JPH09285498A - Standing operation helping device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To help the standing and sitting operations of a human body by the motor of a small capacity by providing the pinion of a standing operation helping part constituted of a rack pinion mechanism on the side of the user to a rack. SOLUTION: In the standing operation helping part, the pinions 18a and 18b are rotated around a rotary shaft attached to a fixed housing not shown in the figure and the racks 22a and 22b are elevated and lowered. Also, the gear surfaces of the racks 22a and 22b are turned to mechanisms provided on the same side to the user. Further, rack covers 23a and 23b are provided around the racks 22a and 22b, and for the side provided with the pinions 18a and 18b, the coaxial pair of roller/bearing or the like turning bodies 20a-20d are provided on the upper side and lower side of the pinions and the structure of being pressed to the end face of the rack covers 23 is attained. Thus, the distance of the user and a force acting point to the rack of the pinion is shortened for the thickness of the rack and human body mass capable of helping the standing operation is increased even when the same motor reduction gear is used.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a motion assisting device for assisting a standing motion or a sitting motion (standing motion) of an elderly person or a person who needs rehabilitation.

[0002]

2. Description of the Related Art Conventionally, (1) Japanese Unexamined Patent Publication (Kokai) No. 5-305 has been used as a stand-up motion assisting device used by elderly people who have weakened legs.
As described in Japanese Patent No. 038, a lift type toilet seat is known in which a rack is fixed and a pinion is rotated to move up and down. In this mechanism, the tooth surface of the rack is provided on the opposite side to the user.

[0003]

In the prior art (1) relating to the stand-up motion assisting device, the rack is fixed and the pinion is rotated to move up and down, so that the rack is a pillar in a fixed type toilet seat, which obstructs the user. However, in the wheel movement type standing motion assisting device, there is a problem that the rack becomes a pillar and interferes with the user. Further, as shown in FIG. 4, the tooth surface of the fixed rack is a mechanism provided on the opposite side to the user. for that reason,
As will be described later, there is a problem that the required driving force for the pinion drive motor becomes large. Further, in the rack and pinion drive system, in order to reduce the driving force of the pinion, it is necessary to reduce the force in the normal direction acting on the tooth surface of the rack of the pinion.

[0004]

In order to solve the following problems (1) to (3), the following means are used in the present invention.

(1) A wheel movement type standing motion assisting device,
A fixed housing (not shown), as shown in Figure 3, to keep the rack out of the way as a pillar
The rack is raised and lowered by rotating the pinion around the rotation shaft attached to the rack.

(2) In the prior art, the tooth surface of the fixed rack is provided on the opposite side to the user, as shown in FIG. Therefore, the pinion drive force F
There is a problem that p becomes large. To solve this problem,
As shown in FIG. 5, the tooth surface of the rack is provided on the same side with respect to the user, so that the distance between the user and the pinion to the rack is equal to the thickness of the rack. Even when the same motor and speed reducer are used, the relationship between the motor speed and the human body mass when assisting the standing motion is (a) conventional technology and (b) technology according to the present invention. As described above, by using the technique of the present invention, it is possible to increase the mass of the human body capable of assisting the standing motion.

Regarding this point, how much pinion driving force is required to hold the user of the human body mass W in position is
A comparative examination will be made with reference to FIGS. 4 and 5. FIG. 4 shows a model of the standing motion assisting section based on the conventional technique, and FIG. 5 shows a model of the standing motion assisting section of the present invention.

In contrast to the mechanism of the prior art (FIG. 4), since the masses of the rack and the supporting portion are minute, they are neglected, and the human body mass W and the force F acting on the rolling element such as the roller in the normal direction at the portion pressed against the rolling element.
₁ , F ₂ and their frictional forces Ff ₁ (= μF ₁ ) and Ff 2 (= μ
F ₂ ) and pinion driving force Fp are given by the equations of translational force and moment, given by equations (1) and ( ₂ ). The relation between the forces F ₁ , F ₂ in the normal direction acting on the rolling elements and Fp is given by the simultaneous equations of Equation 4.

[0009]

[Equation 1]

[0010]

[Equation 2]

[0011]

(Equation 3)

[0012]

(Equation 4)

On the other hand, for the mechanism of the present invention (FIG. 5),
It is given by the simultaneous equations of Equation 5.

[0014]

(Equation 5)

Calculating from this, a ₁ = 0.48
(M), h = 0.035 (m), θ ₀ = 20 (°), l ₁
= 0.172 (m), l ₂ = 0.292 (m), l ₃ =
0.232 (m), W = 100 (kg), μ = 0.22
When calculated, in the conventional technique, Fp = 2630
(N), in the technique of the present invention, Fp = 2050 (N), which shows that the latter can be realized with a pinion driving force that is 23% smaller to hold the same human body mass, and the same motor.・ It was shown that the speed reducer can assist in standing up a larger human body mass, and it was shown to be an advantageous means.

(3) In the rack and pinion drive system, in order to reduce the driving force of the pinion, it is necessary to make the force in the normal direction acting on the tooth surfaces of the pinion and the rack minute. Therefore, as shown in FIG. 1, a rack cover is provided on the outer periphery of the rack, and a pair of coaxially arranged rolling elements such as rollers and bearings are provided on the tooth flanks on both sides with respect to the pinion. It has a structure to be pressed against.

[0017]

BEST MODE FOR CARRYING OUT THE INVENTION The configuration of a standing motion assisting device of the present invention will be described with reference to FIGS. 1 to 3, 7, and 8. FIG.
FIG. 2 shows the detailed mechanism of the standing motion assisting portion of the standing motion assisting device of the present invention, FIG. 2 shows the appearance of the standing motion assisting device of the invention, and FIG. 3 shows the standing motion assisting part of the standing motion assisting device of the invention. 7 is a side view showing the posture immediately after the start of the standing motion when the user uses the standing motion assisting device of the present invention, and FIG. 8 is a case where the user uses the standing motion assisting device of the present invention. The posture immediately after the end of the standing motion of FIG.

First, the construction of the standing motion assisting apparatus of the present invention will be described with reference to FIG.

The standing motion assisting device 1 of the present invention is roughly composed of a supporting part 6 which is moved up and down by an elevating member 4, a front leg part 2 and a rear leg part 3 of the main body, and non-powered wheels attached to them. The elevating part is a standing motion assisting part, and the wheel part is a non-powered walking motion assisting part. User 28
Is gripped by the grip 7 provided on the support portion 6 (see FIGS. 7 and 8), and the operating portion 8 operated by the user is provided with a standing / seating switch 25 and a status display lamp 26 (see FIGS. 1), the user can give a standing / seating motion instruction while confirming whether the device is normal or abnormal. Standing
The seating switch 25 can be moved in the directions of 27a and 27b in FIG. 1, and corresponds to the standing motion instruction and the seating motion instruction, respectively. If the user does not touch the switch,
The switch remains in the neutral state, and the standing motion assisting unit does not operate.

In the operation of the standing motion assisting device, when the user deposits the buttocks on the trunk support 9 composed of the belt state member and tilts the standing / seating switch 25 in the standing direction 27a, the elevating member 4 is indicated by the arrow 5. When the user sits down, when the standing / seating switch 25 is tilted in the seating direction 27b, the elevating member 4 extends downward in the direction of the arrow 5 to assist the seating operation.

This device is also supposed to be used for supporting daily life of elderly people with weakened lower limbs, and also has a walking motion assisting section. The walking motion assisting section includes front wheels 10a and 10b, which are casters provided on the front leg sections 2a and 2b, and rear leg sections 3a and 3a.
rear wheels 12a, 12b made of casters provided in b,
Intermediate wheel 1 consisting of fixed wheels provided between the front and rear wheels
It consists of 1a and 11b. With such a wheel configuration, although it is not possible to traverse or obliquely move, many movement assists including on-the-spot turning can be performed, and the user can move within a house with a small turning radius.

The movement operation braking portions 13a and 13b for preventing the movement of the device when the user stands up and sits down is provided with the intermediate wheel 1.
An abutting member that is provided at the rear of 1a and 11b and is driven by a solenoid or the like contacts the intermediate wheel during braking, and the wheel is stopped from rotating by frictional force.
In order to improve the usability for the user, here, the operation unit 8
When the stand-up / seat switch 25 of (1) gives a stand-up or seating operation instruction, the moving operation braking portions 13a, 13b are interlocked to generate a braking action.

The present invention relates to the structure of the standing motion assisting portion of the apparatus for performing such an operation. Here, the following three means are used as described in the section of means.

(1) The rack is moved up and down by rotating the pinion around the rotary shaft attached to the fixed housing.

(2) As shown in FIG. 5, the tooth surface of the rack is
The mechanism is provided on the same side with respect to the user.

(3) A rack cover is provided on the outer periphery of the rack, and a pair of coaxially arranged rolling elements such as rollers and bearings are respectively pushed to the end surface of the rack cover on both sides of the tooth surface with respect to the pinion. The structure is correct.

The standing motion assisting portion having such a structure will be described with reference to FIGS. 1 and 3. First, regarding the means (1),
As shown in FIG. 3, the pinion 18b is rotated around a rotary shaft attached to a fixed housing (not shown) to raise and lower the rack 22b. The lifting portion of the rack is covered with a bellows 24b so that the user is not injured.

Regarding the means (2), which can be understood by comparing FIGS. 1 and 7, the tooth surface of the rack is a mechanism provided on the same side with respect to the user.

The means (3) is, as shown in FIG. 1, a rack cover 23 around the racks 22a and 22b.
a and 23b are provided, and on the side where the pinions 18a and 18b are provided, a pair of coaxial rolling elements 20a to 20d such as rollers and bearings are provided on the upper side and the lower side of the pinion and pressed against the end surface of the rack cover. And

Further, except for the sides of the rack covers 23a and 23b where the pinions 18a and 18b are provided, two rolling elements such as two rollers and bearings are provided on the upper and lower sides 19a to 19h and 2 respectively.
1a to 21d are provided.

The rack cover is provided not only for supporting the rolling elements on the pinion side, but also for the rack 22.
The clearances 30a and 30b are provided between a and 22b and the rack covers 23a and 23b, and can also be used for the purpose of passing wires for the standing / seating switch 25 of the operation portion 8 and the status display lamps 26a and 26b. The operating method of the mechanism of FIG. 1 is that the brake 15 is released, the motor 14 is energized, and the warm 1
6, the worm wheel 17 whose rotation axis direction is orthogonal to each other is decelerated and rotated, the pinions 18a and 18b coaxial with the worm wheel are rotated, and the racks 22a and 22b are moved up and down. With such a configuration, it is possible to assist the user in standing and sitting as shown in FIGS. 7 and 8.

[0032]

Since the standing motion assisting apparatus of the present invention is configured as described above, it has the following effects.

(1) Since the pinion of the stand-up operation assisting portion composed of the rack and pinion mechanism is provided on the user side with respect to the rack, it is possible to assist the stand-up operation of the human body with a motor having a small capacity. .

(2) Since the rack around the rack of the stand-up motion auxiliary unit composed of the rack and pinion mechanism is covered with the rack cover, the load on the pinion side can be supported by the rolling elements such as the roller and the bearing, and The wiring of the operating portion provided on the support portion can be passed through the clearance of the rack cover.

[Brief description of drawings]

FIG. 1 is a detailed mechanism of a standing motion assisting portion of a standing motion assisting device of the present invention.

FIG. 2 is an external view of a standing motion assisting device of the present invention.

FIG. 3 is a side view of a standing motion assisting portion of the standing motion assisting device of the present invention.

FIG. 4 is a model of a standing motion assisting unit according to the related art.

FIG. 5 is a model of the standing motion assisting unit of the present invention.

FIG. 6 is a comparison of the standing motion assisting performance based on the conventional technology and the technology of the present invention.

FIG. 7 is a posture immediately after the start of the standing motion when the user uses the standing motion assistance device of the present invention.

FIG. 8 is a posture immediately after the end of the standing motion when the user uses the standing motion assistance device of the present invention.

[Explanation of symbols]

1 ... Standing movement assisting device, 2 ... Front leg part, 3 ... Rear leg part, 4 ...
Lifting unit, 5 ... Lifting direction, 6 ... Supporting unit, 7 ... Grip, 8
... operation part, 9 ... trunk support device, 10 ... front wheel, 11 ... intermediate wheel, 12 ... rear wheel, 13 ... movement operation braking part, 14 ... mode
15 ... Brake, 16 ... Worm, 17 ... Warm wheel, 18 ... Pinion, 19,20,21 ... Roller / bearing rolling element, 22 ... Rack, 23 ... Rack cover,
24 ... Bellows, 25 ... Standing / sitting switch, 26 ... Status display lamp, 27 ... Standing / sitting switch operating direction, 2
8 ... user, 29 ... portable toilet, 30 ... rack
Rack cover clearance.

 ─────────────────────────────────────────────────── ─── Continuation of front page (72) Inventor Akira Endo 1250 Shimoeden, Shimodate-shi, Ibaraki Hitachi Chemical Co., Ltd. Yuki factory (72) Inventor Makoto Okada 3-9-7 Itabashi, Itabashi-ku, Tokyo Within Hitachi Chemical Co., Ltd. (72) Masamichi Tomita, 502 Kintatemachi, Tsuchiura-shi, Ibaraki Prefecture, Hiritsu Manufacturing Co., Ltd.Mechanical Research Laboratory (72) Inventor, Search for: 502, Jinmachi-cho, Tsuchiura-shi, Ibaraki, Ltd. Machinery Research Laboratory (72) Inventor Masakatsu Fujie 502 Jinritsucho, Tsuchiura City, Ibaraki Prefecture Hitate Manufacturing Co., Ltd. (72) Inventor Yoshiki Yoshida 1-280 Higashi Koigakubo, Kokubunji, Tokyo Hitachi Design Co., Ltd. In the laboratory

Claims (4)

[Claims] 1. A support part for supporting a user, an operating part provided on the support part, and a drive means for driving the support part to assist the user in the standing motion and to support the standing motion assisting part. In a stand-up motion assisting device configured to rotate a pinion from a motor through a speed reducer to elevate and lower the rack, the pinion is provided with the rack tooth surface facing the side used by the user with respect to the rack. A stand-up movement assisting device characterized by the above. 2. The standing motion assisting device according to claim 1, wherein the rack is supported by pressing a rolling element such as a roller or a bearing against a rack cover covering three surfaces of the rack excluding the tooth surfaces. Characterizing standing movement assisting device. 3. The standing motion assisting device according to claim 1 or 2, wherein a pair of coaxially arranged rollers are provided on both sides of the tooth surface on the tooth surface side with respect to the pinion of the rack cover end surface. -A standing motion assisting device having a structure in which rolling elements such as rotors and bearings are pressed against the end surface of the rack cover. 4. The standing motion assisting device according to claim 1, 2 or 3, wherein a clearance is provided between a surface of the rack opposite to the tooth surface and an inner surface of the rack cover. A standing motion assisting device, wherein the wiring of the operating portion is passed through the clearance.