JP6002394B2 - Stand-up support device - Google Patents

Description

  The present invention relates to a stand-up support device that assists a user's action to stand up from a sitting posture.

  Conventionally, there is a device disclosed in Patent Document 1 as this type of rising support device. This is to assist the user to get up from the sitting posture by raising the seat (13) on which the user is seated.

  In the seat (13), the front seat (13a) and the rear seat (13b) divided in the front-rear direction are rotatably connected, and the front seat (13a) is in the process of raising the seat (13). It is designed to rotate downward.

  A backrest (40) that supports the back of the user is provided behind the seat (13).

Japanese Patent Laid-Open No. 2005-137639

  However, in such a conventional rising support device, the seat (13) rises with the user putting most of his weight on the seat (13). There was a problem that it was difficult to move weight.

  The present invention has been made in view of the above-described problems, and an object thereof is to provide a rising support device that assists the user's weight shift in the front direction of the user.

The present invention is a stand-up support device that assists a user standing up from a sitting posture, a seating unit on which the user sits, a support elevator that lifts the seating unit, and a backrest that supports the back of the user A backrest rotating means for rotating the backrest in the front direction of the user, and a controller for controlling the operations of the support elevator and the backrest rotating means, respectively, and the controller rotates the backrest in the front direction of the user. The seating part is raised after being moved , and the backrest is rotated in the rearward direction of the user in the process of raising the seating part .

  According to the present invention, when the user stands up from the sitting posture, the support elevator lifts the seating portion to support the weight of the user, and the backrest rotating means rotates the backrest in the front direction of the user. Thus, the user's back can be pushed and moved.

  Accordingly, it is possible to provide a stand-up support device that assists the user's weight shift in the front direction of the user.

It is a perspective view of the stand-up support device concerning a 1st embodiment of the present invention. It is a side view of a stand-up support device. It is a top view of a standup assistance device. It is a front view of a stand-up support device. It is a side view which shows operation | movement (the 1) of the standup assistance apparatus in 1st assistance mode. It is a side view which shows operation | movement (the 2) of the standup assistance apparatus in 1st assistance mode. It is a side view which shows operation | movement (the 3) of the standup assistance apparatus in 1st assistance mode. It is a side view which shows operation | movement (the 4) of the standup assistance apparatus in 1st assistance mode. It is a side view which shows operation | movement (the 5) of the standup assistance apparatus in 1st assistance mode. It is a side view which shows operation | movement (the 1) of the starting assistance apparatus in 2nd assistance mode. It is a side view which shows operation | movement (the 2) of the standup assistance apparatus in 2nd assistance mode. It is a side view which shows the operation | movement (the 3) of the standup assistance apparatus in 2nd assistance mode. It is a side view which shows operation | movement (the 4) of the standup assistance apparatus in 2nd assistance mode. It is a side view which shows operation | movement (the 1) of the standup assistance apparatus in the 1st assistance mode which concerns on 2nd Embodiment of this invention. It is a side view which shows operation | movement (the 2) of the standup assistance apparatus in 1st assistance mode. It is a side view which shows operation | movement (the 3) of the standup assistance apparatus in 1st assistance mode. It is a side view which shows operation | movement (the 4) of the standup assistance apparatus in 1st assistance mode. It is a side view which shows operation | movement (the 5) of the standup assistance apparatus in 1st assistance mode. It is a side view which shows operation | movement (the 1) of the starting assistance apparatus in 2nd assistance mode. It is a side view which shows operation | movement (the 2) of the standup assistance apparatus in 2nd assistance mode. It is a side view which shows the operation | movement (the 3) of the standup assistance apparatus in 2nd assistance mode. It is a side view which shows operation | movement (the 4) of the standup assistance apparatus in 2nd assistance mode.

  Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings. In the following description, three axes X, Y, and Z that are orthogonal to each other are set on the accompanying drawings, and the X axis extends in a substantially horizontal front-rear direction, the Y axis extends in a substantially horizontal horizontal direction, and the Z axis extends in a substantially vertical direction. For example, the front direction is the front direction of the user, and the rear direction is the back direction of the user.

(First embodiment)
1 to 5 assists a user who stands up from a sitting posture sitting on a chair or the like, and is used in, for example, a hospital or a rehabilitation facility.

  As shown in FIG. 1, the rising support device 10 includes a seating unit 23 on which a user sits, a backrest table 14 that supports the user's back, left and right armrests 15 that support the user's elbow, And a support elevator 19 that assists the user's action of raising the portion 23 from the sitting posture.

  As shown in FIG. 2, the support elevator 19 includes a base 11 installed on the floor, a seat 13 that supports the seat 23, a platform 12 that supports the seat 13, and the platform 12. Elevating means for elevating and lowering the base 11 and seating portion rotating means for rotating the seating base 13 in the front direction (front-rear direction) of the user with respect to the elevating base 12 are provided.

  As the lifting means, the lifting platform 12 is supported by the base 11 via the left and right parallel link mechanisms 32 so as to be movable in parallel, and a lifting actuator (electric cylinder) 42 for rotating the parallel link mechanism 32 is provided.

  The parallel link mechanism 32 includes an upper link 52 and a lower link 62 that are disposed substantially parallel to each other. Each of the upper link 52 and the lower link 62 has a front end portion rotatably connected to the base 11 and a rear end portion rotatably connected to the lifting platform 12.

  The lower actuator 42 is pivotally connected to the base 11 at its lower end, and its upper end is pivotally connected to a connecting member 12B (see FIG. 3) extending across the left and right upper links 52.

  When the elevating actuator 42 is extended, the upper link 52 and the lower link 62 are rotated about the Y axis, and the elevating platform 12 is raised obliquely forward. Thereby, the user's buttocks seated on the seating portion 23 is lifted diagonally forward.

  As a seating portion rotating means, a seating portion tilting actuator 43 (electric cylinder) for rotating the seating base 13 is provided so that the front end portion of the seating base 13 is rotatably supported by the lifting platform 12 via the left and right pins 33. It is done.

  The seating portion tilting actuator 43 has a lower end portion rotatably connected to the base 11 and an upper end portion rotatably connected to the seating base 13. When the seating section tilting actuator 43 is extended, the seating base 13 is rotated around the Y axis via the pin 33 and is tilted forward. By rotating the seat base 13 in the forward direction, the user's buttocks seated on the seat portion 23 is pushed forward.

  The support elevator 19 is not limited to this, and drives the seating base 13 using a plurality of actuators that extend and contract to move the seating base 13 in the X-axis direction and the Z-axis direction and rotate around the Y-axis. It is good also as composition to do.

  The seat base 13 is made of a frame material and supports the seat portion 23. The seating part 23 is comprised by the frame material and cushion material which are not shown in figure, and a user's buttocks rests on it.

  The backrest 14 is made of a frame material and supports the back of the user. A backrest portion (not shown) made of a cushion material or the like is attached to the backrest base 14.

  The stand-up support device 10 includes a backrest rotating unit that rotates the backrest 14 in the front direction of the user in order to move the upper body of the user in the front direction.

  As a backrest rotating means, the lower end portion of the backrest base 14 is rotatably supported by the rear end portion of the seat base 13 via the left and right pins 34, and the backrest tilting actuator (electric cylinder) 44 that rotates the backrest base 14. Is provided.

  The backrest rotating means is not limited to this, and the backrest base 14 may be configured to be rotatably connected to the lift base 12.

  The lifting platform 12 is provided with a support 12 </ b> A that protrudes upward from the backrest 14. The back tilt actuator 44 has an upper end portion rotatably connected to the support portion 12A and a lower end portion rotatably connected to the backrest base 14. In a state where the backrest tilting actuator 44 is contracted, the backrest 14 is held at a position where it is raised rearward or upward. On the other hand, when the backrest tilting actuator 44 is extended, the backrest 14 rotates about the Y axis via the pin 34 and tilts forward.

  Even if the extension operation of the backrest tilting actuator 44 is stopped when the lifting platform 12 is raised, the backrest tilting actuator 44 transmits the movement of the seating base 13 rotating via the pin 33 to the backrest base 14 and the backrest. The base 14 rotates via the pin 34. At this time, the tilt angle of the backrest 14 can be controlled by extending and retracting the backrest tilting actuator 44.

  Further, as a backrest rotating means, a mechanism (not shown) for transmitting to the backrest 14 the operation of rotating the seating base 13 via the pin 33 and the operation of lifting the lifting base 12 instead of the tilting actuator 44 is provided. It is good also as a structure which provides and rotates the backrest stand 14 to a user's front direction.

  Left and right armrests 25 on which the user puts his elbows are attached to the left and right armrests 15. The armrest portion 25 is formed in a T shape having a rod 25A that protrudes upward from the armrest 15 and a rod 25B that is coupled to the upper end of the rod 25A and extends in a substantially horizontal front-rear direction (X-axis direction).

  As shown in FIG. 4, the left and right armrest portions 25 are arranged so as to sandwich the seating base 13 and the backrest base 14. The seat 13 and the backrest 14 rotate in a space provided between the left and right armrests 25.

  The rising support device 10 includes armrest raising / lowering means for raising and lowering the left and right armrest portions 25 in order to move the user's elbow.

  As the armrest raising / lowering means, an armrest raising / lowering actuator (electric cylinder) 45 for rotating the left and right parallel link mechanisms 35 is supported by the left and right armrest stands 15 supported on the elevator platform 12 via the left and right parallel link mechanisms 35. Provided.

The parallel link mechanism 35 includes an upper link 55 and a lower link 65 that are disposed substantially parallel to each other. Each of the upper link 55 and the lower link 65 has a front end portion rotatably connected to the left and right armrests 15 and a rear end portion rotatably connected to the lifting platform 12. The lower end of the base 11 is pivotably connected, and the upper end is pivotally connected to a link connecting member 56 extending over the left and right upper links 55. As shown in FIG. 3, the link connecting member 56 extends in a U shape so as to connect the rear end portions of the left and right upper links 55.

  When the armrest raising / lowering actuator 45 is extended, the upper link 55 and the lower link 65 are rotated about the Y axis, and the left and right armrests 15 are raised obliquely forward. Thereby, both elbows of the user are lifted by the left and right armrest portions 25.

  Even when the extension operation of the armrest raising / lowering actuator 45 is stopped when the elevator platform 12 is raised, the armrest raising / lowering actuator 45 transmits the movement of the raising / lowering table 12 to the parallel link mechanism 35, and the armrest table 15 moves up and down. . At this time, the height of the armrest portion 25 can be controlled by extending and retracting the armrest lifting actuator 45.

  The armrest raising / lowering means is not limited to this, and a link member (not shown) may be provided instead of the armrest raising / lowering actuator 45. The link member has a lower end portion rotatably connected to the base 11, and an upper end portion rotatably connected to the link connecting member 56. In this case, the link member transmits the movement of the lifting platform 12 to the parallel link mechanism 35, and the left and right armrests 15 are moved up and down.

  The stand-up support device 10 is provided with a seating position moving means for moving the seating portion 23 in the front direction of the user with respect to the seating base 13 in order to assist the user's weight shift in the front direction of the user.

  The seating position moving means includes a slide support mechanism 26 that supports the seating portion 23 so as to be movable in the front direction of the user (substantially the X-axis direction) with respect to the seating base 13, a slide actuator 46 that drives the seating portion 23, Is provided.

  Although not shown, the left and right slide support mechanisms 26 include a guide rail provided on the seat base 13 and a roller guided by the guide rail, and the roller is attached to the seat portion 23.

  Although not shown, the slide actuator 46 includes a guide rail provided on the seating base 13, a movable portion (nut) guided by the guide rail, a ball screw screwed to the movable portion, and a servo that rotationally drives the ball screw. And a movable part is attached to the seating part 23. In a state where the slide actuator 46 is contracted, the seat portion 23 is held at the retracted position where it is retracted above the seat base 13. On the other hand, when the slide actuator 46 is extended, the seat portion 23 moves from the seat base 13 to a projecting position that projects in the front direction of the user.

  However, the present invention is not limited to this, and the left and right slide support mechanisms 26 may be eliminated as a configuration in which the slide actuator 46 functions as a slide support mechanism in which the seat portion 23 is movably supported with respect to the seat base 13. .

  Also, as a seating position moving means, a mechanism (not shown) is provided in place of the slide actuator 46 to transmit the lifting / lowering table 12 ascending / descending operation to the seating part 23, and the seating part 23 is moved in the front direction of the user. A configuration may be adopted.

  The start-up support apparatus 10 includes a controller 40 that controls the operation of the actuators 42 to 46. In the controller 40, a plurality of support modes are set, and control programs for controlling the operations of the actuators 42 to 46 in different procedures are set in advance.

  The controller 40 includes, for example, a first support mode that provides effective support for rehabilitation training illustrated in FIGS. 5 to 9, and a second support mode that performs support with less burden on the user illustrated in FIGS. 10 to 13. And are set.

  When the user operates the operation panel 39 to select the support mode and instructs the start of the operation, the controller 40 operates the actuators 42 to 46 in a predetermined procedure to assist the operation of the user.

  5 to 9 are side views showing the operation of the rising support apparatus 10 in the first support mode. Hereinafter, this operation will be described in order.

As shown in FIG. 5, in the state before the operation is started, each actuator 42 to 46 is controlled to a predetermined stroke position, so that each part has the following posture.
The seat 13 has a gently inclined posture with its rear part slightly lower than the front part.
The seat portion 23 is in the retracted position where it is retracted onto the seat base 13.
The backrest 14 is in an upwardly inclined position with the upper part behind the lower part.

  In the state before the start of the operation, the user sits on the seating portion 23 and puts his / her back on the backrest portion of the backrest base 14, so that a normal sitting posture in which most of the weight is entrusted to the seating portion 23 is achieved.

As shown in FIG. 6, in the initial stage of operation, the operation of each actuator 43, 44, 46 is controlled as follows.
The seating portion tilting actuator 43 is slightly extended to rotate the seating base 13 upward as indicated by an arrow a1 in the figure. Along with this operation, the seat 13 is in a gently inclined posture with its front part slightly lower than its rear part.
The slide actuator 46 is operated to move the seating portion 23 forward as indicated by the arrow a2 in the figure. Thereby, the seating part 23 projects forward from the seating base 13.
-The back tilt actuator 44 is extended to rotate the backrest 14 forward as indicated by the arrow a3 in the figure. As a result, the backrest 14 tilts and assumes a downwardly inclined posture with its upper part forward of the lower part.

  By this operation, the user moves his / her waist forward together with the seating portion 23, and the upper body is in a leaning posture together with the backrest base 14. As a result, the center of gravity of the user moves closer to the knee (forward), and the user is encouraged to support the weight with the knee.

As shown in FIGS. 7 and 8, the operation of each actuator 42 to 44 is controlled as follows in the subsequent middle stage and late stage of operation.
The elevating actuator 42 is extended to raise the elevating platform 12 as indicated by arrows a4 and a8 in the figure.
As the lifting platform 12 is raised as described above, the parallel link mechanism 35 is rotated upward, and the armrest portion 15 is raised obliquely forward as indicated by arrows a5 and a9 in the figure.
The seat portion tilting actuator 43 is subsequently extended to rotate the seat base 13 upward as indicated by arrows a6 and a10 in the figure. Along with this operation, the seating portion 23 rises while tilting forward.
As the seating base 13 rotates upward as described above, the backrest base 14 rotates backward as indicated by arrows a7 and a11 in the figure. At the same time, the backrest tilting actuator 44 is contracted to rotate the backrest 14 backward as indicated by arrows a7 and a11 in the figure. Thereby, the backrest base 14 rotates backward at an appropriate speed, and the inclination angle of the backrest base 14 with respect to the vertical line gradually decreases.

  By this operation, the user rises diagonally forward together with the seating portion 23, and the user's elbow is lifted by the armrest portion 25, so that the upper body that is bent forward is raised with the backrest 14 and is in the middle of standing up. I can take a posture without difficulty. Also at this time, since the user's center of gravity continues to be closer to the knee, the user is encouraged to support the weight with the knee.

As shown in FIG. 9, the stroke at the end of the operation is stopped by controlling the operations of the actuators 42 to 45 as follows.
-The extension operation of the lifting / lowering actuator 42 is stopped, and the lifting / lowering platform 12 is held at a predetermined raised position.
The contraction operation of the armrest raising / lowering actuator 45 is stopped, and the armrest portion 25 is held at a predetermined raised position.
The extension operation of the seating portion tilting actuator 43 is stopped, and the seating portion 23 is held at a predetermined tilting position having a small tilt angle with respect to the vertical line.
-The extension operation | movement of the back tilt actuator 44 is stopped, and the backrest stand 14 is hold | maintained in the attitude | position which inclines slightly upwards with the seat part 23. FIG.

  By this operation, the user is urged to stand up along the seat 23 and the backrest 14 and to stand up with his knees and hips stretched.

  As described above, in the first support mode, the stand-up support device 10 operates in the order of FIGS. 5 to 9, and the seat portion 23 is placed on the seat base 13 while the user stands up from the seating posture. While moving in the front direction and rotating the backrest base 14 in the front direction of the user, the lift base 12 is raised with respect to the base 11. As a result, the user moves his / her waist in the front direction together with the seating portions 23 and 83 and takes a forward bending posture in which the upper body is tilted in the front direction, so that the user's center of gravity is kept close to the knee and the user can Like a healthy person, the action of standing up by stretching the knee while supporting the weight is promoted, and the effect of rehabilitation can be enhanced.

  Moreover, the stand-up support apparatus 10 can assist the operation | movement which seats from the standing posture which the user stood up by act | operating in order of FIGS. 9-5 contrary to said operation | movement.

  The first support mode for performing rehabilitation training has been described above. On the other hand, in the case of an elderly person whose legs and legs are weakened, the second support mode with less burden on the user is selected.

  FIGS. 10-13 is a side view which shows the operation | movement of the stand-up assistance apparatus 10 in order in 2nd assistance mode. Hereinafter, this operation will be described in order. In the second support mode, the operation of the slide actuator 46 is stopped so that the seating portion 23 does not move on the seating base 13 and the operation of the backrest tilting actuator 44 is stopped so that the backrest base 14 is moved to the lifting base 12. It is designed to be linked to the lifting / lowering operation.

As shown in FIG. 10, in the state before the start of operation, the actuators 42 to 46 are controlled to the predetermined stroke positions, so that the respective parts assume the following postures. This is the same as the situation shown in FIG.
The seat 13 has a gently inclined posture with its rear part slightly lower than the front part.
The seat portion 23 is in a retracted position that is retracted above the seat base 13.
The backrest 14 is in an upwardly inclined position with the upper part behind the lower part.

  In the state before the start of the operation, the user sits on the seating portion 23 and puts his / her back on the backrest portion of the backrest base 14, so that a normal sitting posture in which most of the weight is entrusted to the seating portion 23 is achieved.

As shown in FIGS. 11 and 12, the operation of the actuators 42 and 43 is controlled as follows in the initial stage and middle stage of the operation.
The elevating actuator 42 is extended to raise the elevating platform 12 as indicated by arrows b1 and b3 in the figure.
As the lifting platform 12 is raised as described above, the parallel link mechanism 35 is rotated upward as indicated by an arrow a5 in the figure, and the armrest 15 is raised obliquely forward.
The seating portion tilting actuator 43 is extended to rotate the seating base 13 upward as indicated by arrows b2 and b4 in the figure. Along with this operation, the seating portion 23 rises while tilting forward.

As shown in FIG. 13, at the end of the operation, the operation of each actuator 42, 43 is controlled as follows and stops.
-The extension operation of the lifting / lowering actuator 42 is stopped, and the lifting / lowering platform 12 is held at a predetermined raised position.
A posture in which the extension operation of the seating portion tilting actuator 43 is stopped, the seating portion 23 is held at a predetermined tilting position having a small tilt angle with respect to the vertical line, and the backrest 14 is tilted slightly upward together with the seating portion 23 Hold on.

  As described above, in the second support mode, the seating portion 23 does not protrude forward from the seating base 13 and the backrest base 14 does not have a downward inclined posture by the operation shown in FIGS. 10 to 13. Can stand up with most of its weight left in the seating section 23, and the burden on the knees and waist is reduced.

  Moreover, the stand-up support apparatus 10 can assist the operation of the user seated from the standing posture by operating in the order shown in FIGS.

(Second Embodiment)
Next, a second embodiment of the present invention shown in FIGS. 14 to 22 will be described. This has basically the same configuration as that of the first embodiment, and only different portions will be described. In addition, the same code | symbol is attached | subjected to the same structure part as 1st Embodiment.

  The rising support device 70 includes a support lift 79 that lifts the lift 72 on the base 71, a seat 83 on which the user is seated, a seat 73 that supports the seat 83, and the back of the user. It comprises a backrest 74 for supporting, and left and right armrests 75 for supporting the user's elbows, and these perform a predetermined operation via the actuators 42 to 46, thereby allowing the user to stand up from the sitting posture. Assist.

  A controller (not shown) provided in the stand-up support device 70 includes, for example, a first support mode for providing effective support for rehabilitation training illustrated in FIGS. 14 to 18, and the user illustrated in FIGS. 19 to 22. A second support mode for providing support with less burden is set.

  When the user selects the support mode via the operation panel and instructs the start of the operation, the controller operates the actuators 42 to 46 in a predetermined procedure to assist the operation of the user.

  14 to 18 are side views sequentially showing the operation of the rising support device 70 in the first support mode. Hereinafter, this operation will be described in order.

As shown in FIG. 14, the state before the start of operation is as follows. Each actuator 42 to 46 is controlled to a predetermined stroke position, so that each part has the following posture.
The seating base 73 has a gentle inclined posture with its rear part slightly lower than the front part.
The seat portion 83 is substantially at the same position as the seat base 73 in the X-axis direction.
The backrest 74 is in an upwardly inclined position with the upper part behind the lower part.

  In the situation before the start of the operation, the user sits on the seating portion 83 and places his / her back on the backrest portion of the backrest 74 so that the center of gravity is located above the central portion of the seating portion 83 and the weight A normal seating posture in which most of the seats are entrusted to the seating portion 83 is obtained.

As shown in FIG. 15, in the stroke of the initial stage of operation, the operation of each actuator 43, 44, 46 is controlled as follows.
The seat tilting actuator 43 is slightly extended to rotate the seating base 73 upward as indicated by the arrow b1 in the figure. Along with this operation, the seating base 73 assumes a gentle inclined posture with its front part slightly lowered from the rear part.
The slide actuator 46 is operated to move the seating portion 83 forward as indicated by the arrow c2 in the figure. As a result, the seat portion 83 protrudes forward from the seat base 73.
-The backrest tilting actuator 44 is extended to rotate the backrest 74 forward as indicated by the arrow c3 in the figure. As a result, the backrest 74 tilts and assumes a downwardly inclined posture with its upper part forward of the lower part.

  By this operation, the user moves his / her waist forward together with the seating portion 83, and the upper body is in a leaning posture together with the backrest base 74. As a result, the center of gravity of the user moves closer to the knee (forward), and the user is encouraged to support the weight with the knee.

As shown in FIGS. 16 and 17, the operation of each actuator 42 to 44 is controlled as follows in the subsequent middle stage and late stage of operation.
The elevating actuator 42 is extended to raise the elevating platform 72 as indicated by arrows c4 and c8 in the figure. The lifting platform 72 is supported so as to be movable in a substantially vertical direction (Z-axis direction) with respect to the base 71.
As the lifting platform 72 is raised as described above, the parallel link mechanism 85 is rotated upward, and the armrest portion 75 is raised obliquely forward as indicated by arrows c5 and c9 in the figure.
The seating portion tilting actuator 43 is continuously extended to rotate the seating base 73 upward as indicated by arrows c6 and c10 in the figure. With this operation, the seating portion 83 rises while tilting forward.
As the seating base 73 rotates upward as described above, the backrest base 74 rotates backward as indicated by arrows c7 and c11 in the figure. At the same time, the backrest tilting actuator 44 is contracted to rotate the backrest 74 as shown by arrows c7 and c11 in the figure. As a result, the backrest 74 is rotated backward at an appropriate speed, and the inclination angle of the backrest 74 with respect to the vertical line is gradually reduced.

  By this operation, the user rises diagonally forward together with the seating portion 83, and the user's elbow is lifted by the armrest portion 75, so that the upper body that is bent forward is raised together with the backrest base 74, and on the way up It is possible to take this posture without difficulty. Also at this time, since the user's center of gravity continues to be closer to the knee, the user is encouraged to support the weight with the knee.

As shown in FIG. 18, the stroke at the end of the operation is stopped by controlling the operations of the actuators 42 to 45 as follows.
The extension operation of the lifting / lowering actuator 42 is stopped, and the lifting / lowering base 72 is held at a predetermined lifted position.
The contraction operation of the armrest raising / lowering actuator 45 is stopped, and the armrest portion 75 is held at a predetermined raised position.
The extension operation of the seat portion tilting actuator 43 is stopped, and the seat portion 83 is held at a predetermined tilt position having a small tilt angle with respect to the vertical line.
The extension operation of the back tilting actuator 44 is stopped, and the backrest 74 is held in a posture that tilts slightly upward together with the seating portion 83.

  By this operation, the user is urged to stand up along the seating portion 83 and the backrest 74 and to stand up with his knees and hips extended.

  As described above, in the first support mode, the rising support device 70 operates in the order of FIGS. 14 to 18, and moves the seating portion 73 in the front direction of the user with respect to the seating base 73, and also the backrest base 74. , The elevator 72 is raised relative to the base 71. As a result, the center of gravity of the user is kept near the knee, and the user is encouraged to stand up while stretching his / her knees while supporting his / her weight in the same manner as a healthy person, thereby enhancing the rehabilitation effect.

  Also, the rising support device 70 operates in the order shown in FIGS. 18 to 14 in reverse to the above operation, thereby assisting the user in the sitting posture from the standing posture.

  The first support mode for performing rehabilitation training has been described above. On the other hand, in the case of an elderly person whose legs and legs are weakened, the second support mode with less burden on the user is selected.

  19 to 22 are side views sequentially showing the operation of the rising support device 70 in the second support mode. Hereinafter, this operation will be described in order. In the second support mode, the operation of the slide actuator 46 is stopped so that the seating portion 83 does not move on the seating base 73, and the operation of the backrest tilting actuator 44 is stopped, and the backrest base 74 is moved up and down the lifting base 72. It is designed to be linked to the lifting / lowering operation.

As shown in FIG. 19, the state before the start of operation is as follows. Each actuator 42 to 46 is controlled to a predetermined stroke position, so that each part has the following posture. This is the same as the situation shown in FIG.
The seating base 73 has a gentle inclined posture with its rear part slightly lower than the front part.
The seat portion 83 is substantially at the same position as the seat base 73 in the X-axis direction.
The backrest 74 is in an upwardly inclined position with the upper part behind the lower part.

  In this situation before the start of the operation, the user sits on the seating portion 83 and puts his / her back on the backrest portion of the backrest base 74, so that a normal sitting posture in which most of the weight is entrusted to the seating portion 83 is obtained.

As shown in FIGS. 20 and 21, the operations of the actuators 42 and 43 are controlled as follows in the initial and intermediate strokes of the operation.
The elevating actuator 42 is extended to raise the elevating platform 72 as indicated by arrows d1 and d3 in the figure.
As the elevator 72 is raised as described above, the parallel link mechanism 85 is rotated upward, and the armrest 75 is raised obliquely forward as indicated by the arrow c5 in the figure.
The seating portion tilting actuator 43 is extended to rotate the seating base 73 upward as indicated by arrows d2 and d4 in the figure. With this operation, the seating portion 83 rises while tilting forward.

As shown in FIG. 22, the stroke at the end of the operation is stopped by controlling the operations of the actuators 42 and 43 as follows.
The extension operation of the lifting / lowering actuator 42 is stopped, and the lifting / lowering base 72 is held at a predetermined lifted position.
A posture in which the extension operation of the seating portion tilting actuator 43 is stopped, the seating portion 83 is held at a predetermined tilting position having a small tilt angle with respect to the vertical line, and the backrest 74 is tilted slightly upward together with the seating portion 83. Hold on.

  As described above, in the second support mode, the seating portion 83 does not protrude forward from the seating base 73 and the backrest base 74 does not have a downward inclined posture by the operation shown in FIGS. 19 to 22. Can stand up with most of its weight deposited in the seating portion 83, and the burden on the knees and waist is reduced.

  In addition, the rising support device 70 operates in the order shown in FIGS. 22 to 19 in reverse to the above operation, thereby assisting the operation of the user sitting from the standing posture.

  Hereinafter, the gist, action, and effect of the present invention will be described.

  (A) Standing support devices 10 and 70 for assisting the movement of the user who stands up from the sitting posture, the seating portions 23 and 83 on which the user is seated, and the support elevators 19 and 79 that lift the seating portions 23 and 83 And backrest bases 14 and 74 that support the user's back, and backrest rotating means for rotating the backrest bases 14 and 74 in the front direction of the user (FIGS. 6, 7, and 15). 16).

  Based on the above configuration, when the user stands up from the sitting posture, the support elevators 19 and 79 raise the seating portions 23 and 83 to support the weight of the user, and the backrest rotating means uses the backrests 14 and 74. It is possible to rotate the user in the front direction and push the user's back to move it.

  Thereby, the rising support devices 10 and 70 can cause the user to move the body weight in the front direction of the user in the same manner as a healthy person, and the rehabilitation effect can be enhanced.

  (A) The support elevators 19 and 79 are the bases 11 and 71 installed on the floor, the seats 13 and 73 that support the seats 23 and 83, and the elevators 12 that support the seats 13 and 73, 72, elevating means for elevating the elevating bases 12 and 72 with respect to the bases 11 and 71, and a seating portion rotation for rotating the seating bases 13 and 73 with respect to the elevating bases 12 and 72 in the front direction of the user. Moving means (see FIGS. 6, 7, 15, and 16).

  Based on the above configuration, the seating bases 13 and 73 rise while tilting in the front direction of the user, and the seating portions 23 and 83 can push the user's waist diagonally forward, so that the user stands up. It can assist smoothly.

  (C) The elevating means includes a parallel link mechanism 32 that supports the elevating platforms 12 and 72 so as to be movable in parallel with the bases 11 and 71, and an elevating actuator 42 that rotates the parallel link mechanism 32. (See FIGS. 1 and 2).

  Based on the above configuration, when the parallel link mechanism 32 is rotated about the Y axis by the lifting actuator 42, the seating bases 13 and 73 are translated obliquely upward while tilting in the front direction of the user, and the seating portion 23, 83 can push up the user's waist diagonally forward, and can smoothly assist the user to get up.

  (D) The seating portion rotating means includes a pin 33 that rotatably supports the front end portion of the seating bases 13 and 73 that are positioned in the front direction of the user on the lifting base 12, and the pins 33 and 73. And a seating portion tilting actuator 43 that rotates as a fulcrum (see FIGS. 1 and 2).

  Based on the above configuration, the seating bases 13 and 73 are rotated about the Y axis about the pin 33 by the seating part tilting actuator 43, so that the seating parts 23 and 83 push the user's waist diagonally forward. It becomes possible, and it is possible to smoothly assist the user to get up.

  (E) The backrest rotating means includes a pin 34 that rotatably supports the lower ends of the backrests 14 and 74 on the seating bases 13 and 73, and a tilting backrest that rotates the backrests 14 and 74 with the pin 34 as a fulcrum. And an actuator 44 (see FIGS. 1 and 2).

  Based on the above configuration, the seat backs 14 and 74 are rotated about the Y axis about the pin 34 by the back tilting actuator 44, so that the seating portions 23 and 83 can push the user's waist diagonally forward. Thus, the backrests 14 and 74 can be rotated in the front direction of the user, and the user can smoothly assist the operation of tilting the upper body.

  (F) It is configured to include a seating position moving means for moving the seating portions 23 and 83 in the front direction of the user with respect to the support elevators 19 and 79 (see FIGS. 1 and 2).

  Based on the above configuration, when the support elevator lifts the seat and assists the user in getting up from the seating posture, the seat position moving means moves the seat in the front direction of the user and The position of can be moved arbitrarily, and the effect of rehabilitation can be enhanced.

  (G) The armrests 25 and 75 that support the user's elbow, and the armrest lifting and lowering means that lifts and lowers the armrests 25 and 75 with respect to the support elevators 19 and 79 (see FIGS. 1 and 2). .

  Based on the above configuration, when the support elevators 19 and 79 raise the seating portions 23 and 83 and assist the user to get up from the sitting posture, the armrest lifting and lowering means supports the armrests 25 and 75 with respect to the assisting elevators 19 and 79. By lifting and lowering, the burden on the user's legs and waist can be reduced.

  (H) The armrest raising / lowering means includes a parallel link mechanism 35 that supports the armrests 15 and 75 so as to be movable in parallel with respect to the elevators 12 and 72, and an armrest raising / lowering actuator 45 that rotates the parallel link mechanism 35. It was set as the structure (refer FIGS. 1-6).

  Based on the above configuration, when the parallel link mechanism 32 is rotated around the Y axis by the armrest raising / lowering actuator 45, the armrests 15 and 75 are translated obliquely upward while being inclined in the front direction of the user. The elbow can be pushed up diagonally forward, and the user can smoothly assist in getting up.

  (G) A controller 40 for controlling the operation of the support elevators 19 and 79 and the backrest rotating means is provided. The controller 40 has a plurality of support modes for controlling the operations of the support elevators 19 and 79 and the backrest rotating means in different procedures. It was set as the structure which can be switched (refer FIGS. 5-22).

  Based on the above configuration, the support mode preset according to the user's request is switched, so that the operations of the support elevators 19 and 79 and the backrest rotating means are controlled by different procedures.

  (G) First support mode in which the lifting platforms 12 and 72 are raised with respect to the bases 11 and 71 after the backrests 14 and 74 are rotated in the front direction of the user with respect to the seats 13 and 73. Is set in the controller 40 (see FIGS. 6, 7, 15, and 16).

  Based on the above configuration, the backrest bases 14 and 74 are rotated in the front direction of the user with respect to the seating bases 13 and 73, so that the user takes a forward bending posture in which the upper body is tilted in the front direction. Thereafter, the seating bases 13 and 73 are raised, and the seating portions 23 and 83 push the user's waist diagonally forward, whereby the user is encouraged to support the weight and the rehabilitation effect is enhanced.

  (T) The second support mode for raising the lifting platforms 12 and 72 relative to the bases 11 and 71 in the state where the backrests 14 and 74 are raised is set in the controller 40 (FIGS. 11 and 12). 20, 21).

  Based on the above configuration, the seating bases 13 and 73 are raised with the backrests 14 and 74 raised, and the seating portions 23 and 83 push the user's waist diagonally forward, so that the user has a large portion of the body weight. Can be stood up in a state of being deposited in the seating portions 23 and 83, and the burden on the knees and waist is reduced.

  The present invention is not limited to the above-described embodiment, and it is obvious that various modifications can be made within the scope of the technical idea.

DESCRIPTION OF SYMBOLS 10 Standing support apparatus 11 Base 12 Lifting table 13 Seating table 14 Backrest 15 Armrest table 19 Supporting elevator 23 Seating part 25 Armrest part 26 Slide support mechanism (sitting position moving means)
32 Parallel link mechanism (lifting means)
33 pin (seat part rotation means)
34 pins (backrest turning means)
35 Parallel link mechanism (armrest lifting means)
40 Controller 42 Lifting actuator (lifting means)
43 Seating part tilting actuator (seat part turning means)
44 Backrest tilting actuator (backrest turning means)
45 Armrest lifting actuator (armrest lifting means)
46 Slide actuator (sitting position moving means)
70 Standing Support Device 71 Base 72 Lifting Table 73 Seating Base 74 Backrest 75 Armrest 79 Supporting Lift 83 Seating

Claims (10)

A stand-up support device for assisting a user's movement to get up from a sitting position,
A seating section on which the user sits;
A support elevator for raising the seat;
A backrest that supports the back of the user,
A backrest rotating means for rotating the backrest in the front direction of the user;
A controller for controlling the operation of the support elevator and the backrest rotation means, respectively,
The controller is configured to raise the seating portion after rotating the backrest in the front direction of the user , and to rotate the backrest toward the back of the user in the process of raising the seating portion. A rising support device. The support elevator is
A base installed on the floor;
A seating base for supporting the seating portion;
A lifting platform that supports the seat;
Elevating means for elevating the elevating base with respect to the base;
The rising support device according to claim 1, further comprising: a seating portion rotating unit that rotates the seating table in a front direction of the user with respect to the lifting platform. The lifting means is
A parallel link mechanism that supports the lifting platform to be movable relative to the base;
The rising support device according to claim 2, further comprising a lift actuator that rotates the parallel link mechanism. The seating portion rotating means is
A pin that rotatably supports a front end portion located in the front direction of the user of the seating base on the lifting base;
The rising support device according to claim 2, further comprising: a seating portion tilting actuator that rotates the seating base around the pin as a fulcrum. The backrest rotating means is
A pin that rotatably supports the lower end of the backrest on the seat;
The rising support device according to any one of claims 1 to 4, further comprising a back tilting actuator that rotates the backrest with the pin as a fulcrum.   The rising support device according to any one of claims 1 to 5, further comprising seating position moving means for moving the seating portion in a front direction of a user with respect to the support elevator. An armrest that supports the user's elbow;
The rising support device according to any one of claims 1 to 6, further comprising armrest lifting and lowering means for lifting and lowering the armrest with respect to the support elevator. The armrest lifting means is
A parallel link mechanism that supports the armrest so that it can move in parallel with the elevator;
The rising support apparatus according to claim 7, further comprising an armrest raising / lowering actuator for rotating the parallel link mechanism.   The rising support device according to any one of claims 1 to 8, wherein the controller switches a plurality of support modes for controlling operations of the support elevator and the backrest rotation means in different procedures. The controller includes
A first support mode for raising the lift after the backrest is rotated in the front direction of the user with respect to the seat;
The rising support device according to claim 9, wherein a second support mode is set in which the lifting platform is raised while the backrest is raised.

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