム１１６は、第２停止位置において第２当接面１１６ｂが第１サポート部材２０の外面に当接することで、第１停止位置側と反対側への回転が規制されるようになっており、第２当接面１１６ｂが第１サポート部材２０に当接した状態で第２作動モータ１１０が作動した場合も、該第２作動モータ１１０に流れる電流値が増加するようになる。   As shown in FIG. 9, the first eccentric cam 115 has, on its outer peripheral surface, a first contact surface 115a that contacts the outer surface of the first support member 20 at the first stop position, and a first support at the second stop position. A second contact surface 115b that contacts the outer surface of the member 20 is provided. As a result, the first eccentric cam 115 is restricted from rotating to the opposite side to the second stop position side when the first contact surface 115a contacts the outer surface of the first support member 20 at the first stop position. When the first operating motor 109 is operated in a state where the first contact surface 115a is in contact with the first support member 20, the value of the current flowing through the first operating motor 109 is increased. It has become. Further, the first eccentric cam 115 is restricted from rotating to the opposite side of the first stop position by the second contact surface 115b coming into contact with the outer surface of the first support member 20 at the second stop position. Even when the first operating motor 109 is operated with the second contact surface 115b in contact with the first support member 20, the value of the current flowing through the first operating motor 109 increases. . On the other hand, as shown in FIG. 7, the second eccentric cam 116 has a first contact surface 116 a that contacts the outer surface of the first support member 20 at the first stop position, and a second stop cam 116 at the second stop position. 1 is provided with a second contact surface 116b that contacts the outer surface of the support member 20. As a result, the second eccentric cam 116 is restricted from rotating to the opposite side to the second stop position side when the first contact surface 116a contacts the outer surface of the first support member 20 at the first stop position. When the second operating motor 110 is operated with the first contact surface 116a in contact with the first support member 20, the value of the current flowing through the second operating motor 110 is increased. Become. Further, the second eccentric cam 116 is restricted from rotating to the opposite side to the first stop position side when the second contact surface 116b contacts the outer surface of the first support member 20 at the second stop position. Even when the second operating motor 110 is operated with the second contact surface 116b in contact with the first support member 20, the value of the current flowing through the second operating motor 110 increases. .

(フォトインタラプタ１２０について)
図７、図８および図１０に示すように、第１作動モータ１１５および第２作動モータ１１６には、発光部および受光部を備えたフォトインタラプタ１２０と、該フォトインタラプタ１２０の発光部からの光を遮る遮光板１２１とを備えている。フォトインタラプタ１２０は、第１作動モータ１１５および第２作動モータ１１６のギアボックス１１１に配設された取付板１２２に対して駆動軸１１２に向けた状態に配設され、制御ユニット１６に電気的に接続されている。また、遮光板１２１は、駆動軸１１２を中心とする扇形に形成されて、偏心カム１１５,１１６とギアボックス１１１との間に配設されており、円弧端側がフォトインタラプタ１２０の発光部と受光部との間に臨んでおり、偏心カム１１５,１１６が第１停止位置および第２停止位置の間を回転する際に発光部と受光部との間を移動するようになっている。そして、遮光板１２１は、円弧端部における略中間部位において、厚み方向に開口するスリット１２３が設けられている。このスリット１２３は、図１０(ｂ)に示すように、偏心カム１１５,１１６が第１停止位置および第２停止位置の中間となった場合にフォトインタラプタ１２０に位置するように設定されている。従って遮光板１２１は、偏心カム１１５,１１６が第１停止位置および第２停止位置の中間位置となった時だけフォトインタラプタ１２０において発光部からの光を受光部で受光可能として、該中間位置以外では、フォトインタラプタ１２０の発光部からの光を受光部で受光不能とするよう構成されている。すなわち、制御ユニット１６は、第１作動モータ１０９および第２作動モータ１１０を正逆回転させる際に、該第１作動モータ１０９および第２作動モータ１１０の作動途中にフォトインタラプタ１２０からの受光信号を受信することで、第１偏心カム１１５および第２偏心カム１１６が第１停止位置および第２停止位置のどちらに移動しているかを把握可能となっている。 (About photo interrupter 120)
As shown in FIGS. 7, 8 and 10, the first operating motor 115 and the second operating motor 116 include a photo interrupter 120 having a light emitting unit and a light receiving unit, and light from the light emitting unit of the photo interrupter 120. And a light shielding plate 121 that shields the light. The photo interrupter 120 is disposed in a state facing the drive shaft 112 with respect to the mounting plate 122 disposed in the gear box 111 of the first operating motor 115 and the second operating motor 116, and is electrically connected to the control unit 16. It is connected. Further, the light shielding plate 121 is formed in a sector shape centered on the drive shaft 112 and is disposed between the eccentric cams 115 and 116 and the gear box 111, and the arc end side and the light receiving portion of the photo interrupter 120 and the light receiving portion. The eccentric cams 115 and 116 move between the light emitting unit and the light receiving unit when rotating between the first stop position and the second stop position. The light shielding plate 121 is provided with a slit 123 that opens in the thickness direction at a substantially intermediate portion at the end of the arc. As shown in FIG. 10B, the slit 123 is set to be positioned at the photo interrupter 120 when the eccentric cams 115 and 116 are in the middle between the first stop position and the second stop position. Therefore, the light shielding plate 121 allows the light from the light emitting portion to be received by the light receiving portion at the photo interrupter 120 only when the eccentric cams 115 and 116 are at the intermediate position between the first stop position and the second stop position. Then, it is comprised so that the light from the light emission part of the photo interrupter 120 may not be light-receiving by a light-receiving part. That is, when the control unit 16 rotates the first operation motor 109 and the second operation motor 110 in the forward and reverse directions, the control unit 16 receives the light reception signal from the photo interrupter 120 during the operation of the first operation motor 109 and the second operation motor 110. By receiving the signal, it is possible to grasp whether the first eccentric cam 115 and the second eccentric cam 116 have moved to the first stop position or the second stop position.

(第１連係部材１０５および第２連係部材１０６の弾性変形について)
前記第１連係部材１０５および第２連係部材１０６は、図９に示すように、固定支持部１０５ａ,１０６ａと係合部１０５ｂ,１０６ｂとの相対位置が、折曲部１０５ｄ,１０６ｃでの弾性変形に基づいて近接・離間するよう弾性変形可能に構成されている(図９では、第１連係部材１０５のみを例示している)。すなわち、実施例の補助機構１４では、例えば第１保持機構Ｒ１において、第１作動モータ１０９の作動に伴って第１偏心カム１１５が第１停止位置(図８(ａ))から第２停止位置(図８(ｂ))に向けて回転する際に、ラチェット歯車９０の位置によっては、第１歯部９４における何れかの第１係合歯９４ａの先端に第１ラチェット爪部材１００の第１規制爪１００ａが当接して、該第１ラチェット爪部材１００が規制位置へ変位する途中で姿勢変位が規制されることがある(図９(ａ)参照)。この場合には、第１連係部材１０５は、折曲部１０５ｄが弾性変形することで、第１ラチェット爪部材１００が規制位置まで姿勢変位しなくても、第１偏心カム１１５が第２停止位置まで回転するように第１作動モータ１０９が作動するのを許容する(図９(ａ)に実線で示す)。 (Regarding elastic deformation of the first linkage member 105 and the second linkage member 106)
As shown in FIG. 9, the first linkage member 105 and the second linkage member 106 are arranged such that the relative positions of the fixed support portions 105a and 106a and the engagement portions 105b and 106b are elastically deformed at the bent portions 105d and 106c. Is configured to be elastically deformable so as to approach and separate from each other (in FIG. 9, only the first linkage member 105 is illustrated). That is, in the auxiliary mechanism 14 of the embodiment, for example, in the first holding mechanism R1, the first eccentric cam 115 is moved from the first stop position (FIG. 8A) to the second stop position in accordance with the operation of the first operation motor 109. When rotating toward (FIG. 8 (b)), depending on the position of the ratchet gear 90, the first ratchet pawl member 100 of the first ratchet pawl member 100 is attached to the tip of any first engagement tooth 94 a in the first tooth portion 94. The posture displacement may be regulated in the middle of the displacement of the first ratchet claw member 100 to the regulation position due to the contact of the regulation claw 100a (see FIG. 9A). In this case, the first linking member 105 is configured such that the first eccentric cam 115 is moved to the second stop position even when the first ratchet pawl member 100 is not displaced up to the restriction position due to the elastic deformation of the bent portion 105d. The first operating motor 109 is allowed to operate so as to rotate up to (indicated by a solid line in FIG. 9A).

ここで、第１作動モータ１０９の作動により第１偏心カム１１５が第２停止位置に回転すると共に第１ラチェット爪部材１００が規制位置へ変位する途中で変位が規制された状態において、第１連係部材１０５が、固定支持部１０５ａと係合部１０５ｂとが互いに近接するように弾性変形するので、該固定支持部１０５ａには第１ラチェット爪部材１００を規制位置に向けて押す付勢力が発現する。従って、第２サポート部材６０が僅かに回転変位してラチェット歯車９０が回転変位し、第１歯部９４の第１係合歯９４ａの先端が第１ラチェット爪部材１００の第１規制爪１００ａから移動して第１係止歯９４ａ間の歯溝９４ｂに整合すると、第１連係部材１０５の固定支持部１０５ａに発現した付勢力により、第１ラチェット爪部材１００が規制位置まで姿勢変位するようになっている。すなわち、実施例の補助機構１４における第１保持機構Ｒ１は、第１偏心カム１１５が第２停止位置となって第１作動モータ１０９が停止した状態であっても、第１ラチェット爪部材１００が規制位置に姿勢変位するように構成されている。   Here, in the state where the first eccentric cam 115 is rotated to the second stop position by the operation of the first operating motor 109 and the displacement is regulated in the middle of the displacement of the first ratchet pawl member 100 to the regulation position, the first linkage Since the member 105 is elastically deformed so that the fixed support portion 105a and the engaging portion 105b are close to each other, a biasing force is exerted on the fixed support portion 105a to push the first ratchet pawl member 100 toward the restriction position. . Accordingly, the second support member 60 is slightly rotated and displaced, and the ratchet gear 90 is rotated and displaced, and the tip of the first engagement tooth 94 a of the first tooth portion 94 is separated from the first restriction claw 100 a of the first ratchet claw member 100. When moved and aligned with the tooth groove 94b between the first locking teeth 94a, the biasing force developed in the fixed support portion 105a of the first linkage member 105 causes the first ratchet pawl member 100 to be displaced to the restricted position. It has become. That is, the first holding mechanism R1 in the auxiliary mechanism 14 of the embodiment is configured so that the first ratchet pawl member 100 does not move even when the first eccentric cam 115 is in the second stop position and the first operating motor 109 is stopped. It is comprised so that attitude | position displacement may be carried out to a control position.

また、第２保持機構Ｒ２も、第１保持機構Ｒ１と同様に、第２歯部９５における何れかの第２係合歯９５ａの先端に第２ラチェット爪部材１０１の第１規制爪１０１ａが当接して、該第２ラチェット爪部材１０１が規制位置へ変位する途中で変位が規制された状態において、第２偏心カム１１６が第２停止位置に回転して第２作動モータ１１０が停止した状態であっても、第２連係部材１０６が弾性変形することで第２ラチェット爪部材１０１を規制位置に姿勢変位させ得るように構成されている。   Similarly to the first holding mechanism R1, the second holding mechanism R2 also has the first restricting claw 101a of the second ratchet claw member 101 applied to the tip of any second engaging tooth 95a in the second tooth portion 95. The second eccentric cam 116 is rotated to the second stop position and the second operating motor 110 is stopped in a state where the displacement is regulated in the middle of the displacement of the second ratchet pawl member 101 to the regulation position. Even if it exists, it is comprised so that the attitude | position of the 2nd ratchet nail | claw member 101 can be displaced to a control position because the 2nd linkage member 106 elastically deforms.

(第１作動モータ１０９および第２作動モータ１１０の作動制御について)
図１１は、制御ユニット１６による前記第１作動モータ１０９および第２作動モータ１１０の制御態様について概略的に示すフローチャートである。制御ユニット１６には、使用者の左腕Ａの所要位置(手のひら等)に装着されて左腕Ａに外力が加わったことを検知可能な検知センサＳ(図１１参照)が電気的に接続されており、該検知センサＳからの検知信号が制御ユニット１６に入力されるようになっている。ここで、制御ユニット１６は、検知センサＳからの検知信号の入力前においては、第１作動モータ１０９および第２作動モータ１１０を、第１偏心カム１１５および第２偏心カム１１６が第１停止位置となった状態で停止させる。 (Regarding the operation control of the first operating motor 109 and the second operating motor 110)
FIG. 11 is a flowchart schematically showing how the first operating motor 109 and the second operating motor 110 are controlled by the control unit 16. The control unit 16 is electrically connected to a detection sensor S (see FIG. 11) that is attached to a required position (such as a palm) of the user's left arm A and can detect that an external force has been applied to the left arm A. A detection signal from the detection sensor S is input to the control unit 16. Here, before the detection signal from the detection sensor S is input, the control unit 16 sets the first operating motor 109 and the second operating motor 110 and the first eccentric cam 115 and the second eccentric cam 116 to the first stop position. Stop in the state.

そして、制御ユニット１６は、検知センサＳからの検知信号が入力されると、第１作動モータ１０９および第２作動モータ１１０に直流電源を連続的に流す(Ｄｕｔｙ比１００％)。これにより、第１作動モータ１０９および第２作動モータ１１０は、夫々の第１偏心カム１１５および第２偏心カム１１６を第１停止位置から第２停止位置に向けて回転させる。ここで、第１作動モータ１０９および第２作動モータ１１０は、第１偏心カム１１５および第２偏心カム１１６が第１停止位置から第２停止位置に向けて回転中においては、該作動モータ１０９、１１０に流れる電流値が一定となっている。   When the detection signal from the detection sensor S is input, the control unit 16 continuously supplies a DC power to the first operating motor 109 and the second operating motor 110 (Duty ratio 100%). Thereby, the 1st operating motor 109 and the 2nd operating motor 110 rotate each 1st eccentric cam 115 and the 2nd eccentric cam 116 toward the 2nd stop position from the 1st stop position. Here, the first operating motor 109 and the second operating motor 110 are configured such that the first eccentric cam 115 and the second eccentric cam 116 rotate while moving from the first stop position toward the second stop position. The value of current flowing through 110 is constant.

そして、第１偏心カム１１５および第２偏心カム１１６が第２停止位置に到達すると、第１ラチェット爪部材１００および第２ラチェット爪部材１０１が規制位置となると共に、第１偏心カム１１５および第２偏心カム１１６の回転が規制されることで、該第１作動モータ１０９および第２作動モータ１１０に流れる電流値が増加するようになる。そこで、実施例の制御ユニット１６は、第１作動モータ１０９および第２作動モータ１１０に流れる電流値が増加すると、該モータ１０９,１１０に対して直流電源を断続的に供給して(例えば、Ｄｕｔｙ比５０％)、該モータ１０９,１１０の回転速度を低下させるようになっている。そして、電流値が増加した時点から予め設定された所定時間が経過した時点で、第１作動モータ１０９および第２作動モータ１１０に対する電源供給を停止するようになっている。これにより、第１ラチェット爪部材１００および第２ラチェット爪部材１０１は、第１連係部材１０５および第２連係部材１０６により夫々の規制位置に停止保持される。なお、電流値が増加した際に第１作動モータ１０９および第２作動モータ１１０に対して直流電源を断続的に供給するようにするのは、該第１作動モータ１０９および第２作動モータ１１０が、急停止させることで逆回転することを防止するためである。   When the first eccentric cam 115 and the second eccentric cam 116 reach the second stop position, the first ratchet pawl member 100 and the second ratchet pawl member 101 become the restriction position, and the first eccentric cam 115 and the second eccentric cam 115 When the rotation of the eccentric cam 116 is restricted, the value of the current flowing through the first operating motor 109 and the second operating motor 110 increases. Therefore, when the current value flowing through the first operating motor 109 and the second operating motor 110 increases, the control unit 16 of the embodiment intermittently supplies DC power to the motors 109 and 110 (for example, Duty The rotation speed of the motors 109 and 110 is reduced. The power supply to the first operating motor 109 and the second operating motor 110 is stopped when a predetermined time set in advance from the time when the current value increases. As a result, the first ratchet pawl member 100 and the second ratchet pawl member 101 are stopped and held at the respective restricting positions by the first linkage member 105 and the second linkage member 106. Note that the first operating motor 109 and the second operating motor 110 are configured to intermittently supply DC power to the first operating motor 109 and the second operating motor 110 when the current value increases. This is to prevent reverse rotation by stopping suddenly.

一方、制御ユニット１６は、検知センサＳからの検知信号の入力が停止されると、第１作動モータ１０９および第２作動モータ１１０に直流電源を連続的に流す(Ｄｕｔｙ比１００％)。これにより、第１作動モータ１０９および第２作動モータ１１０は、夫々の第１偏心カム１１５および第２偏心カム１１６が第２停止位置から第１停止位置に向けて回転する。ここで、第１作動モータ１０９および第２作動モータ１１０は、第１偏心カム１１５および第２偏心カム１１６が第２停止位置から第１停止位置に向けて回転中においては、該作動モータ１０９,１１０に流れる電流値は一定となっている。   On the other hand, when the input of the detection signal from the detection sensor S is stopped, the control unit 16 continuously supplies DC power to the first operating motor 109 and the second operating motor 110 (Duty ratio 100%). Thus, in the first operating motor 109 and the second operating motor 110, the first eccentric cam 115 and the second eccentric cam 116 rotate from the second stop position toward the first stop position. Here, when the first eccentric cam 115 and the second eccentric cam 116 are rotating from the second stop position toward the first stop position, the first operation motor 109 and the second operation motor 110 have the operation motor 109, The value of the current flowing through 110 is constant.

そして、第１作動モータ１０９および第２作動モータ１１０が第１停止位置に到達すると、第１ラチェット爪部材１００および第２ラチェット爪部材１０１が許容位置となると共に、第１偏心カム１１５および第２偏心カム１１６が回転規制されることで、該第１作動モータ１０９および第２作動モータ１１０に流れる電流値が増加するようになる。従って、制御ユニット１６は、第１作動モータ１０９および第２作動モータ１１０に流れる電流値が増加すると、該モータ１０９,１１０に対して直流電源を断続的に供給して(例えば、Ｄｕｔｙ比５０％)、該モータ１０９,１１０の回転速度を低下させる。そして、電流値が増加した時点から予め設定された所定時間が経過した時点で、第１作動モータ１０９および第２作動モータ１１０に対する電源供給を停止するようになっている。これにより、第１ラチェット爪部材１００および第２ラチェット爪部材１０１は、第１連係部材１０５および第２連係部材１０６により夫々の規制位置に停止保持される。なお、電流値が増加した際に第１作動モータ１０９および第２作動モータ１１０に対して直流電源を断続的に供給するのは、該第１作動モータ１０９および第２作動モータ１１０が、急停止させることにより逆回転することを防止するためである。   Then, when the first operating motor 109 and the second operating motor 110 reach the first stop position, the first ratchet pawl member 100 and the second ratchet pawl member 101 become the allowable positions, and the first eccentric cam 115 and the second By restricting the rotation of the eccentric cam 116, the value of the current flowing through the first operating motor 109 and the second operating motor 110 increases. Therefore, the control unit 16 intermittently supplies DC power to the motors 109 and 110 when the current values flowing through the first operating motor 109 and the second operating motor 110 increase (for example, a duty ratio of 50%). ), The rotational speed of the motors 109 and 110 is decreased. The power supply to the first operating motor 109 and the second operating motor 110 is stopped when a predetermined time set in advance from the time when the current value increases. As a result, the first ratchet pawl member 100 and the second ratchet pawl member 101 are stopped and held at the respective restricting positions by the first linkage member 105 and the second linkage member 106. In addition, when the current value increases, the DC power is intermittently supplied to the first operating motor 109 and the second operating motor 110 because the first operating motor 109 and the second operating motor 110 are suddenly stopped. This is to prevent reverse rotation.

すなわち、実施例では、第１作動モータ１０９および第２作動モータ１１０に流れる電流値の変化を制御ユニット１６により監視することで、該第１作動モータ１０９および第２作動モータ１１０を安定的に停止することが可能となっている。   That is, in the embodiment, the control unit 16 monitors changes in the current values flowing through the first operating motor 109 and the second operating motor 110, so that the first operating motor 109 and the second operating motor 110 are stably stopped. It is possible to do.

実施例の補助機構１４は、第１作動モータ１０９および第２作動モータ１１０の作動により、第１偏心カム１１５および第２偏心カム１１６の両方を第１停止位置に停止させることで、第１保持機構Ｒ１では、第１ラチェット爪部材１００が許容位置で停止して第１規制爪１００ａと第１係合歯９４ａとが離間すると共に、第２保持機構Ｒ２では、第２ラチェット爪部材１０１が非係合位置に停止して第２規制爪１０１ａと第２係合歯９５ａとが離間して、ラチェット歯車９０の変位を許容する許容位置となる。補助機構１４が許容位置における身体動作補助装置ＳＵは、第１サポート体１０Ａに対する第２サポート体１０Ｂの回転変位が肘関節Ａ３の屈曲動作方向および伸展動作方向の両方向において許容されるから、肘関節Ａ３の屈伸動作を伴った左腕Ａの曲げ動作や伸ばし動作を規制しない。   The auxiliary mechanism 14 of the embodiment stops the first eccentric cam 115 and the second eccentric cam 116 at the first stop position by the operation of the first operating motor 109 and the second operating motor 110, thereby holding the first holding. In the mechanism R1, the first ratchet pawl member 100 stops at the permissible position and the first restricting pawl 100a and the first engagement teeth 94a are separated from each other. In the second holding mechanism R2, the second ratchet pawl member 101 is not in contact. The second restricting claw 101a and the second engaging teeth 95a are separated from each other by being stopped at the engaging position, and the ratchet gear 90 is allowed to be displaced. In the body motion assist device SU in which the assist mechanism 14 is in the allowable position, the rotational displacement of the second support body 10B relative to the first support body 10A is allowed in both the bending motion direction and the extension motion direction of the elbow joint A3. The bending operation and the extending operation of the left arm A accompanied by the bending and extending operation of A3 are not regulated.

また、実施例の補助機構１４は、第１作動モータ１０９および第２作動モータ１１０の作動により、第１偏心カム１１５および第２偏心カム１１６の両方を第２停止位置に停止させることで、第１保持機構Ｒ１では、第１ラチェット爪部材１００が規制位置となって第１規制爪１００ａと第１係合歯９４ａとが係合すると共に、第２保持機構Ｒ２では、第２ラチェット爪部材１０１が規制位置となって第２規制爪１０１ａと第２係合歯９５ａとが係合して、ラチェット歯車９０の変位を規制する規制位置となる。補助機構１４が規制位置における身体動作補助装置ＳＵは、第１サポート体１０Ａに対する第２サポート体１０Ｂの回転変位が肘関節Ａ３の屈曲動作方向および伸展動作方向の両方向において規制され、肘関節Ａ３の屈伸動作を伴った左腕Ａの曲げ動作や伸ばし動作を規制する。   Further, the auxiliary mechanism 14 according to the embodiment stops both the first eccentric cam 115 and the second eccentric cam 116 at the second stop position by the operation of the first operating motor 109 and the second operating motor 110, thereby In the first holding mechanism R1, the first ratchet pawl member 100 is in the restricting position, and the first restricting pawl 100a and the first engaging teeth 94a are engaged. In the second holding mechanism R2, the second ratchet pawl member 101 is engaged. Becomes the restricting position, and the second restricting claw 101a and the second engaging tooth 95a are engaged to become a restricting position for restricting the displacement of the ratchet gear 90. In the body motion assist device SU in which the assist mechanism 14 is in the restricting position, the rotational displacement of the second support body 10B relative to the first support body 10A is restricted in both the bending motion direction and the extension motion direction of the elbow joint A3. The bending operation and the extending operation of the left arm A accompanied by the bending and extending operation are regulated.

また、実施例の補助機構１４では、前述したように、ラチェット歯車９０の外周端面に、複数の第１係合歯９４ａが周方向へ所定ピッチで多数形成されると共に、複数の第２係合歯９５ａが周方向へ所定ピッチで多数形成されている。すなわち、各第１係合歯９４ａおよび各第２係合歯９５ａは、第１サポート体１０Ａに対する第２サポート体１０Ｂの姿勢変位におけるラチェット歯車９０の回転変位方向に並んで設けられている。ここで、ラチェット歯車９０の外周端面における第１係合歯９４ａが形成された範囲は、第２サポート体１０Ｂが第１姿勢および第２姿勢の間を姿勢変位する際に、第１ラチェット爪部材１００の第１規制爪１００ａが係合可能な範囲内に設けられている。同様に、ラチェット歯車９０の外周端面における第２係合歯９５ａが形成された範囲は、第２サポート体１０Ｂが第１姿勢および第２姿勢の間を姿勢変位する際に、第２ラチェット爪部材１０１の第２規制爪１０１ａが係合可能な範囲内に設けられている。なお、実施例では、図５に示すように、第１サポート部材２０に対する第２サポート部材６０の可動範囲が約１２０°に設定されていることから、ラチェット歯車９０の外周端面における約１／３周の範囲に第１係合歯９４ａが形成されていると共に、該外周端面における約１／３周の範囲に第２係合歯９５ａが形成されている。従って、第２サポート体１０Ｂは、第１姿勢および第２姿勢の間において、第１係合歯９４ａおよび第２係合歯９５ａの形成間隔に対応する間隔毎となる複数の姿勢変位規制位置で保持され得る。   In the auxiliary mechanism 14 of the embodiment, as described above, a plurality of first engagement teeth 94a are formed on the outer peripheral end surface of the ratchet gear 90 at a predetermined pitch in the circumferential direction, and a plurality of second engagements are formed. A large number of teeth 95a are formed at a predetermined pitch in the circumferential direction. That is, the first engagement teeth 94a and the second engagement teeth 95a are provided side by side in the rotational displacement direction of the ratchet gear 90 in the posture displacement of the second support body 10B with respect to the first support body 10A. Here, the range in which the first engagement teeth 94a are formed on the outer peripheral end surface of the ratchet gear 90 is the first ratchet pawl member when the second support body 10B is displaced between the first posture and the second posture. 100 first restricting claws 100a are provided within a range that can be engaged. Similarly, the range in which the second engagement teeth 95a are formed on the outer peripheral end surface of the ratchet gear 90 is such that the second ratchet pawl member when the second support body 10B is displaced between the first posture and the second posture. The second restricting claw 101a 101 is provided within a range that can be engaged. In the embodiment, as shown in FIG. 5, since the movable range of the second support member 60 relative to the first support member 20 is set to about 120 °, about 1/3 on the outer peripheral end face of the ratchet gear 90. The first engagement teeth 94a are formed in the circumferential range, and the second engagement teeth 95a are formed in the range of about ３ circumference on the outer peripheral end face. Accordingly, the second support body 10B has a plurality of posture displacement restriction positions at intervals corresponding to the formation intervals of the first engagement teeth 94a and the second engagement teeth 95a between the first posture and the second posture. Can be retained.

前記作動装置１０は、第１サポート部材２０および第２サポート部材６０が、回転支持軸３１により互いに相対変位が可能な状態で連結される。ここで、第２サポート部材６０は、第１サポート部材２０に対して第１姿勢および第２姿勢の間で回転可能に支持されているが、該第１サポート部材２０に配設された補助機構１４により、第１姿勢および第２姿勢の間の複数の位置において固定保持され得る構造となっている。従って、身体動作補助装置ＳＵは、作動装置１０の補助機構１４により、第１サポート体１０Ａに対する第２サポート体１０Ｂの回転変位が許容された状態と、第１サポート体１０Ａに対する第２サポート体１０Ｂの回転変位が規制される状態とに切り替え可能に構成されている。   In the actuating device 10, the first support member 20 and the second support member 60 are connected to each other by a rotation support shaft 31 in a state where relative displacement is possible. Here, the second support member 60 is rotatably supported with respect to the first support member 20 between the first posture and the second posture, but the auxiliary mechanism disposed on the first support member 20 is supported. 14, the structure can be fixed and held at a plurality of positions between the first posture and the second posture. Accordingly, the body motion assisting device SU is in a state where the rotational displacement of the second support body 10B relative to the first support body 10A is allowed by the assist mechanism 14 of the actuating device 10, and the second support body 10B relative to the first support body 10A. It is possible to switch to a state in which the rotational displacement is restricted.

(第１装具１２について)
前記第１装具１２は、図１〜図４に示すように、第１サポート体１０Ａの第１サポート部材２０が取り付けられる第１身体保持部材(装具)２２と、第１身体保持部材２２の身体部位側に配設されて上腕部Ａ１に着脱可能に巻き付けて装着される第１巻付け部材２８とを備えている。また、第１装具１２は、第１身体保持部材２２と第１巻付け部材２８との間に、第１中間部材５４が配設されている。 (About the first brace 12)
As shown in FIGS. 1 to 4, the first orthosis 12 includes a first body holding member (orthoma) 22 to which the first support member 20 of the first support body 10 </ b> A is attached, and the body of the first body holding member 22. And a first winding member 28 disposed on the site side and detachably wound around the upper arm A1. In the first appliance 12, a first intermediate member 54 is disposed between the first body holding member 22 and the first winding member 28.

(第１身体保持部材２２について)
第１身体保持部材２２は、図１〜図４に示すように、第１サポート部材２０が左側に着脱可能に取り付けられ、後方から見た端面形状が略「Ｃ」形をなす部材であり、上腕部Ａ１の周囲の１／２周程度を包み込む形状に形成されている。すなわち、第１身体保持部材２２は、第１サポート部材２０に取り付けられると共に、上腕部Ａ１における体幹と反対側の左部に沿う第１取付部(取付部)４０と、この第１取付部４０に一体的に設けられ、該第１取付部４０から上方に行くにつれて上腕部Ａ１に沿って体幹側へ変位するよう湾曲する第１上保持部(保持部)４１と、第１取付部４０に一体的に設けられ、該第１取付部４０から下方に行くにつれて上腕部Ａ１に沿って体幹側へ変位するよう湾曲する第１下保持部(保持部)４２とを備えている。 (About the first body holding member 22)
1-4, the 1st body holding member 22 is a member in which the 1st support member 20 is attached to the left side so that attachment or detachment is possible, and the end surface shape seen from back makes a substantially "C" shape, It is formed in a shape that wraps around about 1/2 of the circumference of the upper arm A1. That is, the first body holding member 22 is attached to the first support member 20, and the first attachment portion (attachment portion) 40 along the left portion on the opposite side to the trunk in the upper arm portion A1, and the first attachment portion. A first upper holding portion (holding portion) 41 that is provided integrally with 40 and curves so as to be displaced to the trunk side along the upper arm portion A1 as it goes upward from the first mounting portion 40; And a first lower holding portion (holding portion) 42 that is curved so as to be displaced toward the trunk side along the upper arm portion A1 as it goes downward from the first mounting portion 40.

第１上保持部４１は、第１取付部４０から離間した延出端において、該第１取付部４０からの延出方向と直交する方向(前後方向)の中間に、第１取付部４０側へ凹状となった凹部４３が形成されている。これにより、第１上保持部４１は、延出方向と直交する方向において、凹部４３の前側に位置する第１前上保持部４１ａおよび該凹部４３の後側に位置する第１後上保持部４１ｂを備えている。また、第１下保持部４２は、第１取付部４０から離間した延出端において、該第１取付部４０からの延出方向と直交する方向(前後方向)の中間に、第１取付部４０側へ凹状となった凹部４３が形成されている。これにより、第１下保持部４２は、延出方向と直交する方向において、凹部４３の前側に位置する第１前下保持部４２ａおよび該凹部４３の後側に位置する第１後下保持部４２ｂを備えている。第１身体保持部材２２は、強化プラスチック等の合成樹脂から形成されており、外力が付与されても変形し難くなっている。なお、第１身体保持部材２２は、第１サポート部材２０に締結されるネジ(図示せず)により該第１サポート部材２０と連結され、該ネジを外すことで該第１サポート部材２０と分離する。   The first upper holding portion 41 has an extension end spaced from the first attachment portion 40 and is located in the middle of the direction perpendicular to the extension direction from the first attachment portion 40 (front-rear direction). A concave portion 43 having a concave shape is formed. As a result, the first upper holding portion 41 has a first front upper holding portion 41a located on the front side of the concave portion 43 and a first rear upper holding portion located on the rear side of the concave portion 43 in the direction orthogonal to the extending direction. 41b. In addition, the first lower holding portion 42 has a first attachment portion at an extension end spaced from the first attachment portion 40 in the middle of a direction (front-rear direction) orthogonal to the extension direction from the first attachment portion 40. A recess 43 that is concave toward the 40 side is formed. As a result, the first lower holding portion 42 includes a first front lower holding portion 42a located on the front side of the concave portion 43 and a first rear lower holding portion located on the rear side of the concave portion 43 in a direction orthogonal to the extending direction. 42b. The first body holding member 22 is made of a synthetic resin such as reinforced plastic and is not easily deformed even when an external force is applied. The first body holding member 22 is connected to the first support member 20 by a screw (not shown) fastened to the first support member 20, and is separated from the first support member 20 by removing the screw. To do.

(第１巻付け部材２８について)
前記第１巻付け部材２８は、柔軟性を有する芯材４６と、柔軟性を有して該芯材４６の外面を覆う外装材４７とを備えている。ここで、芯材４６は、例えばクロロプレンゴム、シリコーンゴムまたはウレタンゴム等の柔軟性を有する合成ゴムを材質とする。また、外装材４７は、合成皮革、本革、織布または編布等が採用されている。従って、第１巻付け部材２８は、開いた状態および上腕部Ａ１に巻き付けた状態に変形が容易で、かつ上腕部Ａ１に巻き付けた際には該上腕部Ａ１に沿う形状に変形し易く構成されている。 (About the first winding member 28)
The first winding member 28 includes a core material 46 having flexibility and an exterior material 47 having flexibility and covering the outer surface of the core material 46. Here, the core material 46 is made of a synthetic rubber having flexibility such as chloroprene rubber, silicone rubber or urethane rubber. The exterior material 47 is made of synthetic leather, genuine leather, woven fabric or knitted fabric. Accordingly, the first winding member 28 is configured to be easily deformed into an open state and a state wound around the upper arm portion A1, and is easily deformed into a shape along the upper arm portion A1 when wound around the upper arm portion A1. ing.

前記第１巻付け部材２８は、図１〜図４に示すように、第１身体保持部材２２の第１上保持部４１および第１下保持部４２に係止される取付部材４５により該第１身体保持部材２２に対して着脱可能に取り付けられる。第１巻付け部材２８は、第１身体保持部材２２の第１上保持部４１および第１下保持部４２の身体部位(上腕部Ａ１)側の外面に沿うように該第１身体保持部材２２に取り付けられ、第１上保持部４１に保持されて該第１上保持部４１から延出する第１上装着部４８と、第１下保持部４２に保持されて該第１下保持部４２から延出する第１下装着部４９とを備えている。第１上装着部４８の延出端側の内面には、対をなして着脱可能な面ファスナ部材５０を構成する一方の第１ファスナ５０ａが取り付けられていると共に、第１下装着部４９の延出端側の外面には、面ファスナ部材５０を構成する他方の第２ファスナ５０ｂが取り付けられており、第１上装着部４８の延出端側および第１下装着部４９の延出端側は、面ファスナ部材５０により係着・分離可能となっている。   As shown in FIGS. 1 to 4, the first winding member 28 is attached to the first body holding member 22 by a mounting member 45 that is locked to the first upper holding portion 41 and the first lower holding portion 42. One body holding member 22 is detachably attached. The first body holding member 22 is arranged along the outer surface of the first upper holding portion 41 and the first lower holding portion 42 of the first body holding member 22 on the body part (upper arm portion A1) side. Attached to the first upper holding part 41 and extended from the first upper holding part 41, and held by the first lower holding part 42 and the first lower holding part 42. And a first lower mounting portion 49 extending from the first lower mounting portion 49. One first fastener 50a constituting a pair of detachable surface fastener members 50 is attached to the inner surface of the first upper mounting portion 48 on the extending end side. The other second fastener 50b constituting the surface fastener member 50 is attached to the outer surface on the extended end side, and the extended end side of the first upper mounting portion 48 and the extended end of the first lower mounting portion 49 are attached. The side can be engaged and separated by the surface fastener member 50.

前記第１巻付け部材２８は、図１〜図４に示すように、第１上装着部４８および第１下装着部４９の夫々に第１スリット５１,５１が設けられている。第１上装着部４８は、その延出端に開口する第１スリット５１が前後方向の中間部に形成されており、該第１上装着部４８は、第１スリット５１の前側に位置する第１前上装着部４８ａおよび該第１スリット５１の後側に位置する第１後上装着部４８ｂに分離している。そして、第１スリット５１の閉端部は、第１身体保持部材２２の第１上保持部４１に設けられた凹部４３に位置している。従って、第１巻付け部材２８の第１上装着部４８は、第１前上装着部４８ａおよび第１後上装着部４８ｂが個別に変形可能に構成されており、第１前上装着部４８ａのみが変形可能であると共に第１後上装着部４８ｂのみが変形可能となっている。一方、前記第１下装着部４９は、その延出端に開口する第１スリット５１が前後方向の中間部に形成されており、該第１下装着部４９は、第１スリット５１の前側に位置する第１前下装着部４９ａおよび該第１スリット５１の後側に位置する第１後下装着部４９ｂに分離している。そして、第１スリット５１の閉端部は、第１身体保持部材２２の第１下保持部４２に設けられた凹部４３に位置している。従って、第１巻付け部材２８の第１下装着部４９は、第１前下装着部４９ａおよび第１後下装着部４９ｂが個別に変形可能に構成されており、第１前下装着部４９ａのみが変形可能であると共に第１後下装着部４９ｂのみが変形可能となっている。   As shown in FIGS. 1 to 4, the first winding member 28 is provided with first slits 51 and 51 in a first upper mounting portion 48 and a first lower mounting portion 49, respectively. The first upper mounting portion 48 is formed with a first slit 51 that opens at an extending end thereof in an intermediate portion in the front-rear direction, and the first upper mounting portion 48 is located on the front side of the first slit 51. The first front upper mounting portion 48a and the first rear upper mounting portion 48b located on the rear side of the first slit 51 are separated. The closed end portion of the first slit 51 is located in the recess 43 provided in the first upper holding portion 41 of the first body holding member 22. Accordingly, the first upper mounting portion 48 of the first winding member 28 is configured such that the first front upper mounting portion 48a and the first rear upper mounting portion 48b can be individually deformed, and the first front upper mounting portion 48a. Only the first rear upper mounting portion 48b can be deformed. On the other hand, the first lower mounting portion 49 is formed with a first slit 51 opened at an extending end thereof at an intermediate portion in the front-rear direction, and the first lower mounting portion 49 is formed on the front side of the first slit 51. The first front lower mounting portion 49a and the first rear lower mounting portion 49b positioned on the rear side of the first slit 51 are separated. The closed end portion of the first slit 51 is located in the concave portion 43 provided in the first lower holding portion 42 of the first body holding member 22. Accordingly, the first lower mounting portion 49 of the first winding member 28 is configured such that the first front lower mounting portion 49a and the first rear lower mounting portion 49b can be individually deformed, and the first front lower mounting portion 49a. Only the first rear lower mounting portion 49b can be deformed.

前記第１巻付け部材２８の外装材４７における上腕部Ａ１側となる内側面には、所謂ノンスリップ加工が施されている。すなわち、外装材４７の内側面には、多数個の小凸部または小凹部による凹凸模様や、網目状または格子状のローレット模様等が形成されており、第１巻付け部材２８は衣服に対して滑り難くなっている。これにより、肘関節Ａ３の屈曲動作により左腕Ａを動かした際に、上腕部Ａ１に対する第１巻付け部材２８のずれが起こり難くなっている。   A so-called non-slip process is applied to the inner side surface of the first winding member 28 on the upper arm portion A1 side of the exterior material 47. That is, the inner surface of the exterior material 47 is formed with a concavo-convex pattern by a large number of small convex portions or small concave portions, a mesh-shaped or lattice-shaped knurled pattern, and the like. It is hard to slip. Thereby, when the left arm A is moved by the bending operation of the elbow joint A3, the first winding member 28 is hardly displaced with respect to the upper arm portion A1.

また、図１〜図４に示すように、前記第１巻付け部材２８には、その外縁部に沿って第１縁部材５３が配設されている。この第１縁部材５３は、シリコーンゴム等から形成されて柔軟性および衝撃吸収性に富んでいる。これにより第１縁部材５３は、上腕部Ａ１に装着された第１巻付け部材２８の外縁部が該上腕部Ａ１に押し付けられる際に適宜変形するようになっており、上腕部Ａ１に対する第１巻付け部材２８の外縁部の食い込みを緩和して、装着感の向上を図り得るようになっている。   As shown in FIGS. 1 to 4, a first edge member 53 is disposed along the outer edge portion of the first winding member 28. The first edge member 53 is formed of silicone rubber or the like and is rich in flexibility and shock absorption. Accordingly, the first edge member 53 is appropriately deformed when the outer edge portion of the first winding member 28 attached to the upper arm portion A1 is pressed against the upper arm portion A1, and the first edge member 53 is first deformed with respect to the upper arm portion A1. The biting of the outer edge of the winding member 28 can be alleviated to improve the wearing feeling.

(第１中間部材５４について)
図１〜図４に示すように、第１身体保持部材２２と第１巻付け部材２８との間に、第１中間部材５４が配設されている。この第１中間部材５４は、第１身体保持部材２２の第１上保持部４１および第１下保持部４２の外縁部から延出すると共に、第１巻付け部材２８よりも小さい外縁形状・サイズに形成されたシート状部材である。また、第１中間部材５４は、第１身体保持部材２２の第１上保持部４１および第１下保持部４２よりも弾性変形し易いと共に、第１巻付け部材２８よりも弾性変形し難く設定されており、第１上保持部４１および第１下保持部４２から延出した部分が、外力の付与により撓むよう構成されている。これにより第１中間部材５４は、肘関節Ａ３の屈伸変形により左腕Ａを動かした際に、第１身体保持部材２２の第１上保持部４１の外縁部および第１下保持部４２の外縁部で第１巻付け部材２８が急激に変形することが防止され、該第１上保持部４１の外縁部および第１下保持部４２の外縁部が上腕部Ａ１に強く押し付けられることを防止するようになっている。また、第１中間部材５４は、第１身体保持部材２２と第１巻付け部材２８の外装材４７とが直接接触しないようにして、外装材４７と第１身体保持部材２２とが擦れることによる該外装材４７の損傷を防止し得る。 (About the first intermediate member 54)
As shown in FIGS. 1 to 4, a first intermediate member 54 is disposed between the first body holding member 22 and the first winding member 28. The first intermediate member 54 extends from the outer edge portions of the first upper holding portion 41 and the first lower holding portion 42 of the first body holding member 22 and has a smaller outer edge shape and size than the first winding member 28. It is the sheet-like member formed in. The first intermediate member 54 is set to be more easily elastically deformed than the first upper holding portion 41 and the first lower holding portion 42 of the first body holding member 22 and less likely to be elastically deformed than the first winding member 28. The portions extending from the first upper holding portion 41 and the first lower holding portion 42 are configured to bend by applying external force. As a result, when the first intermediate member 54 moves the left arm A by bending and stretching deformation of the elbow joint A3, the outer edge portion of the first upper holding portion 41 and the outer edge portion of the first lower holding portion 42 of the first body holding member 22. Thus, the first winding member 28 is prevented from being suddenly deformed, and the outer edge portion of the first upper holding portion 41 and the outer edge portion of the first lower holding portion 42 are prevented from being strongly pressed against the upper arm portion A1. It has become. Further, the first intermediate member 54 prevents the first body holding member 22 and the exterior material 47 of the first winding member 28 from directly contacting each other, and the exterior material 47 and the first body holding member 22 are rubbed. Damage to the exterior material 47 can be prevented.

(第２装具１３について)
前記第２装具１３は、図１〜図４に示すように、第２サポート体１０Ｂの第２サポート部材６０が取り付けられる第２身体保持部材６２と、第２身体保持部材６２の身体部位側に配設されて前腕部Ａ２に着脱可能に巻き付けて装着される第２巻付け部材６８とを備えている。また、第２装具１３は、第２身体保持部材６２と第２巻付け部材６８との間に、第２中間部材８６が配設されている。 (About the second brace 13)
As shown in FIGS. 1 to 4, the second appliance 13 includes a second body holding member 62 to which the second support member 60 of the second support body 10 </ b> B is attached, and a body part side of the second body holding member 62. And a second winding member 68 that is disposed and detachably wound around the forearm portion A2. In the second brace 13, a second intermediate member 86 is disposed between the second body holding member 62 and the second winding member 68.

(第２身体保持部材６２について)
第２身体保持部材６２は、図１〜図４に示すように、第２サポート部材６０が左側に着脱可能に取り付けられ、後方から見た端面形状が略「Ｃ」形をなす部材であり、前腕部Ａ２の周囲の１／２周程度を包み込む形状に形成されている。すなわち、第２身体保持部材６２は、第２サポート部材６０に取り付けられると共に、前腕部Ａ２における体幹と反対側の左部に沿う第２取付部(取付部)７２と、この第２取付部７２に一体的に設けられ、該第２取付部７２から上方に行くにつれて前腕部Ａ２に沿って体幹側へ変位するよう湾曲する第２上保持部(保持部)７３と、第２取付部７２に一体的に設けられ、該第２取付部７２から下方に行くにつれて前腕部Ａ２に沿って体幹側へ変位するよう湾曲する第２下保持部(保持部)７４とを備えている。 (About the second body holding member 62)
As shown in FIGS. 1 to 4, the second body holding member 62 is a member to which the second support member 60 is detachably attached to the left side, and the end surface shape viewed from the rear forms a substantially “C” shape, It is formed in a shape that wraps around about 1/2 of the circumference of the forearm portion A2. That is, the second body holding member 62 is attached to the second support member 60, the second attachment portion (attachment portion) 72 along the left portion on the opposite side of the trunk in the forearm portion A2, and the second attachment portion. A second upper holding portion (holding portion) 73 that is provided integrally with 72 and curves so as to be displaced toward the trunk side along the forearm portion A2 as it goes upward from the second mounting portion 72; And a second lower holding portion (holding portion) 74 that is curved so as to be displaced toward the trunk side along the forearm portion A2 as it goes downward from the second mounting portion 72.

第２上保持部７３は、第２取付部７２から離間した延出端において、該第２取付部７２からの延出方口と直交する方向(前後方向)の中間に、第２取付部７２側へ凹状となった凹部７５が形成されている。これにより、第２上保持部７３は、延出方向と直交する方向ににおいて、凹部７５の前側に位置する第２前上保持部７３ａおよび該凹部７５の後側に位置する第２後上保持部７３ｂを備えている。また、第２下保持部７４は、第２取付部７２から離間した延出端において、該第２取付部７２からの延出方向と直交する方向(前後方向)の中間に、第２取付部７２側へ凹状となった凹部７５が形成されている。これにより、第２下保持部７４は、延出方口と直交する方向において、凹部７５の前側に位置する第１前下保持部７４ａおよび該凹部７５の後側に位置する第２後下保持部７４ｂを備えている。第２身体保持部材６２は、強化プラスチック等の合成樹脂から形成されており、外力が付与されても変形し難くなっている。なお、第２身体保持部材６２は、第２サポート部材６０に締結されるネジ(図示せず)により該第２サポート部材６０と連結され、該ネジを外すことで該第１サポート部材２０と分離する。   The second upper holding portion 73 has a second attachment portion 72 in the middle of a direction (front-rear direction) orthogonal to the direction of extension from the second attachment portion 72 at the extension end spaced from the second attachment portion 72. A concave portion 75 that is concave to the side is formed. As a result, the second upper holding portion 73 has a second front upper holding portion 73a located on the front side of the recess 75 and a second rear upper hold located on the rear side of the recess 75 in the direction orthogonal to the extending direction. A portion 73b is provided. In addition, the second lower holding portion 74 has a second attachment portion at an extension end spaced from the second attachment portion 72 and in the middle of a direction (front-rear direction) orthogonal to the extension direction from the second attachment portion 72. A concave portion 75 that is concave toward the 72 side is formed. As a result, the second lower holding portion 74 has a first front lower holding portion 74a located on the front side of the concave portion 75 and a second rear lower holding located on the rear side of the concave portion 75 in the direction orthogonal to the extending direction. A portion 74b is provided. The second body holding member 62 is made of a synthetic resin such as reinforced plastic and is not easily deformed even when an external force is applied. The second body holding member 62 is connected to the second support member 60 by a screw (not shown) fastened to the second support member 60, and is separated from the first support member 20 by removing the screw. To do.

(第２巻付け部材６８について)
前記第２巻付け部材６８は、前記第１巻付け部材２８と基本的な構成は同じであり、柔軟性を有する芯材７８と、柔軟性を有して該芯材７８の外面を覆う外装材７９とを備えている。ここで、芯材７８は、クロロプレンゴム、シリコーンゴムまたはウレタンゴム等の柔軟性を有する合成ゴムを材質とする。また、外装材７９は、合成皮革、本革、織布または編布等が採用されている。従って、第２装具９８は、開いた状態および前腕部Ａ２に巻き付けた状態に変形が容易で、かつ前腕部Ａ２に巻き付けた際には該前腕部Ａ２に沿う形状に変形し易く構成されている。 (About the second winding member 68)
The second winding member 68 has the same basic configuration as the first winding member 28, and has a flexible core material 78 and an exterior covering the outer surface of the core material 78 with flexibility. The material 79 is provided. Here, the core material 78 is made of a synthetic rubber having flexibility such as chloroprene rubber, silicone rubber or urethane rubber. The exterior material 79 is made of synthetic leather, genuine leather, woven fabric, knitted fabric, or the like. Therefore, the second brace 98 is configured to be easily deformed into an open state and a state wound around the forearm portion A2, and is easily deformed into a shape along the forearm portion A2 when wound around the forearm portion A2. .

前記第２巻付け部材６８は、図１〜図４に示すように、第２身体保持部材６２の第２上保持部７３および第２下保持部７４に係止される取付部材７７により該第２身体保持部材６２に対して着脱可能に取り付けられる。第２巻付け部材６８は、第２身体保持部材６２の第２上保持部７３および第２下保持部７４の身体部位(前腕部Ａ２)側の外面に沿うように該第２身体保持部材６２に取り付けられ、第２上保持部７３に保持されて該第２上保持部７３から延出する第２上装着部８０と、第２下保持部７４に保持されて該第２下保持部７４から延出する第２下装着部８１とを備えている。第２上装着部８０の延出端側の内面には、対をなして着脱可能な面ファスナ部材８２を構成する一方の第１ファスナ８２ａが取り付けられていると共に、第２下装着部８１の延出端側の外面には、面ファスナ部材８２を構成する他方の第２ファスナ８２ｂが取り付けられており、第２上装着部８０の延出端側および第２下装着部８１の延出端側は、面ファスナ部材８２により係着・分離可能となっている。   As shown in FIGS. 1 to 4, the second winding member 68 is attached to the second body holding member 62 by a mounting member 77 that is locked to the second upper holding portion 73 and the second lower holding portion 74. Two body holding members 62 are detachably attached. The second body holding member 62 extends along the outer surface of the second upper holding portion 73 and the second lower holding portion 74 of the second body holding member 62 on the body part (forearm portion A2) side. Attached to the second upper holding portion 73 and extended from the second upper holding portion 73, and held by the second lower holding portion 74 and the second lower holding portion 74. And a second lower mounting portion 81 extending from the second lower mounting portion 81. A first fastener 82 a constituting a pair of detachable surface fastener members 82 is attached to the inner surface of the second upper mounting portion 80 on the extending end side. The other second fastener 82b constituting the surface fastener member 82 is attached to the outer surface on the extended end side, and the extended end side of the second upper mounting portion 80 and the extended end of the second lower mounting portion 81 are attached. The sides can be engaged and separated by a surface fastener member 82.

前記第２巻付け部材６８は、図１〜図４に示すように、第２上装着部８０および第２下装着部８１の夫々に第２スリット８３,８３が設けられている。第２上装着部８０は、その延出端に開口する第２スリット８３が前後方向の中間部に形成されており、該第２上装着部８０は、第２スリット８３の前側に位置する第２前上装着部８０ａおよび該第２スリット８３の後側に位置する第２後上装着部８０ｂに分離している。そして、第２スリット８３の閉端部は、第２身体保持部材６２の第２上保持部７３に設けられた凹部７５に位置している。従って、第２巻付け部材６８の第２上装着部８０は、第２前上装着部８０ａおよび第２後上装着部８０ｂが個別に変形可能に構成されており、第２前上装着部８０ａのみが変形可能であると共に第２後上装着部８０ｂのみが変形可能となっている。一方、前記第２下装着部８１は、その延出端に開口する第２スリット８３が前後方向の中間部に形成されており、該第２下装着部８１は、第２スリット８３の前側に位置する第２前下装着部８１ａおよび該第２スリット８３の後側に位置する第２後下装着部８１ｂに分離している。そして、第２スリット８３の閉端部は、第２身体保持部材６２の第２下保持部７４に設けられた凹部７５に位置している。従って、第２巻付け部材６８の第２下装着部８１は、第２前下装着部８１ａおよび第２後下装着部８１ｂが個別に変形可能に構成されており、第２前下装着部８１ａのみが変形可能であると共に第２後下装着部８１ｂのみが変形可能となっている。   As shown in FIGS. 1 to 4, the second winding member 68 is provided with second slits 83 and 83 in the second upper mounting portion 80 and the second lower mounting portion 81, respectively. The second upper mounting portion 80 is formed with a second slit 83 that opens at an extending end thereof at an intermediate portion in the front-rear direction, and the second upper mounting portion 80 is located on the front side of the second slit 83. 2 The front upper mounting portion 80a and the second rear upper mounting portion 80b located on the rear side of the second slit 83 are separated. The closed end portion of the second slit 83 is located in the concave portion 75 provided in the second upper holding portion 73 of the second body holding member 62. Accordingly, the second upper mounting portion 80 of the second winding member 68 is configured such that the second front upper mounting portion 80a and the second rear upper mounting portion 80b can be individually deformed, and the second front upper mounting portion 80a. Only the second rear upper mounting portion 80b can be deformed. On the other hand, the second lower mounting portion 81 is formed with a second slit 83 that opens at an extending end thereof at an intermediate portion in the front-rear direction, and the second lower mounting portion 81 is formed on the front side of the second slit 83. The second front lower mounting portion 81a and the second rear lower mounting portion 81b positioned on the rear side of the second slit 83 are separated. The closed end portion of the second slit 83 is located in the concave portion 75 provided in the second lower holding portion 74 of the second body holding member 62. Accordingly, the second lower mounting portion 81 of the second winding member 68 is configured such that the second front lower mounting portion 81a and the second rear lower mounting portion 81b can be individually deformed, and the second front lower mounting portion 81a. Only the second rear lower mounting portion 81b can be deformed.

前記第２巻付け部材６８の外装材７９における前腕部Ａ２側となる内側面には、所謂ノンスリップ加工が施されている。すなわち、外装材７９の内側面には、多数個の小凸部または小凹部による凹凸模様や、網目状または格子状のローレット模様等が形成されており、第２巻付け部材６８は衣服に対して滑り難くなっている。これにより、肘関節Ａ３の屈曲動作により左腕Ａを動かした際に、前腕部Ａ２に対する第２巻付け部材６８のずれが起こり難くなっている。   A so-called non-slip process is applied to the inner side surface of the exterior member 79 of the second winding member 68 which is the forearm portion A2 side. That is, the inner surface of the exterior material 79 is formed with a concavo-convex pattern by a large number of small convex portions or small concave portions, a mesh-like or lattice-like knurled pattern, and the like, and the second winding member 68 is applied to the clothes. It is hard to slip. Thereby, when the left arm A is moved by the bending operation of the elbow joint A3, the second winding member 68 is hardly displaced with respect to the forearm portion A2.

また、図１〜図４に示すように、前記第２巻付け部材６８には、その外縁部に沿って第２縁部材８５が配設されている。この第２縁部材８５は、シリコーンゴム等から形成されて柔軟性および衝撃吸収性に富んでいる。これにより第２縁部材８５は、前腕部Ａ２に装着された第２巻付け部材６８の外縁部が該前腕部Ａ２に押し付けられた際に適宜変形するようになっており、前腕部Ａ２に対する第２巻付け部材６８の外縁部の食い込みを緩和して、装着感の向上を図り得るようになっている。   As shown in FIGS. 1 to 4, a second edge member 85 is disposed along the outer edge of the second winding member 68. The second edge member 85 is formed of silicone rubber or the like and is rich in flexibility and shock absorption. Accordingly, the second edge member 85 is appropriately deformed when the outer edge portion of the second winding member 68 attached to the forearm portion A2 is pressed against the forearm portion A2. The biting of the outer edge portion of the 2-winding member 68 can be alleviated to improve the wearing feeling.

(第２中間部材８６について)
図１〜図４に示すように、第２身体保持部材６２と第２巻付け部材６８との間に、第２中間部材８６が配設されている。この第２中間部材８６は、第２身体保持部材６２の第２上保持部７３および第２下保持部７４の外縁部から延出すると共に、第２巻付け部材６８よりも小さい外縁形状・サイズに形成されたシート状部材である。また、第２中間部材８６は、第２身体保持部材６２の第２上保持部７３および第２下保持部７４よりも弾性変形し易いと共に、第２巻付け部材６８よりも弾性変形し難く設定されており、第２上保持部７３および第２下保持部７４から延出した部分が、外力の付与により撓むよう構成されている。これにより第２中間部材８６は、肘関節Ａ３の屈伸変形により左腕Ａを動かした際に、第２身体保持部材６２の第２上保持部７３の外縁部および第２下保持部７４の外縁部で第２巻付け部材６８が急激に変形することが防止され、該第２上保持部７３の外縁部および第２下保持部７４の外縁部が前腕部Ａ２に強く押し付けられることを防止するようになっている。また、第２中間部材８６は、第２身体保持部材６２と第２巻付け部材６８の外装材７９とが直接接触しないようにして、外装材７９と第２身体保持部材６２とが擦れることによる該外装材７９の損傷を防止し得る。 (About the second intermediate member 86)
As shown in FIGS. 1 to 4, a second intermediate member 86 is disposed between the second body holding member 62 and the second winding member 68. The second intermediate member 86 extends from the outer edge portions of the second upper holding portion 73 and the second lower holding portion 74 of the second body holding member 62 and has a smaller outer edge shape and size than the second winding member 68. It is the sheet-like member formed in. The second intermediate member 86 is set to be more easily elastically deformed than the second upper holding portion 73 and the second lower holding portion 74 of the second body holding member 62 and less likely to be elastically deformed than the second winding member 68. The portions extending from the second upper holding portion 73 and the second lower holding portion 74 are configured to bend by applying external force. As a result, the second intermediate member 86 moves the outer edge portion of the second upper holding portion 73 and the outer edge portion of the second lower holding portion 74 of the second body holding member 62 when the left arm A is moved by bending and stretching deformation of the elbow joint A3. Thus, the second winding member 68 is prevented from being suddenly deformed, and the outer edge portion of the second upper holding portion 73 and the outer edge portion of the second lower holding portion 74 are prevented from being strongly pressed against the forearm portion A2. It has become. Further, the second intermediate member 86 prevents the second body holding member 62 and the exterior material 79 of the second winding member 68 from directly contacting each other, and the exterior material 79 and the second body holding member 62 are rubbed. Damage to the exterior material 79 can be prevented.

前記第１装具１２および第２装具１３は、第１巻付け部材２８および第２巻付け部材６８が、上装着部４８,７３と下装着部４９,７４のサイズおよび形状が異なる複数のものが準備され、使用者の体格に適合したものが、第１身体保持部材２２または第２身体保持部材６２に取り付けられるようになっている。また、第１身体保持部材２２および第２身体保持部材６２も、第１上保持部４１、第１下保持部４２、第２上保持部７３および第２下保持部７４のサイズおよび形状が異なる複数のものが準備され、使用者の体格に適合したものが選択され得る。   The first brace 12 and the second brace 13 include a plurality of first wrapping members 28 and second wrapping members 68 having different sizes and shapes of the upper mounting portions 48 and 73 and the lower mounting portions 49 and 74. Those prepared and adapted to the physique of the user are attached to the first body holding member 22 or the second body holding member 62. The first body holding member 22 and the second body holding member 62 are also different in size and shape from the first upper holding portion 41, the first lower holding portion 42, the second upper holding portion 73, and the second lower holding portion 74. Several things are prepared and the thing suitable for a user's physique can be selected.

(実施例の作用)
前述のように構成された実施例の身体動作補助装置ＳＵは、左腕Ａの上腕部Ａ１に第１装具１２の第１巻付け部材２８を巻き付けて面ファスナ部材５０の第１ファスナ５０ａおよび第２ファスナ５０ｂを係着させることで、作動装置１０の第１サポート体１０Ａが該上腕部Ａ１に取り付けられると共に、左腕Ａの前腕部Ａ２に第２装具１３の第２巻付け部材６８を巻き付けて面ファスナ部材８２の第１ファスナ８２ａおよび第２ファスナ８２ｂを係着させることで、当該作動装置１０の第２サポート体１０Ｂが該前腕部Ａ２に取り付けられる。 (Operation of Example)
In the body movement assisting device SU of the embodiment configured as described above, the first fastener 50a and the second fastener 50 of the surface fastener member 50 are wound around the upper arm A1 of the left arm A by winding the first winding member 28 of the first appliance 12. By engaging the fastener 50b, the first support body 10A of the actuating device 10 is attached to the upper arm portion A1, and the second winding member 68 of the second appliance 13 is wound around the forearm portion A2 of the left arm A. By engaging the first fastener 82a and the second fastener 82b of the fastener member 82, the second support body 10B of the operating device 10 is attached to the forearm A2.

実施例の身体動作補助装置ＳＵは、前腕部Ａ２に外力が付与されない場合や、前腕部Ａ２をゆっくりと動かした場合では、検知センサＳから制御ユニット１６へ検知信号が入力されない。従って、制御ユニット１６は、第１作動モータ１０９および第２作動モータ１１０を停止状態に保持して、補助機構１４を許容位置に保持する。これにより、身体動作補助装置ＳＵは、作動装置１０における第１サポート体１０Ａに対する第２サポート体１０Ｂの回転変位が肘関節Ａ３の屈曲動作方向および伸展動作方向の両方向で許容されて、肘関節Ａ３の屈伸動作を伴った左腕Ａの曲げ動作および伸ばし動作を許容する。   In the body motion assisting device SU of the embodiment, no detection signal is input from the detection sensor S to the control unit 16 when no external force is applied to the forearm A2 or when the forearm A2 is moved slowly. Therefore, the control unit 16 holds the first operating motor 109 and the second operating motor 110 in a stopped state, and holds the auxiliary mechanism 14 at the allowable position. Thereby, the body motion assisting device SU allows the rotational displacement of the second support body 10B relative to the first support body 10A in the actuating device 10 to be permitted in both the bending motion direction and the extension motion direction of the elbow joint A3. The left arm A is allowed to bend and extend along with the bending and stretching operations.

また、前腕部Ａ２に対して肘関節Ａ３の屈曲動作方向または伸展動作方向へ外力が付与され、使用者の意志に反して左腕Ａが曲げられそうになったり該左腕Ａが伸ばされそうになった場合には、検知センサＳから検知信号が制御ユニット１６に入力される。検知信号を受信した制御ユニット１６は、第１作動モータ１０９および第２作動モータ１１０を同時に作動させて、第１偏心カム１１５および第２偏心カム１１６の両方を夫々の第２停止位置まで回転させることで、補助機構１４を規制位置とする。これにより、身体動作補助装置ＳＵは、作動装置１０における第１サポート体１０Ａに対する第２サポート体１０Ｂの回転変位が肘関節Ａ３の屈曲動作方向および伸展動作方向の両方向で規制されて、前腕部Ａ２に外力が付与された時点における姿勢で左腕Ａを保持すると共に、肘関節Ａ３の屈伸動作を伴った害左腕Ａの曲げ動作および伸ばし動作を規制する。従って、実施例の身体動作補助装置ＳＵを装着した使用者が左腕Ａの筋力が弱い場合であっても、使用者の意志に反して外力により該左腕Ａが屈伸することを規制でき、重い物を持ったり、自身の身体を支えること等が可能となる。   Also, an external force is applied to the forearm A2 in the bending or extending direction of the elbow joint A3, and the left arm A is likely to be bent or the left arm A is likely to be extended against the user's will. In the case of detection, a detection signal is input from the detection sensor S to the control unit 16. Receiving the detection signal, the control unit 16 simultaneously operates the first operating motor 109 and the second operating motor 110 to rotate both the first eccentric cam 115 and the second eccentric cam 116 to the respective second stop positions. Thus, the auxiliary mechanism 14 is set to the restriction position. As a result, in the body motion assisting device SU, the rotational displacement of the second support body 10B relative to the first support body 10A in the actuating device 10 is restricted in both the bending motion direction and the extension motion direction of the elbow joint A3, and the forearm portion A2 The left arm A is held in the posture at the time when external force is applied, and the bending and extending operations of the harmful left arm A accompanied by the bending and extending operations of the elbow joint A3 are restricted. Therefore, even if the user wearing the body movement assisting device SU of the embodiment has a weak muscular strength of the left arm A, it is possible to restrict the left arm A from being bent and stretched by an external force against the user's will, and a heavy object You can hold and support your own body.

前述のように構成された実施例の身体動作補助装置Ｕによれば、作動装置１０において、第１サポート部材２０に回転支持軸３１を介して回転可能に連結された第２サポート部材６０のアーム後部６０ｃが、回転支持軸３１の軸方向におけるラチェット歯車９０の幅(左右幅)の範囲内で該ラチェット歯車９０に係止されている。これにより、ラチェット歯車９０を左腕Ａに近い位置に配設することが可能となり、回転支持軸３１の軸方向における身体動作補助装置ＳＵの幅を小さくして、該身体動作補助装置ＳＵを小型かつコンパクトに構成し得る。従って、身体動作補助装置ＳＵを左腕Ａに装着した際の重量感が軽減されて、使用者に負担が掛かり難くし得ると共に、装着感が低下するのを防止し得る。また、左腕Ａの上腕部Ａ１に対して第１サポート部材２０がずれ難くなると共に前腕部Ａ２に対して第２サポート部材６０がずれ難くなり、ずれが生じることにより装着感が低下することを防止し得る。更に、身体動作補助装置ＳＵが薄型化されていることで、該身体動作補助装置ＳＵを左腕Ａに装着した状態で市販の衣服を着ても目立ち難くなる。すなわち、市販の衣服を着ることが可能となるから、特注の衣服を準備する必要がない。   According to the body motion assisting device U of the embodiment configured as described above, in the operating device 10, the arm of the second support member 60 that is rotatably connected to the first support member 20 via the rotation support shaft 31. The rear portion 60 c is locked to the ratchet gear 90 within the range of the width (left-right width) of the ratchet gear 90 in the axial direction of the rotation support shaft 31. As a result, the ratchet gear 90 can be disposed at a position close to the left arm A, the width of the body motion assisting device SU in the axial direction of the rotation support shaft 31 is reduced, and the body motion assisting device SU is reduced in size and size. It can be configured compactly. Therefore, a feeling of weight when the body motion assisting device SU is attached to the left arm A is reduced, and it can be difficult to put a burden on the user, and a feeling of wearing can be prevented from being lowered. In addition, the first support member 20 is less likely to be displaced with respect to the upper arm portion A1 of the left arm A and the second support member 60 is less likely to be displaced with respect to the forearm portion A2. Can do. Further, since the body motion assist device SU is thinned, it becomes difficult to stand out even if a commercially available garment is worn while the body motion assist device SU is mounted on the left arm A. That is, since it becomes possible to wear commercially available clothes, it is not necessary to prepare custom-made clothes.

また、実施例の身体動作補助装置Ｕでは、作動装置１０における第２サポート部材６０のアーム後部６０ｃを、回転支持軸３１の軸方向と直交する方向でラチェット歯車９０に開口する嵌合凹部９６に嵌合するよう構成したことで、回転支持軸３１の軸方向と直交する方向で該アーム後部６０ｃおよびラチェット歯車９０が重なって係止されるように構成することができる。   Further, in the body motion assisting device U of the embodiment, the arm rear portion 60 c of the second support member 60 in the operating device 10 is formed into the fitting recess 96 that opens to the ratchet gear 90 in a direction orthogonal to the axial direction of the rotation support shaft 31. By being configured to fit, the arm rear portion 60c and the ratchet gear 90 can be configured to overlap and be locked in a direction orthogonal to the axial direction of the rotation support shaft 31.

また、実施例の身体動作補助装置Ｕでは、ラチェット歯車９０と第１ラチェット爪部材１００および第２ラチェット爪部材１０１とが、回転支持軸３１の軸方向と直交する方向で重なった状態に配設されているので、回転支持軸３１の軸方向における身体動作補助装置ＳＵのサイズが、第１ラチェット爪部材１００および第２ラチェット爪部材１０１によって大きくなることが防止される。   Further, in the body motion assisting device U of the embodiment, the ratchet gear 90, the first ratchet claw member 100, and the second ratchet claw member 101 are arranged in a state where they overlap each other in a direction orthogonal to the axial direction of the rotation support shaft 31. Therefore, the size of the body motion assist device SU in the axial direction of the rotation support shaft 31 is prevented from being increased by the first ratchet claw member 100 and the second ratchet claw member 101.

更に、実施例の身体動作補助装置Ｕでは、第１装具１２について、第１身体保持部材２２の第１上保持部４１が、第１前上保持部４１ａおよび第１後上保持部４１ｂに分かれていると共に、該第１身体保持部材２２の第１下保持部４２が、第１前下保持部４２ａおよび第１後下保持部４２ｂに分かれていると共に、第１巻付け部材２８の第１上装着部４８が、第１前上装着部４８ａおよび第１後上装着部４８ｂに分かれていると共に、第１巻付け部材２８の第１下装着部４９が、第１前下装着部４９ａおよび第１後下装着部４９ｂに分離している。従って、上腕部Ａ１に対して身体動作補助装置ＳＵのずれが生じた場合に、第１身体保持部材２２においては第１前上保持部４１ａ、第２後上保持部４１ｂ、第１前下保持部４２ａ、第１後下保持部４２ｂが個別に変形可能であると共に、第１巻付け部材２８における第１前上装着部４８ａ、第１後上装着部４８ｂ、第１前下装着部４９ａ、第１後下装着部４９ｂが個別に変形可能であるから、第１身体保持部材２２が部分的に上腕部Ａ１に強く押し付けられることを防止でき、装着感が低下しない。しかも、第１身体保持部材２２と第１巻付け部材２８の間に第１中間部材５４を配設したことで、第１身体保持部材２２の第１上保持部４１の外縁部および第１下保持部４２の外縁部が上腕部Ａ１に強く当ることが防止される。   Furthermore, in the body motion assisting device U of the embodiment, the first upper holding portion 41 of the first body holding member 22 is divided into the first front upper holding portion 41a and the first rear upper holding portion 41b for the first appliance 12. The first lower holding portion 42 of the first body holding member 22 is divided into a first front lower holding portion 42a and a first rear lower holding portion 42b, and the first winding member 28 has a first The upper mounting portion 48 is divided into a first front upper mounting portion 48a and a first rear upper mounting portion 48b, and the first lower mounting portion 49 of the first winding member 28 includes the first front lower mounting portion 49a and The first rear lower mounting portion 49b is separated. Accordingly, when the body motion assisting device SU is displaced with respect to the upper arm portion A1, the first body holding member 22 has the first front upper holding portion 41a, the second rear upper holding portion 41b, and the first front lower holding. The part 42a and the first rear lower holding part 42b can be individually deformed, and the first front upper mounting part 48a, the first rear upper mounting part 48b, the first front lower mounting part 49a in the first winding member 28, Since the first rear lower mounting portion 49b can be individually deformed, it is possible to prevent the first body holding member 22 from being partly strongly pressed against the upper arm portion A1, and the mounting feeling does not deteriorate. In addition, since the first intermediate member 54 is disposed between the first body holding member 22 and the first winding member 28, the outer edge portion of the first upper holding portion 41 and the first lower portion of the first body holding member 22 are arranged. The outer edge portion of the holding portion 42 is prevented from strongly hitting the upper arm portion A1.

同様に、第２装具１３について、第２身体保持部材６２の第２上保持部７３が、第２前上保持部７３ａおよび第２後上保持部７３ｂに分かれていると共に、該第２身体保持部材６２の第２下保持部７４が、第２前下保持部７４ａおよび第２後下保持部７４ｂに分かれていると共に、第２巻付け部材６８の第２上装着部８０が、第２前上装着部８０ａおよび第２後上装着部８０ｂに分かれていると共に、第２巻付け部材６８の第２下装着部８１が、第２前下装着部８１ａおよび第２後下装着部８１ｂに分離している。従って、前腕部Ａ２に対して身体動作補助装置ＳＵのずれが生じた場合に、第２身体保持部材６２においては第２前上保持部７３ａ、第２後上保持部７３ｂ、第２前下保持部７３ａ、第２後下保持部７３ｂが個別に変形可能であると共に、第２巻付け部材６８における第２前上装着部８０ａ、第２後上装着部８０ｂ、第２前下装着部８１ａ、第２後下装着部８１ｂが個別に変形可能であるから、第２身体保持部材６２が部分的に前腕部Ａ２に強く押し付けられることを防止でき、装着感が低下しない。しかも、第２身体保持部材６２と第２巻付け部材６８の間に第２中間部材８６を配設したことで、第２身体保持部材６２の第２上保持部７３の外縁部および第２下保持部７４の外縁部が前腕部Ａ２に強く当ることが防止される。   Similarly, for the second brace 13, the second upper holding portion 73 of the second body holding member 62 is divided into a second front upper holding portion 73a and a second rear upper holding portion 73b, and the second body holding. The second lower holding portion 74 of the member 62 is divided into a second front lower holding portion 74a and a second rear lower holding portion 74b, and the second upper mounting portion 80 of the second winding member 68 is a second front portion. The second lower mounting portion 81 of the second winding member 68 is separated into a second front lower mounting portion 81a and a second rear lower mounting portion 81b, which are divided into an upper mounting portion 80a and a second rear upper mounting portion 80b. doing. Therefore, when the displacement of the body motion assisting device SU occurs with respect to the forearm portion A2, the second front upper holding portion 73a, the second rear upper holding portion 73b, and the second front lower holding are held in the second body holding member 62. The portion 73a and the second rear lower holding portion 73b can be individually deformed, and the second front upper mounting portion 80a, the second rear upper mounting portion 80b, the second front lower mounting portion 81a in the second winding member 68, Since the second rear lower mounting portion 81b can be individually deformed, it is possible to prevent the second body holding member 62 from being partly pressed against the forearm portion A2, and the mounting feeling does not deteriorate. In addition, since the second intermediate member 86 is disposed between the second body holding member 62 and the second winding member 68, the outer edge portion of the second upper holding portion 73 and the second lower portion of the second body holding member 62 are arranged. The outer edge portion of the holding portion 74 is prevented from strongly hitting the forearm portion A2.

補助機構１４は、ラチェット歯車９０およびラチェット爪９２からなるラチェット機構であるから、第２サポート体１０Ｂが強く押された場合でも、第１サポート体１０Ａに対する第２サポート体１０Ｂの姿勢変位を確実に規制して、左腕Ａの前腕部Ａ２を適切し補助し得る。これにより、重い物を持ったり、自身の身体を支える際等に、第２サポート体１０Ｂが逆戻りすることを防止し得る。   Since the auxiliary mechanism 14 is a ratchet mechanism including the ratchet gear 90 and the ratchet pawl 92, even when the second support body 10B is strongly pressed, the posture displacement of the second support body 10B with respect to the first support body 10A is ensured. By regulating, the forearm A2 of the left arm A can be appropriately and assisted. Thereby, it is possible to prevent the second support body 10B from reversing when holding a heavy object or supporting its own body.

また、実施例の身体動作補助装置Ｕでは、第１保持機構Ｒ１および第２保持機構Ｒ２において、第１作動モータ１０９、第２作動モータ１１０の作動により第１偏心カム１１５、第２偏心カム１１６を第１停止位置から第２停止位置へ回転させた際に第１ラチェット爪部材１００、第２ラチェット爪部材１０１が規制位置へ変位不能である場合には、第１連係部材１０５、第２連係部材１０６が夫々弾性変形して第１ラチェット爪部材１００、第２ラチェット爪部材１０１を規制位置へ付勢するようになる。従って、第１作動モータ１０９、第２作動モータ１１０の停止後であっても、第１ラチェット爪部材１００、第２ラチェット爪部材１０１が規制位置へ姿勢変位可能であるから、第１ラチェット爪部材１００と第１歯部９４の歯溝９４ｂとの係合不良および第２ラチェット爪部材１０１と第２歯部９５の歯溝９５ｂとの係合不良が発生することを防止することができ、第１サポート体１０Ａに対して第２サポート体１０Ｂを所定の姿勢変位規制位置で保持させることができ、左腕Ａの動作を適切に補助し得る。   In the body motion assisting device U of the embodiment, the first eccentric cam 115 and the second eccentric cam 116 are operated by the first operating motor 109 and the second operating motor 110 in the first holding mechanism R1 and the second holding mechanism R2. When the first ratchet pawl member 100 and the second ratchet pawl member 101 cannot be displaced to the restricting position when the first ratchet pawl member 100 and the second ratchet pawl member 101 cannot be displaced to the second stop position, the first linkage member 105 and the second linkage The members 106 are elastically deformed to urge the first ratchet pawl member 100 and the second ratchet pawl member 101 to the restriction position. Accordingly, even after the first operating motor 109 and the second operating motor 110 are stopped, the first ratchet pawl member 100 and the second ratchet pawl member 101 can be displaced in their postures to the restriction positions. 100 and the tooth groove 94b of the first tooth portion 94 and the engagement failure between the second ratchet pawl member 101 and the tooth groove 95b of the second tooth portion 95 can be prevented. The second support body 10B can be held at a predetermined posture displacement regulation position with respect to the one support body 10A, and the operation of the left arm A can be appropriately assisted.

(変更例)
（１）保持機構は、相対的な姿勢変位が可能な第１部材および第２部材からなる身体動作補助装置に配設されるものに限らず、相対的な姿勢変位可能に設けられた第１部材および第２部材を備えた各種装置において、該第１部材および第２部材を所定位置で保持可能に採用可能である。
（２）駆動手段は、実施例で例示したモータに限らず、電磁ソレノイドや、エア式または油圧式のアクチュエータ等であってもよい。
（３）作動部材は、実施例に例示した駆動手段によって回転変位する偏心カムに限らない。例えば、作動部材は、駆動手段に連係された状態で配設され、該駆動手段の駆動により、連係部材に係合した状態で第１位置および第２位置の間を直線状または円弧状に往復スライド移動するスライド部材であってもよい。なお、スライド部材からなる作動部材は、モータからなる駆動手段に対してはギア、ベルト、チェン等で連係することができ、電磁ソレノイドやアクチュエータからなる駆動手段に対しては該駆動手段のロッドに連結することができる。
（４）連係部材は、実施例で例示した弾性変形可能な帯板状のバネ鋼部材を折り曲げて形成したものに限らず、ラチェット爪および作動部材とを連係するコイルバネや捻りバネ等のバネ、弾性変形可能な合成ゴム、弾性変形可能な合成樹脂部材、等であってもよい。
（５）ラチェット爪を許容位置に向けて付勢する付勢手段を別に設け、該付勢手段によりラチェット爪を許容位置に向けて付勢するよう構成してもよい。このような付勢手段を別に設けることで、駆動手段の駆動に伴って作動部材が第１位置に変位すると、連係部材を介してラチェット爪を許容位置へ確実に姿勢変位させ得る。また、作動部材が第１位置の状態において、振動や衝撃等によりラチェット爪が規制位置へ姿勢変位してラチェット歯車の変位を規制する不都合を防止し得る。ここで、ラチェット爪に対する付勢手段の付勢力は、駆動手段の駆動に伴って作動部材が第１位置から第２位置へ変位する際に、連係部材を介してラチェット爪が許容位置から規制位置へ姿勢変位するのを許容し得る大きさに設定されている。これにより、作動部材が第２位置に変位した状態においては、連係部材を介してラチェット爪が規制位置となる。なお、付勢手段は、板バネ、コイルバネや捻りバネ等のバネ、弾性変形可能な合成ゴム、弾性変形可能な合成樹脂部材等が採用される。
（６）身体部位に関節が屈曲変形するような外力が作用したことを検知する検知センサと、身体部位に間接が伸展変形するような外力が作用したことを検知する検知センサとを設けると共に、第１作動モータおよび第２作動モータを個別に作動制御するようにすることで、第２サポート部材６０を一方向のみ回転規制するように構成することが可能である。
すなわち、前腕部Ａ２に対して肘関節Ａ３の屈曲動作方向へ外力が付与され、使用者の意志に反して左腕Ａが曲げられそうになった場合には、第１検知センサから検知信号が制御ユニット１６に入力される。第１の検知センサからの検知信号を受信した制御ユニット１６は、第１作動モータ１０９のみを第２停止位置まで作動させて、補助機構１４を第１保持機構Ｒ１だけを規制位置とする。これにより、身体動作補助装置ＳＵは、肘関節Ａ３の屈曲動作方向において第１サポート体１０Ａに対する第２サポート体１０Ｂの回転変位が規制された状態となり、前腕部Ａ２に外力が付与された時点から更に左腕Ａが曲げられないように該左腕Ａを補助し得る。
一方、前腕部Ａ２に対して肘関節Ａ３の伸展動作方向へ外力が付与され、使用者の意志に反して左腕Ａが伸ばされそうになった場合には、第２検知センサから検知信号が制御ユニット１６に入力される。第２検知センサからの検知信号を受信した制御ユニット１６は、第２作動モータ１１０のみを第２停止位置まで作動させて、補助機構１４を第２保持機構Ｒ２だけを規制位置とする。これにより、身体動作補助装置ＳＵは、肘関節Ａ３の伸展動作方向において第１サポート体１０Ａに対する第２サポート体１０Ｂの回転変位が規制された状態となり、前腕部Ａ２に外力が付与された時点から更に左腕Ａが伸ばされないように該左腕Ａを補助し得る。 (Change example)
(1) The holding mechanism is not limited to the one provided in the body motion assisting device including the first member and the second member capable of relative posture displacement, and is a first provided so as to be capable of relative posture displacement. In various apparatuses including the member and the second member, the first member and the second member can be employed so as to be held at predetermined positions.
(2) The driving means is not limited to the motor illustrated in the embodiment, and may be an electromagnetic solenoid, an air type or a hydraulic type actuator, or the like.
(3) The actuating member is not limited to the eccentric cam that is rotationally displaced by the driving means exemplified in the embodiment. For example, the actuating member is disposed in a state of being linked to the driving means, and reciprocates linearly or arcuately between the first position and the second position while being engaged with the linkage member by driving of the driving means. A sliding member that slides may be used. The actuating member made of a slide member can be linked to the driving means made of a motor by a gear, a belt, a chain, etc., and the driving means made of an electromagnetic solenoid or an actuator is connected to the rod of the driving means. Can be linked.
(4) The linking member is not limited to one formed by bending the elastically deformable strip-shaped spring steel member exemplified in the embodiment, but a spring such as a coil spring or a torsion spring that links the ratchet pawl and the operating member, It may be an elastically deformable synthetic rubber, an elastically deformable synthetic resin member, or the like.
(5) A biasing means for biasing the ratchet pawl toward the allowable position may be separately provided, and the ratchet pawl may be biased toward the allowable position by the biasing means. By providing such a biasing means separately, when the operating member is displaced to the first position as the driving means is driven, the posture of the ratchet pawl can be reliably displaced to the allowable position via the linkage member. Further, in the state where the operating member is in the first position, it is possible to prevent the ratchet pawl from being displaced to the restriction position due to vibration, impact, or the like, thereby preventing the inconvenience of restricting the displacement of the ratchet gear. Here, the urging force of the urging means on the ratchet pawl is such that the ratchet pawl is moved from the allowable position to the restriction position via the linkage member when the operating member is displaced from the first position to the second position as the driving means is driven. It is set to a size that allows the posture to be displaced. Thereby, in a state where the operating member is displaced to the second position, the ratchet pawl is in the restricting position via the linkage member. As the biasing means, a leaf spring, a spring such as a coil spring or a torsion spring, an elastically deformable synthetic rubber, an elastically deformable synthetic resin member, or the like is employed.
(6) Provided are a detection sensor for detecting an external force acting on the body part to cause bending and deformation of the joint, and a detection sensor for detecting an external force acting on the body part for indirect extension and deformation, By individually controlling the operation of the first operating motor and the second operating motor, the second support member 60 can be configured to be restricted in rotation in only one direction.
That is, when an external force is applied to the forearm A2 in the bending direction of the elbow joint A3 and the left arm A is likely to bend against the user's will, the detection signal is controlled from the first detection sensor. Input to unit 16. The control unit 16 that has received the detection signal from the first detection sensor operates only the first operating motor 109 to the second stop position, and sets the auxiliary mechanism 14 to only the first holding mechanism R1 as the restriction position. Thereby, the body motion assisting device SU is in a state in which the rotational displacement of the second support body 10B with respect to the first support body 10A is restricted in the bending motion direction of the elbow joint A3, and from the time when an external force is applied to the forearm A2. Further, the left arm A can be assisted so that the left arm A is not bent.
On the other hand, when an external force is applied to the forearm A2 in the direction of extension of the elbow joint A3 and the left arm A is likely to be extended against the user's will, the detection signal is controlled from the second detection sensor. Input to unit 16. The control unit 16 that has received the detection signal from the second detection sensor operates only the second operating motor 110 to the second stop position, and sets the auxiliary mechanism 14 only to the second holding mechanism R2. As a result, the body motion assisting device SU is in a state where the rotational displacement of the second support body 10B relative to the first support body 10A is restricted in the extending motion direction of the elbow joint A3, and from the time when an external force is applied to the forearm A2. Further, the left arm A can be assisted so that the left arm A is not extended.

２０ 第１サポート部材(第１部材)，６０ 第２サポート部材(第２部材)
９０ ラチェット歯車，９２ ラチェット爪，９４ｂ 歯溝，９５ｂ 歯溝
９６ 嵌合凹部(嵌合部)，１００ 第１ラチェット爪部材(第１ラチェット爪)
１０１ 第２ラチェット爪部材(第２ラチェット爪)，１０５ 第１連係部材(連係部材)
１０６ 第２連係部材(連係部材)，１０５ａ,１０６ａ 固定部
１０５ｂ,１０６ｂ 第１係合部，１０５ｃ 第２係合部，１０６ｂ 第１係合部
１０６ｃ 第２係合部，１０９ 第１作動モータ(駆動手段)
１１０ 第２作動モータ(駆動手段)，１１５ 第１偏心カム(作動部材)
１１６ 第２偏心カム(作動部材) 20 First support member (first member), 60 Second support member (second member)
90 ratchet gear, 92 ratchet claw, 94b tooth groove, 95b tooth groove 96 fitting recess (fitting part), 100 first ratchet claw member (first ratchet claw)
101 Second ratchet claw member (second ratchet claw), 105 First linkage member (linkage member)
106 second linkage member (linkage member), 105a, 106a fixed portion 105b, 106b first engagement portion, 105c second engagement portion, 106b first engagement portion 106c second engagement portion, 109 first operating motor ( (Drive means)
110 Second operation motor (drive means), 115 First eccentric cam (operation member)
116 Second eccentric cam (actuating member)

Claims (3)

相対的な姿勢変位可能に設けられた第１部材および第２部材を所定位置で保持可能な保持機構であって、
前記第１部材および第２部材の一方に連動して変位するラチェット歯車と、
前記ラチェット歯車の歯溝に係合して該ラチェット歯車の変位を規制可能な規制位置および該歯溝から離間して該ラチェット歯車の変位を許容する許容位置に変位可能なラチェット爪と、
モータの駆動に伴って第１位置および第２位置に変位可能な作動部材と、
前記ラチェット爪および作動部材を接続するよう設けられて当該作動部材の変位に伴ってラチェット爪を変位させると共に、当該作動部材に対してラチェット爪を一定方向へ付勢するよう弾性変形可能に形成された連係部材とを備え、
前記モータの駆動により前記作動部材を前記第１位置および第２位置に切り替わるよう変位させた際に、当該作動部材の第１位置への変位に伴って前記ラチェット爪が規制位置に向けて変位すると共に当該作動部材の第２位置への変位に伴って前記ラチェット爪が許容位置に向けて変位し、当該作動部材の位置の切り替わりに伴って当該モータの駆動を停止することで前記ラチェット爪が変位した規制位置および許容位置で保持されると共に、
前記作動部材の第１位置への変位に伴って前記ラチェット爪が前記規制位置へ変位する途中で当該ラチェット爪の変位が規制された際には、前記連係部材が弾性変形してラチェット爪を規制位置へ向けて付勢するよう構成された
ことを特徴とする保持機構。 A holding mechanism capable of holding a first member and a second member provided in a relative position so as to be capable of relative displacement;
A ratchet gear that is displaced in conjunction with one of the first member and the second member;
A ratchet pawl that is displaceable to a restriction position that engages with the tooth groove of the ratchet gear and restricts the displacement of the ratchet gear and to an allowable position that allows the displacement of the ratchet gear apart from the tooth groove;
An actuating member displaceable to a first position and a second position in accordance with driving of the motor ;
The ratchet pawl and provided so as to connect the actuating member with makes Displacement ratchet pawl with the displacement of of the actuating member, the actuating member a ratchet pawl elastically deformable so as to bias the predetermined direction with respect to A linkage member formed ,
When the actuating member is displaced so as to be switched between the first position and the second position by driving the motor, the ratchet pawl is displaced toward the regulation position in accordance with the displacement of the actuating member to the first position. the said ratchet pawl with the displacement of the second position of the actuating member is displaced toward the permitting position, the ratchet pawl by stopping the driving of the motor with the switching position of the actuating member is displaced together with Are held in the restricted and allowable positions ,
When the displacement of the middle in the ratchet pawl, wherein the ratchet pawl with the displacement of the first position of the actuating member is displaced to the restriction position is regulated, regulating the ratchet pawl the linkage member is elastically deformed retention mechanism, characterized in that it was made by cormorants configured for urging to the position. 前記連係部材は、前記作動部材に係合される係合部と、前記係合部に連設されると共に前記ラチェット爪に固定される固定部とを備え、
前記係合部は、前記第２位置から第１位置に変位する作動部材に係合する第１係合部と、前記第１位置から第２位置に変位する作動部材に係合する第２係合部とからなり、
前記作動部材が前記第１位置へ変位する際に前記第１係合部が押されることで前記ラチェット爪が前記規制位置に変位し、前記作動部材が前記第２位置へ変位する際に前記第２係合部が押されることで前記ラチェット爪が前記許容位置に変位するよう構成された請求項１記載の保持機構。 The linkage member includes an engagement portion that is engaged with the operation member, and a fixing portion that is connected to the engagement portion and is fixed to the ratchet pawl.
The engagement portion includes a first engagement portion that engages with an operation member that is displaced from the second position to the first position, and a second engagement that engages with an operation member that is displaced from the first position to the second position. Consisting of joints,
When the actuating member is displaced to the first position, the first engaging portion is pushed to displace the ratchet pawl to the restricting position, and when the actuating member is displaced to the second position, The holding mechanism according to claim 1, wherein the ratchet pawl is displaced to the allowable position when the two engaging portions are pressed. 前記ラチェット歯車は、該ラチェット歯車の往復変位に連動して変位する第１歯部および第２歯部を備え、
前記ラチェット爪として、前記第１歯部の歯溝との係合により前記ラチェット歯車の一方への変位を規制する第１ラチェット爪と、前記第２歯部の歯溝との係合により前記ラチェット歯車の他方への変位を規制する第２ラチェット爪とを備え、
前記作動部材として、第１モータの駆動に伴って第１位置および第２位置に変位可能な第１作動部材と、第２モータの駆動に伴って第１位置および第２位置に変位可能な第２作動部材とを備え、
前記連係部材として、前記第１ラチェット爪と前記第１作動部材とを連係する第１連係部材と、前記第２ラチェット爪と前記第２作動部材とを連係する第２連係部材とを備え、
前記第１モータの駆動に伴って、前記第１歯部の歯溝との係合位置および許容位置に前記第１ラチェット爪を変位させ得ると共に、前記第２モータの駆動に伴って、前記第２歯部の歯溝との係合位置および許容位置に前記第２ラチェット爪を変位させ得るよう構成された請求項１または２記載の保持機構。 The ratchet gear includes a first tooth portion and a second tooth portion that are displaced in conjunction with the reciprocating displacement of the ratchet gear,
As the ratchet pawl, the ratchet is engaged by engagement between a first ratchet pawl that restricts displacement of the ratchet gear to one side by engagement with the tooth groove of the first tooth portion, and a tooth groove of the second tooth portion. A second ratchet pawl for restricting the displacement of the gear to the other,
As the actuating member, a first actuating member that can be displaced to a first position and a second position as the first motor is driven, and a first actuating member that can be displaced to a first position and a second position as the second motor is driven. Two actuating members,
The linkage member includes a first linkage member that links the first ratchet pawl and the first actuation member, and a second linkage member that links the second ratchet pawl and the second actuation member,
As the first motor is driven, the first ratchet pawl can be displaced to an engagement position and a permissible position of the first tooth portion with the tooth groove, and as the second motor is driven, the first 3. The holding mechanism according to claim 1, wherein the second ratchet pawl can be displaced to an engagement position and a permissible position with the tooth gap of the two tooth portions.
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