JPWO2019111514A1 - Assistance device - Google Patents

Assistance device Download PDF

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JPWO2019111514A1
JPWO2019111514A1 JP2019558033A JP2019558033A JPWO2019111514A1 JP WO2019111514 A1 JPWO2019111514 A1 JP WO2019111514A1 JP 2019558033 A JP2019558033 A JP 2019558033A JP 2019558033 A JP2019558033 A JP 2019558033A JP WO2019111514 A1 JPWO2019111514 A1 JP WO2019111514A1
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assisted
person
actuator
arm
link member
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JP6934535B2 (en
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英明 野村
英明 野村
伸幸 中根
伸幸 中根
剛裕 野口
剛裕 野口
聡志 清水
聡志 清水
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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G7/00—Beds specially adapted for nursing; Devices for lifting patients or disabled persons
    • A61G7/10—Devices for lifting patients or disabled persons, e.g. special adaptations of hoists thereto
    • A61G7/1013—Lifting of patients by
    • A61G7/1017—Pivoting arms, e.g. crane type mechanisms
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G1/00—Stretchers
    • A61G1/02—Stretchers with wheels
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
    • A61G5/04—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs motor-driven
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
    • A61G5/10—Parts, details or accessories
    • A61G5/1005—Wheelchairs having brakes
    • A61G5/1037—Wheelchairs having brakes manipulated by assisting person
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
    • A61G5/10—Parts, details or accessories
    • A61G5/12—Rests specially adapted therefor, e.g. for the head or the feet
    • A61G5/125—Rests specially adapted therefor, e.g. for the head or the feet for arms
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
    • A61G5/10—Parts, details or accessories
    • A61G5/14—Standing-up or sitting-down aids
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G7/00—Beds specially adapted for nursing; Devices for lifting patients or disabled persons
    • A61G7/10—Devices for lifting patients or disabled persons, e.g. special adaptations of hoists thereto
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G7/00—Beds specially adapted for nursing; Devices for lifting patients or disabled persons
    • A61G7/10—Devices for lifting patients or disabled persons, e.g. special adaptations of hoists thereto
    • A61G7/104—Devices carried or supported by
    • A61G7/1046—Mobile bases, e.g. having wheels
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G7/00—Beds specially adapted for nursing; Devices for lifting patients or disabled persons
    • A61G7/10—Devices for lifting patients or disabled persons, e.g. special adaptations of hoists thereto
    • A61G7/1073—Parts, details or accessories
    • A61G7/1082—Rests specially adapted for
    • A61G7/1086—Upper body
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G7/00—Beds specially adapted for nursing; Devices for lifting patients or disabled persons
    • A61G7/10—Devices for lifting patients or disabled persons, e.g. special adaptations of hoists thereto
    • A61G7/1073—Parts, details or accessories
    • A61G7/1082—Rests specially adapted for
    • A61G7/1092—Rests specially adapted for the arms
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G7/00—Beds specially adapted for nursing; Devices for lifting patients or disabled persons
    • A61G7/10—Devices for lifting patients or disabled persons, e.g. special adaptations of hoists thereto
    • A61G7/1073—Parts, details or accessories
    • A61G7/1082—Rests specially adapted for
    • A61G7/1094—Hand or wrist
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G2200/00—Information related to the kind of patient or his position
    • A61G2200/30—Specific positions of the patient
    • A61G2200/34—Specific positions of the patient sitting
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G2200/00—Information related to the kind of patient or his position
    • A61G2200/30—Specific positions of the patient
    • A61G2200/36—Specific positions of the patient standing
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G2200/00—Information related to the kind of patient or his position
    • A61G2200/50—Information related to the kind of patient or his position the patient is supported by a specific part of the body
    • A61G2200/52—Underarm
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G2200/00—Information related to the kind of patient or his position
    • A61G2200/50—Information related to the kind of patient or his position the patient is supported by a specific part of the body
    • A61G2200/54—Shoulder
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G2200/00—Information related to the kind of patient or his position
    • A61G2200/50—Information related to the kind of patient or his position the patient is supported by a specific part of the body
    • A61G2200/60—Elbow

Abstract

介助装置は、被介助者が足を載せる基台と、前記被介助者の身体の一部を支持可能であり、かつ、前記基台に設けられて前記被介助者を起立させる起立方向または前記被介助者を着座させる着座方向を動作方向とする動作が可能な支持アーム部と、前記支持アーム部を駆動するアクチュエータと、前記アクチュエータの駆動力を前記支持アーム部に伝達するとともに、前記アクチュエータにより駆動された前記支持アーム部の現在位置が前記アクチュエータの駆動状態に依存せずに変化することを許容するリンク機構と、前記支持アーム部の前記動作方向の少なくとも一方側の動作に抵抗力を発生するダンパー機構と、を備えて、前記被介助者の移乗動作を介助する。The assisting device can support the base on which the person being assisted rests and a part of the body of the person being assisted, and is provided on the base in the standing direction in which the person being assisted stands up or said. A support arm portion capable of operating in the seating direction in which the person being assisted is seated, an actuator for driving the support arm portion, and a driving force of the actuator are transmitted to the support arm portion, and the actuator is used. A link mechanism that allows the current position of the driven support arm portion to change independently of the driving state of the actuator, and a resistance force are generated in the operation of the support arm portion on at least one side in the operation direction. It is provided with a damper mechanism for assisting the transfer operation of the person being assisted.

Description

本明細書は、被介助者の移乗動作を介助する介助装置に関する。 The present specification relates to an assistance device that assists the transfer operation of the person being assisted.

高齢化社会の進展に伴い、介助装置のニーズが増大している。介助装置は、一般的に、アクチュエータからの駆動により、被介助者の身体の一部を支持した支持部を移動させる。介助装置の導入によって、介助者および被介助者の身体的な負担が軽減されるとともに、介護士の人手不足も緩和される。介助装置の一例として、被介助者の座位姿勢からの移乗動作を介助する装置がある。この種の介助装置に関する一技術例が特許文献１に開示されている。 With the progress of the aging society, the needs for assistance devices are increasing. The assistance device is generally driven by an actuator to move a support portion that supports a part of the body of the person being assisted. The introduction of the assistance device will reduce the physical burden on the caregiver and the person being assisted, and also alleviate the labor shortage of caregivers. As an example of the assistance device, there is a device that assists the transfer operation of the person being assisted from the sitting posture. A technical example relating to this type of assistance device is disclosed in Patent Document 1.

特許文献１の人体移送装置は、車輪が装備された走行部と、走行部の上部に位置して被介助者を支持する人体支持部と、人体支持部を高さ方向に駆動する駆動部と、を備える。さらに、駆動部に相当する伸縮アクチュエータとリンク機構が組み合わせて用いられ、伸縮アクチュエータの伸び動作が支持部の円弧状の揺動動作に変換される。これによれば、介助者が腰を痛めてしまうことを抑制しつつ、被介助者の移送を容易かつ迅速に行える、とされている。 The human body transfer device of Patent Document 1 includes a traveling portion equipped with wheels, a human body supporting portion located above the traveling portion to support a person being assisted, and a driving unit for driving the human body supporting portion in the height direction. , Equipped with. Further, a telescopic actuator corresponding to the drive unit and a link mechanism are used in combination, and the extension operation of the expansion / contraction actuator is converted into an arc-shaped swing operation of the support portion. According to this, it is said that the care recipient can be easily and quickly transferred while suppressing the caregiver from injuring his / her back.

また、特許文献２の介助ロボットは、基台に対して上下方向に直動する昇降部と、昇降部に揺動可能に設けられたアームと、アームの先端に設けられた支持部と、を備える。昇降部およびアームは別々のアクチュエータによって駆動され、二段階の動作が行われる。これによれば、昇降部およびアームを協調動作させることができ、被介助者に不快感を与えることが抑制される、とされている。 Further, the assisting robot of Patent Document 2 has an elevating portion that moves linearly in the vertical direction with respect to the base, an arm that is swingably provided on the elevating portion, and a support portion that is provided at the tip of the arm. Be prepared. The elevating part and the arm are driven by separate actuators to perform a two-step operation. According to this, the elevating part and the arm can be operated in cooperation with each other, and it is said that discomfort to the person being assisted is suppressed.

特開２０１６−１６５３１３号公報Japanese Unexamined Patent Publication No. 2016-165313 国際公開第２０１７／０６０９６４号International Publication No. 2017/060964

ところで、特許文献１では、支持部が円弧状に揺動するだけであるので、被介助者にとり必ずしも快適に使用できるとは限らなかった。一方、特許文献２では、２個のアクチュエータを用いて昇降部およびアームをそれぞれ動作させるので、被介助者の移乗動作は円滑となり、使用快適性が向上する。しかしながら、２個のアクチュエータを用いることは、コストの上昇につながる。 By the way, in Patent Document 1, since the support portion only swings in an arc shape, it is not always comfortable for the person being assisted. On the other hand, in Patent Document 2, since the elevating part and the arm are operated by using two actuators, the transfer operation of the person being assisted becomes smooth and the usability is improved. However, using two actuators leads to an increase in cost.

そこで、１個のアクチュエータを用いて複数の部材を動作させることが想起される。しかしながら、１個のアクチュエータで複数の部材を駆動するためには、何らかのリンク機構が必要となる。さらに、被介助者の使用の便宜を考慮して、人体支持部を自由揺動できるようにした構成も実用化されている。これらの技術の組み合わせに起因して、介助装置の動作に自由度が残されていると、被介助者にとって予想し難い動作が発生する場合がある。これにより、被介助者は、予想し難い動作に不安を感じたり驚いたりして、使用快適性が低下する。 Therefore, it is recalled that a plurality of members are operated by using one actuator. However, in order to drive a plurality of members with one actuator, some kind of link mechanism is required. Further, in consideration of the convenience of use by the person being assisted, a configuration in which the human body support portion can freely swing has also been put into practical use. If there is a degree of freedom in the operation of the assisting device due to the combination of these techniques, an operation that is unpredictable for the person being assisted may occur. As a result, the person being assisted may feel anxious or surprised at the unpredictable movement, and the comfort of use is reduced.

本明細書では、装置の動作に自由度が残されていて、被介助者にとって予想し難い動作が発生した場合でも、この動作の進行を抑制して良好な使用快適性を確保できる介助装置を提供することを解決すべき課題とする。 In the present specification, there is a degree of freedom in the operation of the device, and even if an operation that is unpredictable for the person being assisted occurs, the assistance device that can suppress the progress of this operation and ensure good usability is provided. The issue to be provided is to be solved.

本明細書は、被介助者が足を載せる基台と、前記被介助者の身体の一部を支持可能であり、かつ、前記基台に設けられて前記被介助者を起立させる起立方向または前記被介助者を着座させる着座方向を動作方向とする動作が可能な支持アーム部と、前記支持アーム部を駆動するアクチュエータと、前記アクチュエータの駆動力を前記支持アーム部に伝達するとともに、前記アクチュエータにより駆動された前記支持アーム部の現在位置が前記アクチュエータの駆動状態に依存せずに変化することを許容するリンク機構と、前記支持アーム部の前記動作方向の少なくとも一方側の動作に抵抗力を発生するダンパー機構と、を備えて、前記被介助者の移乗動作を介助する介助装置を開示する。 The present specification can support a base on which the person being assisted rests and a part of the body of the person being assisted, and is provided on the base in an upright direction or in which the person being assisted stands up. A support arm portion capable of operating in the seating direction in which the person being assisted is seated, an actuator for driving the support arm portion, and a driving force of the actuator are transmitted to the support arm portion, and the actuator is used. A link mechanism that allows the current position of the support arm portion driven by the actuator to change independently of the driving state of the actuator, and a resistance force to the operation of the support arm portion on at least one side in the operation direction. Disclosed is an assisting device including a generating damper mechanism and assisting the transfer operation of the person being assisted.

本明細書で開示する介助装置では、装置の動作に自由度が残されていて、支持アーム部の現在位置がアクチュエータの駆動状態に依存せずに変化する場合が有り、被介助者にとって予想し難い。それでも、ダンパー機構は、支持アーム部の少なくとも一方側の予想し難い動作に抵抗力を発生するので、支持アーム部の動作の進行が抑制される。これにより、予想し難い動作がゆっくり進行するので、被介助者は、不安を感じることがなく、かつ驚くこともない。したがって、介助装置の良好な使用快適性が確保される。 In the assistance device disclosed in the present specification, there is a degree of freedom in the operation of the device, and the current position of the support arm portion may change independently of the driving state of the actuator, which is expected by the person being assisted. hard. Nevertheless, the damper mechanism generates resistance to unpredictable movements on at least one side of the support arm, thus suppressing the progress of the movement of the support arm. As a result, the unpredictable movement progresses slowly, so that the person being assisted does not feel anxiety and is not surprised. Therefore, good usability of the assistance device is ensured.

介助装置が被介助者の移乗動作を介助する場合の初期状態を示す側面部分断面図である。It is a side partial sectional view which shows the initial state when the assistance device assists the transfer operation of the person to be assisted. 介助装置が被介助者の移乗動作を介助する場合の途中の状態を示す側面部分断面図である。It is a side partial cross-sectional view which shows the state in the middle when the assistance device assists the transfer operation of the person to be assisted. 介助装置が被介助者の移乗動作を介助する場合の終期状態を示す側面部分断面図である。It is a side partial sectional view which shows the terminal state when the assistance device assists the transfer operation of the person to be assisted. ダンパー機構の構成を説明する側面図である。It is a side view explaining the structure of a damper mechanism. アクチュエータの駆動状態に依存せずに、図２に示されたアームの現在位置が起立方向に変化した後の状態を示す図である。It is a figure which shows the state after the current position of the arm shown in FIG. 2 changes in the upright direction without depending on the driving state of an actuator. 図５の状態に対応するダンパー機構の動作状態を示した図である。It is a figure which showed the operating state of the damper mechanism corresponding to the state of FIG.

１．実施形態の介助装置１の構成
実施形態の介助装置１について、図１〜図６を参考にして説明する。図１〜図３は、介助装置１が被介助者Ｍを座位姿勢から移乗時姿勢まで介助する動作の進行を表す側面部分断面図である。1. 1. Configuration of Assistance Device 1 of the Embodiment The assistance device 1 of the embodiment will be described with reference to FIGS. 1 to 6. 1 to 3 are side sectional views showing the progress of the operation in which the assisting device 1 assists the person being assisted M from the sitting posture to the transfer posture.

介助装置１は、例えば、被介助者Ｍのベッドと車椅子と間の移乗や、車椅子と便座の間の移乗など、異なる二箇所の間の移乗を介助する。介助装置１は、被介助者Ｍの胴体を支持して、座位姿勢から移乗時姿勢への移乗動作、および移乗時姿勢から座位姿勢への着座動作を介助する。ここで、移乗時姿勢は、臀部が座面から浮いた姿勢であり、立位姿勢および中腰姿勢を含む。つまり、移乗時姿勢は、上半身が起立した状態および前かがみの状態などを含む。また、介助装置１は、移乗する二箇所が離れている場合に、移乗時姿勢の被介助者Ｍを移送することができる。 The assistance device 1 assists the transfer between two different places, such as the transfer between the bed and the wheelchair of the person being assisted M and the transfer between the wheelchair and the toilet seat. The assisting device 1 supports the torso of the person being assisted M and assists the transfer operation from the sitting posture to the transfer posture and the sitting operation from the transfer posture to the sitting posture. Here, the transfer posture is a posture in which the buttocks are lifted from the seat surface, and includes a standing posture and a mid-waist posture. That is, the transfer posture includes a state in which the upper body is upright and a state in which the upper body is leaning forward. Further, the assisting device 1 can transfer the assisted person M in the transfer posture when the two transfer locations are separated from each other.

介助装置１は、基台２、アーム３、支持部４、アクチュエータ５、リンク機構６、ダンパー機構７、および図略の制御部などで構成される。図１において、ダンパー機構７の配置位置が破線で示されている。また、図２および図３において、ダンパー機構７は、図示省略されている。 The assistance device 1 is composed of a base 2, an arm 3, a support portion 4, an actuator 5, a link mechanism 6, a damper mechanism 7, a control unit (not shown), and the like. In FIG. 1, the arrangement position of the damper mechanism 7 is shown by a broken line. Further, in FIGS. 2 and 3, the damper mechanism 7 is not shown.

基台２は、足載置台２１、後輪２３、基台ロッド２４、下腿当て部２５、取り付け板２６、および前輪２８などで形成される。足載置台２１は、床面Ｆに近接して概ね水平に配置される。足載置台２１は、被介助者Ｍが足を載せる部位である。足載置台２１の上面の前側寄りの左右方向の中央に、アクチュエータ支持部２２が上向きに設けられる。左右一対の後輪２３は、足載置台２１の後側の左右に設けられる。 The base 2 is formed of a footrest 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 stand 21 is arranged substantially horizontally in the vicinity of the floor surface F. The footrest stand 21 is a portion on which the person being assisted M rests his / her feet. The actuator support portion 22 is provided upward at the center of the upper surface of the footrest stand 21 in the left-right direction toward the front side. A pair of left and right rear wheels 23 are provided on the left and right sides of the rear side of the footrest stand 21.

左右一対の基台ロッド２４は、足載置台２１の前面の左右からそれぞれ前向きに設けられる。基台ロッド２４は、前方から上方へ屈曲した後、後方に傾いて延在する。下腿当て部２５は、２本の基台ロッド２４の上部に、後向きに設けられる。下腿当て部２５は、足載置台２１の前寄りの上方に位置する。下腿当て部２５は、クッション材で形成されており、被介助者Ｍの下腿付近が接触可能となっている。 The pair of left and right base rods 24 are provided facing forward from the left and right on the front surface of the footrest base 21. The base rod 24 bends upward from the front and then tilts backward and extends. The lower leg pad 25 is provided on the upper part of the two base rods 24 so as to face backward. The lower leg rest 25 is located above the front of the footrest 21. The lower leg pad 25 is made of a cushioning material so that the vicinity of the lower leg of the person being assisted M can come into contact with the lower leg pad 25.

左右一対の取り付け板２６は、基台ロッド２４の前方から上方へ屈曲した屈曲部の少し上寄りの位置であって、向かい合う内側の位置にそれぞれ固設される。取り付け板２６は、基台ロッド２４から前方に延びる。左右一対の取り付け板２６の上部に、アーム支持座２７がそれぞれ設けられる。左右一対の取り付け板２６の下側の前部に、左右一対の前輪２８が設けられる。前輪２８および後輪２３の転舵機能により、介助装置１は、直進移動および旋回移動だけでなく、横移動および超信地旋回が可能となっている。さらに、前輪２８は、移動を規制するロック機能を備える。 The pair of left and right mounting plates 26 are fixed at positions slightly above the bent portion bent upward from the front of the base rod 24, and are fixed to each other at opposite inner positions. The mounting plate 26 extends forward from the base rod 24. Arm support seats 27 are provided on the upper part of the pair of left and right mounting plates 26. A pair of left and right front wheels 28 are provided on the lower front portion of the pair of left and right mounting plates 26. The steering function of the front wheels 28 and the rear wheels 23 enables the assisting device 1 to perform not only straight-ahead movement and turning movement, but also lateral movement and super-credit turning. Further, the front wheel 28 has a lock function for restricting movement.

アーム３は、棒状部材３１、前部カバー部材３６、上部カバー部材３８、および符号略の各種構造材などで形成される。棒状部材３１は、下側が開いた略Ｕ字状の棒状の部材である。棒状部材３１の両側の下端３２は、取り付け板２６のアーム支持座２７に揺動可能に支持される。これにより、アーム３は、基台２に対する前後方向の揺動を動作方向とする。アーム３の前方への揺動は、被介助者Ｍを起立させる起立方向に対応し、後方への揺動は、被介助者Ｍを着座させる着座方向に対応する。 The arm 3 is formed of a rod-shaped member 31, a front cover member 36, an upper cover member 38, various structural members of abbreviations, and the like. The rod-shaped member 31 is a substantially U-shaped rod-shaped member with an open lower side. 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 has an operation direction of swinging in the front-rear direction with respect to the base 2. The forward swing of the arm 3 corresponds to the standing direction in which the person being assisted M stands up, and the backward swing corresponds to the seating direction in which the person being assisted M is seated.

アーム３の揺動角度を規制するために、符号略のストッパ機構がアーム支持座２７の近傍に設けられる。棒状部材３１は、左右の下端３２から上方に延在し、途中で後方斜め上方に屈曲して延在し、後方の上部で合一する。アーム３の全体形状は、アーム支持座２７から上方に延在するアーム前部３４、および、アーム前部３４の上部に連なって後方斜め上方に延在するアーム上部３５からなる。 In order to regulate the swing angle of the arm 3, a stopper mechanism of abbreviation is provided in the vicinity of the arm support seat 27. The rod-shaped member 31 extends upward from the left and right lower ends 32, bends diagonally upward rearward and extends in the middle, and unites at the upper rear part. The overall shape of the arm 3 includes an arm front portion 34 extending upward from the arm support seat 27, and an arm upper portion 35 extending diagonally upward rearward and connected to the upper portion of the arm front portion 34.

前部カバー部材３６は、アーム前部３４を構成する。前部カバー部材３６は、棒状部材３１の前側に間隔をあけて配置されている。前部カバー部材３６は、両方の側面が後向きに折り曲げられて形成され、内部空間が区画される。前部カバー部材３６の内部空間には、図略のバッテリが収納される。バッテリは、アクチュエータ５および制御部の電源となる。 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 at intervals. The front cover member 36 is formed by bending both side surfaces rearward to partition the internal space. A battery (not shown) is housed in the internal space of the front cover member 36. The battery serves as a power source for the actuator 5 and the control unit.

上部カバー部材３８は、前部カバー部材３６に連なって形成され、アーム上部３５を構成する。上部カバー部材３８は、棒状部材３１の上側に近接して配置される。上部カバー部材３８は、両方の側面が下向きに折り曲げられて形成されており、内部空間が区画される。上部カバー部材３８の内部空間の前下側に、リンク機構６が設けられる。また、内部空間の後上側に、支持部取付座３３が設けられる。 The upper cover member 38 is formed so as to be connected to the front cover member 36 and constitutes the upper arm 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. A link mechanism 6 is provided on the front lower side of the internal space of the upper cover member 38. Further, a support portion mounting seat 33 is provided on the rear upper side of the internal space.

支持部４は、胴体支持部４１および左右一対の脇支持部４５を含んで形成される。胴体支持部４１は、アーム上部３５の支持部取付座３３に揺動可能に支持される。これにより、支持部４は、アーム３に対する前後方向の揺動を動作方向とする。支持部４の前方への揺動は、被介助者Ｍを起立させる起立方向に対応し、後方への揺動は、被介助者Ｍを着座させる着座方向に対応する。胴体支持部４１は、ハンドル４２を有する。ハンドル４２は、概ね四角形の枠形状に形成されている。ハンドル４２は、被介助者Ｍが把持する部位であるとともに、介助装置１を移動させるために介助者が把持する部位でもある。 The support portion 4 is formed including a fuselage 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 makes the swing in the front-rear direction with respect to the arm 3 the operating direction. The forward swing of the support portion 4 corresponds to the standing direction in which the person being assisted M stands up, and the backward swing corresponds to the seating direction in which the person being assisted M is seated. The fuselage support 41 has a handle 42. The handle 42 is formed in a substantially quadrangular frame shape. The handle 42 is a portion gripped by the person being assisted M, and is also a portion gripped by the caregiver to move the assisting device 1.

胴体支持部４１は、ベースプレート４３および胴体接触部材４４などで形成される。ベースプレート４３は、金属製や樹脂製の剛性の大きな板材を用いて概ね矩形に形成される。ベースプレート４３には、前述したハンドル４２、支持部取付座３３に取り付けられる部位、および後述する第二リンク部材６２が設けられる。 The body support portion 41 is formed of a base plate 43, a body contact member 44, and the like. The base plate 43 is formed in a substantially rectangular shape by using a plate material having high rigidity made of metal or resin. The base plate 43 is provided with the handle 42 described above, a portion to be attached to the support portion mounting seat 33, and a second link member 62 described later.

胴体接触部材４４は、柔軟性のある材料を用いてベースプレート４３よりも大きく形成され、ベースプレート４３の上面に取り付けられる。胴体接触部材４４は、例えば、表層およびベース層からなる二層構造とすることができる。表層の形成材料として低反発性のウレタンフォームを例示でき、ベース層の形成材料として低燃焼性のウレタンフォームを例示できる。胴体支持部４１は、被介助者Ｍの身体の一部である胴体の胸部から腹部の辺りを支持可能である。 The fuselage contact member 44 is formed larger than the base plate 43 using a flexible material and is attached to the upper surface of the base plate 43. The fuselage contact member 44 may have, for example, a two-layer structure including a surface layer and a base layer. A low-resilience urethane foam can be exemplified as a surface layer forming material, and a low-combustibility urethane foam can be exemplified as a base layer forming material. The torso support portion 41 can support the area from the chest to the abdomen of the torso, which is a part of the body of the person being assisted M.

左右一対の脇支持部４５は、胴体支持部４１の左右両側の胸部寄りに取り付けられる。脇支持部４５は、鈍角に屈曲するＬ字状に形成される。脇支持部４５は、芯部材４６（図４参照）および外周部材４７などで形成される。芯部材４６は、例えば、金属製または硬質樹脂製の丸棒やパイプが屈曲されて形成される。 The pair of left and right side support portions 45 are attached to the left and right sides of the body support portion 41 near the chest. The side support portion 45 is formed in an L shape that bends at an obtuse angle. The side support portion 45 is formed of a core member 46 (see FIG. 4), an outer peripheral member 47, and the like. The core member 46 is formed by bending, for example, a round bar or a pipe made of metal or hard resin.

外周部材４７は、クッション材を用いて、芯部材４６の外周を覆う筒状に形成される。脇支持部４５の取り付け側の基端から屈曲位置までの短い直線状部分は肩受け部となり、屈曲位置から先端までの長い直線状部分は脇進入部となる。肩受け部は、被介助者Ｍの肩の前面を支持する。脇進入部は、被介助者Ｍの胴体の両側の脇に進入する。胴体支持部４１および脇支持部４５は、布製や皮製の着脱可能なカバーを備えてもよい。 The outer peripheral member 47 is formed in a tubular shape that covers the outer periphery of the core member 46 by using a cushion material. The short straight portion from the base end on the attachment side of the side support portion 45 to the bent position is the shoulder receiving portion, and the long straight portion from the bent position to the tip is the side approach portion. The shoulder support portion supports the front surface of the shoulder of the person being assisted M. The side entry portion enters the sides of the body of the person being assisted M on both sides. The body support portion 41 and the side support portion 45 may be provided with removable covers made of cloth or leather.

アクチュエータ５は、伸縮アクチュエータであり、本体部５１、可動部５２、およびモータ５３などで構成される。本体部５１は、上下に長い太径の円筒状の部材であり、上方に開口する開口部を有する。本体部５１の下端は、基台２のアクチュエータ支持部２２に支持される。可動部５２は、上下に長い細径の丸棒状の部材である。可動部５２の上端は、リンク機構６の第一リンク部材６１に接続される。可動部５２の下部は、本体部５１の開口部に嵌入している。 The actuator 5 is a telescopic actuator, and is composed of a main body 51, a movable portion 52, a motor 53, and the like. The main body 51 is a cylindrical member having a large diameter that is long in the vertical direction, and has an opening that opens upward. The lower end of the main body 51 is supported by the actuator support 22 of the base 2. The movable portion 52 is a round bar-shaped member having a long vertical diameter. The upper end of the movable portion 52 is connected to the first link member 61 of the link mechanism 6. The lower portion of the movable portion 52 is fitted into the opening of the main body portion 51.

モータ５３は、本体部５１の下部の前側に取り付けられる。モータ５３は、図略の制御部によって流れる電流の方向が制御され、可動部５２の伸び動作および縮み動作を駆動する。モータ５３からの駆動により、可動部５２は、本体部５１に対して伸縮動作する。なお、アクチュエータ５は、モータ５３に代えて油圧や空気圧を用いた圧力駆動源などの別種の駆動源を用いることができる。 The motor 53 is attached to the front side of the lower part of the main body 51. In the motor 53, the direction of the flowing current is controlled by the control unit (not shown), and the extension operation and the contraction operation of the movable unit 52 are driven. By being driven by the motor 53, the movable portion 52 expands and contracts with respect to the main body portion 51. In addition, the actuator 5 can use another type of drive source such as a pressure drive source using hydraulic pressure or air pressure instead of the motor 53.

アクチュエータ５は、短縮長さから所定の途中長さまで伸びる第一伸び動作、途中長さから伸長長さまで伸びる第二伸び動作、および、伸長長さから途中長さを経て短縮長さまで縮む縮み動作を行う。第一伸び動作のストローク長として３０ｍｍを例示でき、第二伸び動作のストローク長として６０ｍｍを例示できる。 The actuator 5 performs a first extension operation of extending from a shortened length to a predetermined intermediate length, a second extension operation of extending from an intermediate length to an extended length, and a contracting operation of contracting from an extended length through an intermediate length to a shortened length. Do. The stroke length of the first extension operation can be exemplified by 30 mm, and the stroke length of the second extension operation can be exemplified by 60 mm.

リンク機構６は、第一リンク部材６１、第二リンク部材６２、および規制部材６３などで構成される。第一リンク部材６１は、支持点６１１、前腕部６１２、および後腕部６１６を有する前後方向に細長い部材である。支持点６１１は、アーム上部３５の中央付近に配置される。かつ、支持点６１１は、アーム３の揺動軸部によって揺動可能に支持される。これにより、第一リンク部材６１は、支持点６１１を中心にして揺動する。 The link mechanism 6 is composed of a first link member 61, a second link member 62, a regulation member 63, and the like. The first link member 61 is a member elongated in the front-rear direction 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 upper arm 35. In addition, the support point 611 is swingably supported by the swing shaft portion of the arm 3. As a result, the first link member 61 swings around the support point 611.

前腕部６１２は、支持点６１１から前方に延びている。前腕部６１２の前寄りの下部に、連結ピン６１３が設けられる。連結ピン６１３は、前腕部６１２とアクチュエータ５の可動部５２の上端を連結する。前腕部６１２の前寄りの上部に、規制突部６１４が形成される。前腕部６１２の先端に、ダンパー係合部６１５が設けられる。ダンパー係合部６１５とアーム３の間に、ダンパー機構７が設けられる（詳細後述）。 The forearm portion 612 extends forward from the support point 611. A connecting pin 613 is provided at the lower part of the forearm portion 612 near the front. The connecting pin 613 connects the forearm portion 612 and the upper end of the movable portion 52 of the actuator 5. A regulation protrusion 614 is formed on the upper part of the forearm portion 612 near the front. A damper engaging portion 615 is provided at the tip of the forearm portion 612. A damper mechanism 7 is provided between the damper engaging portion 615 and the arm 3 (details will be described later).

後腕部６１６は、支持点６１１から後方に延びている。後腕部６１６の後寄りに、係合ピン６１７が左右方向に延在するように設けられる。図１〜図３に示されるように、係合ピン６１７は、反時計回りの方向から第二リンク部材６２に係合し、第二リンク部材６２を下方に押して揺動させる。 The hind arm 616 extends posteriorly from the support point 611. An engaging pin 617 is provided at the rear side of the rear arm portion 616 so as to extend in the left-right direction. As shown in FIGS. 1 to 3, the engaging pin 617 engages with the second link member 62 from a counterclockwise direction, and pushes the second link member 62 downward to swing.

第二リンク部材６２は、支持部４のベースプレート４３に固定されており、前方に延在する。これにより、支持部４および第二リンク部材６２は、支持部取付座３３を中心にして一体的に揺動する。規制部材６３は、アーム上部３５の前寄りの構造材に固定される。第一リンク部材６１の規制突部６１４は、規制部材６３に当接可能となっている。 The second link member 62 is fixed to the base plate 43 of the support portion 4 and extends forward. As a result, the support portion 4 and the second link member 62 swing integrally around the support portion mounting seat 33. The regulating member 63 is fixed to the structural material near the front of the arm upper portion 35. The regulation protrusion 614 of the first link member 61 can come into contact with the regulation member 63.

図略の制御部は、操作器および制御本体部などで構成される。操作器は、アクチュエータ５を操作する上昇ボタンおよび下降ボタンを有する。操作器は、介助者によって操作される。制御本体部は、ＣＰＵを有してソフトウェアで動作するコンピュータ装置を用いて構成される。制御本体部は、上昇ボタンおよび下降ボタンの操作情報に応じて、アクチュエータ５のモータ５３に流れる電流の有無、および流れる方向を制御する。 The control unit (not shown) is composed of an actuator, a control main unit, and the like. The actuator has an ascending button and a descending button for operating the actuator 5. The actuator is operated by a caregiver. The control main body is configured by using a computer device having a CPU and operating by software. The control main body controls the presence / absence of the current flowing through the motor 53 of the actuator 5 and the flowing direction according to the operation information of the up button and the down button.

２．ダンパー機構７の構成
次に、ダンパー機構７の構成について、図４を参考にして説明する。図４には、ダンパー機構７が動作する以前の原状態が示されている。なお、図４および後出の図６において、アーム３の一部が図示省略されている。アーム３を構成する棒状部材３１の下部寄りに、ダンパー支持座３９が設けられる。また、前述したように、リンク機構６を構成する第一リンク部材６１には、ダンパー係合部６１５が設けられている。ダンパー機構７は、アーム３と第一リンク部材６１の間に架け渡されて設けられる。2. Configuration of Damper Mechanism 7 Next, the configuration of the damper mechanism 7 will be described with reference to FIG. FIG. 4 shows the original state before the damper mechanism 7 operates. In addition, in FIG. 4 and FIG. 6 described later, a part of the arm 3 is not shown. A damper support seat 39 is provided near the lower part of the rod-shaped member 31 constituting the arm 3. Further, as described above, the first link member 61 constituting the link mechanism 6 is provided with a damper engaging portion 615. The damper mechanism 7 is provided so as to be bridged between the arm 3 and the first link member 61.

詳述すると、ダンパー機構７は、本体部７１および可動部７２を有する伸縮型の機構である。本体部７１は、太径の円柱形状の外観を有する。本体部７１は、上方に開口するシリンダ、および油室をもつ。シリンダおよび油室は、油密に形成されて作動油が満たされる。シリンダおよび油室は、相互に油路で連通され、作動油が流入出する。油路の断面積は狭く絞られているため、作動油の流入出によって抵抗力が発生する。本体部７１の下端は、ダンパー支持座３９に回転可能に支持される。 More specifically, the damper mechanism 7 is a telescopic mechanism having a main body portion 71 and a movable portion 72. The main body 71 has a large-diameter cylindrical appearance. The main body 71 has a cylinder that opens upward and an oil chamber. The cylinder and oil chamber are oiltightly formed and filled with hydraulic oil. The cylinder and the oil chamber are communicated with each other by an oil passage, and hydraulic oil flows in and out. Since the cross-sectional area of the oil passage is narrowed, resistance is generated by the inflow and outflow of hydraulic oil. The lower end of the main body 71 is rotatably supported by the damper support seat 39.

可動部７２は、細径の丸棒状に形成されている。可動部７２の上端は、第一リンク部材６１のダンパー係合部６１５に回転可能に係合される。可動部７２の下部は、本体部７１のシリンダに嵌入される。これにより、本体部７１のシリンダの油密が維持された状態で、可動部７２がシリンダから出入りする伸縮動作が可能となっている。 The movable portion 72 is formed in the shape of a round bar having a small diameter. The upper end of the movable portion 72 is rotatably engaged with the damper engaging portion 615 of the first link member 61. The lower portion of the movable portion 72 is fitted into the cylinder of the main body portion 71. As a result, the movable portion 72 can be expanded and contracted in and out of the cylinder while the oil tightness of the cylinder of the main body portion 71 is maintained.

可動部７２が本体部７１から伸長動作するとき、油室からシリンダに作動油が流入して、抵抗力が発生する。逆に、可動部７２が短縮動作するとき、シリンダから油室に作動油が流出して、抵抗力が発生する。つまり、ダンパー機構７は、伸縮両方向で抵抗力を発生させる両方向タイプとなっている。また、抵抗力の大きさは、可動部７２の動作速度に見合って変化し、概ね可動部７２の動作速度に比例する。 When the movable portion 72 extends from the main body portion 71, hydraulic oil flows from the oil chamber into the cylinder, and a resistance force is generated. On the contrary, when the movable portion 72 shortens, the hydraulic oil flows out from the cylinder to the oil chamber, and a resistance force is generated. That is, the damper mechanism 7 is a bidirectional type that generates resistance in both telescopic directions. Further, the magnitude of the resistance force changes in proportion to the operating speed of the movable portion 72, and is substantially proportional to the operating speed of the movable portion 72.

なお、通常時の介助動作においても、ダンパー機構７は、アクチュエータ５の負荷となり得る。しかしながら、通常時の動作は低速であるため、ダンパー機構７は僅かな負荷でしかない。したがって、アクチュエータ５は、性能的にランクアッップされる必要がなく、ダンパー機構７を備えない構成の場合と同一品でよい。 The damper mechanism 7 can be a load on the actuator 5 even in a normal assisting operation. However, since the normal operation is low speed, the damper mechanism 7 has only a small load. Therefore, the actuator 5 does not need to be ranked up in terms of performance, and may be the same product as in the case of the configuration without the damper mechanism 7.

３．実施形態の介助装置１の介助動作
次に、実施形態の介助装置１の介助動作について説明する。以降では、被介助者Ｍを座位姿勢から移乗時姿勢へ介助する動作を中心にして説明する。介助者は、まず、アクチュエータ５を短縮長さまで戻して、図１に示される初期状態とする。第一リンク部材６１は、時計回りに揺動した状態となり、第二リンク部材６２は、反時計回りに揺動した状態となっている。第一リンク部材６１の規制突部６１４と規制部材６３との間には、隙間がある。3. 3. Assistance operation of the assistance device 1 of the embodiment Next, the assistance operation of the assistance device 1 of the embodiment will be described. Hereinafter, the operation of assisting the person being assisted M from the sitting posture to the transfer posture will be mainly described. First, the caregiver returns the actuator 5 to the shortened length to bring it into the initial state shown in FIG. The first link member 61 is in a state of swinging clockwise, and the second link member 62 is in a state of swinging counterclockwise. There is a gap between the regulation protrusion 614 of the first link member 61 and the regulation member 63.

続いて、介助者は、ハンドル４２を把持して介助装置１を移動させ、座位姿勢の被介助者Ｍに接近させる。被介助者Ｍは、下半身を支持部４の下方の領域に進入させ、両足を足載置台２１に載置する。被介助者Ｍは、下腿の一部を下腿当て部２５に接触させることで、安定した姿勢が得られる。ここで、第二リンク部材６２は、第一リンク部材６１の係合ピン６１７から離れて、時計回りに揺動することが可能となっている。つまり、支持部４は、前方に自由揺動する。このため、支持部４の下方の領域を拡げることが可能となり、被介助者Ｍは、容易に下半身を進入させることができ、窮屈に感じない。 Subsequently, the caregiver grasps the handle 42 and moves the caregiver 1 to approach the care recipient M in the sitting posture. The person being assisted M has his lower body enter the area below the support portion 4, and both feet are placed on the footrest stand 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. Here, the second link member 62 can swing clockwise away from the engaging pin 617 of the first link member 61. That is, the support portion 4 freely swings forward. Therefore, the area below the support portion 4 can be expanded, and the person being assisted M can easily enter the lower body and does not feel cramped.

続いて、被介助者Ｍは、胴体を前傾させて胴体支持部４１に面接触させるとともに、両脇で脇支持部４５にもたれかかる。このとき、胴体支持部４１は起立した方向（図１の反時計回りの方向）に揺動しているので、胴体の前傾角度は小さくて済む。また、脇支持部４５がほぼ水平か僅かに後下がりとなるので、被介助者Ｍは、脇支持部４５に容易にもたれかかることができる。このときの被介助者Ｍの姿勢が初期姿勢となる。上述した被介助者Ｍの一連の動作は、介助者が介助してもよい。初期姿勢では、被介助者Ｍの臀部が座面に着いている。したがって、被介助者Ｍは、体重に起因する荷重が臀部で支えられて、楽な姿勢となっている。 Subsequently, the person being assisted M tilts the torso forward to bring it into surface contact with the torso support portion 41, and leans against the side support portions 45 on both sides. At this time, since the body support portion 41 swings in the upright direction (counterclockwise direction in FIG. 1), the forward tilt angle of the body can be small. Further, since the side support portion 45 is substantially horizontal or slightly lowered, the person being assisted M can easily lean against the side support portion 45. The posture of the person being assisted M at this time is the initial posture. The caregiver may assist the series of operations of the person being assisted M described above. In the initial posture, the buttocks of the person being assisted M are on the seat surface. Therefore, the person being assisted M is in a comfortable posture because the load due to the body weight is supported by the buttocks.

続いて、介助者は、操作器の上昇ボタンを押して、介助動作を進める。第一伸び動作を開始したアクチュエータ５は、連結ピン６１３を介して、第一リンク部材６１の前腕部６１２を上方に押動する。これにより、第一リンク部材６１は、反時計回りに揺動する（図１の矢印Ａ１参照）。第一リンク部材６１の反時計回りの揺動により、係合ピン６１７は、第二リンク部材６２を押して揺動させる。 Subsequently, the caregiver pushes the ascending button of the actuator to proceed with the assisting operation. The actuator 5 that has started the first extension operation pushes the forearm portion 612 of the first link member 61 upward via the connecting pin 613. As a result, the first link member 61 swings counterclockwise (see arrow A1 in FIG. 1). Due to the counterclockwise swing of the first link member 61, the engaging pin 617 pushes the second link member 62 to swing.

第二リンク部材６２は、時計回りに揺動し、支持部４は、前方（起立方向）に揺動する（図１の矢印Ａ２参照）。この動作は、アクチュエータ５が所定の途中長さまで伸びるまで継続されて、図２に示される状態に至る。このとき、脇支持部４５が前下がりとなるので、被介助者Ｍは、後方への移動が規制されて支持部４から脱落しない。図２の状態において、規制突部６１４が規制部材６３に当接して、第一リンク部材６１の揺動が終了する。したがって、支持部４の揺動も終了する。そして、被介助者Ｍの臀部は、座面から離れる瞬間の状態となる。 The second link member 62 swings clockwise, and the support portion 4 swings forward (upright direction) (see arrow A2 in FIG. 1). This operation is continued until the actuator 5 extends to a predetermined intermediate length, and reaches the state shown in FIG. At this time, since the side support portion 45 is lowered forward, the person being assisted M is restricted from moving backward and does not fall off from the support portion 4. In the state of FIG. 2, the regulation protrusion 614 comes into contact with 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 are in a state at the moment when they are separated from the seating surface.

さらに、アクチュエータ５が第二伸び動作を開始すると、第一リンク部材６１は、揺動することなくアーム３に圧接される。アーム３は、アクチュエータ５に駆動されて、時計回りに前方（起立方向）に揺動する（図２の矢印Ａ３参照）。同時に、アクチュエータ５は、前方に傾動する。また、支持部４は、アーム３に対して一定の姿勢を維持する。この動作は、図３の終期状態まで継続される。これにより、被介助者Ｍは、上半身が前方斜め上方へ移動しつつさらに前傾する。その結果、被介助者Ｍは、臀部が座面から大きく上昇して、脚部が伸びた移乗時姿勢となる。 Further, when the actuator 5 starts the second extension operation, the first link member 61 is pressed against the arm 3 without swinging. The arm 3 is driven by the actuator 5 and swings forward (upright direction) clockwise (see arrow A3 in FIG. 2). 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 final state shown in FIG. As a result, the person being assisted M leans forward while the upper body moves diagonally forward and upward. As a result, the person being assisted M is in a transfer posture in which the buttocks are greatly raised from the seat surface and the legs are extended.

４．ダンパー機構７の動作および作用
次に、ダンパー機構７の動作および作用について説明する。実施形態の介助装置１において、基台２、アーム３、アクチュエータ５、および第一リンク部材６１は、四節リンクを構成しており、動作の自由度が残されている。それでも、通常時には、規制突部６１４が規制部材６３に当接した以降、この当接状態が維持されるので、四節リンクの形状は安定的に保たれる。ところが、アーム３を前方に揺動させる方向の外力が作用すると、アーム３が前方（起立方向）に自由揺動して四節リンクの形状が変化する。図５は、アクチュエータ５の駆動状態に依存せずに、図２に示されたアーム３の現在位置が起立方向に変化した後の状態を示す図である。4. Operation and operation of the damper mechanism 7 Next, the operation and operation of the damper 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 a degree of freedom of operation is left. Even so, in a normal state, after the regulation protrusion 614 comes into contact with the regulation member 63, this contact state is maintained, so that the shape of the four-node link is kept stable. However, when an external force in the direction of swinging the arm 3 forward acts, the arm 3 freely swings forward (upright direction) and the shape of the four-node link changes. FIG. 5 is a diagram showing a state after the current position of the arm 3 shown in FIG. 2 has changed in the upright direction, regardless of the driving state of the actuator 5.

四節リンクの形状が変化する現象は、例えば、被介助者Ｍが支持部４に勢いよく乗りかかった場合に発生する。換言すると、被介助者Ｍから作用する外力の方向および大きさに応じて、アーム３が起立方向に自由揺動する場合がある。このとき、図５に示されるように、規制突部６１４と規制部材６３の当接状態が解消される。また、第二リンク部材６２は、第一リンク部材６１の係合ピン６１７に一方向から係合するだけであるので、アーム３の現在位置が起立方向に変化することを制止できずに許容する。 The phenomenon that the shape of the four-bar link changes occurs, for example, when the person being assisted M vigorously leans on the support portion 4. In other words, the arm 3 may freely swing in the upright direction depending on the direction and magnitude of the external force acting on the person being assisted M. At this time, as shown in FIG. 5, the contact state between the regulation protrusion 614 and the regulation member 63 is eliminated. Further, since the second link member 62 only engages with the engagement pin 617 of the first link member 61 from one direction, the change of the current position of the arm 3 in the upright direction cannot be stopped and is allowed. ..

図２と図５を比較すればわかるように、アクチュエータ５の駆動状態に依存せずに、アーム３の揺動位置が揺動角度αだけ起立方向に変化する。仮に、ダンパー機構７を備えない場合、アーム３は、図２の状態から図５の状態へと急速に揺動動作する。アーム３の急速な揺動動作は、被介助者Ｍにとって予想し難いものである。このため、被介助者Ｍは、アーム３の予想外の揺動動作に不安を感じたり驚いたりして、使用快適性が低下する。 As can be seen by comparing FIG. 2 and FIG. 5, the swing position of the arm 3 changes in the upright direction by the swing angle α, regardless of the driving state of the actuator 5. If the damper mechanism 7 is not provided, the arm 3 rapidly swings from the state of FIG. 2 to the state of FIG. The rapid swinging motion of the arm 3 is unpredictable for the person being assisted M. For this reason, the person being assisted M feels anxiety or is surprised at the unexpected swinging motion of the arm 3, and the comfort of use is lowered.

ここで、図４は、図２の状態に対応するダンパー機構７の原状態を示している。また、図６は、図５の状態に対応するダンパー機構７の動作状態を示している。図４の状態から図６の状態に変化する過程で、ダンパー機構７の可動部７２は短縮動作する。したがって、ダンパー機構７は、図２の状態から図５の状態へ変化するアーム３の揺動動作に対して、抵抗力を作用させる。これにより、アーム３の起立方向への揺動動作の進行が抑制され、換言すると、アーム３の揺動動作がゆっくり進行する。 Here, FIG. 4 shows the original state of the damper mechanism 7 corresponding to the state of FIG. Further, FIG. 6 shows an operating state of the damper mechanism 7 corresponding to the state of FIG. In the process of changing from the state of FIG. 4 to the state of FIG. 6, the movable portion 72 of the damper mechanism 7 shortens. Therefore, the damper mechanism 7 exerts a resistance force against the swinging motion of the arm 3 that changes from the state of FIG. 2 to the state of FIG. As a result, the progress of the swinging motion of the arm 3 in the upright direction is suppressed, in other words, the swinging motion of the arm 3 slowly progresses.

また、前述した介助装置１の介助動作の逆方向、すなわち被介助者Ｍを移乗時姿勢から座位姿勢へ介助する場合、介助装置１は、概ね図３から図２を経由して図１の状態へと移行する。この場合、アクチュエータ５の縮み動作に関わらず、被介助者Ｍが足を踏ん張って移乗時姿勢を維持しようとすると、図５の状態になる。その後、被介助者Ｍが足を踏ん張りきれなくなると、図２の状態に変化する。仮に、ダンパー機構７を備えない場合、図５の状態から図２の状態へと、アーム３は急速に着座方向に揺動動作する。 Further, when assisting the assisted person M from the transfer posture to the sitting posture in the opposite direction of the assisting operation of the assisting device 1 described above, the assisting device 1 generally goes through FIGS. 3 to 2 and is in the state of FIG. Move to. In this case, regardless of the contraction operation of the actuator 5, when the person being assisted M tries to maintain the posture at the time of transfer by stepping on the foot, the state shown in FIG. 5 is obtained. After that, when the person being assisted M cannot step on his / her foot, the state changes to the state shown in FIG. If the damper mechanism 7 is not provided, the arm 3 rapidly swings in the seating direction from the state of FIG. 5 to the state of FIG.

この場合、ダンパー機構７は、アーム３の揺動動作の進行を抑制する。つまり、ダンパー機構７は、図５の状態から図２の状態へ変化するアーム３の揺動動作に対して、抵抗力を作用させる。これにより、アーム３の着座方向への揺動動作の進行が抑制され、アーム３の揺動動作がゆっくり進行する。つまり、ダンパー機構７は、アーム３の動作方向の両側の急速な揺動動作に対して、抵抗力を発生する。 In this case, the damper mechanism 7 suppresses the progress of the swinging operation of the arm 3. That is, the damper mechanism 7 exerts a resistance force against the swinging motion of the arm 3 that changes from the state of FIG. 5 to the state of FIG. As a result, the progress of the swinging motion of the arm 3 in the seating direction is suppressed, and the swinging motion of the arm 3 slowly progresses. That is, the damper mechanism 7 generates a resistance force against a rapid swinging motion on both sides of the arm 3 in the operating direction.

これに限定されず、ダンパー機構７は、伸長方向および短縮方向の一方で抵抗力を発生する単方向タイプの機構であってもよい。単方向ダンパー機構は、アーム３の動作方向のうち重要度の高い一方側の急速な揺動動作に対して、抵抗力を発生する。そして、アーム３の動作方向のうち他方側の動作に対して、別の対策を施したり、対策を省略したりできる。 Not limited to this, the damper mechanism 7 may be a unidirectional type mechanism that generates a resistance force in both the extension direction and the shortening direction. The unidirectional damper mechanism generates a resistance force against a rapid swinging motion on one side, which is of high importance in the operating direction of the arm 3. Then, another measure can be taken or the measure can be omitted for the operation of the other side in the operation direction of the arm 3.

実施形態の介助装置１では、装置の動作に自由度が残されていて、アーム３の現在位置がアクチュエータ５の駆動状態に依存せずに変化する場合が有り、被介助者Ｍにとって予想し難い。それでも、ダンパー機構７は、アーム３の少なくとも一方側の予想し難い動作に抵抗力を発生するので、アーム３の動作の進行が抑制される。これにより、予想し難い動作がゆっくり進行するので、被介助者Ｍは、不安を感じることがなく、かつ驚くこともない。したがって、介助装置１の良好な使用快適性が確保される。 In the assistance device 1 of the embodiment, there is a degree of freedom in the operation of the device, and the current position of the arm 3 may change independently of the driving state of the actuator 5, which is difficult for the person being assisted M to predict. .. Nevertheless, the damper mechanism 7 generates resistance to the unpredictable movement of at least one side of the arm 3, so that the progress of the movement of the arm 3 is suppressed. As a result, the unpredictable movement progresses slowly, so that the person being assisted M does not feel anxiety and is not surprised. Therefore, good usability of the assistance device 1 is ensured.

５．実施形態の変形および応用
なお、両方向タイプのダンパー機構７は、単方向ダンパー機構と比較して高価である。このため、伸長方向で抵抗力を発生する単方向ダンパー機構、および短縮方向で抵抗力を発生する単方向ダンパー機構を並列に設ける変形形態を採用してもよい。単方向ダンパー機構の価格は、両方向タイプのダンパー機構７の半分未満である。したがって、変形形態では、コストダウンが可能となる。5. Modifications and Applications of the Embodiment The bidirectional type damper mechanism 7 is more expensive than the unidirectional damper mechanism. Therefore, a modified form may be adopted in which a unidirectional damper mechanism that generates a resistance force in the extension direction and a unidirectional damper mechanism that generates a resistance force in the shortening direction are provided in parallel. The price of the unidirectional damper mechanism is less than half that of the bidirectional type damper mechanism 7. Therefore, in the modified form, cost reduction is possible.

また、ダンパー機構は、アーム３が第一リンク部材６１を揺動可能に支持する揺動軸部に介在する回転型の機構であってもよい。回転型のダンパー機構は、例えば、相対回転する二つの部材の摩擦によって抵抗力が発生するように構成される。回転型のダンパー機構は、アーム３に対する第一リンク部材６１の揺動に抵抗力を発生する。 Further, the damper mechanism may be a rotary type mechanism in which the arm 3 is interposed in the swing shaft portion that swingably supports the first link member 61. The rotary damper mechanism is configured such that, for example, a resistance force is generated by friction between two members that rotate relative to each other. The rotary damper mechanism generates a resistance force against the swing of the first link member 61 with respect to the arm 3.

さらに、実施形態のアーム３および支持部４を一体化して支持アーム部とし、支持アーム部が昇降動作または前後方向の揺動動作を行う構成にも、ダンパー機構７を設けることができる。また、アクチュエータ５は伸縮アクチュエータに限らず、回転駆動タイプのアクチュエータであってもよい。さらに、リンク機構６の構成は、適宜変形可能である。その他にも、本実施形態は、様々な変形や応用が可能である。 Further, the damper mechanism 7 can also be provided in a configuration in which the arm 3 and the support portion 4 of the embodiment are integrated into a support arm portion, and the support arm portion performs an elevating operation or a swinging operation in the front-rear direction. Further, the actuator 5 is not limited to the telescopic actuator, and may be a rotation drive type actuator. Further, the configuration of the link mechanism 6 can be appropriately modified. In addition, the present embodiment can be variously modified and applied.

１：介助装置 ２：基台 ３：アーム ３９：ダンパー支持座 ４：支持部 ５：アクチュエータ ５１：本体部 ５２：可動部 ５３：モータ ６：リンク機構 ６１：第一リンク部材 ６１４：規制突部 ６１５：ダンパー係合部 ６１７：係合ピン ６２：第二リンク部材 ６３：規制部材 ７：ダンパー機構 ７１：本体部 ７２：可動部 Ｍ：被介助者 1: Assistance device 2: Base 3: Arm 39: Damper support seat 4: Support part 5: Actuator 51: Main body part 52: Moving part 53: Motor 6: Link mechanism 61: First link member 614: Regulatory protrusion 615 : Damper engaging part 617: Engaging pin 62: Second link member 63: Regulatory member 7: Damper mechanism 71: Main body 72: Moving part M: Assisted person

Claims (5)

被介助者が足を載せる基台と、
前記被介助者の身体の一部を支持可能であり、かつ、前記基台に設けられて前記被介助者を起立させる起立方向または前記被介助者を着座させる着座方向を動作方向とする動作が可能な支持アーム部と、
前記支持アーム部を駆動するアクチュエータと、
前記アクチュエータの駆動力を前記支持アーム部に伝達するとともに、前記アクチュエータにより駆動された前記支持アーム部の現在位置が前記アクチュエータの駆動状態に依存せずに変化することを許容するリンク機構と、
前記支持アーム部の前記動作方向の少なくとも一方側の動作に抵抗力を発生するダンパー機構と、
を備えて、前記被介助者の移乗動作を介助する介助装置。The base on which the person being assisted rests his feet,
An operation in which a part of the body of the person being assisted can be supported and the operation direction is the standing direction in which the person being assisted stands up or the seating direction in which the person being assisted is seated, which is provided on the base. With possible support arms
The actuator that drives the support arm and
A link mechanism that transmits the driving force of the actuator to the support arm portion and allows the current position of the support arm portion driven by the actuator to change independently of the driving state of the actuator.
A damper mechanism that generates resistance to the movement of the support arm portion on at least one side in the movement direction.
A assisting device that assists the transfer operation of the person being assisted. 前記ダンパー機構は、前記支持アーム部の前記動作方向の両側の動作に前記抵抗力を発生する、請求項１に記載の介助装置。 The assistance device according to claim 1, wherein the damper mechanism generates the resistance force in the movement of both sides of the support arm portion in the operation direction. 前記支持アーム部は、前記基台に前後方向に揺動可能に設けられたアーム、および、前記被介助者の身体の一部を支持可能であって前記アームに前後方向に揺動可能に設けられた支持部を含み、
前記アクチュエータは、短縮長さから所定の途中長さまで伸びる第一伸び動作、および前記途中長さから伸長長さまで伸びる第二伸び動作を行う伸縮アクチュエータであり、
前記リンク機構は、
前記アームに揺動可能に設けられ、前記伸縮アクチュエータの前記第一伸び動作にしたがって前記起立方向に揺動し、前記伸縮アクチュエータの前記第二伸び動作にしたがって揺動することなく前記アームに圧接される第一リンク部材、および、
前記支持部に固定され、前記第一リンク部材に押動されて前記起立方向に揺動するとともに、前記被介助者から作用する外力に応じて前記第一リンク部材から離間することにより前記アームの現在位置が前記起立方向に変化することを許容する第二リンク部材を有する、
請求項１または２に記載の介助装置。The support arm portion is 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 so as to be swingable in the front-rear direction. Including the support
The actuator is a telescopic actuator that performs a first extension operation that extends from a shortened length to a predetermined intermediate length and a second extension operation that extends from the intermediate length to an extension length.
The link mechanism
The arm is swingably provided, swings in the upright direction according to the first extension operation of the telescopic actuator, and is pressed against the arm without swinging according to the second extension operation of the telescopic actuator. First link member and
The arm is fixed to the support portion, pushed by the first link member to swing in the upright direction, and separated from the first link member in response to an external force acting from the person being assisted. It has a second link member that allows the current position to change in the upright direction.
The assistance device according to claim 1 or 2. 前記ダンパー機構は、前記アームと前記第一リンク部材の間に伸縮可能に架設されて、伸長動作時および短縮動作時の少なくとも一方で動作速度に見合う前記抵抗力を発生する、請求項３に記載の介助装置。 The third aspect of the present invention, wherein the damper mechanism is erected so as to be expandable and contractible between the arm and the first link member, and generates the resistance force commensurate with the operating speed at least one of the extension operation and the shortening operation. Assistance device. 前記ダンパー機構は、前記アームが前記第一リンク部材を揺動可能に支持する揺動軸部に介在し、前記アームに対する前記第一リンク部材の揺動に前記抵抗力を発生する、請求項３に記載の介助装置。 3. The damper mechanism is claimed in that the arm is interposed in a swing shaft portion that oscillateably supports the first link member, and the resistance force is generated against the swing of the first link member with respect to the arm. The assistance device described in.
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