JPWO2020070853A1 - Caregiving device - Google Patents

Abstract

The caregiving device includes an elevating part that moves along a linear motion axis that is inclined forward with respect to the vertical axis, a swinging part that swivels around a horizontal central axis and swings a support member, and a moving part of the elevating part. A control device for controlling the movement of the support member by coordinating the rotation of the swinging portion is provided. The operation process of the standing motion includes the first step of turning the swinging part forward and lowering the elevating part so that the person being assisted supported by the support member is in an intermediate posture in which the upper body is tilted forward from the initial sitting posture. The second step is to raise the elevating part to change the person being assisted from the intermediate posture to the standing posture.

Description

The present invention relates to an assistance device.

Patent Document 1 discloses an assisting device that assists the person being assisted in standing up. This assistance device includes an elevating portion that moves linearly in the vertical direction and a swinging portion that is swingably provided above the elevating portion. This assisting device supports the upper body of the person being assisted in the sitting posture, and assists the standing operation so that the person being assisted is in the standing posture by coordinating the movement of the elevating part and the turning of the swinging part.

International Publication No. 2018/116472

Here, the burden on the person being assisted may fluctuate depending on the process of changing the posture until the person being assisted shifts from the sitting posture to the standing posture. In addition, the caregiving device is designed to be lighter in weight and to reduce manufacturing costs by simplifying the configuration including the drive device. On the other hand, the assisting device is required to further reduce the burden on the person being assisted when assisting the standing operation in the limited operating range of the driving device.

It is an object of the present specification to provide an assisting device capable of further reducing the burden on the person being assisted when assisting the standing motion.

This specification includes a base, a support member for supporting the upper body of the person being assisted, an elevating portion provided on the base and moving along a linear motion axis inclined forward with respect to the vertical axis, and the above-mentioned In the swinging portion provided in the lifting portion and swinging around the horizontal central axis to swing the support member, and in the motion processing for assisting the standing motion of the person being assisted, the movement of the lifting portion and the swinging are performed. A control device for controlling the movement of the support member by coordinating the rotation of the portion is provided, and in the operation process of the standing operation, the support member is tilted by turning the swing portion forward. The reference position of the support member is moved upward and forward with respect to the central axis, and the central axis is moved downward and backward with respect to the base by lowering the elevating portion to the support member. The first step of changing the supported person to be assisted from the initial sitting posture to an intermediate posture in which the upper body is tilted forward, and raising the elevating part to change the person being assisted from the intermediate posture to a standing posture. The second step and the first caregiving device including the second step are disclosed.

The present specification includes a base, a support member for supporting the upper body of the person being assisted, an elevating portion provided on the base and moving along a linear motion axis inclined forward with respect to the vertical axis, and the above-mentioned In the swinging portion provided in the lifting portion and swinging around the horizontal central axis to swing the support member, and in the motion processing for assisting the standing motion of the person being assisted, the movement of the lifting portion and the swinging are performed. A control device for controlling the movement of the support member by coordinating the rotation of the portion is provided, and the inclination angle of the linear motion axis with respect to the vertical axis is set in an angle range of 10 degrees to 25 degrees, and the standing operation is performed. In the operation process of the above, the swinging portion is swiveled forward and the elevating portion is lowered so that the person being assisted supported by the support member is placed in an intermediate posture in which the upper body is tilted forward from the initial sitting posture. The second step of raising the elevating part and the second step of raising the elevating part to change the person being assisted from the intermediate posture to the standing posture is disclosed.

According to the configuration of the first and second caregiving devices, the person being assisted can smoothly transfer the weight to the support member by suppressing the amount of advancement from the sitting posture to the intermediate posture in which the boarding of the caregiving device is completed. You can deposit it. As a result, the burden on the person being assisted when assisting the standing motion can be further reduced.

It is a perspective view which looked at the caregiving apparatus of an embodiment from an oblique rear view. It is a side view which shows the caregiving apparatus which supports a person to be assisted in a sitting posture. It is a side view which shows the care device which supports a person to be assisted in an intermediate posture. It is a side view which shows the care device which supports the person to be assisted in the standing posture. It is a side view which shows the operation of each part before and after the execution of the 1st step and the 2nd step with reference to the elevating part. It is a figure which shows the movement locus of the lower reference position, and the movement locus of an upper reference position.

1. 1. Configuration of the Assistance Device 1 The Assistance Device 1 assists the person being assisted M (see FIG. 2 and the like) in the standing motion from the sitting posture to the standing posture, and assists the sitting motion from the standing posture to the sitting posture. I do. When the care device 1 supports the upper body of the person being assisted M in the standing posture, one caregiver can pull the care device 1 and move it to, for example, a movement target in the care facility.

The "standing posture" means a posture in which the lower body of the person being assisted M is standing, regardless of the posture of the upper body. That is, the assist of the standing motion is the assist of the motion of raising the buttocks Mt of the person being assisted M. Further, the assisting the sitting motion is an assisting the motion of lowering the position of the buttocks Mt of the person being assisted M.

As shown in FIG. 1, the caregiving device 1 includes a base 10, a driving device 20, a support member 50, and a control device 60. The base 10 includes a frame 11, a support column 12, a fixed cover 13, a footrest base 14, a crus rest portion 15, six wheels 16-18, and the like. The frame 11 forms the main body of the base 10. The support column 12 is fixed to the frame 11 in a state of extending upward from the center in the left-right direction toward the front of the frame 11. The columns 12 are provided so as to be at a predetermined angle forward with respect to the vertical axis. The support column 12 houses a control device 60, which will be described later, inside. The fixed cover 13 covers and protects the periphery of the support column 12 and a part of the elevating portion 30 described later.

The footrest base 14 is provided so as to be horizontal to the frame 11. The lower leg rest 15 is fixed to the frame 11 by a pair of left and right support arms 151. The lower leg rest 15 is provided above the footrest 14. The main body of the lower leg pad 15 is a cushioning material provided at the rear ends of the left and right support arms 151 and extending in the left-right direction. The lower leg pad portion 15 is a portion where the lower leg of the person being assisted M comes into contact with the lower leg. The lower leg rest 15 is configured so that the height of the cushion material and the position in the front-rear direction with respect to the footrest 14 can be adjusted.

On the lower side of the footrest base 14, three wheels 16-18 are provided on each of the left and right sides. Each wheel 16-18 has a steering function that changes the direction of movement. The front wheel 16 has a locking function that regulates movement. The caregiving device 1 is capable of not only moving in the front-rear direction and changing direction, but also laterally moving (moving to the side) and super-credit turning (in-situ turning) by the steering function of the six wheels 16-18. It has become.

The drive device 20 movably supports the support member 50 that supports the upper body of the person being assisted M in the vertical direction and the front-rear direction of the base 10. In the present embodiment, the drive device 20 includes an elevating drive unit 21, a swing drive unit 22, a lift unit 30, and a swing unit 40. In the drive device 20, the operation of the elevating drive unit 21 and the swing drive unit 22 is controlled by the control device 60. The drive device 20 is configured to be able to move the support member 50 along a predetermined movement locus by coordinating the movement of the elevating part 30 and the turning of the swinging part 40.

The elevating part 30 is provided on the base 10. The elevating portion 30 moves along a linear motion axis An that is inclined forward with respect to the vertical axis. The details of the inclination angle θ of the linear motion axis An with respect to the vertical axis will be described later. The elevating portion 30 is movably guided in the direction of the linear motion axis An by a guide (not shown) provided on the rear surface of the support column 12. The elevating unit 30 moves along the guide of the support column 12 by driving the elevating drive unit 21 as an actuator.

Since the linear motion shaft An is inclined forward with respect to the vertical shaft as described above, the elevating portion 30 moves forward as it rises and retracts as it descends. Inside the elevating part 30, a rocking drive unit 22 that swivels the rocking part 40 is housed. The elevating portion 30 rotatably supports the swinging portion 40 around the central axis Ar. The elevating part 30 is protected by an elevating cover 31 that covers the periphery.

The swinging portion 40 is provided on the elevating portion 30. The swinging portion 40 swings around the central axis Ar to swing the support member 50. As shown in FIG. 2, the swinging portion 40 includes a swinging body 41, an arm 42, and a first handle 43. The swing body 41 is a mounting portion to which the support member 50 is attached / detached. The arm 42 is integrally fixed to the swing body 41. One end of the arm 42 is rotatably supported around the central axis Ar of the elevating portion 30. The arm 42 is rotated by the drive of the swing drive unit 22. When the assisting device 1 assists the standing operation, the arm 42 mainly turns forward from the state of extending rearward. On the other hand, when the caregiving device 1 assists the seating operation, the arm 42 mainly turns backward so as to extend rearward.

The first handle 43 is formed in a substantially quadrangular frame shape. The first handle 43 is formed so as to extend forward and upward from the swing body 41. The lateral portion of the first handle 43 is gripped by both hands of the person being assisted M. Further, the side portion and the front portion of the first handle 43 are gripped by the caregiver to move the assist device 1. With the above configuration, the swing portion 40 swivels around a horizontal axis (central axis Ar) parallel to the left-right direction of the base 10, and is attached to the swing body 41 on the tip side of the arm 42. Swing member 50.

The support member 50 is a member that supports the upper body of the person being assisted M. The support member 50 includes a body support portion 51, a pair of side support portions 52, a second handle 53, and the like. The body support portion 51 is formed in a planar shape close to the body shape of the person being assisted M. The body support portion 51 is made of a material that can be flexibly deformed. The support surface of the body support portion 51 comes into surface contact with the front surface of the body of the upper body of the person being assisted M to support the body. More specifically, the support surface of the torso support portion 51 supports the range from the chest to the abdomen of the person being assisted M. The body support portion 51 is attached to the swing body 41.

Further, the body support portion 51 is supported so as to be able to freely tilt in the front-rear direction with respect to the swing body 41. Specifically, the body support portion 51 is configured to be tiltable within a predetermined angle range in the clockwise direction of FIG. 2 from the state shown in FIG. The above-mentioned "free tilt" means a tilt that can be manually moved, not a tilt driven by an actuator or the like.

The pair of side support portions 52 are supported by the body support portion 51 and support the sides of the person being assisted M. Specifically, a pair of side support portions 52 are provided on the left and right sides of the body support portion 51. The side support portion 52 is swingably supported by the body support portion 51. The side support portion 52 is formed in an L shape by a rod-shaped member. The surface of the side support 52 is covered with a material that can be flexibly deformed. The second handle 53 is integrally provided on the front surface of the body support portion 51. The second handle 53 is formed in a horizontally long U-shape. The second handle 53 includes a base shaft portion fixed to the lower portion of the body support portion 51 and extending in the left-right direction, and a grip portion extending from both ends of the base shaft portion toward the first handle 43 side.

The control device 60 is provided inside the support column 12. The control device 60 controls the elevating drive unit 21 and the swing drive unit 22. The control device 60 drives the elevating drive unit 21 and the swing drive unit 22 based on a command from the person being assisted M or the caregiver in the operation process of assisting the standing operation and the sitting operation of the person being assisted M. , The movement of the elevating part 30 and the turning of the swinging part 40 are coordinated to control the movement of the support member 50.

The control device 60 performs the above control based on the operation of the operation device of the diagram that receives the command from the person being assisted M or the caregiver. The control device 60 stores an auxiliary program for executing an operation process for assisting the standing operation and an operation process for assisting the sitting operation. Further, inside the support column 12, a battery (not shown) capable of repeatedly charging and discharging is provided. The battery is shared to drive the elevating drive unit 21 and the swing drive unit 22.

2. Operation processing of the standing operation by the assistance device 1 The operation processing for assisting the standing operation by the assistance device 1 will be described with reference to FIGS. 2 to 6. The operation process of the standing operation includes a first step of tilting the support member 50 forward and a second step of raising the support member 50. The first step may include an operation of raising the support member 50, and similarly, the second step may include an operation of advancing the support member 50. Further, the first step and the second step are actually executed in a series, and when the support member 50 follows a smooth movement locus, it is not always possible to experience the change of steps.

In the present embodiment, the step of tilting and advancing the support member 50 so that the mass of the upper body of the person being assisted M is generally deposited in the support member 50 is referred to as a first step. At this time, the person being assisted M shifts from the initial sitting posture shown in FIG. 2 to the intermediate posture in which the upper body is greatly tilted forward as shown in FIG. Further, the process of raising the support member 50 so as to raise the upper body of the person being assisted M is referred to as a second step. At this time, the person being assisted M shifts from the intermediate posture shown in FIG. 3 to the standing posture in which both legs are extended, which is the end state shown in FIG.

Here, when the movement of the elevating portion 30 and the turning of the swinging portion 40 are coordinated, the swinging support member 50 may have a portion that advances and a portion that recedes with respect to the base 10. Similarly. There may be a portion that rises and a portion that descends with respect to the base 10. Therefore, in the following, the movement of the reference position set to the position where the support member 50 is integrally moved will be described as the movement of the support member 50. As shown in FIG. 2, the lower reference position Pb and the upper reference position Pu can be set at the above reference position.

The lower reference position Pb is set at the lower end of the body support portion 51 that comes into contact with the body. 2-As shown in FIGS. 4 and 6, the lower reference position Pb moves along the first movement locus Tb during the standing operation of the person being assisted M. That is, the control device 60 controls the movement of the support member 50 by coordinating the movement of the elevating portion 30 and the turning of the swinging portion 40 so that the lower reference position Pb moves along the first movement locus Tb. ..

Further, as shown in FIG. 2, the upper reference position Pu is set at the upper end of the portion of the body support portion 51 that comes into contact with the body. The upper reference position Pu may be set to a position beside the person being assisted M. 2-As shown in FIGS. 4 and 6, the upper reference position Pu moves along the second movement locus Tu during the standing operation of the person being assisted M. That is, the control device 60 controls the movement of the support member 50 by coordinating the movement of the elevating portion 30 and the turning of the swinging portion 40 so that the upper reference position Pu moves along the second movement locus Tu.

As shown in FIG. 2, in the initial state of the motion process for assisting the standing motion, the person being assisted M is in a sitting state (a sitting posture state) in which the buttocks Mt is in contact with the seat surface 91 of the chair 90. .. The assistance device 1 is set to the initial state of the operation process for assisting the standing operation by the operation by the person being assisted M or the caregiver. The initial state of the caregiving device 1 is a state in which the swinging portion 40 extends rearward so that the support member 50 is located on the rear side of the movable range in the operation processing of the standing operation. In this initial state, the person being assisted M places his / her foot on the footrest table 14.

At this time, the person being assisted M brings the front surface of the body into surface contact with the body support portion 51. In addition, the person being assisted M brings the lower leg into contact with the rear surface of the lower leg pad portion 15. Further, the person being assisted M grips the first handle 43. At this time, depending on the physique of the person being assisted M, a certain amount of gap may occur between the side of the person being assisted M and the side support portion 52. As described above, in the initial state in which the preparation for boarding the assist device 1 is completed, the person being assisted M is in a posture in which the upper body is tilted forward to some extent, as shown in FIG.

Subsequently, when the person being assisted M or the caregiver starts the assisting operation of the standing motion, the control device 60 executes the first step of changing the person being assisted M from the initial sitting posture to the intermediate posture in which the upper body is tilted forward. .. Specifically, in the first step, the control device 60 tilts the support member 50 by first turning the swinging portion 40 forward. At this time, the lower reference position Pb and the upper reference position Pu of the support member 50 move upward and forward with respect to the central axis Ar as shown in FIG. The broken line in FIG. 5 indicates the assisting device 1 that supports the assisted person M in the sitting posture, and the solid line in FIG. 5 indicates the assisting device 1 that supports the assisted person M in the intermediate posture, and one point in FIG. The chain line indicates the care device 1 that supports the person being assisted M in the standing posture.

Further, in the first step, the control device 60 lowers the elevating part 30 in coordination with the forward turning of the swinging part 40. At this time, the elevating portion 30 moves the central axis Ar downward and backward with respect to the base 10 as shown in FIG. 5 because the linear motion axis An is inclined forward with respect to the vertical axis. .. As a result, in the first step, the person being assisted M supported by the support member 50 is placed in an intermediate posture in which the upper body is tilted forward from the initial sitting posture. At this time, depending on the physique of the person being assisted M and the height of the seat surface 91 of the chair 90, the buttocks Mt of the person being assisted M may be in a state of floating from the seat surface 91.

Here, FIG. 5 shows each part of the assisting device 1 before and after executing the first step with reference to the elevating part 30. The lower reference position Pb rises by the amount of upward movement BV1 with respect to the central axis Ar as the swinging portion 40 turns forward, and moves forward by the amount of forward movement BH1. Then, in the first step, the elevating portion 30 is lowered so that the central axis Ar is lowered by the amount of downward movement LV1. At this time, the elevating portion 30 retracts by the amount of backward movement LH1.

As a result, as shown in FIG. 6, the lower reference position Pb rises as a whole by the rising amount NV1 corresponding to the difference (BV1-LV1) between the upward moving amount BV1 and the downward moving amount LV1. Further, the lower reference position Pb advances as a whole by the advance amount NH1 corresponding to the difference (BH1-LH1) between the forward movement amount BH1 and the backward movement amount LH1.

On the other hand, the upper reference position Pu rises by the upward movement amount UV1 with respect to the central axis Ar as the swinging portion 40 turns forward, and advances by the forward movement amount UH1. On the other hand, in the first step, the elevating portion 30 is lowered so that the central axis Ar is lowered by the amount of downward movement LV1. At this time, the elevating portion 30 retracts by the amount of backward movement LH1.

As a result, as shown in FIG. 6, the upper reference position Pu rises as a whole by the rising amount MV1 corresponding to the difference (UV1-LV1) between the upward moving amount UV1 and the downward moving amount LV1. Further, the upper reference position Pu advances as a whole by the advance amount MH1 corresponding to the difference (UH1-LH1) between the forward movement amount UH1 and the backward movement amount LH1.

As a result, in the first step, the person being assisted M supported by the support member 50 is placed in an intermediate posture in which the upper body of the person being assisted M is tilted forward from the initial sitting posture (see FIG. 2) (see FIG. 3). And. At this time, as shown in FIG. 6, the lower reference position Pb moves from the position Pb1 to the position Pb2 along the first movement locus Tb. Similarly, the upper reference position Pu moves from the position Pu1 to the position Pu2 along the second movement locus Tu.

By the way, various values can be set for the rising amounts NV1 and MV1 of the reference position (lower reference position Pb or upper reference position Pu) in the first step. By appropriately setting the ascending amount NV1 and MV1, the advancing amount NH1 and MH1 are determined according to the inclination angle θ of the linear motion axis An. Further, the rising amounts NV1 and MV1 may be determined by appropriately setting the forward amounts NH1 and MH1.

In the present embodiment, as shown in FIG. 6, in the first step, the advance amount NH1 of the lower reference position Pb is set to be equal to or less than a predetermined amount, and the increase amount NV1 of the lower reference position Pb is set to the upper reference position Pu. The operation of each part is controlled so that the amount of increase of MV1 is larger than that of MV1. As a result, in the first step, the chest Mb of the person being assisted M supported by the support member 50 rises while advancing, and the abdomen Ma of the person being assisted M rises while the position in the anterior-posterior direction is generally maintained. The support member 50 is moved so as to rise more than the amount.

At the initial stage of such a standing motion, the motion of bending the waist once is similar to the motion of the person being assisted M bending the waist by himself / herself and depositing the weight on the support member 50, which is a natural motion. Further, in the intermediate posture, the position of the center of gravity of the person being assisted M in the anteroposterior direction is inside the range in the anteroposterior direction in which the foot of the person being assisted M contacts the footrest table 14. Therefore, the person M in the intermediate posture is in a posture in which he / she can be stably supported by his / her feet even if he / she cannot stand up by himself / herself. As a result, in the first step, the person being assisted M can smoothly shift to the intermediate posture in which the weight is deposited on the support member 50, and the burden on the person being assisted M can be further reduced.

Subsequently, the operation process of the standing operation is continued, and the control device 60 switches the operation of the elevating unit 30 from descending to ascending to raise the elevating unit 30 and puts the person being assisted M in the intermediate posture (see FIG. 3). ), The second step is executed in which both legs of the person being assisted M are in an extended standing posture (see FIG. 4). Specifically, in the second step, the swinging portion 40 is swiveled forward and the elevating portion 30 is raised.

In the second step, as shown in FIG. 5, the lower reference position Pb rises by the upward movement amount BV2 with respect to the central axis Ar with the forward turning of the swing portion 40, and advances by the forward movement amount BH2. do. Then, in the second step, the elevating portion 30 is raised so that the central axis Ar rises by the amount of upward movement LV2. At this time, the elevating part 30 advances by the forward movement amount LH2.

As a result, as shown in FIG. 6, the lower reference position Pb rises as a whole by the rising amount NV2 corresponding to the sum (BV2 + LV2) of the two upward moving amounts BV2 and LV2. Further, the lower reference position Pb advances as a whole by the advance amount NH2 corresponding to the sum (BH2 + LH2) of the two forward movement amounts BH2 and LH2.

On the other hand, the upper reference position Pu rises by the upward movement amount UV2 with respect to the central axis Ar as the swinging portion 40 turns forward, and advances by the forward movement amount UH2. Then, in the second step, the elevating portion 30 is raised so that the central axis Ar rises by the amount of upward movement LV2. At this time, the elevating part 30 advances by the forward movement amount LH2.

As a result, as shown in FIG. 6, the upper reference position Pu rises as a whole by the rising amount MV2 corresponding to the sum (UV2 + LV2) of the two upward moving amounts UV2 and LV2. Further, the upper reference position Pu advances as a whole by the advance amount MH2 corresponding to the sum (UH2 + LH2) of the two forward movement amounts UH2 and LH2.

As a result, in the second step, the person being assisted M supported by the support member 50 is moved from an intermediate posture (see FIG. 3) to a standing posture in which both legs of the person being assisted M are extended (see FIG. 4). do. At this time, as shown in FIG. 6, the lower reference position Pb moves from the position Pb2 to the position Pb3 along the first movement locus Tb. Similarly, the upper reference position Pu moves from the position Pu2 to the position Pu3 along the second movement locus Tu. As a result, the upper body of the person being assisted M moves forward while rising from the intermediate posture.

Therefore, in the second step, the back muscle of the person being assisted M is maintained in a stretched state. Further, the upper body of the person being assisted M is stably supported by the support member 50. The position Pb3 at which the lower reference position Pb arrives at the end of the second step may appropriately fluctuate on the first movement locus Tb. For example, the control device 60 ends the operation process of the standing operation when the command to the assistance device 1 is no longer input. Therefore, depending on the lower reference position Pb (position Pb3) at the end, in addition to the posture shown in FIG. May be maintained. This also applies to the relationship between the upper reference position Pu and the position Pu3.

3. 3. Tilt angle θ of the linear motion axis An of the elevating part 30
In the present embodiment, the caregiving device 1 shifts to an intermediate posture in which the person being assisted M gradually deposits his / her weight on the support member 50 in the first step of the motion processing of the standing motion. Here, the burden on the person being assisted M may vary depending on the process of changing the posture from the sitting posture to the intermediate posture and from the intermediate posture to the standing posture. Specifically, for example, when the weight of the person being assisted M is not sufficiently deposited in the support member 50 and the amount of advancement of the support member 50 is large, the upper body of the person being assisted M is pulled forward for comfort. Decreases.

As described above, when the comfort in assisting the standing motion is reduced, the physical and psychological burden on the person being assisted M may increase. Therefore, the assisting device 1 is required to assist the person being assisted M with a more natural movement. On the other hand, if the assistance device 1 is provided with a drive device 20 that can operate in a complicated manner, it may be contrary to weight reduction, miniaturization, and reduction of manufacturing cost. Therefore, the assisting device 1 is required to further reduce the burden on the person being assisted M when assisting the standing operation in the limited operating range of the driving device.

Therefore, the assisting device 1 of the present embodiment includes an elevating portion that moves along a linear motion shaft An that is inclined forward with respect to the vertical axis, and moves the swinging portion 40 in front in the first step of the motion processing of the standing motion. A configuration is adopted in which the elevating portion 30 is lowered while being swiveled. According to the above configuration, when the elevating portion 30 is lowered by a predetermined amount in the first step, the center which is the turning center of the swinging portion 40 by the amount corresponding to the lowering amount and the inclination angle θ of the linear motion shaft An. The shaft Ar moves backward with respect to the base 10.

As a result, the amount of ascending and advancing the support member 50 with respect to the base 10 is reduced, and the amount of movement of the tilting support member 50 is optimized. The inclination angle θ of the linear motion axis An of the elevating portion 30 is appropriately set in consideration of the distance between the central axis Ar and the support member 50 and the usage angle of the swing portion 40 so that the above control is possible. Will be done. In the present embodiment, the inclination angle θ of the linear motion axis An of the elevating part 30 is set so as to satisfy at least one of the following first to third aspects as an example.

In the first aspect, the inclination angle θ of the linear motion axis An with respect to the vertical axis is set in relation to the operation of the lower reference position Pb. Specifically, in the first step, the upward movement amount (rise amount NV1) of the lower reference position Pb with respect to the base 10 moves upward with respect to the central axis Ar accompanying the forward turning of the swinging portion 40. It is assumed that the elevating part 30 is lowered in cooperation with the forward turning of the swinging part 40 so as to be 90% -70% of the amount BV1. In other words, the elevating portion 30 is lowered (for example, BV1 * 0.1 = LV1) so as to offset 10% -30% of the upward movement amount BV1 accompanying the forward turning of the rocking portion 40.

Then, the forward movement amount BH1 of the lower reference position Pb in the support member 50 with respect to the central axis Ar accompanying the forward turning of the rocking portion 40 and the backward movement amount LH1 of the central axis Ar with respect to the base 10 accompanying the lowering of the elevating portion 30. The inclination angle θ of the linear motion axis An is set in a predetermined angle range so that the ratio with and (BH1: LH1) is from 3: 1 to 1: 2. The specific numerical values included in the above angle range vary depending on the distance between the central axis Ar and the lower reference position Pb, the start position Pb1 of the first process of the lower reference position Pb, and the end position Pb2 of the first process. obtain. However, the inclination angle θ is set so that the above ratio (BH1: LH1) falls within an angle range satisfying 3: 1 to 1: 2.

In the second aspect, the inclination angle θ of the linear motion axis An with respect to the vertical axis is set in relation to the operation of the upper reference position Pu. Specifically, in the first step, the elevating portion 30 was lowered in cooperation with the forward turning of the swinging portion 40 so that the height of the upper reference position Pu with respect to the base 10 was maintained within the specified range Rs. do. In other words, the elevating portion 30 is lowered (for example, UV1 * 0.2) so that the rising amount MV1 is within the specified range Rs by canceling a part of the upward moving amount UV1 accompanying the forward turning of the swinging portion 40. = LV1). As shown in FIG. 6, the above-mentioned "specified range Rs" is set in the range of 0% -80% of the upward movement amount UV1 accompanying the forward turning of the rocking portion 40.

Then, the forward movement amount UH1 of the upper reference position Pu in the support member 50 with respect to the central axis Ar accompanying the forward turning of the rocking portion 40, and the backward movement amount LH1 of the central axis Ar with respect to the base 10 accompanying the lowering of the elevating portion 30. The inclination angle θ of the linear motion axis An is set in a predetermined angle range so that the ratio of (UH1: LH1) is from 5: 1 to 5: 3. Specific numerical values included in the above angle range are the distance between the central axis Ar and the upper reference position Pu, the start position Pu1 of the first step of the upper reference position Pu, and the end of the first step, as in the first aspect. It may vary depending on the position Pu2. However, the inclination angle θ is set so that the above ratio (UH1: LH1) falls within an angle range satisfying 5: 1 to 5: 3.

As a third aspect, the inclination angle θ of the linear motion axis An with respect to the vertical axis is set in an angle range of 10 degrees to 30 degrees. As described above, in order to assist the person being assisted M in a more natural movement in assisting the standing motion, in order to coordinate the lowering of the elevating portion 30 with the forward turning of the swinging portion 40, the central axis Ar and the reference position are used. It is necessary to set the inclination angle θ of the linear motion axis An in consideration of the distance from (lower reference position Pb, upper reference position Pu) and the like.

On the other hand, it is also necessary to assist the standing motion by corresponding to each different object such as the physique of the person being assisted M. In view of the above circumstances, by setting the inclination angle θ of the linear motion axis An in an angle range of 10 to 30 degrees, for example, the moving speed of the elevating part 30 can be adjusted to adjust the person being assisted M. The support member 50 can be moved along the first movement locus Tb and the second movement locus Tu, which can be assisted by a more natural movement.

Further, in order to sufficiently reduce the amount of advance of the support member 50 with respect to the base 10 in the first step, it is conceivable to set a large inclination angle θ of the linear motion shaft An. On the other hand, if the inclination angle θ is set to be excessively large, the amount of advance of the support member 50 with respect to the base 10 in the second step increases. At this time, the closer the center of gravity of the upper body of the person being assisted M in the standing posture is to the position in the front-rear direction of the foot placed on the foot resting table 14, the better the stability. As described above, from the viewpoint of improving the comfort of use in the first step and the second step and improving the stability of the standing posture in the finished state of the standing motion, the inclination angle θ of the linear motion axis An with respect to the vertical axis is θ. Is preferably set in an angle range of 15 to 25 degrees.

Further, in the first and third aspects described above, in the control device 60, the forward movement amount (advance amount NH1) of the lower reference position Pb in the first step is the forward movement amount of the lower reference position Pb in the second step. The movement of the lower reference position Pb in the support member 50 is controlled so as to be smaller than (advance amount NH2) (NH1 <NH2). As a result, the abdominal Ma of the person being assisted M located near the lower reference position Pb advances with respect to the base 10 in the second step in which boarding is completed rather than in the first step. Therefore, the comfort of use of the care device 1 is further improved.

Further, in the second and third aspects described above, in the control device 60, the forward movement amount (advance amount MH1) of the upper reference position Pu with respect to the base 10 in the first step is the upper reference with respect to the base 10 in the second step. The movement of the upper reference position Pu in the support member 50 is controlled so as to be smaller than the forward movement amount of the position Pu (advance amount MH2) (MH1 <MH2).

Further, in the control device 60, the upward movement amount (rise amount MV1) of the upper reference position Pu with respect to the base 10 in the first step is the upward movement amount (rise amount MV2) of the upper reference position Pu with respect to the base 10 in the second step. The movement of the upper reference position Pu in the support member 50 is controlled so as to be 2/3 or less of (MV1 ≦ (2/3) * MV2). As a result, the side of the person being assisted M and the chest Mb located near the upper reference position Pu rise and advance with respect to the base 10 in the second step in which boarding is completed rather than in the first step. As a result, the comfort of use of the care device 1 is further improved.

4. Deformation of the Embodiment In the embodiment, the reference position is set at the lower end, the upper end, or the side of the assisted person M in the body support portion 51 in contact with the body of the assisted person M. .. On the other hand, the reference position can be appropriately set as long as it is set to a position where it moves integrally with the support member 50. For example, the reference position may be set at the position of the chest Mb of the person being assisted M in the configuration in which the support member 50 includes the body support portion as illustrated in the embodiment. Further, the reference position may be set at the connecting portion between the swing body 41 and the arm 42. Even in such a configuration, the same effect as that of the embodiment is obtained.

In the embodiment, in the operation process for assisting the standing operation, each of the first step and the second step includes an operation of turning the swinging portion 40 forward and an operation of turning the swinging portion 40 backward. I decided not to. On the other hand, when it is necessary to raise the upper body of the person being assisted M to some extent in a standing posture due to a difference in the level of assistance, for example, ascending / descending so that at least one step includes the rear turning of the swinging portion 40. The movement of the support member 50 may be controlled by coordinating the movement of the portion 30 and the rotation of the swing portion 40.

Further, the motion processing of the standing motion is composed of two steps, a first step and a second step, which are executed in a series. On the other hand, another step may be appropriately included in the operation process of the standing operation. For example, the operation process may include a preparatory step for changing the assisting device 1 from the current state to the initial state, a recovery step when each step once executed is stopped and then restarted. The control device 60 controls the movement of the support member 50 by combining various steps and coordinating the movement of the elevating part 30 and the turning of the swinging part 40 based on the state of the assisting device 1 and the input command. It may be configured to be used.

Further, in the embodiment, the starting point of the first step is the initial state of the assistance device 1. Further, the end point of the first step and the start point of the second step are in a state where the weight of the person being assisted M is deposited in the support member 50 and the person being assisted M is in an intermediate posture. The end point of the second step is a state when the elevating portion 30 reaches a predetermined height so that the person being assisted M is in a standing posture.

In the embodiment, the first step and the second step are defined as described above, but in addition, the height of the elevating part 30, the angle of the swinging part 40, the position of the lower reference position Pb in the first movement locus Tb, and the second step. The process may be divided according to the position of the upper reference position Pu in the movement locus Tu, the angle of the support member 50, the posture of the person being assisted M, and the like. In any of the categories, in the first step of shifting from the sitting posture to the intermediate posture, assisted by coordinating the raising and lowering of the raising and lowering part with the turning of the swinging part 40 so that the central axis Ar descends and retracts. The burden on the person M can be reduced.

1: Assistance device, 10: Base, 20: Drive device, 30: Elevating part, 40: Swing part, Support member 50, 51: Body support part, 52: Side support part, 60: Control device, An: Direct Dynamic axis, Ar: Central axis, M: Assisted person, Mb: Chest, Ma: Abdomen, Mt: Buttocks, Pd: Lower reference position, Pu: Upper reference position, Td: Movement trajectory (of lower reference position) , Tu: Movement locus (at the upper reference position)

Claims (11)

Base and
Support members that support the upper body of the person being cared for,
An elevating part provided on the base and moving along a linear motion axis inclined forward with respect to the vertical axis.
A swinging portion provided on the elevating portion and swiveling around a horizontal central axis to swing the support member, and a swinging portion.
In the operation process for assisting the standing operation of the person being assisted, a control device for controlling the movement of the support member by coordinating the movement of the elevating part and the turning of the swinging part is provided.
In the operation process of the standing operation,
By turning the swinging portion forward, the support member is tilted, the reference position of the support member is moved upward and forward with respect to the central axis, and the elevating portion is lowered to reach the base. On the other hand, the first step of moving the central axis downward and backward so that the person being assisted supported by the support member is in an intermediate posture in which the upper body is tilted forward from the initial sitting posture.
An assistance device including a second step of raising the elevating part to change the person being assisted from the intermediate posture to a standing posture. The support member is formed in a planar shape, and has a body support portion that supports the body by surface contact with the front surface of the body of the upper body of the person being assisted.
The caregiving device according to claim 1, wherein the reference position is set at the lower end of a portion of the body support portion that comes into contact with the body. The control device controls the movement of the reference position in the support member so that the forward movement amount of the reference position in the first step is smaller than the forward movement amount of the reference position in the second step. Item 2. The assistance device according to item 2. The inclination angle of the linear motion shaft with respect to the vertical axis is such that the amount of upward movement of the reference position with respect to the base in the first step is the amount of upward movement of the reference position with respect to the central axis accompanying the forward rotation of the swinging portion. When the elevating part is lowered in cooperation with the front turning of the swinging portion so as to be 90% -70% of the above, the reference in the support member with respect to the central axis accompanying the front turning of the swinging portion. 2. The assisting device described. The support member is formed in a planar shape, and has a body support portion that supports the body by surface contact with the front surface of the body of the upper body of the person being assisted.
The caregiving device according to claim 1, wherein the reference position is set at the upper end of a portion of the body support portion that comes into contact with the body. The support member
A body support portion that is formed in a planar shape and is in surface contact with the front surface of the body of the upper body of the person being assisted to support the body.
It has a side support portion that is supported by the body support portion and supports the side of the person being assisted.
The assistance device according to claim 1, wherein the reference position is set at a position beside the person being assisted. In the control device, the amount of forward movement of the reference position with respect to the base in the first step is smaller than the amount of forward movement of the reference position with respect to the base in the second step, and in the first step. The movement of the reference position in the support member is controlled so that the amount of upward movement of the reference position with respect to the base is 2/3 or less of the amount of upward movement of the reference position with respect to the base in the second step. , The assistance device according to claim 5 or 6. The inclination angle of the linear motion shaft with respect to the vertical axis is coordinated with the forward rotation of the swing portion so that the height of the reference position with respect to the base is maintained within a specified range in the first step. When the elevating part is lowered, the amount of forward movement of the reference position in the support member with respect to the central axis accompanying the forward turning of the swinging part and the rearward of the central axis with respect to the base due to the lowering of the elevating part. The assistance device according to any one of claims 5-7, which is set in an angle range in which the ratio to the amount of movement is 5: 1 to 5: 3. In the first step, the chest of the person being assisted supported by the support member rises while advancing, and the abdomen of the person being assisted rises more than the amount of rise of the chest while maintaining the position in the anteroposterior direction. The caregiving device according to any one of claims 1-8, wherein the support member is moved so as to be used. The caregiving device according to any one of claims 1-9, wherein the inclination angle of the linear motion shaft with respect to the vertical axis is set in an angle range of 10 degrees to 30 degrees. Base and
Support members that support the upper body of the person being cared for,
An elevating part provided on the base and moving along a linear motion axis inclined forward with respect to the vertical axis.
A swinging portion provided on the elevating portion and swiveling around a horizontal central axis to swing the support member, and a swinging portion.
In the operation process for assisting the standing operation of the person being assisted, a control device for controlling the movement of the support member by coordinating the movement of the elevating part and the turning of the swinging part is provided.
The tilt angle of the linear motion axis with respect to the vertical axis is set in an angle range of 10 to 30 degrees.
In the operation process of the standing operation,
A first step in which the swinging portion is swiveled forward and the elevating portion is lowered to bring the person being assisted supported by the support member into an intermediate posture in which the upper body is tilted forward from the initial sitting posture.
An assistance device including a second step of raising the elevating part to change the person being assisted from the intermediate posture to a standing posture.

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