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WO2018116475A1 - Dispositif d'assistance - Google Patents

Dispositif d'assistance Download PDF

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Publication number
WO2018116475A1
WO2018116475A1 PCT/JP2016/088558 JP2016088558W WO2018116475A1 WO 2018116475 A1 WO2018116475 A1 WO 2018116475A1 JP 2016088558 W JP2016088558 W JP 2016088558W WO 2018116475 A1 WO2018116475 A1 WO 2018116475A1
Authority
WO
WIPO (PCT)
Prior art keywords
column
linear actuator
assistance device
moving body
person
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/JP2016/088558
Other languages
English (en)
Japanese (ja)
Inventor
剛裕 野口
丈二 五十棲
伸幸 中根
英明 野村
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.)
Fuji Corp
Original Assignee
Fuji 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 Fuji Corp filed Critical Fuji Corp
Priority to JP2018557505A priority Critical patent/JP6700427B2/ja
Priority to PCT/JP2016/088558 priority patent/WO2018116475A1/fr
Publication of WO2018116475A1 publication Critical patent/WO2018116475A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
    • A61G5/10—Parts, details or accessories
    • A61G5/14—Standing-up or sitting-down aids

Definitions

  • the present invention relates to an assistance device.
  • Patent Document 1 describes an assistance device (1) that supports the upper body of the person being assisted and assists the standing motion.
  • the elevating part (11) moves up and down with respect to the columnar support part (100a) by the expansion and contraction of the driving part (12).
  • the holder (111) that supports the upper body of the person being assisted swings due to the expansion and contraction of the actuator (112, 113 in FIG. 4).
  • the reaction force generating part (14) always exerts an upward reaction force against a part of the weight of the elevating part (11). Therefore, when raising the elevating part (11), the driving force by the driving part (12) can be small.
  • the actuators (112, 113) for swinging extend from the tip of the elevating part (11) that elevates in the vertical direction toward the rear (the person being assisted).
  • the size of the assisting device in the front-rear direction increases.
  • the present specification includes a base, a column portion standing on the base, a swing arm that is swingably supported at a predetermined position of the column portion, and a swing arm supported by the swing arm.
  • An assisting device is provided that includes a support member that supports the upper body of the person and tilts in the front-rear direction with respect to the column portion when the swing arm swings with respect to the column portion.
  • the column part includes a movable body that can reciprocate in the direction in which the pillar part extends, and a first linear actuator that is provided along the direction in which the pillar part extends to move the movable body.
  • the swing arm engages with the moving body in front of the predetermined position, and is provided integrally with the first arm portion and a first arm portion that swings by the movement of the moving body.
  • a second arm portion extending rearward from the position and supporting the support member. The support member tilts forward as the moving body moves downward.
  • the support member tilts in the front-rear direction by swinging the swing arm, thereby supporting the upper body of the person being assisted and assisting the ascending operation of the heel of the person being assisted or the lowering operation of the buttock.
  • the swing arm is swung by the first linear actuator.
  • the first linear motion actuator is provided along the direction in which the column portion extends. That is, the first linear actuator is not structured to extend from the direction in which the column portion extends in a direction having an angle, and thus the size of the assisting device in the front-rear direction can be reduced.
  • the assistance device 1 supports the upper body of the person being assisted (see FIG. 2 and the like), assists the operation of raising the buttock of the person being assisted in the sitting position from the seating surface, and sits by lowering the buttock. Assist the operation to be performed.
  • the operation of raising the buttocks of the person M who is in the sitting posture includes, for example, an upright operation from the sitting posture to the standing posture and an operation from the sitting posture to the middle waist posture.
  • the operation of lowering the buttocks and sitting includes a sitting operation from the standing posture to the sitting posture and a sitting operation from the middle waist posture to the sitting posture.
  • the assistance device 1 supports the upper body of the person to be assisted M in the standing posture or the middle waist posture
  • one assistant can pull the assistance device 1 and move it to a moving target in the assistance facility, for example. it can.
  • the assistance apparatus 1 can also perform assistance of transfer of the person M to be assisted.
  • the assistance device 1 assists the operation from the sitting posture to the standing posture or the middle waist posture in a state where the upper body of the person being assisted is supported at the transfer source location.
  • the assistance device 1 assists the operation from the standing posture or the middle waist posture to the sitting posture at the place of the transfer destination.
  • the “standing posture” means a posture in which the lower body of the caregiver M stands, and the posture of the upper body is not questioned.
  • the “middle waist posture” is a posture in which the lower body of the person being assisted M is between the sitting position and the standing position, the buttocks of the person being assisted is away from the seating surface, and the knee is bent. Means the state.
  • the assistance device 1 includes a base 10.
  • the base 10 is a member located at the lowest part in the assistance device 1.
  • the base 10 includes a frame 11, a foot placing base 14, six wheels 16 to 18, and the like.
  • the frame 11 is provided substantially horizontally near the floor surface F.
  • the footrest 14 is fixed to the rear of the upper surface of the frame 11 and is provided almost horizontally.
  • the lower side of the frame 11 is provided with three wheels 16 to 18 on the left and right.
  • Each of the wheels 16 to 18 has a steering function for changing the moving direction.
  • the foremost wheel 16 has a lock function for restricting movement.
  • the assisting device 1 can move not only in the front-rear direction and the direction change, but also in the lateral movement (moving to the side) and the super-revolution (in-situ turning) by the steering function of the six wheels 16 to 18. It has become.
  • the assistance device 1 further includes a column portion 20 erected from the base 10.
  • the column portion 20 is provided to extend vertically upward (antigravity direction) from the center in the left-right direction near the front of the frame 11.
  • the column portion 20 is provided so as to extend upward in the vertical direction, but may be provided so as to extend in a direction slightly inclined forward or rearward from the vertical direction.
  • the column part 20 has a mechanism which raises / lowers the upper end side.
  • the assistance apparatus 1 is provided with the one pillar part 20, you may make it provide the several pillar part 20.
  • the assistance device 1 further includes a crus pad 30.
  • the crus pad part 30 is fixed to a fixing part (corresponding to a column main body part 21 (shown in FIG. 2) described later) of the column part 20 by a pair of left and right support arms 31, 31 having an L shape.
  • the lower thigh pad portion 30 is provided slightly above and in front of the ground mark 141.
  • the main body of the lower thigh pad portion 30 is a cushion material that is disposed over the upright portions of the left and right support arms 31 and extends in the left-right direction.
  • the lower leg support part 30 is a part where the lower leg of the person being assisted M contacts. The arrangement height of the crus pad part 30 can be adjusted.
  • the assistance device 1 further includes a swing arm 40 supported at a predetermined position A (hereinafter referred to as a swing center A) of the column portion 20 so as to be swingable around a horizontal axis in the left-right direction. As shown in FIG. 1, the swing center A is located behind the upper end of the column portion 20.
  • the swing arm 40 is driven by a first linear actuator 25 (shown in FIG. 2) provided in the column portion 20.
  • a first linear actuator 25 shown in FIG. 2
  • the assistance device 1 includes a first handle 50 fixed to the rear end of the swing arm 40 (the end of the portion extending rearward from the swing center A of the swing arm 40).
  • the first handle 50 is formed in a substantially rectangular frame shape.
  • the first handle 50 is formed to extend in the front upward direction from the vicinity of the rear end of the swing arm 40.
  • a side portion of the first handle 50 is used as a portion that is gripped by both hands of the person being assisted.
  • the side part and the front part of the first handle 50 are used as a part to be gripped in order to move the assistance device 1 by the assistant.
  • the assistance device 1 further includes a support member 60 that supports the upper body of the person being assisted.
  • the support member 60 is supported by the swing arm 40 and supports the upper half of the person being assisted.
  • the support member 60 tilts in the front-rear direction with respect to the column part 20 when the swing arm 40 swings with respect to the column part 20.
  • the support member 60 includes a body support portion 61, a pair of side support portions 62 and 62, a second handle 63, and the like.
  • the trunk support portion 61 is formed in a surface shape close to the trunk shape of the person being assisted M, and can be flexibly deformed.
  • the support surface of the torso support portion 61 supports the torso by making surface contact with the front surface of the torso among the upper body of the person being assisted.
  • drum support part 61 supports the range ranging from the chest to the abdomen in the care receiver M from below. Further, the body support portion 61 is attached to the swing arm 40.
  • the body support portion 61 is supported so as to be freely tiltable in the front-rear direction with respect to the swing arm 40.
  • the torso support portion 61 is configured to be freely tiltable within a predetermined angle range clockwise when the assisting device 1 is viewed from the right side from the state shown in FIG.
  • the above-mentioned “free tilt” means not tilt driven by an actuator or the like but tilt capable of being moved manually.
  • the pair of side support parts 62 and 62 are supported by the body support part 61 and support the side of the person being assisted M. Specifically, the pair of side support parts 62, 62 are provided on the left and right sides of the body support part 61.
  • the side support part 62 is supported by the body support part 61 so as to be swingable.
  • the side support part 62 is formed in an L shape by a rod-shaped member.
  • the surface of the side support part 62 is covered with a material that can be flexibly deformed.
  • the second handle 63 is integrally provided on the front surface of the body support portion 61.
  • the second handle 63 is formed in a horizontally long U shape.
  • the second handle 63 includes a base shaft portion that is fixed to the lower portion of the body support portion 61 and extends in the left-right direction, and a grip portion that extends from both ends of the base shaft portion toward the first handle 50 side.
  • the assistance device 1 further includes a control unit 70.
  • the control unit 70 is provided on the upper surface of the frame 11 on the front right side.
  • the control unit 70 includes a second linear actuator 27 (shown in FIG. 2) for raising and lowering the upper end of the column portion 20, and a first linear actuator 25 (see FIG. 2) for swinging the swing arm 40.
  • a control device 71 for controlling The control device 71 drives the first linear motion actuator 25 and the second linear motion actuator 27 based on a command from the person being assisted M or the assistant in the process of assisting the standing person and the sitting movement of the person being assisted. Then, the movement of the support member 60 is controlled by coordinating the raising and lowering of the upper end of the column portion 20 and the swing of the swing arm 40.
  • the control device 71 can be a computer device that operates with software.
  • the computer apparatus may include a remote controller (not shown) that receives a command from the person being assisted M or a person being assisted.
  • a remote controller (not shown) that receives a command from the person being assisted M or a person being assisted.
  • an auxiliary program for executing processing for assisting the standing motion and processing for assisting the seating motion is stored.
  • a battery power source having a symbol that can be repeatedly charged and discharged is attached to the lower side of the control device 71.
  • the battery power supply is also attached to the front left side of the upper surface of the frame 11.
  • the battery power supply is also shared by the first linear actuator 25 and the second linear actuator 27.
  • FIG. 2 shows the assistance device 1 in a state where the cover of the column portion 20 is removed.
  • the column portion 20 includes a column main body portion 21 erected on the base 10.
  • the column main body 21 is fixed to the frame 11 in a state of extending upward from the center in the left-right direction near the front of the frame 11 of the base 10.
  • the column main body 21 is provided so as to extend in the vertical direction with respect to the floor surface F.
  • the column body 21 may be provided so as to extend in a direction slightly inclined from the vertical direction to the front-rear direction.
  • the pillar part 20 is further provided with the raising / lowering pillar part 22 supported by the pillar main-body part 21 so that reciprocation is possible in the direction where the pillar main-body part 21 extends. That is, the elevating column part 22 reciprocates in the vertical direction (gravity direction and antigravity direction) with respect to the base 10 and the column body part 21.
  • the elevating column portion 22 is formed in a long shape that is long in the vertical direction.
  • the elevating column part 22 is located on the rear side of the column main body part 21.
  • the column portion 20 further includes a linear guide mechanism 23 for guiding the lifting / lowering operation of the lifting / lowering column portion 22 with respect to the column main body portion 21.
  • the linear guide mechanism 23 is provided on the rear surface of the column main body portion 21 and the front surface of the elevating column portion 22.
  • the linear guide mechanism 23 includes a linear guide rail 23a and a block 23b that is relatively movable along the guide rail 23a.
  • the guide rail 23 a is fixed to the front surface of the elevating column portion 22 along the vertical direction, and the two blocks 23 b and 23 b are fixed to the rear surface of the column main body portion 21.
  • the guide rail 23 a may be fixed to the column main body portion 21, and the block 23 b may be fixed to the elevating column portion 22.
  • the column part 20 further includes a moving body 24 provided on the lifting column part 22 so as to be able to reciprocate in the extending direction of the lifting column part 22 (equal to the extending direction of the column part 20). That is, the moving body 24 reciprocates in the vertical direction (gravitational direction and antigravity direction) with respect to the lifting column 22.
  • the moving body 24 is positioned above the center in the vertical range of the elevating column portion 22.
  • the moving body 24 is located in front of the swing center A of the swing arm 40 and moves in a range including the swing center A in the vertical direction.
  • the moving body 24 is opposed to the swing center A of the swing arm 40 in the front-rear direction in at least a part of the moving range of the mobile body 24. That is, the moving body 24 can move below the swing center A and can move above the swing center A.
  • the moving body 24 is formed with a long hole 24a penetrating in the left-right direction (the front-rear direction in FIG. 2).
  • the long hole 24a is formed in an elongated shape in the front-rear direction (the left-right direction in FIG. 2).
  • the long hole 24a can move between a position above the swing center A and a position below the swing center A.
  • the column portion 20 further includes a first linear actuator 25 that moves the moving body 24.
  • the first linear actuator 25 is provided along the direction in which the elevating column portion 22 extends. That is, the first linear actuator 25 is provided in the vertical direction.
  • a ball screw structure, a linear motor structure, or the like can be applied as the first linear actuator 25 .
  • the first linear actuator 25 is exemplified by a ball screw structure.
  • the first linear actuator 25 includes a ball screw 25a, a ball screw nut 25b, a motor 25c, and a speed reducer 25d. Both ends of the ball screw 25 a are rotatably supported on the rear surface of the elevating column portion 22. The direction in which the ball screw 25a extends coincides with the direction in which the elevating column portion 22 extends.
  • the ball screw 25 a is located on the upper side of the elevating column part 22.
  • the lower end of the ball screw 25a is coaxially connected to the motor 25c via the speed reducer 25d.
  • the ball screw nut 25b is screwed into the ball screw 25a.
  • the ball screw nut 25 b is fixed to the lower end of the moving body 24. That is, as the motor 25c rotates, the moving body 24 fixed to the ball screw nut 25b moves up and down.
  • the column portion 20 further includes a first elastic device 26.
  • the first elastic device 26 has a long shape.
  • the first elastic device 26 uses, for example, a retractable gas spring. That is, the first elastic device 26 generates a first elastic force in the contraction direction.
  • the first elastic device 26 is provided on the elevating column part 22 along the direction in which the elevating column part 22 extends.
  • a lower portion of the first elastic device 26 is fixed to the elevating column portion 22 (a member having a relationship of moving relative to the moving body 24).
  • the tip of the piston rod of the first elastic device 26 is fixed to the lifting column 22.
  • the upper part of the first elastic device 26 is fixed to the moving body 24.
  • the base end of the cylinder of the first elastic device 26 is fixed to the moving body 24.
  • the first elastic device 26 Since the first elastic device 26 is a retractable gas spring, the first elastic device 26 generates a first elastic force in a direction in which the moving body 24 is lowered with respect to the elevating column portion 22. Furthermore, the first elastic force is greater when the piston rod of the first elastic device 26 is in the extended state than when it is in the contracted state. That is, the first elastic device 26 generates a first elastic force that is larger as the relative position of the moving body 24 with respect to the elevating column portion 22 is higher.
  • the first elastic device 26 generates a first elastic force and generates a first damping force that increases as the moving speed of the moving body 24 in the vertical direction increases.
  • the first elastic device 26 is disposed at a position close to the first linear actuator 25.
  • the expansion / contraction direction of the first elastic device 26 is provided in parallel with the extending direction of the first linear motion actuator 25.
  • the first elastic device 26 can use a coil spring instead of the gas spring. Furthermore, the first elastic device 26 may be a combination of a coil spring and a shock absorber. When a coil spring is used for the first elastic device 26, the first elastic device 26 is installed so that a force is generated in the contraction direction. In addition, since a gas spring can be reduced in diameter compared with a coil spring, it contributes to size reduction of the column part 20. FIG.
  • the column portion 20 further includes a second linear actuator 27 that moves the elevating column portion 22 relative to the column main body portion 21.
  • the second linear actuator 27 is provided along the direction in which the column main body 21 extends and the direction in which the elevating column 22 extends. That is, the second linear actuator 27 is provided in the vertical direction.
  • the second linear actuator 27 is provided in parallel with the first linear actuator 25.
  • a ball screw structure, a linear motor structure, or the like can be applied.
  • the second linear motion actuator 27 is exemplified by a ball screw structure.
  • the second linear actuator 27 includes a ball screw 27a, a ball screw nut 27b, a motor 27c, and a speed reducer 27d. Both ends of the ball screw 27 a are rotatably supported on the front surface of the column main body 21. The direction in which the ball screw 27a extends coincides with the direction in which the column main body 21 extends. The ball screw 27 a is located on the upper side of the column main body 21. The lower end of the ball screw 27a is coaxially connected to the motor 27c via the speed reducer 27d.
  • the ball screw nut 27b is screwed to the ball screw 27a.
  • the ball screw nut 27 b is fixed to the front surface of the elevating column portion 22.
  • the ball screw nut 27b is fixed to the elevating column portion 22 via an L-shaped bracket 22a as viewed from the side.
  • the first piece of the L-shaped bracket 22 a is fixed to the front surface of the elevating column part 22.
  • a second piece of the bracket 22a is fixed to the lower surface of the ball screw nut 27b. Since FIG. 2 is a sectional view, the bracket 22a is illustrated in a separated state, but the bracket 22a is an integral member. Therefore, when the motor 27c rotates, the elevating column portion 22 fixed to the ball screw nut 27b moves up and down.
  • the column portion 20 further includes a second elastic device 28.
  • the second elastic device 28 has a long shape.
  • the second elastic device 28 uses, for example, an extrusion type gas spring. That is, the second elastic device 28 generates a second elastic force in the extending direction.
  • the second elastic device 28 is provided in the column main body 21 along the direction in which the column main body 21 extends.
  • the lower part of the second elastic device 28 is fixed to the column main body 21.
  • the tip of the piston rod of the second elastic device 28 is fixed to the column main body 21.
  • the upper part of the second elastic device 28 is fixed to the elevating column part 22.
  • the base end of the cylinder of the second elastic device 28 is fixed to the elevating column portion 22.
  • the second elastic device 28 Since the second elastic device 28 is an extrusion type gas spring, the second elastic device 28 generates a second elastic force in a direction in which the elevating column portion 22 is raised with respect to the column main body portion 21. Furthermore, the second elastic force is greater when the piston rod of the second elastic device 28 is in the contracted state than when it is in the extended state. That is, the second elastic device 28 generates a second elastic force that increases as the relative position of the elevating column portion 22 with respect to the column main body portion 21 is located below.
  • the second elastic device 28 generates a second elastic force and generates a second damping force that increases as the moving speed of the elevating column portion 22 increases in the vertical direction.
  • the expansion / contraction direction of the second elastic device 28 is provided in parallel with the direction in which the second linear actuator 27 extends.
  • the second elastic device 28 can also use a coil spring or the like, like the first elastic device 26.
  • the swing arm 40 is supported by the elevating column portion 22 so as to be swingable.
  • the swing center A of the swing arm 40 is located behind the upper end of the lifting column 22.
  • the swing arm 40 includes a first arm portion 41 formed to extend forward from the swing center A.
  • the first arm portion 41 is engaged with the moving body 24.
  • the first arm portion 41 includes a roller follower 41a on the distal end side.
  • the roller follower 41 a is located in the long hole 24 a of the moving body 24. That is, the roller follower 41a is movable along the longitudinal direction of the long hole 24a and engages with the long hole 24a in the vertical direction.
  • the first arm 41 swings clockwise in FIG.
  • the first arm 41 swings counterclockwise in FIG.
  • the movable range of the first arm portion 41 is such that the direction connecting the engagement position of the first arm portion 41 with the moving body 24 (the position of the roller follower 41a) and the swing center A is the first linear actuator 25. Includes a position orthogonal to the linear motion direction. That is, the swing center A and the roller follower 41a are in the same position.
  • the swing arm 40 is further provided integrally with the first arm portion 41 and includes a second arm portion 42 extending rearward from the swing center A.
  • the 1st arm part 41 and the 2nd arm part 42 may be comprised by one member, and may be integrally connected by the some member.
  • the second arm part 42 supports the support member 60 at the rear end of the second arm part 42. That is, when the control device 71 drives the first linear actuator 25 and the moving body 24 descends, the rear end of the second arm portion 42 turns forward. On the other hand, when the control device 71 drives the first linear actuator 25 and the moving body 24 moves up, the rear end of the second arm portion 42 turns backward. Therefore, the support member 60 tilts forward as the moving body 24 descends, and the support member 60 tilts backward as the moving body 24 rises. Furthermore, when the control device 71 drives the second linear actuator 27 and the elevating column portion 22 is raised, the support member 60 is raised. On the other hand, the support member 60 descends as the elevating column portion 22 descends.
  • the control device 71 controls the first linear actuator 25 and the second linear actuator 27 in a coordinated manner. That is, the control device 71 can move the support member 60 along a predetermined movement locus by coordinating the vertical movement of the elevating column part 22 and the turning movement of the swing arm 40.
  • the first linear actuator 25, the first elastic device 26, the second linear actuator 27, and the second elastic device 28 are provided along the direction in which the column portion 20 extends. That is, since the first linear actuator 25 or the like does not extend from the direction in which the column part 20 extends in a direction having an angle, the column part 20 can be reduced in size, and thus the assistance device 1 can be reduced in the front-rear direction. .
  • first linear actuator 25 and the second linear actuator 27 are provided in parallel. Furthermore, the first linear actuator 25 and the first elastic device 26 are provided in parallel. Further, the second linear actuator 27 and the second elastic device 28 are provided in parallel. Each of these greatly contributes to downsizing of the assistance device 1 in the front-rear direction.
  • first linear actuator 25 and the second linear actuator 27 are arranged in parallel. That is, the height direction range of the first linear actuator 25 and the height direction range of the second linear actuator 27 are partially common to each other. Also from this, the column part 20 can be downsized. Further, the first linear actuator 25 and the first elastic device 26 are arranged in parallel. Further, the second linear actuator 27 and the second elastic device 28 are arranged in parallel. Also from this, the column part 20 can be downsized.
  • a process for assisting the hip raising operation by the assistance device 1 will be described with reference to FIGS.
  • a standing operation will be described as an example of the buttocks raising operation.
  • the person being assisted M is in the sitting position, which is the initial state shown in FIG.
  • the person M who is in the sitting posture is in a seated state (a state of the sitting posture) with the buttocks in contact with the seating surface 91 of the chair 90.
  • the assistance device 1 is set to an initial state of a process for assisting the standing-up operation by an operation by the person being assisted M or a person (not shown).
  • the initial state of the assistance device 1 is a state in which the second arm portion 42 of the swing arm 40 extends rearward so that the support member 60 is positioned most rearward in the processing of the standing-up operation.
  • the foot of the person being assisted M is guided by the ground mark 141 and placed on the foot placing table 14.
  • the lower leg of the person being assisted M contacts the rear surface of the lower leg pad 30.
  • the person being assisted M or the person assisted operates only the second linear actuator 27 according to the height of the upper half of the person M who is in the sitting posture on the seat surface 91.
  • the control apparatus 71 moves the raising / lowering column part 22 up and down, and the height of the support member 60 is adjusted.
  • the front surface of the body of the person being assisted M comes into surface contact with the body support portion 61.
  • the person being assisted M places the side on the side support portion 62 and holds the first handle 50.
  • the person being assisted M is in a posture in which the upper body leans forward to some extent as shown in FIG.
  • the standing assist program for the assisting device 1 is executed. Thereby, raising / lowering of the raising / lowering pillar part 22 and the rocking
  • the assistance device 1 is in a standing start state (a state where the buttocks are lifted).
  • the standing start state of the assistance device 1 is a state when the buttocks of the person M who is in the sitting posture leaves the seat surface 91 of the chair 90 (instant) when assisting the standing motion.
  • the elevating column portion 22 is lowered and the swing arm 40 is rotated forward.
  • the person being assisted M transitions from the sitting position in the initial state to the standing start position (buttock rising start position). That is, the person being assisted in the standing start posture is in a posture in which the buttocks contact the seating surface 91 of the chair 90, the trunk is further tilted forward, and the trunk is extended.
  • the swing center A of the first arm portion 41 and the roller follower 41a are located at the same height. That is, the direction connecting the engagement position of the first arm portion 41 with the moving body 24 (the position of the roller follower 41a) and the swing center A is perpendicular to the linear motion direction of the first linear actuator 25. .
  • the moment around the oscillation center A generated by the driving force of the first linear actuator 25 is maximized in the orthogonal state.
  • the moment around the swing center A generated by the load that the support member 60 receives from the person being assisted M is also maximized. That is, the moment around the swing center A generated by the first linear motion actuator 25 is set to be the maximum when the moment around the swing center A received from the person being assisted is maximized. Therefore, the motor 25c can be reduced in size.
  • the direction connecting the swing center A and the position of the roller follower 41a is orthogonal to the linear motion direction of the first linear actuator 25 when the buttocks of the person being assisted M leaves the seat surface 91. It was in a state.
  • a state in which the direction connecting the swing center A and the position of the roller follower 41 a is orthogonal to the linear motion direction of the first linear actuator 25 immediately after the buttocks of the person being assisted M is separated from the seat surface 91. It is good. In this case, the same effect is produced.
  • the assistance device 1 enters the standing position from the standing start state through the middle waist state. That is, when the elevating column portion 22 is raised and the second arm portion 42 of the swing arm 40 is further tilted forward, the standing assistance program is terminated. Then, the person being assisted M shifts from the standing start posture to the standing posture through the middle waist posture. That is, the upper body of the person M who is in the standing posture is greatly inclined forward, and the position of the buttocks of the person M is positioned higher than the seat surface 91 of the chair 90. Then, the leg of the person being assisted M is in a substantially extended state. In addition, the assistance apparatus 1 can make the person to be assisted M into the middle waist posture by stopping before reaching the standing position with the buttocks of the person to be assisted M away from the seat surface 91.
  • the swinging arm 40 is swung forward by lowering the moving body 24.
  • the first elastic device 26 operates in the contracting direction.
  • the first elastic device 26 generates a first elastic force in the contraction direction. That is, the first elastic device 26 exerts a force that assists the operation of the motor 25 c of the first linear actuator 25.
  • the first elastic device 26 since the first elastic device 26 exhibits the first elastic force in the vertical direction, it is possible to directly apply the auxiliary force to the lowering operation of the moving body 24. Therefore, the first elastic device 26 greatly contributes to the miniaturization of the motor 25c.
  • the elevating column portion 22 is raised by driving the second linear motion actuator 27.
  • the second elastic device 28 operates in the extending direction.
  • the second elastic device 28 generates a second elastic force in the extending direction. That is, the second elastic device 28 exerts a force that assists the operation of the motor 27 c of the second linear actuator 27.
  • the second elastic device 28 since the second elastic device 28 exhibits the second elastic force in the vertical direction, it is possible to directly apply the auxiliary force to the ascending operation of the elevating column portion 22. Therefore, the second elastic device 28 greatly contributes to the miniaturization of the motor 27c.
  • the first arm portion 41 of the swing arm 40 swings around the swing center A. Accordingly, the roller follower 41a moves in an arc around the swing center A. That is, the engagement position of the roller follower 41a with the moving body 24 changes in the front-rear direction.
  • the swing center A of the first arm portion 41 and the roller follower 41a are positioned at the same height in the standing start state or immediately after the standing start state. That is, the movable range of the first arm portion 41 is such that the direction connecting the engagement position (the position of the roller follower 41a) with the moving body 24 in the first arm portion 41 and the swing center A is the first linear actuator 25. Includes a position orthogonal to the linear motion direction.
  • the amount of movement of the roller follower 41a in the front-rear direction is small. Therefore, the moment around the swing center A generated by the driving force of the first linear actuator 25 is sufficiently large over the entire range from the initial sitting state to the standing state. As a result, size reduction of the motor 25c is achieved.
  • the process of assisting the buttocks lowering operation by the assistance device 1 is the reverse of the process of assisting the buttocks raising operation. That is, the assistance device 1 shifts from the standing state shown in FIG. 4 to the standing start state shown in FIG. 3, and further shifts to the sitting state shown in FIG. Note that the movement trajectory of the support member 60 in the process of assisting the standing motion may be the same as or different from the movement trajectory of the support member 60 in the process of assisting the seating motion.
  • the first elastic force by the first elastic device 26 becomes resistance to the operation by the first linear actuator 25.
  • the second elastic force by the second elastic device 28 becomes a resistance to the operation by the second linear actuator 27.
  • the weight of the upper body of the person being assisted M acts. Therefore, even if the first elastic force and the second elastic force become resistance in the seating operation, the load applied to the motors 25c and 27c is sufficiently smaller than that in the standing operation.
  • the support member 60 may be tilted backward and the elevating column portion 22 may be moved downward.
  • the first elastic device 26 generates a greater first damping force as the moving speed of the moving body 24 in the vertical direction increases. Therefore, when the support member 60 tilts backward, the first elastic device 26 generates the first damping force according to the speed. That is, the speed at which the support member 60 tilts backward becomes slow.
  • the second elastic device 28 generates a larger second damping force as the moving speed of the elevating column portion 22 in the vertical direction increases. Therefore, when the elevating column part 22 descends, the second elastic device 28 generates a second damping force according to the speed. That is, the descending speed of the elevating column part 22 becomes slow.
  • the assistance device 1 has a high safety function due to the first elastic device 26 and the second elastic device 28.
  • assistance device 10: base, 11: frame, 20: pillar part, 21: pillar body part, 22: lifting pillar part, 24: moving body, 24a: long hole, 25: first linear motion actuator, 26 : First elastic device, 27: second linear actuator, 28: second elastic device, 40: swing arm, 41: first arm portion, 41a: roller follower, 42: second arm portion, 60: support member , 70: control unit, A: predetermined position (swing center), M: person being assisted

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  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Invalid Beds And Related Equipment (AREA)
  • Manipulator (AREA)

Abstract

L'invention concerne un dispositif d'assistance comportant une structure compacte. Une partie pilier du dispositif d'assistance comprend un corps mobile qui est mobile en va-et-vient dans la direction dans laquelle la partie pilier s'étend, et un premier actionneur linéaire qui est disposé le long de la direction dans laquelle la partie pilier s'étend et qui déplace le corps mobile. Un bras oscillant comprend : une première partie de bras qui vient en prise avec le corps mobile au-dessous d'une position prédéterminée et qui oscille en raison du mouvement du corps mobile ; et une seconde partie de bras qui fait partie intégrante de la première partie de bras, qui s'étend vers l'arrière de la position prédéterminée et qui soutient un élément de support. L'élément de support s'incline vers l'avant avec un mouvement vers le bas du corps mobile.
PCT/JP2016/088558 2016-12-22 2016-12-22 Dispositif d'assistance Ceased WO2018116475A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
JP2018557505A JP6700427B2 (ja) 2016-12-22 2016-12-22 介助装置
PCT/JP2016/088558 WO2018116475A1 (fr) 2016-12-22 2016-12-22 Dispositif d'assistance

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/JP2016/088558 WO2018116475A1 (fr) 2016-12-22 2016-12-22 Dispositif d'assistance

Publications (1)

Publication Number Publication Date
WO2018116475A1 true WO2018116475A1 (fr) 2018-06-28

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PCT/JP2016/088558 Ceased WO2018116475A1 (fr) 2016-12-22 2016-12-22 Dispositif d'assistance

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JP (1) JP6700427B2 (fr)
WO (1) WO2018116475A1 (fr)

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2012050654A (ja) * 2010-09-01 2012-03-15 Yuki Iwasaki 移乗機
JP2013154053A (ja) * 2012-01-31 2013-08-15 Toyota Motor Corp 移乗機
JP2016140435A (ja) * 2015-01-30 2016-08-08 大和ハウス工業株式会社 移乗支援装置
JP2016193100A (ja) * 2015-03-31 2016-11-17 株式会社モリトー 起居・立位歩行支援機

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2015011839A1 (fr) * 2013-07-26 2015-01-29 富士機械製造株式会社 Robot d'assistance

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2012050654A (ja) * 2010-09-01 2012-03-15 Yuki Iwasaki 移乗機
JP2013154053A (ja) * 2012-01-31 2013-08-15 Toyota Motor Corp 移乗機
JP2016140435A (ja) * 2015-01-30 2016-08-08 大和ハウス工業株式会社 移乗支援装置
JP2016193100A (ja) * 2015-03-31 2016-11-17 株式会社モリトー 起居・立位歩行支援機

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JP6700427B2 (ja) 2020-05-27

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