WO2017222050A1 - Muscular strength assistance device - Google Patents

Abstract

Provided is a muscular strength assistance device (10) comprising: a drive means (30) held by a first wearable tool (20); and a switching means (40) that switches whether force output from the drive means is transmitted to a second wearable tool (25) or blocked. The switching means comprises a first member (41) connected to the second wearable tool and a second member (46) that is connected to the drive means and that can be brought into and out of contact with the first member. The second member comprises: a friction body (49) that can be brought into contact with the first member; and a protrusion (56) protruding further toward the first member than the friction body. The friction body is brought into contact with the first member as a result of deformation or displacement of the first member.

Description

Strength assist device

The present invention relates to a muscle strength assisting device that is worn by a wearer and assists the muscle strength of the wearer.

For example, as disclosed in JP2015-182833A, for the purpose of reducing the muscular load of workers engaged in agriculture, construction industry, nursing care, etc., a muscle force assisting device is attracting attention. The muscle force assisting device has a pair of wearing tools that are respectively attached to two parts of a human body connected by joints, and holds the pair of wearing tools at a predetermined relative position using a force output from a driving unit. Or, a pair of wearing tools are positively moved relative to each other to assist the wearer's muscular strength.

Such a muscle force assisting device has switching means such as a brake and a clutch, and when assisting muscle strength, the force output from the driving means held by one of the wearing tools is transmitted via the switching means. It is transmitted to the other mounting tool. On the other hand, when muscular strength assistance is not performed, the force output from the drive unit is blocked by the switching unit, and thus the wearer's movement is not restricted by the drive unit.

By the way, the muscle strength assisting device can be used even in an environment with a lot of dust. When foreign matter such as dust enters the switching means of the muscular strength assisting device, slipping occurs in the switching means, and there is a possibility that the muscular strength assisting force is not effectively transmitted. The present invention has been made in consideration of such points, and an object thereof is to provide a muscle force assisting device that can stably and effectively perform muscle force assisting.

A first muscle strength assisting device according to the present invention includes:
Driving means held by a first wearing tool attached to one side of two parts of a human body connected by a joint;
Switching means for switching between transmission and interruption of the force output from the driving means to the second mounting tool attached to the other side of the two parts,
The switching means includes a first member coupled to the second mounting tool, and a second member that is connected to the driving means and is capable of relative contact with and separation from the first member,
The second member includes a friction body that can contact the first member, and a protruding portion that protrudes toward the first member from the friction body,
The friction body contacts the first member as the first member is deformed or displaced.

In the first muscle strength assisting device according to the present invention, the protruding portion may be a woven fabric, a non-woven fabric, a felt, a sponge, or a brush.

In the first muscle force assisting device according to the present invention, the friction coefficient of the material forming the friction body with respect to the material forming the surface of the first member contacting the second member is in contact with the second member of the first member. It may be larger than the coefficient of friction of the material forming the protrusion with respect to the material forming the surface to be formed.

In the first muscle strength assisting device according to the present invention, the protruding portion may hold a cleaning liquid.

In the first muscle strength assisting apparatus according to the present invention, the switching means may further include a cleaning liquid supply means for supplying a cleaning liquid to the protrusion.

In the first muscle force assisting device according to the present invention, the switching means may further include a biasing body that biases the protruding portion toward the first member.

The second muscle force assisting device according to the present invention comprises:
Driving means held by a first wearing tool attached to one side of two parts of a human body connected by a joint;
Switching means for switching between transmission and interruption of the force output from the driving means to the second mounting tool attached to the other side of the two parts,
The switching means includes a first member coupled to the second mounting tool, and a second member that is connected to the driving means and is capable of relative contact with and separation from the first member,
A removal mechanism is provided for removing foreign matter adhering to the surface from at least one of the contact surface of the first member that contacts the second member and the contact surface of the second member that contacts the first member. Yes.

In the second muscular strength assisting device according to the present invention, the removal mechanism includes at least one of a contact surface of the first member that contacts the second member and a contact surface of the second member that contacts the first member. You may make it eject a fluid toward.

The first and second muscle force assisting devices according to the present invention may further include a casing that houses the first member and the second member.

The first and second muscle force assisting devices according to the present invention may further include pressure adjusting means for maintaining the inside of the casing at a positive pressure.

In the first and second muscle force assisting devices according to the present invention, the pressure adjusting means includes an air supply pipe that communicates with the casing and supplies gas into the casing, an exhaust pipe that communicates with the casing and discharges gas within the casing, and the casing And a pressure regulating valve that controls the internal pressure of the gas.

In the first and second muscle force assisting devices according to the present invention, the pressure adjusting means includes a filter for removing foreign substances from the gas supplied into the casing and a dryer for drying the gas supplied into the casing. You may make it have further. Moreover, you may arrange | position a desiccant in a casing.

In the first and second muscle force assisting devices according to the present invention,
The casing is provided with an air supply port for supplying gas and an exhaust port for discharging gas,
The distance from the air supply port to the contact position where the first member and the second member contact in the casing may be shorter than the distance from the exhaust port to the contact position.

In the first and second muscle force assisting devices according to the present invention,
The casing is provided with an air supply port for supplying gas,
Gas may be ejected from the air supply port toward at least one of a surface of the first member that contacts the second member and a surface of the second member that contacts the first member.

In the first and second muscle force assisting devices according to the present invention,
The first member is held so as to be rotatable relative to the first wearing tool,
The driving means includes an actuator that is connected to the first wearing tool and the second member and performs a linear motion,
When the actuator performs a linear motion, the second member may come into contact with the first member, and relative rotation between the first member and the second member may be restricted.

In the first and second muscle force assisting devices according to the present invention,
The second member is held so as to be rotatable relative to the first wearing tool,
When the relative rotation of the first member and the second member is restricted, the actuator further continues the linear motion, so that the first member and the second member are moved relative to the first wearing tool. You may make it rotate.

In the first and second muscle force assisting devices according to the present invention,
The first member is held so as to be rotatable relative to the first wearing tool,
The second member may be capable of contacting the first member from a radial direction centered on the rotation axis of the first member.

A third muscle strength assisting device according to the present invention comprises:
Driving means held by a first wearing tool attached to one side of two parts of a human body connected by a joint;
Switching means for switching between transmission and interruption of the force output from the driving means to the second wearing tool attached to the other side of the two parts;
A casing for accommodating at least a part of the switching means.

The third muscle force assisting device according to the present invention may further include pressure adjusting means for maintaining the inside of the casing at a positive pressure.

In the third muscle force assisting device according to the present invention, the pressure adjusting means includes an air supply pipe that communicates with the casing and supplies gas into the casing, an exhaust pipe that communicates with the casing and discharges gas within the casing, and an internal pressure of the casing. And a pressure regulating valve to be controlled.

In the third muscle force assisting device according to the present invention, the pressure adjusting means further includes a filter for removing foreign substances from the gas supplied into the casing and a dryer for drying the gas supplied into the casing. You may do it. Moreover, you may arrange | position a desiccant in a casing.

In the third strength assisting device according to the present invention,
The casing is provided with an air supply port for supplying gas and an exhaust port for discharging gas,
The switching means includes a first member coupled to the second mounting tool, and a second member that is connected to the driving means and is capable of relative contact with and separation from the first member,
A distance from the air supply port to a contact position where the first member and the second member contact in the casing may be shorter than a distance from the exhaust port to the contact position.

In the third strength assisting device according to the present invention,
The casing is provided with an air supply port for supplying gas,
The switching means includes a first member coupled to the second mounting tool, and a second member that is connected to the driving means and is capable of relative contact with and separation from the first member,
Gas may be ejected from the air supply port toward at least one of a surface of the first member that contacts the second member and a surface of the second member that contacts the first member.

In the third strength assisting device according to the present invention,
The switching means includes a first member coupled to the second mounting tool, and a second member that is connected to the driving means and is capable of relative contact with and separation from the first member,
The first member is held so as to be rotatable relative to the first wearing tool,
The driving means includes an actuator that is connected to the first wearing tool and the second member and performs a linear motion,
When the actuator performs a linear motion, the second member may come into contact with the first member, and relative rotation between the first member and the second member may be restricted.

In the third strength assisting device according to the present invention,
The second member is held so as to be rotatable relative to the first wearing tool,
When the relative rotation of the first member and the second member is restricted, the actuator further continues the linear motion, so that the first member is moved together with the second member with respect to the first wearing tool. May be rotated.

In the third strength assisting device according to the present invention,
The switching means includes a first member coupled to the second mounting tool, and a second member that is connected to the driving means and is capable of relative contact with and separation from the first member,
The first member is held so as to be rotatable relative to the first wearing tool,
The second member may be capable of contacting the first member from a radial direction centered on the rotation axis of the first member.

According to the present invention, muscle strength assistance can be performed stably and effectively.

FIG. 1 is a perspective view for explaining an embodiment of the present invention and showing a muscle strength assisting device together with a wearer. FIG. 2 is a perspective view showing the muscular strength assisting device of FIG. FIG. 3 is a diagram showing a part of the muscle strength assisting device of FIG. 1 from the front. FIG. 4 is a view showing a part of the muscle strength assisting device of FIG. 1 from the outside. FIG. 5 is a view showing a part of the muscle strength assisting device of FIG. 1 from the rear. FIG. 6 is a view for explaining a power transmission mechanism of the muscle force assisting apparatus in FIG. 1. FIG. 7 is a diagram showing a main part of the position control device of the muscle strength assisting device from the outside. FIG. 8 is a view showing a main part of the position control device of the muscle force assisting device from the outside in a state different from the state shown in FIG. 7. FIG. 9 is a view showing the main part of the position control device of the muscle force assisting device from the outside in a state different from the state shown in FIGS. 7 and 8. FIG. 10 is a diagram illustrating a switching unit of the muscle strength assisting device and a configuration related to the switching unit. FIG. 11 is a diagram showing the switching means of the muscle strength assisting device and the configuration related to the switching means in a state different from the state shown in FIG. FIG. 12 is a diagram corresponding to FIG. 10 and showing a modification of the muscle strength assisting device. FIG. 13 is a view corresponding to FIG. 10 and showing another modified example of the muscular strength assisting device. FIGS. 14A to 14F are views showing the second contact surface of the second member of the switching means developed in a planar shape.

Hereinafter, an embodiment of the present invention will be described with reference to the drawings. 1 to 14 are diagrams for explaining an embodiment of the present invention and a modification thereof. Among these, FIG.1 and FIG.2 is a perspective view which shows the whole muscular strength assistance apparatus 10, and especially FIG. 1 has shown the muscular strength assistance apparatus 10 in the state with which the human body was mounted | worn. The muscle force assisting device 10 is a relative position of the first wearing tool 20 and the second wearing tool 25 that can be relatively rotated around the first rotation axis d1, and the first wearing tool 20 and the second wearing tool 25, in other words, 2 and a position control device 15 that controls the rotational position of the mounting tool 25 relative to the first mounting tool 20. The position control device 15 includes a driving unit 30 held by the first mounting tool 20, a transmission unit 35 that transmits the force output from the driving unit 30 to the second mounting unit 25, and the driving unit 30 and the transmission unit 35. And a control unit 16 for controlling the operation. As shown in FIG. 1, the first wearing tool 20 and the second wearing tool 25 are respectively attached to two parts of a human body connected by joints. The position control device 15 controls the relative positions of the first wearing tool 20 and the second wearing tool 25 to assist the muscle strength of the two parts via the joint. In particular, the muscle strength assisting apparatus 10 described here is devised so that muscle strength assisting can be performed stably and effectively even in an environment where foreign matter such as dust is present.

In the illustrated example, the first mounting tool 20 is attached to the trunk via the mounting belt 11 (FIGS. 3 to 5), and the second mounting tool 25 is attached to the upper arm via a mounting part 26 described later. . The muscle force assisting device 10 assists the movement of the shoulder. Here, one joint enables multiple types of relative rotational movements about different axes. As shown in FIG. 1, the shoulder joint is bent and extended by rotating the upper arm relative to the trunk about the bending axis da, and the adduction and outer rotation rotating the upper arm relative to the trunk about the inner and outer rotation axis db. It is possible to perform a rolling motion and an internal / external rotational motion in which the upper arm rotates relative to the trunk about the internal / external rotational axis dc. The illustrated muscle strength assisting device 10 assists in holding the upper arm in a predetermined position so that the upper arm does not fall, and further assists in a bending motion that lifts the upper arm forward, as will be described later.

Further, in the illustrated example, the position control device 15 has an output shaft 76 as an output unit for driving force. The output shaft 76 is rotatable relative to the first wearing tool 20 around the first rotation axis d1. The output shaft 76 is connected to the second mounting tool 25. The first rotation axis d1 that is the rotation axis of the output shaft 76 is provided corresponding to the shoulder bending axis da. When the second mounting tool 25 rotates relative to the first mounting tool 20 about the first rotation axis d1, the upper arm can bend and extend about the shoulder joint.

The muscle force assisting device according to the present invention is not limited to the illustrated example, and assists at least one of bending motion, extension motion, adduction motion, abduction motion, internal rotation motion, and external rotation motion. Also good. Further, the muscle force assisting device according to the present invention is not limited to the illustrated example, and may assist the movement of the human body in the elbow, neck, waist, crotch, wrist and the like.

Hereinafter, each component will be described in order with reference to the illustrated example. 1 to 14 referred to below, the components shown in one drawing may be omitted in the other drawings for easy understanding. For example, a part of the configuration included in the transmission unit 35 is omitted in the drawings other than FIGS.

First, the first wearing tool 20 will be described. As shown in FIGS. 1 and 2, the first wearing tool 20 has a center frame 21 and side frames 22. The central frame 21 is provided with a belt holding portion 21a to which the mounting belt 11 (FIGS. 3 to 5) is attached. The central frame 21 is attached to the wearer's torso, particularly at a position facing the back, via the mounting belt 11. The side frame 22 extends laterally outward from the central frame 21. The side frame 22 includes a rear frame portion 22a connected to the central frame 21, and a front extension frame portion 22b extending forward from the laterally outer end of the rear frame portion 22a. The rear frame portion 22a is disposed at a position facing the shoulder from the rear. The front extending frame portion 22b is disposed at a position facing the shoulder from the lateral direction to the outside. The side frame 22 is connected to the center frame 21 so as to be relatively rotatable about the third rotation axis d3. The third rotation axis d3 is provided corresponding to the inner / outer rotation axis dc of the shoulder. When the side frame 22 rotates relative to the center frame 21 around the third rotation axis d3, it is possible to perform the internal and external rotations of the upper arm around the shoulder joint.

The illustrated muscle strength assisting device 10 that assists the movement of the shoulder is configured to act on both shoulders. Specifically, side frames 22 are provided on both sides of the central frame 21. The transmission means 35 of the position control device 15 is supported on each side frame 22. A second mounting tool 25 is provided corresponding to each side frame 22. The pair of components provided on both sides with respect to the central frame 21 have symmetry but may be configured identically in the other. Therefore, in the following description and FIGS. 3 to 13, a configuration acting on the right shoulder will be described.

In addition, terms such as “front”, “back”, “up”, “down”, and “lateral direction” used in this specification are “front”, “ It means “back”, “up”, “down” and “lateral direction”.

Next, the second wearing tool 25 will be described. FIG. 3 shows the second mounting tool 25 from the front (front). The second mounting tool 25 is connected to an output shaft 76 of the transmission means 35 described later in detail. As the output shaft 76 rotates, the second mounting tool 25 rotates about the first rotation axis d <b> 1 that is the rotation axis of the output shaft 76. The second mounting tool 25 includes a mounting portion 26 attached to the human body, an action portion 28 fixed to the output shaft 76, and a connecting portion 27 that connects the mounting portion 26 and the action portion 28. The action unit 28 receives the force generated by the drive unit 30 from the output shaft 76 that is the most downstream side (the most output side) of the transmission unit 35. The connecting part 27 connects the action part 28 and the mounting part 26 so that the mounting part 26 rotates with respect to the first mounting tool 20 as the output shaft 76 rotates with respect to the first mounting tool 20.

In the illustrated example, the mounting portion 26 is attached to the upper arm of the human body. In order to efficiently transmit the force supplied from the position control device 15 to the upper arm, the mounting portion 26 may be restricted from relative movement with the upper arm in the movement direction associated with the rotation around the first rotation axis d1. preferable. In particular, when the muscular strength assisting device assists the lifting motion (flexion motion) of the upper arm, it is preferable to effectively restrict the rearward relative movement of the upper arm with respect to the mounting portion 26. As shown in FIG. 3, the illustrated mounting portion 26 includes a belt holding portion 26 a and an arm belt 26 b that form a cylindrical portion into which the upper arm is inserted, a bracket 26 c that is connected to the connecting portion 27, and have. The belt holding part 26a and the arm belt 26b are made of, for example, a highly rigid resin molded product. In the illustrated example, the belt holding portion 26a and the arm belt 26b are integrally formed. As shown in FIGS. 4 and 5, the belt holding portion 26a is disposed at a position facing the upper arm from the rear. On the other hand, the arm belt 26b is made of a belt material having flexibility, and is disposed at a position facing the upper arm mainly from the front. By adjusting the length of the belt holding portion 26a, the mounting portion 26 can stably hold the upper arm.

Since the connecting portion 27 transmits the force supplied from the position control device 15 to the mounting portion 26, the mounting portion 26 and the action portion 28 are prevented from rotating relative to each other about the first rotation axis d1. The action part 28 is connected. That is, since the second mounting tool 25 is subjected to a rotational force about the first rotational axis d1 from the position control device 15, the rotational force from the position control device 15 is removed except for play and elastic deformation of the component itself. And the mounting portion 26 that outputs auxiliary force to the human body do not relatively move in the direction of the force input from the position control device 15, that is, in the circumferential direction around the first rotation axis d1. It is like that.

In the illustrated example, the connecting portion 27 is connected to the action portion 28 so as to be relatively rotatable with respect to the action portion 28 about a second rotation axis d2 perpendicular to the first rotation axis d1. The second rotation axis d2 is provided corresponding to the inner / outer rotation axis db of the shoulder. When the connecting portion 27 rotates relative to the action portion 28 around the second rotation axis d2, the upper arm can perform an adduction and abduction motion around the shoulder joint.

For the purpose of reducing the sense of restraint of the wearer, the connecting portion 27 is designed so that the distance between the first rotation axis d1 and the mounting portion 26 changes in the projection onto the plane orthogonal to the first rotation axis d1. The mounting part 26 and the action part 28 are preferably connected. Furthermore, for the purpose of reducing the wearer's sense of restraint, the connecting portion 27 is configured so that the second mounting tool 25 forms a mechanism having three degrees of freedom between the operating portion 28 and the mounting portion 26. And the mounting portion 26 are preferably connected. As well shown in FIG. 3, in the illustrated example, the connecting portion 27 is operatively connected to the first link 27a, a first link 27a operably connected to the working portion 28, and And a second link 27b operably connected to the mounting portion 26. According to the connecting portion 27, the operation from the action portion 28 to the mounting portion 26 can be performed with three degrees of freedom. In other words, the mounting portion 26 can perform a relative motion with three degrees of freedom with respect to the action portion 28.

In the example shown in FIGS. 3 to 5, the first link 27a and the second link 27b are connected so as to be rotatable relative to each other about the first connecting rotation axis d2a. The first connection rotation axis d2a is perpendicular to the first rotation axis d1 and is parallel to the second rotation axis d2. The second link 27b and the mounting portion 26 are connected so as to be relatively rotatable about the second coupling rotation axis d2b. The first connection rotation axis d2a is perpendicular to the first rotation axis d1 and is parallel to the second rotation axis d2.

Further, as shown in FIG. 3, in the plane orthogonal to the second rotation axis d2, the connection position of the first link 27a and the second link 27b of the connecting portion 27 (hereinafter also referred to as “intermediate connection position”) mj Is a connection position (hereinafter also referred to as “base end side connection position”) pj between the connecting portion 27 and the action portion 28 and a connection position (hereinafter referred to as “tip side connection position”) between the connecting portion 27 and the mounting portion 26. Is also always located on one side with respect to the virtual straight line vsl passing through dj. In particular, in the illustrated example, structurally, the intermediate connection position mj is always positioned on one side of the virtual straight line vsl that passes through the proximal end side connection position pj and the distal end side connection position dj. In other words, even when both ends of the connecting portion 27 are extended so as to be separated from each other, the intermediate connection position mj is not located on the virtual straight line vsl. In the illustrated example, the intermediate connection position mj is located on the same side as the output shaft 76 with respect to the virtual straight line vsl. As shown in FIG. 3, the intermediate connection position mj is located on the opposite side of the human body with the output shaft 76 across the virtual straight line vsl. According to this structure, when the connection part 27 shortens, it can avoid effectively that the intermediate part of the connection part 27 contacts a human body.

In addition, in the example shown by FIG. 3, the connection part 27 has the biasing material 27c which functions as a biasing member. The urging member 27c is disposed across the first link 27a and the second link 27b. The biasing member 27c slightly lifts the second link 27b and the mounting part 26 against the weight of the second link 27b and the mounting part 26, and as a result, as shown in FIG. 3, the first link 27a and the second link 27b is kept bent. From the state shown in FIG. 3, the connecting portion 27 can both bend so as to increase the distance between both ends and bend so as to shorten it.

However, unlike the example shown in the figure, the connecting portion 27 may be positioned on the virtual straight line vsl when it is most extended, and the intermediate connection positions mj are positioned on both sides of the virtual straight line vsl. May be possible. In such a muscle force assisting device 10, the intermediate connection position mj is the same as that on one side of the virtual straight line vsl, in particular, the output shaft 76 under the condition that the connecting portion 27 is most extended during actual use attached to the human body. It is preferable to be located on the side opposite to the human body. In this case, it is possible to effectively avoid the intermediate portion of the connecting portion 27 from coming into contact with the human body during use of the muscle force assisting device 10.

Next, the position control device 15 will be described. As described above, the position control device 15 controls the relative positions of the first wearing tool 20 and the second wearing tool 25. The position control device 15 includes a driving unit 30 held by the first mounting tool 20, a transmission unit 35 that transmits the force output from the driving unit 30 to the second mounting unit 25, and the driving unit 30 and the transmission unit 35. And a control unit 16 for controlling the operation. The control unit 16 detects, for example, a wearer's movement by a detection unit (not shown) provided in the second wearing tool 25, and based on the detection result, as another example, based on an external input from the wearer or the like, a control signal To control the operation of the drive means 30 and the transmission means 35.

First, the drive means 30 will be described. The drive unit 30 includes a so-called actuator and outputs a force to the transmission unit 35. In the illustrated example, the position control device 15 has a retractable actuator, in other words, a linear motion type actuator 31 that changes the length in the longitudinal direction. As shown in FIG. 5, the actuator 31 is connected to the transmission means 35 at one end. The actuator 31 is connected to the side frame 22 (rear frame portion 22a) of the first wearing tool 20 at the other end. A plurality of actuators 31 can be provided according to the driving force required for the driving means 30.

A member that can be expanded and contracted by fluid pressure can be used as the actuator 31. As a specific example, McKibben artificial muscle known as a hydraulic actuator can be used as the actuator 31. The actuator 31 composed of the McKibben artificial muscle is expanded and shortened by supplying a fluid (typically gas) to the inside. The actuator 31 generates a contracting force along with the shortening. In the illustrated example, the driving unit 30 includes a fluid source (fluid pressure source) 32 that can supply fluid to the actuator 31. As shown in FIG. 5, a fluid source 32 configured as, for example, a compressor is supported by the central frame 21 of the first wearing tool 20.

Next, the transmission means 35 will be described. The transmission unit 35 transmits the force output from the driving unit 30 to the second wearing tool 25. As shown in FIG. 6, the transmission means 35 described here includes a switching means 40 that switches between transmission and interruption of the force output from the drive means 30 to the second mounting tool 25. FIG. 6 is a perspective view showing the configuration of the transmission means 35 together with the actuator 31 and the second mounting tool 25. In FIG. 6, the first wearing tool 20 and the like are omitted for easy understanding.

The switching means 40 has a first member 41 and a second member 46, and functions as a drum brake mechanism 39 as will be described in detail later. The first member 41 is supported by the side frame 22 of the first mounting tool 20, particularly the rear frame portion 22a, so as to be rotatable about the first intermediate rotation axis d1a. The second member 46 is connected to one end of the actuator 31 that moves linearly. The first member 41 and the second member 46 are capable of relative contact and separation. That is, the first member 41 and the second member 46 can perform an operation of separating from each other and an operation of approaching each other. In particular, in the illustrated example, the first member 41 and the second member 46 can take a relative position separated from each other and a relative position in contact with each other. The first member 41 can rotate without being restrained by the second member 46 at a position separated from the second member 46. The second member 46 holds the rotational position of the first member 41 in a state where the second member 46 is in contact with the first member 41. In other words, the second member 46 restricts the relative operation, particularly the relative rotation, between the second member 46 and the first member 41 in a state where the second member 46 is in contact with the first member 41. In the illustrated example, the first member 41 is connected to the second mounting tool 25. Here, the connection of the first member 41 to the second mounting tool 25 means that the first member 41 is interlocked with the second mounting tool 25, and more specifically, according to the operation of the first member 41. Is meant to work. Therefore, by adjusting the relative positions of the first member 41 and the second member 46, the upper arm of the wearer can be maintained at a predetermined position via the second wearing tool 25. Further, as will be described later, by rotating the first member 41 together with the second member 46, the operation of the upper arm of the wearer can be assisted through the second wearing tool 25.

As a specific configuration of the switching unit 40 will be described later, the configuration of the transmission unit 35 other than the switching unit 40 will be described first with reference mainly to FIG. In the example shown in FIG. 6, in addition to the switching means 40, the transmission means 35 includes a first relay shaft member 71 connected to the first member 41 of the switching means 40 and a first relay shaft member 71 that is linked to the first relay shaft member 71. The second relay shaft member 73 and the output shaft 76 interlocking with the second relay shaft member 73 are provided.

The first relay shaft member 71 is held by the rear frame portion 22a that forms the side frame 22 of the first mounting tool 20. The first relay shaft member 71 is held rotatably about the first intermediate rotation axis d1a. The first member 41 is fixed to the first relay shaft member 71. Thus, the first member 41 is supported by the rear frame portion 22a of the side frame 22 and rotates around the first intermediate rotation axis d1a in synchronization with the first relay shaft member 71. A first transmission gear 72 is fixed to the first relay shaft member 71. The first transmission gear 72 is configured as a spur gear, for example.

The second relay shaft member 73 is held by the front extending frame portion 22b that forms the side frame 22 of the first mounting tool 20. The second relay shaft member 73 is held rotatably about the second intermediate rotation axis d1b. A second transmission gear 74 is fixed to the second relay shaft member 73. The second transmission gear 74 is disposed in the vicinity of one end (rear end) of the second relay shaft member 73. The second transmission gear 74 is screwed with the first transmission gear 72. Therefore, the second relay shaft member 73 is interlocked with the first relay shaft member 71. The second transmission gear 74 has a configuration corresponding to the first transmission gear 72, and is configured as a spur gear, for example. In the illustrated example, the second intermediate rotation axis d1b that is the rotation axis of the second relay shaft member 73 is parallel to the first intermediate rotation axis d1a that is the rotation axis of the first relay shaft member 71. A third transmission gear 75 is fixed near the other end (front end) of the first relay shaft member 71. The third transmission gear 75 is configured as a helical gear, for example.

The output shaft 76 is held by the front extension frame portion 22b, similarly to the second relay shaft member 73. As already described, the output shaft 76 is held rotatably about the first rotation axis d1. A fourth transmission gear 77 is fixed to the output shaft 76. The fourth transmission gear 77 is disposed in the vicinity of one end (outer end) of the output shaft 76. The fourth transmission gear 77 is screwed with the third transmission gear 75. As a result, the output shaft 76 is interlocked with the second relay shaft member 73, the first relay shaft member 71, and the first member 41 of the switching means 40. To do. The fourth transmission gear 77 has a configuration corresponding to the third transmission gear 75, and is configured as a helical gear, for example. In the illustrated example, the first rotation axis d1 that is the rotation axis of the output shaft 76 is perpendicular to the second intermediate rotation axis d1b that is the rotation axis of the second relay shaft member 73 and is shifted in the height direction. . The other end portion (inward end portion) of the output shaft 76 is fixed to the action portion 28 of the second wearing tool 25.

Next, details of the switching means 40 will be described mainly with reference to FIGS. First, the first member 41 will be described. As shown in FIG. 7, the first member 41 has a rotating drum 42 fixed to the first relay shaft member 71. The rotating drum 42 has a disc-shaped outer diameter, and the central axis of the rotating drum 42 is located on the first intermediate rotation axis d1a that is the rotation axis of the first relay shaft member 71. The rotating drum 42 is held by the rear frame portion 22 a of the side frame 22 via the first relay shaft member 71. The plate surface of the rotating drum 42 is aligned in the plane direction of the rear frame portion 22a. Therefore, the rotating drum 42 can be effectively prevented from greatly protruding from the wearer's body. The rotating drum 42 has a friction layer 42a on its surface layer. The friction layer 42a is a part that comes into contact with a second member 46 described later. The friction layer 42 a may be formed of rubber or the like that generates a larger frictional force with the second member 46.

Next, the configuration related to the second member 46 and the second member 46 will be described. As shown in FIGS. 7 to 9, the second member 46 includes a first swing member 47a and a second swing member 47b. Of these, the first swing member 47a is connected to the actuator 31 via the bracket 48b. Moreover, the switching means 40 has a pair of support body 50 formed in plate shape. The second member 46 (swing members 47a and 47b) is held by a pair of support bodies 50 so as to be operable, particularly swingable. As shown in FIG. 4, the pair of supports 50 are arranged in a direction parallel to the first intermediate rotation axis d1a, and the rotary drum 42 and the pair of swing members 47a and 47b are disposed between the pair of supports 50. positioned. The rotary drum 42 can rotate relative to the support 50 about the first intermediate rotation axis d1a. That is, the rotating drum 42 is rotatable with respect to the support body 50 between the pair of support bodies 50. In FIGS. 7 to 9 and FIGS. 10 to 13 to be described later, the support 50 on the labor side is omitted.

As shown in FIGS. 7 to 9, each of the swinging members 47a and 47b has an arcuate outer shape. Each swing member 47a, 47b is swingable with respect to the support 50 around one end portion. The swing axes of the swing members 47a and 47b are parallel to the first intermediate rotation axis d1a. In the space between the pair of supports 50, the rotating drum 42 is disposed between the pair of swing members 47a and 47b. Each swinging member 47a, 47b faces the rotating drum 42 of the first member 41 from the outside in the radial direction around the first intermediate rotation axis d1a. Many portions of the outer peripheral surface of the rotating drum 42 are covered by the pair of swinging members 47a and 47b. The swinging members 47a and 47b can come into contact with the rotating drum 42 from the outside in the radial direction around the first intermediate rotation axis d1a by swinging with respect to the support 50. That is, the first member 41 and the second member 46 form a drum brake mechanism 39. Each of the swinging members 47 a and 47 b forming the second member 46 includes an arc-shaped main body 48 and a friction body 49 that forms a second contact surface 46 a that contacts the first member 41. The friction body 49 comes into contact with the friction layer 42a of the rotary drum 42 and generates a frictional force with the friction layer 42a. The friction layer 42a is formed of a material that generates a sufficient frictional force, such as rubber.

In the illustrated example, the switching unit 40 further includes a biasing member 52 as a biasing unit that biases the swinging members 47 a and 47 b away from the rotary drum 42. The urging member 52 is disposed between the support base 51 fixed to the support body 50 and the brackets 48c of the swing members 47a and 47b. In the illustrated example, the urging member 52 is formed by a tension spring.

Furthermore, the main body 48 forming each of the swinging members 47a and 47b has a synchronous gear 48a. The synchronizing gear 48a adjusts the swinging motion of the pair of swinging members 47a and 47b. Specifically, due to the meshing of the synchronous gear 48a between the pair of swing members 47a and 47b, the pair of swing members 47a and 47b operate synchronously and symmetrically with respect to the rotating drum 42. Therefore, when the first swing member 47 a is in contact with the rotating drum 42 due to the action from the actuator 31, the second swing member 47 b is also in contact with the rotating drum 42. Further, when the first swing member 47 a is separated from the rotary drum 42 by the action of the actuator 31, the second swing member 47 b is also separated from the rotary drum 42.

By the way, in the illustrated example, the support body 50 is supported by the rear frame portion 22a that forms the side frame 22 of the first wearing tool 20. However, the support 50 is rotatable with respect to the rear frame portion 22a. Specifically, the support body 50 is rotatably held with respect to the first relay shaft member 71, and as a result, is rotatable with respect to the rear frame portion 22a. Therefore, the second member 46 supported by the support body 50, the support base 51 fixed to the support body 50, and the like are not fixed to the first mounting tool 20 and are second to the first mounting tool 20. A relative rotation is possible about one intermediate rotation axis d1a.

On the other hand, the switching means 40 further includes an adjusting means 37 for restricting free rotation of the support 50 and the second member 46. The state of the first member 41, the second member 46, and the support body 50 is controlled by the balance between the force supplied from the adjusting unit 37 and the force supplied from the driving unit 30. In the illustrated example, the adjusting means 37 is formed as a biasing member 38 that biases the support 50 and the second member 46 in one direction. One end of the urging member 38 is attached to the rear frame portion 22a of the side frame 22, and the other end is attached to the bracket 48c of the second swing member 47b. In the illustrated example, the urging member 38 is formed by a tension spring that forms urging means.

In the illustrated position control device 15, when the actuator 31 contracts from the state shown in FIG. 7, the actuator 31 pulls the first swing member 47 a forming the second member 46 as shown in FIG. 8. As a result, the pair of swinging members 47 a and 47 b abut on the rotating drum 42 forming the first member 41. In the state shown in FIG. 8, the second member 46 holds the first member 41, and relative rotation between the second member 46 and the first member 41 is restricted. At this time, the force applied from the actuator 31 is smaller than the urging force from the urging member 38 constituting the adjusting means 37. That is, the force required to swing the swinging members 47 a and 47 b forming the second member 46 with respect to the support 50 is greater than the force required to rotate the support 50 with respect to the first mounting tool 20. It is getting smaller. Therefore, before the support body 50 rotates with respect to the first mounting tool 20, the swing members 47 a and 47 b forming the second member 46 swing with respect to the support body 50.

Next, when the actuator 31 further contracts from the state shown in FIG. 8, the actuator 31 tries to draw the first swing member 47a further. When the force output from the actuator 31 becomes larger than the urging force from the urging member 38 constituting the adjusting means 37, the actuator 31 moves the support 50 against the urging force as shown in FIG. The first swinging member 47a is further pulled in by rotating with respect to the one mounting tool 20. That is, the force output from the actuator 31 is greater than the force required to rotate the support 50 with respect to the first wearing tool 20. As a result, the second member 46 rotates about the first intermediate rotation axis d1a together with the support 50 and the like. At this time, the first member 41 is in contact with the second member 46, and relative rotation with the second member 46 is restricted. Therefore, the first member 41 rotates around the first intermediate rotation axis d1a in synchronization with the second member 46.

The operation of the driving means 30 is controlled by the control unit 16. In the example shown in FIG. 1, the control unit 16 is supported by the central frame 21 of the first wearing tool 20 together with the fluid source 32. The control unit 16 controls the operation of the actuator 31 by controlling the supply of fluid (for example, air) from the fluid source 32 to the actuator 31 and the exhaust of the fluid from the actuator 31.

Next, the operation of the muscle force assisting apparatus 10 having the above configuration will be described.

As shown in FIG. 1, first, the center frame 21 of the first mounting tool 20 is attached to the trunk using the mounting belt 11. Further, the mounting portion 26 of the second mounting tool 25 is attached to the upper arm.

The illustrated muscle force assisting device 10 can be maintained in any one of the free rotation mode shown in FIG. 7, the rotation braking mode shown in FIG. 8, and the rotation drive mode shown in FIG.

First, in the free rotation mode shown in FIG. 7, the fluid in the actuator 31 is exhausted, and the actuator 31 extends. Therefore, the swinging members 47 a and 47 b of the second member 46 do not receive a force from the actuator 31 toward the rotating drum 42 that forms the first member 41. On the other hand, the swinging members 47 a and 47 b forming the second member 46 are urged by the urging member 52 in a direction away from the rotating drum 42 forming the first member 41. Therefore, in the free rotation mode, the first member 41 freely rotates around the first intermediate rotation axis d1a without being restricted by the second member 46 from rotating around the first intermediate rotation axis d1a. be able to.

Note that the second member 46 and the support member 50 that supports the second member 46 have a force that rotates in the clockwise direction in FIG. 7 due to the urging force (pulling force) from the urging member 38 that constitutes the urging member 37. is recieving. However, the force from the adjusting means 37 mainly affects the rotation of the second member 46 and the support body 50 with respect to the first wearing tool 20, and affects the swing of the second member 46 with respect to the support body 50. It is a force that is difficult to give. Therefore, in the free rotation mode, the first member 41 and the second member 46 are separated from each other.

In this free rotation mode, the second mounting tool 25 interlocked with the first member 41 can freely rotate with respect to the first mounting tool 20. Therefore, the wearer of the muscular strength assisting device 10 can freely rotate the upper arm, to which the mounting portion 26 of the second mounting tool 25 is mounted, with respect to the trunk around the first rotation axis d1. That is, the wearer can perform a bending exercise and an extension exercise without being restrained by the muscle force assisting device 10.

Next, in the rotational braking mode shown in FIG. 8, the fluid is supplied from the fluid source 32 into the actuator 31, and the actuator 31 is shortened. When the actuator 31 is shortened, the driving unit 30 acts on the first swing member 47a so as to attract the first swing member 47a. As shown in FIG. 8, the force applied from the actuator 31 to the first swing member 47 a moves the first swing member 47 a toward the rotating drum 42 that forms the first member 41. As shown in FIG. 8, the second contact surface 46a formed by the friction body 49 of the swinging members 47a and 47b is in contact with the first contact surface 41a formed by the friction layer 42a forming the outer peripheral surface of the rotating drum 42. Touch. The second member 46 holds the first member 41 by the frictional force between the friction body 49 and the friction layer 42a. As a result, the relative rotation between the second member 46 and the first member 41 is restricted, and as a result, the rotation of the rotating drum 42 and the output shaft 76 is restricted.

In this rotational braking mode, the relative rotation of the second mounting tool 25 relative to the first mounting tool 20 is restricted. For example, the muscular strength assisting device 10 can assist in maintaining the lifted upper arm at the position, and can effectively suppress the upper arm from being lowered. Although the second member 46 is connected to the adjusting unit 37 and the driving unit 30, it is rotatable with respect to the first wearing tool 20. Therefore, the wearer can further lift the upper arm by rotating the support body 50 against the urging force of the adjusting means 37 from the state shown in FIG.

In the rotational drive mode shown in FIG. 9, fluid is further supplied into the actuator 31 from the fluid source 32, and the actuator 31 is further shortened. As the actuator 31 is further shortened, the driving unit 30 further draws the first swing member 47a. The force applied from the actuator 31 to the swing member 47a further rotates the support 50 against the biasing force of the adjusting means 37 in a state where the first swing member 47a is in contact with the rotating drum 42. The second member 46 is rotated together with the first member 41 about the first intermediate rotation axis d1a. In FIG. 9, the second member 46 and the first member 41 are rotated counterclockwise in synchronization with the second member 46 and the first member 41 being restricted in relative rotation.

In this rotational drive mode, the second mounting tool 25 is driven to rotate relative to the first mounting tool 20 as the first member 41 rotates. In other words, the muscle force assisting device 10 assists in lifting the upper arm, for example.

Note that when the rotation drive mode is ended, the driving unit 30 releases the driving force for rotating the second mounting tool 25 relative to the first mounting tool 20. At this time, the driving unit 30 may maintain the supply of the driving force for restricting the relative rotation between the first member 41 and the second member 46. That is, after the rotation drive mode is ended, the mode may be shifted to the rotation braking mode instead of the free rotation mode.

By the way, as mentioned in the section of the prior art, the muscle force assisting device can be used even in an environment with a lot of dust. When foreign matter such as dust enters the switching means of the muscular strength assisting device, slipping occurs in the switching means, and there is a possibility that the muscular strength assisting force is not effectively transmitted. In order to deal with such a problem, the muscle force assisting apparatus 10 described here performs the first to third devices described below with reference mainly to FIGS. 10 to 14. The following devices are omitted in FIGS. 1 to 9.

First, as a first device, as shown in FIG. 10, the muscular strength assisting device 10 further includes a casing 80 that houses the switching means 40. The casing 80 comes into contact with the portion of the first member 41 forming the first contact surface 41 a that comes into contact with the second member 46 and the first member 41 of the second member 46. A portion forming the second contact surface 46a is accommodated, preferably sealed. Since the first contact surface 41a and the second contact surface 46a are accommodated in the casing 80, the possibility that the contact surfaces 41a and 46a are exposed to foreign matter or the like can be significantly reduced. Thereby, the slip between the 1st member 41 and the 2nd member 46 which contact | abutted can be suppressed effectively.

In the illustrated example, in the casing 80, in addition to the first member 41 and the second member 46, a pair of support bodies 50, a support base 51, a biasing member 52, and a first relay shaft member 71 are accommodated. Yes. However, the bracket 48b of the first swing member 47a and the bracket 48c of the second swing member 47b forming the second member 46 are connected via the opening 80a for connection to the driving means 30 and the adjusting means 37, respectively. It extends partially out of the casing 80. The opening 80a is preferably hermetically sealed using packing or the like. Although illustration is omitted, although the first relay shaft member 71 also penetrates the casing 80, it is preferable that the portion through which the first relay shaft member 71 penetrates is also hermetically sealed.

Next, as a second contrivance, the muscular strength assisting device 10 further includes pressure adjusting means 83 for maintaining the inside of the casing 80 at a positive pressure. By maintaining the casing 80 at a positive pressure, it is possible to effectively prevent foreign matter from entering the casing 80. As a result, it is possible to effectively prevent foreign matter from adhering to the first contact surface 41a of the first member 41 and the second contact surface 46a of the second member 46, and the first member 41 and the second member that are in contact with each other. The slip between 46 can be effectively suppressed.

In the example shown in FIG. 10, the pressure adjusting means 83 has an air supply pipe 84, an exhaust pipe 85, and a pressure adjustment valve 86. The air supply pipe 84 communicates with the inside of the casing 80 via an air supply port 80 b formed in the casing 80, and supplies gas into the casing 80. The exhaust pipe 85 communicates with the inside of the casing 80 through an exhaust port 80 c formed in the casing 80, and discharges the gas in the casing 80. The pressure adjustment valve 86 is a valve that adjusts the pressure in the casing 80, and includes, for example, a relief valve. In the illustrated example, the pressure adjustment valve 86 is attached to the air supply pipe 84. The pressure adjustment valve 86 controls the supply of gas using the air supply pipe 84 so that the pressure in the casing 80 becomes a predetermined value or less. In the illustrated example, the air supply pipe 84 is provided with a filter 87 and a dryer 88. The filter 87 removes foreign matters from the gas supplied into the casing 80. The dryer 88 dries the gas supplied into the casing 80 and prevents condensation from occurring in the casing 80. Further, a desiccant may be provided in the casing 80 in addition to the dryer 88 or in place of the dryer 88.

Note that the air supply pipe 84 communicates with a gas source such as a compressor or a pressure tank. The gas source that supplies the gas to the air supply pipe 84 may be the fluid source 32 of the driving unit 30 described above, or may be a utility such as a factory in which the muscle force assisting device 10 is used.

FIG. 12 shows a modified example of the pressure adjusting means 83. The example shown in FIG. 12 is different from the example shown in FIG. 10 in the position of the air supply port 80b, and may be configured identically in other respects. As in the example shown in FIG. 12, the distance from the air supply port 80 b to the contact position where the first member 41 and the second member 46 contact in the casing 80 is shorter than the distance from the exhaust port 80 c to the contact position. May be. In the example shown in FIG. 12, the space between the first contact surface 41a of the first member 41 and the second contact surface 46a of the second member 46 is along a direction parallel to the first intermediate rotation axis d1a. The air supply port 80b is disposed at a position facing the other. On the other hand, the exhaust port 80c is spaced apart from the first contact surface 41a and the second contact surface 46a, as in the example shown in FIG. Therefore, in the example shown in FIG. 12, the distance from the air supply port 80b to the contact position where the first member 41 and the second member 46 contact in the casing 80 is greater than the distance from the exhaust port 80c to the contact position. Is also shorter. In the illustrated example, the relative contact and separation between the first member 41 and the second member 46 are realized by the swinging operation of the second member 46. Therefore, the “contact position where the first member 41 and the second member 46 contact within the casing 80” is a position on the first contact surface 41 a of the first member 41.

It is expected that foreign matter mixed in the casing 80 moves in the casing 80 by supplying air into the casing 80. At this time, if the distance from the air supply port 80b to the contact position is short, it becomes easy to remove foreign substances adhering to the first member 41 and the second member 46. Furthermore, if the distance from the air supply port 80b to the contact position is shorter than the distance from the exhaust port 80c to the contact position, it is effective that the removed foreign matter adheres to the first member 41 and the second member 46 again. Can be prevented.

Further, FIG. 13 shows another modification of the pressure adjusting means 83. The example shown in FIG. 13 is different from the example shown in FIGS. 10 and 12 in the position of the air supply port 80b, and may be configured the same in other respects. As shown in FIGS. 12 and 13, at least one of the first contact surface 41 a that contacts the second member 46 of the first member 41 and the second contact surface 46 a that contacts the first member 41 of the second member 46. Thus, gas may be ejected from the air supply port 80b.

In the example shown in FIG. 12, as already described, the first intermediate rotation axis with respect to the space between the first contact surface 41 a of the first member 41 and the second contact surface 46 a of the second member 46. An air supply port 80b is disposed at a position facing the direction parallel to d1a. Therefore, in the example shown in FIG. 12, both the first contact surface 41 a that contacts the second member 46 of the first member 41 and the second contact surface 46 a that contacts the first member 41 of the second member 46. Thus, gas is ejected from the air supply port 80b. Further, in the example shown in FIG. 13, the air supply pipe (air supply flow path) 84 extends in the main body 48 of the swinging members 47 a and 47 b forming the second member 46 in the casing 80. The mouth 80 b is open to the second contact surface 46 a of the second member 46. The air supply port 80 b is disposed so as to face the first contact surface 41 a of the first member 41. Therefore, in the example shown in FIG. 13, gas is ejected from the air supply port 80 b toward the first contact surface 41 a that contacts the second member 46 of the first member 41.

As described above, by ejecting the gas from the air supply port 80 b toward at least one of the first contact surface 41 a and the second contact surface 46 a, the first contact surface 41 a and the second member 46 of the first member 41. It is possible to effectively prevent foreign matter from adhering to the second contact surface 46a. In addition, foreign matters attached to the first contact surface 41a of the first member 41 and the second contact surface 46a of the second member 46 can be effectively removed. In this respect, the pressure adjusting means 83 also functions as a removing mechanism 55 described below.

As a third contrivance, at least one of the first contact surface 41 a that contacts the second member 46 of the first member 41 and the second contact surface 46 a that contacts the first member 41 of the second member 46 is used in the muscle strength assisting device 10. A removal mechanism 55 is provided for removing foreign substances adhering to the contact surface. By positively removing foreign matter from the contact surfaces 41a and 46a, slippage between the first member 41 and the second member 46 that are in contact with each other can be effectively suppressed.

In the example shown in FIGS. 10 and 11, the swing members 47 a and 47 b forming the second member 46 are in addition to the above-described friction body 49 that can contact the first member 41, and the first member than the friction body 49. It has the protrusion part 56 protruded toward 41st 1st contact surface 41a. As shown in FIG. 11, the friction body 49 comes into contact with the first contact surface 41 a of the first member 41 when the protruding portion 56 is deformed or displaced. In the example shown in FIGS. 10 and 11, the second contact surface 46 a that contacts the first member 41 of the second member 46 is formed by the surfaces of the friction body 49 and the protruding portion 56. FIG. 10 shows a state in which the first member 41 and the second member 46 approach each other from a state where they are completely separated from each other, and the first contact surface 41a and the second contact surface 46a start to contact each other. The protrusion 56 is intended to contact the first contact surface 41a prior to the friction body 49, and thereby remove foreign matter attached to the first contact surface 41a. That is, in the example shown in FIGS. 10 and 11, the protrusion 56 constitutes the removal mechanism 55.

In the state where the first member 41 is relatively moved so as to be separated from the second member 46, that is, in the free rotation mode, the second member 46 including the protruding portion 56 is completely separated from the first member 41. Alternatively, the protruding portion 56 of the first member 41 may be in contact with the first member 41 only at the tip, for example. In a state where only the protruding portion 56 is in contact with the first member 41, in particular, in a state where only the easily deformable tip of the protruding portion 56 is in contact with the first member 41, it is between the first member 41 and the second member 46. And no big friction force is generated. Accordingly, the foreign matter can be removed by cleaning the first contact surface 41a of the first member 41 without giving a great sense of restraint to the wearer during the free rotation mode.

In the example shown in FIGS. 10 and 11, the material forming the friction body 49 is selected from materials that can generate a high frictional force with the first contact surface 41a, for example, rubber without considering foreign matter. be able to. That is, the friction coefficient of the material forming the friction body 49 with respect to the material forming the first contact surface 41a in contact with the second member 46 of the first member 41 is the friction coefficient of the material forming the protruding portion 56 against the material forming the first contact surface 41a. It can be much larger than the coefficient. In addition, a friction coefficient can be measured based on JISK7215.

On the other hand, the material forming the protruding portion 56 can be selected from materials that can exhibit excellent removal performance against foreign substances expected to adhere to the first contact surface 41a. For example, when the foreign matter adhering to the first contact surface 41a is dust or the like, the protruding portion 56 can be configured from a woven fabric, a nonwoven fabric (including felt), a sponge, or the like. In this case, the protrusion 56 not only has excellent removal performance, but also easily deforms, so that the contact between the friction body 49 and the first member 41 can be stably secured. Moreover, when the foreign material adhering to the 1st contact surface 41a is sludge etc., the protrusion part 56 can be comprised from a brush, especially a metal brush. Since the brush can exhibit excellent removal performance against foreign matters stuck to the first contact surface 41a and is structurally easily deformed, the contact between the friction body 49 and the first member 41 is stably secured. You can also

Here, FIGS. 14 (a) to 14 (f) are views showing the second contact surface 46a of the second member 46 developed on a flat surface, and the protrusion 56 on the second contact surface 46a. The arrangement is illustrated. As shown in FIGS. 14A to 14F, the arrangement, shape, ratio, and the like of the protrusions 56 on the second contact surface 46a can be adjusted as appropriate.

Note that the contact between the friction body 49 and the first member 41 may be ensured by the deformation of the protruding portion 56, particularly the elastic deformation of the protruding portion 56, but as in the example shown in FIGS. 10 and 11. In addition, the switching unit 40 may further include a biasing body 57 that biases the protruding portion 56 toward the first member 41. The urging body 57 may be more easily deformed than the friction body 49 and the protruding portion 56 such as a spring or an elastic body. When the removal mechanism 55 includes the urging body 57, the urging body 57 is first deformed by pressing the first member 41 and the second member 46 toward each other with a certain force or more, and the friction body. 49 and the first contact surface 41a can be stably secured. In addition, since the protruding portion 56 can be stably brought into contact with the first contact surface 41a by the biasing force of the biasing body 57, the foreign matter removal by the protruding portion 56 is effectively performed. Moreover, since the protrusion part 56 does not need to deform | transform, the freedom degree of material selection increases and it can also be made highly rigid. Also from this point, the foreign substance removal performance by the protrusion part 56 can be improved.

Further, in order to more effectively remove foreign matter by the protrusion 56, the protrusion 56 may hold the cleaning liquid. For example, the cleaning liquid may be immersed in the protruding portion 56 made of a woven fabric or a non-woven fabric. The cleaning liquid can be appropriately selected according to the foreign matter to be removed. As a specific example, highly volatile oil or the like can be used.

Furthermore, as in the example shown in FIGS. 10 and 11, the switching means 40 may have a cleaning liquid supply means 60 for supplying a cleaning liquid to the protrusion 56. Since the removal mechanism 55 includes the cleaning liquid supply means 60, the protruding portion 56 can stably hold the cleaning liquid, thereby further improving the foreign matter removal performance. In the illustrated example, the cleaning liquid supply means 60 includes a cleaning liquid source 61 and a cleaning liquid channel 62. The cleaning liquid channel 62 communicates with the protrusion 56. Further, a discharge means such as a pump may be installed on the cleaning liquid flow path 62 so as to positively supply the cleaning liquid to the protruding portion 56.

Note that the removal mechanism 55 is not limited to the example shown in FIGS. 10 and 11. The removal mechanism 55 causes fluid to flow toward at least one of the first contact surface 41 a that contacts the second member 46 of the first member 41 and the second contact surface 46 a that contacts the first member 41 of the second member 46. You may comprise as a means to eject. As already mentioned, the pressure adjusting means 83 described with reference to FIGS. 12 and 13 can function as an example of such a removal mechanism 55.

In the present embodiment, the muscle force assisting device 10 is driven by a first wearing device 20 attached to one side of two parts of a human body connected by a joint, and output from the driving unit 30. Switching means 40 for switching transmission and blocking of the generated force to the second mounting tool 25 attached to the other side of the two parts, and a casing 80 for housing at least a part of the switching means 40. ing. In such a muscle force assisting device 10, it is possible to effectively prevent foreign matter from entering the switching means 40 by the casing 80 regardless of the environment in which the muscle force assisting device 10 is used. Therefore, regardless of the environment in which the muscle force assisting device 10 is used, the muscle force assisting device 10 effectively assists the muscle strength, for example, the second wearing tool 25 is set to a predetermined relative position with respect to the first wearing tool 20. It can hold | maintain stably in a position and can assist effectively the operation | movement with respect to the 1st mounting tool 20 of the 2nd mounting tool 25. FIG.

In the present embodiment, the muscle force assisting device 10 is driven by a first wearing device 20 attached to one side of two parts of a human body connected by a joint, and output from the driving unit 30. Switching means 40 for switching between transmission and interruption of the generated force to the second mounting tool 25 attached to the other of the two parts. Here, the switching unit 40 includes a first member 41 coupled to the second mounting tool 25 and a second member 46 that is connected to the driving unit 30 and is capable of relative contact with and separation from the first member 41. Yes. The muscular strength assisting device 10 is applied to at least one of the first contact surface 41 a that contacts the second member 46 of the first member 41 and the second contact surface 46 a that contacts the first member 41 of the second member 46. A removal mechanism 55 is provided for removing foreign matter adhering to the surface. By removing foreign matter adhering to the first contact surface 41a or the second contact surface 46a using the removal mechanism 55, when the first member 41 and the second member 46 approach each other, the first member 41 and the second member A high frictional force can be generated between the member 46 and the member 46. Thereby, regardless of the environment in which the muscle force assisting device 10 is used, the muscle force assisting device 10 effectively assists the muscle strength, for example, the second wearing tool 25 is fixed to the first wearing tool 20 in a predetermined manner. It is possible to stably hold the relative position and to effectively assist the operation of the second mounting tool 25 with respect to the first mounting tool 20.

In the present embodiment, the removal mechanism 55 is provided on at least one of the contact surface 41 a that contacts the second member 46 of the first member 41 and the second contact surface 46 a that contacts the first member 41 of the second member 46. The fluid is spouted out. Such a removal mechanism 55 can be configured simply and inexpensively. Further, when the removal mechanism 55 ejects gas, the removal mechanism 55 also functions as a pressure adjusting unit 83 that maintains the inside of the casing 80 at a positive pressure. Therefore, foreign matter can be effectively prevented from entering the casing 80 that houses the switching means 40 regardless of the environment in which the muscle strength assisting device 10 is used. Thereby, the force output from the drive means 40 can be stably transmitted from the first member 41 to the second member 46.

In the present embodiment, the muscle force assisting device 10 is driven by a first wearing device 20 attached to one side of two parts of a human body connected by a joint, and output from the driving unit 30. Switching means 40 for switching between transmission and interruption of the generated force to the second mounting tool 25 attached to the other side of the two parts. The switching unit 40 includes a first member 41 coupled to the second mounting tool 25, and a second member 46 that is connected to the driving unit 30 and that can be moved toward and away from the first member 41. The second member 46 includes a friction body 49 that can contact the first member 41, and a protrusion 56 that protrudes toward the first member 41 from the friction body 49. The friction body 49 comes into contact with the first member 41 when the first member 41 is deformed or displaced. According to this embodiment, when the first member 41 and the second member 46 come into contact with each other from the separated state, first, the protruding portion 56 of the second member 46 comes into contact with the first member 41. Therefore, even if foreign matter or the like is present on the first contact surface 41a of the first member 41, the protruding portion 56 of the second member 46 can scrape or wipe off the foreign matter. That is, the protrusion 56 can clean the first contact surface 41 a of the first member 41. Here, the material of the projecting portion 56 can be selected without restriction of ensuring the frictional force with the first contact surface 41 a of the first member 41. For example, when the protrusion 56 is made of a material that is more easily deformed than the friction body 49, the protrusion 56 is deformed corresponding to the shape of the first contact surface 41 a of the first member 41, and the foreign matter is collected more effectively. can do. Therefore, when the protrusion 56 is deformed and the friction body 49 comes into contact with the first contact surface 41a, a foreign object is interposed between the friction body 49 and the first member 41, and the first member 41 and the second member It is possible to effectively prevent slippage from occurring between the two and 46. Here, the material of the friction body 49 mainly considers that high friction is generated with the first contact surface 41a without considering the type of foreign matter that can adhere to the first contact surface 41a of the first member 41, Can be determined. Thereby, regardless of the environment in which the muscle force assisting device 10 is used, the muscle force assisting device 10 effectively assists the muscle strength, for example, the second wearing tool 25 is fixed to the first wearing tool 20 in a predetermined manner. It is possible to stably hold the relative position and to effectively assist the operation of the second mounting tool 25 with respect to the first mounting tool 20.

In the present embodiment, the protruding portion 56 may be any one of a woven fabric, a non-woven fabric, a felt, a sponge, and a brush. According to such an example, foreign matters on the first contact surface 41a of the first member 41, for example, dust, oil, sludge and the like can be effectively removed. Further, such a protruding portion 56 can be easily deformed by the contact between the first member 41 and the second member 46, and thereby stable surface contact between the friction body 49 and the first contact surface 41a. Can be secured.

Furthermore, in the present embodiment, the material of the friction body 49 of the first member 41 can be selected regardless of foreign matter that may adhere to the first contact surface 41a of the first member 41. Therefore, the friction coefficient of the material forming the friction body 49 with respect to the material forming the first contact surface 41a that contacts the second member 46 of the first member 41 is the same as that of the material forming the protrusion 56 with respect to the material forming the first contact surface 41a. It can be larger than the friction coefficient. Thereby, a sufficient frictional force between the first member 41 and the second member 46 can be secured, and the force output from the driving means 30 is stabilized from the first member 41 to the second member 46. Can be communicated.

In the present embodiment, the protrusion 56 may hold a cleaning liquid. According to this example, the protrusions 56 can more effectively remove foreign matters on the first contact surface 41a.

In the present embodiment, the switching means 40 may further include a cleaning liquid supply means 60 that supplies a cleaning liquid to the protrusion 56. By using the cleaning liquid supply means 60, it is possible to more effectively remove foreign matter on the first contact surface 41a by the protrusion 56.

In the present embodiment, the switching means 40 may further include a biasing body 57 that biases the protruding portion 56 toward the first member 41. By using the urging body 57, the protruding portion 56 stably comes into contact with the first contact surface 41a, whereby the foreign matter on the first contact surface 41a can be more effectively removed by the protruding portion 56. . Further, by adjusting the urging force of the urging body 57, when the first member 41 and the second member 46 approach each other, the protruding portion 56 moves backward, and the friction body 49 and the first contact surface 41a Can be stably secured. Thereby, the force output from the drive means 30 can be stably transmitted from the first member 41 to the second member 46.

In the present embodiment, the muscular strength assisting device 10 further includes a pressure adjusting means 83 that maintains the inside of the casing 80 at a positive pressure. Therefore, foreign matter can be effectively prevented from entering the casing 80 that houses the switching means 40 regardless of the environment in which the muscle strength assisting device 10 is used. Thereby, generation | occurrence | production of the slip by a foreign material adhering to the switching means 40 can be suppressed, and muscular strength can be assisted more effectively by the muscular strength assisting device 10.

Further, in the present embodiment, the pressure adjusting means 83 communicates with the casing 80 and supplies an air supply pipe 84 that supplies gas into the casing 80; an exhaust pipe 85 that communicates with the casing 80 and discharges gas within the casing 80; And a pressure regulating valve 86 that controls the internal pressure of the casing 80. Therefore, such a pressure adjusting means 83 can be configured simply and inexpensively.

Further, in the present embodiment, the pressure adjusting means 83 further includes a filter 87 for removing foreign matter from the gas supplied into the casing 80, and a dryer for drying the gas supplied into the casing 80. You may make it have. Moreover, you may arrange | position a desiccant in a casing. According to these examples, it is possible to effectively prevent foreign matters and moisture from entering the casing.

Furthermore, in the present embodiment, the casing 80 is provided with an air supply port 80b for supplying gas and an exhaust port 80c for discharging gas. The switching unit 40 includes a first member 41 coupled to the second mounting tool 25, and a second member 46 that is connected to the driving unit 30 and is capable of relative contact with and separation from the first member 41. The distance from the air supply port 80b to the contact position where the first member 41 and the second member 46 contact in the casing 80 may be shorter than the distance from the exhaust port to the contact position. According to this example, the foreign matter mixed in the casing 80 becomes difficult to adhere to the first member 41 and the second member 46, and can be easily discharged from the exhaust port 80c. Accordingly, it is possible to suppress the occurrence of slipping due to foreign matters adhering to the first member 41 and the second member 46 and to assist the muscle strength more effectively by the muscle strength assisting device 10.

Further, in the present embodiment, the casing 80 is provided with an air supply port 80b for supplying gas. The switching unit 40 includes a first member 41 coupled to the second mounting tool 25, and a second member 46 that is connected to the driving unit 30 and is capable of relative contact with and separation from the first member 41. Gas blows out from the air supply port 80b toward at least one of the first contact surface 41a that contacts the second member 46 of the first member 41 and the second contact surface 46a that contacts the first member 41 of the second member 46. You may be made to do. According to these examples, the foreign matter mixed in the casing 80 becomes difficult to adhere to the first contact surface 41a or the second contact surface 46a, and adheres to the first contact surface 41a or the second contact surface 46a. The foreign matter can be effectively removed from the contact surface. Therefore, the muscular strength can be assisted more effectively by the muscular strength assisting device 10 by suppressing slippage due to foreign matters adhering to the first member 41 and the second member 46. Such an air supply port 80 b is also advantageous in that it constitutes the removal mechanism 55.

In the present embodiment, the first member 41 and the second member 46 are held so that the first member 41 and the second member 46 can rotate relative to the first mounting tool 20. The driving means 30 includes an actuator 31 that performs a linear motion. 31 is connected to the first wearing tool 20 and the second member 46. Then, when the actuator 31 performs a linear motion, the second member 46 comes into contact with the first member 41 from a separated state, and relative rotation between the first member 41 and the second member 46 is restricted. Further, the actuator 31 further continues the linear motion in a state where the relative rotation of the first member 41 and the second member 46 is restricted, so that the first member 41 and the second member 46 are moved to the first wearing tool 20. Rotate against. According to this embodiment, by driving the second member 46 of the switching means 40 with the common actuator 31, the first member 41 and the second mounting tool 25 are stationary with respect to the first mounting tool 20. In addition, it is possible to perform both the first member 41 and the second mounting tool 25 with respect to the first mounting tool 20. Therefore, the number of parts of the muscular strength assisting device 10 can be reduced.

In the present embodiment, the first member 41 is held so as to be relatively rotatable with respect to the first wearing tool 20, and the second member 46 is first from the radial direction around the rotation axis d 1 a of the first member 41. Contact with the member 41 is possible. In such a switching means 40, as in the case of a drum brake or the like, there is a possibility that slipping may occur when the first member 41 and the second member 46 are in contact with each other due to the entry of foreign matter such as slight dust. Therefore, the casing 80, the positive pressure adjusting unit 83, the removing mechanism 55, and the like described above are suitable for the switching unit 40 having such a configuration.

As mentioned above, although this invention was demonstrated based on one embodiment which illustrates, this invention is not limited to these embodiment, In addition, it can implement in a various aspect. Hereinafter, an example of modification will be described. In the following description, for parts that can be configured in the same manner as in the above-described embodiment, the same reference numerals as those used for the corresponding parts in the above-described embodiment are used, and redundant description is omitted.

In the above-described embodiment, the specific configuration of the switching unit 40 has been described, but the above-described configuration is merely an example. In the above-described embodiment, the second member 46 constitutes the drum brake mechanism 39 together with the first member 41, and the swinging members 47 a and 47 b of the second member 46 are arranged in the radial direction with respect to the rotary drum 42 constituting the first member 41. Although the example which contact | abuts from the outer side was shown, it is not restricted to this example, The rotating drum 42 is formed in a cylinder shape, The 1st member 41 arrange | positioned inside the rotating drum 42 is the radial direction inner side to the rotating drum 42. The relative rotation between the first member 41 and the second member 46 may be restricted by abutting. Further, the switching means 40 may be configured as a ratchet mechanism and rotated by the driving force from the driving means 30 together with the first member 41 in a state where relative rotation with the first member 41 is restricted.

Further, in the above-described embodiment, the example in which the driving unit 30 of the muscle force assisting apparatus 10 has the fluid source 32 for driving the actuator 31 is shown, but the present invention is not limited to this example. As a fluid source for driving, a utility such as a factory in which the muscle force assisting device 10 is used may be used.

Furthermore, although the specific configuration of the driving unit 30 has been described in the above-described embodiment, the above-described configuration is merely an example. In the above-described embodiment, the driving unit 30 applies a force for attracting the second member 46 to the second member 46 (first swinging member 47a), thereby bringing the second member 46 into contact with the first member 41. The example to make it was shown, but it is not limited to this. The driving means 30 may apply the force for pushing the second member 46 to the second member 46 (first swinging member 47 a) so that the second member 46 is brought into contact with the first member 41. In the first place, the actuator is not limited to the driving unit 30 having the actuator 31, and various actuators can be used as the driving unit 30.

Further, in the above-described embodiment, the example in which the relative contact / separation of the first member 41 and the second member 46 is realized by the swinging operation of the second member 46 is shown. However, the embodiment is limited to this example. Absent. For example, relative contact and separation between the first member 41 and the second member 46 may be realized by the second member 46 performing an operation other than swinging. In addition, the first member 41 may be operated in place of the second member 46 so that the first member 41 and the second member 46 can be relatively connected to or separated from each other, or the second member 46 and the first member 46 can be realized. The relative contact / separation of the first member 41 and the second member 46 may be realized by operating both of the members 41.

Further, in the above-described embodiment, the muscle force assisting device 10 has shown an example in which only the operation of lifting the arm upward in the rotational drive mode and not assisting the operation of lowering the arm is not limited to this example. The operation of lowering the arm may be assisted. For example, in the above-described embodiment, the example in which the adjustment member 37 configured as the urging member 38 is provided between the second member 46 and the first wearing tool 20 has been described. Instead of the adjustment means 37 as the biasing member 38, the adjustment means 37 as an auxiliary actuator can be used. According to this modification, depending on the magnitude of the force from the driving means 30 acting on the second member 46 and the magnitude of the force from the auxiliary actuator acting on the second member 46, the second member 46 is The position at which the first member 41 and the first mounting tool 20 are stationary can be controlled with a higher degree of freedom. That is, the position where the second mounting tool 25 is fixed to the first mounting tool 20 can be adjusted with a higher degree of freedom. It is also possible to assist in lowering the upper arm.

Furthermore, in the above-described embodiment, the example in which the end of the adjusting unit 37 is attached to the bracket 48c of the second swing member 47b is shown, but the present invention is not limited to this example. The end of the adjusting unit 37 may be attached to the support 50 or the support base 51.

Furthermore, in the above-described embodiment, it has been proposed that the first to third devices are applied to the muscle strength assisting device 10 in order to cope with a problem when foreign matter such as dust enters the switching means 40. However, it is not necessary that all of the first to third devices are applied to the muscle force assisting apparatus 10, and at least a problem is caused by applying any one or more of the first to third devices to the muscle force assisting device 10. Can be reduced.

In addition, although the some modification with respect to one Embodiment mentioned above has been demonstrated above, naturally, it is also possible to apply combining several modifications suitably.

Claims (22)

Driving means held by a first wearing tool attached to one side of two parts of a human body connected by a joint;
Switching means for switching between transmission and interruption of the force output from the driving means to the second mounting tool attached to the other side of the two parts,
The switching means includes a first member coupled to the second mounting tool, and a second member that is connected to the driving means and is capable of relative contact with and separation from the first member,
The second member includes a friction body that can contact the first member, and a protruding portion that protrudes toward the first member from the friction body,
The said friction body is a muscular strength auxiliary apparatus which contacts the said 1st member because the said protrusion part deform | transforms or displaces. The muscle strength assisting device according to claim 1, wherein the protruding portion is any one of a woven fabric, a non-woven fabric, a felt, a sponge, and a brush. The friction coefficient of the material forming the friction body with respect to the material forming the surface in contact with the second member of the first member is the protrusion of the material forming the surface in contact with the second member of the first member. The muscle force assisting device according to claim 1, wherein the muscle strength assisting device is larger than a friction coefficient of the material. The muscle strength assisting device according to claim 1, wherein the protruding portion holds a cleaning liquid. The muscle force assisting device according to claim 1, wherein the switching means further includes a cleaning liquid supply means for supplying a cleaning liquid to the protruding portion. The muscle force assisting device according to claim 1, wherein the switching means further includes a biasing body that biases the protruding portion toward the first member. Driving means held by a first wearing tool attached to one side of two parts of a human body connected by a joint;
Switching means for switching between transmission and interruption of the force output from the driving means to the second mounting tool attached to the other side of the two parts,
The switching means includes a first member coupled to the second mounting tool, and a second member that is connected to the driving means and is capable of relative contact with and separation from the first member,
A removal mechanism is provided for removing foreign matter adhering to the surface from at least one of the contact surface of the first member that contacts the second member and the contact surface of the second member that contacts the first member. A muscle strength assist device. The removal mechanism ejects fluid toward at least one of a contact surface of the first member that contacts the second member and a contact surface of the second member that contacts the first member. The muscular strength assisting device according to 1. The muscular strength assisting device according to claim 1, further comprising a casing that houses the first member and the second member. The muscle force assisting device according to claim 9, further comprising pressure adjusting means for maintaining the inside of the casing at a positive pressure. The casing is provided with an air supply port for supplying gas and an exhaust port for discharging gas,
The muscle strength assist according to claim 9, wherein a distance from the air supply port to a contact position where the first member and the second member are in contact with each other in the casing is shorter than a distance from the exhaust port to the contact position. apparatus. The casing is provided with an air supply port for supplying gas,
The gas is ejected from the air supply port toward at least one of a surface of the first member that contacts the second member and a surface of the second member that contacts the first member. Muscle strength assist device. The first member is held so as to be rotatable relative to the first wearing tool,
The driving means includes an actuator that is connected to the first wearing tool and the second member and performs a linear motion,
The actuator according to any one of claims 1 to 12, wherein when the actuator performs a linear motion, the second member comes into contact with the first member, and relative rotation between the first member and the second member is restricted. The muscle force assisting device according to claim 1. The second member is held so as to be rotatable relative to the first wearing tool,
When the relative rotation of the first member and the second member is restricted, the actuator further continues the linear motion, so that the first member and the second member are moved relative to the first wearing tool. The muscular strength assisting device according to claim 13, which rotates. The first member is held so as to be rotatable relative to the first wearing tool,
The muscle force assisting device according to any one of claims 1 to 14, wherein the second member is capable of contacting the first member from a radial direction centering on a rotation axis of the first member. . Driving means held by a first wearing tool attached to one side of two parts of a human body connected by a joint;
Switching means for switching between transmission and interruption of the force output from the driving means to the second wearing tool attached to the other side of the two parts;
A muscular strength holding device comprising: a casing that houses at least a part of the switching means. The muscle force assisting apparatus according to claim 16, further comprising pressure adjusting means for maintaining the inside of the casing at a positive pressure. The casing is provided with an air supply port for supplying gas and an exhaust port for discharging gas,
The switching means includes a first member coupled to the second mounting tool, and a second member that is connected to the driving means and is capable of relative contact with and separation from the first member,
The muscular strength according to claim 16, wherein a distance from the air supply port to a contact position where the first member and the second member contact in the casing is shorter than a distance from the exhaust port to the contact position. Auxiliary device. The casing is provided with an air supply port for supplying gas,
The switching means includes a first member coupled to the second mounting tool, and a second member that is connected to the driving means and is capable of relative contact with and separation from the first member,
The gas is ejected from the air supply port toward at least one of a surface of the first member that contacts the second member and a surface of the second member that contacts the first member. Muscle strength assist device. The switching means includes a first member coupled to the second mounting tool, and a second member that is connected to the driving means and is capable of relative contact with and separation from the first member,
The first member is held so as to be rotatable relative to the first wearing tool,
The driving means includes an actuator that is connected to the first wearing tool and the second member and performs a linear motion,
The muscular strength according to claim 16, wherein when the actuator performs a linear motion, the second member comes into contact with the first member, and relative rotation between the first member and the second member is restricted. Auxiliary device. The second member is held so as to be rotatable relative to the first wearing tool,
When the relative rotation of the first member and the second member is restricted, the actuator further continues the linear motion, so that the first member is moved together with the second member with respect to the first wearing tool. The muscular strength assisting device according to claim 20, wherein the muscular strength assisting device rotates. The switching means includes a first member coupled to the second mounting tool, and a second member that is connected to the driving means and is capable of relative contact with and separation from the first member,
The first member is held so as to be rotatable relative to the first wearing tool,
The muscle force assisting device according to claim 16, wherein the second member is capable of contacting the first member from a radial direction centering on a rotation axis of the first member.

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