JP5623179B2 - Stand-up assist device - Google Patents

Description

  The present invention relates to a stand-up assist device that assists a stand-up operation when a person in a sitting position stands up, and more particularly to a stand-up assist device that can reduce a load on a user's knee and waist during the stand-up operation.

  2. Description of the Related Art Conventionally, as a body support device such as a wheelchair, for example, a device having a mechanism for assisting a user's rising motion has been proposed.

  For example, in Patent Document 1, a link mechanism composed of a plurality of links (members) is installed below a seat part of a wheelchair, and the seat part is tilted by this link mechanism, so that a person on the wheelchair can stand up. A supporting technique is disclosed.

  FIGS. 13A to 13C are schematic diagrams showing posture transitions and hip joint movement trajectories when a person in a sitting position stands up without applying a large load to his knees and waist. The person stands up from the sitting position (FIG. 13A) while tilting the trunk forward (FIG. 13B) (FIG. 13C). At this time, the human hip joint (the circled portion in FIG. 13) moves substantially linearly.

  FIG. 14A to FIG. 14C are diagrams showing the transition of the center of gravity position when a person in a sitting position stands up. In FIG. 14A, when a young person who is not difficult to stand by himself / herself stands up using the reaction to the seat, FIG. 14B shows that the young person does not use the reaction to the seat. FIG. 14C shows a case where an elderly person who is not difficult to stand up stands up without applying a large load to the knees and hips from the sitting position.

  As shown in FIG. 14 (a), when a person stands up using the reaction to the seat, the upper body is tilted slightly forward with the waist at the center, and before the foot is loaded with at least part of the weight. Then start to raise the center of gravity. In this case, since it stands up using the reaction to the seat in a short time, the load (static output torque) on the human knee joint and hip joint increases, and the person has excellent fast muscles. And the ability to maintain balance is required.

  In addition, when a person stands up slowly without using the reaction to the seat, as shown in FIG. 14 (b), the person should tilt the upper body forward enough to move the center of gravity sufficiently forward. After the movement, with the majority of the weight applied to the foot, the body stands up by muscle strength and moves the center of gravity position vertically. Therefore, although the knee and waist loads are reduced, the movement of the center of gravity in the vertical direction still requires large muscle strength.

  On the other hand, when an elderly person who is not difficult to stand up stands up without applying a heavy load to the knees and hips from the sitting position, the body position is adjusted by tilting the upper body forward as shown in FIG. 14 (c). While moving forward, the weight load is moved to the foot, and the forward leaning of the upper body and the standing motion are performed in parallel. Thereby, the position of the center of gravity moves so as to draw an arc, and it is possible to perform an upright operation that does not require large muscle strength while reducing the load on the knees and the waist.

  In the stand-up assisting device of Patent Document 1, the backrest is lifted by tilting the seat while the portion (backrest) that supports the user's back is always in a constant inclination. Therefore, the user can tilt the upper body and move the center of gravity forward, or move the center of gravity with the backrest supported until it is close to the standing position, and When it becomes close, it is necessary to move the body weight to the foot in a short time and lift the body weight vertically at once by the muscle strength of the foot. Therefore, in the stand-up assist device of Patent Document 1, the stand-up operation is the same as the state shown in FIG. 14 (a) or FIG. 14 (b), the load on the knees and the waist is increased, and large muscle strength is required. It will be a thing.

  In order to solve this problem, the inventors of the present application have proposed a stand-up assist device configured to tilt the backrest in conjunction with tilting of the seat portion in Non-Patent Document 1. FIG. 15 is a schematic diagram showing a link mechanism of a rising assist device proposed by the present inventors in Non-Patent Document 1.

  A so-called Chebyshev link mechanism is configured by the links 8a to 8f shown in FIG. A pair of Chebyshev link mechanisms composed of the links 8a to 8f are spaced apart from each other, and at least the links 8c are fixed to, for example, a seat (not shown) for supporting a user's waist. ing. Then, with the link 8a as a fixed node, the links 8b to 8f are interlocked with each other, thereby tilting the seat and lifting the user's trunk. At this time, the user's hip joint is moved to draw a substantially linear locus. Further, the links 9a and 9b that are rotatably connected to each other are respectively connected to the links 8c and 8f of the Chebyshev link mechanism, and at least the link 9a is a member such as a backrest for supporting the user's back. By fixing to (not shown), the backrest is tilted in alignment with the tilting of the seat, and the forward tilting posture of the user is induced. As a result, when assisting the user's rising motion, the forward movement of the center of gravity and the rising motion can be assisted in parallel, and the rising motion with reduced burden on the knee and waist can be achieved.

JP 2002-85458 A

Kanto Student Association 48th Student Graduation Research Presentation Lecture Preprint, Japan Society of Mechanical Engineers, February 20, 2009, pp. 355-356

  However, the above-described conventional technology has the following problems. As described above, the stand-up assist device of Patent Document 1 is configured so that the backrest is always lifted in a state where the backrest is inclined at a constant angle. Therefore, during the stand-up operation, the load applied to the user's waist and knees is increased. growing.

  In addition, as shown in FIG. 15, the rising assist device proposed by the present inventors in Non-Patent Document 1 has links 8a and 8d constituting the Chebyshev link mechanism overlapping the user's leg in a side view. Located in place. Therefore, for example, when applied to a body assist device such as a wheelchair, the link mechanism needs to be arranged on the left and right of the device, and the links 8a and 8d are arranged in front of the link mechanism, so that the device becomes large. To do. In addition, when the user moves from, for example, a standing assistance device to a bed or a wheelchair, the user's leg interferes with the link 8a or 8d, so that the user's operation is hindered by the link mechanism. There is. For example, the user's leg may contact the link 8a or 8d and the user may trip.

  The present invention has been made in view of such problems, and provides a stand-up assisting device that can reduce the load on the user's knees and waist during the stand-up operation and does not hinder the user's operation. Objective.

  A stand-up assisting device according to the present invention includes a base, a seat that supports a person's waist, a first link mechanism that tilts the seat with respect to the base, and a backrest that supports the back of the person. A second link mechanism that raises, lowers and tilts the backrest in response to the tilt of the seat, and the first link mechanism has one end provided at a front portion of the base. A first link that is rotatably connected to a first fixed rotation fulcrum and supports the seat portion, and a second fixed rotation fulcrum provided behind the first fixed rotation fulcrum and has one end portion at the base A second link rotatably connected to the base, a first movable rotation fulcrum provided at the other end of the first link, and a second movable rotation fulcrum provided at the other end of the second link. A second link mechanism, and one end of the second link mechanism has the first link. A fourth link that is rotatably connected to a third movable rotation fulcrum provided in the middle of the frame and to which the backrest is fixed, and a fourth movable rotation fulcrum provided at the other end of the fourth link. A fifth link that connects a fifth movable pivot that is provided in the middle of the third link, and the length of the first link is greater than the total length of the second link and the third link. It is also characterized by its long length. The fixed rotation fulcrum is a fulcrum that can rotate about itself without moving, and the movable rotation fulcrum can move about itself and rotate about it. It is a fulcrum that can be.

In the above-described rising assist device, for example, when the seat portion is tilted in the direction to stand up , the rotation direction of the third link around the first movable rotation fulcrum is one direction, and this third link by the rotation, the second movable pivot point, relative to the first link moves from previous SL backrest side to the base of the rear side.

  In the above-described rising assist device, for example, the other end portion of the second link is set to the rear side of the base from the state where the backrest is most inclined to the front side of the base, with the second fixed rotation fulcrum as a center. The seat and the backrest are tilted so as to be horizontal.

  Another stand-up assisting device according to the present invention includes a base, a seat that supports a person's waist, a first link mechanism that tilts the seat with respect to the base, and a back that supports the back of the person. And a second link mechanism that raises, lowers, and tilts the backrest in response to the tilt of the seat, and the first link mechanism has one end portion provided at a front portion of the base. One end of a first link that is rotatably connected to the first fixed rotation fulcrum and supports the seat, and a third fixed rotation fulcrum provided behind the first fixed rotation fulcrum. A sixth link that is rotatably connected to the base, and a sixth link that is rotatably connected to the sixth link at a sixth movable rotation fulcrum provided at the other end of the sixth link. Two links, a first movable rotation fulcrum provided at the other end of the first link, and the second A third link that connects to a second movable rotation fulcrum provided at the other end of the link, and the second link mechanism includes a third link provided at one end in the middle of the first link. A fourth link that is rotatably connected to a movable rotation fulcrum and to which the backrest is fixed, a fourth movable rotation fulcrum provided at the other end of the fourth link, and a middle between the third link. A fifth link that connects the fifth movable rotation fulcrum, and the length of the first link is longer than the total length of the second link and the third link, and the sixth link is restrained. In this state, the other end of the second link is rotated to the rear side of the base from the state where the backrest is most inclined to the front side of the base, with the sixth movable rotation fulcrum as a center. Therefore, the seat part and the backrest are tilted so as to be horizontal. The rotation angle of the sixth link around the third fixed rotation fulcrum is regulated so that the end of the sixth movable rotation fulcrum side is not behind the predetermined position. One link is characterized in that a rotation angle about the first fixed rotation fulcrum is regulated so that the seat portion does not fall below a predetermined position. In this case, the rising assist device has, for example, a drive device that drives the sixth link.

  Further, the rising assist device has, for example, a footrest connected to the front portion of the seat portion, and a third link mechanism that tilts the footrest with respect to the base, and below the base, A third fixed rotation fulcrum is provided at the front part, a fourth fixed rotation fulcrum is provided at the rear part, and the third link mechanism is provided as a seventh movable rotation provided below the footrest. A seventh link having an eighth movable turning fulcrum and a ninth movable turning fulcrum, and a third fixed turning fulcrum, and the eighth movable turning fulcrum, connected to a fulcrum rotatably. And an eighth link for connecting the fourth fixed rotation fulcrum and the ninth movable rotation fulcrum.

  The above-described rising assist device includes, for example, a driving device that drives the first link.

  The body support device according to the present invention is used, for example, in a medical facility, nursing home, nursing facility or massage shop bed or chair, barber shop, beauty salon, aircraft, automobile, train, or ship chair or western toilet.

  The rising assist device according to the present invention includes a first link mechanism that tilts the seat relative to the base, and the second link mechanism raises, lowers, and lowers the backrest in response to the tilt of the first link mechanism. Tilt. Therefore, when the user stands up, the user can stand up in a natural posture by tilting the seat while tilting the trunk of the user forward by tilting the backrest. Therefore, according to the rising assistance device of the present invention, it is possible to reduce the load on the user's knee and waist during the rising operation.

  Moreover, since the 1st link fixed to the seat part is longer than the total length of a 2nd link and a 3rd link, or the total length of a 3rd link and a 6th link, the connection part to the other link of a 1st link Is behind the first fixed rotation fulcrum, and all the links are connected behind the seat. Therefore, in the start-up assisting device of the present invention, each link does not hinder the user's operation. For example, when the user is in a sitting or standing position, the user's legs do not interfere with any link, thereby preventing, for example, the user from tripping. And the stand-up assistance apparatus of this invention does not necessarily need to be arrange | positioned at right and left of apparatuses, such as an electric chair, and can also prevent the enlargement of the whole apparatus to apply.

(A) thru | or (c) is a schematic diagram which shows each link, when the stand-up assistance apparatus which concerns on embodiment of this invention is applied to an electric chair. (A) thru | or (e) is a figure which shows the motion of each link at the time of changing a attitude | position from a sitting position to a standing position in the stand-up assistance apparatus which concerns on 1st Embodiment of this invention. (A) thru | or (e) is a figure which shows the motion of each link at the time of changing a attitude | position from a standing position to a lying position in the standing assistance apparatus which concerns on 1st Embodiment of this invention. It is a figure which shows each link length in the stand-up assistance apparatus of 1st Embodiment. (A) is a diagram showing the trunk angle, hip joint angle and knee joint angle of a person at the time of standing, (b) is the time, trunk angle and hip joint angle when changing posture from sitting to standing It is a graph which shows a relationship. It is a figure which shows the back support surface height and the seat surface height. It is a figure which shows the change of the gravity center position by the back support surface height and a seat surface height. It is a figure which shows the load (static torque) to a knee joint and a waist joint. (A) thru | or (f) is a figure which shows the motion of each link at the time of changing a attitude | position from a sitting position to a bed rest position in the stand-up assistance apparatus which concerns on 2nd Embodiment of this invention. (A) thru | or (d) is a figure which shows the motion of each link at the time of changing a attitude | position from a standing position to a lying position in the standing assistance apparatus which concerns on 3rd Embodiment of this invention. (A) thru | or (c) is a figure which shows the motion of each link at the time of changing an attitude | position from standing position to a lying position, Comprising: Fig.11 (a) is a figure which shows the movement following FIG.10 (d). It is. It is a figure which shows the relationship between the knee joint angle at the time of standing-up operation | movement, and knee joint torque. (A) thru | or (c) is a figure which shows transition of the position of the hip joint when a person stands up in the state which made the load of knee and waist small. It is a figure which shows transition of the gravity center position when the person of a sitting state stands up. It is a figure which shows the conventional stand-up assistance apparatus as an example.

  Hereinafter, a stand-up assisting device according to an embodiment of the present invention will be specifically described with reference to the accompanying drawings. Fig.1 (a) thru | or FIG.1 (c) are the schematic diagrams which show each link mechanism in the case where the standing assistance apparatus which concerns on embodiment of this invention is applied to an electric chair. 2 (a) to 2 (e) are diagrams showing the movement of each link mechanism when the posture is changed from the sitting position to the standing position in the rising assist device according to the first embodiment of the present invention, and FIG. a) thru | or FIG.3 (e) is a figure which shows the motion of each link mechanism at the time of changing a attitude | position from a standing position to a lying position in the standing assistance apparatus which concerns on 1st Embodiment of this invention. As shown in FIGS. 1 to 3, the rising assist device of the present embodiment can be applied to a body support device such as an electric chair and an electric bed, for example. The body support device includes, for example, various facilities used in medical facilities, nursing homes, nursing homes, etc., as well as passengers such as chairs or couches in barber shops and massage shops, aircraft, automobiles, trains, ships, etc. Chairs and Western-style toilet equipment, etc., but the stand-up assisting device according to the present invention is not limited to these applications, and should be applied to any body support device in which the user may stand up from a sitting position. Can do. In the present embodiment, a case where the rising assist device is applied to an electric chair will be described.

  As shown in FIG. 1, the standing assist device 1 of the present embodiment is applied to a body support device such as an electric chair, for example, and assists the user's standing motion in the body support device. As shown in FIGS. 1 to 3, the assisting device 1 according to the present embodiment has a seat portion 4 that supports a user's waist on a base 2 of an electric chair. Is connected to the backrest 3. The backrest 3 supports the back of the user. A footrest 5 is connected to the front of the seat 4 (on the user's foot side), and the footrest 5 supports a portion below the user's knee. In the present embodiment, as shown in FIGS. 2 and 3, the first link mechanism is configured by three links including the first link 11, the second link 12, and the third link 13. The first link mechanisms are disposed on the left and right of the body support device, respectively, spaced apart from each other. And the seat part 4 is each supported by the 1st link 11 by which the one end part was rotatably connected with the 1st fixed rotation fulcrum 2a of the base among the 1st link mechanisms. Thereby, the seat part 4 is comprised so that inclination with the 1st link 11 is possible by the interlocking | linkage of each link of a 1st link mechanism. For example, of the three links of the first link mechanism, the first link 11 is connected to a drive device (not shown) for rotationally driving the first link 11. For example, the first link 11 is fixed. The motor is connected coaxially with the rotating shaft, or the rod part of the direct acting cylinder is connected to an intermediate position of the first link 11, and the motor rotates or the rod of the direct acting cylinder moves forward / backward. The first link 11 is configured to be rotationally driven. Each link is driven in conjunction with the first link 11 by the rotation of the first link 11 by the driving device.

  Behind the backrest 3, a second link mechanism constituted by a fourth link 14 and a fifth link 15 is provided on the left and right of the body support device corresponding to each of the first link mechanisms. The rear surface of 3 is fixed to the fourth link 14. Each link of the second link mechanism is connected to the first link mechanism at each one end side, and is configured to be interlocked with each link of the first link mechanism. Therefore, the backrest 3 is configured to be able to rise, lower and tilt in response to the tilt of the seat portion 4.

  Of the three links of the first link mechanism, the length of the first link 11 is longer than the length of the seat portion 4 in the front-rear direction, and the longitudinal direction extends, for example, in the front-rear direction of the seat portion 4. For example, the seat portion 4 is supported by being disposed below the seat portion 4. And the 1st link 11 is rotatably connected with the 1st fixed rotation fulcrum 2a provided in the front of the base 2 in the end part of a longitudinal direction, and is connected with the 1st fixed rotation fulcrum 2a. The lower surface of the seat part 4 is supported in a predetermined section from the part. In the present embodiment, the seat portion 4 is supported from below by the pair of left and right rod-shaped first links 11, but the support of the seat portion 4 by the first link 11 is not limited to this embodiment. For example, each of the first links 11 is shaped so as to extend upward or downward, and the ends of the extended portions are connected to each other by a flat plate member so that the seat portion 4 is supported by the flat plate member. The rod-shaped first links 11 may be connected to each other by a U-shaped member or a member curved in an arc shape, and the seat portion 4 may be supported at the center of these connecting members. It may be configured. The members that connect the first links 11 may also be made of a deformable material such as a fiber, such as resin, metal, or wood. By supporting the seat portion 4 with a member that connects the first links 11, the height of the user's waist can be adjusted with respect to the position of the first link 11 depending on the shape of the connecting member. Further, for example, a mattress or a cushion can be placed on the seat portion 4 to increase the position of the user's waist.

  The second link 12 is shorter than the first link 11, and one end in the longitudinal direction rotates to the base 2 at a second fixed rotation fulcrum 2b behind the first fixed rotation fulcrum 2a. Connected as possible. In the present embodiment, the second fixed rotation fulcrum 2b is located above the first fixed rotation fulcrum 2b. A first movable rotation fulcrum 11a is provided at the other end of the first link 11, and one end of the third link is rotatably connected to the first movable rotation fulcrum 11a. The other end of the second link 12 is provided with a second movable rotation fulcrum 12a, and the other end of the third link is rotatably connected to the second movable rotation fulcrum 12a. Yes. Thereby, the 3rd link 13 has connected the 1st link 11 and the 2nd link 12 rotatably. In the present embodiment, the first link 11 is driven by, for example, a motor provided coaxially with the first fixed rotation fulcrum 2a, and rotates around the first fixed rotation fulcrum 2a. In conjunction with this operation, the third link is configured to rotate the second link 12 about the second fixed rotation fulcrum 2b. The first link 11 is configured to be longer than the total length of the second link 12 and the third link. Accordingly, in the first link 11, the connecting portion to the other link is behind the first fixed rotation fulcrum 2b. Thereby, in this invention, each link is arrange | positioned in the area | region which does not inhibit a user's operation | movement.

  Of the two links of the second link mechanism, the fourth link 14 is arranged, for example, so as to extend in the vertical direction along the rear surface of the backrest 3, and one end thereof is an intermediate first link. 3 is rotatably connected to the movable rotation fulcrum 11b. The third movable rotation fulcrum 11 b is provided in the vicinity of the connection position between the backrest 3 and the seat portion 4. The fifth link 15 has one end rotatably connected to a fourth movable rotation fulcrum 14a provided at the other end of the fourth link 14, and the other end of the fifth link 15 is connected to the third link. Is rotatably connected to a fifth movable rotation fulcrum 13a provided in the middle of the above. Accordingly, the fourth link 14 and the fifth link 15 move in accordance with the movement of the first link 11 and the third link 13. In this embodiment, the 1st rotation pair which the seat part 4 was rotatably connected with the lower end part of the backrest 3 is formed, and the lower end part of the footrest 5 is the base 2 (in 3rd Embodiment mentioned later). A second rotational pair coupled to the seventh link 17) in a rotatable manner is formed, and the fourth link 14 rises and tilts together with the backrest 3 in conjunction with the tilt of the first link 11, thereby The seat portion 4 supported by the first link 11 can be tilted by the rear portion being pulled up by the backrest 3. That is, the seat portion 4 is configured to be tiltable corresponding to the rising, lowering, and tilting of the backrest 3. In the present embodiment, the backrest 3 is supported from the rear by a pair of left and right rod-like fourth links 14, but the fourth link 14 of the backrest 3 is similar to the case of the first link 11. The fixed position is not limited to this embodiment. For example, each of the fourth links 14 has a shape extending perpendicularly to the longitudinal direction (forward or backward in the sitting position), and ends of the extended portions are connected to each other by, for example, a flat plate member. The backrest 3 may be configured to be supported by a ring-shaped member, and the rod-like fourth links 14 are connected to each other by a U-shaped member, a member curved in an arc shape, or the like, and the backrest 3 is centered You may comprise so that it may support in a part. The members that connect the fourth links 14 may also be made of a deformable material such as a fiber, such as resin, metal, and wood. By supporting the backrest 3 with a member that connects the fourth links 14, the position of the user's back can be adjusted with respect to the position of the fourth link 14 by the shape of the connecting member. Further, for example, a mattress or a cushion may be installed on the backrest 3 so that the user can move the position of the back in the sitting position forward.

  The three links of the first link mechanism and the two links of the second link mechanism, for example, are arranged on the left and right sides of the base 2 so as not to interfere with other links or other support members, etc. The connecting position to the rotating shaft extending in the direction is adjusted mutually.

  Each of the backrest 3, the seat portion 4, and the footrest 5 has a surface made of a material having a soft touch such as fiber, or a cushion or the like is installed on these surfaces. When the main part of the part 4 and the footrest 5 is comprised with hard members, such as a timber or a metal, a user's body is not touched directly to this hard part, and the usability | use_condition is improved. Moreover, when installing flexible members, such as a seat cushion, a back cushion, and a foot cushion, on the surface of the backrest 3, the seat part 4, and the footrest 5, the thickness is 10 to 150 mm, for example. The backrest 3 and the seat portion, and the seat portion 4 and the footrest 5 are connected to each other so as to be rotatable, for example.

  By configuring the first link mechanism and the second link mechanism and the members connecting them as described above, in the rising assist device of the present embodiment, the connecting portion to the other link of the first link 11 is the first. It is behind the fixed rotation fulcrum 2a, and all the links are connected behind the seat. Therefore, the stand-up assisting device of this embodiment does not necessarily need to be arranged on the left and right of the electric chair or the like, and can prevent an increase in the size of the entire device such as the electric chair. For example, only one set of the first to fifth links 11 to 15 can be arranged, for example, behind the backrest 3 and below the seat portion 4.

  Next, the operation of the electric chair to which the rising assist device of this embodiment is applied will be described. First, with reference to FIG. 2, the movement of each link when the user is standing from the sitting position will be described. First, in the sitting position (FIG. 2A), all the links 11 to 15 are located behind the footrest 5. Therefore, even when the user moves from a sitting position to, for example, a bed or a wheelchair, the user's leg does not interfere with any link, and thus the user does not trip, for example.

  In the seated state shown in FIG. 2A, the second link 12 has a connecting portion (second movable rotation fulcrum 12 a) to the third link 13 positioned on the backrest 3 side with respect to the first link 11. ing. From this state, for example, the first link 11 is driven by a driving device such as a motor, and the first link 11 is centered on the first fixed rotation fulcrum 2a (with the user in the left-facing position as shown in FIG. 2). As shown in FIG. 1, the end portion on the opposite side to the first fixed rotation fulcrum 2a (first movable rotation fulcrum 11a) is moved away from the rear portion of the base. As a result, the seat 4 (and the seat cushion) supported by the first link 11 in a predetermined section of the first link 11 is separated from the base 2 on the rear side by the movement of the first link 11, Part 4 begins to tilt. At this time, from the state shown in FIG. 2A, the third link 13 is connected to the first link 11 (third movable rotation fulcrum 11b) and to the second link 12 (second movable rotation). While maintaining a constant distance from the moving fulcrum 12a), the distance is lifted upward so as to be separated from the rear portion of the base 2. Therefore, the 4th link 14 and the 5th link 15 connected with the 1st link 11 and the 3rd link 13 are also interlocked with the movement of the 1st link 11 and the 3rd link 13, respectively, from the back part of base 2. It is lifted upward so as to be separated. Therefore, the backrest supported by the fourth link 14 starts to tilt so as to tilt about the first fixed rotation fulcrum 2a. Thereby, in this embodiment, a user is first guided to a forward leaning posture. By tilting the seat part 4 in this state, the user's hip joint supported by the seat part 4 moves, for example, so as to draw a linear movement locus. Thereby, it is possible to reduce the load on the user's knees and hips when assisting to stand up.

  The other end of the third link 13 is rotatably connected to the second movable rotation fulcrum 12a of the second link 12 that is a fixed node. Therefore, the movement of the third link 13 causes the second link 12 to rotate counterclockwise about the second fixed rotation fulcrum 2b. The first link 11 is tilted and exceeds the position of the second fixed rotation fulcrum 2b behind the first fixed rotation fulcrum 2a in a side view (FIG. 2B), and the third link 12 in the second link 12 The connection portion to the link 13 (second movable rotation fulcrum 12a) is approached (FIG. 2 (c)). Accordingly, the third link 13 moves so as to rotate in one direction (counterclockwise in FIG. 2) around the first movable rotation fulcrum 11a, and the first link 11 and the third link 13 The angle that is made gradually decreases.

  On the other hand, the fourth link 14 and the fifth link 15 connected to the first link 11 and the third link 13, respectively, gradually tilt in response to the tilt of the first link 11 and the third link 13, and accordingly. The backrest 3 (and the back cushion) on the fourth link 14 also tilts. Thereby, the user's back rises while tilting forward while being supported by the backrest 3 (and the back cushion). Therefore, the forward tilt of the user and the movement of the center of gravity proceed simultaneously. Therefore, according to the rising assist device of the present embodiment, the center of gravity of the user moves, for example, to draw an arc, and the user can stand up in a natural posture without requiring large muscle strength. .

  When the inclination angle of the first link 11 is increased and the angle formed by the first link 11 and the third link 13 is decreased, the positions of the two are eventually overlapped in a side view. Thereafter, as shown in FIG. 2 (d), the first link 11 exceeds the position of the connecting portion (second movable pivot fulcrum 12a) of the third link 13 in the second link 12 in a side view. The third link 13 is positioned on the rear side of the base 2 with respect to the first link 11, and the second link 12 starts to rotate clockwise in FIG. 2 about the second fixed rotation fulcrum 2b. . Therefore, the angle formed by the first link 1 and the third link 13 increases in a state where the third link 13 is located on the rear side with respect to the first link 11. Thereby, the 5th link 15 connected to the 3rd link 13 pulls the 4th link 14 to the back side, and the inclination angle of the backrest 3 also becomes small. And when a user becomes a standing position, the backrest 3 leaves | separates a user's back. As shown in FIG. 2 (e), all the links 11 to 15 are located behind the backrest 3, the seat portion 4 and the footrest 5 in a state where the user is standing. Therefore, even if the user starts an operation in this state, for example, the user's leg does not interfere with any link, and thus the user does not trip, for example.

  In the present embodiment, the case where the posture is changed from the sitting position to the standing position has been described, but by reversing the operation of each link of the first and second link mechanisms from the above case, the rising assist device The user's posture can be changed from standing to sitting.

  Moreover, in this embodiment, although the seat part 4 described the case where it was connected with the backrest 3 so that rotation was possible, the seat part 4 does not need to be connected with the backrest 3, and the 1st link 11 The seat portion 4 supported by the first link 11 may be tilted by the tilting.

  Next, the length of each link will be described with respect to the rising assist device of the present embodiment. FIG. 4 is a diagram showing each link in the standing assistance device of the first embodiment, FIG. 5A is a diagram showing a human trunk angle, a hip joint angle, and a knee joint angle when standing, FIG. ) Is a graph showing the relationship between the time when the posture is changed from the sitting position to the standing position, the trunk angle, the hip joint angle, and the knee joint angle. For the link mechanism of the first embodiment shown in FIG. 4, a human body model as shown in FIG. 5A was used, and the trunk angle with a small load on the knee joint and the hip joint was verified. The result is shown in FIG. In addition, the description of the hip joint and trunk in FIG. 5 shows the transition of the ideal hip joint angle and trunk angle that can stand up without applying a large load to the knees and waist, and Non-Patent Document 2 (Yoshihiro Ehara, With reference to the description of Sumiko Yamamoto, “Introduction to Body Dynamics, Analysis of Standing Motion”, Ishiyaku Shuppan Publishing Co., Ltd., May 2001, p. Is corrected. However, regarding the trunk angle, in Non-Patent Document 2, the trunk angle is defined as an angle formed by a straight line extending downward from the person's waist to the shoulder peak when the person's waist is the origin. However, in the present embodiment, as shown in FIG. 5A, an angle formed by a straight line extending horizontally from the person's hip joint to the rear and a straight line extending from the person's head to the shoulder peak as viewed from the side. Was the trunk angle. Regarding the hip joint angle, in Non-Patent Document 2, the angle of the lower part of the person's thigh is set as the hip joint angle, whereas in the present embodiment, the angle of the upper part of the person's thigh is set. The knee joint angle was used. As shown in FIG. 5 (b), in order for a person to stand up without applying a large load to the knees and waist, the trunk angle is smaller than the hip joint angle and until the person stands up so as to be interlocked with the change in the hip joint angle. The time is reduced to about 60% of the time and then gradually increased. Based on this numerical value, each link length of the link mechanism shown in FIG. 4 was examined according to the height of three types of users. Table 1 below shows the length of each link as an example. FIG. 5B shows the transition of the trunk angle in the human body model shown in FIG. 5A with respect to the link mechanisms of the respective sizes (L size, M size, and S size).

  As shown in FIG. 5 (b), the trunk angle when the link mechanisms of the L size, M size, and S size are used is the trunk that can stand up without applying a heavy load on the knee and waist. It changes at an angle close to the angle, and at about 60% of the time required for standing up, the trunk angle becomes the smallest and then gradually increases. Therefore, it is possible to perform the rising operation without applying a large load to the waist.

  FIG. 12 is a diagram illustrating the relationship between the knee joint angle and the knee joint torque during the standing-up motion. FIG. 12 shows non-patent document 3 (Knapik, J. J. et al., “Isotonic, and isokinetic for variations for four groups through Arange.J. Et al.”, J. et al., “Isotonic, and isokinetic for variations in four groups through Arange. 1983, p. 938-947), and the black triangle plot shows the relationship between knee joint angle and knee joint torque when the knee muscle is isometrically contracted (ISOM). . Note that isometric contraction (ISOM) is a contraction operation of a muscle that exerts muscle strength without changing the muscle length. As shown in FIG. 12, when the knee muscles are isometrically contracted, the knee joint angle may be in the range of about 57 to 73 degrees in order to effectively apply the knee joint torque. In other words, in the stand-up assist device, if the start-up assist is terminated when the knee joint angle of the user falls within the above range, the user will then have a large load on the knee due to isometric contraction of the knee muscles. You can stand up easily without putting on. In the present embodiment, in any of the L-size, M-size, and S-size link mechanisms, the rising assistance is terminated when the knee joint angle of the user falls within the range of 57 to 73 degrees. In addition, the length and connection position of each link are adjusted.

  In this way, by adjusting the transition of the trunk angle by adjusting the length of each link, and further, when the knee joint angle is within the angle range where isometric contraction is likely to end, the standing assistance is terminated, In the present invention, the effect of reducing the load on the knee and waist can be further improved. Moreover, the said effect can be acquired regardless of a user's height by adjusting the length of each link.

Next, the height of the surface (hereinafter referred to as the back support surface) for supporting the user's back by the backrest 3 (and the back cushion) and the height of the seat surface will be described for the standing assist device of this embodiment. FIG. 6 is a diagram illustrating the height of the back support surface and the seat surface height when the standing assist device of the present embodiment is applied to an electric chair. In the electric chair shown in FIG. 6, the height x of the back support surface was changed variously, and further the seat surface height y was changed, and the transition of the center of gravity position when the person performed the standing motion was verified. FIG. 7 shows changes in the position of the center of gravity when the person stands up for various back support surface heights x and seat surface heights y. In FIG. 7, as shown in FIG. 6, in a side view, the Y coordinate axis connecting the third movable pivot fulcrum 11b and the fourth movable pivot fulcrum 14a with the third movable pivot fulcrum 11b as the origin. When the X coordinate axis in the direction perpendicular to this is provided, the front is positive for the X axis and the upper is positive for the Y axis, the back support surface height x and the seat surface height y are as follows: Defined. That is, with the third movable rotation fulcrum 11b as the center of rotation of the backrest, the sitting position of the elderly in the sitting position and the trochanter distance (the most protruding to the backrest 3 side of the buttocks and the back portion, the backrest 3 (or back cushion)) The average of the distance from the contacting surface to the hip joint) and the sitting trochanter height (the distance from the surface that protrudes most to the seat 4 side of the buttocks and thighs and contacts the seat 4 (or seat cushion) to the hip joint) values, respectively _X c, and _{Y c,} the coordinates of the hip position _{(X h, Y} h) is taken as the back support surface height _{X b} and Seat height _{Y b} is represented by the following equation.

In the present embodiment, non-patent literature 4 (Makiko Kawauchi, Kazuya Yokoyama, Juri Yamashita, Takashi Yokoi, Motoki Oki, Yoshioka) Matsutaro, Hiroaki Atsumi, Akihiro Hotta, “Human Dimensional Data for Design”, Biotechnology Institute of Technology Technical Report, 1994, Vol. 2, No. 1) (X _b , Y _b ) = (105, 64) was used.

As shown in FIG. 7, the lower the back support surface height x, the more the person's center of gravity shifts in a straight line. The higher the back support surface height x, the more the locus of the person's center of gravity position becomes a circle. It becomes close to an arc. In addition, the higher the seat surface height y, the center of gravity position moves in the vertical direction after moving in the horizontal direction, and the lower the seat surface height y, the more the center of gravity position is perpendicular to the movement in the horizontal direction. The movement in the direction changes in parallel. Accordingly, if the back support surface height x is increased and the seat surface height y is decreased, the transition of the center of gravity position as shown in FIG. 14 (c) can be easily obtained, and the load on the knee and waist is reduced during the standing up motion. can do. Thus, in the present invention, the effect of reducing the load on the knees and the waist can be further improved by adjusting the seat surface height and the back support surface height. In the present embodiment, when the coordinates of the hip joint position (X _h , Y _h ) = (169, 54) (unit: mm), the locus of the center of gravity of the person approaches the most circular arc shape, and further the movement of the hip joint locus approaches linear track, as the optimum back support surface height can be performed rising auxiliary _{X b} and Seat height _{Y b, (X b, Y} b) = (64, -10) ( unit: mm ).

FIG. 8 shows the load (static torque) on the knee joint and the hip joint when the back support surface height x is 64 mm and the seat surface height y is −10 mm using the above-mentioned M-size link mechanism and the healthy elderly It is a figure which compares and shows the load to a knee joint and a waist joint at the time of a person's standing-up action. In the graph of FIG. 8, the wavy line portion indicates that the subject touches the floor and the position of the center of gravity moves after the subject starts to stand up until the entire weight of the subject is loaded on the foot. The solid line portion indicates each load until the trunk stands in a straight line after the entire weight of the subject is loaded on the foot. As shown in FIG. 8, the maximum value of the knee joint torque τ ₁ is 207 Nm to 171 Nm when the elderly assisting device according to the present embodiment is used as compared with a case where a healthy elderly person stands up without assistance. The maximum value of the hip joint torque τ ₂ was reduced by 44% from 75 Nm to 42 Nm.

  Next, the case where the drive of the first link mechanism is continued after the start-up operation in the start-up assisting device of the present embodiment will be described with reference to FIG. When the first link 11 is driven to rotate clockwise in FIG. 2 by a driving device such as a motor so that the angle formed by the third link 13 with respect to the first link 11 from the state of FIG. The end of the second link 12 on the third link 13 (second movable rotation fulcrum 12a side) rotates clockwise, and eventually the third link 13 is in a straight line with respect to the second link 12. Is exceeded (FIG. 3A). From this state, when the first link 11 is rotated clockwise around the first fixed rotation fulcrum 2a, the seat 4 (and the seat cushion) supported by the first link 11 in a predetermined section of the first link 11 is obtained. ) Decrease the inclination angle so that the rear side approaches the base 2. The third link 13 rotates around the first movable rotation fulcrum 11a so that the angle formed with respect to the first link 11 is increased. Thereby, the 2nd link 12 rotates clockwise centering on the 2nd fixed rotation fulcrum 2b, and the edge part by the side of the 3rd link 13 descends. Therefore, all the links of the first link mechanism descend in conjunction with the first link 11 (FIGS. 3B and 3C). The fourth link 14 and the fifth link 15 connected to the first link 11 and the third link 13 also approach the rear portion of the base 2 in conjunction with the movement of the first link 11 and the third link 13. And gradually tilts corresponding to the tilting of the first link 11 and the third link 13. As a result, the backrest 3 (and the back cushion) on the fourth link 14 also tilts so that the tilt angle becomes smaller, and descends so as to approach the rear portion of the base 2.

  Thereafter, the first link 11 is tilted so as to exceed the position of the second fixed rotation fulcrum 2b behind the first fixed rotation fulcrum 2a in a side view (FIG. 3 (d)). The connection part to the third link 13 (second movable rotation fulcrum 12a) is approached. And as shown in FIG.3 (e), the backrest 3 and the seat part 4 will be in the state of a saddle position near horizontal.

  When the first link 11 is a drive link, the second link is clockwise and counterclockwise at a point where the second link 12 and the third link are in a straight line (referred to as a singular point). Since it can be rotated in any direction, when assisting rising, as shown in FIG. 2 (e), as shown in FIG. 2 (e), the assisting is required before the second link 12 and the third link 13 link 13 are in a straight line. Terminate. Then, when the posture is changed from the standing position to the lying position, for example, each of the second link 12 and the third link 13 is rotated so that the second link 12 and the third link 13 are not in a straight line. Using the reaction, the rotation of both stops at the singular point. Alternatively, for example, an actuator or the like that pulls the second link 12 backward may be provided so that the rotation of the second link 12 does not stop at a singular point. The connecting portion between the second link 12 and the third link 13 After the (second movable rotation fulcrum 12a) reaches the singular point, a stopper or the like is provided at the connecting portion (second movable rotation fulcrum 12a) between the second link 12 and the third link 13 so as not to move forward. May be provided.

  As described above, the rising assist device according to the present embodiment further tilts the first link mechanism from the standing state, thereby tilting the seat portion 4 and the backrest 3 so as to approach the horizontal, Can be transformed into In FIG. 3 (e), the seat 4 and the backrest 3 are located below the second fixed rotation fulcrum 1a. In the present invention, for example, the position of the second fixed rotation fulcrum 1a. If the seat 4 and the backrest 3 are positioned above the second fixed rotation fulcrum 1a by adjusting the length of the second link 12, the electric chair whose posture can be changed to, for example, the floor position. For example, only one set of the first to fifth links 11 to 15 can be arranged, for example, behind the backrest 3 and below the seat portion 4, thereby preventing an increase in the size of the apparatus.

  Even in this case, it is possible to change the posture of the user from the lying position to the standing position by the rising assist device by reversing the operation of each link of the first and second link mechanisms from the above case. it can.

  Next, a description will be given of a rising assist device according to a second embodiment of the present invention. First, the configuration of the rising assist device according to the second embodiment will be described. FIG. 9A to FIG. 9F are views showing the movement of each link mechanism when the posture is changed from the sitting position to the lying position in the standing assistance device according to the second embodiment of the present invention. As shown in FIG. 9, in the present embodiment, the first link mechanism further includes a sixth link 16, one end of which is below the second fixed rotation fulcrum 2 b in the first embodiment. The third fixed rotation fulcrum 2c is rotatably connected. And the one end part of the 2nd link 12 is connected with the 6th movable rotation fulcrum 16a of the other end part of this 6th link 16 so that rotation is possible. That is, in the first embodiment, one end of the second link 12 is not connected to the fixed rotation fulcrum. The length of the sixth link 16 is approximately the same as that of the second link 12. In the present embodiment, for example, when the sixth link 16 is substantially vertical, the sixth movable rotation fulcrum 16a is positioned in the vicinity of the position of the second fixed rotation fulcrum 2b in the first embodiment. It is configured.

  Behind the third fixed rotation fulcrum 2c, for example, a plate-like first restricting member 6 is provided extending in the vertical direction so as to be interposed on the rotation locus of the sixth link 16, The rotation of the sixth link 16 is restricted at a position where it abuts on the first restricting member 6, and the connection position to the second link 12 (the end on the sixth movable rotation fulcrum 16a side) is behind the predetermined position. Therefore, the rotation angle around the third fixed rotation fulcrum 2c is restricted. In the present embodiment, the base 2 has a rotation of the first link 11 at a position behind the third fixed rotation fulcrum 2c and slightly below the first fixed rotation fulcrum 2a. The second restricting member 7 is provided so as to extend in the horizontal direction, for example, so as to be interposed on the trajectory, whereby the first link 11 is restricted from rotating at a position where it abuts on the second restricting member 7, The rotation angle around the first fixed rotation fulcrum 2a is restricted so that the seat 4 does not go below the predetermined position. In other words, in the present embodiment, the sixth link 16 is newly provided in the first link mechanism, and the first link mechanism has a degree of freedom of 1 to 2 by being rotatably connected to each other. By restricting the rotation angle of the first link 11 and the sixth link 16 that are the fixed nodes by the restriction member 6 and the second restriction member 7, the posture can be changed from the sitting position to the lying position without going upright. .

  Next, the operation of the rising assist device of this embodiment will be described. In the present embodiment, when the standing assist device 1 is used in the sitting position (FIG. 9A), for example, if the sixth link 16 is restrained so as not to move, the sixth movable pivot point is supported. 16a is in the same state as the second fixed rotation fulcrum 2b in the first embodiment, and by rotating the second link 12 around the sixth movable rotation fulcrum 16a, the sitting position is the same as in the first embodiment. The seat 4 and the backrest 3 can be tilted from this state to assist in rising to the standing state. At this time, the second link 12 is rotationally driven by, for example, a motor coaxially provided at the sixth movable rotation fulcrum 16a. The effects obtained at this time are the same as in the first embodiment.

  In addition to this, in the present embodiment, the first link 11 is driven by a driving device such as a motor in the state where the restraint of the sixth link 16 is released, and the first fixed rotation fulcrum 2a is the center. When the link 11 is rotated clockwise to move closer to the rear part of the base 2, the link 11 is pulled by the third link 13, and the second link 12 similarly moves closer to the rear part of the base 2. The sixth link 16 is pulled by the second link 12, and the end of the second link 12 side (the sixth movable rotation fulcrum 16a side) is centered on the third fixed rotation fulcrum 2c with respect to the base 2. Rotate backward (clockwise). Then, as shown in FIG. 9A, when the sixth link 16 comes into contact with the first restricting member 6, the sixth link 16 is prevented from rotating by the first restricting member 6. In this state, the second link 12 is rotated around the sixth movable rotation fulcrum 16a, and the connecting portion (second movable rotation fulcrum 12a) of the second link 12 with the third link 13 is When closer to the rear portion, the first link 11 and the third link 13 move so as to approach the rear portion of the base 2 in conjunction with the tilting of the second link 12, and eventually the first link 11 The longitudinal direction becomes nearly horizontal and comes into contact with the second restricting member 7 (FIG. 9B). Thereby, the range which can rotate the 1st link 11 by the 2nd control member 7 is controlled so that the connection position to the 3rd link 13 may not become below a predetermined position.

  Subsequently, in a state where the first link 11 is in contact with the second restricting member 7 (a state where the connection position of the third link 13 in the first link 11 is maintained), the sixth link 16 is driven by a driving device such as a motor. The sixth link 16 is rotated about the third fixed rotation fulcrum 2c, and the end on the second link 12 side is moved forward with respect to the base 2. Then, being pulled by the sixth link 16, the second link 12 and the third link 13 move forward with respect to the base 2. On the other hand, the fourth link 14 connected to the first link 11 at the third movable rotation fulcrum 11b and the fifth link 15 connected to the third link 13 at the fifth movable rotation fulcrum 13a are the first link. In conjunction with the movement of the link 11 and the third link 13, it moves forward with respect to the base 2. At this time, since the angle formed by the first link 11 and the third link 13 becomes smaller, the angle formed by the fourth link 14 and the fifth link 15 also becomes smaller, and the inclination angle of the fourth link 14 becomes smaller. It gets smaller. Accordingly, the backrest 3 (and the back cushion) supported by the fourth link gradually decreases in inclination (FIGS. 9C to 9E), and eventually becomes a horizontal heel position (FIG. 9). 9 (f)).

  As described above, in the present embodiment, the first link mechanism is newly provided with the sixth link 16, and the first link 11 and the sixth link 16 are used as fixed nodes to rotate between the links of the first link mechanism. By connecting in a possible manner, the posture can be changed from the sitting position to the lying position without going upright. Other effects are the same as in the first embodiment.

  Similar to the first embodiment, in this embodiment, the operation of each link of the first and second link mechanisms is reversed from that in the above case, so that the user can change the posture of the user by the rising assist device. It is possible to change from sitting position to sitting position.

  Next, a stand-up assisting device according to a third embodiment of the present invention will be described. First, the configuration of the rising assist device according to the third embodiment will be described. FIGS. 10 (a) to 10 (d) are diagrams showing the movement of each link mechanism when the posture is changed from the standing position to the lying position in the standing assistance device according to the third embodiment of the present invention. (A) thru | or FIG.11 (c) is a figure which similarly shows the motion of each link mechanism at the time of changing a posture from a standing position to a heel position, and FIG.11 (a) is a movement following FIG.10 (d). FIG. As shown in FIG. 10, in the present embodiment, the rising assist device according to the first embodiment is further provided with a third link mechanism, and the footrest 5 can be tilted by the third link mechanism.

  The third link mechanism includes a seventh link 17 that is rotatably connected to a seventh movable rotation fulcrum 5a provided below the footrest 5, an eighth link 18 that rotatably supports the seventh link 17, and a seventh link. 9 links 19, and all the links of the seventh to ninth links 17 to 19 are arranged below the backrest 3 and the seat portion 4. As shown in FIG. 10, the eighth link 18 and the ninth link 19 have one end in the longitudinal direction below the first fixed rotation fulcrum 2a and the second fixed rotation fulcrum 2b in the base 2, respectively. The fourth fixed rotation fulcrum 2d and the fifth fixed rotation fulcrum 2e provided are rotatably connected. The other ends of the eighth link 18 and the ninth link 19 are rotatably connected to the eighth movable pivot fulcrum 17a and the ninth movable pivot fulcrum 17b in the center portion of the seventh link 17 in the longitudinal direction, respectively. Has been. In the sitting position and the standing position, the end portion of the seventh link 17 connected to the footrest 5 (seventh movable rotation fulcrum 5a) is positioned below the opposite end portion. It arrange | positions so that it may incline so that height may become high back. As a result, the eighth link 18 connected to the seventh movable rotation fulcrum 5a side at the center of the seventh link 17 in the sitting position and the standing position has the end portion on the fourth fixed rotation fulcrum 2d side being the first. It is located forward of the end on the 8th movable rotation fulcrum 17a side, and is arranged so as to be inclined so as to increase in height from the fourth fixed rotation fulcrum 2d side to the eighth movable rotation fulcrum 17a side. Yes. The ninth link 19 connected to the ninth movable rotation fulcrum 17b, which is the other rotation fulcrum of the center portion of the seventh link 17, is arranged to be substantially vertical. The end of the seventh link 17 on the opposite side to the seventh movable pivot fulcrum 5a is, for example, within the rotation region of the first link 11 or the second link 12 when the posture is changed from the standing position to the saddle position. When the posture is changed from the sitting position to the standing position and when the posture is changed from the standing position to the sitting position, they are arranged at positions that do not interfere with other links. And if the 1st link 11 or the 2nd link 12 tilts and contact | abuts to the 7th link 17 arrange | positioned in the rotation area | region, the 7th link 17 will be pressed by the contact | abutted link, and will be to the front footrest 5. The connecting portion (seventh movable rotation fulcrum 5a) is tilted in a state of being rotatably supported by the eighth link 18 and the ninth link 19 so as to be lifted. In the present embodiment, the end of the seventh link 17 opposite to the footrest 5 is rotated clockwise around the second fixed rotation fulcrum 2b as shown in FIG. However, the same applies to the case where the first link 11 is disposed so as to be interposed in the rotation region.

  Next, the operation of the electric chair to which the rising assist device of this embodiment is applied will be described. In the present embodiment, the three links of the third link mechanism are arranged at positions that do not interfere with other links when the posture is changed from the sitting position to the standing position and when the posture is changed from the standing position to the sitting position. Has been. Accordingly, in this case, the state remains in the position shown in FIG. 10A, and the three links of the first link mechanism and the two operations of the second link mechanism are the same as in the first embodiment. is there. That is, among the three links of the third link mechanism, the seventh link 17 is inclined so that the end on the footrest 5 side is below the other end, and the eighth link 18 is the fourth fixed rotation. The ninth link 19 extends from the moving fulcrum 2d side so as to increase in height obliquely rearward of the base 2, and the ninth link 19 extends substantially vertically upward from the fifth fixed rotation fulcrum 2e side. Therefore, only the case where the posture is changed from the standing position to the lying position will be described below. The same applies to the case where the posture is changed from the sitting position to the lying position.

  In the present embodiment, similarly to the first embodiment, the driving device such as a motor is used from the state shown in FIG. 10A so that the angle formed by the third link 13 with respect to the first link 11 is increased. When the first link 11 is rotationally driven clockwise in FIG. 10, the end of the second link 12 on the third link 13 (second movable rotation fulcrum 12a side) rotates clockwise, and eventually. The third link 13 exceeds a state in which the third link 13 is in a straight line with respect to the second link 12, and then the seat supported by the first link 11 in a predetermined section of the first link 11 by the rotation of the first link 11. The angle of inclination of the portion 4 (and the seat cushion) is reduced so that the rear side approaches the base 2. The second link 12 and the third link 13 move downward with respect to the base 2 in conjunction with the first link 11 (FIGS. 10A and 10B). The fourth link 14 and the fifth link 15 connected to the first link 11 and the third link 13 also approach the rear portion of the base 2 in conjunction with the movement of the first link 11 and the third link 13. And gradually tilts corresponding to the tilting of the first link 11 and the third link 13. As a result, the backrest 3 (and the back cushion) on the fourth link 14 also tilts so that the tilt angle becomes smaller, and descends so as to approach the rear portion of the base 2. The second link 12 eventually comes into contact with the seventh link 17 disposed so as to be interposed in the rotation region (FIG. 10C). The second link 12 abuts on the end of the seventh link 17 opposite to the footrest 5. In the present embodiment, the configuration for operating the second link 12 and the third link 13 beyond the singular point (the point that is in a straight line) is the same as that in the first embodiment.

  When the first link 11 is further rotated clockwise in the state shown in FIG. 10C, the second link 12 tries to rotate clockwise around the second fixed rotation fulcrum 2b. Is pressed by the second link 12. The central portion of the seventh link 17 is rotatably supported by the eighth link 18 and the ninth link 19. The other ends of the eighth link 18 and the ninth link 19 are rotatably connected to the fourth fixed rotation fulcrum 2d and the fifth fixed rotation fulcrum 2e of the base 2, respectively. Therefore, the 7th link 17 tilts so that the connection part (7th movable rotation fulcrum 5a) to the front footrest 5 will be lifted by the press by the 2nd link 12 (FIG.10 (d)). Thereby, the lower end part of the footrest 5 begins to lift gradually.

  On the other hand, the eighth link 18 rotates around the fourth fixed rotation fulcrum 2d so that the end of the eighth movable rotation fulcrum 17a (seventh link 17) side gradually rises, and the ninth link 19 From the substantially vertical state, the end of the ninth movable rotation fulcrum 17b (seventh link 17) side rotates about the fifth fixed rotation fulcrum 2e so that the height gradually decreases.

  Thereafter, as in the first embodiment, the second link 12 rotates (clockwise) in conjunction with the rotation of the first link 11, so that the end of the seventh link 17 is moved by the second link 12. In a state where it is pressed and rotatably supported by the eighth link 18 and the ninth link 19, the inclination angle becomes smaller (FIGS. 11A and 11B) and eventually becomes horizontal ( FIG. 11 (c)). As a result, the end of the footrest 5 connected to the seventh link 17 is lifted by the seventh link 17 until it is substantially horizontal.

  As described above, in the present embodiment, three links are provided below the backrest 3 and the seat portion 4, and one link is provided by two links (eighth link 18 and ninth link 19). In the electric chair according to the first embodiment, if one end of the one link is connected to the lower end of the footrest and the other end is pressed by another link mechanism, the link is supported in a rotatable manner. A leg raising function for changing the posture can be provided.

  In the present embodiment, the leg raising function is given to the electric chair of the first embodiment, but the same applies to the case where the third link mechanism is provided in the electric chair of the second embodiment. That is, when the posture is changed from the sitting position or the standing position to the lying position, the link of the first link mechanism or the second link mechanism presses the link of the third link mechanism, thereby the seventh link. What is necessary is just to be comprised so that the 7th link 17 may incline so that the edge part by the side of 17 footrest may be lifted.

  In addition, as in the first and second embodiments, in this embodiment, the operation of each link of the first to third link mechanisms is reversed from the above case, so that the posture of the user is improved by the rising assist device. Can be changed from the standing position to the standing or sitting position.

  1: stand-up assisting device, 2: base, 3: backrest, 4: seat, 5: footrest, 6: first restriction, 7: second restriction, 11: first link, 12: second link , 13: 3rd link, 14: 4th link, 15: 5th link, 16: 6th link, 17: 7th link, 18: 8th link, 19: 9th link, 2a: 1st fixed rotation Fulcrum, 2b: second fixed rotation fulcrum, 2c: third fixed rotation fulcrum, 2d: fourth fixed rotation fulcrum, 2e: fifth fixed rotation fulcrum, 11a: first movable rotation fulcrum, 12a: first 2 movable pivot fulcrum, 11b: third movable pivot fulcrum, 14a: fourth movable pivot fulcrum, 13a: fifth movable pivot fulcrum, 16a: sixth movable pivot fulcrum, 5a: seventh movable pivot fulcrum , 17a: eighth movable rotation fulcrum, 17b: ninth movable rotation fulcrum

Claims (8)

The base,
A seat that supports the human waist,
A first link mechanism for tilting the seat relative to the base;
A backrest that supports the back of the person,
A second link mechanism for raising, lowering and tilting the backrest in response to tilting of the seat portion,
The first link mechanism includes a first link that has one end rotatably connected to a first fixed rotation fulcrum provided at a front portion of the base and supports the seat, and the first fixed rotation fulcrum. A second link whose one end is rotatably connected to the base at a second fixed rotation fulcrum provided behind the first, and a first movable rotation provided at the other end of the first link. A third link that connects the fulcrum and a second movable rotation fulcrum provided at the other end of the second link;
The second link mechanism includes a fourth link in which one end is rotatably connected to a third movable rotation fulcrum provided in the middle of the first link, and the backrest is fixed. A fifth link connecting a fourth movable rotation fulcrum provided at an end portion and a fifth movable rotation fulcrum provided in the middle of the third link;
The length of the first link is longer than the total length of the second link and the third link. When the seat portion is tilted in the standing direction, the rotation direction of the third link around the first movable rotation fulcrum is one direction, and the rotation of the third link causes the second movable rotation. moving fulcrum, with respect to the first link, before Symbol is intended to move the backrest side to the base of the rear side, when tilting the seat to sitting from a standing position, the first The start- up assisting device according to claim 1, wherein the operation of each link of the second link mechanism is reversed from the above case . By rotating the other end portion of the second link to the rear side of the base from the state where the backrest is inclined most toward the front side of the base, the second fixed rotation fulcrum is used as a center. The rise assisting device according to claim 1, wherein the portion and the backrest tilt so as to be horizontal. The base,
A seat that supports the human waist,
A first link mechanism for tilting the seat relative to the base;
A backrest that supports the back of the person,
A second link mechanism for raising, lowering and tilting the backrest in response to tilting of the seat portion,
The first link mechanism includes a first link that has one end rotatably connected to a first fixed rotation fulcrum provided at a front portion of the base and supports the seat, and the first fixed rotation fulcrum. A sixth link whose one end is rotatably connected to the base at a third fixed rotation fulcrum provided on the rear side, and a sixth movable rotation provided on the other end of the sixth link. A second link having one end rotatably connected to the sixth link at a fulcrum, a first movable rotation fulcrum provided at the other end of the first link, and the other end of the second link A third link for connecting the provided second movable rotation fulcrum,
The second link mechanism includes a fourth link in which one end is rotatably connected to a third movable rotation fulcrum provided in the middle of the first link, and the backrest is fixed. A fifth link connecting a fourth movable rotation fulcrum provided at an end portion and a fifth movable rotation fulcrum provided in the middle of the third link;
The length of the first link is longer than the total length of the second link and the third link,
In the state where the sixth link is constrained, the other end portion of the second link is centered on the sixth movable rotation fulcrum from the state where the backrest is most inclined to the front side of the base. , The seat and the backrest are tilted so as to be horizontal,
The rotation angle of the sixth link around the third fixed rotation fulcrum is regulated so that the end on the sixth movable rotation fulcrum side is not behind the predetermined position,
The rising assist device according to claim 1, wherein a rotation angle of the first link around the first fixed rotation fulcrum is regulated so that the seat portion does not become lower than a predetermined position. The start-up assisting device according to claim 4, further comprising a driving device that drives the sixth link. A footrest connected to the front portion of the seat;
A third link mechanism for tilting the footrest with respect to the base,
Below the base, a fourth fixed rotation fulcrum is provided in the front part, and a fifth fixed rotation fulcrum is provided in the rear part,
The third link mechanism is rotatably connected to a seventh movable rotation fulcrum provided below the footrest, and is provided with an eighth movable rotation fulcrum and a ninth movable rotation fulcrum at an intermediate portion thereof. An eighth link that connects the fourth fixed rotation fulcrum and the eighth movable rotation fulcrum; a ninth link that connects the fifth fixed rotation fulcrum and the ninth movable rotation fulcrum; The start-up assisting device according to any one of claims 1 to 5, further comprising: The start-up assisting device according to any one of claims 1 to 6, further comprising a driving device that drives the first link. The use of a medical facility, nursing home, nursing facility or massage shop bed or chair, barber shop, beauty salon, aircraft, automobile, train, ship chair or western toilet The start-up assisting device according to any one of the above.

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