JP2017080247A - Standing auxiliary device and standing auxiliary method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To achieve size reduction of a standing auxiliary device.SOLUTION: A standing auxiliary device 1 for assisting standing of a user comprises: a stretchable part 20; a support part 30 to which a grip part 620 which is gripped by a user is attached, and which is connected to the stretchable part 20; and a holding part 50 for holding a base end part of the support part 30. The holding part 50 comprises a rotation guide part 523 for guiding so that the support part 30 rotates following to telescopic motion of the stretchable part 20, with the base end part side of the support part 30 as a shaft, and a vertical movement guide part 521 for guiding so that the support part 30 moves in a vertical direction following to telescopic motion of the stretchable part 20.SELECTED DRAWING: Figure 6

Description

  The present disclosure relates to a rising assistance device and a rising assistance method for assisting a user to rise.

  For example, Patent Document 1 describes a device that assists the rising of a user such as a care recipient. The apparatus described in Patent Document 1 supports a user with a support provided at the tip of an inclined column part, and raises the user by raising the inclined column part.

JP 2011-104237 A

  The apparatus described in Patent Document 1 raises a user by raising a support column. That is, in the apparatus described in Patent Document 1, the support column is rotated so that the distal end side draws an arc with the base end side of the support column as an axis. In this case, in order to raise the user until the user stands up from the seated state, it is necessary to increase the length of the support column, which increases the size of the apparatus. Therefore, an object of the present disclosure is to provide a rising assistance device and a rising assistance method that can realize downsizing.

  The present disclosure is a stand-up assisting device that assists a user to stand-up, and includes an extendable part that expands and contracts along a direction from the base part toward the upper side, and a grip part that the user holds, and is connected to the extendable part. And a holding portion that holds the base end portion of the strut portion on the base portion. There is a rotation guide part that guides to rotate, and a vertical movement guide part that guides the column part to move in the vertical direction as the expansion and contraction part expands and contracts.

  In addition, the present disclosure includes an expansion / contraction part that expands and contracts along a direction from the base part toward the upper side, a grip part that a user grips, and a support part that is connected to the expansion / contraction part, and a support part on the base part. A support unit that includes a support unit that holds the base end part, and a support unit that uses the start-up support device to extend the extendable part and rotate the support part around the base end side of the support part, And rotating the telescopic part further to move the support part upward.

  According to the present disclosure, it is possible to reduce the size of the rising assist device.

It is a perspective view which shows the state which most pushed down the support | pillar part in the stand-up assistance apparatus which concerns on embodiment. It is a left view of the stand-up assistance apparatus of FIG. It is a perspective view which shows the expansion-contraction part periphery of the stand-up assistance apparatus of FIG. It is a left view which expands and shows the surroundings of the 1st slit and 2nd slit of the stand-up assistance apparatus of FIG. It is a right view which expands and shows the surroundings of the 1st slit and 2nd slit of the stand-up assistance apparatus of FIG. It is a left view which shows the state which stood the support | pillar part in the stand-up assistance apparatus which concerns on embodiment. It is a left view which shows the state which raised the support | pillar part to the upper limit in the stand-up assistance apparatus which concerns on embodiment. It is a block diagram which shows the structure around the control part of a starting assistance apparatus. It is a flowchart which shows operation | movement of the stand-up assistance apparatus in assisting the standing user's standing-up. It is a flowchart which shows operation | movement of the stand-up assistance apparatus in assisting the seating of the user who stood up.

  Hereinafter, embodiments will be described with reference to the drawings. In the description of the drawings, the same elements are denoted by the same reference numerals, and redundant description is omitted.

  The standing assistance device 1 shown in FIG. 1 rotates and vertically moves the support column 30 provided with the gripping portion 620, thereby assisting the standing up of a user such as a care recipient and sitting on a chair. Provide assistance. Moreover, the stand-up assistance apparatus 1 can also assist the user who has stood up walking. The stand-up assisting device 1 may be configured to automatically travel in accordance with the user's walking, or may be configured to move when pressed by the user.

  As shown in FIG. 1 to FIG. 5, the rising assist device 1 includes a base portion 10, a telescopic portion 20, a column portion 30, an arm portion 40, a holding portion 50, a support portion 60, a control portion 70 (see FIG. 8), and An operation detector 80 (see FIG. 8) is provided. The base end portion (lower end portion) of the column portion 30 is held by the holding portion 50 so as to be rotatable and vertically movable. In the state in which the column body 300 of the column unit 30 is inclined with respect to the vertical direction (the state shown in FIGS. 1 to 5), the side on which the column unit 30 is tilted with respect to the holding unit 50 is “rear”. And the holding unit 50 side with respect to the support column 30 is “front”. Further, when the rising assist device 1 is viewed from the rear side toward the front side, the right side is “right” and the left side is “left”.

  The base unit 10 includes a front base unit 100, a left base unit 110, and a right base unit 120. The left base portion 110 extends from the left end portion of the front base portion 100 toward the rear side. The right base portion 120 extends from the right end portion of the front base portion 100 toward the rear side. A plurality of wheels 130 are attached to the lower surface of the base portion 10.

  The expansion / contraction part 20 is an actuator that expands and contracts. In particular, as shown in FIG. 3, the stretchable portion 20 stretches along the direction from the base portion 10 toward the upper side. In FIG. 3, the left holding plate 500 </ b> A of the holding unit 50 is omitted in order to illustrate the periphery of the expandable unit 20. In this embodiment, the expansion / contraction part 20 expands and contracts along the vertical direction. The telescopic part 20 has a main body part 200 and a rod part 210. The rod part 210 moves in the vertical direction with respect to the main body part 200. As the rod part 210 moves in the vertical direction, the amount of protrusion of the rod part 210 from the upper end of the main body part 200 changes. That is, the length of the telescopic portion 20 changes as the rod portion 210 moves. As the expansion / contraction part 20, a linear actuator can be used, for example.

  The column part 30 includes a column body 300, a left connection plate 310A, and a right connection plate 310B. As shown in FIG. 3, the left connecting plate 310 </ b> A is attached to the left side surface of the base end portion of the column main body 300. The lower end portion of the left connecting plate 310 </ b> A extends toward the front side of the column main body 300. In the vicinity of the lower end portion of the left connecting plate 310A, a first cam follower (first convex portion) 321 having a circular cross section protruding toward the left side (left holding plate 500A side) and a second cam follower (first convex portion) having a circular cross section. Part) 322 is attached. The diameter of the first cam follower 321 and the diameter of the second cam follower 322 are the same. A third cam follower (second convex portion) 323 having a circular cross section that protrudes toward the left side (left holding plate 500A side) is attached in the vicinity of the upper end portion of the left connecting plate 310A.

  Here, as shown in FIG. 2, when the rising assist device 1 is viewed from the left side, a straight line connecting the center of the first cam follower 321 and the center of the second cam follower 322 is defined as a straight line L1. In the column main body 300, a portion above the third cam follower 323 is defined as a column upper portion 300a. As shown in FIG. 2, when the rising assist device 1 is viewed from the left side, the extending direction of the column upper portion 300a and the straight line L1 are substantially parallel.

  When the rising assist device 1 is viewed from the left side, a straight line connecting the center of the first cam follower 321 and the center of the third cam follower 323 is defined as a straight line L2. The extending direction of the column upper part 300a and the straight line L2 intersect each other at a predetermined angle. When the rising assist device 1 is viewed from the left side, a straight line connecting the center of the second cam follower 322 and the center of the third cam follower 323 is defined as a straight line L3. The extending direction of the column upper part 300a and the straight line L3 intersect each other at a predetermined angle.

  Similar to the left connection plate 310A, the right connection plate 310B is attached to the right side surface of the base end portion of the column main body 300, as shown in FIG. A lower end portion of the right connection plate 310 </ b> B extends toward the front side of the column main body 300. The right coupling plate 310B is provided with a first cam follower (first convex portion) 321, a second cam follower (first convex portion) 322, and a third cam follower (second convex portion) 323. The first cam follower 321, the second cam follower 322, and the third cam follower 323 provided on the right connection plate 310B are respectively the first cam follower 321, the second cam follower 322, and the third cam follower 323 provided on the left connection plate 310A. Since it is the same structure, the same code | symbol is attached | subjected and detailed description is abbreviate | omitted.

  The expansion / contraction part 20 is located between the lower end part of the left connection plate 310A and the lower end part of the right connection plate 310B. The column main body 300 is located behind the telescopic portion 20.

  The support portion 60 is attached to the upper end of the column main body 300. The support part 60 includes a table 610, a grip part 620, and an operation switch 630. The table 610 is fixed to the upper end of the column main body 300. The table 610 extends in the left-right direction from the position of the upper end of the column main body 300, and then both ends extend toward the rear side. The table 610 supports the user's arm placed on the table 610. The grip portion 620 is attached to the upper surface of the table 610. The grip part 620 is gripped by the user. The operation switch 630 is attached to the grip portion 620. The operation switch 630 is operated by the user in order to control the operation of the extendable unit 20. Note that the operation switch 630 is not limited to being attached to the grip portion 620 as long as the user can easily operate it, and may be attached to the table 610.

  As shown particularly in FIG. 3, the arm portion 40 connects the stretchable portion 20 and the support column portion 30. One end portion of the arm portion 40 is connected to the upper end portion of the rod portion 210 of the telescopic portion 20. The other end portion of the arm portion 40 is connected to a position away from the base end portion of the support column portion 30 by a predetermined distance toward the distal end side (upper side). Specifically, the arm part 40 has a left arm 400A and a right arm 400B. One end of the left arm 400 </ b> A is connected to the upper end of the rod part 210 of the telescopic part 20 by a shaft 220. The other end of the left arm 400A is coupled to a position where the third cam follower 323 of the left coupling plate 310A is provided. One end of the right arm 400 </ b> B is connected to the upper end of the rod part 210 of the extendable part 20 by a shaft 220. The other end of the right arm 400B is coupled to a position where the third cam follower 323 of the right coupling plate 310B is provided. Thus, the shaft 220 serves as a connecting portion between the extendable portion 20 and the arm portion 40.

  The holding portion 50 extends upward from the front base portion 100. The holding unit 50 holds the base end portion of the support column 30 on the front base unit 100. Specifically, the holding unit 50 includes a left holding plate 500A and a right holding plate 500B. The left holding plate 500A is located on the left side of the left arm 400A. The right holding plate 500B is located on the right side of the right arm 400B.

  The left holding plate 500A is provided with a first slit 510, a second slit 520, and a third slit (extensible guide portion) 530.

  As shown in FIG. 4, the first slit 510 has a vertical movement guide portion 511, a first recess 513, and a second recess 516. The vertical movement guide part 511 is a slit extending in the vertical direction. The vertical movement guide portion 511 has a pair of vertical movement guide walls (first vertical movement guide walls) 512 that face each other. That is, the vertical movement guide wall 512 extends along a direction from the base portion 10 toward the upper side. In the present embodiment, the vertical movement guide wall 512 extends along the vertical direction. The 1st recessed part 513 is provided in the lower end part of the up-and-down movement guide part 511 (refer FIG.4 and FIG.7). The first recess 513 is recessed toward the front side from the front vertical movement guide wall 512 of the pair of vertical movement guide walls 512 constituting the vertical movement guide part 511. The first recess 513 includes an arcuate wall (a rotation guide portion, a rotation guide wall, and a first rotation guide wall) 514 and a restriction wall 515 as wall surfaces of the recess. The arcuate wall 514 faces the arcuate wall 517 side of the second recess 516. The rear end portion of the arcuate wall 514 is connected to the vertical movement guide wall 512 located on the rear side of the pair of vertical movement guide walls 512 constituting the vertical movement guide portion 511. The regulation wall 515 faces downward.

  The second recess 516 is provided on the rear vertical movement guide wall 512 of the pair of vertical movement guide walls 512 constituting the vertical movement guide part 511 (see FIGS. 4 and 7). The second recess 516 is located above the first recess 513. The second recess 516 is recessed from the rear vertical movement guide wall 512 toward the rear side. The second recess 516 includes an arcuate wall (a rotation guide portion, a rotation guide wall, and a first rotation guide wall) 517 and a restriction wall 518 as wall surfaces of the recess. The arc-shaped wall 517 faces the arc-shaped wall 514 side of the first recess 513. The upper end of the arc-shaped wall 517 is connected to the vertical movement guide wall 512 located on the rear side of the pair of vertical movement guide walls 512 constituting the vertical movement guide part 511. The regulation wall 518 faces upward.

  Here, when the rising assist device 1 is viewed from the left side, the first cam follower 321 and the second cam follower 322 are positioned between the arcuate wall 514 and the arcuate wall 517 of the first cam follower 321. An intermediate position between the center position and the center position of the second cam follower 322 is defined as a point P. A straight line passing through the point P and extending in the left-right direction is defined as a straight line PL. The arc-shaped wall 514 and the arc-shaped wall 517 abut on the first cam follower 321 and the second cam follower 322 and guide the moving direction so that the first cam follower 321 and the second cam follower 322 rotate about the straight line PL. . That is, the arc-shaped wall 514 and the arc-shaped wall 517 guide the movement of the column 30 so that the column 30 rotates about the straight line PL located at the base end of the column 30. The arc-shaped wall 514 and the arc-shaped wall 517 are curved in an arc shape centered on the straight line PL when viewed from the left side. The restricting wall 515 and the restricting wall 518 are respectively in contact with the first cam follower 321 and the second cam follower 322, thereby restricting the rotation of the support column 30 in the direction in which the upper end of the support column 30 is tilted backward.

  As shown in FIGS. 6 and 7, when the support column 30 is rotated and the support column unit 30 is erected, a straight line L <b> 1 that connects the center of the first cam follower 321 and the center of the second cam follower 322 becomes the vertical movement guide unit. It becomes the same as the extending direction of the vertical movement guide wall 512 of 511. The vertical movement guide wall 512 abuts on the first cam follower 321 and the second cam follower 322 so that the first cam follower 321 and the second cam follower 322 move in the vertical direction in a state where the support column portion 30 stands. To guide. Note that the state in which the support column 30 is erected is a state in which the extending direction of the support column upper portion 300a of the support column main body 300 is the vertical direction.

  As shown in FIG. 4, the second slit 520 includes a vertical movement guide portion 521 and a rotation guide portion 523. The rotation guide portion 523 is provided at a position farther from the rotation axis (straight line PL) of the column portion 30 than the arc-shaped wall 514 and the arc-shaped wall 517 of the first slit 510. The rotation guide portion 523 is curved in an arc shape centered on the straight line PL when viewed from the left side. The rotation guide portion 523 includes a pair of rotation guide walls (second rotation guide walls) 524 and a regulation wall 525 that face each other. The rotation guide wall 524 is curved in an arc shape about the straight line PL as viewed from the left side. The restriction wall 525 connects the lower ends of the pair of rotation guide walls 524 to each other.

  The rotation guide wall 524 abuts on the third cam follower 323 to guide the movement direction so that the third cam follower 323 moves along the extending direction of the rotation guide wall 524. That is, the rotation guide wall 524 guides the rotation of the support column 30 so that the support column 30 rotates about the straight line PL positioned at the base end of the support column 30. The regulation wall 525 regulates the rotation of the column 30 so that the upper end of the column 30 falls to the rear side by contacting the third cam follower 323.

  It should be noted that the inclination of the support column 30 when the control wall 525 controls the rotation of the support column 30 and the control wall 515 of the first recess 513 and the control wall 518 of the second recess 516 control the rotation of the support column 30. The inclination of the column 30 when doing so is the same.

  The vertical movement guide part 521 is a slit extending in the vertical direction. The vertical movement guide part 521 has a pair of vertical movement guide walls (second vertical movement guide walls) 522 facing each other. That is, the vertical movement guide wall 522 extends along the direction from the base portion 10 toward the upper side. In the present embodiment, the vertical movement guide wall 522 extends along the vertical direction. The extending direction of the vertically moving guide part 511 of the first slit 510 and the extending direction of the vertically moving guide part 521 of the second slit 520 are parallel to each other.

  The lower end portion of the vertical movement guide portion 521 is connected to the upper end portion of the rotation guide portion 523. The front vertical movement guide wall 522 of the pair of vertical movement guide walls 522 is connected to the rotation guide wall 524 on the side close to the straight line PL of the pair of rotation guide walls 524. The rear vertical movement guide wall 522 of the pair of vertical movement guide walls 522 is connected to the rotation guide wall 524 farther from the straight line PL of the pair of rotation guide walls 524.

  As shown in FIGS. 6 and 7, the vertical movement guide wall 522 abuts on the third cam follower 323 so that the third cam follower 323 moves in the vertical direction in a state where the column portion 30 stands up. To guide.

  As shown in FIGS. 1 and 2, the third slit 530 is provided in the upper part of the left holding plate 500A. The third slit 530 extends along the direction from the base portion 10 toward the upper side. In the present embodiment, the third slit 530 extends along the vertical direction. The third slit 530 is open to the upper end surface of the left holding plate 500A. A shaft (connecting portion) 220 that connects the extendable portion 20 and the arm portion 40 enters the third slit 530 from above.

  As shown in FIGS. 2 and 6, the third slit 530 is formed on the shaft 220 so that the shaft 220 moves along the direction from the base portion 10 toward the upper side in the state where the support column 30 is rotating. It abuts and guides the moving direction of the shaft 220. In the present embodiment, the third slit 530 guides the shaft 220 so that the shaft 220 moves along the vertical direction. By guiding the movement of the shaft 220, the third slit 530 prevents the telescopic portion 20 from falling in the front-rear direction when the support column 30 is rotating. As shown in FIG. 7, the third slit 530 does not come into contact with the shaft 220 in a state where the support column 30 is moved in the vertical direction. That is, the third slit 530 does not guide the movement of the shaft 220.

  As shown in FIG. 5, the right holding plate 500 </ b> B is provided with a first slit 510, a second slit 520, and a third slit (extensible guide portion) 530. Each element provided in the right holding plate 500B has the same configuration as each element provided in the left holding plate 500A, and the same reference numerals are given and detailed description thereof is omitted.

  Next, the rotation and vertical movement of the support column 30 will be described. When the telescopic unit 20 is extended from the state in which the column unit 30 is inclined (the state shown in FIG. 2), the column unit 30 is pulled by the arm unit 40. At this time, the support column 30 is guided by the arc-shaped wall 514 and the arc-shaped wall 517 of the first slit 510 and the rotation guide wall 524 of the second slit 520, so that the upper end of the support column 30 is expanded and contracted. It rotates about the straight line PL as an axis so as to approach the part 20 side (so as to stand up) (state shown in FIG. 6).

  Here, as shown in FIG. 2, the stretched state of the stretchable portion 20 when the support column 30 is most inclined is defined as a first stretched state. As shown in FIG. 6, the stretched state of the stretchable part 20 when the inclined column part 30 stands up is referred to as a second stretched state. The second stretched state is a state where the stretchable portion 20 is stretched more than the first stretched state. That is, the arc-shaped wall 514, the arc-shaped wall 517, and the rotation guide wall 524 are arranged in such a manner that the strut portion extends along with the expansion / contraction of the expansion / contraction part 20 in a state where the expansion / contraction part 20 is between the first extension state and the second extension state. Guides 30 rotations. The third slit 530 guides the shaft 220 so that the shaft 220 moves in the vertical direction as the telescopic portion 20 expands and contracts when the telescopic portion 20 is between the first extended state and the second extended state.

  As shown in FIG. 6, when the stretchable part 20 is further extended from the state in which the column part 30 stands up (the stretchable part 20 is in the second stretched state), the column part 30 is pulled up by the arm part 40. At this time, the column 30 moves upward while being guided by being guided by the vertical movement guide wall 512 of the first slit 510 and the vertical movement guide wall 522 of the second slit 520 (shown in FIG. 7). State).

  Here, as shown in FIG. 7, the stretched state of the stretchable part 20 when the column part 30 is pulled up to the upper limit is defined as a third stretched state. The third stretched state is a state where the stretchable part 20 is stretched more than the second stretched state. That is, the vertical movement guide wall 512 and the vertical movement guide wall 522 are arranged in the vertical direction of the support column 30 in accordance with the expansion / contraction of the expansion / contraction part 20 in a state where the expansion / contraction part 20 is between the second extension state and the third extension state. Guide the movement.

  Thus, when the stretched state of the telescopic portion 20 is the second stretched state, the operation of the support column 30 is switched from the pivoting operation to the upward movement operation, or from the downward movement operation to the pivoting operation. Switch.

  As illustrated in FIG. 8, the motion detection unit 80 detects a rotation start timing that is a timing at which the support column 30 starts to rotate after the support column 30 moves downward. That is, the rotation start timing is a timing at which the expansion / contraction part 20 changes from the third extended state to the second extended state. The motion detection unit 80 may detect that the expansion / contraction part 20 has changed from the third extended state to the second extended state using a contact sensor. Alternatively, the motion detection unit 80 may detect the timing at which the expansion / contraction unit 20 changes from the third extended state to the second extended state based on a drive signal that drives the expansion / contraction unit 20. The motion detection unit 80 outputs the detection result of the rotation start timing to the control unit 70.

  The control unit 70 is provided at an appropriate position of the rising assist device 1 such as the vicinity of the telescopic unit 20. The control unit 70 is connected to the operation detection unit 80, the operation switch 630, and the expansion / contraction unit 20. The control unit 70 controls the expansion / contraction unit 20 to perform the expansion / contraction operation based on the operation result of the operation switch 630 by the user. In addition, when the rotation detection timing is detected by the operation detection unit 80, the control unit 70 controls the expansion / contraction unit 20 so that the contraction operation is stopped. And the control part 70 controls the expansion-contraction part 20 so that a shrinking operation | movement may be restarted when the instruction | indication which restarts a shrinking | reducing operation | movement is given by a user operating the operation switch 630.

  The control unit 70 includes, for example, a circuit 76 illustrated in FIG. 8 as a hardware configuration. The circuit 76 includes a processor 71, a memory 72, a storage 73, an input / output port 74, and a driver 75. The driver 75 is a circuit for driving the telescopic unit 20. The input / output port 74 performs input / output of signals to / from the driver 75 in addition to input / output of external signals. The processor 71 executes a program in cooperation with at least one of the memory 72 and the storage 73 and executes input / output of signals through the input / output port 74, thereby expanding / contracting the expansion / contraction part 20 as described above.

  Note that the hardware configuration of the control unit 70 is not necessarily limited to that which expands and contracts the expansion / contraction unit 20 as described above by executing a program. For example, the control unit 70 may expand / contract the expansion / contraction unit 20 as described above using a dedicated logic circuit or an ASIC (Application Specific Integrated Circuit) integrated with the logic circuit.

  Next, the operation of the stand-up assisting device 1 for assisting the standing user to stand up and the stand-up assisting method using the stand-up assisting device 1 will be described with reference to the flowchart of FIG. As shown in FIG. 1, a user seated on a chair or the like places the arm on the table 610 from the rear side of the stand-up assisting device 1 and grips the grip portion 620 in a state where the stretchable portion 20 is in the first extended state. Then, the user instructs the control unit 70 to start the standing motion by operating the operation switch 630. When there is an instruction to start the standing operation, the control unit 70 controls the expansion / contraction unit 20 so as to change from the first extended state to the second extended state. Thereby, the support | pillar part 30 rotates from the state which inclined to the state (state shown in FIG. 6) which stood up (S11). By this rotation, it is possible to draw the user to the side of the assisting device 1 (holding unit 50) while lifting the waist of the user in the seated state holding the grip unit 620.

  Next, the control part 70 controls the expansion-contraction part 20 so that it may become a 3rd extended state from a 2nd extended state. Thereby, the support | pillar part 30 moves toward upper direction like the state shown in FIG. 7 from the state shown in FIG. 6 (S12). By the movement of the column part 30, the user who holds the holding part 620 can be raised.

  Next, the operation of the stand-up assisting apparatus 1 when assisting the user who has stood up and the stand-up assisting method using the stand-up assisting apparatus 1 will be described with reference to the flowchart of FIG. As shown in FIG. 7, the standing user holds the grip 620 by placing his / her arm on the table 610 from the rear side of the stand-up assisting device 1 in a state where the stretchable portion 20 is in the third extended state. The user instructs the control unit 70 to start the seating operation by operating the operation switch 630. When there is an instruction to start the seating operation, the control unit 70 controls the telescopic unit 20 so as to change from the third extended state to the second extended state. Thereby, the support | pillar part 30 moves toward the lower side like the state shown in FIG. 6 from the state shown in FIG. 7 (S21). By this movement, the user can drop his / her waist while gripping the grip portion 620. When the support column 30 moves downward and the rotation detection timing is detected by the operation detection unit 80, the control unit 70 stops the contraction operation of the expansion / contraction unit 20 (S22). After stopping the contraction operation of the expansion / contraction part 20, the control unit 70 determines whether or not there is an instruction to restart the contraction operation of the expansion / contraction part 20 by the user (S23). When there is no restart instruction (S23: NO), the control unit 70 repeats the determination process of S23 until there is a restart instruction.

  When the resumption instruction is given by the user (S23: YES), the control unit 70 controls the expansion / contraction unit 20 so as to change from the second extended state to the first extended state. Thereby, like the state shown in FIG. 1 from the state shown in FIG. 6, the support | pillar part 30 inclines toward the back side from the standing state. By the rotation of the support column 30, the user who holds the holding unit 620 can sit on a chair or the like placed on the back side of the rising assist device 1.

  The present embodiment is configured as described above, and the holding unit 50 moves the arcuate wall 514, the arcuate wall 517, and the rotation guide wall 524 that rotate the column 30 and the column 30 in the vertical direction. A vertical movement guide wall 512 and a vertical movement guide wall 522 are provided. As a result, the stand-up assisting device 1 raises the strut 30 while guiding it with the arcuate wall 514 or the like that rotates the strut 30, thereby causing the seated user holding the grip 620 to stand up on the stand-up assisting device 1 side. Can be drawn to. And the stand-up auxiliary | assistance apparatus 1 can raise a user by moving the support | pillar part 30 to the upper side, guiding with the vertical movement guide wall 512 etc. which move the support | pillar part 30 up and down. As described above, since the rising assist device 1 is configured to raise the user by moving the support column 30 upward, the user can only raise the support column 30 by rotating the inclined support column 30. Compared with the case where it raises, the length of the support | pillar part 30 can be shortened. Therefore, it is possible to reduce the size of the rising assist device 1.

  Further, since the holding unit 50 includes an arcuate wall 514 that rotates the column 30 and a vertical movement guide wall 512 that moves the column 30 in the vertical direction, the rising assist device 1 includes one It is possible to realize the rotation and vertical movement of the support column 30 using the two extendable parts 20. In this way, since the support 30 can be turned and moved up and down by the single expansion / contraction part 20, the size of the rising assist device 1 can be reduced.

  The stand-up assisting device 1 erects the supporting column 30 in a collapsed state by extending the stretchable part 20 from the first extended state to the second extended state, and extends the stretchable part 20 from the second extended state to the third extended state. Can move the support column 30 upward. Further, the rising assist device 1 can move the support column 30 downward by contracting the stretchable portion 20 from the third stretched state to the second stretched state, and the stretchable portion 20 is moved from the second stretched state to the first stretched state. The support column 30 can be defeated by contracting it to the end. In this way, the rising assist device 1 can assist the user in the seated state to stand up by extending the extendable portion 20. Moreover, the stand-up assisting device 1 can assist the user in the standing-up state by contracting the stretchable portion 20.

  The stand-up assisting device 1 can rotate the support column 30 by causing the first cam follower 321 to contact the arcuate wall 514 and sliding the first cam follower 321 along the arcuate wall 514. The rising assist device 1 can rotate the support column 30 by causing the second cam follower 322 to contact the arcuate wall 517 and sliding the second cam follower 322 along the arcuate wall 517. The stand-up assisting device 1 can rotate the support column 30 by bringing the third cam follower 323 into contact with the rotation guide wall 524 and sliding the third cam follower 323 along the rotation guide wall 524. . Further, the rising assist device 1 causes the first cam follower 321 and the second cam follower 322 to abut on the vertical movement guide wall 512 and slides the first cam follower 321 and the second cam follower 322 along the vertical movement guide wall 512. Thereby, the support | pillar part 30 can be moved to an up-down direction. The stand-up assisting device 1 moves the support column 30 in the vertical direction by bringing the third cam follower 323 into contact with the vertical movement guide wall 522 and sliding the third cam follower 323 along the vertical movement guide wall 522. Can do.

  The arcuate wall 514 is connected to the rear vertical movement guide wall 512 of the pair of vertical movement guide walls 512. As a result, the rising assist device 1 can slide the first cam follower 321 between the arcuate wall 514 and the vertical movement guide wall 512 along with the expansion / contraction of the expansion / contraction part 20. The arc-shaped wall 517 is connected to the rear vertical movement guide wall 512 of the pair of vertical movement guide walls 512. As a result, the rising assist device 1 can slide the second cam follower 322 between the arc-shaped wall 517 and the vertical movement guide wall 512 along with the expansion / contraction of the expansion / contraction part 20. The pair of rotation guide walls 524 are connected to the pair of vertical movement guide walls 522, respectively. Thereby, the rising assist device 1 can slide the third cam follower 323 between the rotation guide wall 524 and the vertical movement guide wall 522 as the expansion / contraction part 20 expands / contracts. In this way, the wall portion (arc-shaped wall 514 or the like) that guides the rotation of the support column 30 and the wall portion (vertical movement guide wall 512 or the like) that guides the vertical movement of the support column 30 are connected. The rising assist device 1 can continuously perform the rotation and vertical movement of the support column 30.

  The column 30 is guided by the first slit 510 and the second slit 520. As a result, the rising assist device 1 can guide the support column 30 while suppressing the rattling of the support column 30.

  A straight line L2 connecting the straight line along the extending direction of the column upper part 300a and the first cam follower 321 and the third cam follower 323 when viewed along the axial direction (the direction of the straight line PL) of rotation of the column 30. Cross each other at a predetermined angle. Similarly, a straight line along the extending direction of the column upper part 300a and a straight line L3 connecting the second cam follower 322 and the third cam follower 323 intersect each other at a predetermined angle. As a result, the trajectory of the first cam follower 321 and the trajectory of the third cam follower 323 overlap when the strut portion 30 is moved along the extending direction of the strut upper portion 300a (when moved in the vertical direction). Can be prevented. Similarly, the trajectory of the second cam follower 322 and the trajectory of the third cam follower 323 overlap when the strut portion 30 is moved along the extending direction of the strut upper portion 300a (when moved up and down). Can be prevented. That is, even when the column portion 30 is moved in the vertical direction along the extending direction of the column upper portion 300a by the vertical movement guide wall 512 and the vertical movement guide wall 522, the first cam follower 321 and the second cam follower 322 are contacted. The vertically moving guide wall 512 that is in contact with the vertically moving guide wall 522 that is in contact with the third cam follower 323 can be provided separately. Accordingly, the rising assist device 1 guides the first cam follower 321 and the second cam follower 322 by the vertical movement guide wall 512 and guides the third cam follower 323 by the vertical movement guide wall 522 while moving the support column 30 in the vertical direction. Can be moved to.

  The expansion / contraction part 20 and the support | pillar part 30 are connected by the arm part 40. FIG. Thereby, the stand-up assisting device 1 can rotate the support column 30 and move the support column 30 up and down by the expansion and contraction of the expansion and contraction unit 20 transmitted through the arm unit 40.

  When the stretchable portion 20 is in a state between the first stretched state and the second stretched state, that is, when the column portion 30 is rotated by being guided by the arcuate wall 514 or the like, the stretchable portion 20 and the arm portion 40 The shaft 220 connecting the two is guided by the third slit 530. Thereby, when the support | pillar part 30 is rotating, it can suppress that the force of directions other than the direction guided by the 3rd slit 530 is added to the expansion-contraction part 20. FIG. That is, the 3rd slit 530 can prevent the expansion-contraction part 20 inclining to the front-back direction.

  The control unit 70 stops the contraction operation of the expansion / contraction unit 20 when the rotation detection timing is detected by the operation detection unit 80. Thereby, a user can grasp | ascertain easily the timing which the support | pillar part 30 starts rotation from the state which the support | pillar part 30 is moving toward the lower side.

  First, the auxiliary assisting device 1 extends the telescopic part 20 and rotates the column part 30 about the base end side of the column part 30 as an axis. Next, the rising assistance device 1 assists the user's rising by rotating the column 30 and then extending the telescopic unit 20 to move the column 30 upward. By supporting the user's stand-up by such a stand-up assisting method, the length of the support column 30 can be increased compared to the case where the user is raised only by rotating the support column 30 and raising the support column 30. Can be shortened. Therefore, according to this rising assistance method, it is possible to reduce the size of the rising assistance device 1.

  As mentioned above, although embodiment was described, this indication is not limited to the said embodiment. For example, the vertical movement guide wall 512 and the vertical movement guide wall 522 are not limited to extending along the vertical direction as long as they extend along the direction from the base portion 10 toward the upper side. For example, the extending direction of the vertical movement guide wall 512 and the vertical movement guide wall 522 may be inclined at a predetermined angle with respect to the vertical direction. Similarly, the expansion / contraction part 20 is not limited to expansion / contraction along the vertical direction as long as it expands / contracts along the direction from the base part 10 toward the upper side. For example, the expansion / contraction part 20 may expand and contract along a direction inclined by a predetermined angle with respect to the vertical direction. The column part 30 may be moved in the vertical direction in a state in which the extending direction of the column upper part 300a is inclined at a predetermined angle with respect to the vertical direction. For example, the column part 30 may be moved up and down in a state where the column upper part 300a is tilted to the rear side by a predetermined angle.

  In addition to detecting the rotation start timing, the motion detector 80 detects that the support column 30 has reached a predetermined vertical position while the telescopic unit 20 is performing a contraction operation, and a predetermined rotational state. You may detect that it has become. Then, as in the case where the rotation start timing is detected, the control unit 70 stops the shrinking operation when the support column 30 is in a predetermined vertical position and when it is in a predetermined rotation state. The telescopic part 20 may be controlled as described above. And the control part 70 may control the expansion-contraction part 20 so that a shrinking operation | movement may be restarted, when the instruction | indication which restarts a shrinking | reducing operation | movement is performed by the user operating the operation switch 630.

  In addition, the motion detection unit 80 starts the upward movement of the support column 30 after the support column 30 is rotated and the support column upper portion 300a is raised while the expansion / contraction unit 20 is extending. The rising start timing may be detected. Similarly to the case where the rotation start timing is detected, the control unit 70 may control 20 so that the extension operation stops when the rise start timing is detected. And the control part 70 may control the expansion-contraction part 20 so that extension operation | movement may be restarted when the instruction | indication which restarts extension operation | movement is performed by a user operating the operation switch 630. FIG. Furthermore, in addition to detecting the rising start timing, the motion detector 80 detects that the support column 30 has reached a predetermined vertical position while the telescopic unit 20 is performing an extension operation, and a predetermined rotation state. May be detected. Then, as in the case where the rising start timing is detected, the control unit 70 stops the extending operation when the support column unit 30 reaches a predetermined vertical position and enters a predetermined rotation state. The telescopic part 20 may be controlled. And the control part 70 may control the expansion-contraction part 20 so that extension operation | movement may be restarted when the instruction | indication which restarts extension operation | movement is performed by a user operating the operation switch 630. FIG.

  Although the first cam follower 321 and the second cam follower 322 are provided at the lower end of the left connecting plate 310A, only one cam follower may be provided. In this case, the first recess 510 and the second recess 516 may not be provided in the first slit 510 of the left holding plate 500A. Similarly, although the first cam follower 321 and the second cam follower 322 are provided at the lower end portion of the right connecting plate 310B, only one cam follower may be provided. In this case, the first recess 513 and the second recess 516 may not be provided in the first slit 510 of the right holding plate 500B.

  It is not essential to provide the first slit 510 and the second slit 520 in the left holding plate 500A and the right holding plate 500B, respectively. For example, only one of the first slit 510 and the second slit 520 may be provided. It is not essential to provide the third slits 530 in the left holding plate 500A and the right holding plate 500B. It is not essential to stop the operation of the expansion / contraction part 20 during the expansion / contraction of the expansion / contraction part 20 based on the detection result of the operation detection unit 80.

  DESCRIPTION OF SYMBOLS 1 ... Standing assistance apparatus, 10 ... Base part, 20 ... Expansion-contraction part, 30 ... Support | pillar part, 40 ... Arm part, 50 ... Holding part, 70 ... Control part, 80 ... Motion detection part, 300a ... Upper part of support | pillar (in support part) 321 ... first cam follower (first convex part), 322 ... second cam follower (first convex part), 323 ... third cam follower (second convex part), 511 ... up and down Movement guide part, 512... Vertical movement guide wall (first vertical movement guide wall) 514... Arc-shaped wall (rotation guide part, rotation guide wall, first rotation guide wall) 517. (Moving guide part, turning guide wall, first turning guide wall) 521 ... vertical movement guide part, 522 ... vertical movement guide wall (second vertical movement guide wall) 523 ... turning guide part, 524 ... turning Guide wall (second turning guide wall), 530, ... third Lit (telescopic guide unit), 620 ... grip portion, 630 ... operation switch.

Claims (9)

A start-up assisting device that assists the user in starting up,
An elastic part that expands and contracts along the direction from the base part toward the upper side,
A grip portion to be gripped by a user is attached, and a support column connected to the extendable portion,
A holding portion for holding a base end portion of the support column on the base portion;
With
The holding part is
A rotation guide unit that guides the column unit to rotate with the expansion and contraction of the expansion and contraction unit, with the base end side of the column unit as an axis,
A rising assist device, comprising: a vertically moving guide portion that guides the strut portion to move in the up and down direction as the extendable portion expands and contracts. The rotation guide unit guides the rotation of the support column in a state between the first extended state and the second extended state, which is a state extended from the first extended state.
The vertical movement guide unit guides the vertical movement of the support column in a state between the second stretched state and the third stretched state in which the stretchable portion is stretched more than the second stretched state. The start-up assisting device according to claim 1. The rotation guide portion has a rotation guide wall that is curved in an arc shape,
The vertical movement guide part has a vertical movement guide wall that extends along a direction from the base part to the upper side, while being connected to the rotation guide wall,
The rising support device according to claim 2, wherein the support column has a convex portion that comes into contact with the rotation guide wall and the vertical movement guide wall as the expansion / contraction part expands and contracts. The rotation guide wall includes a first rotation guide wall and a second rotation guide wall provided at a position farther from the rotation axis of the support column than the first rotation guide wall. ,
The vertical movement guide wall has a first vertical movement guide wall connected to the first rotation guide wall and a second vertical movement guide wall connected to the second rotation guide wall,
The convex portion includes a first convex portion that comes into contact with the first rotation guide wall and the first vertical movement guide wall according to expansion / contraction of the expansion / contraction portion, and the second time according to expansion / contraction of the expansion / contraction portion. The rising assist device according to claim 3, further comprising a second convex portion that comes into contact with the moving guide wall and the second vertical movement guide wall.   When viewed along the axial direction of rotation of the support column, a straight line along the extending direction of the portion above the second projection in the support column, the first projection, and the second The start-up assisting device according to claim 4, wherein the straight lines connecting the convex portions intersect each other at a predetermined angle. An arm portion for connecting the stretchable portion and the strut portion;
One end portion of the arm portion is connected to an upper end portion of the telescopic portion,
The other end of the arm portion is connected to a portion of the support column that is a predetermined distance away from the base end of the support column toward the distal end side. Rise assist device.   The holding portion is configured so that, in a state where the stretchable portion is between the first stretched state and the second stretched state, the connecting portion between the stretchable portion and the arm portion is directed upward from the base portion. The rising assist device according to claim 6, further comprising a telescopic guide portion that guides the device to move. A control unit for controlling the expansion and contraction operation of the expansion unit;
An operation detection unit that detects a rotation start timing that is a timing at which the column unit starts rotating after the column unit has moved downward;
An operation switch connected to the control unit and operated by a user;
The control unit, when the rotation start timing is detected by the motion detection unit, stops the contraction operation of the expansion and contraction unit, and further restarts the contraction operation based on the operation of the operation switch. The start-up assisting device according to any one of claims 1 to 7. A telescopic part that expands and contracts along the direction from the base part toward the upper side, a grip part that a user grips, and a post part that is connected to the telescopic part, and a base end part of the post part on the base part A rise assist method using a rise assist device comprising:
Extending the telescopic part and rotating the support part around the base end side of the support part;
A method of assisting rising, comprising rotating the support column and further extending the telescopic unit to move the support column upward.

Images