JP6714766B2 - Assistance device - Google Patents

Description

The present specification relates to an assistance device that assists a transfer operation of a person being assisted.

With the progress of an aging society, the needs for assistance devices are increasing. In general, the assistance device moves a support portion that supports a part of the body of the person being assisted by being driven by an actuator. The introduction of the assistance device reduces the physical burden on the caregiver and the person being assisted and also alleviates the labor shortage of the caregiver. As an example of the assistance device, there is a device that assists the transfer operation from the sitting posture of the person being assisted. Patent Documents 1 and 2 disclose technical examples of this type of assistance device.

The human body transfer device of Patent Document 1 includes a traveling unit equipped with wheels, a support unit located above the traveling unit to support the person being assisted, and a drive unit that drives the human body supporting unit in the height direction. Equipped with. Further, the support part is driven by a drive part corresponding to the actuator, so that the support part is oscillated in an arc shape. According to this, it is said that the person being assisted can be transferred easily and quickly while suppressing the backache of the person being assisted.

In addition, the assisting robot of Patent Document 2 includes an elevating part that moves vertically with respect to a base, an arm that is swingably provided on the elevating part, and a support part that is provided at the tip of the arm. Prepare The elevating part and the arm are driven by separate actuators to perform a two-step operation. According to this, it is said that the elevating part and the arm can be operated in a coordinated manner, and it is possible to prevent the person being assisted from feeling uncomfortable.

JP, 2016-165313, A International Publication No. 2017/060964

By the way, in patent document 1, since the support part only swings in an arc shape, it is not always possible for the person being assisted to use it comfortably. On the other hand, in Patent Document 2, since the elevating part and the arm are operated independently by using the two actuators, the transfer operation of the person being assisted is smooth and the comfort of use is improved. However, using two actuators leads to increased costs.

In this specification, it is an object to be solved to provide a assistance device in which a plurality of members are operated by using one actuator to improve the comfort of use of a person being assisted.

The present specification is an assisting device for assisting a transfer operation of a person being assisted, including a base, an arm provided on the base so as to be swingable in the front-rear direction, and a part of the body of the person being assisted. An actuator having a support portion that is supported by the arm and that is swingable in the front-back direction, a main body portion that is tiltable in the front-back direction on the base, and a movable portion that expands and contracts from the main body portion. A first link member swingably provided on the arm and coupled to the movable portion, and a second link member fixed to the support portion and engaging with the first link member, A first motion of the movable part extending from the shortened position to a predetermined midway position is transmitted to the swing of the support part forward, and a second motion of the movable part extending from the midway position to the extended position is performed forward of the arm. And a link mechanism that transmits the swinging motion to the assisting device.

According to the assistance device disclosed in this specification, it is possible to drive the swinging of the support portion forward and the swinging of the arm forward by using one actuator. As a result, the transfer operation of the person being assisted becomes smooth, and the comfort of use is improved. In addition, the cost is low compared to the conventional technique using two actuators.

It is the perspective view which looked at the assistance device of an embodiment from the slanting back. It is a side surface sectional view showing the initial state in case an assisting device assists a transfer operation of a person being assisted. It is a side sectional view showing the state in the middle when the assistance device assists the transfer operation of the person being assisted. FIG. 7 is a side cross-sectional view showing an end state when the assistance device assists the transfer operation of the person being assisted. It is a partially enlarged view for explaining the configuration and operation of the link mechanism, which corresponds to the initial state of the assistance device. It is a partially enlarged view for explaining the configuration and operation of the link mechanism, and corresponds to a state in the middle of the assistance device. FIG. 6 is a partially enlarged view illustrating the configuration of the arm regulation mechanism, which corresponds to the initial state of the assistance device. It is a partially enlarged view for explaining the configuration and operation of the arm regulation mechanism, and corresponds to a state in the middle of the assistance device. It is the perspective view which looked at the upper part of an arm from the slanting upper part. It is a side surface sectional view explaining an unexpected rocking operation of an arm, and shows the state in the middle position of a movable part.

1. Configuration of Assistance Device 1 of Embodiment The assistance device 1 of the embodiment will be described with reference to FIGS. 1 to 10. FIG. 1 is a perspective view of the assistance device 1 of the embodiment as seen obliquely from the rear. 2 is a side sectional view showing an initial state when the assistance device 1 assists the transfer operation of the person being assisted M. FIG. 3 is a side sectional view showing a state in the middle of the case where the assistance device 1 assists the transfer operation of the person being assisted M. FIG. 4 is a side sectional view showing the final state when the assistance device 1 assists the transfer operation of the person being assisted M.

The assistance device 1 assists transfer between two different places, such as transfer between the bed of the person M to be assisted and the wheelchair, transfer between the wheelchair and the toilet seat, and the like. The assistance device 1 supports the body of the person being assisted M and assists the transfer operation from the sitting posture to the transfer posture and the seating movement from the transfer posture to the sitting posture. Here, the posture during transfer is a posture in which the buttocks are floating from the seat surface, and includes a standing posture and a mid-waist posture. That is, the posture at the time of transfer includes a state in which the upper half of the body is standing up and a state of leaning forward. In addition, the assistance device 1 can transport the person being assisted M in the posture at the time of transfer when the two places to be transferred are separated.

The assistance device 1 includes a base 2, an arm 3, a support portion 4, an actuator 5, a link mechanism 6, an arm regulation mechanism 7, and a control unit (not shown). The base 2 is formed of a foot rest 21, a rear wheel 23, a base rod 24, a lower leg rest 25, a mounting plate 26, a front wheel 28, and the like. The footrest 21 is arranged near the floor F and substantially horizontally. An actuator support portion 22 is provided so as to project upward on the front side of the upper surface of the footrest 21. The pair of left and right rear wheels 23 are provided on the left and right rear sides of the footrest 21.

The pair of left and right base rods 24 are provided from the left and right of the front surface of the footrest 21 toward the front. The base rod 24 bends upward from the front and then extends slightly rearward. The lower leg support portion 25 is provided rearward on the upper portions of the two base rods 24. The lower leg rest 25 is located above the front of the footrest table 21. The lower leg support portion 25 is formed of a cushion material, and the vicinity of the lower leg of the person being assisted M can come into contact therewith.

The pair of left and right mounting plates 26 are fixedly provided at positions slightly above the bent portions of the base rod 24 that are bent upward from the front, and at inner positions facing each other. The mounting plate 26 extends forward from the base rod 24. Arm support seats 27 are provided above the pair of left and right mounting plates 26, respectively. A pair of left and right front wheels 28 are provided on the lower front portions of the pair of left and right mounting plates 26. With the steering function of the front wheels 28 and the rear wheels 23, the assistance device 1 is capable of not only the straight movement and the turning movement but also the lateral movement and the super turning. Further, the front wheel 28 has a lock function for restricting movement.

The arm 3 is formed of a rod-shaped member 31, a front cover member 36, an upper cover member 38, and various structural materials not shown. The rod-shaped member 31 is a substantially U-shaped rod-shaped member whose lower side is opened. The lower ends 32 on both sides of the rod-shaped member 31 are swingably supported by the arm support seat 27 of the mounting plate 26. As a result, the arm 3 can swing in the front-rear direction with respect to the base 2.

In order to regulate the swing angle of the arm 3, a stopper mechanism (not shown) is provided near the arm support seat 27. The rod-shaped member 31 extends upward from the left and right lower ends 32, bends and extends obliquely rearward and upward in the middle, and joins at the upper rear portion. The overall shape of the arm 3 includes an arm front part 34 extending upward from the arm support seat 27, and an arm upper part 35 connected to an upper part of the arm front part 34 and extending obliquely rearward and upward.

The front cover member 36 constitutes the arm front portion 34. The front cover member 36 is arranged on the front side of the rod-shaped member 31 with a space. Both side surfaces of the front cover member 36 are bent rearward to define an internal space. A battery 37 is housed in the internal space of the front cover member 36. The battery 37 serves as a power source for the actuator 5 and the control unit.

The upper cover member 38 is formed continuously with the front cover member 36, and constitutes the arm upper portion 35. The upper cover member 38 is arranged close to the upper side of the rod-shaped member 31. Both side surfaces of the upper cover member 38 are bent downward to form an internal space. The arm regulating mechanism 7, the link mechanism 6, and the support portion mounting seat 33 are provided in order from the lower front side to the upper rear side of the internal space of the upper cover member 38. The upper cover member 38 is not shown in FIG.

The support portion 4 is formed to include a body support portion 41 and a pair of left and right side support portions 45. The body support portion 41 is swingably supported by the support portion mounting seat 33 of the arm upper portion 35. As a result, the support portion 4 can swing in the front-rear direction with respect to the arm 3. The body support portion 41 has a handle 42. The handle 42 is formed in a substantially rectangular frame shape. The handle 42 is a part gripped by the person being assisted M and also a part gripped by the caregiver in order to move the assistance device 1.

The body support portion 41 is formed of a base plate 43 (see FIG. 5), a body contact member 44, and the like. The base plate 43 is formed in a substantially rectangular shape using a plate material made of metal or resin having high rigidity. The base plate 43 is provided with the above-mentioned handle 42, a portion attached to the support attachment seat 33, and a second link member 62 described later.

The body contact member 44 is made of a flexible material and is larger than the base plate 43, and is attached to the upper surface of the base plate 43. The body contact member 44 may have a two-layer structure including a surface layer and a base layer, for example. A low-resilience urethane foam can be exemplified as the surface layer forming material, and a low-flammability urethane foam can be exemplified as the base layer forming material. The torso support portion 41 supports a part of the body of the person being assisted M from the chest to the abdomen.

The pair of left and right side support parts 45 are attached to the left and right sides of the body support part 41 near the chest. The armpit support portion 45 is formed in an L-shape that bends at an obtuse angle. The armpit support part 45 is formed of a core member 46 (see FIG. 5), an outer peripheral member 47, and the like. The core member 46 is formed, for example, by bending a metal or hard resin round bar or pipe into an L shape.

The outer peripheral member 47 is formed into a cylindrical shape that covers the outer periphery of the core member 46 using a cushion material. The short linear portion from the base end on the mounting side of the armpit support portion 45 to the bending position is the shoulder receiving portion, and the long linear portion from the bending position to the tip is the armpit entry portion. The shoulder receiving portion supports the front surface of the shoulder of the person being assisted M. The armpit entry portions enter the armpits on both sides of the body of the person being assisted M. The body support portion 41 and the armpit support portion 45 may include removable covers made of cloth or leather.

The actuator 5 is composed of a main body portion 51, a movable portion 52, a motor 53, and the like. The main body 51 is tiltably supported by the actuator support 22 of the base 2. As a result, the actuator 5 tilts in the front-back direction. The movable portion 52 extends and contracts from the main body portion 51. Specifically, the movable portion 52 extends from the shortened position to a stretched position through a predetermined intermediate position, and contracts in the opposite direction. The first operation is performed while the movable portion 52 extends from the shortened position to the intermediate position, and the second operation is performed while the movable portion 52 extends from the intermediate position to the extended position.

The stroke length of the first operation can be 30 mm, and the stroke length of the second operation can be 60 mm. The tip of the movable portion 52 is connected to a connecting pin 613 of the link mechanism 6 described later. The motor 53 is provided in the main body 51. The motor 53 drives the expansion/contraction operation of the movable part 52 by controlling the direction of the current flowing by a control part (not shown). Instead of the motor 53, it is possible to use another type of drive source such as a pressure drive source using hydraulic pressure or air pressure.

The link mechanism 6 includes a first link member 61, a second link member 62, a restriction member 63, and the like. FIG. 5 is a partially enlarged view for explaining the configuration and operation of the link mechanism 6, which corresponds to the initial state of the assistance device 1. Further, FIG. 6 is a partially enlarged view for explaining the configuration and operation of the link mechanism 6, which corresponds to a state in the middle of the assistance device 1.

The first link member 61 is an elongated member having a support point 611, a forearm portion 612, and a rear arm portion 616. The support point 611 is arranged near the center of the arm upper portion 35. Moreover, the support point 611 is swingably supported by the structural material of the arm 3. As a result, the first link member 61 swings around the support point 611.

The forearm portion 612 extends forward from the support point 611. A connecting pin 613 is provided on the lower front side of the forearm 612. The connecting pin 613 connects the forearm 612 and the tip of the movable portion 52. A restricting protrusion 614 is formed on the front upper portion of the forearm 612. The rear arm portion 616 extends rearward from the support point 611. An engagement pin 617 is provided on the rear side of the rear arm portion 616 so as to extend in the left-right direction. The engagement pin 617 engages the second link member 62 from the counterclockwise direction in FIG. 5 and pushes the second link member 62.

The second link member 62 is fixed to the base plate 43 of the support portion 4. As a result, the support portion 4 and the second link member 62 integrally swing around the support portion mounting seat 33. The restricting member 63 is fixed to a structural member near the front of the arm upper portion 35. The restriction protrusion 614 of the first link member 61 can come into contact with the restriction member 63.

In the initial state shown in FIG. 5, the movable portion 52 of the actuator 5 is in the shortened position. Further, the first link member 61 is in a state of swinging clockwise, and the second link member is in a state of swinging counterclockwise. There is a gap between the restriction protrusion 614 of the first link member 61 and the restriction member 63. The movable part 52 that has started the first operation extends as shown by an arrow A1. Then, the forearm portion 612 of the first link member 61 is pushed via the connecting pin 613. As a result, the first link member 61 swings counterclockwise as indicated by the arrow A2.

When the first link member 61 swings counterclockwise, the engagement pin 617 of the rear arm portion 616 swings the second link member 62. The second link member 62 swings clockwise as indicated by an arrow A3, and the support portion 4 also swings forward as indicated by an arrow A4. That is, the link mechanism 6 transmits the first movement in which the movable portion 52 extends from the shortened position to the predetermined intermediate position to the swing of the support portion 4 forward. This operation is continued until the movable portion 52 extends to a predetermined intermediate position, and the state shown in FIG. 6 is reached.

In the intermediate state shown in FIG. 6, the restricting protrusion 614 of the first link member 61 just contacts the restricting member 63. As a result, further swinging of the first link member 61 is restricted. After that, the movable portion 52 that has started the second operation extends as shown by an arrow A5. Then, the forearm portion 612 of the first link member 61 directly transmits the second movement of the movable portion 52 to the arm 3. As a result, the arm 3 swings forward around the arm support seat 27 as shown by the arrow A6. With the progress of swinging of the arm 3, the actuator 5 tilts forward as indicated by an arrow A7. That is, the link mechanism 6 transmits the second motion in which the movable portion 52 extends from the intermediate position to the extended position to the swing of the arm 3 forward.

The arm regulation mechanism 7 is composed of a regulation guide member 71, a biasing member 75, and the like. FIG. 7 is a partially enlarged view illustrating the configuration of the arm regulation mechanism 7, which corresponds to the initial state of the assistance device 1. Further, FIG. 8 is a partially enlarged view for explaining the configuration and operation of the arm regulation mechanism 7, which corresponds to a state in the middle of the assistance device 1.

The regulation guide member 71 is a member having a support point 72 at one end on the front upper side and an urging point 73 at the other end on the rear lower side. The regulation guide member 71 further has a long hole 74 extending diagonally between the support point 72 and the biasing point 73. The support point 72 is disposed at a predetermined position 3A near the upper part of the arm front portion 34 and is swingably supported by the structural material. The long hole 74 movably accommodates the connecting pin 613, in other words, movably accommodates the tip of the movable portion 52.

As the biasing member 75, for example, a coil spring can be used. The rear upper end 751 of the biasing member 75 is locked to the upper position 3B of the arm 3. The upper position 3B of the arm 3 is on the upper rear side of the predetermined position 3A. The other front lower end 752 of the biasing member 75 is locked to the biasing point 73 of the regulation guide member 71. The urging member 75 urges the upper position 3B of the arm 3 toward the regulation guide member 71, as shown by the arrow F1. In other words, the biasing member 75 biases the upper position 3B of the arm 3 toward the movable portion 52.

In the initial state shown in FIG. 7, the movable portion 52 of the actuator 5 is in the shortened position. At this time, the connecting pin 613 is located at the rear lower end of the elongated hole 74. Here, when the movable portion 52 starts the first operation, the connecting pin 613 moves forward and upward in the elongated hole 74 in parallel with the swing of the first link member 61. Further, the regulation guide member 71 swings clockwise around the support point 72. In the configuration of this embodiment, the first movement of the movable portion 52 causes the regulation guide member 71 to oscillate 24°. This operation is continued until the movable portion 52 extends to a predetermined intermediate position and the regulating projection 614 contacts the regulating member 63, and the state shown in FIG. 8 is reached.

In the intermediate state shown in FIG. 8, the connecting pin 613 is located at the upper front end of the elongated hole 74. After that, when the movable portion 52 starts the second operation, the arm 3 swings, but the relative positional relationship between the arm 3 and the arm regulation mechanism 7 does not change. From the initial state to the final state of the assistance device 1, the biasing member 75 biases the upper position 3B of the arm 3 toward the movable portion 52.

The control unit (not shown) is composed of an operation unit, a control main unit, and the like. The operation device has an up button and a down button for operating the actuator 5, and is operated by an assistant. The control main unit is configured by using a computer device having a CPU and operating by software. The control main body controls the direction of the current flowing through the motor 53 of the actuator 5 according to the operation information acquired from the operation device.

2. Operation, Action, and Effect of Assistance Device 1 of Embodiment Next, operation, action, and effect of the assist device 1 of the embodiment will be described. Hereinafter, the control and operation in the ascending mode for assisting the transfer operation of the person being assisted M will be described. In the ascending mode, the assistance device 1 operates from the initial state shown in FIG. 2 to the intermediate state shown in FIG. 3 to the final state shown in FIG. When assisting the seated motion of the person being assisted M, the assistance device 1 operates in the reverse direction, which is approximately the reverse order of the transfer motion.

First, the caregiver returns the movable portion 52 of the actuator 5 to the shortened position shown in FIG. Next, the caregiver grips the handle 42 and moves the caregiver 1 to approach the care recipient M in the sitting posture. The person to be assisted M moves the lower half of the body into the area below the support portion 4 and places both feet on the foot rest 21. The person being assisted M can obtain a stable posture by bringing a part of the lower leg into contact with the lower leg contact portion 25.

Subsequently, the person M to be assisted leans forward on the body supporting portion 41 by leaning the body forward and leans on the armpit supporting portion 45 on both sides. At this time, since the body support portion 41 is swinging in the upright direction, the forward tilt angle of the body can be small. Moreover, since the armpit support part 45 is substantially horizontal or slightly lowered backward, the person being assisted M can easily lean on the armpit support part 45. The posture of the person being assisted M at this time is the initial posture. The above-described series of operations performed by the person being assisted M may be assisted by the person being assisted. In the initial posture, the buttocks of the person being assisted M are sitting on the seat surface. Therefore, the person being assisted M is in a comfortable posture with the load caused by the weight being supported by the buttocks.

Subsequently, the caregiver starts controlling the climbing mode. As a result, the movable portion 52 of the actuator 5 starts the first operation and extends, and the first link member 61 swings counterclockwise in FIG. Moreover, the arm 3 maintains the rear position of the initial state. With the swing of the first link member 61, the support portion 4 swings forward in conjunction with the second link member 62. At this time, the armpit support part 45 is lowered frontward, so that the person being assisted M is prevented from moving backward and is not dropped from the support part 4.

Due to the swinging of the support portion 4, the forward leaning state of the upper half of the person to be assisted M gradually progresses. Then, when the movable portion 52 extends to a predetermined intermediate position, the state shown in FIG. 3 is obtained. In the state of FIG. 3, the regulation protrusion 614 contacts the regulation member 63, and the swing of the first link member 61 ends. Therefore, the swing of the support portion 4 is also completed. Then, the buttocks of the person being assisted M is in a state at the moment of leaving the seat surface.

Further, when the movable section 52 starts the second operation, the arm 3 is driven by the movable section 52 and swings clockwise in FIG. At the same time, the actuator 5 tilts forward. Further, the support portion 4 maintains a constant posture with respect to the arm 3. This operation is continued until the end state of FIG. 4 in which the movable portion 52 extends to the extended position and the arm 3 reaches the front position. As a result, the person being assisted M leans forward while the upper body moves diagonally forward and upward. As a result, as shown in FIG. 4, the person M to be assisted has a posture during transfer in which the buttocks are greatly elevated from the seat surface and the legs are extended.

According to the assistance device 1 of the embodiment, it is possible to drive the swinging of the support portion 4 forward and the swinging of the arm 3 forward by using one actuator 5. As a result, the transfer operation of the person being assisted M becomes smooth, and the comfort of use is improved. In addition, the cost is low compared to the conventional technique using two actuators.

Furthermore, in the assistance device 1 of the embodiment, the second link member 62 is allowed to be in the disengaged state with respect to the first link member 61. That is, the second link member 62 can move away from the engaging pin 617 of the first link member 61 and swing clockwise (see FIG. 10 ). As a result, the support portion 4 freely swings forward. Therefore, it is possible to expand the region below the support portion 4, and the person being assisted M can easily enter the lower body. In addition, the thigh of the person being assisted M is not pinched by a strong force.

Further, FIG. 9 is a perspective view of the upper portion of the arm 3 as seen obliquely from above. As shown, the movable first link member 61 and second movable link member 62 are covered by the upper cover member 38. This improves safety and simplifies the appearance and improves aesthetics. Further, the arm 3 is formed by connecting the arm front portion 34 and the arm upper portion 35 in a row, and the actuator 5 is arranged close to the arm front portion 34. For this reason, a wide space area is secured below the support portion 4, and the person being assisted M does not feel cramped.

3. Actions and Effects of Arm Restriction Mechanism 7 Next, actions and effects of the arm restriction mechanism 7 will be described. In the assistance device 1 of the embodiment, the base 2, the arm 3, the actuator 5, and the first link member 61 form a four-bar link, and the degree of freedom of operation remains. In other words, the shape of the above-mentioned four-bar link may change when an external force is applied. The arm regulating mechanism 7 eliminates the degree of freedom of the four-joint link and regulates an unexpected forward swing of the arm 3. FIG. 10 is a side sectional view for explaining an unexpected rocking motion of the arm 3 and shows a state in which the movable portion 52 is at an intermediate position.

As shown in FIG. 10, it is assumed that the arm regulation mechanism 7 is not provided and a forward external force is applied to the support portion 4. In this case, first, the support portion 4 freely swings forward. However, if there is a surplus of external force, the arm 3 swings forward. That is, the arm 3 swings without moving the movable portion 52. As can be seen by comparing FIG. 3 and FIG. 10, the arm 3 swings by the angle α due to an unexpected movement. This phenomenon occurs, for example, when the person being assisted M rushes on the support portion 4 with a great deal of force. At this time, the person being assisted M feels uneasy about the unexpected swing motion of the arm 3, and the comfort of use deteriorates.

The arm regulation mechanism 7 shown by the broken line in FIG. 10 regulates the unexpected swing motion of the arm 3 by always accommodating the position of the connecting pin 613 inside the elongated hole 74. According to the present embodiment, even if the link mechanism 6 has a degree of freedom, the arm regulation mechanism 7 eliminates the degree of freedom of the link mechanism 6 and regulates an unexpected movement of the arm 3. Therefore, according to the assistance device 1 of the embodiment, unexpected movement of the arm 3 can be restricted, and the comfort of use of the person being assisted M can be ensured.

Furthermore, the arm regulation mechanism 7 does not hinder the drive by the actuator 5. If the swinging of the arm 3 to the front is simply restricted, it is sufficient to bias the arm 3 to the rear by using a biasing member. However, in this case, the backward biasing force hinders the drive by the actuator 5. On the other hand, according to the present embodiment, unexpected movement of the arm 3 can be restricted without increasing the output of the actuator 5.

4. Modifications and Applications of Embodiments It should be noted that the present embodiment can be modified and applied in various ways, including changing the shapes and sizes of various components.

1: Assistance device 2: Base 22: Actuator support 27: Arm support seat 3: Arm 31: Rod-shaped member 33: Support mounting seat 38: Upper cover member 3A: Predetermined position 3B: Upper position 4: Support 5: Actuator 51: Main body part 52: Movable part 53: Motor 6: Link mechanism 61: First link member 611: Support point 612: Forearm part 613: Connecting pin 614: Restricting protrusion 616: Rear arm part 617: Engagement pin 62 : Second link member 63: Restricting member 7: Arm restricting mechanism 71: Restricting guide member 74: Long hole 75: Energizing member M: Assisted person

Claims (5)

An assistance device for assisting the transfer operation of the person being assisted,
A base,
An arm provided on the base so as to be swingable in the front-rear direction,
A support portion that supports a part of the body of the person being assisted and that is swingably provided in the arm in the front-rear direction,
An actuator having a main body provided on the base so as to be tiltable in the front-rear direction, and a movable portion that expands and contracts from the main body,
A first link member that is swingably provided on the arm and is coupled to the movable portion; and a second link member that is fixed to the support portion and engages with the first link member, A first motion of the movable part extending from the shortened position to a predetermined intermediate position is transmitted to the swing of the support part forward, and a second motion of the movable part extending from the intermediate position to the extended position is forwarded to the arm. Link mechanism that transmits to the swing of
An assisting device that is equipped with. The first link member is oscillated by the first motion of the movable part and is directly driven by the second motion of the movable part without being oscillated by the second motion of the movable part. The assistance device according to claim 1, wherein the assistance device mechanically transmits to the arm. The first link member is a support point swingably supported by the arm, a front arm that extends forward from the support point, is connected to the movable portion, and is capable of abutting on a restriction member provided on the arm. And a rear arm portion that extends rearward from the support point,
When the rear arm portion is driven by the first operation of the movable portion, the rear arm portion swings and drives the support portion via the engaged second link member,
When the forearm portion is driven by the second operation of the movable portion, the forearm portion swings and drives the arm via the abutting restriction member,
The assistance device according to claim 1. 4. The support section according to claim 1, wherein the second link member is allowed to freely swing forward by allowing the second link member to be disengaged from the first link member. Assistance device as described. The assistance device according to claim 1, further comprising a cover member that covers the first link member and the second link member.

Images