WO2015125336A1 - Transfer assistance device - Google Patents

Abstract

An objective of the present invention is to reduce a load upon a caregiver. Provided is a transfer assistance device (100), comprising: a central holder part (102) which is supported in a cantilevered manner; a main body part (103), further comprising an elevator mechanism (112) which is configured to elevate the central holder part (102); a pair of first arm members (104, 104) which are coupled to the fore side of the central holder part (102) so as to rotate with the central holder part (102) as a center axis; a pair of second arm members (105, 105) which are coupled to the aft side of the central holder part (102) so as to rotate with the central holder part (102) as a center axis; a plurality of locking parts (107) which are disposed upon the first and second arm members (104, 105) so as to lock and unlock a sling seat (6) which carries a person receiving care (H); and a caster part (108) which is disposed below the main body (104), and which further comprises a rectangular frame (109) which is capable of being disengaged in both the left- and right-hand sides and both the fore and aft sides, and a plurality of wheels (110, 120).

Description

Transfer assist device

The disclosed embodiment relates to a transfer assist device.

Patent Document 1 describes a care lifting device used when moving a cared person who is difficult to walk on his own. This care lifting device includes a hanger that is suspended from a care lift and a cloth sling sheet that can be hung on the hanger while the care recipient is placed on the hanger.

JP 2010-11892 A

In order to reduce the burden on the caregiver in the above-described conventional care lifting device, further optimization of the device configuration is desired.

This invention is made in view of such a problem, and it aims at providing the transfer assistance apparatus which can reduce the burden of a caregiver.

In order to solve the above-described problem, according to one aspect of the present invention, there is provided a transfer assist device for assisting transfer of a cared person, and is supported by a main body portion and the main body portion so as to be rotatable around a central axis. And a plurality of lifting mechanisms that are provided in the main body unit and configured to move up and down the rotating unit, and are connected to the rotating unit and are capable of holding a sling sheet on which a care recipient is placed. Transfer having an arm member, and a caster portion provided below the main body portion and capable of opening in at least one of a central axis direction and a direction perpendicular to the central axis direction and a plurality of wheels. Auxiliary devices are applied.

According to the transfer assist device of the present invention, the burden on the caregiver can be reduced.

It is a perspective view showing an example of composition of a transfer auxiliary device of a 1st embodiment. It is the top view seen from the left side showing an example of a structure of a transfer assistance apparatus. It is the top view seen from the right side showing an example of a structure of a transfer assistance apparatus. It is the top view which looked at the transfer assistance apparatus of the state which the header part raised from the right side. It is the top view which looked at the transfer assistance apparatus of the state which raised the 1st arm member from the left side. It is the top view which looked at the transfer auxiliary | assistance apparatus of the state which raised the 2nd arm member from the left side. It is the top view which looked at the transfer assistance apparatus of the state which raised the 1st and 2nd arm member from the left side. It is explanatory drawing for demonstrating an example of operation | movement of a transfer assistance apparatus. It is explanatory drawing for demonstrating an example of operation | movement of a transfer assistance apparatus. It is explanatory drawing for demonstrating an example of operation | movement of a transfer assistance apparatus. It is a perspective view showing an example of composition of a transfer auxiliary device of a 2nd embodiment. It is a perspective view showing an example of composition of a transfer auxiliary device. It is the top view seen from the left side showing an example of a structure of a transfer assistance apparatus. It is the top view seen from the right side showing an example of a structure of a transfer assistance apparatus. It is a schematic diagram for demonstrating each mechanism of a transfer assistance apparatus. It is explanatory drawing which illustrated the state which the raising / lowering part and the center holder part are located in a reference position with a continuous line, and the state where the raising / lowering part and the center holder part rose from the reference position with a dashed-two dotted line. A state in which the central holder portion and the first and second arm members are positioned at the reference position is shown by a solid line, and the central holder portion and the first and second arm members are moved from the reference position to one side in the rotation direction around the rotation axis. FIG. 4 is an explanatory diagram illustrating a state in which the state is rotated by a two-dot chain line, and a state in which the center holder portion and the first and second arm members are rotated from the reference position to the other side in the rotational direction about the rotation axis. is there. The state in which the first and second arm members are located at the reference position is indicated by a solid line, and the state in which the first and second arm members are rotated from the reference position in the turning direction according to the urging operation around the rotation axis is two points. It is explanatory drawing illustrated with the dashed line. The state where the pedal is operated to be in the reference position is a solid line, the state where the pedal is operated so as to be raised from the reference position is a one-dot chain line, and the state where the pedal is operated so as to be lowered from the reference position is a two-dot chain line It is explanatory drawing illustrated in figure. It is a perspective view showing an example of composition of a transfer auxiliary device of a 3rd embodiment.

Hereinafter, embodiments will be described with reference to the drawings. In addition, when there are notes “upper”, “lower”, “left”, “right”, “front”, “rear” in the drawings, “upper”, “lower”, “left”, “right” in the description in the specification “Way”, “front” and “back” refer to the noted direction. However, the positional relationship of each component of the transfer assist device is not limited to the concepts of “upper”, “lower”, “left”, “right”, “front”, and “rear”.

<1. First Embodiment>
First, the first embodiment will be described.

(1-1. Example of configuration of transfer assist device)
First, an example of the configuration of the transfer assist device of the present embodiment will be described with reference to FIGS.

As shown in FIG. 1 to FIG. 7, the transfer assist device 1 is a device that assists the transfer (also referred to as “transfer operation”) of the care recipient H (see FIG. 8 and the like described later).

“Transfer” refers to the movement from the current position / posture to another position / posture. As this transfer, for example, a sitting posture (also referred to as a “sitting posture”) from a lying posture (also referred to as a “posture posture”) at a certain position (for example, a bed) to another position (for example, a wheelchair). And the reverse operation.

The transfer assist device 1 includes a center holder portion 2, a main body portion 3, a pair of first arm members 4 and 4, and a pair of second arm members 5 and 5.

The center holder part 2 is supported in a cantilever shape by a header part 21 (described later) of the main body part 3 so as to extend in the horizontal direction.

The main body 3 includes a housing 16 and an elevating mechanism 12 provided in the housing 16.

The elevating mechanism 12 is a mechanism that elevates and lowers the central holder portion 2. The direction (path) when the elevating mechanism 12 moves up and down the center holder part 2 is particularly limited as long as it is a direction (path) in which the position of the center holder part 2 changes at least in the vertical direction (vertical direction in this example). It is not something. However, this embodiment demonstrates the case where the raising / lowering mechanism 12 raises / lowers the center holder part 2 along an up-down direction. Moreover, if the structure (structure) of the raising / lowering mechanism 12 is a structure (structure) which can raise / lower the center holder part 2, it will not specifically limit. However, this embodiment demonstrates the case where the raising / lowering mechanism 12 is comprised as follows.

That is, the lifting mechanism 12 includes a motor M1 (corresponding to an example of a first motor), a connecting part C1, and a lifting part 22.

The motor M1 generates a driving force for moving the center holder part 2 up and down along the vertical direction. If this motor M1 is a motor that generates a driving force for raising and lowering the central holder portion 2, a rotary motor that generates a rotational force as the driving force and a linear motor that generates a propulsive force as the driving force. Any of these may be used. However, in this embodiment, a case where the motor M1 is a rotary motor will be described.

That is, the shaft member SH1 to which the nut member N1 is attached is connected to the output shaft (not shown) of the motor M1 so as to extend in the vertical direction. The shaft member SH1 rotates with the rotation of the output shaft of the motor M1. The nut member N1 moves linearly along the vertical direction with respect to the shaft member SH1 by the rotation of the shaft member SH1. In addition, the combination of the shaft member SH1 and the nut member N1 can be mounted by, for example, a mechanism having a ball spline, a mechanism having a ball screw, or the like.

The connecting part C1 connects the upper end side of the nut member N1 and the elevating part 22 so that the elevating part 22 moves up and down along the vertical direction with respect to the casing 16 in synchronization with the linear movement of the nut member N1.

The elevating part 22 is attached to the case 16 through an opening (not shown) on the upper surface of the case 16, and moves up and down along the vertical direction with respect to the case 16 in synchronization with the linear movement of the nut member N1. To do. The elevating part 22 includes a header part 21 exposed on the upper side (not accommodated in the housing 16), and the header part 21 supports the central holder part 2 in a cantilever shape.

Such an elevating mechanism 12 can elevate and lower the central holder portion 2 along the vertical direction when the elevating unit 22 moves up and down along the vertical direction with respect to the housing 16 by driving the motor M1. That is, FIGS. 1 to 3 and FIGS. 5 to 7 correspond to the state in which the elevating part 22 (central holder part 2) is in the lower position, and FIG. 4 shows the elevating part 22 (central holder part 2) in the lower position. This corresponds to the state of moving upward (raised) from the position.

The main body unit 3 is provided with an operation unit 14 that allows a caregiver (not shown) (which corresponds to an example of an operator) to perform various operations of the transfer assist device 1. In this example, the operation unit 14 is provided in the header unit 21. The caregiver operates the operation unit 14, for example, ascending / descending operation of the above-described central holder unit 2, rotating operations of the first arm members 4, 4 and the second arm members 5, 5 described later, described later. It is possible to drive a plurality of wheels 20 and the like.

The first arm members 4 and 4 are centered with respect to one side in the circumferential direction of the central holder portion 2 (the front side in this example) so as to rotate synchronously (together) with the central holder portion 2 as a central axis. The holder portions 2 are connected while being separated in the extending direction (in this example, the left-right direction). The first arm members 4 and 4 may be connected to the front side of the central holder portion 2 so as to rotate independently of each other about the central holder portion 2 as a central axis. Each first arm member 4 is formed in a curved shape so that the distal end portion 4a faces upward when the base end portion 4b extends from the central holder portion 2 in the horizontal direction. Each first arm member 4 is formed in a shape extending linearly between the base end portion 4b and the tip end portion 4a, or when the base end portion 4b extends in the horizontal direction from the central holder portion 2. In addition, the tip 4a may be formed in a curved shape so as to face downward.

The second arm members 5, 5 are left and right with respect to the other circumferential side of the central holder portion 2 (in this example, the rear side) so as to rotate synchronously (together) with the central holder portion 2 as the central axis. They are connected while being spaced apart in the direction. The second arm members 5 and 5 may be coupled to the rear side of the central holder portion 2 so as to rotate independently of each other about the central holder portion 2 as a central axis. Each arm member 5 is shaped like the second arm member 4 in such a manner that when the base end portion 5b extends in a horizontal direction from the central holder portion 2, the tip end portion 5a is curved upward. Is formed. Each second arm member 5 is formed in a shape extending linearly between the base end portion 5b and the tip end portion 5a, or when the base end portion 5b extends in the horizontal direction from the central holder portion 2. In addition, the tip 5a may be formed in a curved shape so as to face downward.

The first arm members 4, 4 and the second arm members 5, 5 are respectively connected to the front side and the rear side of the central holder portion 2 so as to rotate independently from each other (separately). ing. In addition, the 1st arm members 4 and 4 and the 2nd arm members 5 and 5 may each be connected with the front side and the back side of the center holder part 2 so that it may rotate synchronously. That is, the main body 3 is provided with a rotation mechanism 23 and a rotation mechanism 24.

The rotation mechanism 23 is a mechanism that rotates each first arm member 4 about the central holder portion 2 as a central axis. The configuration (structure) of the rotation mechanism 23 is not particularly limited as long as it is a configuration (structure) capable of rotating each first arm member 4 about the central holder portion 2 as a central axis. However, in this embodiment, the case where the rotation mechanism 23 is configured as follows will be described.

That is, the rotation mechanism 23 includes a motor M2 (corresponding to an example of a second motor) and a connecting portion C2.

The motor M2 generates a driving force for rotating the first arm members 4 and 4. If the motor M2 is a motor that generates a driving force for rotating the first arm members 4 and 4, a rotary motor that generates a rotating force as the driving force, and a propulsive force as the driving force. Any of the generated linear motors may be used. However, in this embodiment, the case where the motor M2 is a rotary motor will be described.

That is, the shaft member SH2 to which the nut member N2 is attached is connected to the output shaft (not shown) of the motor M2 so as to extend in the vertical direction. The shaft member SH2 rotates with the rotation of the output shaft of the motor M2. The nut member N2 linearly moves along the vertical direction with respect to the shaft member SH2 by the rotation of the shaft member SH2. Note that the combination of the shaft member SH2 and the nut member N2 can be mounted by, for example, a mechanism having a ball spline or a mechanism having a ball screw.

The connecting portion C2 is connected to the upper end side of the nut member N2 and each first arm member 4 so that each first arm member 4 rotates around the central holder portion 2 in synchronization with the linear movement of the nut member N2. Are connected. In this example, the connecting portion C <b> 2 includes a connecting member 25 fitted in a groove 18 provided on the front side of the periphery of the center holder portion 2 on the left side surface of the header portion 21. Then, the coupling portion C2 is configured such that each first arm member 4 rotates about the central holder portion 2 as the central axis by the coupling member 25 sliding in the groove 18 in synchronization with the linear movement of the nut member N2. The upper end side of the nut member N2 and each arm member 4 are connected.

Such a rotation mechanism 23 rotates each first arm member 4 about the central holder portion 2 as a central axis when the connecting member 25 of the connecting portion C2 slides in the groove 18 by driving the motor M2. Is possible.

At this time, each first arm member 4 rotates in a range from an angle at which the distal end portion 4 a is positioned below the horizontal direction of the central holder portion 2 to an angle at which the distal end portion 4 a is positioned above the central holder portion 2. Thus, it is connected to the front side of the center holder part 2. The rotation range of each first arm member 4 is not limited to the above range.

Rotating mechanism 24 is a mechanism that rotates each second arm member 5 about the central holder portion 2 as a central axis. The configuration (structure) of the rotation mechanism 24 is not particularly limited as long as it is a configuration (structure) capable of rotating each second arm member 5 about the central holder portion 2 as a central axis. However, in the present embodiment, a case where the rotation mechanism 24 is configured in the same manner as the rotation mechanism 23 will be described.

That is, the rotation mechanism 24 includes a motor M3 (corresponding to an example of a third motor) and a connecting portion C3.

The motor M3 generates a driving force for rotating the second arm members 5 and 5. If the motor M3 is a motor that generates a driving force for rotating the second arm members 5 and 5, a rotary motor that generates a rotating force as the driving force, and a propulsive force as the driving force. Any of the generated linear motors may be used. However, in this embodiment, the case where the motor M3 is a rotary motor will be described.

That is, the shaft member SH3 to which the nut member N3 is attached is connected to the output shaft (not shown) of the motor M3 so as to extend in the vertical direction. The shaft member SH3 rotates with the rotation of the output shaft of the motor M3. The nut member N3 linearly moves along the vertical direction with respect to the shaft member SH3 by the rotation of the shaft member SH3. Note that the combination of the shaft member SH3 and the nut member N3 can be mounted by, for example, a mechanism having a ball spline or a mechanism having a ball screw.

The connecting portion C3 is connected to the upper end side of the nut member N3 and each second arm member 5 so that each second arm member 5 rotates about the central holder portion 2 in synchronization with the linear movement of the nut member N3. Are connected. In this example, the connecting portion C3 includes a connecting member (not shown) fitted in a groove 19 provided on the rear side of the periphery of the center holder portion 2 on the left side surface of the header portion 21. . And the connection part C3 is synchronized with the linear movement of the nut member N3, so that each second arm member 5 rotates about the center holder part 2 as the central axis when the connection member slides in the groove 19. The upper end side of the nut member N3 and each 2nd arm member 5 are connected.

Such a rotation mechanism 24 can rotate each second arm member 5 about the central holder portion 2 as a central axis when the connecting member of the connecting portion C3 slides in the groove 19 by driving the motor M3. Is possible.

At this time, each of the second arm members 5 has the tip portion 5a positioned above the center holder portion 2 from an angle at which the tip portion 5a is positioned below the horizontal direction of the center holder portion 2 in the same manner as the first arm members 4 described above. It connects with the back side of the center holder part 2 so that it may rotate in the range to the angle which becomes. In addition, the rotation range of each 2nd arm member 5 is not limited to the said range.

That is, FIGS. 1 to 4 correspond to a state in which each of the first and second arm members 4 and 5 is in a position where the tip end portions 4a and 5a are positioned below the horizontal direction of the central holder portion 2. Further, FIG. 5 shows that each first arm member 4 rotates (stands up) from a position where the distal end portion 4a is located at the lower position to a position where the distal end portion 4a is located above the central holder portion 2, and Each 2nd arm member 5 respond | corresponds to the state which has the front-end | tip part 5a in the position used as the said downward position. Further, FIG. 6 shows that each first arm member 4 is located at a position where the distal end portion 4a is at the lower position, and each second arm member 5 is moved from the position where the distal end portion 5a is located at the lower position. This corresponds to a state in which 5a is rotated (stands up) to a position above the central holder portion 2. FIG. 7 corresponds to a state in which each of the first and second arm members 4, 5 is in a position where the front end portions 4 a, 5 a are positioned above the central holder portion 2 (standing up).

Further, a cushion material 11 is installed on the central holder portion 2 so as to cover the outer periphery of the central holder portion 2 between the first arm members 4 and 4 and between the second arm members 5 and 5. . The cushion material 11 is made of an appropriate material having cushioning properties (impact buffering properties). Note that the cushion material 11 may not be installed in the center holder portion 2.

In addition, the first arm members 4 and 4 and the second arm members 5 and 5 are used to lock and release the sling sheet 6 (see FIG. 8 and the like described later) on which the care recipient H is placed. A plurality of locking portions 7 are provided. Specifically, the locking portion 7 is attached to each first arm member 4 at an intermediate position between the proximal end portion 4b and the distal end portion 4a and at two locations in the vicinity of the distal end portion 4a. On the other hand, it is attached to the middle position of the base end part 5b and the front-end | tip part 5a, and two places near the front-end | tip part 5a. In addition, the attachment position and attachment number of the latching | locking part 7 are not limited to the said position and number. Moreover, the structure (structure) of each latching | locking part 7 will not be specifically limited if it is the structure (structure) which can perform the latching of the sling sheet 6, and the cancellation | release of the said latching. In the present embodiment, a case will be described in which each locking portion 7 is configured by a hook-like hook attached to each of the first and second arm members 4 and 5.

Further, a caster unit 8 for moving the transfer assisting device 1 is installed in the casing 16 of the main body unit 3 so as to be positioned below the central holder unit 2. In addition, a member for moving the transfer assist device 1, which is different from the caster unit 8, may be installed in the main body unit 3. Moreover, when it is not necessary to move the movement assistance apparatus 1, the member for moving the transfer assistance apparatuses 1, such as the caster part 8, does not need to be installed.

The caster unit 8 includes a frame 9 and a plurality of wheels 10 and 20.

The frame 9 is formed in a square frame shape opened to one side (in this example, the rear side) perpendicular to the left-right direction.

The wheel 10 is installed at two locations near both ends on the left side of the frame 9 and is configured as a non-driven wheel.

The wheel 20 is installed in two places located in the housing 16 on the right side of the frame 9 and is configured as a drive wheel. That is, each wheel 20 is connected to a motor (not shown) installed in the housing 16 and is driven by a driving force generated by the motor.

In addition, the installation position, installation number, and driving method of the wheels of the caster unit 8 are not limited to the above-described position, number, and method.

That is, in the transfer assist device 1, the sling sheet 6 on which the care recipient H is placed is locked by the respective locking portions 7, and the central holder portion 2 and the first arm member connected thereto by the lifting mechanism 12. The care receiver H can be lifted or lowered by moving the 4, 4 and the second arm members 5 and 5 up and down along the vertical direction. In addition, the first and second arm members 4 and 5 are rotated about the central holder portion 2 as the central axis by the rotation mechanisms 23 and 24 in a state where the care recipient H placed on the sling sheet 6 is lifted. Thus, it is possible to change the posture of the care recipient H. That is, the center holder part 2, the 1st arm members 4 and 4, and the 2nd arm members 5 and 5 comprise the means to change the posture of the cared person who is placed on the sling sheet and lifted.

(1-2. Example of operation of transfer assist device)
Next, an example of the operation of the transfer assist device 1 will be described with reference to FIGS. Here, operation | movement of the transfer assistance apparatus 1 at the time of making the care receiver H who lay down on the bed sit on a wheelchair is demonstrated.

8 to 10, first, the transfer assist device 1 is disposed in the vicinity of the bed B on which the care receiver H is lying (along the front-rear direction in this example). In this example, the transfer assist device 1 is arranged such that the first arm member 4 is on the care receiver H's foot side and the second arm member 5 is on the care receiver H head side. Thereafter, the transfer assisting apparatus 1 places both the first and second arm members 4 and 5 on the front side and the rear side at appropriate positions where the tip end portions 4a and 5a are positioned below the horizontal direction of the central holder portion 2. The center holder part 2 is raised in a state where the sling sheet 6 on which the cared person H in the lying position is placed is locked by the respective locking parts 7. Thereby, the transfer assistance apparatus 1 lifts the care receiver H in the lying posture from the bed B (see FIG. 8).

Then, the transfer assist device 1 moves to a predetermined position in a state where the care receiver H in the lying position is lifted, and moves the second arm member 5 on the rear side (the head side of the care receiver H) to the tip portion 5a. Is rotated (raised) to an appropriate position that is above the central holder portion 2. Thereby, the transfer assistance apparatus 1 changes the posture of the care receiver H in the lying posture to the sitting posture when sitting on the wheelchair W (see FIG. 9). At this time, the transfer assist device 1 may adjust the posture of the cared person H by appropriately rotating the first arm member 4 on the front side (foot side of the cared person H).

Thereafter, the transfer assist device 1 lowers the central holder portion 2 with the cared person H in the sitting position lifted. Thereby, the transfer assistance apparatus 1 makes the cared person H of the sitting position drop down, and makes it sit on the wheelchair W (refer FIG. 10).

Note that the operation content of the transfer assist device 1 described above is merely an example, and it is needless to say that the transfer assist device 1 can perform operations other than the operation details described above. For example, in the above description, the transfer assist device 1 changes the posture of the cared person H after lifting the cared person H, but changes the posture of the cared person H by lifting the cared person H. After that, you may move. In the above description, the case where the transfer assist device 1 assists the transfer from the lying posture to the sitting posture has been described. However, the transfer assist device 1 assists the transfer from the sitting posture to the lying posture, Assistance for transfer from posture to supine posture (position movement, posture change, etc.), assistance for transfer from sitting posture to sitting posture (position movement, posture change, etc.), and other transfer assistance are also possible. Needless to say.

(1-3. Examples of effects of the present embodiment)
As described above, in the transfer assisting device 1 of the present embodiment, the center holder portion 2 and the first and second arm members 4 and 5 provided as a pair by the elevating mechanism 12 provided in the main body portion 3, respectively. Go up and down. The first arm members 4, 4 rotate around the central holder part 2 as the central axis on the front side of the central holder part 2. The second arm members 5, 5 rotate around the central holder part 2 as the central axis on the rear side of the central holder part 2. Each first and second arm member 4, 5 is provided with a plurality of locking portions 7 for locking and unlocking the sling sheet 6.

In the transfer assist device 1 configured as described above, the first and second arm members 4 and 5 are rotated so that both the first and second arm members 4 and 5 are positioned below the center holder portion 2 with respect to the care recipient H in the lying position. By moving it, it becomes possible to lock the sling sheet 6 on which the care receiver H in the lying posture is placed. For the care recipient H in a sitting position, one of the first and second arm members 4 and 5 is rotated so that one of the first and second arm members 4 and 5 is positioned below the central holder 2 and the other is positioned above. It is possible to lock the sling sheet 6 on which the care recipient H in the posture is placed. Thus, since it becomes possible to accept the transfer assist device 1 regardless of the posture of the care recipient H, it is not necessary to change the posture of the care receiver H before the transfer, and the burden on the caregiver is reduced. Can do.

Further, by rotating the first arm members 4, 4 and the second arm members 5, 5, in the state where the care receiver H is lifted, the posture of the care receiver H is changed to a desired posture (for example, a destination) The posture can be changed to a posture suitable for various sitting postures, a posture suitable for various activities carried out after the transfer, and the like. For example, the posture can be a supine posture or a sitting posture, and the hip angle can be finely adjusted in the supine posture, or the forward leaning posture or the backward leaning posture can be set in the sitting posture. Thereby, since the posture change of the care receiver H after the transfer becomes unnecessary, the burden on the care worker can be greatly reduced. In addition, since the cared person H can be changed to a desired posture and can be seated on the wheelchair W or the bed B or the like and laid on the bed B or the like, meals, changing clothes, movement, excretion, conditioning, Daily activities such as bathing (also referred to as ADL (Activities of Daily Living) and daily life activities), activities such as work, hobbies, etc. can be increased to improve the level of social participation. As a result, the cared person H can be supported independently.

Furthermore, since it is possible to maintain a posture that matches the body shape and condition of the cared person H, it is possible to reduce the burden on the body of the cared person H (such as compression of the hip and abdomen).

Further, since the sling sheet 6 is locked by the plurality of locking portions 7 installed on the first arm members 4 and 4 and the second arm members 5 and 5, a pendulum that can be generated in a lifting type transfer assist device Can prevent shaking due to exercise. As a result, it is possible to reduce symptoms such as fear and dizziness of the care recipient H.

In the present embodiment, in particular, the first arm members 4 and 4 and the second arm members 5 and 5 rotate independently of each other with respect to the central holder portion 2. Thereby, the flexibility of acceptance of the cared person H and the variety of attitude changes of the cared person H can be further increased.

In the present embodiment, in particular, each of the first and second arm members 4, 5 has the tip portions 4 a, 5 a as the center holder from the angle at which the tip portions 4 a, 5 a are positioned below the horizontal direction of the center holder portion 2. It rotates within a range up to an angle that is an upper position of the portion 2. Thereby, it can be set in the supine posture by rotating the tip portions 4a, 5a of both the first and second arm members 4, 5 so as to be in a position below the horizontal direction of the center holder portion 2. . At this time, it is possible to cope with the case where the head of the care recipient H is on either the first arm member 4 side or the second arm member 5 side. Moreover, it is set as a sitting posture by rotating one front-end | tip part of the 1st and 2nd arm members 4 and 5 so that it may become a position lower than the horizontal direction of the center holder part 2, and the other front-end | tip part may become an upper position. be able to. At this time, it is possible to cope with the case where the front direction of the care recipient H is the first arm member 4 side or the second arm member 5 side.

Further, particularly in the present embodiment, when each of the first and second arm members 4, 5 has the base end portions 4 b, 5 b extending in the horizontal direction from the central holder portion 2, the distal end portions 4 a, 5 a are upward. The shape is curved so as to face. Thereby, it becomes possible to make the sling seat 6 into a shape adapted to the body shape of the cared person H, to prevent the cared person H from slipping during transfer, and to improve the comfort on the sling sheet 6 it can. Further, it is possible to sufficiently form a space for holding the care receiver H below the center holder portion 2.

Further, particularly in the present embodiment, the locking portion 7 is located at an intermediate position between the proximal end portions 4b and 5b and the distal end portions 4a and 5a and the distal end portions 4a and 5a with respect to the first and second arm members 4 and 5, respectively. It is attached at two locations in the vicinity. Thereby, since the sling sheet 6 can be locked in a total of eight places, four places on the upper body side of the care recipient H and four places on the lower body side, the fixation of the sling sheet 6 is strengthened, and the care recipient H's The effect of preventing shaking can be enhanced.

In the present embodiment, in particular, the caster unit 8 including the plurality of wheels 10 and 20 is installed in the main body unit 3. The caster portion 8 includes a square frame-like frame 9 that is located below the central holder portion 2 and is open to the rear side. Thereby, since the wheelchair W etc. can be smoothly approached under the center holder part 2 from the open side of the flame | frame 9, the convenience can be improved.

In the present embodiment, the cushion material 11 is installed on the outer periphery of the center holder portion 2 between the first arm members 4 and 4 and between the second arm members 5 and 5. As a result, the cared person H can be grasped (clamped) by the central holder part 2 via the cushioning material 11 during the transfer, and the effect of reducing symptoms such as fear and dizziness of the cared person H can be further enhanced. Can do.

In the present embodiment, the main body 3 has motors M1, M2, and M3. The motor M1 generates a driving force for raising and lowering the central holder portion 2, the motor M2 generates a driving force for rotating the first arm member 4, and the motor M3 rotates the second arm member 5. Driving force is generated. In this way, by providing a motor individually for each operation, the raising / lowering operation of the central holder portion 2, the rotating operation of the first arm member 4, and the rotating operation of the second arm member 5 are independent. Can be operated. Thereby, the flexibility of acceptance of the cared person H and the variety of attitude changes of the cared person H can be further increased.

(1-4. Modifications etc.)
The first embodiment is not limited to the above contents, and various modifications can be made without departing from the spirit and technical idea of the first embodiment.

In the first embodiment, motors are individually provided for the lifting operation of the central holder portion 2, the rotating operation of the first arm member 4, and the rotating operation of the second arm member 5. That is, the motor M1 generates a driving force only for raising and lowering the central holder portion 2, the motor M2 generates a driving force only for rotating the first arm member 4, and the motor M3 has a second driving force. A driving force was generated only for rotating the arm member 5. However, it is also possible to configure the driving force to be generated by a plurality of motors for each of the above operations. For example, a driving force for raising and lowering the center holder portion 2 may be generated by at least one of the motor M2 and the motor M3 in addition to the motor M1. Further, a driving force for rotating the first arm member 4 may be generated by at least one of the motor M1 and the motor M3 in addition to the motor M2. Further, a driving force for rotating the second arm member 5 may be generated by at least one of the motor M1 and the motor M2 in addition to the motor M3. In such a case, the apparatus can be miniaturized by optimizing the necessary motor torque and reducing the motor capacity.

<2. Second Embodiment>
Next, a second embodiment will be described.

(2-1. Example of configuration of transfer assist device)
First, an example of the configuration of the transfer assist device of the present embodiment will be described with reference to FIGS.

As shown in FIGS. 11 to 19, the transfer assist device 100 includes a drive power source 101 such as a battery. Each electronic component of the transfer assist device 100 is powered by power supplied from the drive power source 101. Driven. As a result, the transfer assist device 100 can be made cordless.

Note that the transfer assist device 100 may be supplied with power from a commercial power source via a cord.

Further, the transfer assist device 100 includes a central holder portion 102 (corresponding to an example of a rotating portion), a main body portion 103, a pair of first arm members 104, 104, a pair of second arm members 105, 105, It has a caster part 108 and a handle 160.

(2-1-1. Central holder)
The center holder portion 102 is supported in a cantilever shape by the main body portion 103 so as to extend in the horizontal direction. Specifically, the center holder portion 102 moves up and down along the vertical direction (in this example, up and down direction) (see FIG. 16), and extends along the extending direction of the center holder portion 102 (in this example, left and right direction). It is supported by the main body 103 so as to rotate around a rotation axis Ax1 (corresponding to an example of a central axis) (see FIG. 17). In this specification, the rotation direction that is clockwise (clockwise) when viewed from the left side of the center holder portion 102 is “one direction of rotation”, and is counterclockwise (left) when viewed from the left side. Rotation direction is defined as “the other side of the rotation direction”.

In addition, the center holder part 102 may be supported by the main body part 103 so as to move up and down along an oblique direction.

(2-1-2. First and second arm members)
The first arm members 104 and 104 are respectively located at two positions separated in the left-right direction on one side in the circumferential direction of the central holder part 102 (the front side in this example) so as to rotate about the central holder part 102 as a central axis. It is connected. Specifically, the first arm members 104 and 104 are connected to the central holder portion 102 so as to rotate in conjunction with each other. Further, the first arm members 104, 104 are formed in a curved shape so that each distal end portion 104a faces upward when each proximal end portion 104b is extended horizontally from the central holder portion 102. ing.

The second arm members 105, 105 are respectively located at two positions separated in the left-right direction on the other circumferential side of the central holder part 102 (in this example, the rear side) so as to rotate around the central holder part 102. It is connected. Specifically, like the first arm members 104 and 104, the second arm members 105 and 105 are coupled to the central holder portion 102 so as to rotate in conjunction with each other. Similarly to the first arm members 104 and 104, the second arm members 105 and 105 have their distal end portions 105a upward when the base end portions 105b extend from the central holder portion 102 in the horizontal direction. It is formed in a curved shape so as to face.

The first arm members 104 and 104 may be connected to the central holder portion 102 so as to rotate independently of each other (the same applies to the second arm members 105 and 105). Further, the first arm member 104 is formed in a shape extending linearly between the base end portion 104b and the tip end portion 104a, or when the base end portion 104b extends in the horizontal direction from the central holder portion 102. The distal end portion 104a may be formed in a curved shape so as to face downward (the same applies to the second arm member 105).

The first arm member 104 and the second arm member 105 are connected to the center holder portion 102 so as to rotate in conjunction with each other and have the same rotation direction. Specifically, the first arm member 104 and the second arm member 105 rotate around the rotation axis Ax1 in conjunction with the rotation around the rotation axis Ax1 of the central holder portion 102 (see FIG. 17). In this way, each is connected to the central holder part 102. In other words, the first and second arm members 104 and 105 rotate in the rotation direction about the rotation axis Ax1 in conjunction with the rotation of one side in the rotation direction about the rotation axis Ax1 of the center holder portion 102. Rotate to one side. Further, the first and second arm members 104 and 105 rotate in the rotation direction about the rotation axis Ax1 in conjunction with the rotation on the other side in the rotation direction about the rotation axis Ax1 of the center holder portion 102. Rotate to the other side.

The central holder portion 102 is supported by the main body portion 103 so as not to rotate, and the first arm member 104 and the second arm member 105 are coupled to the central holder portion 102 so as to rotate in conjunction with each other. Good. In addition, the first arm member 104 and the second arm member 105 may be coupled to the central holder portion 102 so that the rotation directions are opposite to each other. Further, the first arm member 104 and the second arm member 105 may be coupled to the center holder portion 102 so as to rotate independently of each other.

(2-1-3. Locking part)
Further, the first and second arm members 104 and 105 have a plurality of locking portions 107 configured by hook-like hooks for locking the sling sheet 6 and releasing the locking, for example. is set up. Specifically, each first arm member 104 is provided with a locking portion 107 at three locations in the vicinity of the distal end portion 104a, the proximal end portion 104b, and an intermediate position between the distal end portion 104a and the proximal end portion 104b. ing. In addition, each second arm member 105 is provided with a locking portion 107 at three locations in the vicinity of the distal end portion 105a, the vicinity of the proximal end portion 105b, and an intermediate position between the distal end portion 105a and the proximal end portion 105b. The first and second arm members 104 and 105 hold the sling sheet 2 by locking the sling sheet 2 with a plurality of locking portions 107. That is, the pair of first arm members 104 and 104 and the pair of second arm members 105 and 105 constitute an example of a plurality of arm members.

Note that the position and number of the locking portions 107 in the first and second arm members 104 and 105 are not limited to the above position and number, and may be other positions and other numbers.

(2-1-4. Casters and handles)
The caster unit 108 is for moving the transfer assisting device 100 and is installed below the main body unit 104. Specifically, the caster part 108 is installed in the main body part 103 so as to be positioned below the central holder part 102. The handle 160 is for the caregiver to urge in the desired moving direction while moving the transfer assisting device 100 by the caster unit 108, and is installed on the upper side of the main body unit 103. .

Also, the caster unit 108 includes a frame 109, a plurality of free wheels 110, and two fixed wheels 120 and 120. An example of the plurality of wheels is configured by the plurality of universal wheels 110 and the two fixed wheels 120 and 120.

The frame 109 is a square that can be opened in the direction of the rotation axis Ax1, that is, both sides in the extending direction (left-right direction) of the central holder 102 and both sides in the direction perpendicular to the extending direction (front-rear direction in this example). It is formed in a frame shape. That is, the frame 109 includes four side portions 109a, 109b, 109c, and 109d configured by, for example, pipes that are detachably connected so as to form a square frame shape. The side portions 109a to 109d are appropriately removed by the caregiver according to the usage mode of the transfer assist device 100.

Note that the shape of the frame 109 is not limited to a square frame shape, and may be another frame shape. The frame 109 may be formed in a frame shape that can be opened only in one of the left-right direction and the front-rear direction. The frame 109 may be formed in a frame shape in which at least one of the left and right direction and the front and rear direction is opened in advance. The frame 109 may be formed in a frame shape that cannot be opened. Further, the frame is not always necessary.

The plurality of free wheels 110 are wheels whose direction of the wheel axis Ax2 is variable, and are installed at appropriate positions in the frame 109. Specifically, the universal wheel 110 includes an end portion of the side portion 109a connected to the side portion 109b, an end portion of the side portion 109a connected to the side portion 109c, and a side portion of the side portion 109b. 109d of the side connected to 109d, an end of the side 109c opposite to the side connected to the side 109a, and an end of the side 109d opposite to the side connected to the side 109b It is installed in five places with the part via an appropriate attachment member.

In addition, the position and the number of the universal wheels 110 in the frame 109 are not limited to the above position and the number, and may be other positions and other numbers.

The fixed wheels 120 and 120 are wheels whose wheel axis Ax3 direction is fixed in the front-rear direction, that is, wheels for moving in the left-right direction, and a part of each is from the lower surface of the casing main body 116 (described later) of the main body 103. The main body 103 is installed so as to be exposed. Specifically, the fixed wheels 120 and 120 are installed in the main body 103 so that the state can be switched.

Note that the position and number of the fixed wheels 120 in the frame 109 are not limited to the above position and number, and may be other positions and other numbers.

Further, the types of wheels in the caster unit 108 are not limited to the above types, and may be other types. Moreover, the member for moving the said transfer assistance apparatus 100 different from a caster part may be installed in the transfer assistance apparatus 100. FIG. In addition, when it is not necessary to move the movement assisting device 100, a member for moving the transfer assisting device 100 such as the caster unit 108 is not necessarily required.

The main body 103 includes a housing main body 116, an elevating mechanism 112 including an elevating part 122, a housing cover 121 that covers, for example, the upper part and the upper left part of the elevating part 122, a rotating mechanism 123, and a link mechanism 126. And have. Further, the transfer assist device 100 includes a lifting operation unit 127, a rotation operation unit 128, and a pedal 129 (corresponding to an example of an operation member).

(2-1-5. Elevating mechanism and elevating operation unit)
The elevating mechanism 112 is a mechanism that elevates and lowers the central holder portion 102. The elevating operation unit 127 is mounted by, for example, a toggle switch installed on the upper part of the main body unit 103, and is for switching on / off of the elevating operation of the central holder unit 102 and switching the operation direction. The configuration of the elevating mechanism 112 is not particularly limited as long as the elevating mechanism 112 can elevate and lower the central holder portion 102. However, this embodiment demonstrates the case where the raising / lowering mechanism 112 is comprised as follows.

That is, the elevating mechanism 112 includes the actuator Ac, the elevating unit 122, and the connecting unit C4 that couples the actuator Ac and the elevating unit 122 (refer mainly to FIG. 15).

Actuator Ac is implemented by a mechanism that converts rotational motion into linear motion. That is, the actuator Ac includes a rotary motor M5, a first shaft member (not shown), a nut member (not shown), and a second shaft member SH4.

The rotary motor M5 is installed, for example, in the lower part of the housing main body 116, and generates a rotational force as a driving force for raising and lowering the central holder portion 102. The first shaft member extends in the vertical direction and is coupled to an output shaft (not shown) of the rotary motor M5 so as to rotate with the rotation of the rotary motor M5. The nut member is attached to the first shaft member so as to move linearly relative to the first shaft member by the rotation of the first shaft member. One end of the second shaft member SH4 is attached to the nut member so as to move linearly with the linear movement of the nut member, and the connecting portion C4 is fixed to the other end of the second shaft member SH4. . The combination of the first shaft member and the nut member can be mounted by, for example, a ball spline mechanism or a ball screw mechanism.

Note that the configuration of the actuator Ac is not limited to the mechanism that converts the rotational motion into the linear motion as described above, and other configurations (for example, a mechanism that linearly moves using the driving force of the linear motor as a driving force). There may be.

The elevating part 122 is a part that moves up and down relative to the housing main body 116 in conjunction with the operation of the actuator Ac, and supports the center holder part 102 in a cantilever shape. The elevating unit 122 includes a slider 122a and an elevating base 122b.

For example, two sliders 122a are installed on each of, for example, two rails 116a extending in the vertical direction on the inner surface of the casing body 116, and can move forward and backward on the rails 116a. The elevating base 122b is connected to the second shaft member SH4 via the connecting portion C4 in the housing main body 116, is fixed to the slider 122a, and is linearly movable together with the slider 122a in the vertical direction. The lifting base 122b is fixed to the shaft member 102a so that a part thereof covers the outer periphery of the shaft member 102a of the center holder portion 102.

Such an elevating mechanism 112 can elevate the central holder 102 by elevating the elevating unit 122 with respect to the housing body 116 by driving the actuator Ac according to the operation of the elevating operation unit 127. . In FIG. 16, the state in which the elevating part 122 and the central holder part 102 are located at the reference position is shown by solid lines. Moreover, in FIG. 16, the state which the raising / lowering part 122 and the center holder part 102 raised from the reference position is illustrated with the dashed-two dotted line.

(2-1-6. Turning mechanism and turning operation unit)
The rotation mechanism 123 is a mechanism that rotates the central holder portion 102 around the rotation axis Ax1. The rotation operation unit 128 is mounted by, for example, a contact sensor or the like installed on at least one of the first and second arm members 104 and 105, and rotates the central holder unit 102, in other words, the first and second arms. This is for switching the turning operation of the members 104 and 105 on and off and switching the turning direction. The configuration of the rotation mechanism 123 is not particularly limited as long as it can rotate the center holder portion 102 around the rotation axis Ax1. However, this embodiment demonstrates the case where the rotation mechanism 123 is comprised as follows.

That is, the rotation mechanism 123 includes two motors M4 and M4 and a transmission mechanism 130. Moreover, the transfer assistance apparatus 100 has two motor control apparatuses MC and MC and a control apparatus CT (refer mainly to FIG. 15).

The motors M4 and M4 are, for example, rotary motors fixed to the elevating base 112b, and generate a rotational force as a driving force for rotating the central holder portion 102.

Each motor control device MC controls the operation of each motor M4. The control device CT controls the motors M4 and M4 in synchronization by controlling the motor control devices MC and MC.

The motor M4 is not limited to being a rotary motor, and may be a linear motor. The number of motors M4 is not limited to two, and may be one or three or more. Further, the number of motor control devices MC is not limited to two, and is appropriately changed according to the number of motors M4. Further, the number of motors M4 that can control the operation of the motor control device MC is not limited to one, and may be two or more. Further, the control device CT only needs to control two or more motors M4 in a coordinated manner, and does not necessarily have to control them synchronously.

The transmission mechanism 130 is a mechanism that transmits the rotational force of the motors M4 and M4 to the central holder portion 102. The configuration of the transmission mechanism 130 is not particularly limited as long as it can transmit the rotational force of the motors M4 and M4 to the central holder portion 102. However, in this embodiment, the case where the transmission mechanism 130 is configured as follows will be described.

That is, the transmission mechanism 130 includes two pulleys 131 and 131, a pulley 133, a belt 134 hung on the pulleys 131, 131, 133, and a tensioner 132 on which the belt 134 is hung between the pulleys 131, 131. In addition, it is mounted by a belt drive mechanism.

Each pulley 131 is fixed to each output shaft SH5 so as to rotate around the output shaft SH5 in conjunction with rotation around the output shaft SH5 along the left-right direction of each motor M4.

The pulley 133 is fixed to the shaft member 102a so as to rotate around the rotation axis Ax1 together with the central holder portion 102.

The tensioner 132 is rotatably fixed to, for example, the lifting base 122b, and adjusts the tension of the belt 134.

Such a transmission mechanism 130 can transmit the rotational force of the motors M4 and M4 to the central holder 102 via the pulleys 131 and 131, the belt 134, and the pulley 133.

Then, the rotation mechanism 123 is driven by the motors M4 and M4 based on the control of the control device CT according to the operation of the rotation operation unit 128. By transmitting to 102, the central holder portion 102 can be rotated around the rotation axis Ax1 together with the first and second arm members 104 and 105. In FIG. 17, a state in which the central holder portion 102 and the first and second arm members 104 and 105 are located at the reference position is illustrated by a solid line. In FIG. 17, a state in which the center holder portion 102 and the first and second arm members 104 and 105 are rotated from the reference position to one side in the rotation direction about the rotation axis Ax1 is indicated by a two-dot chain line. It is shown. Further, in FIG. 17, a state in which the center holder portion 102 and the first and second arm members 104 and 105 are rotated from the reference position to the other side in the rotation direction about the rotation axis Ax1 is indicated by a one-dot chain line. Show.

(2-1-7. Lock mechanism and release mechanism)
Further, in the present embodiment, the first and second arm members 104 and 105 are based on a case where a predetermined unlocking operation and urging operation are performed by a caregiver separately from the rotation by the rotation mechanism 123. It is possible to rotate on the end portions 104b and 105B side.

That is, the first arm members 104, 104 have a rotation shaft SH6 along the left-right direction provided on the base end portion 104b side, a lock mechanism 140, and a release mechanism 145. The rotation shaft SH6 may be provided for each first arm member 104. Here, a case where the rotation shaft SH6 is provided as a rotation shaft common to the first arm members 104 and 104 will be described.

The lock mechanism 140 is a mechanism that locks the rotation of the first arm member 104 around the rotation axis SH6 by the urging operation. The configuration of the lock mechanism 140 is not particularly limited as long as it is a mechanism that can lock the rotation of the first arm member 104 around the rotation axis SH6 by the biasing operation. It is mounted by a lock pin or the like provided on at least one of the members 104 and 104.

The release mechanism 145 is configured to lock the first arm member 104 so that the first arm member 104 can be rotated about the rotation axis SH6 by a biasing operation when a predetermined unlock operation is performed on the first arm member 104. This is a mechanism for releasing the lock. The configuration of the release mechanism 150 is not particularly limited as long as it is a mechanism that can release the lock by the lock mechanism 140. For example, the release mechanism 150 is provided on at least one of the first arm members 104 and 104. The lock pin is mounted by a member that can be operated.

Therefore, the first arm members 104 and 104 can be rotated around the rotation axis SH6 by an urging operation when a predetermined unlocking operation is performed by the caregiver and the lock mechanism 140 is unlocked. It becomes a state. Then, when the caregiver performs an urging operation on one of the first arm members 104 and 104 in this state, the first arm members 104 and 104 respond to the urging operation around the rotation axis SH6. It is turned in the turning direction. In FIG. 18, the state in which the first arm member 104 is located at the reference position is indicated by a solid line. Further, in FIG. 18, a state in which the first arm member 104 is rotated from the reference position about the rotation axis SH <b> 6 in the rotation direction according to the urging operation is illustrated by a two-dot chain line.

Similarly, the second arm members 105 and 105 include a rotation shaft SH7 along the left-right direction provided on the base end portion 105b side, a lock mechanism 150, and a release mechanism 155. The rotation shaft SH7 may be provided for each second arm member 105, but here, a case where the rotation shaft SH7 is provided as a rotation shaft common to the second arm members 105 and 105 will be described.

The lock mechanism 150 is mounted in the same manner as the lock mechanism 140, and is a mechanism that locks the rotation of the second arm member 105 around the rotation axis SH7 by an urging operation.

The release mechanism 155 is mounted in the same manner as the lock mechanism 140 described above. When a predetermined lock release operation is performed on the second arm member 105, the release mechanism 155 rotates around the rotation axis SH7 of the second arm member 105 by the biasing operation. This is a mechanism for releasing the lock by the lock mechanism 150 so as to be movable.

Therefore, the second arm members 105 and 105 can be rotated around the rotation axis SH7 by the biasing operation when a predetermined unlocking operation is performed by the caregiver and the lock mechanism 150 is unlocked. It becomes a state. Then, when the caregiver performs an urging operation on one of the second arm members 105 and 105 in this state, the second arm members 105 and 105 respond to the urging operation with the rotation shaft SH7 as a center. It is turned in the turning direction. In FIG. 18, the state in which the second arm member 105 is located at the reference position is indicated by a solid line. In FIG. 18, a state in which the second arm member 105 is rotated from the reference position about the rotation axis SH <b> 7 in the rotation direction according to the urging operation is illustrated by a two-dot chain line.

Even if only one of the first and second arm members 104 and 105 can rotate on the base end side when a predetermined unlocking operation and urging operation are performed by the caregiver. Good. In this case, only one of the first and second arm members 104 and 105 may be provided with the rotation shaft, the lock mechanism, and the release mechanism on the base end side. Further, both the first and second arm members 104 and 105 may be unable to rotate on the base end side.

(2-1-8. Link mechanism and pedal)
The pedal 129 is installed on the opposite side to the side where the first and second arm members 104 and 105 of the main body 103 are arranged, that is, on the lower side on the right side, and the fixed wheels 120 and 120 are operated by the caregiver's foot operation. It is the operation member for switching the state of.

The operation member is not limited to the pedal 129 that can be operated by the caregiver's foot, and may be an operation member (button, lever, or the like) that can be operated by the caregiver's hand.

The link mechanism 126 moves the fixed wheels 120, 120 up and down or brakes according to the operation state of the pedal 129, thereby changing the state of the fixed wheels 120, 120 to “ground state” in which the ground is grounded, and upward from the ground surface. It is a mechanism that switches between three states: a state separated from each other (hereinafter also referred to as a “separated state”) and a “braking state” in which the rotation is braked. That is, the link mechanism 126 corresponds to an example of a switching mechanism, a wheel lifting mechanism, and a wheel braking mechanism. The configuration of the link mechanism 126 is not particularly limited as long as the configuration of the fixed wheels 120 and 120 can be switched between the three states according to the operation state of the pedal 129. However, in the present embodiment, a case where the link mechanism 126 is configured as follows will be described.

That is, the link mechanism 126 includes a first link mechanism 126a coupled to the front end portion of the pedal 129 and the wheel shaft 120a of the front wheel 120, and the rear end portion and the rear wheel 120 of the pedal 129. And a second link mechanism 126b connected to the wheel shaft 120a.

Each of the first and second link mechanisms 126a, 126b includes a plurality of members including members 161, 162, 163, 164, 165, 166 and the like. The first and second link mechanisms 126a and 126b move the fixed wheels 120 and 120 up and down or mechanically brake by changing the positional relationship of the members 161 to 166 according to the operation state of the pedal 129, that is, the position. To do.

Specifically, there is a case where the pedal 129 is operated so as to be positioned at the reference position as shown by a solid line in FIG. In this case, in the first and second link mechanisms 126a and 126b, the members 161 to 166 are in a positional relationship in which the fixed wheels 120 and 120 are in the grounded state, and the fixed wheels 120 and 120 are grounded (in the separated state). If it is in the braking state, the braking is released.)

Further, there is a case where the pedal 129 is operated so as to rise from the reference position as shown by a one-dot chain line in FIG. In this case, in the first and second link mechanisms 126a and 126b, the members 161 to 166 are in a positional relationship in which the fixed wheels 120 and 120 are separated from each other, the fixed wheels 120 and 120 are lifted from the grounding surface, and Separate upward.

Further, as shown by a two-dot chain line in FIG. 19, the pedal 129 may be operated so as to descend from the reference position. In this case, in the first and second link mechanisms 126a and 126b, the members 161 to 166 are in a positional relationship in which the fixed wheels 120 and 120 are in the braking state, and the fixed wheels 120 and 120 are mechanically moved by the members functioning as the braking members. (For example, a member functioning as a friction material is brought into contact with the fixed wheels 120 and 120).

It should be noted that the braking system for the fixed wheels 120, 120 is not limited to the mechanical braking system, and other braking systems may be used. In this example, the link mechanism 126 serves as both a wheel lifting mechanism and a wheel braking mechanism. However, the wheel lifting mechanism is not particularly limited as long as it is a mechanism capable of lifting the fixed wheels 120 and 120. The wheel braking mechanism is not particularly limited as long as it is a mechanism capable of braking the fixed wheels 120 and 120. Further, when there is no need to switch the state of the fixed wheels 110, 110, the switching mechanism is not always necessary.

(2-2. Examples of effects according to this embodiment)
According to the present embodiment described above, the same effects as those of the first embodiment can be obtained. Further, in the transfer assist device 100 of the present embodiment, the frame 109 of the caster unit 108 is formed in a rectangular frame shape that can be opened on both sides in the left-right direction and both sides in the front-rear direction. Thereby, a wheelchair etc. can be smoothly approached under the center holder part 102 from the open | release side of the flame | frame 109, and a caregiver's burden can be eased.

Further, particularly in the present embodiment, the transfer assist device 100 includes a pedal 129 for switching the state of the fixed wheels 120 and 120 in which the direction of the wheel axis Ax3 is fixed in the front-rear direction. Thereby, the state of the fixed wheels 120 and 120 can be easily switched by operating the pedal 129.

In the present embodiment, in particular, the link mechanism 126 switches the state of the fixed wheels 120 and 120 between the grounding state, the state separated from the grounding surface, and the braking state according to the operation state of the pedal 129. Accordingly, by changing the operation state (position, etc.) of the pedal 129, the fixed wheels 120, 120 are grounded when the device is moved in the left-right direction, and the fixed wheels 120, 120 are moved when the device is moved in the front-rear, left-right direction. The fixed wheels 120 and 120 can be braked when the 120 is separated from the ground contact surface or when the device is fixed.

In this embodiment, in particular, the link mechanism 126 moves the fixed wheels 120 and 120 up and down. Accordingly, the operation of moving the grounded fixed wheels 120 and 120 away from the grounding surface can be realized by raising the fixed wheels 120 and 120, and the operation is separated from the grounding surface by lowering the fixed wheels 120 and 120. The operation of grounding the fixed wheels 120 and 120 can be realized.

Further, particularly in the present embodiment, the link mechanism 126 brakes the fixed wheels 120 and 120. As a result, any of the members 161 to 166 comes into contact with the fixed wheels 120 and 120 and brakes, whereby the operation of braking the fixed wheels 120 and 120 can be realized.

In the present embodiment, the operation member is a pedal 129 that can be operated by the operator's foot. Accordingly, the state of the fixed wheels 120 and 120 can be easily switched by operating the pedal 129 with the foot on the rear side of the main body 103.

(2-3. Modified examples)
The second embodiment is not limited to the above contents, and various modifications can be made without departing from the spirit and technical idea of the second embodiment. For example, the caster unit 108 of the second embodiment can be applied to the transfer assist device 1 of the first embodiment.

<3. Third Embodiment>
Next, a third embodiment will be described.

(3-1. Example of configuration of transfer assist device)
Hereinafter, an example of the configuration of the transfer assist device of the present embodiment will be described with reference to FIG.

As shown in FIG. 20, the transfer assist device 200 includes a rotation unit 202, a main body unit 204, a pair of arm members 206 a and 206 b (hereinafter collectively referred to as “arm member 206” as appropriate), and a caster unit 240. Have

(3-1-1. Rotating part)
The rotating part 202 is supported in a cantilever shape by the main body part 204. Specifically, the rotation unit 202 moves up and down along the vertical direction (in this example, the vertical direction) and rotates around the central axis Ax20 along the horizontal direction (in this example, the horizontal direction). Supported by the portion 204.

The rotating unit 202 may be supported by the main body unit 204 so as to move up and down along an oblique direction.

(3-1-2. Arm member)
The arm members 206a and 206b are arranged so that the arm members 206a and 206b rotate in conjunction with the rotation of the rotation unit 202. One side in the circumferential direction of the rotation unit 202 (front side in this example) and the other side (rear side in this example). And is formed so as to be insertable into cylindrical portions formed at both ends in the longitudinal direction of a sling sheet (not shown). Specifically, the arm members 206a and 206b have base ends extending in a direction perpendicular to the direction of the central axis Ax20 (in this example, the front-rear direction), and each distal end extends in the left-right direction. It is formed in a curved shape, and each distal end side can be inserted into the cylindrical portion. Then, the distal end side of the arm member 206a is inserted into the cylindrical portion at one end in the longitudinal direction, and the distal end side of the arm member 206b is inserted into the other cylindrical portion at the other end in the longitudinal direction, whereby the arm members 206a and 206b are Hold the sling sheet.

Each of the arm members 206a and 206b includes an expansion / contraction mechanism 230 that expands / contracts the distance between the arm members 206a and 206b (the expansion / contraction mechanism 230 on the arm member 206a side is not shown). It can be stretched. The configuration of the expansion / contraction mechanism 230 is not particularly limited as long as the interval between the arm members 206a and 206b can be expanded / contracted. For example, the expansion / contraction mechanism 230 is mounted by a mechanism including a rotary motor and a ball screw mechanism. Is possible.

In addition, the expansion / contraction mechanism 230 may be provided in only one of the arm members 206a and 206b. In addition, an extension / contraction mechanism may be provided in a portion (for example, the main body portion 204) other than the arm member 206. Further, when it is not necessary to expand and contract the distance between the arm members 206a and 206b, the expansion and contraction mechanism is not always necessary. Further, the shape of the arm members 206a and 206b is not limited to a curved shape so that the proximal end side extends in the left-right direction and the distal end side extends in the front-rear direction. Any shape may be used as long as the sheet can be held.

Further, the arm members 206a and 206b are not limited to the case where the sling sheet is held by being inserted into the cylindrical portion. For example, the arm members 206a and 206b are provided with hook-shaped hooks, provided with a plurality of loop-shaped straps at the end portions of the sling sheet, and locked with the plurality of straps by the plurality of hooks. May hold the sling sheet. Further, the number of arm members 206 is not limited to two, and may be three or more.

(3-1-3. Caster part)
The caster unit 240 is for moving the transfer assisting device 200 and is installed below the main body unit 204. The caster unit 240 includes a frame 242, a plurality of free wheels 244, and two fixed wheels 246 and 246. An example of the plurality of wheels is configured by the plurality of free wheels 244 and the two fixed wheels 246 and 246.

The frame 242 is formed in a square frame shape that can be opened on both sides in the direction of the central axis Ax20 (in this example, the left-right direction) and on both sides in the direction perpendicular to the direction of the central axis Ax20 (in this example, the front-rear direction). . In other words, the frame 242 includes a plurality of sides formed by, for example, pipes that are detachably connected so as to form a square frame. The plurality of sides are appropriately removed by the caregiver according to the usage mode of the transfer assist device 200.

Note that the shape of the frame 242 is not limited to a square frame shape, and may be another frame shape. The frame 242 may be formed in a frame shape that can be opened only in one of the left-right direction and the front-rear direction. The frame 109 may be formed in a frame shape in which at least one of the left and right direction and the front and rear direction is opened in advance. The frame 242 may be formed in a frame shape that cannot be opened. Further, the frame is not always necessary.

The plurality of free wheels 244 are wheels whose wheel axis Ax21 direction is variable, and are installed at appropriate positions in the frame 242. Note that the position and the number of the universal wheels 244 in the frame 242 are not limited to the position and the number shown in FIG. 20, and may be other positions and other numbers.

The fixed wheels 246 and 246 are wheels in which the direction of the wheel axis Ax22 is fixed in the front-rear direction, that is, wheels for moving in the left-right direction, and a part of each can be exposed from the lower surface of the casing body 210 described later. The unit 204 is installed. Specifically, the fixed wheels 246 and 246 are installed in the main body 204 so that the state can be switched.

Note that the position and number of the fixed wheels 246 in the frame 242 are not limited to the above position and number, and may be other positions and other numbers.

Further, the type of wheel in the caster unit 240 is not limited to the above type, and may be another type. Moreover, the member for moving the said transfer assistance apparatus 200 different from a caster part may be installed in the transfer assistance apparatus 200. FIG. In addition, when it is not necessary to move the movement assisting device 200, a member for moving the transfer assisting device 200 such as the caster unit 240 is not necessarily required.

The main body 204 includes a housing main body 210, an elevating mechanism 220 that moves the rotating unit 202 up and down, a rotating mechanism (not shown) that rotates the rotating unit 202 around the central axis Ax20, and a link mechanism (see FIG. Not shown). In addition, the transfer assist device 200 includes a pedal 250 (corresponding to an example of an operation member).

(3-1-4. Elevating mechanism)
Although the structure of the raising / lowering mechanism 220 will not be specifically limited if it can raise / lower the rotation part 202, For example, it is comprised as follows. That is, the elevating mechanism 220 is attached to the housing main body 210 in conjunction with the operation of the actuator (not shown) having a rotary motor and a ball screw mechanism and supporting the rotating unit 202 in a cantilever shape. And an elevating part 222 that elevates and lowers. Such an elevating mechanism 220 can elevate the rotating unit 202 together with the arm members 206a and 206b by elevating the elevating unit 222 with respect to the housing main body 210 by driving the actuator.

(3-1-5. Rotating mechanism)
The configuration of the rotation mechanism is not particularly limited as long as the rotation unit 202 can be rotated around the central axis Ax20. For example, the rotation mechanism is configured as follows. That is, the rotation mechanism includes a rotary motor and a transmission mechanism such as a belt drive mechanism that transmits the rotational force of the rotary motor to the rotation unit 202. Such a rotation mechanism rotates the rotation unit 202 around the central axis Ax20 together with the arm members 206a and 206b by transmitting the rotational force of the rotary motor to the rotation unit 202 via the transmission mechanism. Is possible.

(3-1-6. Link mechanism and pedal)
The pedal 250 is installed on the opposite side to the side where the arm members 206a and 206b of the main body 204 are disposed, that is, on the lower part on the right side, and switches the state of the fixed wheels 246 and 246 by the operation of the caregiver's foot. This is an operation member.

The operation member is not limited to the pedal 250 that can be operated by the caregiver's foot, and may be an operation member (button, lever, or the like) that can be operated by the caregiver's hand.

The link mechanism raises / lowers or brakes the fixed wheels 246, 246 according to the operation state of the pedal 250, thereby changing the states of the fixed wheels 246, 246 to “grounding state”, “separation state”, and “braking state”. "Is a mechanism for switching between the three states. That is, the link mechanism corresponds to an example of a switching mechanism, a wheel lifting mechanism, and a wheel braking mechanism. The configuration of the link mechanism is not particularly limited as long as the configuration of the fixed wheels 246 and 246 can be switched between the three states according to the operation state of the pedal 250, but for example, It can be configured similarly to the link mechanism 126 of the second embodiment.

In this example, the link mechanism also serves as a wheel lifting mechanism and a wheel braking mechanism, but the wheel lifting mechanism is not particularly limited as long as it is a mechanism that can lift and lower the fixed wheels 246 and 246, The wheel braking mechanism is not particularly limited as long as it is a mechanism capable of braking the fixed wheels 246 and 246. Further, when there is no need to switch the states of the fixed wheels 246 and 246, the switching mechanism is not always necessary.

(3-2. Examples of effects according to this embodiment)
According to the present embodiment described above, the same effects as those of the second embodiment can be obtained. That is, in the transfer assist device 200 of the present embodiment, the frame 242 of the caster unit 240 is formed in a square frame shape that can be opened on both sides in the left-right direction and both sides in the front-rear direction. Thereby, a wheelchair etc. can be smoothly approached under arm member 206a, 206b from the open side of the frame 242, and a caregiver's burden can be eased.

(3-3. Modifications etc.)
Note that the third embodiment is not limited to the above contents, and various modifications can be made without departing from the spirit and technical idea of the third embodiment.

Also, in the above description, “vertical”, “vertical”, “parallel”, “straight line”, “horizontal”, “coincidence” and the like are not strictly defined. That is, “vertical”, “vertical”, “parallel”, “straight line”, “horizontal”, “coincidence”, and the like allow tolerances and errors in design, and “substantially vertical”, “substantially vertical”, “ It means “substantially parallel”, “substantially straight line”, “substantially horizontal”, “substantially coincident”, and the like.

In addition to those already described above, the methods according to the above embodiments and modifications may be used in appropriate combination.

In addition, although not illustrated one by one, each of the above-described embodiments and modifications are implemented with various modifications within a range not departing from the gist thereof.

DESCRIPTION OF SYMBOLS 1 Transfer assist device 2 Center holder part 3 Main body part 4 1st arm member 4a Tip part 4b Base end part 5 2nd arm member 5a Tip part 5b Base end part 6 Sling seat 7 Locking part 8 Caster part 9 Frame 10 Wheel 11 Cushion material 20 Wheel 12 Elevating mechanism 100 Transfer assist device 102 Center holder part (corresponding to an example of rotating part)
DESCRIPTION OF SYMBOLS 103 Main body part 104 1st arm member 105 2nd arm member 107 Locking part 108 Caster part 109 Frame 110 Swivel wheel (equivalent to an example of a wheel)
112 Lifting mechanism 120 Fixed wheel (equivalent to an example of a wheel)
123 rotating mechanism 126 link mechanism (an example of a switching mechanism, a wheel lifting mechanism, a wheel braking mechanism)
129 Pedal (corresponds to an example of operation member)
DESCRIPTION OF SYMBOLS 130 Transmission mechanism 140 Lock mechanism 145 Release mechanism 150 Lock mechanism 155 Release mechanism 200 Transfer assist device 202 Rotating part 204 Main body part 206a, b Arm member 220 Lifting mechanism 240 Caster part 242 Frame 244 Universal wheel (corresponding to an example of a wheel)
246 Fixed wheel (equivalent to an example of a wheel)
250 pedals (corresponding to an example of operating members)
Ac Actuator Ax1 Axis of rotation (equivalent to an example of the center axis)
Ax2 Wheel axis Ax3 Wheel axis Ax20 Center axis Ax21 Wheel axis Ax22 Wheel axis CT Controller H Caregiver M1 motor (corresponding to an example of the first motor)
M2 motor (equivalent to an example of the second motor)
M3 motor (equivalent to an example of a third motor)
M4 motor SH6 rotary shaft

Claims (7)

1. A transfer assist device for assisting the transfer of a cared person,
   The main body,
   A rotating part supported by the main body part so as to be rotatable around a central axis;
   An elevating mechanism provided in the main body and configured to elevate and lower the rotating unit;
   A plurality of arm members connected to the rotating portion and capable of holding a sling sheet on which a cared person is placed;
   A caster part that is installed below the main body part and includes a frame-like frame and a plurality of wheels that can be opened in at least one of a central axis direction and a direction perpendicular to the central axis direction;
   A transfer assisting device characterized by comprising:
2. The plurality of wheels are:
   At least one fixed wheel having a wheel axis direction fixed in a direction perpendicular to the central axis direction;
   Including at least one free wheel whose wheel axis direction is variable,
   The transfer assist device includes:
   The transfer assisting device according to claim 1, further comprising an operation member for switching a state of the fixed wheel.
3. The body part is
   The switching mechanism configured to switch the state of the fixed wheel between a grounding state, a state separated from a grounding surface, and a braking state according to an operation state of the operation member. 2. The transfer assist device according to 2.
4. The switching mechanism is
   The transfer assisting device according to claim 3, further comprising a wheel lifting mechanism configured to lift and lower the fixed wheel.
5. The switching mechanism is
   The transfer assisting device according to claim 3, further comprising a wheel braking mechanism configured to brake the fixed wheel.
6. The operating member is
   6. The pedal according to claim 2, wherein the pedal is installed at a lower portion of the main body portion opposite to a side on which the arm member is disposed and is operable by an operator's foot. Transfer assist device.
7. The plurality of arm members are:
   A pair of first arm members coupled to one side in the circumferential direction of the rotating part so as to rotate about the rotating part;
   A pair of second arm members coupled to the other circumferential side of the rotating portion so as to rotate about the rotating portion as a central axis;
   In the pair of first arm members and the pair of second arm members,
   The transfer assisting device according to any one of claims 1 to 6, wherein a plurality of locking portions are installed to lock and release the sling sheet.

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