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WO2018193817A1 - Outil de travail auxiliaire - Google Patents

Outil de travail auxiliaire Download PDF

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Publication number
WO2018193817A1
WO2018193817A1 PCT/JP2018/013963 JP2018013963W WO2018193817A1 WO 2018193817 A1 WO2018193817 A1 WO 2018193817A1 JP 2018013963 W JP2018013963 W JP 2018013963W WO 2018193817 A1 WO2018193817 A1 WO 2018193817A1
Authority
WO
WIPO (PCT)
Prior art keywords
actuator
signal
power
arm
tool
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/JP2018/013963
Other languages
English (en)
Japanese (ja)
Inventor
瀛 楊
祐児 牧
亮 梅本
邦久 嶋
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Makita Corp
Original Assignee
Makita Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Makita Corp filed Critical Makita Corp
Priority to JP2019513534A priority Critical patent/JP6839758B2/ja
Publication of WO2018193817A1 publication Critical patent/WO2018193817A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for

Definitions

  • the present invention relates to a work auxiliary tool.
  • Patent Document 1 a work assisting tool that supports a worker's work has been proposed.
  • the work assisting tool is attached to the worker and assists the worker's muscle strength.
  • the actuator When the actuator is provided in the work auxiliary tool, if the timing at which the actuator is started is different from the timing intended by the worker, the worker may feel uncomfortable. For example, when driving of the actuator is started based on the detection result of the worker's motion or the detection result of the biological signal of the worker, the worker is likely to feel uncomfortable.
  • An object of an aspect of the present invention is to provide a work auxiliary tool that can drive an actuator at a timing intended by an operator.
  • At least a part of a main body member that is mounted on the operator's back an arm member that is connected to the main body member so as to be relatively movable, and supported by the arm member, the operator's Control that outputs a control signal for controlling the actuator based on a holding member that holds at least a part of the arm, an actuator that generates power for moving the arm member, and a work start signal for starting work of the power tool And a work aid comprising the apparatus.
  • a work auxiliary tool that can drive the actuator at a timing intended by the worker is provided.
  • FIG. 1 is a perspective view illustrating an example of a work assisting tool according to the first embodiment.
  • FIG. 2 is a rear view illustrating an example of a work assisting tool according to the first embodiment.
  • FIG. 3 is a side view showing an example of a work assisting tool according to the first embodiment.
  • FIG. 4 is a top view illustrating an example of a work assisting tool according to the first embodiment.
  • FIG. 5 is a block diagram illustrating an example of a hardware configuration of each of the work auxiliary tool and the electric tool according to the first embodiment.
  • FIG. 6 is a functional block diagram illustrating an example of the arithmetic processing device according to the first embodiment.
  • FIG. 7 is a flowchart illustrating an example of a compressor control method according to the first embodiment.
  • FIG. 8 is a flowchart illustrating an example of a method for controlling the actuator according to the first embodiment.
  • FIG. 9 is a timing chart showing control signals according to the first embodiment.
  • FIG. 10 is a diagram illustrating an example of a hardware configuration of each of the work assisting tool and the power tool according to the second embodiment.
  • FIG. 11 is a functional block diagram illustrating an example of an arithmetic processing device according to the second embodiment.
  • FIG. 12 is a flowchart illustrating an example of an actuator control method according to the second embodiment.
  • FIG. 13 is a flowchart illustrating an example of an actuator control method according to the second embodiment.
  • FIG. 14 is a timing chart showing control signals according to other embodiments related to the first embodiment and the second embodiment.
  • FIG. 15 is a schematic diagram for explaining the operation amount of the trigger switch and the timing at which each of the motor and the actuator starts driving according to another embodiment related to the first embodiment and the second embodiment.
  • FIG. 16 is a perspective view showing an example of a work assisting tool according to the third embodiment.
  • FIG. 17 is a perspective view illustrating an example of a work assisting tool according to the third embodiment.
  • FIG. 18 is a cross-sectional view showing a work auxiliary tool according to the third embodiment.
  • FIG. 19 is a cross-sectional view showing a part of the work assisting tool according to the third embodiment.
  • FIG. 20 is a cross-sectional view showing a solenoid mechanism according to the third embodiment.
  • FIG. 21 is a plan view showing a solenoid mechanism according to the third embodiment.
  • FIG. 22 is a cross-sectional view showing a solenoid mechanism according to the third embodiment.
  • FIG. 23 is a cross-sectional view showing a solenoid mechanism according to the third embodiment.
  • FIG. 24 is a cross-sectional view showing a solenoid mechanism according to the third embodiment.
  • FIG. 25 is a cross-sectional view showing a solenoid mechanism according to the third embodiment.
  • FIG. 26 is a cross-sectional view showing a part of the spring power mechanism according to the third embodiment.
  • FIG. 27 is a front view showing a spring power mechanism according to the third embodiment.
  • FIG. 28 is a cross-sectional view showing a spring power mechanism according to the third embodiment.
  • FIG. 29 is a cross-sectional view showing a spring power mechanism according to the third embodiment.
  • FIG. 30 is a sectional view showing a spring power mechanism according to the third embodiment.
  • FIG. 31 is a cross-sectional view showing a spring power mechanism according to the third embodiment.
  • FIG. 32 is a schematic diagram illustrating the operation of the power mechanism according to the third embodiment.
  • FIG. 33 is a diagram illustrating an example of the operation device according to the third embodiment.
  • FIG. 34 is a diagram illustrating an electric tool and a work auxiliary tool according to the third embodiment.
  • FIG. 35 is a perspective view showing a battery according to the third embodiment.
  • FIG. 36 is a perspective view showing a first relay member according to the third embodiment.
  • FIG. 37 is a perspective view showing a second relay member according to the third embodiment.
  • FIG. 38 is a block diagram illustrating a hardware configuration of each of the work assisting tool and the power tool according to the third embodiment.
  • FIG. 39 is a functional block diagram illustrating an example of an arithmetic processing device according to the third embodiment.
  • FIG. 40 is a flowchart illustrating an example of an actuator control method according to the third embodiment.
  • FIG. 41 is a diagram illustrating a power tool and a work auxiliary tool according to the fourth embodiment.
  • FIG. 42 is a block diagram illustrating a hardware configuration of each of the work assisting tool and the power tool according to the fourth embodiment.
  • FIG. 43 is a functional block diagram illustrating an example of an arithmetic processing device according to the fourth embodiment.
  • FIG. 44 is a flowchart illustrating an example of an actuator control method according to the fourth embodiment.
  • FIG. 45 is a perspective view illustrating an example of a work assisting tool according to the fifth embodiment.
  • FIG. 46 is a diagram illustrating the power tool and the work assisting tool according to the fifth embodiment.
  • FIG. 47 is a perspective view showing a relay member according to the fifth embodiment.
  • FIG. 48 is a block diagram illustrating a hardware configuration of each of the work assisting tool and the power tool according to the fifth embodiment.
  • FIG. 49 is a functional block diagram illustrating an example of an arithmetic processing device according to the fifth embodiment.
  • FIG. 50 is a diagram for explaining a communication method by the wireless communication device according to the fifth embodiment.
  • FIG. 51 is a diagram for explaining a communication method by the wireless communication device according to the fifth embodiment.
  • FIG. 52 is a block diagram illustrating the hardware configuration of each of the work assisting tool and the electric tool according to the sixth embodiment.
  • an XYZ orthogonal coordinate system is set, and the positional relationship of each part will be described with reference to the XYZ orthogonal coordinate system.
  • a direction parallel to the X axis in the predetermined plane is defined as an X axis direction.
  • a direction parallel to the Y axis in a predetermined plane orthogonal to the X axis is taken as a Y axis direction.
  • a direction parallel to the Z axis perpendicular to the predetermined plane is taken as a Z axis direction.
  • the predetermined surface is appropriately referred to as an XY plane, and the XY plane and the horizontal plane are parallel.
  • the X-axis direction is the left-right direction.
  • the Y-axis direction is the front-rear direction.
  • the Z-axis direction is the vertical direction.
  • the + X direction is the right direction.
  • the -X direction is the left direction.
  • the + Y direction is the forward direction.
  • the ⁇ Y direction is the backward direction.
  • the + Z direction is the upward direction.
  • the ⁇ Z direction is the downward direction.
  • FIG. 1 is a perspective view showing an example of a work assisting tool 1 according to the present embodiment.
  • FIG. 2 is a rear view showing an example of the work assisting tool 1 according to the present embodiment.
  • FIG. 3 is a side view showing an example of the work assisting tool 1 according to the present embodiment.
  • FIG. 4 is a top view illustrating an example of the work assisting tool 1 according to the present embodiment.
  • the work auxiliary tool 1 is connected at least partially to a main body member 2 that is mounted on the back of the worker WM, and the main body member 2 so as to be relatively movable.
  • the arm member 3 is supported by the arm member 3 via the moving mechanism 50 and is held by the main body member 2 to hold at least a part of the arm of the worker WM, and the arm member 3 is moved.
  • an actuator 5 for generating power is provided.
  • the work assisting tool 1 is supported by the main body member 2 and compresses the air.
  • the main body member 2 supports the main body member 2 and temporarily stores the compressed air supplied from the compressor 6.
  • a pressure control mechanism 8 that adjusts the pressure of compressed air supplied from the compressor 6 via the tank 7, a connector 10 that is supported by the main body member 2 and to which the battery 9 is detachably mounted, and a main body member 2 is provided.
  • the holding member 4 holds at least a part of the right arm of the worker WM.
  • the electric tool KD is supported on the right arm held by the holding member 4.
  • the worker WM performs the work while holding the electric tool KD with the right hand.
  • the main body member 2 is attached to the back of the worker WM by the harness HS.
  • the harness HS includes a shoulder belt HSa attached to the shoulder of the worker WM and a waist belt HSb attached to the waist of the worker WM.
  • the body member 2 includes a first mounting member 21 that is mounted on the back of the worker WM, a second mounting member 22 that is mounted on the waist of the worker WM, and a first plate that is provided above the first mounting member 21. It has the member 23, the 2nd plate member 24 provided in the lower part of the 1st mounting member 21, and the support
  • the first mounting member 21 is a plate-like member.
  • the first mounting member 21 is in contact with the back of the worker WM.
  • a member different from the first mounting member 21 may be disposed between the first mounting member 21 and the worker WM.
  • a cushion member may be disposed between the first mounting member 21 and the worker WM.
  • the second mounting member 22 is a curved plate-like member. The second mounting member 22 is connected to the lower part of the first mounting member 21. The second mounting member 22 contacts each of the left and right waists of the worker WM.
  • Each of the first plate member 23 and the second plate member 24 is a plate-like member that is long in the left-right direction.
  • the first plate member 23 and the second plate member 24 are arranged in the vertical direction.
  • the first plate member 23 and the second plate member 24 face each other with a gap.
  • the first plate member 23 and the second plate member 24 are disposed substantially in parallel.
  • the strut member 25 is a rod-shaped member that is long in the vertical direction.
  • the support member 25 is disposed between the first plate member 23 and the second plate member 24.
  • the upper end portion of the column member 25 is fixed to the guide member 17 connected to the first plate member 23.
  • the first plate member 23 is fixed to the guide member 17.
  • the lower end portion of the column member 25 is fixed to the center portion of the second plate member 24.
  • the first plate member 23, the second plate member 24, and the support member 25 are each made of metal. Note that at least one of the first plate member 23, the second plate member 24, and the support member 25 may be made of a synthetic resin or a composite material.
  • the composite material may be a fiber composite material such as CFRP (Carbon Fiber Reinforced Plastics) or GFRP (Glass Fiber Reinforced Plastics), or may be a material obtained by bonding different materials.
  • the arm member 3 includes a first arm member 31 that supports the holding member 4, and a second arm member 32 that is coupled to each of the main body member 2 and the first arm member 31.
  • the first arm member 31 is coupled to the second arm member 32 so as to be rotatable about the first rotation axis AX1.
  • the second arm member 32 is coupled to the main body member 2 so as to be rotatable about a second rotation axis AX2 extending in a direction different from the first rotation axis AX1.
  • the first rotation axis AX1 is substantially parallel to the XY plane.
  • the second rotation axis AX2 is substantially orthogonal to the XY plane.
  • the first arm member 31 has a proximal end portion 31B and a distal end portion 31T.
  • the second arm member 32 has a first end 32T and a second end 32B.
  • the distal end portion 31T of the first arm member 31 is disposed outside the proximal end portion 31B in the radial direction of the first rotation axis AX1.
  • the base end portion 31B of the first arm member 31 and the first end portion 32T of the second arm member 32 are connected via the first joint mechanism 13.
  • the second arm member 32 and the main body member 2 are connected via the second joint mechanism 14.
  • the first arm member 31 is a metal rod-shaped member.
  • the first arm member 31 may be a synthetic resin member or a sheet metal covered with a synthetic resin.
  • the first arm member 31 is a straight member.
  • the first arm member 31 may not be a straight member. For example, at least a part of the first arm member 31 may be curved.
  • the second arm member 32 includes a first member 321 connected to the first joint mechanism 13 and a second member 322 connected to each of the first member 321 and the second joint mechanism 14.
  • the first end 32T is disposed on the first member 321.
  • the second end portion 32 ⁇ / b> B is disposed on the second member 322.
  • the first member 321 and the second member 322 are fixed.
  • the first member 321 is connected to the first arm member 31 via the first joint mechanism 13.
  • the first member 321 is a metal rod-shaped member.
  • the first member 321 is a straight member.
  • the first member 321 is parallel to the first arm member 31 in the XY plane.
  • the second member 322 is connected to the main body member 2 via the second joint mechanism 14.
  • the second member 322 is a metal rod-shaped member.
  • the second member 322 is a straight member.
  • the second member 322 is orthogonal to the first member 321 in the XY plane.
  • the second member 322 is fixed to the central portion of the first member 321 in the longitudinal direction.
  • a connection portion 32 ⁇ / b> C between the first member 321 and the second member 322 is provided at the center of the first member 321 in the longitudinal direction of the first member 321.
  • the position of the connecting portion 32C can be adjusted according to the physique of the worker WM, for example.
  • first member 321 and the second member 322 may be a synthetic resin member or a composite material as described above. Note that at least a part of the first member 321 may be curved. Note that at least a part of the second member 322 may be curved. Note that the first member 321 and the second member 322 may not be orthogonal to each other. The first member 321 and the second member 322 may be separate members or a single member.
  • the first joint mechanism 13 supports the first arm member 31 and the second arm member 32 so as to be relatively rotatable about the first central axis AX1.
  • the proximal end portion 31 ⁇ / b> B of the first arm member 31 is connected to the first joint mechanism 13.
  • the first end 32 ⁇ / b> T of the second arm member 32 is connected to the first joint mechanism 13.
  • the first arm member 31 is supported by the second arm member 32 via the first joint mechanism 13 so as to be rotatable about the first rotation axis AX1.
  • the first joint mechanism 13 includes a pulley 15 connected to the proximal end portion 31 ⁇ / b> B of the first arm member 31.
  • the first joint mechanism 13 includes a rolling bearing.
  • the first joint mechanism 13 includes an outer ring provided on one of the first arm member 31 and the second arm member 32, an inner ring provided on the other of the first arm member 31 and the second arm member 32, and an outer ring and an inner ring. Rolling elements provided therebetween.
  • the rolling bearing of the first joint mechanism 13 may be a ball bearing, a roller bearing such as a needle bearing, or a plain bearing.
  • the first joint mechanism 13 supports the first arm member 31 so that the tip 31T of the first arm member 31 turns in a direction parallel to the first surface orthogonal to the first rotation axis AX1.
  • the XY plane is parallel to the horizontal plane
  • the first rotation axis AX1 is substantially parallel to the XY plane.
  • the first surface is orthogonal to the XY plane.
  • the first joint mechanism 13 supports the first arm member 31 so as to be rotatable about the first rotation axis AX1 so that the distal end portion 31T of the first arm member 31 pivots in the vertical direction.
  • the second joint mechanism 14 supports the second arm member 32 and the main body member 2 so as to be relatively rotatable about the second central axis AX2.
  • the second end portion 32 ⁇ / b> B of the second arm member 32 is connected to the second joint mechanism 14.
  • the second arm member 32 is supported by the main body member 2 via the second joint mechanism 14 so as to be rotatable about the second rotation axis AX2.
  • the second joint mechanism 14 includes a rolling bearing.
  • the second joint mechanism 14 includes an inner ring provided in the main body member 2, an outer ring provided in the second arm member 32, and a rolling element provided between the outer ring and the inner ring.
  • the rolling bearing of the second joint mechanism 14 may be a ball bearing, a roller bearing such as a needle bearing, or a plain bearing.
  • the second joint mechanism 14 supports the second arm member 32 so that the first end portion 32T of the second arm member 32 turns in a direction parallel to the second surface orthogonal to the first surface.
  • the first surface is orthogonal to the XY plane.
  • the second surface is parallel to the XY plane.
  • the second joint mechanism 14 supports the second arm member 32 so as to be rotatable about the second rotation axis AX2 so that the first end portion 32T of the second arm member 32 rotates in the horizontal direction.
  • the second joint mechanism 14 includes a housing member 16 connected to the second end 32B of the second arm member 32.
  • the housing member 16 holds the outer ring of the rolling bearing of the second joint mechanism 14.
  • the housing member 16 rotates together with the outer ring of the rolling bearing of the second joint mechanism 14.
  • the second end portion 32 ⁇ / b> B of the second arm member 32 is fixed to the housing member 16.
  • the second joint mechanism 14 is provided at the upper end of the main body member 2.
  • the second joint mechanism 14 is supported by a guide member 17 connected to the first plate member 23.
  • the guide member 17 guides the second joint mechanism 14 in the left-right direction.
  • the guide member 17 has a guide groove 17G that guides the second joint mechanism 14.
  • the guide groove 17G extends in the left-right direction.
  • the work auxiliary tool 1 can adjust the position of the second joint mechanism 14 in the left-right direction.
  • the second joint mechanism 14 is fixed to the guide member 17 by a fixing member such as a bolt. When the fixing by the fixing member is released, the second joint mechanism 14 is movable in the left-right direction while being guided by the guide member 17. When the second joint mechanism 14 moves in the left-right direction, each of the second arm member 32, the first joint mechanism 13, the first arm member 31, and the holding member 4 moves in the left-right direction together with the second joint mechanism 14. To do. Adjustment of the position of the second joint mechanism 14 in the left-right direction includes adjustment of the positions of the second arm member 32, the first joint mechanism 13, the first arm member 31, and the holding member 4 in the left-right direction. For example, the second joint mechanism 14 is fixed at an arbitrary position in the left-right direction of the guide member 17 according to the physique of the worker WM.
  • the guide member 17 may be omitted, and a guide groove for guiding the second joint mechanism 14 may be provided in the first plate member 23.
  • the distance between the second rotation axis AX2 and the first rotation axis AX1 is longer than the distance between the second rotation axis AX2 and the connection portion 32C.
  • the first rotation axis AX1 and the first arm member 31 are disposed outside the second arm member 32 in the radial direction of the second rotation axis AX2.
  • the first rotation axis AX1 is disposed in front of the second rotation axis AX2.
  • the first rotation axis AX1 is disposed on the right side of the second rotation axis AX2.
  • the holding member 4 is a plate-like member on which at least a part of the arm of the worker WM is placed.
  • the upper arm of the worker WM is placed on the holding member 4.
  • the elbow of the worker WM may be placed on the holding member 4, or the forearm may be placed on the holding member 4.
  • the holding member 4 is movably supported by the first arm member 31.
  • the holding member 4 is movable in the longitudinal direction of the first arm member 31. In the longitudinal direction of the first arm member 31, the size of the holding member 4 is smaller than the size of the first arm member 31.
  • the holding member 4 is manufactured by bending a metal plate member.
  • the holding member 4 includes a flat plate portion 41 having a placement surface on which at least a part of the arm of the worker WM is placed, and a first side plate portion 42 disposed next to one of the flat plate portions 41 via a bent portion. And a second side plate portion 43 disposed next to the other side of the flat plate portion 41 via the bent portion.
  • the distance between the first side plate portion 42 and the second side plate portion 43 increases as the distance from the flat plate portion 41 increases in the normal direction of the mounting surface of the flat plate portion 41.
  • the angle formed by the mounting surface of the flat plate portion 41 and the inner side surface of the first side plate portion 42 is greater than 90 [°].
  • the angle formed by the mounting surface of the flat plate portion 41 and the inner side surface of the second side plate portion 43 is larger than 90 [°].
  • the angle formed by the mounting surface of the flat plate portion 41 and the inner side surface of the first side plate portion 42 may be 90 [°].
  • the angle formed by the mounting surface of the flat plate portion 41 and the inner side surface of the second side plate portion 43 may be 90 [°].
  • the first side plate portion 42 is disposed on the right side of the flat plate portion 41.
  • the second side plate portion 43 is disposed on the left side of the flat plate portion 41.
  • the mounting surface of the flat plate portion 41 is a flat surface.
  • the inner side surface of the first side plate portion 42 is a flat surface connected to the right end portion of the mounting surface of the flat plate portion 41.
  • the inner side surface of the first side plate portion 42 is inclined upward toward the right.
  • the inner side surface of the second side plate portion 43 is a flat surface connected to the left end portion of the mounting surface of the flat plate portion 41. In a state where the flat plate portion 41 is arranged in parallel with the XY plane, the inner side surface of the second side plate portion 43 is inclined upward toward the left.
  • the worker WM can place the arm on the holding member 4 from above the holding member 4.
  • the arm placed on the holding member 4 and the holding member 4 may be fixed by, for example, a harness.
  • the mounting surface of the holding member 4 may include a curved surface.
  • the holding member 4 may be made of a synthetic resin or a composite material as described above.
  • the holding member 4 does not have to be a plate-like member.
  • the holding member 4 may be manufactured by combining a plurality of members.
  • the holding member 4 should just have the site
  • a cushion material may be disposed at a portion that contacts the arm of the worker WM.
  • the moving mechanism 50 is provided between the first arm member 31 and the holding member 4 and supports the holding member 4 so as to be movable relative to the first rotation axis AX1.
  • the holding member 4 is movably supported by the first arm member 31 via the moving mechanism 50.
  • the moving mechanism 50 supports the holding member 4 so that the first rotation axis AX1 and the holding member 4 move relative to each other.
  • the moving mechanism 50 movably supports the holding member 4 in the first arm member 31 and adjusts the relative position between the first rotation axis AX1 and the holding member 4.
  • the relative position between the first rotation axis AX1 and the holding member 4 includes the relative distance between the first rotation axis AX1 and the holding member 4 in the longitudinal direction of the first arm member 31.
  • the moving mechanism 50 includes a linear guide mechanism having a linear bearing.
  • the moving mechanism 50 includes a guide member 51 provided on the first arm member 31 and a movable member 52 connected to the holding member 4 and guided by the guide member 51.
  • the guide member 51 is a straight rail member provided on the upper surface of the first arm member 31. Note that at least a part of the guide member 51 may be curved.
  • the movable member 52 can slide the guide member 51.
  • the moving mechanism 50 includes a linear ball bearing in which a ball is disposed between the guide member 51 and the movable member 52.
  • the moving mechanism 50 may include a linear roller bearing in which a roller is disposed between the guide member 51 and the movable member 52.
  • the moving mechanism 50 may include a linear plane bearing. Linear plain bearings are less expensive than linear ball bearings and linear roller bearings.
  • the at least part of the holding member 4 and the movable member 52 are fixed.
  • the first side plate portion 42 of the holding member 4 and the movable member 52 are fixed.
  • the holding member 4 is disposed on the left side of the first arm member 31, and the left end portion of the holding member 4 and the movable member 52 are fixed. Is done.
  • the holding member 4 moves in the longitudinal direction of the first arm member 31.
  • the relative position between the first rotation axis AX1 and the holding member 4 changes.
  • the actuator 5 generates power for moving the arm member 3.
  • the actuator 5 is an air actuator that generates power based on the compressed air supplied from the pressure control mechanism 8.
  • Actuator 5 generates a force that pivots tip 31T of first arm member 31 upward.
  • the force generated by the actuator 5 is transmitted to the first joint mechanism 13 via the transmission mechanism 60.
  • the transmission mechanism 60 includes a wire member 61 connected to the pulley 15 of the first joint mechanism 13.
  • the actuator 5 includes an artificial muscle which is a kind of air actuator.
  • the artificial muscle is formed by a flexible member that can be expanded and contracted.
  • the actuator 5 has an internal space to which compressed air is supplied.
  • the actuator 5 extends in the Z-axis direction. By supplying compressed air to the internal space of the actuator 5, the actuator 5 contracts. As the compressed air is discharged from the internal space, the actuator 5 extends. When compressed air is supplied to the internal space of the actuator 5, the actuator 5 generates power.
  • the upper end portion of the actuator 5 is connected to the wire member 61 via the connecting member 62.
  • the upper end portion of the actuator 5 is connected to the pulley 15 of the first joint mechanism 13 via the wire member 61.
  • One end of the wire member 61 is fixed to the connecting member 62.
  • the other end of the wire member 61 is fixed to the pulley 15 of the first joint mechanism 13.
  • the lower end portion of the actuator 5 is connected to the second plate member 24 via the connecting member 63.
  • the pulley 15 is fixed to the proximal end portion 31 ⁇ / b> B of the first arm member 31.
  • the pulley 15 rotates together with the first arm member 31.
  • the second arm member 32 has a support member 64 that supports an outer cable disposed around the wire member 61.
  • the support member 64 is provided on the side surface of the first member 321 of the second arm member 32.
  • the support member 64 suppresses the wire member 61 from drooping or unexpectedly moving. Further, since the outer cable is supported by the support member 64, the movement of the outer cable is suppressed, and the wire member 61 is prevented from being detached from the pulley 15. Thereby, the force generated by the actuator 5 is sufficiently transmitted to the first joint mechanism 13 via the wire member 61.
  • the upper end portion of the actuator 5 is fixed to the wire member 61 via the connecting member 62.
  • the lower end portion of the actuator 5 is fixed to the second plate member 24 via the connecting member 63.
  • the actuator 5 expands and contracts in the vertical direction.
  • the connecting member 62 moves in the vertical direction in synchronization with the expansion and contraction of the actuator 5.
  • the distal end portion 31T of the first arm member 31 rotates in the vertical direction in synchronization with the movement of the connecting member 62.
  • the connecting member 62 moves upward.
  • the first arm member 31 and the pulley 15 rotate so that the tip end portion 31T of the first arm member 31 turns downward.
  • the actuator 5 When compressed air is supplied to the internal space of the actuator 5 and the pressure in the internal space of the actuator 5 increases to a pressure higher than the atmospheric pressure, the actuator 5 powers to turn the tip portion 31T of the first arm member 31 upward. Is generated. When compressed air is discharged from the internal space of the actuator 5 and the pressure in the internal space of the actuator 5 is reduced to a pressure equal to the atmospheric pressure, the actuator 5 does not generate power.
  • the first end 31 ⁇ / b> T of the first arm member 31 is turned downward by, for example, the gravitational action due to the weight of the arm.
  • An external force acts on the one arm member 31.
  • the actuator 5 extends, and the tip portion 31T of the first arm member 31 acts by gravity as indicated by an arrow Rd.
  • the worker WM can lower the arm by discharging the compressed air from the internal space of the actuator 5 in a state where the arm of the worker WM is placed on the holding member 4.
  • the actuator 5 contracts, and the tip portion 31T of the first arm member 31 turns upward as indicated by an arrow Ru.
  • the compressed air is supplied to the internal space of the actuator 5 in a state where the arm of the worker WM is placed on the holding member 4, so that the worker WM is assisted by the work auxiliary tool 1. Can be raised. Since the arm of the worker WM is moved upward by the force generated by the actuator 5, the muscle strength of the arm is assisted and the physical burden on the worker WM is reduced.
  • the holding member 4 holding the arm is supported by the moving mechanism 50 so as to be relatively movable with respect to the first rotation axis AX1.
  • the holding member 4 that holds the arm moves the first arm member 31 so as to approach the first rotation axis AX1. Move in the longitudinal direction.
  • the holding member 4 holding the arm moves in the longitudinal direction of the first arm member 31 so as to be separated from the first rotation axis AX1.
  • the holding member 4 is arranged at the position PVa in the longitudinal direction of the first arm member 31.
  • the holding member 4 is disposed at the position PVb in the longitudinal direction of the first arm member 31.
  • the distance between the position PVa and the first rotation axis AX1 is shorter than the distance between the position PVb and the first rotation axis AX1.
  • the position PVb is a position closer to the distal end portion 31T of the first arm member 31 than the position PVa.
  • the position PVa is a position closer to the base end portion 31B of the first arm member 31 than the position PVb.
  • the holding member 4 holding the arm is supported by the moving mechanism 50 so as to be relatively movable with respect to the first rotation axis AX1.
  • the holding member 4 that holds the arm moves in the longitudinal direction of the first arm member 31 so as to approach the first rotation axis AX1. Moving.
  • the holding member 4 holding the arm moves in the longitudinal direction of the first arm member 31 so as to be separated from the first rotation axis AX1.
  • the holding member 4 is disposed at the position PSa in the longitudinal direction of the first arm member 31.
  • the holding member 4 When the worker WM moves the arm diagonally forward, the holding member 4 is disposed at the position PSb in the longitudinal direction of the first arm member 31. When the worker WM moves the arm forward, the holding member 4 is disposed at the position PSc in the longitudinal direction of the first arm member 31.
  • the distance between the position PSa and the first rotation axis AX1 is the distance between the position PSb and the first rotation axis AX1, and the distance between the position PSc and the first rotation axis AX1. Shorter than.
  • the distance between the position PSb and the first rotation axis AX1 is shorter than the distance between the position PSc and the first rotation axis AX1.
  • the position PSc is the position closest to the tip 31T of the first arm member 31.
  • the position PSb is a position close to the distal end portion 31T of the first arm member 31 next to the position PSc.
  • the position PSa is a position closest to the base end portion 31B of the first arm member 31.
  • the battery 9 is a rechargeable battery.
  • the battery 9 is detachably attached to the connector 10.
  • the battery 9 supplies power to the compressor 6 while being attached to the connector 10. Further, the battery 9 supplies power to the control device 11 while being attached to the connector 10. When charging the battery 9, the battery 9 is removed from the connector 10.
  • the battery 9 is an electric tool battery that can be attached to the electric tool KD.
  • the battery 9 is detachably attached to a connector 10D provided on the electric tool KD.
  • the work auxiliary tool 1 can also use the battery 9 as the electric power tool KD.
  • the battery 9 can be attached to each of the connector 10 provided in the work auxiliary tool 1 and the connector 10D provided in the electric tool KD.
  • FIG. 5 is a block diagram showing an example of the hardware configuration of each of the work assisting tool 1 and the power tool KD according to the present embodiment.
  • the work auxiliary tool 1 adjusts the pressure of the compressor 6 that compresses air, the tank 7 that temporarily stores the compressed air supplied from the compressor 6, and the pressure of the compressed air supplied from the compressor 6.
  • the work auxiliary tool 1 includes a pressure sensor 71 (first pressure sensor) for detecting the pressure of the compressed air supplied from the compressor 6 and an electromagnetic valve 81.
  • the compressor 6, the tank 7, the pressure control mechanism 8, and the actuator 5 are connected through a flow path 12 through which compressed air can flow.
  • the compressed air supplied to the actuator 5 flows through the flow path 12.
  • the compressed air generated by the compressor 6 is supplied to the actuator 5 via the flow path 12.
  • the flow path 12 connects the flow path 12A connecting the compressor 6 and the tank 7, the flow path 12B connecting the tank 7 and the pressure control mechanism 8, and the pressure control mechanism 8 and the actuator 5.
  • a flow path 12C is a flow path 12C.
  • the compressor 6 is a rechargeable compressor.
  • the compressor 6 is portable.
  • the compressor 6 sucks and compresses the air around the work aid 1.
  • the compressor 6 supplies compressed air to the tank 7.
  • the compressed air generated by the compressor 6 is supplied to the tank 7 via the flow path 12A.
  • the tank 7 is provided in the flow path 12 between the compressor 6 and the pressure control mechanism 8.
  • the tank 7 temporarily stores the compressed air supplied from the compressor 6.
  • compressed air is supplied from the compressor 6 to the tank 7 until the pressure of the compressed air in the tank 7 is increased to a specified pressure. After the pressure of the compressed air in the tank 7 reaches the specified pressure, the compressed air is released from the tank 7 and supplied to the pressure control mechanism 8. After the compressed air is discharged from the tank 7 and the pressure of the compressed air in the tank 7 decreases, the compressed air is supplied from the compressor 6 to the tank 7.
  • the pressure sensor 71 is provided in the flow path 12A between the compressor 6 and the tank 7.
  • the pressure sensor 71 detects the pressure of the compressed air supplied from the compressor 6 to the tank 7 in the flow path 12A.
  • the flow path 12 ⁇ / b> A is connected to the tank 7.
  • the pressure of the compressed air in the flow path 12A and the pressure of the compressed air in the tank 7 are substantially equal.
  • the pressure sensor 71 detects the pressure of the compressed air in the tank 7 by detecting the pressure of the compressed air in the flow path 12A.
  • the electromagnetic valve 81 is provided in the flow path 12 through which the compressed air supplied to the actuator 5 flows.
  • the electromagnetic valve 81 is provided in the flow path 12 ⁇ / b> B between the tank 7 and the pressure control mechanism 8. Compressed air is supplied to the actuator 5 when the solenoid valve 81 is first operated. Compressed air is discharged from the actuator 5 when the solenoid valve 81 is operated in a second operation different from the first operation.
  • the solenoid valve 81 is a three-way solenoid valve.
  • the electromagnetic valve 81 When the electromagnetic valve 81 is operated for the first time, the compressed air stored in the tank 7 is supplied to the actuator 5 via the flow path 12B and the pressure control mechanism 8.
  • the electromagnetic valve 81 When the electromagnetic valve 81 is operated for the second time, the supply of compressed air from the tank 7 to the actuator 5 is stopped, and the compressed air of the actuator 5 is discharged to the external space via the electromagnetic valve 81.
  • the pressure control mechanism 8 adjusts the pressure of the compressed air supplied from the tank 7.
  • the pressure control mechanism 8 includes a pressure regulator that reduces the pressure of the compressed air.
  • the compressed air whose pressure is adjusted by the pressure control mechanism 8 is supplied to the actuator 5 via the flow path 12C.
  • the pressure control mechanism 8 has an input device including an operation dial operated by the worker WM.
  • the worker WM operates the input device and designates a target value of the pressure of the compressed air supplied from the pressure control mechanism 8 to the actuator 5.
  • the pressure control mechanism 8 adjusts the pressure of the compressed air supplied from the pressure control mechanism 8 to the actuator 5 according to the specified target value of pressure.
  • the battery 9 attached to the work auxiliary tool 1 supplies power to at least the compressor 6, the control device 11, the pressure sensor 71, and the electromagnetic valve 81.
  • the control device 11 includes an arithmetic processing device 90 including a processor such as a CPU (Central Processing Unit), an electromagnetic valve 81, a DC / DC converter 111 that supplies electric power to the electromagnetic valve 81, and an insulating unit 112.
  • the control device 11 includes a control board supported by the main body member 2.
  • the control device 11 acquires a detection signal from the pressure sensor 71.
  • the control device 11 outputs a control signal for controlling the compressor 6 and a control signal for controlling the electromagnetic valve 81.
  • control device 11 outputs a control signal for controlling the actuator 5 based on a work start signal related to the work start of the electric tool KD.
  • the work start signal includes a first operation signal generated when an operation device 100 (trigger switch 100A) of the electric power tool KD described later is operated in the first operation state.
  • control signal for controlling the actuator 5 output from the control device 11 includes an activation signal for activating the actuator 5.
  • the control device 11 outputs an activation signal that activates the actuator 5 in conjunction with the start of work of the electric power tool KD.
  • control device 11 outputs a control signal for controlling the actuator 5 based on a work end signal related to the work end of the power tool KD.
  • the work end signal includes a second operation signal generated by operating the operation device 100 (trigger switch 100A) of the electric power tool KD described later in the second operation state.
  • control signal for controlling the actuator 5 output from the control device 11 includes a stop signal for stopping the actuator 5.
  • the control device 11 outputs a stop signal for stopping the actuator 5 in conjunction with the end of the work of the electric power tool KD.
  • the electric tool KD includes an arithmetic processing device 200 including a processor such as a CPU, a motor 210, a motor driver 220 for driving the motor 210, and an operating device 100 operated by a worker WM.
  • a processor such as a CPU
  • a motor 210 for driving the motor 210
  • a motor driver 220 for driving the motor 210
  • an operating device 100 operated by a worker WM operated by a worker WM.
  • the battery 9 attached to the electric tool KD supplies power to at least the arithmetic processing device 200 and the motor driver 220, respectively.
  • the operating device 100 generates an operation signal for operating the driving state of the motor 210 of the electric power tool KD by being operated by the worker WM.
  • the controller device 100 prohibits the driving of the motor 210 and the trigger switch 100 ⁇ / b> A that can generate an operation signal for operating either the start state in which the driving of the motor 210 starts or the stop state in which the driving is stopped.
  • a lock-off switch 100B capable of generating an operation signal for operating in either the locked state for releasing or the unlocked state for releasing prohibition.
  • the controller device 100 may include a forward / reverse switch that generates an operation signal for operating in either the forward rotation state in which the motor 210 is rotated in the forward direction or the reverse rotation state in which the motor 210 is rotated in the reverse direction.
  • An operation signal generated by operating the operating device 100 is output to the arithmetic processing device 200 of the electric power tool KD.
  • the work auxiliary tool 1 has a communication unit 80 that can communicate with the electric power tool KD.
  • the communication unit 80 transmits an operation signal generated by operating the operation device 100 of the electric tool KD to the control device 11.
  • the control device 11 acquires an operation signal from the operation device 100 via the communication unit 80.
  • the operating device 100 and the arithmetic processing device 90 are connected via an insulating unit 112.
  • An operation signal generated by operating the operation device 100 is output to the arithmetic processing device 200 of the electric power tool KD and also output to the arithmetic processing device 90 of the work assisting tool 1 through the communication unit 80.
  • the communication unit 80 includes a cable that connects the operating device 100 of the electric power tool KD and the control device 11 of the work auxiliary tool 1. That is, the communication unit 80 performs wired communication of the operation signal generated by the operation device 100 to the control device 11. Note that the communication unit 80 may wirelessly communicate an operation signal generated by the operation device 100 to the control device 11.
  • FIG. 6 is a functional block diagram illustrating an example of the arithmetic processing device 90 according to the present embodiment.
  • the arithmetic processing device 90 acquires a detection signal acquisition unit 91 that acquires a detection signal of the pressure sensor 71 and an operation signal generated by operating the operation device 100 of the electric power tool KD. It has the operation signal acquisition part 92 and the control part 93 which outputs a control signal.
  • a storage device 99 including a volatile memory such as a RAM (Random Access Memory) and a nonvolatile memory such as a ROM (Read Only Memory) is connected to the arithmetic processing unit 90.
  • a volatile memory such as a RAM (Random Access Memory)
  • a nonvolatile memory such as a ROM (Read Only Memory)
  • the detection signal acquisition unit 91 acquires a detection signal from the pressure sensor 71.
  • the pressure sensor 71 detects the pressure of the compressed air supplied from the compressor 6.
  • the detection signal acquisition unit 91 acquires a detection signal indicating the pressure of the compressed air supplied from the compressor 6 from the pressure sensor 71.
  • the operation signal acquisition unit 92 acquires an operation signal from the operation device 100 via the communication unit 80.
  • the operating device 100 generates an operation signal for operating the driving state of the motor 210 of the electric power tool KD when operated by the worker WM.
  • the operation signal acquisition unit 92 acquires an operation signal for operating the driving state of the motor 210 of the electric tool KD from the operation device 100.
  • the control unit 93 controls the drive state of the actuator 5 based on the first control unit 93A that outputs a control signal for controlling the drive state of the compressor 6 based on the detection signal of the pressure sensor 71 and the operation signal of the operation device 100. And a second control unit 93B that outputs a control signal to be transmitted.
  • the first control unit 93A outputs to the compressor 6 a control signal for stopping the driving of the compressor 6 when the pressure value Pa detected by the pressure sensor 71 is higher than the upper limit threshold value Sha. Further, the first control unit 93A outputs a control signal for starting the driving of the compressor 6 to the compressor 6 when the pressure value Pa detected by the pressure sensor 71 is equal to or lower than the lower limit threshold Shb.
  • the pressure value Pa indicates the pressure value of the compressed air in the tank 7.
  • the upper threshold value Sha and the lower threshold value Shb are predetermined values for the pressure value Pa, and are stored in the storage device 99.
  • the upper limit threshold value Sha is a value higher than the lower limit threshold value Shb.
  • Compressed air is stored in the tank 7 when the compressor 6 is driven.
  • compressed air is supplied from the compressor 6 to the tank 7 while the flow path 12B is closed by the electromagnetic valve 81, the pressure of the compressed air in the tank 7 gradually increases, and the compression detected by the pressure sensor 71.
  • the air pressure value Pa gradually increases.
  • the driving of the compressor 6 is stopped when the pressure value Pa is higher than the upper threshold value Sha. Thereby, it is suppressed that the drive of the compressor 6 is continued, although the pressure of the compressed air of the tank 7 became high enough.
  • the pressure of the compressed air in the tank 7 decreases, and the pressure value Pa of the compressed air detected by the pressure sensor 71 is Decrease.
  • the driving of the compressor 6 is started when the pressure value Pa is equal to or lower than the lower limit threshold Shb. Thereby, the pressure of the compressed air in the tank 7 increases.
  • 2nd control part 93B outputs the control signal which controls the drive state of the actuator 5 based on the operation state of the operating device 100.
  • the second control unit 93B outputs a control signal that drives the actuator 5 when the operation signal acquisition unit 92 acquires the operation signal of the operation device 100.
  • the second controller 93 ⁇ / b> B outputs a control signal for controlling the electromagnetic valve 81 based on the operating state of the operating device 100.
  • the operation device 100 outputs an operation signal based on an operation state by the worker WM. For example, when the controller device 100 is operated in the first operation state, the controller device 100 generates a first operation signal. When the controller device 100 is operated in a second operation state that is different from the first operation state, the controller device 100 generates a second operation signal that is different from the first operation signal.
  • 2nd control part 93B outputs the control signal which controls electromagnetic valve 81 to electromagnetic valve 81 so that compressed air is supplied to actuator 5, when operation signal acquisition part 92 acquires the 1st operation signal.
  • the second control unit 93 ⁇ / b> B outputs a control signal for controlling the electromagnetic valve 81 so that the compressed air is discharged from the actuator 5 to the electromagnetic valve 81.
  • the solenoid valve 81 is first operated by a control signal (start signal) supplied based on the first operation signal. When the solenoid valve 81 is first operated, compressed air is supplied to the actuator 5 and the actuator 5 is driven (activated). The solenoid valve 81 is second operated by a control signal (stop signal) supplied based on the second operation signal. When the solenoid valve 81 is operated for the second time, the compressed air is discharged from the actuator 5 and the driving of the actuator 5 is stopped.
  • start signal start signal
  • stop signal supplied based on the second operation signal.
  • FIG. 7 is a flowchart illustrating an example of a method for controlling the compressor 6 according to the present embodiment.
  • step SA1 It is determined whether power is supplied from the battery 9 to the control device 11 (step SA1).
  • step SA1: Yes power is supplied from the battery 9 to the pressure sensor 71 (step SA2), and power is supplied from the battery 9 to the solenoid valve 81. Is supplied (step SA3).
  • step SA3 By supplying power, each of the pressure sensor 71 and the electromagnetic valve 81 is activated.
  • a specified voltage for example, 24 V is applied to the electromagnetic valve 81 by the DC / DC converter 111.
  • the detection signal acquisition unit 91 acquires the detection signal of the pressure sensor 71.
  • the first controller 93A determines whether or not the pressure value Pa detected by the pressure sensor 71 is higher than the upper limit threshold value Sha (step SA4).
  • step SA4 When it is determined in step SA4 that the pressure value Pa is higher than the upper limit threshold value Sha (step SA4: Yes), the first controller 93A outputs a control signal for stopping the driving of the compressor 6 (step SA5). ). That is, when it is determined that the pressure value Pa is sufficiently high and the pressure of the compressed air stored in the tank 7 is sufficiently high, the driving of the compressor 6 is stopped.
  • step SA4 When it is determined in step SA4 that the pressure value Pa is equal to or lower than the upper limit threshold value Sha (step SA4: No), the first control unit 93A determines that the pressure value Pa detected by the pressure sensor 71 is equal to or lower than the lower limit threshold value Shb. (Step SA6).
  • step SA6 When it is determined in step SA6 that the pressure value Pa is equal to or lower than the lower limit threshold Shb (step SA6: Yes), the first controller 93A outputs a control signal for driving the compressor 6 (step SA7). That is, when it is determined that the pressure value Pa is low and the pressure of the compressed air in the tank 7 is insufficient, the driving of the compressor 6 is started.
  • step SA1 When it is determined in step SA1 that power is not supplied to the control device 11 (step SA1: No), the supply of power from the battery 9 to the pressure sensor 71 is interrupted (step SA8), and the electromagnetic valve from the battery 9 The power supply to 81 is cut off (step SA9).
  • Step SA6 When any of the processes of Step SA5, Step SA7, and Step SA9 is completed, or when it is determined in Step SA6 that the pressure value Pa is not less than or equal to the lower limit threshold value Shb (Step SA6: No), the control device 11 performs Step The process returns to SA1.
  • the driving of the compressor 6 is stopped.
  • the pressure value Pa is equal to or lower than the lower limit threshold Shb
  • the compressor 6 starts to be driven. Accordingly, the tank 7 is filled with compressed air having a pressure higher than the lower limit threshold Shb and lower than or equal to the upper limit threshold Sha.
  • FIG. 8 is a flowchart illustrating an example of a method for controlling the actuator 5 according to the present embodiment.
  • the operating device 100 related to the control of the actuator 5 is the trigger switch 100A. Further, the state where the trigger switch 100A is operated is the first operation state, and the state where the operation of the trigger switch 100A is released is the second operation state.
  • the trigger switch 100A When the trigger switch 100A is in the first operation state, the driving of the motor 210 of the electric tool KD is started. That is, the motor 210 is activated by operating the trigger switch 100A.
  • the trigger switch 100A When the trigger switch 100A is in the second operation state, the driving of the motor 210 of the electric tool KD is stopped. That is, the motor 210 is stopped by releasing the operation of the trigger switch 100A.
  • the trigger switch 100A When the trigger switch 100A is in the first operation state, the trigger switch 100A generates a first operation signal.
  • the trigger switch 100A When the trigger switch 100A is in the second operation state, the trigger switch 100A generates a second operation signal that is different from the first operation signal.
  • the generation of the second operation signal may include that the operation signal is zero, that is, the operation signal is not output.
  • the second control unit 93B determines whether or not the operation signal acquisition unit 92 has acquired the first operation signal from the trigger switch 100A (step SB1).
  • step SB1 When it is determined in step SB1 that the first operation signal has been acquired (step SB1: Yes), the second control unit 93B performs electromagnetic so that the compressed air stored in the tank 7 is supplied to the actuator 5. A control signal is output to the valve 81 (step SB2).
  • step SB1 When it is determined in step SB1 that the first operation signal has not been acquired (step SB1: No), the second control unit 93B controls the electromagnetic valve 81 so that the compressed air is discharged from the actuator 5. Is output (step SB3). Note that not acquiring the first operation signal includes acquiring the second operation signal.
  • the work auxiliary tool 1 is attached and at least a part of the arm is placed on the holding member 4.
  • the electric tool KD is held by hand.
  • the worker WM operates the trigger switch 100A of the electric tool KD held by hand in order to work the ceiling surface with the electric tool KD.
  • the worker WM presses the trigger switch 100A with a finger.
  • the trigger switch 100A When the trigger switch 100A is operated, the driving of the motor 210 of the electric tool KD is started. Further, the first operation signal generated by operating the trigger switch 100 ⁇ / b> A is transmitted to the arithmetic processing device 90 of the work auxiliary tool 1 via the communication unit 80.
  • the second control unit 93B When the operation signal acquisition unit 92 acquires the first operation signal, the second control unit 93B outputs a control signal to the electromagnetic valve 81 so that the compressed air stored in the tank 7 is supplied to the actuator 5. . As a result, compressed air is supplied to the internal space of the actuator 5 and the actuator 5 is driven. The actuator 5 generates power for turning the tip portion 31T of the first arm member 31 upward.
  • the arm supported by the first arm member 31 via the holding member 4 moves upward by the first arm member 31 and the holding member 4.
  • the arm of the worker WM is assisted by the power generated by the actuator 5.
  • the arm of the worker WM is moved upward, so that the physical burden on the worker WM is reduced. .
  • the electric tool KD is a hammer drill
  • the electric tool KD is a hammer drill
  • an operation of pressing the electric tool KD against the ceiling surface may be performed with the arm raised for a long time.
  • the muscle strength of the arm of the worker WM is assisted by the work assisting tool 1, the physical burden on the worker WM is effectively reduced.
  • the worker WM cancels the operation of the trigger switch 100A of the electric tool KD when stopping the operation using the electric tool KD. For example, the worker WM releases the finger pressing the trigger switch 100A from the trigger switch 100A. When the operation of the trigger switch 100A is released, the driving of the motor 210 of the electric tool KD is stopped.
  • the second operation signal generated by releasing the operation of the trigger switch 100 ⁇ / b> A is transmitted to the arithmetic processing device 90 of the work assisting tool 1 via the communication unit 80.
  • the second control unit 93B When the operation signal acquisition unit 92 acquires the second operation signal, the second control unit 93B outputs a control signal to the electromagnetic valve 81 so that the compressed air in the internal space of the actuator 5 is discharged from the actuator 5. As a result, the compressed air is discharged from the internal space of the actuator 5 and the driving of the actuator 5 is stopped. The actuator 5 does not generate power.
  • FIG. 9 is a timing chart showing control signals according to the present embodiment.
  • a first operation signal generated by operating the trigger switch 100A is output to each of the arithmetic processing unit 200 of the electric power tool KD and the arithmetic processing unit 90 of the work auxiliary tool 1.
  • the second control unit 93B outputs a control signal for starting driving of the actuator 5 at the time ts1 when the first operation signal generated by operating the trigger switch 100A is acquired by the operation signal acquisition unit 92. That is, the second controller 93B outputs a control signal for supplying the actuator 5 with the compressed air in the tank 7 to the electromagnetic valve 81 at the time ts1.
  • the arithmetic processing unit 200 of the electric tool KD outputs a control signal for driving the motor 210 to the motor driver 220 at time ts1.
  • the motor 210 of the electric tool KD starts driving at the time ts1.
  • the output of the first operation signal is stopped.
  • the operation of the trigger switch 100A is released, and the output of the first operation signal is stopped.
  • a second operation signal generated by releasing the operation of the trigger switch 100A is output to each of the arithmetic processing device 200 of the electric tool KD and the arithmetic processing device 90 of the work auxiliary tool 1.
  • the second control unit 93B outputs a control signal for stopping the driving of the actuator 5 at the time te1 when the operation signal acquisition unit 92 acquires the second operation signal generated by releasing the operation of the trigger switch 100A. To do.
  • the second control unit 93B outputs a control signal for discharging the compressed air from the actuator 5 to the electromagnetic valve 81 at the time te1.
  • the arithmetic processing unit 200 of the electric tool KD outputs a control signal for stopping the driving of the motor 210 to the motor driver 220 at time te1.
  • the motor 210 of the electric tool KD stops driving at the time te1.
  • the timing at which the second control unit 93B outputs the control signal for starting the driving of the actuator 5 and the timing at which the arithmetic processing device 200 outputs the control signal for starting the driving of the motor 210. are identical.
  • the timing at which the second control unit 93B outputs a control signal for stopping the driving of the actuator 5 and the timing at which the arithmetic processing device 200 outputs a control signal for stopping the driving of the motor 210 are the same.
  • the actuator 5 when the worker WM operates the trigger switch 100A to start driving the motor 210 in order to start work using the electric tool KD, the actuator 5 is interlocked with the operation of the trigger switch 100A. Is started, and the arm of the worker WM is raised. That is, the control device 11 outputs an activation signal for activating the actuator 5 as a control signal in conjunction with the start of work of the electric tool KD.
  • the actuator 5 when the worker WM releases the operation of the trigger switch 100A and stops the driving of the motor 210 in order to stop the work using the electric tool KD, the actuator 5 is interlocked with the release of the operation of the trigger switch 100A. Is stopped, and the arm of the worker WM is lowered.
  • control device 11 outputs a stop signal for stopping the actuator 5 as a control signal in conjunction with the end of the work of the electric tool KD. Accordingly, the arm of the worker WM is raised or lowered based on the intention of the worker WM who starts or stops the work. Therefore, the worker WM is prevented from feeling uncomfortable, and the operation using the electric power tool KD is smoothly performed.
  • the work auxiliary tool 1 includes the operation signal acquisition unit 92 that acquires the operation signal generated by operating the operation device 100 of the electric tool KD, and the operation signal. And a second control unit 93B that outputs a control signal for controlling the driving state of the actuator 5 based on the second control unit 93B.
  • the control device 11 outputs a start signal for starting the actuator 5 as a control signal based on the first operation signal of the operation device 100 which is a work start signal indicating the work start of the power tool KD, and ends the work of the power tool KD.
  • a stop signal for stopping the actuator 5 is output as a control signal based on the second operation signal of the operating device 100 that is a work end signal indicating.
  • the actuator 5 provided in the work auxiliary tool 1 is controlled based on the timing when the operating device 100 of the electric tool KD is operated. Therefore, the actuator 5 can start or stop driving at the timing intended by the worker WM.
  • the electric power tool KD is supported by the arm (right arm) held by the holding member 4.
  • the actuator 5 generates power for turning the tip portion 31T of the first arm member 31 upward.
  • the second control unit 93B outputs a control signal for starting driving of the actuator 5 when the operation signal from the operation device 100 is acquired by the operation signal acquisition unit 92.
  • the trigger switch 100A that is the operation device 100 generates an operation signal for operating the driving state of the motor 210 of the electric tool KD.
  • the work auxiliary tool 1 can start driving the actuator 5 and exert an auxiliary force (assist force). it can.
  • the actuator 5 is an air actuator that generates power based on the compressed air compressed by the compressor 6 and adjusted in pressure by the pressure control mechanism 8. Thereby, the work auxiliary tool 1 can effectively exhibit a sufficient auxiliary force.
  • the electromagnetic valve 81 is provided in the flow path 12 through which the compressed air supplied to the actuator 5 flows. Compressed air is supplied to the actuator 5 when the electromagnetic valve 81 is operated for the first time, and compressed air is discharged from the actuator 5 when the electromagnetic valve 81 is operated for the second time. Thereby, it is possible to switch between the start of driving of the actuator 5 and the stop of driving only by operating the electromagnetic valve 81.
  • the tank 7 for temporarily storing the compressed air supplied from the compressor 6 is provided. Compressed air stored in the tank 7 is supplied to the actuator 5 via the pressure control mechanism 8. As a result, the compressed air in the tank 7 that has been increased to the specified pressure can be supplied to the actuator 5 via the pressure control mechanism 8.
  • the pressure sensor 71 is provided in the flow path 12A between the compressor 6 and the tank 7.
  • the pressure sensor 71 detects the pressure of the compressed air supplied from the compressor 6 to the tank 7.
  • the pressure sensor 71 detects the pressure of the compressed air in the tank 7.
  • the driving state of the compressor 6 is controlled based on the pressure value Pa detected by the pressure sensor 71. Thereby, when the pressure of the compressed air in the tank 7 is low, the compressor 6 can be driven to increase the pressure of the compressed air in the tank 7. Further, when the pressure of the compressed air in the tank 7 is high, the driving of the compressor 6 can be stopped, and the compressor 6 is suppressed from being driven unnecessarily.
  • a connector 10 to which the battery 9 is detachably attached is provided. Thereby, electric power can be supplied to an electric device such as the compressor 6. Since the battery 9 can be attached to and detached from the connector 10, when the state of charge of the battery 9 attached to the connector 10 decreases, it can be easily replaced with a battery 9 having a high state of charge.
  • the battery 9 is an electric tool battery. Therefore, the battery 9 can be shared by the work auxiliary tool 1 and the electric power tool KD.
  • the arm member 3 includes a first arm member 31 that supports the holding member 4 and a second arm member 32 that is coupled to each of the main body member 2 and the first arm member 31.
  • the first arm member 31 is coupled to the second arm member 32 so as to be rotatable about the first rotation axis AX1, and the second arm member 32 extends in a direction different from the first rotation axis AX1.
  • the main body member 2 is connected to be rotatable about a rotation axis AX2. Accordingly, the holding member 4 can smoothly move in each of a direction parallel to the first surface orthogonal to the first rotation axis AX1 and a direction parallel to the second surface orthogonal to the second rotation axis AX2. When the first surface and the second surface are orthogonal to each other and the second surface is parallel to the horizontal plane, the holding member 4 can smoothly move in the vertical direction and the horizontal direction.
  • a moving mechanism 50 that supports the holding member 4 so as to be movable relative to the first rotation axis AX1 is provided.
  • FIG. 10 is a diagram illustrating an example of a hardware configuration of each of the work auxiliary tool 1 and the electric tool KD according to the present embodiment.
  • FIG. 11 is a functional block diagram illustrating an example of the arithmetic processing device 90 according to the present embodiment.
  • the work auxiliary tool 1 includes a pressure sensor 72 (second pressure sensor) that detects the pressure of the compressed air supplied to the actuator 5, a displacement sensor 73 that detects the displacement of the actuator 5, and the holding member 4. And a force sensor 74 for detecting an auxiliary force applied to the arm of the worker WM.
  • a pressure sensor 72 second pressure sensor
  • a displacement sensor 73 that detects the displacement of the actuator 5
  • a force sensor 74 for detecting an auxiliary force applied to the arm of the worker WM.
  • the pressure sensor 72 is provided between the pressure control mechanism 8 and the actuator 5 and detects the pressure of the compressed air supplied from the pressure control mechanism 8 to the actuator 5.
  • the pressure value Pb detected by the pressure sensor 72 indicates the pressure in the internal space of the actuator 5.
  • a detection signal from the pressure sensor 72 is output to the arithmetic processing unit 90.
  • the detection signal acquisition unit 91 acquires a detection signal of the pressure sensor 72.
  • the displacement sensor 73 detects the amount of displacement of the actuator 5. As described above, the actuator 5 expands and contracts. The lower end portion of the actuator 5 is fixed to the second plate member 24 via the connecting member 63. As the actuator 5 expands and contracts, the upper end of the actuator 5 moves in the vertical direction.
  • the displacement amount of the actuator 5 includes the movement amount of the wire member 61 connected to the upper end portion of the actuator 5 via the connecting member 62.
  • the displacement sensor 73 can detect the displacement amount of the actuator 5 by detecting the movement amount of the first plate member 23.
  • the pulley 15 of the first joint mechanism 13 rotates in synchronization with the movement of the upper end of the actuator 5.
  • the displacement sensor 73 can detect the displacement amount of the actuator 5 by detecting the rotation amount of the pulley 15.
  • the displacement sensor 73 is an angle sensor that detects the amount of rotation of the pulley 15.
  • the detection signal of the displacement sensor 73 is output to the arithmetic processing unit 90.
  • the detection signal acquisition unit 91 acquires a detection signal of the displacement sensor 73.
  • the storage device 99 of the control device 11 stores correlation data indicating the relationship between the displacement amount of the actuator 5 and the rotation amount of the pulley 15.
  • the correlation data is, for example, known data that can be derived from design data of the work auxiliary tool 1.
  • the second control unit 93B can calculate the displacement amount of the actuator 5 based on the detection signal of the displacement sensor 73 and the correlation data stored in the storage device 99.
  • the force sensor 74 detects an auxiliary force applied to the arm of the worker WM held by the holding member 4.
  • the work assisting tool 1 applies assisting force to the arm of the worker WM via the holding member 4.
  • the force sensor 74 detects an auxiliary force applied to the arm of the worker WM.
  • the force sensor 74 includes a strain sensor provided on the holding member 4. The greater the assisting force applied to the arm of the worker WM, the greater the detection value of the strain sensor, and the smaller the assisting force applied to the arm of the worker WM, the smaller the detection value of the strain sensor. Therefore, the strain sensor can detect the auxiliary force applied to the arm of the worker WM.
  • the force sensor 74 may be a pressure sensor provided on the holding member 4.
  • the pressure sensor is provided between the arm of the worker WM and the holding member 4. The greater the assisting force applied to the arm of the worker WM, the greater the detected value of the pressure sensor, and the smaller the assisting force applied to the arm of the worker WM, the smaller the detected value of the pressure sensor. Therefore, the pressure sensor can detect the auxiliary force applied to the worker WM's arm.
  • the detection signal of the force sensor 74 is output to the arithmetic processing unit 90.
  • the detection signal acquisition unit 91 acquires the detection signal of the force sensor 74.
  • the input device 113 that specifies the target value of the auxiliary force is connected to the arithmetic processing device 90.
  • the input device 113 has an operation dial capable of designating a target value of auxiliary force.
  • the worker WM can input the target value of the auxiliary force to the arithmetic processing device 90 by operating the input device 113.
  • the arithmetic processing device 90 includes an input signal acquisition unit 94 that acquires an input signal generated by operating the input device 113.
  • FIG. 12 is a flowchart illustrating an example of a method for controlling the actuator 5 according to the present embodiment.
  • FIG. 12 shows an example of a control method for controlling the driving state of the actuator 5 based on the detection signal of the pressure sensor 72 and the detection signal of the displacement sensor 73.
  • the second controller 93 ⁇ / b> B outputs a control signal for controlling the driving state of the actuator 5 based on the detection signal of the pressure sensor 72 and the detection signal of the displacement sensor 73.
  • the worker WM operates the input device 113 to input a desired assist force target value.
  • the input signal acquisition unit 94 acquires an input signal indicating the target value of the assist force (step SC1).
  • the second control unit 93B determines whether or not the operation signal acquisition unit 92 has acquired the first operation signal from the trigger switch 100A (step SC2).
  • step SC2 When it is determined in step SC2 that the first operation signal has been acquired (step SC2: Yes), the detection signal acquisition unit 91 acquires the detection signal of the pressure sensor 72.
  • the detection signal of the pressure sensor 72 indicates the pressure value Pb of the compressed air supplied to the actuator 5.
  • the second control unit 93B acquires the pressure value Pb detected by the pressure sensor 72 (step SC3).
  • the detection signal acquisition unit 91 acquires a detection signal of the displacement sensor 73.
  • the detection signal of the displacement sensor 73 indicates the amount of displacement of the actuator 5.
  • the second control unit 93B acquires the amount of displacement of the actuator 5 detected by the displacement sensor 73 (step SC4).
  • the second controller 93B calculates the tension of the actuator 5 based on the detection signal of the pressure sensor 72 and the detection signal of the displacement sensor 73 (step SC5).
  • the tension of the actuator 5 is determined based on the pressure in the internal space of the actuator 5 and the amount of displacement of the actuator 5.
  • the second control unit 93B calculates the tension of the actuator 5 based on the detection signal of the pressure sensor 72 indicating the pressure value Pb of the internal space of the actuator 5 and the detection signal of the displacement sensor 73 indicating the displacement amount of the actuator 5. (Step SC5).
  • the second controller 93B determines whether or not the tension of the actuator 5 calculated in step SC5 is equal to the target value of the auxiliary force acquired in step SC1 (step SC6).
  • Step SC6 when it is determined that the tension of the actuator 5 calculated in Step SC5 is different from the target value of the auxiliary force acquired in Step SC1 (Step SC6: No), the second control unit 93B The difference between the tension and the target value of the auxiliary force is calculated (step SC7).
  • the second controller 93B calculates the target pressure of the actuator 5 based on the difference calculated in step SC7 so that the difference becomes smaller (step SC8).
  • the second controller 93B outputs a control signal for controlling the electromagnetic valve 81 so that the internal space of the actuator 5 becomes the target pressure calculated in step SC8 (step SC9).
  • the electromagnetic valve 81 adjusts the compressed air supplied from the tank 7 to the actuator 5 via the pressure control mechanism 8 based on the control signal.
  • the electromagnetic valve 81 adjusts the compressed air supplied to the actuator 5 based on the control signal, and controls the pressure of the actuator 5 to the target pressure (step SC10). By controlling the pressure of the actuator 5 to the target pressure, the difference between the tension of the actuator 5 and the target value of the auxiliary force is reduced.
  • step SC2 When it is determined in step SC2 that the first operation signal has not been acquired (step SC2: No), the second controller 93B causes the electromagnetic valve 81 to discharge compressed air from the actuator 5. A control signal is output (step SC11).
  • step SC5 When it is determined that the tension of the actuator 5 calculated in step SC5 is equal to the target value of the auxiliary force acquired in step SC1 (step SC6: Yes), or when the process of step SC11 is completed, the arithmetic processing unit 90 Returns to the process of step SC1.
  • the second control unit 93B outputs a control signal for controlling the driving state of the actuator 5 based on the detection signal of the pressure sensor 72 and the detection signal of the displacement sensor 73.
  • the second controller 93B controls the electromagnetic valve 81 so as to adjust the pressure in the internal space of the actuator 5 so that the auxiliary force applied to the arm of the worker WM becomes the target value input from the input device 113.
  • the tension of the actuator 5 is adjusted.
  • the work assisting tool 1 can assist the arm of the worker WM with the assisting force desired by the worker WM.
  • FIG. 13 is a flowchart showing an example of a method for controlling the actuator 5 according to the present embodiment.
  • FIG. 13 shows an example of a control method for controlling the driving state of the actuator 5 based on the detection signal of the force sensor 74.
  • the second control unit 93B outputs a control signal for controlling the driving state of the actuator 5 based on the detection signal of the force sensor 74.
  • the worker WM operates the input device 113 to input a desired assist force target value.
  • the input signal acquisition unit 94 acquires an input signal indicating the target value of the assist force (step SD1).
  • the second control unit 93B determines whether or not the operation signal acquisition unit 92 has acquired the first operation signal from the trigger switch 100A (step SD2).
  • step SD2 When it is determined in step SD2 that the first operation signal has been acquired (step SD2: Yes), the detection signal acquisition unit 91 acquires the detection signal of the force sensor 74.
  • the detection signal of the force sensor 74 indicates an auxiliary force applied to the arm of the worker WM via the holding member 4.
  • the second control unit 93B acquires the auxiliary force applied to the arm of the worker WM detected by the force sensor 74 (Step SD3).
  • the second control unit 93B determines whether or not the auxiliary force applied to the arm of the worker WM acquired in step SD3 is equal to the target value of the auxiliary force acquired in step SD1 (step SD4).
  • step SD4 When it is determined in step SD4 that the assisting force applied to the arm of the worker WM acquired in step SD3 is different from the target value of the assisting force acquired in step SD1 (step SD4: No), the second control unit 93B calculates the difference between the auxiliary force applied to the arm of the worker WM and the target value of the auxiliary force (step SD5).
  • the second controller 93B calculates the target pressure of the actuator 5 based on the difference calculated in step SD5 so that the difference becomes smaller (step SD6).
  • the second controller 93B outputs a control signal for controlling the electromagnetic valve 81 so that the internal space of the actuator 5 becomes the target pressure calculated in step SD6 (step SD7).
  • the electromagnetic valve 81 adjusts the compressed air supplied from the tank 7 to the actuator 5 via the pressure control mechanism 8 based on the control signal.
  • the electromagnetic valve 81 adjusts the compressed air supplied to the actuator 5 based on the control signal, and controls the pressure of the actuator 5 to the target pressure (step SD8). By controlling the pressure of the actuator 5 to the target pressure, the difference between the auxiliary force applied to the arm of the worker WM and the target value of the auxiliary force is reduced.
  • step SD2 When it is determined in step SD2 that the first operation signal has not been acquired (step SD2: No), the second controller 93B causes the solenoid valve 81 to discharge compressed air from the actuator 5. A control signal is output (step SD9).
  • step SD4 Yes
  • step SD9 the arithmetic processing unit 90 returns to the processing of step SD1.
  • the second control unit 93B outputs a control signal for controlling the driving state of the actuator 5 based on the detection signal of the force sensor 74.
  • the second controller 93B controls the electromagnetic valve 81 so as to adjust the pressure in the internal space of the actuator 5 so that the auxiliary force applied to the arm of the worker WM becomes the target value input from the input device 113.
  • the auxiliary force applied to the arm of the worker WM via the holding member 4 is adjusted.
  • the work assisting tool 1 can assist the arm of the worker WM with the assisting force desired by the worker WM.
  • the timing at which the second control unit 93B outputs a control signal for starting the driving of the actuator 5 may be different from the timing at which the arithmetic processing device 200 outputs a control signal for starting the driving of the motor 210.
  • the timing at which the second control unit 93B outputs a control signal for stopping the driving of the actuator 5 may be different from the timing at which the arithmetic processing device 200 outputs a control signal for stopping the driving of the motor 210.
  • FIG. 14 is a timing chart showing control signals according to the present embodiment.
  • the first operation signal generated at the time ts1 is sent to the arithmetic processing device 200 of the electric power tool KD and the arithmetic processing device 90 of the work auxiliary tool 1, respectively. Is output.
  • the second controller 93B outputs a control signal for driving the actuator 5 at the time ts1 (first time) when the operation signal acquisition unit 92 acquires the first operation signal.
  • the motor 210 of the electric tool KD starts to be driven at a time ts2 (second time) after the time ts1.
  • the second controller 93B outputs a control signal for supplying the actuator 5 with the compressed air in the tank 7 to the electromagnetic valve 81 at the time ts1.
  • the arithmetic processing unit 200 of the electric tool KD outputs a control signal for driving the motor 210 to the motor driver 220 at a time point ts2 after the time point ts1.
  • the driving of the actuator 5 is started and the arm of the worker WM is raised.
  • the worker WM can start driving the motor 210 of the electric tool KD after the arm is raised.
  • the second operation signal generated at the time te1 when the operation of the trigger switch 100A is released is output to each of the arithmetic processing device 200 of the electric tool KD and the arithmetic processing device 90 of the work auxiliary tool 1.
  • the motor 210 of the electric tool KD stops driving at the time te1.
  • the second control unit 93B outputs a control signal for stopping the drive of the actuator 5 at a time te2 after the time te1 when the operation signal acquisition unit 92 acquires the second operation signal. That is, the arithmetic processing unit 200 of the electric tool KD outputs a control signal for stopping the driving of the motor 210 to the motor driver 220 at time te1.
  • the second control unit 93B outputs a control signal for discharging the compressed air from the actuator 5 to the electromagnetic valve 81 at a time te2 after the time te1.
  • the arm of the worker WM can be lowered after the driving of the motor 210 of the electric power tool KD is stopped.
  • FIG. 15 is a schematic diagram for explaining the operation amount of the trigger switch 100A according to the present embodiment and the timing at which the motor 210 and the actuator 5 start driving.
  • the trigger switch 100A has a specified movable range.
  • the worker WM can operate the trigger switch 100A with an arbitrary operation amount (push-in amount).
  • the operation amount when the trigger switch 100A is pushed down to the end of the movable range is appropriately referred to as a first operation amount. Called.
  • the second operation amount is smaller than the first operation amount.
  • the first operation amount corresponds to a full press indicating the operation amount when the trigger switch 100A is fully depressed
  • the second operation amount corresponds to a half press indicating the operation amount when the trigger switch 100A is slightly depressed. To do.
  • the motor 210 starts driving when the trigger switch 100A is operated with the first operation amount.
  • the second control unit 93 ⁇ / b> B outputs a control signal for driving the actuator 5 to the electromagnetic valve 81 when the operation signal indicating the second operation amount smaller than the first operation amount is acquired by the operation signal acquisition unit 92.
  • the driving of the actuator 5 is started so that the tip portion 31T of the first arm member 31 turns upward in a state where the driving of the motor 210 is stopped.
  • the worker WM can drive the electric tool KD by fully pressing the trigger switch 100A after the arm is lifted by pressing the trigger switch 100A halfway.
  • the driving state of the actuator 5 is controlled based on the operation of the trigger switch 100A.
  • the driving state of the actuator 5 may be controlled based on the operation of the lock-off switch 100B.
  • the actuator 5 may be driven to raise the arm of the worker WM.
  • the worker WM can start driving the motor 210 by operating the trigger switch 100A after the arm is raised.
  • the driving state of the actuator 5 may be controlled based on the operation of various switches that are provided in the electric tool KD and operate the driving state of the motor 210. .
  • the driving state of the actuator 5 may be controlled based on the operation of various switches provided in the electric tool KD that do not contribute to the driving state of the motor 210.
  • a dedicated switch for controlling the driving state of the actuator 5 may be provided in the electric power tool KD.
  • the driving state of the actuator 5 is controlled based on the operating device 100 provided in the electric tool KD.
  • the work assisting tool 1 may be provided with an operating device for operating the driving state of the actuator 5.
  • a pressure control valve may be used as the pressure control mechanism 8. Further, in each of the above-described embodiments, the tank 7 may be omitted. The compressed air generated by the compressor 6 may be supplied to the actuator 5 via the pressure control mechanism 8 without being stored in the tank 7.
  • the pressure control mechanism 8 may be omitted.
  • the compressed air generated by the compressor 6 may be directly supplied to the actuator 5.
  • the actuator 5 is an artificial muscle.
  • the actuator 5 may be an air cylinder.
  • the actuator 5 is an air actuator that operates based on compressed air.
  • the actuator 5 may be, for example, a hydraulic actuator that operates based on hydraulic pressure, or may be an actuator that operates by a driving element such as a piezoelectric element.
  • the actuator 5 is supported by the main body member 2.
  • the actuator 5 may be supported by the arm member 3, or may be supported by a member other than the main body member 2 and the arm member 3.
  • the first rotation axis AX1 is substantially parallel to the XY plane
  • the second rotation axis AX2 is substantially orthogonal to the XY plane.
  • the first rotation axis AX1 may be inclined with respect to the XY plane, and the second rotation axis AX2 may not be orthogonal to the XY plane.
  • the distal end portion 31T of the first arm member 31 turns in a direction parallel to the first surface orthogonal to the first rotation axis AX1, and the first end portion 32T of the second arm member 32 is It was decided to turn in a direction parallel to the second surface orthogonal to the first surface.
  • the first surface and the second surface do not have to be orthogonal.
  • the second rotation axis AX2 may be omitted. That is, the first arm member 31 only needs to be rotatable about the first rotation axis AX1, and may not be rotated about the second rotation axis AX2.
  • the work auxiliary tool 1 supports either the right arm or the left arm of the worker WM.
  • the work auxiliary tool 1 may support both the right arm and the left arm.
  • the work assisting tool 1 can assist the muscle strength of both the right arm and the left arm of the worker WM.
  • the work assisting tool 1 supports, for example, pressing the arm of the worker WM against the object when performing drilling work on the object at a high place using an electric tool KD such as a hammer drill.
  • the work auxiliary tool 1 is also called an assist suit.
  • the work assisting tool 1 can take an assist state, a posture maintenance state, and an arm release state.
  • the assist state is a state in which the work assisting tool 1 assists the worker WM by assisting the force pressing the arm of the worker WM against the object.
  • the posture maintenance state is a state in which the work auxiliary tool 1 supports the worker WM's arm at a predetermined height and maintains the posture. In the posture maintenance state, the force that presses the arm of the worker WM against the object does not act.
  • the arm release state is a state in which the arm of the worker WM is released from the assist state or the posture maintenance state and can be freely moved.
  • FIG. 16 is a perspective view showing an example of the work auxiliary tool 1 according to the present embodiment, and shows a state where the work auxiliary tool 1 is attached to the worker WM.
  • FIG. 17 is a perspective view showing an example of the work assisting tool 1 according to the present embodiment.
  • the work assisting tool 1 includes a main body member 2 that is at least partially attached to the back of the worker WM, an arm member 3 that is connected to the main body member 2 so as to be relatively movable, A holding member 4 that is supported by the arm member 3 via the moving mechanism 50 and holds at least a part of the arm of the worker WM, and an actuator 141 that is supported by the main body member 2 and generates power for moving the arm member 3.
  • a power mechanism 1000 that is driven by the power generated by the actuator 141 to move the arm member 3.
  • the power mechanism 1000 includes a drum drive mechanism 400 (second power mechanism) that is driven by power generated by the actuator 141 and an arm drive mechanism 700 (first power mechanism) that moves the arm member 3.
  • the work auxiliary tool 1 is supported by the main body member 2, a connector 10 to which the battery 9 is detachably mounted, a control device 11 supported by the main body member 2, and an auxiliary tool operation operated by the worker WM. Device 800.
  • the holding member 4 holds at least a part of the right arm of the worker WM.
  • the electric tool KD is supported on the right arm held by the holding member 4.
  • the worker WM performs the work while holding the electric tool KD with the right hand.
  • the work auxiliary tool 1 is driven or stopped in conjunction with the drive state of the electric power tool KD.
  • the work assisting tool 1 includes an assisting tool operating device 800 that is operated by the worker WM to drive or stop.
  • the work auxiliary tool 1 includes a connector 10 to which a battery 9 for an electric power tool KD that supplies electric power is attached.
  • the work assisting tool 1 has a harness HS for wearing on the body in a state where the worker WM is carried on the back.
  • the work auxiliary tool 1 is controlled by the control device 11.
  • the harness HS is disposed on the main body member 2.
  • the harness HS has a pair of shoulder belts HSa and a waist belt HSb.
  • the pair of shoulder belts HSa is attached to the shoulder portion through the upper arm portion of the worker WM.
  • a cushioning material is disposed at a position where the shoulder belt HSa comes into contact with the shoulder of the worker.
  • the waist belt HSb is wound around the worker's abdomen.
  • a cushioning material is disposed at a position where the waist belt HSb contacts the waist of the operator. Thereby, when the waist belt HSb is mounted on the waist of the operator, a good mounting feeling can be obtained.
  • the work assisting tool 1 is mounted on the back of the worker through such a harness HS.
  • the main body member 2 supports a heavy object of the work auxiliary tool 1.
  • a load acting on the arm member 3 acts on the main body member 2. Since the main body member 2 is formed in a frame shape, the load is distributed and supported.
  • the main body member 2 is formed of a material having high rigidity and light weight including, for example, fiber reinforced plastic (FRP: Fiber Reinforce Plastics).
  • FRP Fiber Reinforce Plastics
  • the main body member 2 is preferably formed of CFRP (Carbon Fiber Reinforced Plastics) using carbon fiber.
  • CFRP Carbon Fiber Reinforced Plastics
  • the main body member 2 includes a first frame 21B, a second frame 22, a third frame 23B, and a connecting portion 24B.
  • a housing 29 is disposed on the main body member 2.
  • the first frame 21B is disposed to face the back of the worker WM.
  • the second frame 22B is disposed at a position separated from the back of the worker WM in the Y-axis direction from the first frame 21B.
  • the second frame 22B faces the first frame 21B.
  • a heavy object such as the drum drive mechanism 400 is placed on the third frame 23B.
  • the third frame 23B is formed in a rectangular shape protruding in the Y-axis direction from the lower portion of the first frame 21B.
  • the third frame 23B projects in a direction away from the back of the worker WM.
  • the third frame 23B is formed by assembling a plurality of columnar members into a rectangular shape.
  • the connecting part 24B connects the upper side of the intermediate part of the first frame 21B and the lower part of the second frame 22B to the third frame 23B.
  • the connecting portion 24B is formed in an L shape when viewed in the Z-axis direction.
  • the connecting portion 24B is formed of a columnar member.
  • the first frame 21 ⁇ / b> B and the second frame 22 ⁇ / b> B are connected via the connecting portion 24 ⁇ / b> B and the housing 29.
  • the first frame 21B and the second frame 22B are separated by a few centimeters in the Y-axis direction.
  • the arm member 3 holds the arm portion of the worker WM. In the present embodiment, the arm member 3 holds the upper arm portion of the right arm of the worker WM.
  • the arm member 3 is formed of a lightweight material having high rigidity including, for example, fiber reinforced plastic.
  • the arm member 3 supports the weight of the arm portion of the worker WM and the weight of the electric tool KD gripped by the worker WM while the arm member 3 is lifted by the work assisting tool 1.
  • the weight of the arm portion of the worker WM is about 3 kg
  • the weight of the electric tool KD is about 5 kg.
  • a reaction torque acts on the arm member 3 when the electric tool KD is pressed against an object.
  • the arm member 3 includes a base portion 33, an arm portion 34, a guide rail 35, and a holding member 4.
  • the guide rail 35 is connected to the arm portion 34 so as to be rotatable about the first rotation axis AX1.
  • the base 33 is connected to the main body member 2 so as to be rotatable about a second rotation axis AX2 extending in a direction different from the first rotation axis AX1.
  • the first rotation axis AX1 is substantially parallel to the XY plane.
  • the second rotation axis AX2 is substantially orthogonal to the XY plane.
  • the guide rail 35 and the arm part 34 are connected via the first joint mechanism 13B.
  • the first joint mechanism 13 ⁇ / b> B includes a pulley 740.
  • the pulley 740 includes a first rotation axis AX1.
  • the base 33 and the main body member 2 are connected via the second joint mechanism 14B.
  • the base 33 is connected to the second frame 22B via the second joint mechanism 14B.
  • the second frame 22B includes a second rotation axis AX2.
  • the base 33 includes a shaft hole 33A into which the first frame 21B is inserted, an arm hole 33B into which the arm 34 is inserted, and an adjustment hole 33C into which a bolt is inserted.
  • the base portion 33 and the arm portion 34 are fixed by the bolt by inserting a bolt into the adjustment hole portion 33C.
  • the arm part 34 is movable in the radial direction of the second rotation axis AX2 while being arranged in the arm hole part 33B.
  • the distance between the second frame 22B and the arm portion 34 is adjusted by adjusting the relative position between the base portion 33 and the arm portion 34 in the radial direction of the second rotation axis AX2.
  • the distance between the second frame 22B and the arm portion 34 is adjusted based on the shoulder width of the worker WM. The wider the shoulder width of the worker WM, the longer the distance between the second frame 22B and the arm part 34 is adjusted.
  • the adjustment hole 33C includes a plurality of positioning holes into which bolts are inserted.
  • a plurality of positioning holes are provided in the radial direction of the second rotation axis AX2. The positioning hole restricts the movement of the bolt in the radial direction of the second rotation axis AX2.
  • the base 33 and the arm 34 are fixed in a state where the arm 34 is inserted deeply into the arm hole 33B. That is, when the base portion 33 and the arm portion 34 are fixed by the bolt inserted into the positioning hole close to the second rotation axis AX2, the distance between the second frame 22B and the arm portion 34 is shortened.
  • the base 33 and the arm 34 are fixed in a state where the arm 34 is shallowly inserted into the arm hole 33B. That is, when the base portion 33 and the arm portion 34 are fixed by the bolt inserted into the positioning hole far from the second rotation axis AX2, the distance between the second frame 22B and the arm portion 34 becomes long.
  • the distance between the second frame 22B and the arm portion 34 is adjusted in the radial direction of the second rotation axis AX2 based on the shoulder width of the worker WM.
  • the guide rail 35 guides the holding member 4.
  • the guide rail 35 is disposed so that the holding member 4 can slide.
  • the guide rail 35 is a pair of rod-like bodies extending linearly.
  • the guide rails 35 are arranged in parallel.
  • One end of the guide rail 35 is connected to the movable portion 7411 of the pulley 740 of the arm drive mechanism 700, and the holding member 4 is inserted into the other end.
  • the guide rail 35 can rotate in conjunction with the movable portion 7411 of the pulley 740 of the arm drive mechanism 700.
  • the guide rail 35 rotates in conjunction with the movable portion 7411 about the arm shaft 744 (second rotation axis AX2) of the pulley 740.
  • the guide rail 35 is pivotable about the first rotation axis AX1 so that the tip end portion of the guide rail 35 pivots in the vertical direction.
  • the arm portion 34 is rotatable about the second rotation axis AX2 so that the distal end portion of the guide rail 35 rotates in the left-right direction. Thereby, the guide rail 35 can take the state which the front end side descended downward, and the state lifted upwards.
  • the guide rail 35 may be one member of the holding member 4.
  • the holding member 4 holds the arm portion of the worker WM. In the present embodiment, the holding member 4 holds the upper arm portion of the worker WM.
  • the holding member 4 is disposed so as to be rotatable with respect to the arm portion 34. The holding member 4 can take a state of being lowered and a state of being lifted upward in conjunction with the rotation of the guide rail 35.
  • the holding member 4 is inserted so that the guide rail 35 is slidable.
  • the holding member 4 has a pair of guide holes.
  • the guide hole passes through the holding member 4.
  • the guide holes are formed in parallel.
  • the guide rail 35 is inserted through the guide hole.
  • the holding member 4 turns around the first rotation axis AX1 together with the guide rail 35.
  • the holding member 4 turns about the second rotation axis AX2 together with the guide rail 35.
  • the holding member 4 holds the lower part outside the upper arm of the worker WM.
  • a magnet 44 is disposed on the inner surface of the holding member 4.
  • Two magnets 44 are arranged on the holding member 4. Note that the number of magnets 44 may be one, or a plurality of three or more.
  • the worker WM places the upper arm on the holding member 4 in a state where an arm band including a metal member is attached to the upper arm.
  • the holding member 4 and the upper arm are attracted by the magnetic force of the magnet 44. Accordingly, the holding member 4 can follow the movement of the arm of the worker WM.
  • the worker WM can easily release the adsorption between the holding member 4 and the arm by quickly moving the arm inward.
  • FIG. 18 is a cross-sectional view showing the work auxiliary tool 1 according to the present embodiment.
  • FIG. 19 is a cross-sectional view showing a part of the work assisting tool 1 according to the present embodiment.
  • the battery 9 supplies power to the work auxiliary tool 1.
  • the battery 9 is a rechargeable electric tool battery.
  • the battery 9 is attached to the connector 10.
  • the battery 9 can be attached to and detached from the connector 10.
  • the battery 9 has a raised portion 9a, a battery claw 9b, a battery button 9c, and a battery terminal.
  • the worker WM slides the battery 9 onto the connector 10 so that the battery terminal of the battery 9 and the mounting surface of the connector 10 face each other.
  • the raised portion 9 a contacts at least a part of the connector 10.
  • the battery claw 9 b is inserted into the mounting recess 10 a of the connector 10. Thereby, the battery 9 is attached to the connector 10.
  • the battery terminal of the battery 9 and the attachment terminal of the connector 10 are connected.
  • the battery button 9c When the battery 9 is removed from the connector 10, the battery button 9c is operated. By operating the battery button 9 c, the battery claw 9 b is removed from the mounting recess 10 a and the battery 9 is released from the connector 10. As the battery 9 slides, the battery 9 is removed from the connector 10.
  • the housing 29 accommodates the drum drive mechanism 400 and a part of the arm drive mechanism 700 therein.
  • the housing 29 has a first housing 291 and a second housing 292.
  • the first housing 291 houses the spring 720 and the slide volume 730 therein.
  • the first housing 291 is fixed to the second frame 22B.
  • the first housing 291 is formed in a box shape.
  • the second housing 292 accommodates the drum drive mechanism 400 inside.
  • the second housing 292 is fixed to the lower part of the first housing 291.
  • the second housing 292 is formed in a box shape.
  • the connector 10 is arranged on the right side of the second housing 292.
  • the lower part of the second housing 292 is fixed to the third frame 23B via the housing 149 and the base 293.
  • the actuator 141 is a drive source of the work auxiliary tool 1.
  • the actuator 141 is an electric actuator that is operated by electric power supplied from the battery 9.
  • the actuator 141 is an electric motor that is operated by electric power supplied from the battery 9.
  • the power generated by the actuator 141 includes the rotational force generated by the electric motor.
  • the power mechanism 1000 is disposed between the arm member 3 and the actuator 141, and includes an arm drive mechanism 700 (first power mechanism) including a spring member 721 that expands and contracts by the operation of the actuator 141, the arm drive mechanism 700, and the actuator 141. And a drum drive mechanism 400 (second power mechanism) that transmits the power generated by the actuator 141 to the arm drive mechanism 700.
  • first power mechanism an arm drive mechanism 700
  • second power mechanism a drum drive mechanism 400 that transmits the power generated by the actuator 141 to the arm drive mechanism 700.
  • the drum drive mechanism 400 suppresses the force transmitted from the arm drive mechanism 700 to the actuator 141 when the motor of the electric tool KD is driven. Further, the drum drive mechanism 400 releases the suppression of the force transmitted from the arm drive mechanism 700 to the actuator 141 when the motor of the electric tool KD shifts from the drive state to the stop state.
  • a slide volume 730 spring sensor
  • the control device 11 controls the operation of the actuator 141 based on the detection signal from the slide volume 730.
  • the control device 11 stops the actuator 141 when it is determined that the elastic force of the spring member 721 is greater than or equal to the first threshold value based on the detected value of the slide volume 730 when the motor of the electric tool KD is driving.
  • a stop signal is output, and a start signal for starting the actuator 141 is output when it is determined that the elastic force of the spring member 721 is equal to or less than the second threshold value.
  • the drum drive mechanism 400 rotates the guide rail 35 of the arm member 3 to generate power that raises or lowers the holding member 4.
  • the drum drive mechanism 400 is driven by electric power supplied from the rechargeable battery 9.
  • the drum driving mechanism 400 includes an actuator 141, a gear unit 142, a drum 143, a cooling fan 414 that cools the actuator 141, and a housing 149.
  • the actuator 141, the gear unit 142, and the drum 143 can rotate around the rotation axis AX3.
  • the actuator 141 is a drive source of the work auxiliary tool 1.
  • the actuator 141 is driven by electric power supplied from the battery 9.
  • the rotational force of the actuator 141 is transmitted via the gear unit 142.
  • the rotation axis AX3 of the actuator 141 is parallel to the X axis.
  • the actuator 141 is a brushless motor.
  • the actuator 141 is an inner rotor.
  • the actuator 141 is connected to the control device 11 via a lead wire (not shown).
  • Actuator 141 is controlled to be driven and stopped by a control signal from control device 11. More specifically, the actuator 141 includes a cylindrical stator 411, a rotor 412 disposed inside the stator 411, and a motor shaft 413.
  • the rotor 412 rotates about the rotation axis AX3.
  • a rotation shaft of the rotor 412 is a motor shaft 413.
  • One end of the motor shaft 413 is rotatably supported by the motor bearing 421.
  • the gear unit 142 is a reduction mechanism.
  • the gear unit 142 decelerates the rotational force of the actuator 141 and outputs it to the spindle 424 so that it can be transmitted.
  • the gear unit 142 includes a motor bearing 421, a first planetary gear mechanism 422, a second planetary gear mechanism 423, a spindle 424, a spindle bearing 425, and a gear cover 429.
  • the motor bearing 421 supports the motor shaft 413 so as to be rotatable.
  • the motor bearing 421 is disposed on the left side of the stator 411 and the rotor 412 of the actuator 141 and on the right side of the gear unit 142.
  • the first planetary gear mechanism 422 is at least partially disposed on the motor shaft 413.
  • the first planetary gear mechanism 422 rotates around the rotation axis AX3.
  • the first planetary gear mechanism 422 is disposed on the left side of the motor bearing 421.
  • the first planetary gear mechanism 422 decelerates the rotational force of the actuator 141 and transmits it to the second planetary gear mechanism 423.
  • the first planetary gear mechanism 422 has an output shaft 4221 and a connecting shaft 4222.
  • the left end of the output shaft 4221 is fitted to the right end of the connecting shaft 4222.
  • the output shaft 4221 and the connecting shaft 4222 rotate as a unit around the rotation axis AX3.
  • the left end of the connecting shaft 4222 is fitted into the second planetary gear mechanism 423.
  • the first planetary gear mechanism 422 transmits the rotational force to the second planetary gear mechanism 423 via the output shaft 4221 and the connecting shaft 4222.
  • the first planetary gear mechanism 422 includes a ring-shaped internal gear 4223, a plurality of planetary gears 4224 that mesh with the internal gear 4223, and a plurality of pins 4225 that are axes of the planetary gear 4224.
  • the internal gear 4223 is disposed in the gear cover 429 in a state where the rotation is restricted.
  • the plurality of planetary gears 4224 are arranged inside the internal gear 4223.
  • the planetary gear 4224 can rotate around the pin 4225 as an axis.
  • the second planetary gear mechanism 423 having such a configuration may be arranged in a plurality of stages.
  • the second planetary gear mechanism 423 is at least partially disposed on the connecting shaft 4222.
  • the second planetary gear mechanism 423 rotates around the rotation axis AX3.
  • a rotation axis AX3 of the second planetary gear mechanism 423 is a connection shaft 4222.
  • the second planetary gear mechanism 423 is disposed on the left side of the first planetary gear mechanism 422.
  • the second planetary gear mechanism 423 can reduce the rotational force of the actuator 141 transmitted from the first planetary gear mechanism 422 and transmit it to the spindle 424.
  • the second planetary gear mechanism 423 has a ring-shaped internal gear 4231 and a plurality of planetary gears 4232 that mesh with the internal gear 4231.
  • the internal gear 4231 is locked or unlocked by a solenoid mechanism 500 described later.
  • the internal gear 4231 idles when the rotation lock is released.
  • the plurality of planetary gears 4232 are arranged inside the internal gear 4231.
  • the planetary gear 4232 is rotatable about an axis.
  • the spindle 424 can be connected to the motor shaft 413 via the first planetary gear mechanism 422 and the second planetary gear mechanism 423.
  • the rotational force of the actuator 141 can be transmitted to the spindle 424 via the first planetary gear mechanism 422 and the second planetary gear mechanism 423.
  • the spindle 424 rotates about the rotation axis AX3.
  • the spindle 424 transmits the transmitted rotational force of the actuator 141 to the drum 143.
  • the spindle 424 includes a cylindrical main body portion 4241, a large-diameter portion 4242 that protrudes to the right from the main-body portion 4241, and a disc-shaped portion that protrudes to the right from the large-diameter portion 4242 and is formed in a disc shape. 4243 and a small-diameter portion 4244 that protrudes to the left from the main body portion 4241 and is formed in a cylindrical shape.
  • the main body portion 4241 has a shape whose outer diameter is smaller than that of the large diameter portion 4242.
  • the main body portion 4241 has a shape having an outer diameter larger than that of the small diameter portion 4244.
  • the main body portion 4241, the large diameter portion 4242, the disk-shaped portion 4243, and the small diameter portion 4244 are integrally formed.
  • the spindle 424 is rotatably supported by a spindle bearing 425 and a spindle bearing 144.
  • the spindle bearing 425 is disposed on the right side of the drum 143 and on the left side of the disc-shaped portion 4243 of the spindle 424.
  • the spindle bearing 425 supports the large diameter portion 4242 to be rotatable.
  • the gear cover 429 is formed in a cylindrical shape whose left and right ends are open.
  • the gear cover 429 accommodates the gear unit 142 inside. More specifically, the gear cover 429 accommodates the motor bearing 421, the first planetary gear mechanism 422, the second planetary gear mechanism 423, a part of the spindle 424, and the spindle bearing 425 therein.
  • the gear cover 429 has the motor shaft 413 inserted through the opening on the right side. A part of the spindle 424 protrudes from the left opening of the gear cover 429.
  • the drum 143 is disposed on the left side of the gear unit 142.
  • the drum 143 is connected to the gear unit 142 via the spindle 424.
  • the drum 143 rotates around the rotation axis AX3.
  • the rotation axis of the drum 143 is a spindle 424.
  • the drum 143 rotates when the actuator 141 rotates and torque is transmitted through the gear unit 142.
  • the drum 143 is formed in a cylindrical shape.
  • the drum 143 has a main body 431 around which the first wire 711 is wound, a disk-like part 432 that protrudes to the right of the main part 431, and a disk that protrudes to the left of the main part 431.
  • the main body portion 431, the disc-like portion 432, and the disc-like portion 433 are integrally formed.
  • the main body 431 has a shape having an outer diameter smaller than that of the disk-shaped part 432 and the disk-shaped part 433.
  • the spindle bearing 144 is disposed on the left side of the drum 143.
  • the spindle bearing 144 rotatably supports the small diameter portion 4244 of the spindle 424.
  • the cooling fan 414 suppresses heat generation of the actuator 141 by generating cooling air when the actuator 141 rotates.
  • the housing 149 is formed in a box shape that houses the actuator 141, the gear unit 142, the drum 143, and the spindle bearing 144.
  • the housing 149 further houses a spindle lock mechanism 600 (one-way rotation holding mechanism).
  • the housing 149 is fixed to the second housing 292.
  • the housing 149 is attached to the base 293, and is placed and fixed on the third frame 23B. Further, the housing 149 may be placed directly on the third frame 23 ⁇ / b> B without using the base 293.
  • FIGS. 20 is a cross-sectional view showing the solenoid mechanism 500 according to the present embodiment, and corresponds to a cross-sectional view taken along the line DD of FIG.
  • FIG. 21 is a plan view showing a solenoid mechanism 500 according to this embodiment.
  • FIG. 22 is a cross-sectional view showing the solenoid mechanism 500 according to this embodiment, and corresponds to a cross-sectional view taken along the line FF of FIG.
  • FIG. 23 is a cross-sectional view showing the solenoid mechanism 500 according to this embodiment, and corresponds to a cross-sectional view taken along line G1-G1 of FIG.
  • FIG. 24 is a cross-sectional view showing the solenoid mechanism 500 according to the present embodiment, and corresponds to a cross-sectional view taken along the line FF of FIG.
  • FIG. 25 is a cross-sectional view showing the solenoid mechanism 500 according to the present embodiment, and corresponds to a cross-sectional view taken along line G2-G2 of FIG.
  • the solenoid mechanism 500 locks or releases the rotation of the internal gear 4231 of the second planetary gear mechanism 423 of the gear unit 142.
  • the solenoid mechanism 500 switches between a state where the gear unit 142 is engaged and the power of the actuator 141 can be transmitted to the output side, and a state where the gear unit 142 is not engaged and the power of the actuator 141 is not transmitted to the output side.
  • the solenoid mechanism 500 includes a solenoid 501, a plunger 502, a solenoid lever 503, a stopper 504, and a solenoid detection device 505.
  • the solenoid 501 is an electromagnetic solenoid that is driven by electric power supplied from the battery 9.
  • the solenoid 501 is driven by being supplied with electric power when the work assisting tool 1 is in the assisting state or in the posture maintaining state.
  • the solenoid 501 generates an attractive force with respect to the plunger 502 when driven.
  • the solenoid 501 stops driving by stopping the supply of power.
  • the plunger 502 is formed in a rod shape with a magnetic metal material.
  • the plunger 502 is disposed inside the solenoid 501 so as to be able to advance and retract.
  • the plunger 502 advances and retracts in conjunction with the driving and stopping of the solenoid 501. More specifically, the plunger 502 moves upward by the suction force of the solenoid 501 when the solenoid 501 is driven.
  • the plunger 502 moves downward by its own weight and the spring 506 because the suction force of the solenoid 501 does not act when the solenoid 501 stops.
  • the solenoid lever 503 moves in conjunction with the advance / retreat of the plunger 502.
  • the solenoid lever 503 moves the stopper 504 up and down.
  • the solenoid lever 503 is made of a rod-shaped material.
  • One end of the solenoid lever 503 is connected to the lower portion of the plunger 502.
  • the other end of the solenoid lever 503 is connected to the top of the stopper 504.
  • the solenoid lever 503 is coupled to the gear cover 429 at an intermediate portion.
  • the stopper 504 can advance and retract in the groove 4231a of the internal gear 4231. Accordingly, the stopper 504 locks or unlocks the rotation of the internal gear 4231. As shown in FIGS. 24 and 25, the stopper 504 is pushed down by the solenoid lever 503 when the solenoid 501 is driven. The stopper 504 enters the groove 4231a and contacts the pin 4233. When the stopper 504 contacts the pin 4233, the rotation of the internal gear 4231 is locked.
  • the stopper 504 is lifted by the solenoid lever 503 when the solenoid 501 stops. At this time, the force acting on the stopper 504 will be described in detail.
  • the stopper 504 enters the groove 4231a and contacts the pin 4233. In this state, the torque applied to the internal gear 4231 is received by the stopper 504 via the pin 4233 and the pin 4291 disposed in the gear cover 429. Accordingly, the stopper 504 is lifted with a small force by rolling friction between the stopper 504 and the pin 4233 and between the stopper 504 and the pin 4291. In this way, as shown in FIGS. 22 and 23, the stopper 504 is separated from the pin 4233 disposed in the groove 4231a. When the stopper 504 is separated from the pin 4233, the internal gear 4231 is unlocked and rotated idly.
  • the solenoid detection device 505 detects the state of the stopper 504.
  • the solenoid detection device 505 compares the control signal from the control device 11 with the detected state of the stopper 504 and outputs an error signal to the control device 11 if they do not match.
  • the error signal is a command signal for stopping the work auxiliary tool 1 and the electric tool KD.
  • the solenoid mechanism 500 configured as described above switches whether power is transmitted between the second planetary gear mechanism 423 of the gear unit 142 of the drum drive mechanism 400 and the spindle 424.
  • the solenoid mechanism 500 enables transmission of rotational force between the second planetary gear mechanism 423 and the spindle 424 when the solenoid 501 is driven.
  • the solenoid mechanism 500 disconnects the transmission of the rotational force between the second planetary gear mechanism 423 and the spindle 424 when the solenoid 501 is stopped.
  • the solenoid mechanism 500 locks the rotation of the internal gear 4231 by the stopper 504 entering the groove 4231a of the internal gear 4231 when the solenoid 501 is driven.
  • This state is a state in which a so-called gear is engaged.
  • the spindle 424 rotates through the planetary gear 4232.
  • the rotational force of the actuator 141 is transmitted from the planetary gear 4232 to the spindle 424.
  • the solenoid mechanism 500 releases the lock of the internal gear 4231 when the stopper 504 is separated from the groove 4231a of the internal gear 4231 when the solenoid 501 is stopped.
  • the internal gear 4231 idles. More specifically, when a rotational force is transmitted from the spindle 424 side, the planetary gear 4232 rotates and the internal gear 4231 idles. Accordingly, the rotational force from the spindle 424 side is not transmitted from the planetary gear 4232 to the actuator 141 side.
  • the spindle lock mechanism 600 is a one-way clutch.
  • the spindle lock mechanism 600 holds the holding member 4 in the raised state and enables accumulation of force on the spring member 721.
  • the spindle lock mechanism 600 is a connection portion between the left end portion of the output shaft 4221 of the first planetary gear mechanism 422 and the right end portion of the connection shaft 4222.
  • the spindle lock mechanism 600 is disposed on the right side of the second planetary gear mechanism 423.
  • the spindle lock mechanism 600 transmits a rotational force from the actuator 141 to the spindle 424.
  • the spindle lock mechanism 600 regulates transmission of rotational force from the spindle 424 to the actuator 141.
  • the spindle lock mechanism 600 is switched between enabled and disabled by driving and stopping the solenoid mechanism 500. More specifically, the spindle lock mechanism 600 is effective because the rotation of the internal gear 4231 is locked when the solenoid 501 is driven. When the spindle lock mechanism 600 is effective, the holding member 4 is held in the raised state, and the force can be accumulated on the spring member. The spindle lock mechanism 600 becomes invalid when the solenoid 501 is stopped because the internal gear 4231 is idled.
  • FIG. 26 is a cross-sectional view showing a part of the arm drive mechanism 700 according to the present embodiment.
  • FIG. 27 is a front view showing an arm drive mechanism 700 according to the present embodiment.
  • FIG. 28 is a cross-sectional view showing an arm drive mechanism 700 according to this embodiment, and corresponds to a cross-sectional view taken along the line HH in FIG.
  • FIG. 29 is a cross-sectional view of an arm drive mechanism 700 according to this embodiment.
  • FIG. 30 is a cross-sectional view of an arm drive mechanism 700 according to this embodiment.
  • FIG. 31 is a cross-sectional view of an arm drive mechanism 700 according to this embodiment. 29 and 30 correspond to the cross-sectional view taken along the line II of FIG.
  • FIG. 31 corresponds to a cross-sectional view taken along the line JJ of FIG.
  • the arm driving mechanism 700 is a mechanism for causing the arm member 3 to move up and down and applying a force that presses the arm of the worker WM.
  • the arm drive mechanism 700 includes a wire 710, a spring 720, a slide volume 730, and a pulley 740.
  • the wire 710 moves the arm member 3 up and down.
  • the wire 710 includes a first wire 711, a second wire 712, and a wire case 719.
  • One end of the first wire 711 is fixed to the drum 143.
  • the first wire 711 can be wound around the drum 143 in conjunction with the rotation of the drum 143.
  • the other end of the first wire 711 is fixed to the second cap 723 of the spring 720.
  • One end of the second wire 712 is fixed to the stopper 726 of the spring 720.
  • the other end of the second wire 712 is disposed inside the pulley 740.
  • the other end of the second wire 712 can advance and retract from the inside of the pulley 740.
  • the second wire 712 has a ring 712a at the tip. The ring 712a restricts the distal end portion of the second wire 712 from coming out of the pulley 740.
  • the wire case 719 is formed in a cylindrical shape.
  • the wire case 719 has flexibility.
  • the wire case 719 accommodates the second wire 712.
  • the wire case 719 protects the second wire 712.
  • One end of the wire case 719 is disposed on the top of the spring case 729.
  • the other end of the wire case 719 is connected to the pulley 740.
  • the spring 720 functions together with the spindle lock mechanism 600 so as to hold a state in which a force pressing upward against the holding member 4 is applied. In the compressed state of the spring 720, the spindle lock mechanism 600 is effective, the state where the tensile force that pulls the second wire 712 to the drum 143 side is held, and the holding member 4 continues to be pressed upward. Act.
  • the spring 720 includes a spring member 721, a first cap 722, a second cap 723, a third cap 724, an elastic member 725, a stopper 726, and a spring case 729.
  • the spring member 721 is a compression spring.
  • the spring member 721 can be expanded and contracted.
  • the spring member 721 is accommodated in the spring case 729.
  • One end of the spring member 721 is fixed to the first cap 722.
  • One end of the spring member 721 is a fixed end.
  • the spring member 721 is disposed in parallel with the Z-axis direction.
  • the other end of the spring member 721 is fixed to the second cap 723.
  • the other end of the spring member 721 is a free end.
  • the spring member 721 is inserted so that the first wire 711 can advance and retreat in parallel with the axial direction.
  • the spring member 721 is compressed when the first wire 711 is wound around the drum 143 when the solenoid 501 is driven.
  • the spring member 721 extends when the solenoid 501 is stopped.
  • the first cap 722 has one end of the spring member 721 fixed thereto.
  • the first cap 722 is fixed to the opening at one end of the spring case 729.
  • the first cap 722 has a cylindrical shape with both ends opened. The first cap 722 is inserted through the opening so that the first wire 711 can advance and retreat in parallel with the axial direction.
  • the second cap 723 is fixed to the opening at the other end of the spring case 729.
  • the second cap 723 is formed by integrally assembling a cap member 7231, a cap member 7232, and a cap member 7233.
  • the cap member 7231 is formed in a cylindrical shape having both ends opened.
  • the cap member 7231 has the other end of the spring member 721 fixed thereto.
  • the cap member 7231 is inserted through the opening so that the first wire 711 can advance and retreat in parallel with the axial direction.
  • the cap member 7232 is formed in a cylindrical shape having both ends opened.
  • the cap member 7232 is assembled on the upper side of the cap member 7231.
  • the cap member 7232 is fixed so that the first wire 711 inserted through the opening does not come out to the spring member 721 side.
  • the cap member 7233 is formed in a cylindrical shape with one end opened.
  • the cap member 7233 is assembled on the upper side of the cap member 7232.
  • the second cap 723 configured in this manner moves up and down integrally within the spring case 729 in conjunction with the expansion and contraction of the spring member 721.
  • the third cap 724 is fixed to the opening at the other end of the spring case 729.
  • the third cap 724 has a cylindrical shape with both ends opened.
  • the third cap 724 is inserted through the opening so that the second wire 712 can advance and retreat in parallel with the axial direction.
  • the third cap 724 is disposed on the upper side of the elastic member 725.
  • the elastic member 725 is an elastic body such as rubber, for example.
  • the elastic member 725 is disposed above the second cap 723 and below the third cap 724.
  • the elastic member 725 acts as a cushioning material when the second cap 723 moves upward.
  • the stopper 726 is fixed to the opening at the other end of the spring case 729.
  • the stopper 726 has a cylindrical shape with both ends opened.
  • the stopper 726 is inserted through the opening so that the second wire 712 can advance and retreat in parallel with the axial direction.
  • the stopper 726 is fixed so that the second wire 712 inserted through the opening does not come out of the spring case 729.
  • the stopper 726 is disposed on the upper side of the third cap 724.
  • the spring case 729 has a cylindrical shape with both ends opened.
  • the spring case 729 accommodates the spring member 721, the first cap 722, the second cap 723, the third cap 724, the elastic member 725, and the stopper 726 inside.
  • the spring case 729 is inserted through the opening at one end so that the first wire 711 can advance and retreat.
  • the spring case 729 is inserted through the opening at the other end so that the second wire 712 can advance and retreat.
  • Such a spring case 729 is movably disposed inside the first housing 291.
  • the spring case 729 moves up and down in the first housing 291.
  • the stop position of the spring case 729 inside the first housing 291 is determined by the output of the actuator 141, the elastic coefficient of the spring member 721, and the reaction force acting on the electric tool KD.
  • the slide volume 730 detects the compressive force stored by the spring member 721.
  • the slide volume 730 is a spring sensor that detects the length of the spring member 721.
  • the slide volume 730 is fixed to the spring case 729.
  • the slide volume 730 includes a movable member 731, a guide member 732, and a case 739.
  • the slide volume 730 allows the spring member 721 to be compressed to a set value corresponding to the assist force set by the assist force adjustment dial 813 (FIG. 33) of the assisting device operating device 800.
  • the movable member 731 moves in conjunction with the expansion and contraction of the spring member 721.
  • the movable member 731 indicates the position of the upper end portion of the spring member 721.
  • One end of the movable member 731 is disposed between the cap member 7231 and the cap member 7232. Thereby, the movable member 731 moves in conjunction with the second cap 723 in conjunction with the expansion and contraction of the spring member 721.
  • the movable member 731 moves while being guided by the guide member 732.
  • the amount of movement of the movable member 731 is detected by a detection unit (not shown) and output to the control device 11.
  • the amount of movement of the movable member 731 corresponds to the compressive force stored by the spring member 721.
  • the guide member 732 guides the movement of the movable member 731.
  • the guide member 732 extends to the case 739 in parallel with the spring expansion / contraction direction.
  • the guide member 732 has a length that matches the range in which the spring member 721 can expand and contract.
  • the case 739 is fixed to the upper part of the spring case 729.
  • the pulley 740 will be described.
  • the pulley 740 is connected to the second wire 712.
  • a guide rail 35 is connected to the pulley 740.
  • the pulley 740 includes a base portion 743 formed of an arm side base portion 741 and a shoulder side base portion 742, and an arm shaft 744.
  • the arm side 34 is disposed on the arm side base 741.
  • the arm side base portion 741 has a movable portion 7411.
  • the movable portion 7411 is superimposed on the arm side base portion 741.
  • the movable portion 7411 is disposed so as to be rotatable with respect to the arm side base portion 741 around the arm shaft 744.
  • the movable portion 7411 is formed in a circular shape.
  • the movable portion 7411 is arranged such that the guide rail 35 is rotatable about the arm shaft 744.
  • a partition wall 7431 is fixed to the movable portion 7411.
  • the shoulder side base 742 is arranged to face the arm side base 741.
  • the shoulder side base 742 is formed in a shape corresponding to the arm side base 741.
  • the shoulder side base 742 is assembled integrally with the arm side base 741 facing the arm side base 741.
  • the base portion 743 is formed by integrally assembling the arm side base portion 741 and the shoulder side base portion 742.
  • the base portion 743 is formed in a box shape whose outer shape is defined by the arm side base portion 741 and the shoulder side base portion 742.
  • a space inside the base 743 is partitioned into a plurality of spaces by a partition wall 7431.
  • the space inside the base portion 743 is partitioned into at least a space 7432 and a space 7433 by a partition wall 7431.
  • the base 743 has an advance / retreat port 7434 through which the second wire 712 can advance and retreat.
  • the space 7432 and the space 7433 will be described with reference to FIG.
  • the space 7432 and the space 7433 are partitioned by a spiral partition wall 7431.
  • the space 7432 communicates with the advance / retreat opening 7434.
  • the space 7432 is formed along the outer periphery of the base 743 from the advance / retreat opening 7434.
  • the space 7432 has a length of about half in the circumferential direction of the base 743.
  • the space 7433 communicates with the space 7432 through the opening 7435.
  • the space 7433 is formed in a spiral around the arm shaft 744.
  • the opening 7435 is smaller than the ring 712 a disposed at the distal end portion of the second wire 712.
  • the opening 7435 allows the extra length of the second wire 712 to advance and retract.
  • the opening 7435 restricts the ring 712a from moving to the space 7432 side.
  • the stopper 7436 will be described with reference to FIG.
  • the stopper 7436 is disposed in the space inside the base portion 743.
  • the stopper 7436 contacts the outer periphery of the connecting portion 323 of the arm portion 34 and restricts the rotation of the pulley 740.
  • the stopper 7436 restricts the pulley 740 from rotating excessively and the holding member 4 from excessively rising.
  • the arm shaft 744 will be described with reference to FIG.
  • the arm shaft 744 supports the arm portion 34 rotatably on the base portion 743.
  • the arm shaft 744 rotates around the rotation axis AX4.
  • FIG. 32 is a schematic diagram showing the operation of the power mechanism 1000 according to the present embodiment.
  • the worker WM wearing the work auxiliary tool 1 operates the trigger switch 100A to drive the motor 210 of the electric tool KD.
  • Electric power is supplied to the solenoid 501 by starting the operation of the electric power tool KD.
  • the spindle lock mechanism 600 becomes effective as shown in FIG.
  • the actuator 141 when the operation of the electric power tool KD is started, electric power is supplied to the actuator 141 in a state where the spindle lock mechanism 600 is valid.
  • the actuator 141 is activated when electric power is supplied to the actuator 141.
  • the power generated by the actuator 141 is transmitted to the arm drive mechanism 700 via the drum drive mechanism 400.
  • the first wire 711 is wound around the drum 143 as shown in FIG.
  • the second wire 712 is pulled downward via the spring 720, and the bending of the second wire 712 is eliminated.
  • the actuator 141 When the actuator 141 further operates with the bending of the second wire 712 eliminated, the ring 712a of the second wire 712 contacts the partition wall 7431, and the partition wall 7431 is pulled to the second wire 712 via the ring 712a. As a result, the movable portion 7411 rotates. Thereby, the guide rail 35 rotates so that the front-end
  • the control device 11 determines the detected value of the slide volume 730 and the known elastic coefficient of the spring member 721. Based on this, when it is determined that the elastic force of the spring member 721 is greater than or equal to the first threshold value, a stop signal for stopping the actuator 141 is output. That is, as shown in FIG. 32D, when the control device 11 determines that the spring member 721 is sufficiently compressed by the operation of the actuator 141 while the motor 210 of the electric tool KD is operating, the actuator 11 141 is stopped.
  • the actuator 141 when the spring member 721 extends and the elastic force of the spring member 721 decreases, the actuator 141 is activated (reactivated). That is, as shown in FIG. 32 (F), when the motor 210 of the electric power tool KD is operating, the control device 11 determines the detected value of the slide volume 730 and the known elastic coefficient of the spring member 721. Based on this, when it is determined that the elastic force of the spring member 721 is equal to or less than the second threshold value, an activation signal for activating the actuator 141 is output. That is, as shown in FIG. 32 (F), when the control device 11 determines that the elastic force is gradually released and the spring member 721 is extended while the motor 210 of the electric power tool KD is operating, The actuator 141 is activated.
  • the worker WM wearing the work auxiliary tool 1 releases the operation of the trigger switch 100A.
  • the motor 210 of the electric tool KD is stopped.
  • the control device 11 stops the power supply to the solenoid 501. That is, when the work using the electric power tool KD is completed, the control device 11 stops driving the solenoid 501.
  • the stopper 504 is withdrawn from the groove 4231a, and the spindle lock mechanism 600 becomes invalid as shown in FIG. That is, when the motor 210 of the electric power tool KD is stopped, the solenoid mechanism 500 disables the spindle lock mechanism 600 and disconnects the force transmission in the drum drive mechanism 400.
  • FIG. 33 is a diagram showing an example of an auxiliary tool operating device 800 according to this embodiment.
  • the auxiliary tool operating device 800 includes a plurality of operation members for changing the operation state including starting and stopping of the work auxiliary tool 1, an illumination LED (Light Emitting Diode) 814, and a display unit 815 that displays the operation state. .
  • the display unit 815 has, for example, a function for displaying various abnormalities (errors) in the work assisting tool 1, a function for displaying the gear state of the drum drive mechanism 400, and whether or not the work assisting tool 1 outputs an assist force. It has a function to display.
  • the display unit 815 displays the display data output from the control device 11.
  • the operation members of the assisting device operating device 800 include an interlock mode selection switch 811, a speed adjustment dial 812, an assist force adjustment dial 813, an arm raising switch 818, a release switch 819, an illumination LED switch 820, and a buzzer 821.
  • the interlocking mode selection switch 811 is an operation member that switches whether or not the work auxiliary tool 1 is operated in conjunction with the electric tool KD.
  • the interlocking mode selection switch 811 includes a rocker switch.
  • the interlocking mode selection switch 811 switches between an interlocking mode in which the work auxiliary tool 1 is interlocked with the electric power tool KD and an interlocking cancellation mode in which the interlocking is canceled.
  • An operation signal generated by operating the interlock mode selection switch 811 is output to the control device 11.
  • the speed adjustment dial 812 is an operation member that adjusts the moving speed of the arm member 3.
  • the moving speed of the arm member 3 is defined by the rotational speed of the actuator 141.
  • By operating the speed adjustment dial 812 the rotational speed of the actuator 141 is adjusted.
  • An operation signal generated by operating the speed adjustment dial 812 is output to the control device 11.
  • Assist force adjustment dial 813 is an operation member that adjusts the assist force by the arm member 3.
  • the assist force refers to a force that pushes up the arm of the worker WM supporting the electric power tool KD.
  • the assist force is a pressing force that presses the tip tool of the electric tool KD against the ceiling surface.
  • Threshold values first threshold value and second threshold value
  • the assist force adjustment dial 813 when the assist force is increased, the assist force adjustment dial 813 is adjusted so that the first threshold value is decreased. Accordingly, the actuator 141 can sufficiently compress the spring member 721 so that the spring member 721 can exert a large assist force (elastic force) after the actuator 141 is stopped.
  • the assist force adjustment dial 813 may be adjusted so that the second threshold value is also decreased. Thereby, in a state where the actuator 141 is stopped, the actuator 141 is restarted only by slightly extending the spring member 721. Thereby, a large assist force can be obtained without a sense of incongruity.
  • the period during which the actuator 141 is driven is shortened by increasing the first threshold value or increasing the second threshold value, the power consumption of the battery 9 can be suppressed.
  • the arm raising switch 818 is an operation member that moves the tip of the guide rail 35 upward.
  • An operation signal generated by operating the arm raising switch 818 is output to the control device 11.
  • the control device 11 When the arm raising switch 818 is operated while the solenoid 501 and the actuator 141 are stopped, the control device 11 outputs a signal based on the operation signal generated by operating the arm raising switch 818. While the operation continues, the control signal for driving the solenoid 501 is output to enable the spindle lock mechanism 600 and the control signal (start signal) for starting the actuator 141 is output.
  • the actuator 141 stops, but the solenoid 501 remains driven, and the posture maintenance can be assisted.
  • the release switch 819 is an operation member that releases the assist force of the guide rail 35.
  • An operation signal generated by operating the release switch 819 is output to the control device 11.
  • the control device 11 When the release switch 819 is operated while the solenoid 501 and the actuator 141 are driven, the control device 11 outputs a control signal (stop signal) for stopping the actuator 141 and at the same time a control signal for stopping the solenoid 501. Is output to disable the spindle lock mechanism 600.
  • the illumination LED switch 820 is an operation unit seat for switching the illumination LED 814 between on and off.
  • An operation signal generated by operating the illumination LED switch 820 is output to the control device 11.
  • the control device 11 outputs to the illumination LED 814 a control signal for switching on / off the illumination LED 814.
  • the buzzer 821 is an output device that outputs an alarm sound when an abnormality occurs in the work assisting tool 1.
  • the buzzer 821 outputs sound based on the control signal from the control device 11.
  • Assisting tool operating device 800 is provided in work assisting tool 1. Note that the auxiliary tool operating device 800 may be arranged at a position away from the work auxiliary tool 1. The auxiliary tool operating device 800 may remotely operate the work auxiliary tool 1.
  • FIG. 34 is a diagram showing the electric tool KD and the work auxiliary tool 1 according to the present embodiment. Similar to the above-described embodiment, also in this embodiment, the control device 11 controls the actuator 141 based on the work start signal related to the work start of the electric power tool KD.
  • the work start signal includes a detection signal indicating that power supply to the electric tool KD has started.
  • a power detection device 905 that detects whether power is supplied from the battery 9 to the power tool KD is provided.
  • the power detection device 905 can detect that the supply of power from the battery 9 to the electric tool KD has started.
  • the control device 11 outputs an activation signal for activating the actuator 141 based on the detection signal of the power detection device 905 indicating that the supply of power to the electric tool KD has been started.
  • the electric power tool KD starts work when electric current is supplied.
  • the control device 11 outputs an activation signal that activates the actuator 141 in conjunction with the start of work of the electric power tool KD.
  • control device 11 outputs a control signal for controlling the actuator 141 based on a work end signal related to the work end of the power tool KD.
  • the work end signal includes a detection signal indicating that the supply of power to the power tool KD has been stopped.
  • the power detection device 905 can detect that the supply of power from the battery 9 to the power tool KD has been stopped.
  • the control device 11 outputs a stop signal for stopping the actuator 141 based on the detection signal of the power detection device 905 indicating that the supply of power to the power tool KD has been stopped.
  • the power tool KD ends the operation when the supply of current is stopped.
  • the control device 11 outputs a stop signal for stopping the actuator 141 in conjunction with the end of the work of the electric power tool KD.
  • a battery adapter 900 is connected to the electric power tool KD.
  • the battery adapter 900 connects the first relay member 901 attached to the connector 10D of the electric tool KD, the second relay member 902 to which the battery 9 is attached, the first relay member 901, and the second relay member 902. Cable 903.
  • the second relay member 902 is connected to the control device 11 via the cable 904.
  • the power detection device 905 is disposed on the second relay member 902.
  • the battery 9 attached to the second relay member 902 supplies power to the electric power tool KD via the second relay member 902, the cable 903, and the first relay member 901.
  • the electric power output from the battery 9 is supplied to the motor 210 of the electric tool KD via the battery adapter 900 including the first relay member 901 attached to the connector 10D of the electric tool KD.
  • FIG. 35 is a perspective view showing the battery 9 according to this embodiment.
  • FIG. 36 is a perspective view showing the first relay member 901 according to the present embodiment.
  • FIG. 37 is a perspective view showing the second relay member 902 according to the present embodiment.
  • the battery 9 functions as a power source for the electric tool KD.
  • the battery 9 is a lithium ion battery having a plurality of battery cells.
  • the battery 9 is a rechargeable battery.
  • the battery 9 can be charged with a charger.
  • the battery 9 has a raised portion 9a, a battery claw 9b, a battery button 9c, a pair of battery terminals 9d, and a pair of slide rails 9e.
  • the battery terminal 9d is disposed between the pair of slide rails 9e.
  • One battery terminal 9d is a positive terminal.
  • the other battery terminal 9d is a negative terminal.
  • the battery 9 is detachably attached to the second relay member 902.
  • the battery 9 is slid onto the second relay member 902 so that the battery terminal 9d of the battery 9 and the mounting surface of the second relay member 902 face each other.
  • the raised portion 9 a contacts at least a part of the second relay member 902.
  • the battery claw 9b is inserted into the mounting recess of the second relay member 902. Thereby, the battery 9 is attached to the second relay member 902.
  • the battery button 9c When the battery 9 is removed from the second relay member 902, the battery button 9c is operated. When the battery button 9c is operated, the battery claw 9b is detached from the second relay member 902, and the battery 9 is released from the second relay member 902. As the battery 9 slides, the battery 9 is removed from the second relay member 902.
  • the first relay member 901 is connected to the connector 10D of the electric tool KD.
  • the connection structure of the first relay member 901 connected to the connector 10D and the connection structure of the battery 9 connected to the second relay member 902 are substantially the same.
  • the first relay member 901 includes a raised portion 901a, a battery claw 901b, a battery button 901c, a pair of battery terminals 901d, and a pair of slide rails 901e.
  • the battery terminal 901d is disposed between the pair of slide rails 901e.
  • the outer shape and dimensions of the first relay member 901 and the outer shape and dimensions of the battery 9 are substantially the same.
  • the first relay member 901 is a so-called dummy battery.
  • the first relay member 901 does not have a battery cell and is lighter than the battery 9.
  • the first relay member 901 does not function as a power source for the electric tool KD, but functions as a relay that sends the electric power output from the battery 9 to the electric tool KD.
  • the second relay member 902 is connected to the battery 9.
  • the connection structure of the second relay member 902 connected to the battery 9 and the connection structure of the connector 10D of the electric power tool KD are substantially the same.
  • the second relay member 902 includes a case 902a, a connection terminal 902b to which the cable 903 is connected, and a connection terminal 902c to which the cable 904 is connected.
  • the connection terminal 902b and the connection terminal 902c are provided on at least part of the case 902a.
  • the second relay member 902 includes a power detection device 905 that detects whether or not power is being supplied from the battery 9 to the electric tool KD.
  • the power detection device 905 is accommodated in the case 902a.
  • the second relay member 902 has a hook 902d provided on the case 902a.
  • the hook 902d is hung on the waist belt HSb of the work assisting tool 1.
  • the second relay member 902 does not have a battery cell and is lighter than the battery 9. It does not function as a power source for the power tool KD, but functions as a relay that sends the power output from the battery 9 to the power tool KD.
  • the cable 903 connects the second relay member 902 and the first relay member 901 so that energization is possible.
  • One end of the cable 903 is connected to the first relay member 901.
  • the other end of the cable 903 is connected to the second relay member 902.
  • the battery 9 supplies electric power to the electric power tool KD via the second relay member 902, the cable 903, and the first relay member 901.
  • the cable 904 connects the second relay member 902 and the control device 11 so that data communication is possible.
  • the control signal output from the control device 11 is output to the second relay member 902 via the cable 904.
  • the detection signal of the power detection device 905 is output to the control device 11 via the cable 904.
  • FIG. 38 is a block diagram showing a hardware configuration of each of the work auxiliary tool 1 and the power tool KD according to the present embodiment.
  • the work assisting tool 1 includes an actuator 141, a solenoid 501, a solenoid detection device 505, a slide volume 730, an assisting device operating device 800, a main power operating device 85, and a battery 9.
  • the control device 11 is connected to each of the actuator 141, the solenoid 501, the solenoid detection device 505, the slide volume 730, the auxiliary tool operation device 800, the main power supply operation device 85, and the battery 9.
  • the main power supply operating device 85 has a main power switch 851 and a main power LED 852.
  • the main power switch 851 is operated to switch on and off the main power of the work auxiliary tool 1.
  • the main power LED 852 is turned on or off in conjunction with turning on or off the main power of the work auxiliary tool 1.
  • the main power supply operating device 85 is provided in the work auxiliary tool 1.
  • the main power supply operating device 85 may be disposed at a position away from the work auxiliary tool 1.
  • the main power supply operating device 85 may remotely operate the main power supply of the work auxiliary tool 1.
  • the control device 11 includes an arithmetic processing device 90 including a processor such as a CPU, and a driver 102 that drives a plurality of actuators provided in the work assisting tool 1.
  • the driver 102 includes an actuator driver 103 for driving the actuator 141 and a solenoid driver 104 for driving the solenoid 501.
  • the actuator driver 103 drives the actuator 141 based on the operation signal of the arm raising switch 818 when the arm raising switch 818 is operated.
  • the actuator driver 103 drives the actuator 141 based on a drive signal indicating the drive of the motor 210.
  • the actuator driver 103 drives the actuator 141 based on the detection signal of the slide volume 730 when the elastic force of the spring member 721 becomes equal to or less than the second threshold value.
  • the actuator driver 103 stops the actuator 141 based on the operation signal of the release switch 819.
  • the actuator driver 103 stops the actuator 141 based on a drive stop signal indicating that the motor 210 is stopped.
  • the actuator driver 103 stops the actuator 141 based on the detection signal of the slide volume 730 when the elastic force of the spring member 721 becomes equal to or greater than the first threshold value.
  • the actuator driver 103 controls the rotation speed of the actuator 141 based on the operation signal of the speed adjustment dial 812.
  • the actuator driver 103 stops the actuator 141 when an abnormality occurs in the work assisting tool 1.
  • the actuator driver 103 stops the actuator 141 based on the abnormality signal of the solenoid detection device 505.
  • the solenoid driver 104 drives the solenoid 501 to enable the function of the spindle lock mechanism 600.
  • the solenoid driver 104 stops driving the solenoid 501 and disables the function of the spindle lock mechanism 600.
  • the first relay member 901 attached to the electric power tool KD and the second relay member 902 attached with the battery 9 are connected via a cable 903.
  • the control device 11 of the work auxiliary tool 1 and the second relay member 902 are connected via a cable 904.
  • the electric tool KD has a control device 230, a motor 210, and a trigger switch 100A operated by the worker WM.
  • the control device 230 includes an arithmetic processing device 200 including a processor such as a CPU, and a motor driver 220 for driving the motor 210.
  • the battery 9 supplies electric power to the electric tool KD via the electric power line 907 provided in each of the second relay member 902, the cable 903, the first relay member 901, and the electric tool KD.
  • the battery 9 is a DC power supply (DC power supply).
  • the power line 907 includes a power line 907A through which a current supplied from the battery 9 to the power tool KD flows and a power line 907B through which a current returning from the power tool KD to the battery 9 flows.
  • the trigger switch 100A is provided in the power line 907A of the electric tool KD.
  • the power detection device 905 is provided in the power line 907B of the second relay member 902.
  • the battery 9 has an arithmetic processing unit 910 including a processor such as a CPU.
  • the arithmetic processing unit 910 of the battery 9 attached to the second relay member 902 is connected to the second relay member 902, the cable 903, the first relay member 901, and the communication line 908 provided in each of the electric tools KD. Communication is possible with the arithmetic processing unit 200 of the electric power tool KD.
  • the arithmetic processing device 200 of the electric tool KD When starting the motor 210 of the electric tool KD, the arithmetic processing device 200 of the electric tool KD outputs a request signal for requesting power supply to the arithmetic processing device 910 of the battery 9 attached to the second relay member 902. To do.
  • the arithmetic processing unit 910 of the battery 9 outputs a first permission signal for permitting activation of the motor 210 to the arithmetic processing unit 200 of the electric tool KD after receiving the request signal.
  • the arithmetic processing unit 200 of the electric tool KD outputs a command from the motor driver 220 for starting the motor 210 after receiving the first permission signal.
  • the arithmetic processing unit 910 of the battery 9 receives the request signal and then outputs a first prohibition signal for prohibiting the start of the motor 210 to the electric tool KD.
  • the data is output to the processing device 200.
  • the first prohibition signal is output, power is not supplied from the battery 9 to the electric tool KD.
  • the motor 210 does not start.
  • the communication line 908 is cut off, and when the first permission signal is not transmitted from the arithmetic processing device 910 of the battery 9 to the arithmetic processing device 200 of the electric tool KD, the arithmetic processing device 200 Since the driver 220 is prohibited from driving the motor 210, the motor 210 does not start.
  • the second relay member 902 communicates between the power detection device 905 that detects whether power is supplied from the battery 9 to the electric tool KD, and the arithmetic processing device 910 of the battery 9 and the arithmetic processing device 200 of the electric tool KD. And a connection switching device 906 capable of connecting and disconnecting.
  • the detection signal of the power detection device 905 is output to the control device 11 of the work auxiliary tool 1 via the communication line 909A provided in the cable 904.
  • the connection switching device 906 operates based on a control signal output from the control device 11 of the work auxiliary tool 1.
  • the control device 11 can output a control signal to the connection switching device 906 via the communication line 909B provided in the cable 904.
  • the connection switching device 906 is provided on the communication line 908 of the second relay member 902.
  • the connection switching device 906 includes a switch device that switches between a state in which communication is performed on the communication line 908 and a state in which communication is interrupted.
  • the communication line 908 is cut off, even if the arithmetic processing unit 910 of the battery 9 outputs the first permission signal, the first permission signal is transmitted from the arithmetic processing unit 910 of the battery 9 to the arithmetic processing unit 200 of the electric tool KD.
  • the communication line 908 is interrupted, power is not supplied from the battery 9 to the electric tool KD, and the motor 210 is not activated.
  • the power detection device 905 can detect that power supply from the battery 9 to the electric tool KD has started.
  • the control device 11 outputs an activation signal for activating the actuator 141 based on the detection signal of the power detection device 905 indicating that the supply of power to the electric tool KD has been started.
  • the electric power tool KD starts work when electric current is supplied.
  • the control device 11 outputs an activation signal that activates the actuator 141 in conjunction with the start of work of the electric power tool KD.
  • the power detection device 905 detects the current supplied from the battery 9 to the electric tool KD.
  • the current output from the battery 9 is supplied to the electric tool KD via the power line 907 provided in each of the second relay member 902, the cable 903, the first relay member 901, and the electric tool KD.
  • the power detection device 905 includes a shunt resistor provided in the power line 907B. When current flows through the power line 907, the voltage changes in the shunt resistor. The power detection device 905 can detect that the supply of current from the battery 9 to the electric tool KD is started based on the amount of change in voltage in the shunt resistor.
  • the power detection device 905 may detect that the supply of current from the battery 9 to the power tool KD is started by detecting a voltage drop between the power line 907A and the power line 907B.
  • the power detection device 905 may include a magnetic sensor disposed around the power line 907. Examples of the magnetic sensor include a Hall element, a magnetoresistive effect element, and a coil. The power detection device 905 may detect that the supply of current from the battery 9 to the electric power tool KD is started by detecting magnetism that changes due to current flowing through the power line 907.
  • FIG. 39 is a functional block diagram illustrating an example of the arithmetic processing device 90 according to the present embodiment.
  • the arithmetic processing unit 90 outputs at least one of a detection signal indicating that the supply of power to the electric tool KD has started and a detection signal indicating that the supply of power to the electric tool KD has been stopped. It has the detection signal acquisition part 91C to acquire, and the control part 93C which outputs the control signal which controls the actuator 141 based on the detection signal acquired by the detection signal acquisition part 91C.
  • the arithmetic processing unit 90 includes a solenoid control unit 97 that outputs a control signal for controlling the solenoid 501.
  • the arithmetic processing device 90 supplies an electric power to the electric tool KD based on the abnormal signal acquisition unit 95 that acquires an abnormal signal indicating an abnormality of the work auxiliary tool 1 and the abnormal signal acquired by the abnormal signal acquisition unit 95.
  • a prohibition unit 96 that outputs a second prohibition signal for prohibiting the control.
  • the detection signal acquisition unit 91C acquires the detection signal from the power detection device 905 provided in the second relay member 902 via the communication line 909A.
  • the power detection device 905 can detect the power supplied from the battery 9 attached to the second relay member 902 to the electric tool KD. Further, the power detection device 905 can detect whether or not the supply of power from the battery 9 to the electric tool KD has been started. As described above, in the present embodiment, the power detection device 905 detects the current supplied from the battery 9 to the electric tool KD.
  • the detection signal acquisition unit 91C acquires a detection signal indicating that the supply of current to the power tool KD is started from the power detection device 905. In addition, the detection signal acquisition unit 91C acquires a detection signal indicating that the supply of current to the power tool KD is stopped from the power detection device 905.
  • the work start signal related to the work start of the electric tool KD includes a detection signal acquired by the detection signal acquisition unit 91C.
  • the detection signal related to the work start of the electric power tool KD is a detection signal indicating that the current value detected by the power detection device 905 is equal to or greater than a predetermined current threshold IS.
  • the work end signal related to the work end of the power tool KD includes a detection signal acquired by the detection signal acquisition unit 91C.
  • the detection signal related to the end of the work of the electric power tool KD is a detection signal indicating that the current value detected by the power detection device 905 is less than a predetermined current threshold IS.
  • the control unit 93C outputs a control signal for controlling the driving state of the actuator 141 based on the detection signal of the power detection device 905.
  • the control unit 93C outputs an activation signal that activates the actuator 141 as a control signal.
  • the control unit 93C outputs a stop signal for stopping the actuator 141 as a control signal when the detection signal acquisition unit 91C acquires a detection signal indicating that the supply of power to the electric power tool KD is stopped.
  • the electric tool KD is supported by the arm of the worker WM held by the holding member 4.
  • the actuator 141 generates power that turns the tip of the arm member 3 upward.
  • the control unit 93C outputs a control signal for driving the actuator 141 when a detection signal indicating that power supply to the electric power tool KD has been started is acquired.
  • control unit 93C activates the actuator 141 when a detection signal indicating that the supply of electric power to the electric power tool KD is started is continuously acquired by the detection signal acquisition unit 91C for a specified time. Output a signal.
  • the solenoid control unit 97 outputs a control signal for driving the solenoid 501. Further, the solenoid control unit 97 outputs a control signal for stopping the driving of the solenoid 501. As described above, when the solenoid 501 is driven, the function of the spindle lock mechanism 600 is enabled, and when the drive of the solenoid 501 is stopped, the function of the spindle lock mechanism 600 is disabled.
  • the anomaly signal acquisition unit 95 acquires an anomaly signal indicating an anomaly of the work auxiliary tool 1.
  • An abnormal signal detected by the solenoid detection device 505 is exemplified as the abnormal signal indicating the abnormality of the work assisting tool 1.
  • the solenoid detection device 505 detects the state of the stopper 504.
  • the solenoid detection device 505 outputs an abnormal signal indicating that the stopper 504 is abnormal.
  • the stopper 504 moves downward so as to enter the groove 4231a.
  • the solenoid detection device 505 An abnormal signal indicating that the stopper 504 is abnormal is output.
  • the prohibition unit 96 When the abnormality signal is acquired by the abnormality signal acquisition unit 95, the prohibition unit 96 outputs a second prohibition signal that prohibits driving of the actuator 141 of the work assisting tool 1 and driving of the motor 210 of the electric tool KD. That is, the prohibition unit 96 outputs a second prohibition signal that prohibits the supply of power to the actuator 141 from the battery 9 attached to the connector 10 of the work assisting tool 1 based on the abnormality signal. Further, the prohibition unit 96 outputs a second prohibition signal for prohibiting the supply of electric power from the battery 9 attached to the second relay member 902 to the motor 210 based on the abnormality signal.
  • the prohibition unit 96 outputs a second prohibition signal to the connection switching device 906 when an abnormal signal is acquired by the abnormal signal acquisition unit 95.
  • the second prohibition signal includes a control signal that blocks communication on the communication line 908. As described above, electric power is not supplied from the battery 9 to the electric tool KD when the communication of the communication line 908 is interrupted. Thereby, even if the trigger switch 100A is operated, the motor 210 of the electric tool KD is not started.
  • FIG. 40 is a flowchart illustrating an example of a method for controlling the actuator 141 according to the present embodiment.
  • the control device 11 When the main power source of the work auxiliary tool 1 is turned on, the control device 11 is activated.
  • the arithmetic processing device 200 of the electric tool KD supplies power to the arithmetic processing device 910 of the battery 9 attached to the second relay member 902.
  • a request signal for requesting is output.
  • the abnormal signal acquisition unit 95 determines whether an abnormal signal has been acquired (step SE1).
  • step SE1 When it is determined in step SE1 that an abnormal signal is not acquired (step SE1: No), the prohibition unit 96 outputs a second permission signal permitting communication on the communication line 908 to the connection switching device 906 (step SE2). .
  • the connection switching device 906 does not block communication, and the arithmetic processing device 910 of the battery 9 and the arithmetic processing device 200 of the electric tool KD that are attached to the second relay member 902 can communicate with each other.
  • the detection signal acquisition unit 91C determines whether or not a detection signal indicating that power supply to the electric power tool KD has started has been acquired (step SE3).
  • step SE3 If it is determined in step SE3 that a detection signal has been acquired (step SE3: Yes), the detection signal acquisition unit 91C determines whether the current value detected by the power detection device 905 is equal to or greater than a predetermined current threshold IS. Is determined (step SE4).
  • step SE4 when it is determined that the current value detected by the power detection device 905 is greater than or equal to the current threshold IS (step SE4: Yes), the detection signal acquisition unit 91C has acquired the detection signal continuously for a specified time. The counter for counting this is incremented (step SE5).
  • the detection signal acquisition unit 91C determines, based on the counter, whether or not a detection signal indicating that power supply to the power tool has been started has been continuously acquired for a specified time (step SE6).
  • the specified time is, for example, 300 [msec. ].
  • Step SE6 when it is determined that the detection signal has not been continuously acquired for the specified time (Step SE6: No), the process returns to Step SE1.
  • step SE3 If it is determined in step SE3 that the detection signal has not been acquired (step SE3: No), the process returns to step SE1. If the detection signal is not acquired before it is determined that the detection signal has been acquired continuously for a specified time (step SE3: No), after the counter is reset (step SE7), the process of step SE1 is performed. Return.
  • step SE4 If it is determined in step SE4 that the current value detected by the power detection device 905 is not equal to or greater than the current threshold IS (step SE4: No), the process returns to step SE1.
  • the counter is reset when the current value detected by the power detection device 905 becomes less than the current threshold IS before it is determined that the detection signal has been continuously acquired for a specified time (step SE4: No). After (step SE8), the process returns to step SE1.
  • step SE6 If it is determined in step SE6 that the detection signal has been continuously acquired for the specified time (step SE6: Yes), the control unit 93C outputs a control signal (start signal) for driving the actuator 141 (step SE9). .
  • start signal a control signal for driving the actuator 141
  • step SE1 If it is determined in step SE1 that an abnormal signal has been acquired (step SE1: Yes), the prohibition unit 96 outputs a second prohibition signal for prohibiting communication on the communication line 908 to the connection switching device 906 (step SE10). . As a result, communication between the arithmetic processing unit 910 of the battery 9 attached to the second relay member 902 and the arithmetic processing unit 200 of the electric tool KD is interrupted.
  • the electric tool KD is transmitted from the battery 9.
  • the power supply to is stopped.
  • the solenoid control unit 97 stops driving the solenoid 501 based on the abnormality signal
  • the control unit 93C stops the actuator 141 of the work assisting tool 1 based on the abnormality signal (step SE11).
  • control unit 93C controls the actuator 141 based on the detection signal of the slide volume 730 as described with reference to FIG. Switching between driving and stopping.
  • the work auxiliary tool 1 is based on the detection signal acquisition unit 91 ⁇ / b> C that acquires the detection signal indicating that the supply of power to the electric power tool KD is started, and the detection signal. And a control unit 93C that outputs a control signal for controlling the driving state of the actuator 141.
  • the actuator 141 provided in the work auxiliary tool 1 is controlled based on the timing at which the motor 210 of the electric power tool KD is activated. Therefore, the actuator 141 can start or stop driving at a timing intended by the worker WM.
  • the electric power tool KD is supported by the arm (right arm) held by the holding member 4.
  • the actuator 5 generates power that turns the tip of the guide rail 35 upward.
  • the control unit 93C outputs a control signal for starting driving of the actuator 141 when the detection signal from the power detection device 905 is acquired by the detection signal acquisition unit 91C.
  • the actuator 141 of the work assisting tool 1 when the detection signal indicating that the electric power is supplied to the electric power tool KD is continuously acquired for a specified time, the actuator 141 of the work assisting tool 1 is activated. That is, when the motor 210 of the electric tool KD is driven for a specified time or more, the actuator 141 is activated, and even if the motor 210 of the electric tool KD is driven, the actuator 141 is not activated when the driving time is less than the specified time. .
  • the worker WM may press the tip tool against the ceiling surface and operate the trigger switch 100A for a moment in order to perform positioning work between the tip tool and the ceiling surface. Also, when the bit is pulled out after drilling, it may be caught and not pulled out.
  • the control apparatus 11 can adjust the state which the work assistance tool 1 exhibits assist force, and the state which does not exhibit according to the actual condition of the work site.
  • the control device 11 determines that the elastic force of the spring member 721 is greater than or equal to the first threshold based on the detected value of the slide volume 730. Sometimes, a stop signal for stopping the actuator 141 is output, and when it is determined that the elastic force of the spring member 721 is equal to or less than the second threshold value, a start signal for starting the actuator 141 is output. Thereby, the power consumption of the battery 9 can be suppressed.
  • the fourth embodiment is a modification of the above-described third embodiment.
  • the power source of the electric tool KD is the battery 9 (DC power source).
  • the power source of the electric tool KD is a commercial power source (AC power source).
  • FIG. 41 is a diagram showing the electric tool KD and the work auxiliary tool 1 according to the present embodiment.
  • the electric cable 920 is connected to the connector 10E of the electric tool KD.
  • An insertion plug 921 that can be inserted into the insertion port 931 (plug receptacle) of the commercial power supply 930 is provided at the tip of the electric cable 920.
  • the electric cable 920 is connected to the commercial power source 930 via the relay member 940.
  • the relay member 940 is provided with a power detection device 905B that can detect the power supplied from the commercial power source 930 to the power tool KD.
  • the relay member 940 is a cord reel.
  • a cord reel refers to a member that holds an extension cable (extension cord) in a wound state.
  • the insertion plug 941 of the electric cable 942 connected to the relay member 940 is inserted into the insertion port 931 of the commercial power source 930.
  • the relay member 940 is connected to the control device 11 via the cable 904B.
  • the cable 904B connects the relay member 940 and the control device 11 so that data communication is possible.
  • the control signal output from the control device 11 is output to the relay member 940 via the cable 904B.
  • the detection signal of the power detection device 905 ⁇ / b> B is output to the control device 11 via the cable 904.
  • FIG. 42 is a block diagram showing a hardware configuration of each of the work auxiliary tool 1 and the power tool KD according to the present embodiment.
  • the work assisting tool 1 is equipped with an actuator 141, a solenoid 501, a solenoid detecting device 505, a slide volume 730, an assisting device operating device 800, a main power operating device 85, and a battery 9.
  • the work auxiliary tool 1 according to the present embodiment is the same as the work auxiliary tool 1 described in the third embodiment.
  • the electric tool KD has a control device 230, a motor 210, and a trigger switch 100A operated by the worker WM.
  • the control device 230 includes an arithmetic processing device 200 including a processor such as a CPU, and a motor driver 220 for driving the motor 210.
  • the commercial power supply 930 supplies power to the electric tool KD via the electric power line 913 provided in each of the electric cable 942, the relay member 940, the electric cable 920, and the electric tool KD.
  • the commercial power source 930 is an AC power source.
  • the power detection device 905 ⁇ / b> B is provided in the relay member 940.
  • the power detection device 905B detects whether power is supplied from the commercial power source 930 to the electric tool KD.
  • the power detection device 905 ⁇ / b> B is provided in the power line 913 of the relay member 940.
  • the relay member 940 includes a connection switching device 911 that can switch between supply and interruption of power from the commercial power source 930 to the electric tool KD.
  • the connection switching device 911 is provided on the power line 913.
  • the connection switching device 911 includes a switch device that switches between a state where power is supplied in the power line 913 and a state where power supply is stopped. When the power line 013 is interrupted, power is not supplied from the commercial power source 930 to the electric tool KD, and the motor 210 is not started.
  • the power detection device 905B can detect that the supply of power from the commercial power source 930 to the power tool KD is started.
  • the control device 11 outputs an activation signal for activating the actuator 141 based on the detection signal of the power detection device 905B indicating that the supply of power to the electric tool KD has been started.
  • the electric power tool KD starts work when electric current is supplied.
  • the control device 11 outputs an activation signal that activates the actuator 141 in conjunction with the start of work of the electric power tool KD.
  • the power detection device 905B detects the current supplied from the commercial power source 930 to the electric tool KD.
  • the electric current output from the commercial power source 930 is supplied to the electric tool KD via the electric power line 913 provided in each of the electric cable 942, the relay member 940, the electric cable 920, and the electric tool KD.
  • the power detection device 905B includes a rectification unit 912 that converts alternating current into direct current.
  • the power detection device 905B can detect that the supply of current from the commercial power source 930 to the electric tool KD is started based on the current value after the AC analog value is converted into DC by the rectifying unit 912.
  • the control device 11 has a current value after changing the analog value of the alternating current detected by the power detection device 905B to direct current is equal to or greater than a predetermined current threshold IS, When the detection signal is continuously acquired for a specified time, it can be determined that supply of current from the commercial power source 930 to the electric power tool KD has started.
  • the power detection device 905B may not convert alternating current into direct current.
  • the period of the pulse signal is substantially equal to the AC frequency of the commercial power source 930. Therefore, the power detection device 905B can detect that the supply of current from the commercial power source 930 to the electric tool KD is started based on the period of the pulse signal.
  • the detection signal of the power detection device 905B is output to the control device 11 of the work auxiliary tool 1 via the communication line 909C provided in the cable 904B.
  • the connection switching device 911 operates based on a control signal output from the control device 11 of the work auxiliary tool 1.
  • the control device 11 can output a control signal to the connection switching device 911 via the communication line 909D provided in the cable 904.
  • FIG. 43 is a functional block diagram illustrating an example of the arithmetic processing device 90 according to the present embodiment.
  • the arithmetic processing unit 90 outputs at least one of a detection signal indicating that the supply of power to the electric tool KD has started and a detection signal indicating that the supply of power to the electric tool KD has been stopped.
  • the arithmetic processing unit 90 includes a solenoid control unit 97 that outputs a control signal for controlling the solenoid 501.
  • the arithmetic processing device 90 supplies an electric power to the electric tool KD based on the abnormal signal acquisition unit 95 that acquires an abnormal signal indicating an abnormality of the work auxiliary tool 1 and the abnormal signal acquired by the abnormal signal acquisition unit 95.
  • a prohibition unit 96D for outputting a second prohibition signal for prohibiting.
  • the detection signal acquisition unit 91D acquires a detection signal from the power detection device 905B provided in the relay member 940 via the communication line 909C.
  • the power detection device 905 ⁇ / b> B can detect the power supplied from the commercial power source 930 connected to the relay member 940 to the electric tool KD.
  • the power detection device 905B can detect whether or not the supply of power from the commercial power source 930 to the power tool KD has been started. As described above, in the present embodiment, the power detection device 905B detects the current supplied from the commercial power source 930 to the electric tool KD.
  • the detection signal acquisition unit 91D acquires a detection signal indicating that the supply of current to the electric power tool KD is started from the power detection device 905B. Further, the detection signal acquisition unit 91D acquires a detection signal indicating that the supply of current to the power tool KD is stopped from the power detection device 905B.
  • the work start signal related to the work start of the electric tool KD includes a detection signal acquired by the detection signal acquisition unit 91D.
  • the detection signal related to the start of work of the electric power tool KD is a detection signal in which the pulse signal detected by the power detection device 905 indicates a specified period.
  • Control unit 93D outputs a control signal for controlling the driving state of actuator 141 based on the detection signal of power detection device 905B.
  • Control part 93D outputs the starting signal which starts actuator 141 as a control signal, when detection signal which shows that supply of electric power to electric tool KD was started is acquired by detection signal 91D.
  • Control part 93D outputs the stop signal which stops actuator 141 as a control signal, when detection signal which shows that supply of electric power to electric tool KD was stopped was acquired by detection signal acquisition part 91D.
  • the electric tool KD is supported by the arm of the worker WM held by the holding member 4.
  • the actuator 141 generates power that turns the tip of the arm member 3 upward.
  • the control unit 93D outputs a control signal for driving the actuator 141 when a detection signal indicating that power supply to the electric power tool KD has been started is acquired.
  • the control unit 93D outputs an activation signal that activates the actuator 141 when it is determined that a detection signal indicating that the supply of power to the electric power tool KD has been continuously acquired by the detection signal acquisition unit 91D for a specified time. To do.
  • the solenoid control unit 97 outputs a control signal for driving the solenoid 501. Further, the solenoid control unit 97 outputs a control signal for stopping the driving of the solenoid 501.
  • the anomaly signal acquisition unit 95 acquires an anomaly signal indicating an anomaly of the work auxiliary tool 1. Similar to the above-described embodiment, an abnormal signal detected by the solenoid detection device 505 is exemplified as an abnormal signal indicating an abnormality of the work assisting tool 1.
  • the prohibition unit 96D When the abnormality signal is acquired by the abnormality signal acquisition unit 95, the prohibition unit 96D outputs a second prohibition signal that prohibits the driving of the actuator 141 of the work assisting tool 1 and the driving of the motor 210 of the electric tool KD. That is, the prohibition unit 96 outputs a second prohibition signal that prohibits the supply of power to the actuator 141 from the battery 9 attached to the connector 10 of the work assisting tool 1 based on the abnormality signal. Further, the prohibition unit 96D outputs a second prohibition signal that prohibits the supply of power from the commercial power source 930 to the motor 210 of the electric tool KD based on the abnormality signal.
  • the prohibition unit 96D outputs a second prohibition signal to the connection switching device 911 when the abnormality signal is acquired by the abnormality signal acquisition unit 95.
  • the second prohibition signal includes a control signal for cutting off the supply of power through the power line 913.
  • FIG. 44 is a flowchart illustrating an example of a method for controlling the actuator 141 according to the present embodiment.
  • the abnormal signal acquisition unit 95 determines whether or not an abnormal signal has been acquired (step SF1).
  • step SF1 When it is determined in step SF1 that an abnormal signal is not acquired (step SF1: No), the prohibition unit 96D outputs a second permission signal permitting power supply through the power line 913 to the connection switching device 911 (step S1). SF2). As a result, the connection switching device 911 does not cut off the supply of electric power, but makes it possible to supply electric power from the commercial power source 930 to the electric tool KD.
  • the power detection device 905B outputs a detection signal indicating that the supply of power to the power tool KD has been started to the detection signal acquisition unit 91D.
  • the detection signal acquisition unit 91D determines whether or not a detection signal indicating that power supply to the electric power tool KD has been started has been acquired (step SF3).
  • the detection signal acquisition unit 91D When it is determined in step SF3 that the detection signal has been acquired (step SF3: Yes), the detection signal acquisition unit 91D has a first cycle in which the cycle of the AC pulse signal detected by the power detection device 905D is determined in advance. It is determined whether or not the threshold value is Sp1 or more (step SF4).
  • the first cycle threshold Sp1 is, for example, 40 [Hz].
  • step SF4 when it is determined that the cycle of the AC pulse signal detected by the power detection device 905B is equal to or greater than the first cycle threshold Sp1 (step SF4: Yes), the detection signal acquisition unit 91D uses the power detection device 905D. It is determined whether or not the period of the detected AC pulse signal is equal to or less than a predetermined second period threshold value Sp2 (step SF5).
  • the second cycle threshold Sp2 is greater than the first cycle threshold Sp1.
  • the second cycle threshold Sp2 is, for example, 70 [Hz].
  • the detection signal detected by the power detection device 905B includes a lot of noise components. Probability is high.
  • the detection signal detected by the power detection device 905B is highly likely to be an alternating current output from the commercial power source 930.
  • step SF5 when it is determined that the cycle of the AC pulse signal detected by the power detection device 905B is equal to or less than the second cycle threshold Sp2 (step SF5: Yes), that is, the cycle of the pulse signal is the first cycle threshold Sp1.
  • the detection signal acquisition unit 91D increments a counter for counting that the detection signal has been acquired continuously for a specified time (step SF6).
  • the detection signal acquisition unit 91C determines, based on the counter, whether or not a detection signal indicating that the supply of power to the power tool KD has been started is continuously acquired for a specified time (step SF7).
  • the specified time is, for example, 300 [msec. ].
  • Step SF7 when it is determined that the detection signal has not been continuously acquired for the specified time (Step SF7: No), the process returns to Step SF1.
  • step SF3 If it is determined in step SF3 that the detection signal has not been acquired (step SF3: No), the process returns to step SF1. If the detection signal is not acquired before it is determined that the detection signal has been acquired continuously for a specified time (step SF3: No), after the counter is reset (step SF9), the process of step SF1 is performed. Return.
  • step SF4 when it is determined that the cycle of the pulse signal detected by the power detection device 905B is not equal to or greater than the first cycle threshold Sp1 (step SF4: No), the processing returns to step SF1.
  • the period of the pulse signal detected by the power detection device 905B is less than the first period threshold Sp1 (step SF4: No), the counter Is reset (step SF10), the process returns to step SF1.
  • step SF5 when it is determined that the cycle of the pulse signal detected by the power detection device 905B is not equal to or less than the second cycle threshold value Sp2 (step SF5: No), the processing returns to step SF1.
  • step SF5: No when the period of the pulse signal detected by the power detection device 905B is larger than the second period threshold Sp2 before it is determined that the detection signal has been continuously acquired for the specified time (step SF5: No), After the counter is reset (step SF11), the process returns to step SF1.
  • step SF7 If it is determined in step SF7 that the detection signal has been continuously acquired for a specified time (step SF7: Yes), the control unit 93D outputs a control signal (start signal) for driving the actuator 141 (step SF8). .
  • start signal a control signal for driving the actuator 141
  • step SF1 If it is determined in step SF1 that an abnormal signal has been acquired (step SF1: Yes), the prohibition unit 96D outputs a second prohibition signal for prohibiting the supply of power through the power line 913 to the connection switching device 911 (step SF1). SF12). Thereby, the supply of electric power from the commercial power source 930 to the electric tool KD is interrupted.
  • the solenoid control unit 97 stops the driving of the solenoid 501 based on the abnormal signal, and the control unit 93D stops the actuator 141 of the work assisting tool 1 based on the abnormal signal (step SF13). Thereby, in conjunction with the completion of the work of the electric power tool KD, the assistance of the worker WM by the work auxiliary tool 1 is finished.
  • control unit 93C controls the actuator 141 based on the detection signal of the slide volume 730 as described with reference to FIG. Switching between driving and stopping.
  • the actuator 141 can start or stop driving at a timing intended by the worker WM.
  • the power detection device 905B and the connection switching device 911 are provided on the relay member 940.
  • a relay member may be provided between the electric cable 920 and the connector 10E of the electric tool KD, and the power detection device 905B and the connection switching device 911 may be provided on the relay member.
  • FIG. 45 is a perspective view showing an example of the work auxiliary tool 1 according to the present embodiment, and shows a state where the work WM is worn.
  • FIG. 46 is a diagram showing the electric tool KD1 and the work auxiliary tool 1 according to the present embodiment.
  • the fifth embodiment is a modification of the above-described third embodiment.
  • the power source of the electric tool KD is a battery 9 (DC power source).
  • the relay member 960 is attached to the connector 10D of the electric tool KD.
  • the battery 9 is connected to the relay member 960.
  • the battery 9 supplies power to the motor 210 of the electric tool KD via the relay member 960.
  • the wireless communication device 19 includes a wireless communication device 19A provided in the work auxiliary tool 1 and a wireless communication device 19B provided in the relay member 960.
  • the wireless communication device 19A of the work auxiliary tool 1 can wirelessly communicate with the wireless communication device 19B of the relay member 960.
  • the wireless communication device 19B of the relay member 960 can wirelessly communicate with the wireless communication device 19A of the work auxiliary tool 1.
  • the wireless communication device 19 can perform wireless communication using a specified communication method.
  • the communication method may be, for example, a communication method according to the communication standard of BLE (Bluetooth Low Energy). “Bluetooth” is a registered trademark.
  • FIG. 47 is a perspective view showing the relay member 960 according to the present embodiment.
  • the relay member 960 is connected to the connector 10D of the electric tool KD. Further, the battery 9 is attached to the relay member 960.
  • the relay member 960 includes a raised portion 960a, a battery claw 960b, a battery button 960c, a pair of battery terminals 960d, and a pair of slide rails 960e.
  • the battery terminal 960d is disposed between the pair of slide rails 960e.
  • the external shape and dimensions of the relay member 960 and the external shape and dimensions of the battery 9 are substantially the same.
  • the relay member 960 is a so-called dummy battery.
  • the relay member 960 does not have a battery cell and is lighter than the battery 9.
  • the relay member 960 does not function as a power source for the electric tool KD, but functions as a relay that sends the electric power output from the battery 9 to the electric tool KD.
  • the relay member 960 has a mounting surface 960f on which the battery 9 is mounted.
  • the connection structure of the mounting surface 960f of the relay member 960 connected to the battery 9 and the connection structure of the mounting surface of the connector 10D of the power tool KD are substantially the same.
  • FIG. 48 is a block diagram showing a hardware configuration of each of the work auxiliary tool 1 and the power tool KD according to the present embodiment.
  • the work assisting tool 1 is equipped with an actuator 141, a solenoid 501, a solenoid detecting device 505, a slide volume 730, an assisting device operating device 800, a main power operating device 85, and a battery 9.
  • the work auxiliary tool 1 according to the present embodiment is the same as the work auxiliary tool 1 described in the third embodiment.
  • the electric tool KD has a control device 230, a motor 210, and a trigger switch 100A operated by the worker WM.
  • the control device 230 includes an arithmetic processing device 200 including a processor such as a CPU, and a motor driver 220 for driving the motor 210.
  • the control device 11 is connected to the wireless communication device 19A.
  • the wireless communication device 19A wirelessly communicates with the wireless communication device 19B of the relay member 960.
  • the wireless communication device 19 may be detachable from the work auxiliary tool 1.
  • the wireless communication device 19B may be detachable from the relay member 960.
  • the battery 9 supplies electric power to the electric power tool KD via the electric power line 907 provided in each of the relay member 960 and the electric power tool KD.
  • the battery 9 is a DC power supply (DC power supply).
  • the power line 907 includes a power line 907A through which a current supplied from the battery 9 to the power tool KD flows, and a power line 907B through which a current returning from the power tool KD to the battery 9 flows.
  • the trigger switch 100A is provided in the power line 907A of the electric tool KD.
  • the battery 9 has an arithmetic processing unit 910 including a processor such as a CPU.
  • the arithmetic processing unit 910 for the battery 9 attached to the second relay member 902 communicates with the arithmetic processing unit 200 for the electric tool KD via a communication line 908 provided in each of the relay member 960 and the electric tool KD. Communication is possible.
  • the arithmetic processing device 200 of the electric tool KD When starting the motor 210 of the electric tool KD, the arithmetic processing device 200 of the electric tool KD outputs a request signal for requesting power supply to the arithmetic processing device 910 of the battery 9 attached to the second relay member 902. To do.
  • the arithmetic processing unit 910 of the battery 9 outputs a first permission signal for permitting activation of the motor 210 to the arithmetic processing unit 200 of the electric tool KD after receiving the request signal. After receiving the first permission signal, the arithmetic processing unit 200 of the electric tool KD performs the setting process of the motor driver 220 for starting the motor 210. After the arithmetic processing unit 910 of the battery 9 receives the request signal and the arithmetic processing unit 200 of the electric tool KD receives the first permission signal, electric power is supplied from the battery 9 to the electric tool KD, so that the motor 210 to start.
  • the arithmetic processing unit 910 of the battery 9 receives the request signal and then outputs a first prohibition signal for prohibiting the start of the motor 210 to the electric tool KD.
  • the data is output to the processing device 200.
  • the first prohibition signal is output, power is not supplied from the battery 9 to the electric tool KD.
  • the motor 210 does not start.
  • the communication line 908 is cut off, and when the first permission signal is not transmitted from the arithmetic processing unit 910 of the battery 9 to the arithmetic processing unit 200 of the electric tool KD, the battery 9 transmits the electric tool KD. No power is supplied. When power is not supplied from the battery 9 to the electric tool KD, the motor 210 does not start.
  • the relay member 960 connects a communication between the power detection device 905 that detects whether or not power is supplied from the battery 9 to the electric tool KD, and the arithmetic processing device 910 of the battery 9 and the arithmetic processing device 200 of the electric tool KD. And a connection switching device 906 that can be cut off.
  • the detection signal of the power detection device 905 is wirelessly output to the control device 11 of the work auxiliary tool 1 via the wireless communication device 19.
  • the connection switching device 906 operates based on a control signal output from the control device 11 of the work auxiliary tool 1.
  • the control device 11 can wirelessly output a control signal to the connection switching device 906 via the wireless communication device 19.
  • the connection switching device 906 is provided on the communication line 908 of the relay member 960.
  • the connection switching device 906 includes a switch device that switches between a state in which communication is performed on the communication line 908 and a state in which communication is interrupted.
  • the communication line 908 is cut off, even if the arithmetic processing unit 910 of the battery 9 outputs the first permission signal, the first permission signal is transmitted from the arithmetic processing unit 910 of the battery 9 to the arithmetic processing unit 200 of the electric tool KD. Not. Therefore, when the communication line 908 is interrupted, power is not supplied from the battery 9 to the electric tool KD, and the motor 210 is not activated.
  • the power detection device 905 can detect that power supply from the battery 9 to the electric tool KD has started.
  • the control device 11 outputs an activation signal for activating the actuator 141 based on the detection signal of the power detection device 905 indicating that the supply of power to the electric tool KD has been started.
  • the electric power tool KD starts work when electric current is supplied.
  • the control device 11 outputs an activation signal that activates the actuator 141 in conjunction with the start of work of the electric power tool KD.
  • the power detection device 905 detects the current supplied from the battery 9 to the electric tool KD.
  • the electric current output from the battery 9 is supplied to the electric tool KD via the power line 907 provided in each of the relay member 960 and the electric tool KD.
  • the power detection device 905 includes a shunt resistor provided in the power line 907B.
  • the power detection device 905 can detect that the supply of current from the battery 9 to the electric tool KD is started based on the amount of change in voltage in the shunt resistor.
  • the power detection device 905 may detect that the supply of current from the battery 9 to the power tool KD is started by detecting a voltage drop between the power line 907A and the power line 907B.
  • the power detection device 905 may include a magnetic sensor disposed around the power line 907.
  • FIG. 49 is a functional block diagram illustrating an example of the arithmetic processing device 90 according to the present embodiment.
  • the arithmetic processing unit 90 outputs at least one of a detection signal indicating that the supply of power to the electric tool KD has started and a detection signal indicating that the supply of power to the electric tool KD has been stopped. It has the detection signal acquisition part 91C to acquire, and the control part 93C which outputs the control signal which controls the actuator 141 based on the detection signal acquired by the detection signal acquisition part 91C.
  • the arithmetic processing unit 90 includes a solenoid control unit 97 that outputs a control signal for controlling the solenoid 501.
  • the arithmetic processing device 90 supplies an electric power to the electric tool KD based on the abnormal signal acquisition unit 95 that acquires an abnormal signal indicating an abnormality of the work auxiliary tool 1 and the abnormal signal acquired by the abnormal signal acquisition unit 95.
  • a prohibition unit 96 that outputs a second prohibition signal for prohibiting the control.
  • the detection signal acquisition unit 91 ⁇ / b> C acquires the detection signal via the wireless communication device 19.
  • the power detection device 905 can detect the power supplied from the battery 9 attached to the relay member 960 to the electric tool KD.
  • the power detection device 905 can detect whether or not the supply of power from the battery 9 attached to the relay member 960 to the electric tool KD has been started. As described above, the power detection device 905 detects the current supplied from the battery 9 to the power tool KD.
  • the detection signal acquisition unit 91C acquires a detection signal indicating that the supply of current to the electric power tool KD is started from the power detection device 905 via the wireless communication device 19.
  • the work start signal related to the work start of the electric tool KD includes a detection signal acquired by the detection signal acquisition unit 91C.
  • the detection signal related to the start of work of the electric power tool KD is a detection signal indicating that the current value detected by the power detection device 905 is equal to or greater than a predetermined current threshold IS.
  • the work end signal related to the work end of the electric power tool KD includes a detection signal acquired by the detection signal acquisition unit 91C.
  • the detection signal related to the end of work of the electric power tool KD is a detection signal indicating that the current value detected by the power detection device 905 is less than a predetermined current threshold IS.
  • the control unit 93C outputs a control signal for controlling the driving state of the actuator 141 based on the detection signal of the power detection device 905.
  • the control unit 93C outputs an activation signal that activates the actuator 141 as a control signal.
  • control unit 93C determines that the detection signal indicating that the supply of power to the electric power tool KD is started is continuously acquired by the detection signal acquisition unit 91C for a specified time, the actuator 141C.
  • the solenoid control unit 97 outputs a control signal for driving the solenoid 501. Further, the solenoid control unit 97 outputs a control signal for stopping the driving of the solenoid 501.
  • the anomaly signal acquisition unit 95 acquires an anomaly signal indicating an anomaly of the work auxiliary tool 1. Similar to the above-described embodiment, an abnormal signal detected by the solenoid detection device 505 is exemplified as an abnormal signal indicating an abnormality of the work assisting tool 1.
  • the prohibition unit 96 When the abnormality signal is acquired by the abnormality signal acquisition unit 95, the prohibition unit 96 outputs a second prohibition signal that prohibits driving of the actuator 141 of the work assisting tool 1 and driving of the motor 210 of the electric tool KD.
  • the prohibition unit 96 outputs a second prohibition signal that prohibits power supply to the actuator 141 from the battery 9 attached to the connector 10 of the work assisting tool 1 based on the abnormality signal. Further, the prohibition unit 96 outputs a second prohibition signal that prohibits the supply of power from the battery 9 attached to the relay member 960 to the motor 210 of the electric tool KD based on the abnormality signal.
  • the prohibition unit 96 outputs a second prohibition signal to the connection switching device 906 when an abnormal signal is acquired by the abnormal signal acquisition unit 95.
  • the second prohibition signal includes a control signal that blocks communication on the communication line 908.
  • FIGS. 50 and 51 are diagrams for explaining a communication method by the wireless communication device 19 according to the present embodiment.
  • the wireless communication device 19 performs wireless communication based on a prescribed communication method.
  • the wireless communication device 19 can operate in one of a transmission main mode and a search main mode.
  • the transmission subject mode refers to a mode in which a specific signal is unilaterally and periodically transmitted without specifying a transmission destination. That is, the transmission main mode is a mode in which a characteristic signal is regularly broadcast.
  • the search subject mode is a mode in which a specific signal transmitted from another wireless communication device 19 is searched, and when a specific signal is received, processing corresponding to the received specific signal is executed.
  • the wireless communication device 19B of the relay member 960 operates in the transmission main mode.
  • the wireless communication device 19A of the work auxiliary tool 1 operates in the search main mode.
  • the wireless communication device 19B of the relay member 960 may operate in the search main mode, and the wireless communication device 19A of the work assistant 1 may operate in the transmission main mode.
  • the transmission subject mode includes a standby transmission mode, a linked transmission mode, a registered transmission mode, and a deletion transmission mode.
  • the standby transmission mode refers to a transmission operation mode in which standby notifications are periodically transmitted by radio.
  • the linked transmission mode is a transmission operation mode in which linked notifications are periodically transmitted by radio.
  • the registration transmission mode refers to a transmission operation mode in which registration notifications are periodically transmitted by radio.
  • the deletion transmission mode refers to a transmission operation mode in which deletion notifications are periodically transmitted.
  • Search main mode includes standby search mode, linked search mode, registration search mode, and deletion search mode.
  • the standby search mode is a search operation mode in which the wireless communication device 19A periodically scans (searches) for reception of a standby notification.
  • the linked search mode refers to a search operation mode in which the wireless communication device 19A periodically scans (searches) for receipt of linked notifications.
  • the registration search mode is a search operation mode in which the wireless communication device 19A periodically scans (searches) whether or not a registration notification is received.
  • the deletion search mode refers to a search operation mode that periodically scans (searches) for the presence or absence of reception of a deletion notification by the wireless communication device 19A.
  • the registration process will be described with reference to FIG.
  • the relay member 960 is attached to the connector 10D of the electric tool KD
  • the battery 9 is attached to the relay member 960, and power is supplied from the battery 9, the wireless communication device 19B and the control device 230 are activated.
  • the control device 230 sets the wireless communication device 19B to the standby transmission mode.
  • the wireless communication device 19A and the control device 11 are activated. After the wireless communication device 19A and the control device 11 are activated, the control device 11 sets the wireless communication device 19A to the standby search mode.
  • the control device 230 By operating an operation device (not shown) provided in the relay member 960, the control device 230 switches the wireless communication device 19B to the interlocked transmission mode.
  • the control device 11 sets the wireless communication device 19A. Switch to linked search mode.
  • the wireless communication device 19B transmits the linked notification unilaterally (periodic broadcast).
  • the interlock notification transmitted in the interlock transmission mode includes device operation information (driving information or stopping information) based on the operation signal of the motor 210, and identification information of the wireless communication device 19B.
  • the control device 11 In the linked search mode, the control device 11 periodically scans for linked notifications. When the identification information included in the received interlocking notification is registered in the control device 11, the control device 11 determines whether to perform the interlocking operation based on the device operation information included in the interlocking notification. to decide. In the interlocked search mode, when the specified time has passed without the driving information being received, the control device 11 switches the wireless communication device 19A to the standby search mode.
  • control device 230 switches the wireless communication device 19B to the registration transmission mode (step SG1).
  • the wireless communication device 19B transmits a registration notification unilaterally (periodic broadcast).
  • the control device 11 When the wireless communication device 19A is set to the registration search mode, the control device 11 periodically scans for registration notifications. When the wireless communication device 19A set to the registration search mode receives the registration notification (step SH1), the control device 230 transmits a connection request from the wireless communication device 19A (step SH2).
  • the control device 230 stops the periodic transmission of the registration notification and A connection with the communication device 19A is established (step SG2). After the connection with the wireless communication device 19A is established, the control device 230 performs predetermined data communication on a one-to-one basis with the wireless communication device 19A and performs registration processing (step SG3).
  • the registration process is a process of registering the counterpart wireless communication device 19 by transmitting and receiving identification information to and from the wireless communication device 19A so that each acquires the other party identification information and stores it in the memory. It is. For example, when the identification information of the wireless communication device 19B of the relay member 960 is “A0” and the identification information of the wireless communication device 19A of the work auxiliary tool 1 is “B1”, between the wireless communication device 19A and the wireless communication device 19B When the registration process is performed, identification information is transmitted from one to the other between the two, and “B1”, which is the identification information of the other party, is registered in the wireless communication device 19B of the relay member 960. “A0”, which is identification information of the other party, is registered in one wireless communication device 19A.
  • control device 230 disconnects the communication with the wireless communication device 19A and switches the wireless communication device 19B to the linked transmission mode.
  • the control device 11 disconnects the communication with the registration notification transmission source wireless communication device 19B and switches the wireless communication device 19A to the linked search mode.
  • the control device 230 switches the wireless communication device 19B to the delete transmission mode (step SJ1).
  • the wireless communication device 19B transmits a delete notification unilaterally (periodic broadcast).
  • the control device 11 When the wireless communication device 19A is set to the deletion search mode, the control device 11 periodically scans for deletion notifications. When the wireless communication device 19A set to the deletion search mode receives the deletion notification (step SH1), the control device 230 transmits a deletion request from the wireless communication device 19A (step SH2).
  • step SJ2 When a deletion request is transmitted from the wireless communication device 19A of the work assistant 1 in response to the deletion notification during the period in which the deletion notification is regularly transmitted, the control device 230 stops the periodic transmission of the deletion notification, A connection with the wireless communication device 19A is established (step SJ2). After the connection with the wireless communication device 19A is established, the control device 230 performs predetermined data communication with the wireless communication device 19A on a one-to-one basis, and performs a deletion process (step SJ3).
  • the deletion process is performed by sending and receiving identification information to / from the wireless communication device 19A, thereby deleting the registered identification information of the other side from the memory, thereby registering the wireless communication device 19 on the other side. It is a process to cancel.
  • the control device 230 disconnects the communication with the wireless communication device 19A and switches the wireless communication device 19B to the linked transmission mode.
  • the control device 11 disconnects communication with the wireless communication device 19B that is the transmission source of the deletion notification, and switches the wireless communication device 19A to the linked search mode.
  • the work assisting tool 1 can communicate with the registered specific electric tool KD (relay member 960) by performing the registration process. Moreover, the work assistance tool 1 can cancel
  • the control method of the actuator 141 according to the present embodiment is the same as the control method of the actuator 141 described with reference to FIG.
  • the actuator 141 can start or stop driving at a timing intended by the worker WM.
  • the electric power tool KD and the work auxiliary tool 1 perform wireless communication. Thereby, since cables can be omitted, the workability of the work using the electric power tool KD is improved.
  • FIG. 52 is a block diagram showing a hardware configuration of each of the work auxiliary tool 1 and the power tool KD according to the present embodiment. Similar to the above-described embodiment, each of the actuator 141 and the electric power tool KD of the work assisting tool 1 is driven by electric power supplied from the battery 9. In the present embodiment, the battery 9 supplies power to both the actuator 141 and the electric tool KD. That is, each of the actuator 141 and the electric power tool KD of the work assisting tool 1 is driven by electric power supplied from one common battery 9. The actuator 141 and the power tool KD of the work auxiliary tool 1 share one battery 9.
  • the battery 9 shared by the actuator 141 and the electric tool KD of the work auxiliary tool 1 is mounted on the connector 10 of the work auxiliary tool 1.
  • the work auxiliary tool 1 and the power tool KD are connected via a cable 903B.
  • the electric power output from the battery 9 is supplied to the actuator 141 and is also supplied to the electric tool KD via the cable 903B and the first relay member 901 (dummy battery) attached to the electric tool KD.
  • a power detection device 905 that detects whether or not power is supplied from the battery 9 to the electric tool KD is provided in the work auxiliary tool 1.
  • the detection signal of the power detection device 905 is output to the control device 11 of the work auxiliary tool 1.
  • connection switching device 906 capable of connecting and disconnecting communication between the arithmetic processing device 910 of the battery 9 and the arithmetic processing device 200 of the electric tool KD is provided in the work auxiliary tool 1.
  • the connection switching device 906 operates based on a control signal output from the control device 11 of the work auxiliary tool 1.
  • the actuator 141 and the power tool KD of the work assisting tool 1 may be supplied with power from the common battery 9.
  • the battery 9 shared by the actuator 141 and the electric tool KD of the work auxiliary tool 1 may be attached to the electric tool KD.
  • electric tool KD demonstrated as an electric hammer drill, it is not limited to this.
  • the electric tool KD includes an electric hammer, an electric drill, an electric screwdriver, an electric wrench, an electric grinder, an electric marnoco, an electric reciprocating saw, an electric jigsaw, an electric cutter, an electric chain saw, an electric canna, an electric nailing machine (including a hammering machine).
  • it includes an electric hedge trimmer, an electric lawn clipper, an electric brush cutter, an electric cleaner, and the like.
  • Main power supply operating device 90 ... Arithmetic processing device, 91 ... Detection signal acquisition part, 91C ... Detection signal acquisition part, 91D ... Detection signal acquisition part, 92 ... Operation signal acquisition part, 93 ... Control part 93A ... first control unit, 93B ... second control unit, 93C ... control unit, 93D ... control unit, 94 ... input signal acquisition unit, 95 ... abnormal signal acquisition unit, 96 ... prohibition unit, 96D ... prohibition unit, 97 ... Solenoid control unit, 99 ... Storage device, 100 ... Operating device, 100A ... Trigger switch, 100B ... Lock-off switch, 102 ... Driver, 103 ...
  • Actuator driver, 104 Solenoid driver, 111 ... DC / DC converter, 112 ... Insulation 113, input device, 141, actuator, 142, gear unit, 143, drum, 144, spindle bearing, 149, housing 200 ... arithmetic processing unit, 210 ... motor, 220 ... motor driver, 230 ... control device, 291 ... first housing, 292 ... second housing, 293 ... base, 321 ... first member, 322 ... second member, 400: drum driving mechanism (second power mechanism), 411 ... stator, 412 ... rotor, 413 ... motor shaft, 414 ... cooling fan, 421 ... motor bearing, 422 ... first planetary gear mechanism, 423 ...

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

La présente invention porte sur un outil de travail auxiliaire qui est pourvu : d'un élément de corps principal, dont au moins une partie est portée sur le dos d'un travailleur; un élément de bras couplé à l'élément de corps principal de façon à permettre un mouvement relatif; un élément de maintien qui est soutenu par l'élément de bras et maintient au moins une partie du bras du travailleur; un actionneur pour générer une puissance motrice permettant un déplacement de l'élément de bras; et un dispositif de commande permettant une délivrance en sortie d'un signal de commande permettant une commande de l'actionneur sur la base d'un signal d'initiation de travail relatif à l'initiation d'un travail par un outil électrique.
PCT/JP2018/013963 2017-04-19 2018-03-30 Outil de travail auxiliaire Ceased WO2018193817A1 (fr)

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Cited By (2)

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JPWO2020090170A1 (ja) * 2018-10-29 2021-09-02 本田技研工業株式会社 運動補助装置
WO2023017173A1 (fr) 2021-08-13 2023-02-16 Festool Gmbh Ensemble exosquelette et procédé

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US4483070A (en) * 1982-09-21 1984-11-20 Joane G. Tannehill Portable backpacked cutter
JP2011051024A (ja) * 2009-08-31 2011-03-17 Max Co Ltd 電動工具
DE102009046068A1 (de) * 2009-10-28 2011-05-12 Robert Bosch Gmbh Stützvorrichtung
JP2011156493A (ja) * 2010-02-02 2011-08-18 Makita Corp コーキングガン
JP2012239818A (ja) * 2011-05-24 2012-12-10 Tokyo Univ Of Science 上腕保持装置、及び、上腕補助装置
WO2015157473A1 (fr) * 2014-04-08 2015-10-15 Levitate Technologies, Inc. Systèmes de support de bras à haute capacité
JP2017109290A (ja) * 2015-12-18 2017-06-22 株式会社マキタ 作業補助具

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JP2018176389A (ja) * 2017-04-19 2018-11-15 株式会社マキタ 作業補助具

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Publication number Priority date Publication date Assignee Title
US4483070A (en) * 1982-09-21 1984-11-20 Joane G. Tannehill Portable backpacked cutter
JP2011051024A (ja) * 2009-08-31 2011-03-17 Max Co Ltd 電動工具
DE102009046068A1 (de) * 2009-10-28 2011-05-12 Robert Bosch Gmbh Stützvorrichtung
JP2011156493A (ja) * 2010-02-02 2011-08-18 Makita Corp コーキングガン
JP2012239818A (ja) * 2011-05-24 2012-12-10 Tokyo Univ Of Science 上腕保持装置、及び、上腕補助装置
WO2015157473A1 (fr) * 2014-04-08 2015-10-15 Levitate Technologies, Inc. Systèmes de support de bras à haute capacité
JP2017109290A (ja) * 2015-12-18 2017-06-22 株式会社マキタ 作業補助具

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPWO2020090170A1 (ja) * 2018-10-29 2021-09-02 本田技研工業株式会社 運動補助装置
JP6990324B2 (ja) 2018-10-29 2022-01-12 本田技研工業株式会社 運動補助装置
WO2023017173A1 (fr) 2021-08-13 2023-02-16 Festool Gmbh Ensemble exosquelette et procédé
DE102021208903A1 (de) 2021-08-13 2023-02-16 Festool Gmbh Exoskelett-Vorrichtung und Verfahren

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