CN115484914B

CN115484914B - Auxiliary device

Info

Publication number: CN115484914B
Application number: CN202080100210.1A
Authority: CN
Inventors: 清水聪志; 神谷有城
Original assignee: Fuji Corp
Current assignee: Fuji Corp
Priority date: 2020-05-19
Filing date: 2020-05-19
Publication date: 2024-04-30
Anticipated expiration: 2040-05-19
Also published as: KR20220143101A; WO2021234827A1; CN115484914A; JPWO2021234827A1; JP7420931B2

Abstract

An auxiliary device is provided with: a base station; a pair of underarm support parts for supporting the left and right underarms of the assisted person; and a driving unit for moving the pair of underarm support units at least in the up-down direction with respect to the base, the underarm support units including: a normal surface portion which contacts at least the underarm portion and the upper arm portion of the assisted subject; and a low friction surface portion having a smaller friction coefficient than the normal surface portion, and being in contact with the flank portion of the assisted person.

Description

Auxiliary device

Technical Field

The present invention relates to an assist device including an underarm support portion for supporting an underarm of an assist subject.

Background

With the development of the advanced society, the demand for auxiliary devices is increasing. The assist device generally assists various actions of the assisted person by driving a support member that supports a part of the body of the assisted person. An assist device for assisting a standing up operation and a sitting up operation of an assisted person often includes a pair of underarm support portions for supporting the left and right underarms of the assisted person, respectively, and an upper body support portion for supporting the upper body of the assisted person. By introducing the assisting device, the physical burden of the assisting person and the assisted person can be reduced, and the hand deficiency of the assisting person can be relieved. An example of such an auxiliary device is disclosed in patent document 1.

The assist device of patent document 1 includes: a base station; an underarm support unit which can relatively move with respect to the base while supporting the left and right underarms of the person to be assisted; and a driving part for driving the underarm support part. The underarm support portion includes: a core member; and an outer peripheral member that is rotatable relative to the core member and that contacts the body of the assisted person. Thus, the outer peripheral member can rotate relative to the core member while following the posture change of the assisted person. Therefore, friction force generated between the auxiliary person and the underarm support part can be buffered and suppressed, and comfortable use feeling of the auxiliary person can be realized.

Prior art literature

Patent document 1: international publication No. 2018/179294

Disclosure of Invention

Problems to be solved by the invention

However, the assist device of patent document 1 is preferable in that pain generated in the flank portion of the assisted subject due to friction force can be reduced by rotating the outer peripheral member with respect to the core member. However, if the outer peripheral member is infinitely rotated, the force of the auxiliary person held by the underarm support portion is lost, and the original function cannot be exhibited. Therefore, the rotation amount of the outer peripheral member is limited, and as a result, there is a limit in the reduction of pain due to friction. In addition, the underarm support portion may support a load corresponding to half or more of the weight of the assisted person. In this case, the assisted person may feel pain due to a strong sense of compression of the armpits on both sides of the armpit supporting portion.

In addition, some auxiliary devices have the following structure: the pair of underarm support portions are swung or moved in directions approaching each other in accordance with downward loads acting on the pair of underarm support portions, whereby the assisted person can be reliably supported. In this structure, the assisted person may feel pain due to the pressing force of the left and right underarm support portions to clamp the abdomen. This pain tends to become noticeable in larger-sized assisted subjects.

Accordingly, an object of the present invention is to provide an assist device that reduces pain of an assisted person and achieves a comfortable feeling of use.

Means for solving the problems

The present specification discloses an auxiliary device, comprising: a base station; a pair of underarm support parts for supporting the left and right underarms of the assisted person; and a driving unit for moving the pair of underarm support units at least in the up-down direction with respect to the base, the underarm support units including: a normal surface portion which contacts at least the underarm portion and the upper arm portion of the assisted subject; and a low friction surface portion having a smaller friction coefficient than the normal surface portion and being in contact with the flank portion of the assisted person.

Thus, the portion of the surface of the underarm support portion that contacts the flank portion of the assisted person becomes a low friction surface portion. Therefore, pain of the assisted person due to friction force can be reduced. Accordingly, an auxiliary device that achieves a comfortable feeling of use can be provided.

Further, the present specification discloses an assist device including: a base station; a pair of underarm support parts for supporting the left and right underarms of the assisted person; and a driving unit for moving the pair of underarm support units at least in the up-down direction with respect to the base, the underarm support units including: a core member; and an outer peripheral member that covers the core member and is elastically deformable, wherein the core member is disposed below a center of the outer peripheral member.

Thus, by making the thickness of the upper side of the outer peripheral member constituting the underarm support portion larger than before, the generation of a feeling of pressure pushing up the underarm can be suppressed. Therefore, pain of the assisted person can be reduced. Accordingly, an auxiliary device that achieves a comfortable feeling of use can be provided.

The present specification also discloses an assist device comprising: a base station; a pair of underarm support parts for supporting the left and right underarms of the assisted person and capable of swinging or moving in directions approaching or separating from each other; a driving unit for moving the pair of underarm support units at least in the up-down direction with respect to the base; and a restricting mechanism for restricting a swing range or a movement range of the pair of underarm support portions in a direction in which the pair of underarm support portions approach each other.

Thereby, the closest distance when the pair of underarm support portions approach each other is limited. Therefore, the pressing force for pinching the flank portion of the assisted person from both sides can be suppressed, and the pain of the assisted person can be reduced. Accordingly, an auxiliary device that achieves a comfortable feeling of use can be provided.

Drawings

Fig. 1 is a side view showing the overall structure of an auxiliary device according to a first embodiment.

Fig. 2 is a view of the support member including the trunk support portion and the underarm support portion as seen from the rear side.

Fig. 3 is a cross-sectional view of the underarm support shown in section III-III in fig. 2.

Fig. 4 is a diagram illustrating the operation of the assist device according to the first embodiment.

Fig. 5 is a view of the rear portion of the underarm support of the second embodiment as seen from the rear.

Fig. 6 is a diagram illustrating the operation of the assist device according to the second embodiment.

Fig. 7 is a perspective view showing a restriction belt and an adjustment buckle corresponding to one embodiment of the restriction mechanism and the adjustment unit in the auxiliary device according to the third embodiment.

Fig. 8 is a diagram illustrating functions of the restriction strap and the adjustment buckle.

Fig. 9 is a diagram illustrating the operation of the assist device according to the third embodiment.

Fig. 10 is a diagram schematically showing a regulating mechanism and an adjusting unit of the assist device according to the fourth embodiment.

Fig. 11 is a perspective view illustrating an underarm support assisting mechanism that can be added to each embodiment.

Detailed Description

1. The entire structure of the auxiliary device 1 of the first embodiment

The overall structure of the assist device 1 of the first embodiment will be described with reference to fig. 1. The up-down front-back of the auxiliary device 1 is specified as indicated by the upper right arrow in fig. 1. The assist device 1 is used for example for transfer between two different places such as transfer between a bed and a wheelchair of an assisted person or transfer between a wheelchair and a toilet seat. The support device 1 supports the upper body of the person to be supported, and supports the standing motion from the sitting position to the standing position and the sitting motion from the standing position to the sitting position.

Herein, the standing posture refers to a posture in which buttocks are lifted from a seating surface and legs are elongated, and includes standing posture and a stooping posture. That is, the standing posture includes a standing posture in which the upper body is substantially upright, a bending-over posture in which the upper body is tilted forward, and the like. The assist device 1 is also used for the purpose of being ridden and moved by an assisted person when two places to be transferred are separated. For example, the assist device 1 is used for an application in which an assisted person moves from a living room to a toilet, a dining room, or the like. The assist device 1 includes a base 2, an arm member 3, a support member 6 including an upper body support portion 4 and an underarm support portion 5, an actuator 7, a control portion not shown, and the like.

The base 2 is a portion for the assisted person to ride on. The base 2 is assembled with an arm member 3 and an actuator 7. The base 2 is formed of a foot pedal 20, a pair of left and right pipe frames 21, a pair of left and right assembly frames 22, and the like. The footrest 20 is formed of a metal or resin plate material, and extends horizontally at a position slightly higher than the ground surface F. The left and right edges of the foot rest 20 are bent downward. The foot rest 20 is a part for the assisted person to put his/her feet.

The pipe frame 21 is formed by bending a metal pipe. A pair of left and right pipe frames 21 are mounted on the lower side of the footrests 20, extending forward. The front portion 211 of each tube frame 21 is curved in the front direction of the footrest 20. An assembly frame 22 having a plate shape is provided on the front side of the front portion 211 of the pair of pipe frames 21.

Swing support bases 29 are provided on the upper portions of the pair of left and right assembly frames 22, respectively. Front wheels 25 are provided below the pair of assembly frames 22, respectively. The pipe frame 21 has position adjustment portions 281 provided at the upper ends of the front portions 211. The position adjustment unit 281 is a manual adjustment mechanism for an assisting person or the like to adjust the position of the knee contact member 28 in the front-rear direction according to the physique or the like of the assisting person.

The knee contact member 28 is located above the foot pedal 20 and is a portion for contact with the knee of the assisted person. By determining the position of the knee by the knee abutting member 28, the standing motion and seating motion of the assisted person are stabilized. The knee abutting member 28 is formed of a base plate 282, a knee abutting body 283, two support rods 284, and the like. The bottom plate 282 is formed of a metal plate material so as to extend in the left-right direction, and is disposed slightly forward of the vertical direction. The knee abutting body 283 is formed of an elastically deformable polyurethane foam or the like, and is mounted on the rear side of the bottom plate 282. The two support rods 284 are formed using metal bars, and connect the bottom plate 282 to the left and right position adjustment portions 281.

An actuator support 23 is provided at a position forward of the foot pedal 20. The middle wheels 26 are provided on the left and right sides of the front lower surface of the foot board 20, respectively. Rear wheels 27 are provided on both left and right sides of the lower surface of the rear end portion of the foot pedal 20. The diameters of the intermediate wheel 26 and the rear wheel 27 are smaller than the diameter of the front wheel 25. The front wheel 25, the intermediate wheel 26 and the rear wheel 27 have steering functions. Therefore, the assist device 1 can perform not only the straight movement and the swivel movement but also the lateral movement and the in-situ swivel movement. The front wheel 25 also has a lock function for restricting the movement of the assist device 1.

As shown in fig. 1, the arm member 3 is formed in a curved shape in the middle when viewed from the side. A pair of left and right swinging shafts 31 are provided at the lower portion of the arm member 3. The pair of swing shafts 31 are swingably supported by the swing support bases 29 of the assembly frame 22, respectively. In order to limit the swing angle range of the arm member 3, a stopper mechanism, not shown, is provided in the vicinity of the swing support 29. Thereby, the arm member 3 can swing in the upward front direction and the downward rear direction with respect to the base 2. The arm member 3 swings upward and forward (clockwise in fig. 1) during the raising operation of the assisted person. The arm member 3 swings in the backward and downward direction during the seating operation of the assisted person.

A battery, not shown, and a link mechanism are housed in the arm member 3. The battery serves as a power source for the actuator 7 and the control unit. A swing support portion (reference numeral omitted) is provided on the rear side of the upper portion of the arm member 3, and a swing member 32 is provided on the swing support portion. The swing member 32 swings with respect to the arm member 3. However, in the initial state before the assisted person contacts the support member 6, the swing member 32 is restricted from swinging by the link mechanism. Further, the applicant of the present application disclosed a detailed configuration example of the link mechanism in international publication No. 2018/167856.

The swing member 32 has a bottom plate 33 on the rear side. The bottom plate 33 is formed using a metal or resin plate material having high rigidity. The bottom plate 33 has a handle 34 at the front surface. The handle 34 is formed in a substantially quadrangular frame shape and extends upward of the arm member 3. The handle 34 is a portion to be gripped by the assisting person, and is also a portion to be gripped by the assisting person in order to move the assisting apparatus 1.

The support member 6 is provided on the rear side of the bottom plate 33. The support member 6 includes an upper body support portion 4 and a pair of underarm support portions 5. The upper body support 4 is mounted to the rear surface of the bottom plate 33. The upper body support 4 is formed by laminating a hard cushion member 41 and a soft cushion member 42. The upper body support 4 supports the upper body of the assisted subject, mainly supporting a belt from the chest to the abdomen.

The pair of underarm support portions 5 are attached to the left and right sides of the bottom plate 33, and are disposed on the left and right sides of the upper body support portion 4. The underarm support portion 5 is formed in an L-shape bent at an obtuse angle. The upper part of the armpit supporting part 5, which is raised above the bending part, is abutted against the shoulder of the assisted person. The inclined straight portion of the underarm support portion 5 located below the bending portion enters the underarm of the person to be assisted to support the upper body. The underarm support portion 5 plays a role of holding the assisted person when the assisted person stands up. The detailed structure of the underarm support 5 will be described later.

The actuator 7 is one embodiment of a driving unit that moves the pair of underarm support units 5 at least in the up-down direction with reference to the base 2. The actuator 7 is a telescopic linear actuator, and is formed of a main body 71, a movable portion 72, a motor 73, and the like. The main body 71 is a cylindrical member having a large diameter and long in the vertical direction, and has an opening in the upper portion. The lower end of the main body 71 is supported by the actuator support 23 of the base 2. The movable portion 72 is a round bar-shaped member having a long diameter in the vertical direction. The upper end of the movable portion 72 is connected to the link mechanism of the arm member 3. The lower portion of the movable portion 72 is fitted into the opening of the main body portion 71.

The motor 73 is mounted on the front side of the lower portion of the main body 71. The motor 73 switches the direction of the control current by the control unit, and drives the extension operation and the contraction operation of the movable unit 72. Thereby, the movable portion 72 performs the telescopic operation with respect to the main body portion 71. The actuator 7 performs a first extension operation from a minimum length to a predetermined intermediate length and a second extension operation from the intermediate length to a maximum length.

The support member 6 is driven via the link mechanism by the first extension operation of the actuator 7, and swings in the upward and forward direction. The arm member 3 is driven via the link mechanism by the second extension operation of the actuator 7, and swings in the upward and forward direction. In this way, the support member 6 moves forward while moving upward with respect to the base 2. Thereby, the assisting apparatus 1 assists the standing motion of the assisted person. Further, by the contraction operation of the actuator 7, the support member 6 moves downward and also moves rearward. Thereby, the assisting apparatus 1 assists the seating operation of the assisted person.

The control unit, not shown, is constituted by an operator, a control body, and the like. The operator has an up button and a down button for operating the actuator 7. The operator is operated by the helper. The control main body is a computer device having a CPU and operated by software. The control main body controls the current flowing through the actuator 7 based on the operation information of the up button and the down button. Thereby, the operation and stop of the actuator 7 and the switching between the expansion operation and the contraction operation are controlled.

2. Detailed structure and function of underarm support 5

Next, a detailed structure and operation of the underarm support portion 5 will be described with reference to fig. 2 to 4. As shown in fig. 2 and 3, the underarm support portion 5 is constituted by a core member 51, an outer peripheral member 52, a normal cover member 53, and a low friction cover member 54. The core member 51 is formed by bending a round rod or tube made of metal or hard resin into an L-shape, for example. The upper portion of the core member 51 above the bending portion and the linear portion below the bending portion correspond to the upper portion and the linear portion of the underarm support portion 5. The core member 51 has sufficient mechanical strength to support the weight of the assisted body.

The outer peripheral member 52 is formed in a thick cylindrical shape by using an elastically deformable buffer material and covering the outer periphery of at least the lower straight portion of the core member 51. As a material of the cushioning material forming the outer peripheral member 52, a sponge rubber using ethylene propylene rubber as a raw material can be exemplified. The outer peripheral member 52 made of the cushioning material is easily compressively deformed against the load applied from the auxiliary member M. The outer peripheral member 52 may be constrained by adhesion to the core member 51 or may be rotatable within a predetermined angular range with respect to the core member 51.

The cover member 53 is typically formed using, for example, synthetic leather. The cover member 53 is generally formed in a cylindrical shape covering the outer periphery of the outer peripheral member 52. The cover member 53 is typically bonded to the outer peripheral member 52 and is deformable together with the outer peripheral member 52. The cover member 53 may cover the lower rear end surfaces of the core member 51 and the outer peripheral member 52.

The low friction cover member 54 is formed using a substantially quadrangular synthetic resin sheet, for example, a polypropylene sheet. As shown in fig. 3, the low friction cover member 54 extends from the upper side to the lower side of the pair of underarm support portions 5 via the opposite inner sides. The low friction cover member 54 is adhered or sewn to the outer surface of the usual cover member 53.

According to the above configuration, the low friction cover member 54 contacts the flank portion of the assisted person. In addition, the cover member 53 is normally in contact with at least the armpits and the upper arm portions of the assisted person. Here, the surface of the cover member 53 is generally relatively rough and has a relatively large friction coefficient as compared with the low friction cover member 54. In contrast, the surface of the low friction cover member 54 is relatively smooth with a relatively low coefficient of friction. Therefore, the normal cover member 53 forms a normal surface portion that contacts at least the armpits and the upper arm portions of the assisted person. The low friction cover member 54 is configured to have a lower friction coefficient than a normal surface portion and to be in contact with the flank portion of the auxiliary.

In the initial state of the standing operation of the assisted person H shown in fig. 4, the armpit support portion 5 is located between the upper arm portion and the side abdomen portion below the armpit of the assisted person H. When the assist by the raising operation of the assist device 1 is started, the armpit support 5 holds the assisted person H while moving upward. At this time, the underarm support portion 5 rises while contacting the flank portion, and generates a frictional force F1. By this frictional force F1, the outer peripheral member 52 is deformed by torsion in the rotation direction R1 (see fig. 3) in which the low friction cover member 54 is lowered, and is also deformed by compression. Further, a frictional force F1 in the upward direction acts on the flank portion of the assisted person H. However, since the low friction cover member 54 (low friction surface portion) is in contact with the flank portion, the generated friction force F1 can be reduced.

On the other hand, the cover member 53 is normally brought into contact with the armpits and upper arm portions of the assisted person H with a moderate surface pressure and friction, and thus ensures the holding force. Therefore, the underarm support 5 can stably hold the assisted person H. If the entire circumference of the outer peripheral member 52 is covered with the low friction cover member 54 without using the normal cover member 53, the sliding between the side abdomen and the upper arm becomes excessive, and there is a risk that the posture of the assisted person H becomes unstable.

According to the assist device 1 of the first embodiment, the portion of the surface of the underarm support portion 5 that contacts the flank portion of the assisted subject H becomes the low friction cover member 54 (low friction surface portion). Therefore, pain of the assisted subject H due to the friction force F1 can be reduced. Accordingly, the auxiliary device 1 that realizes a comfortable feeling of use can be provided.

The combination of the materials of the normal cover member 53 and the low friction cover member 54 is not limited to the above example, and may be a combination of other materials. The low friction cover member 54 may be a one-layer structure disposed in a substantially quadrangular cutout portion formed in the normal cover member 53, instead of a two-layer structure disposed so as to overlap the outer surface of the normal cover member 53. The normal cover member 53 may be omitted, and the low friction cover member 54 may be directly bonded to a part of the outer surface of the outer peripheral member 52. In this case, the friction coefficient of the surface of the low friction cover member 54 is set smaller than that of the outer surface of the outer peripheral member 52.

3. The underarm support portion 5A of the auxiliary device 1 of the second embodiment

Next, referring to fig. 5 and 6, the differences between the auxiliary device 1 of the second embodiment and the first embodiment will be mainly described. In the second embodiment, the structure other than the underarm support portion 5A is the same as that of the first embodiment. As shown in fig. 5, the underarm support portion 5A of the second embodiment is constituted by a core member 51, an intermediate member 55, and an outer peripheral member 52.

The core member 51 is formed using a round rod or tube made of metal or hard resin. The intermediate member 55 is formed in a thick cylindrical shape covering the outer periphery of the core member 51, using a material harder than the outer peripheral member 52 but elastically deformable, for example, a hard sponge rubber. The outer peripheral member 52 is formed in a shape covering the upper side in the outer periphery of the intermediate member 55 without covering the lower side using a cushioning material. The intermediate member 55 may be formed of the same material as the outer peripheral member 52, or may be integrally formed with the outer peripheral member 52. In addition, the inner side and the outer side of the underarm support portion 5A in contact with the flank portion need not be of symmetrical construction.

In the present second embodiment, the intermediate member 55 is a part of the outer peripheral member 52 that covers the core member 51 and is elastically deformable. Thus, the core member 51 is disposed below the center of the outer peripheral member 52 including the intermediate member 55. The thickness D1 of the upper side of the outer peripheral member 52 including the intermediate member 55 is larger than the thickness D2 of the lower side. The thickness D1 on the upper side is set to be larger than that of a conventional underarm support portion having a substantially rotationally symmetrical cross section.

In the intermediate state of the raising operation of the assisted person H shown in fig. 6, a load W1 based on the body weight of the assisted person H acts on the underarm support portion 5A. As a reaction force, the armpit supporting portion 5A lifts the armpit of the assisted person H, and the assisted person H feels a sense of pressure in the armpit. However, since the thickness D1 of the upper side of the outer peripheral member 52 including the intermediate member 55 is large, deformation larger than before occurs, and the feeling of compression is suppressed.

According to the auxiliary device 1 of the second embodiment, the thickness D1 of the upper side of the outer peripheral member 52 constituting the underarm support portion 5A is made larger than before, and the occurrence of the feeling of pressure pushing up the underarm can be suppressed. Thus, pain of the assisted subject H can be reduced. Accordingly, the auxiliary device 1 that realizes a comfortable feeling of use can be provided.

The level is not such that the thickness of the outer peripheral member 52 including the intermediate member 55 is uniformly increased over the entire circumference, but the thickness D1 on the upper side is increased and the thickness D2 on the lower side is decreased. This can suppress the increase in size of the underarm support portion 5A. Further, by reducing the thickness D2 on the lower side, a large space can be ensured between the underarm support portion 5A and the ground surface F, and the wheelchair can be easily entered. This allows the assisted person H to easily transfer from the wheelchair to the footrest 20, thereby improving the comfort of use.

The intermediate member 55 may be formed of a solid material that does not elastically deform, and may be a part of the core member 51. In this modification, the outer peripheral member 52 covers the upper side of the core member 51 including the intermediate member 55, and does not cover the lower side. However, the thickness D3 of the upper side of the outer peripheral member 52 is set to be larger than the thickness of the conventional underarm support portion.

4. The auxiliary device 1 of the third embodiment

Next, referring to fig. 7 to 9, the differences between the auxiliary device 1 according to the third embodiment and the first and second embodiments will be mainly described. The auxiliary device 1 of the third embodiment includes a restriction belt 81 and an adjustment buckle 83 in addition to the base 2, the arm member 3, the support member 6 including the upper body support portion 4 and the underarm support portion 5B, the actuator 7, and a control portion not shown. In fig. 8, the upper body support 4 and the outer peripheral member 52 are not shown.

As shown in fig. 8, the core member 51 constituting the underarm support portion 5B has an attachment plate 56 on the inner side of the raised front portion. The mounting plate 56 is disposed in close proximity to the rear surface of the bottom plate 33. A predetermined position 57 is set in the substantially center of the mounting plate 56. The predetermined position 57 is supported by the base plate 33 so as to be swingable. As a result, the pair of core members 51 and the underarm support portion 5B can swing in directions approaching each other with the predetermined position 57 as the swing center, as indicated by an arrow M1. A restricting position 58 is set at a position near the core member 51 at the lower edge of the mounting plate 56.

As shown in fig. 7 and 8, a fixed point position 82 is set in the center of the upper portion of the substantially quadrangular frame-shaped handle 34. The restricting belt 81 connects the restricting position 58 of one of the underarm support portions 5B with the restricting position 58 of the other of the underarm support portions 5B, and is slidably folded back at the fixed point position 82. The restriction belt 81 is stretchable in the width direction but is not stretchable in the length direction. Further, since the handle 34 moves and swings integrally with the underarm support portion 5B, the positional relationship shown in fig. 7 and 8 is always maintained.

The restricting belt 81 restricts the left and right restricting positions 58 and the swing range of the mounting plate 56 and the core member 51 in a state where tension is generated by tightening. Thereby, the swing range of the underarm support portion 5B is limited. That is, the restriction belt 81 has a function of restricting the closest distance when the pair of underarm support portions 5B approach each other. The restriction tape 81 has no restriction function, and only loosens in the direction in which the pair of underarm support portions 5B are separated from each other. The restricting belt 81 is one mode of restricting mechanism that restricts the swing range or the movement range in the direction in which the pair of underarm support portions 5B approach each other.

An adjustment buckle 83 is inserted between one of the restricting positions 58 and the fixed point position 82 of the restricting belt 81. The adjustment buckle 83 has a function of adjusting the length of the restriction belt 81. The assisting person or the like operates the adjustment buckle 83 to adjust the length of the restriction belt 81 according to the physique of the assisted person. The adjustment buckle 83 is one mode of an adjustment unit that adjusts the swing range or the movement range limited by the limiting mechanism (the limiting belt 81) according to the physique of the person to be assisted.

In the initial state of the standing operation of the assisted person H shown in fig. 9, the armpit support portion 5B is located between the upper arm portion and the side abdomen portion below the armpit of the assisted person H. At this time, since the pair of underarm support portions 5B clamp the flank portion of the assisted person H from both sides, a pressing force F2 is generated. However, since the closest distance of the pair of underarm support portions 5B is restricted by the restricting belt 81, the pressing force F2 can be reduced.

When the body shape of the assisting person H is small, the assisting person or the like adjusts the restriction belt 81 to be long, and sets the closest distance between the pair of underarm support portions 5B to be small. On the other hand, when the body shape of the person to be assisted H is large, the assisting person or the like adjusts the restriction belt 81 to be short, and sets the closest distance between the pair of underarm support portions 5B to be large. By adjusting the length of the restricting band 81 in this way, the closest distance between the pair of underarm support portions 5B can be adapted to the physical constitution of the auxiliary person H, and the pressing force F2 can be always properly reduced.

According to the auxiliary device 1 of the third embodiment, the closest distance when the pair of underarm support portions 5B approach each other can be restricted. Therefore, the pressing force F2 for pinching the side abdomen of the assisted person H from both sides can be suppressed, and the pain of the assisted person H can be reduced. Accordingly, the auxiliary device 1 that realizes a comfortable feeling of use can be provided.

Further, a pair of right and left restriction belts that individually connect the restriction position 58 of the right and left underarm support portions 5B and the fixed point position 82 may be used. In this embodiment, an adjustment buckle 83 is provided for each of the pair of restriction belts. In addition, the adjustment buckle 83 can be omitted. The pair of underarm support portions 5B may be movable in a direction approaching or separating from each other while maintaining a parallel state without swinging. In this embodiment, the restricting mechanism in place of the restricting belt 81 restricts the movement range in the direction in which the pair of underarm support portions 5B approach each other.

5. The auxiliary device 1 of the fourth embodiment

Next, referring to fig. 10, the differences between the auxiliary device 1 of the fourth embodiment and the first to third embodiments will be mainly described. In fig. 10, the upper body support 4 and the outer peripheral member 52 are not shown. The auxiliary device 1 of the fourth embodiment swings the core member 51 and the underarm support portion 5B as in the third embodiment, and includes a regulating mechanism and an adjusting portion different from those of the third embodiment. The restricting mechanism is constituted by a pair of restricting pins 86 and restricting levers 87. As the adjustment portion, a lever position adjustment portion 88 is provided.

The pair of restricting pins 86 are provided near the core member 51 at the lower edges of the left and right mounting plates 56 instead of the restricting position 58 of the third embodiment. The regulating lever 87 is provided on the rear surfaces of the left and right mounting plates 56, and is disposed below the regulating pin 86. The restricting pin 86 abuts against the upper surface of the restricting lever 87 during the swinging of the underarm support portion 5B and the core member 51 in the approaching direction M1, and the swinging is restricted.

The center portion of the restricting lever 87 in the left-right direction is supported by a lever position adjusting portion 88 so as to be slidable in the up-down direction. The lever position adjusting portion 88 is provided so as to penetrate the bottom plate 33. The lever position adjusting portion 88 has a function of adjusting the position of the regulating lever 87 in the up-down direction. An assistant or the like can operate the lever position adjustment portion 88 from the front side of the bottom plate 33, and can adjust the position of the restricting lever 87 in the up-down direction as indicated by an arrow M2.

Specifically, when the body shape of the person to be assisted is small, the assisting person or the like adjusts the position of the restricting lever 87 to be low, and sets the closest distance between the pair of underarm support portions 5B to be small. On the other hand, when the body shape of the person to be assisted is large, the assisting person or the like adjusts the position of the restricting lever 87 to be high, and sets the closest distance between the pair of underarm support portions 5B to be large. As a result, the closest distance between the pair of underarm support portions 5B can be adapted to the physical constitution of the assisted person, and the effect of reducing the pressing force can be obtained at all times, as in the third embodiment.

6. Underarm support assisting mechanism 9

Next, an underarm support supporting mechanism 9 that can be added to the auxiliary device 1 according to the first to fourth embodiments will be described with reference to fig. 11. The underarm support assisting mechanism 9 is provided on the front surface or the rear surface of the base plate 33. As shown in fig. 11, the underarm support supporting assistance mechanism 9 swings or moves the pair of underarm support portions 5B (5, 5A) in the approaching direction M3 according to the downward load W2 acting on the pair of underarm support portions 5B (5, 5A). Thus, when the person to be assisted leans against the pair of underarm support portions 5B (5, 5A), the pair of underarm support portions 5B (5, 5A) approach each other to reliably support the person to be assisted.

An example of a mechanism that the applicant of the present application can apply to the underarm support assistance mechanism 9 is named a holding position adjustment mechanism in international publication No. 2015/01838 and is disclosed. In addition, in the embodiment in which the underarm support supporting assistance mechanism 9 is added to the assistance device 1 of the third embodiment, the assistance device has an effect of suppressing left-right imbalance of the posture of the assisted person. In detail, when the assisted person leans against one of the underarm support portions 5B, the underarm support portion 5B swings, but the restriction belt 81 is tensioned to generate tension. Thereby, the swing range of one underarm support portion 5B is restricted, and unbalance with the other underarm support portion 5B is suppressed. As a result, the assist device 1 can suppress left-right imbalance of the posture of the assisted person.

7. Modification and application of the embodiment

The first embodiment and the second embodiment can be implemented in combination. The first and second embodiments can be combined with the third or fourth embodiment. In other words, the auxiliary device 1 according to the first and second embodiments may include the regulating mechanism and the adjusting unit described in the third or fourth embodiment. In addition, the first to fourth embodiments can be variously modified and applied.

Description of the reference numerals

1. An auxiliary device; 2. a base station; 20. a foot pedal; 21. a tube frame; 22. assembling a frame; 3. an arm member; 33. a bottom plate; 34. a handle; 4. an upper body support part; 5. 5A, 5B, underarm support; 51. a core member; 52. a peripheral member; 53. a usual cover member; 54. a low friction cover member; 55. an intermediate member; 56. a mounting plate; 57. a predetermined position; 58. a limit position; 6. a support member; 7. an actuator; 81. a restraining band; 82. a fixed point location; 83. adjusting the buckle; 86. a limiting pin; 87. a restraining bar; 88. a lever position adjusting section; 9. the armpit supports the assisting mechanism.

Claims

1. An auxiliary device is provided with:

A base station;

A pair of underarm support parts for supporting the left and right underarms of the assisted person; and

A driving unit for moving the pair of underarm support units at least in the up-down direction with reference to the base,

The underarm support portion has: a normal surface portion that contacts at least the underarm and upper arm portions of the assisted subject; and a low friction surface portion having a smaller friction coefficient than the normal surface portion and being in contact with the flank portion of the assisted person.

2. The auxiliary device according to claim 1, wherein,

The underarm support portion has:

a core member;

an outer peripheral member covering the core member and being elastically deformable;

A normal cover member covering the outer peripheral member and constituting the normal surface portion; and

And a low friction cover member covering the outer peripheral member and constituting the low friction surface portion.

3. The auxiliary device according to claim 2, wherein,

The low friction cover member is disposed so as to overlap with an outer surface of the normal cover member.

4. The auxiliary device according to claim 2, wherein,

The usual cover member is a synthetic leather whose surface is relatively rough, and the low-friction cover member is a synthetic resin sheet whose surface is relatively smooth.

5. An auxiliary device according to claim 3, wherein,

6. The auxiliary device according to any one of claims 1 to 5, wherein,

The underarm support portion has:

A core member; and

An outer peripheral member that covers the core member and is elastically deformable, the core member being disposed below a center of the outer peripheral member.

7. The auxiliary device according to claim 6, wherein,

The outer peripheral member is formed in a cylindrical shape to cover the core member, and the thickness of the upper side is greater than the thickness of the lower side.

8. The auxiliary device according to claim 6, wherein,

The peripheral member covers the upper side of the core member and does not cover the lower side of the core member.

9. The auxiliary device according to any one of claims 1 to 5, wherein,

The pair of underarm support portions can swing or move in directions approaching or separating from each other,

The auxiliary device further includes a restricting mechanism that restricts a swing range or a movement range in a direction in which the pair of underarm support portions approach each other.

10. The auxiliary device according to any one of claims 1 to 5, wherein,

The auxiliary device further includes an underarm support assisting mechanism that swings or moves the pair of underarm support portions in a direction approaching each other in accordance with a downward load acting on the pair of underarm support portions.