WO2017199349A1 - Assisting device - Google Patents

Assisting device Download PDF

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Publication number
WO2017199349A1
WO2017199349A1 PCT/JP2016/064650 JP2016064650W WO2017199349A1 WO 2017199349 A1 WO2017199349 A1 WO 2017199349A1 JP 2016064650 W JP2016064650 W JP 2016064650W WO 2017199349 A1 WO2017199349 A1 WO 2017199349A1
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WO
WIPO (PCT)
Prior art keywords
swing arm
arm member
opening
elevating
person
Prior art date
Application number
PCT/JP2016/064650
Other languages
French (fr)
Japanese (ja)
Inventor
英明 野村
丈二 五十棲
伸幸 中根
邦靖 中根
Original Assignee
富士機械製造株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 富士機械製造株式会社 filed Critical 富士機械製造株式会社
Priority to PCT/JP2016/064650 priority Critical patent/WO2017199349A1/en
Priority to CN201680085482.2A priority patent/CN109069334A/en
Priority to JP2018517980A priority patent/JP6767480B2/en
Priority to AU2016336284A priority patent/AU2016336284B2/en
Priority to SG11201802365WA priority patent/SG11201802365WA/en
Priority to EP16853306.5A priority patent/EP3360526B1/en
Priority to PCT/JP2016/069400 priority patent/WO2017061151A1/en
Priority to JP2017544389A priority patent/JP7007912B2/en
Publication of WO2017199349A1 publication Critical patent/WO2017199349A1/en

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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs

Definitions

  • the present invention relates to an assistance device that performs assistance for standing up or sitting for a person being assisted.
  • the assistance device performs assistance, transfer assistance, excretion assistance, etc. of the person being assisted, and has functions of standing assistance and sitting assistance as part of assistance.
  • the introduction of the assistance device reduces the physical burden on the assistant and leads to prevention of back pain and the like, and also reduces the shortage of caregivers.
  • Patent Document 1 One technical example regarding this type of assistance device is disclosed in Patent Document 1.
  • the assistance device of Patent Document 1 includes a pair of left and right arms that are inserted into the armpit of the person being assisted, and assists the person being erected by raising the arms.
  • This assisting device is characterized in that the distal end portion of the arm portion is freely bent inward to support the back of the person being assisted.
  • the assistance device further includes a breastplate (holding member) that comes into contact with the chest of the person being assisted, a grip gripped by the person being assisted, and a handle used by the assistant during movement. According to this, it is said that, when assisting the person being assisted in standing up, it is possible to give the person being assisted like the state of being held by a person.
  • the raising of the arm portion is performed by the swinging arm to which the arm portion is attached swinging at the upper end portion of the slide column. For this reason, hands, fingers, clothes and the like are easily sandwiched between the swing arm and the slide column.
  • the present invention has been made in view of the above problems of the background art, and an object to be solved is to provide a safe assistance device in which the body or clothes of the person being assisted is not caught.
  • the assistance device includes a base, a lifting member supported by the base so as to be movable up and down, a swinging arm member having one end swingably supported by the lifting member, and the swinging arm member A holding member that is supported by the other end of the person and holds the upper body of the person being assisted, an opening that covers the one end of the elevating member and the swing arm member, and through which the swing arm member passes, An elevating cover that moves up and down together with the elevating member, and a closing member that closes a gap between the periphery of the opening and the swing arm member.
  • an opening is provided in the elevating cover so that the swing arm member can swing.
  • this opening has a possibility of pinching the body or clothes of the person being assisted in the prior art
  • the opening is closed by a closing member. Therefore, the body or clothes of the person being assisted is not pinched by the opening and is safe.
  • FIG. 10 is a partial perspective view for explaining the possibility of pinching that occurs when the swing arm member swings forward in the conventional assisting device.
  • FIGS. Drawing 1 is a perspective view which looked at assistance device 1 of an embodiment from the slanting back.
  • 2 is a side view showing the configuration of the assistance device 1 and the person being assisted in the sitting posture
  • FIG. 3 is a side view showing the configuration of the assistance device 1 and the assisted person M in the standing posture. It is.
  • the front-rear direction, the left-right direction, and the up-down direction are determined with reference to the person M who is shown in FIGS. 2 and 3, the fixed cover 23, the lifting cover 33, and the control unit 6 are not shown.
  • the assistance device 1 performs the standing assistance from the sitting posture to the standing posture and the sitting assistance from the standing posture to the sitting posture. Furthermore, the assistance apparatus 1 can be moved by the operation of the assistant in a state where the person M who is in the standing posture is placed. Thereby, the assistance apparatus 1 can perform transfer assistance and movement assistance of the person M to be assisted.
  • the “standing posture” means a posture in which the lower body of the person being assisted M stands, and the posture of the upper body is not questioned.
  • the assistance device 1 includes a base 2, an elevating unit 3, a swinging unit 4, a holding member 5, and a control unit 6.
  • the base 2 is composed of a frame 21, a support column 22, a fixed cover 23, a foot placing table 24, a crus support part 25, six wheels 26 to 28, and the like.
  • the frame 21 is provided almost horizontally near the floor surface F.
  • the column 22 is erected upward from the center in the left-right direction near the front of the frame 21.
  • an elevating drive unit 32 described later is disposed in the internal space of the substantially rectangular cross section of the support column 22, an elevating drive unit 32 described later is disposed.
  • the fixed cover 23 covers and protects the support 22 and the lower part of the elevating member 31 described later.
  • the foot mounting table 24 is fixed to the rear of the upper surface of the frame 21 and is provided almost horizontally.
  • a foot-shaped ground mark 241 drawn on the upper surface of the foot placement table 24 guides a position where the person being assisted M places his / her foot.
  • the base 2 has sufficient mechanical strength even when the person being assisted is on the vehicle.
  • a recess 242 is formed in the center of the rear part of the footrest 24.
  • the crus support part 25 is disposed slightly above the ground mark 241 by a pair of left and right support arms 251.
  • the pair of left and right support arms 251 extend rearward from both sides of the column 22 on the upper surface of the frame 21, bend in the middle, and extend upward.
  • the lower thigh pad portion 25 is disposed across the upright portions of the left and right support arms 251 and extends in the left-right direction.
  • the lower leg support part 25 is a part where the lower leg of the person being assisted M contacts, and is formed of a cushion material. The arrangement height of the lower leg pad 25 can be adjusted.
  • a pair of left and right front wheels 26 are provided on the lower front side of the frame 21.
  • the front wheel 26 has a turning function for changing the moving direction and a lock function for restricting the movement.
  • a pair of left and right middle wheels 27 is provided in the vicinity of the middle in the front-rear direction on the lower side of the footrest 24.
  • a pair of left and right rear wheels 28 are provided on the lower rear side of the footrest 24.
  • the middle wheel 27 and the rear wheel 28 have a steering function for changing the moving direction.
  • the frame 21 and the footrest 24 are kept slightly apart from the floor F and kept horizontal.
  • the assistance device 1 can move not only in the front-rear direction and the direction change, but also in the lateral movement (movement to the side) and the super-revolution (in-situ turning). It has become.
  • the elevating unit 3 includes an elevating member 31, an elevating drive unit 32, an elevating cover 33, and the like.
  • the elevating member 31 is a long member that is long in the vertical direction, and is supported on the rear surface of the support column 22 so as to be movable up and down.
  • the upper part of the elevating member 31 protrudes rearward, and a swing support part 34 is provided near the protruding rear end.
  • a swing drive unit 42 described later is disposed in the internal space above the elevating member 31, a swing drive unit 42 described later is disposed.
  • pillar 22 drives the raising / lowering movement of the raising / lowering member 31. As shown in FIG.
  • the elevating cover 33 covers the elevating member 31 and the support column 22 and covers and protects the elevating member 31 and the upper end 411 of the swing arm member 41.
  • the lifting cover 33 is coupled to the lifting member 31 and moves up and down together with the lifting member 31.
  • the lower part of the elevating cover 33 that moves up and down always overlaps the outer peripheral side of the fixed cover 23.
  • the rocking part 4 is composed of a rocking arm member 41, a rocking drive part 42 and the like.
  • One end 411 of the swing arm member 41 is swingably supported by the swing support portion 34 of the elevating member 31.
  • the swing drive unit 42 disposed in the internal space above the elevating member 31 drives the other end 412 to swing back and forth with the one end 411 of the swing arm member 41 as the swing center.
  • the swing range of the swing arm member 41 is regulated by a stopper member (not shown).
  • the handle 43 is integrally attached to the other end 412 of the swing arm member 41.
  • the handle 43 is formed in a substantially rectangular frame shape.
  • the handle 43 extends in the left-right direction from both sides of the other end 412 of the swing arm member 41, bends 90 °, extends in the front upper direction, and bends 90 ° again at the front upper position to connect the left and right.
  • the person being assisted M grips the handle 43 during the standing-up operation and the seating operation.
  • the caregiver can move the assistance device 1 forward by pulling the handle 43.
  • the assistant can turn the assistance device 1 by rotating the handle 43, move it sideways, or turn it around.
  • the holding member 5 includes a supported member 51, a body receiving portion 52, a pair of left and right side receiving portions 53, and the like.
  • the front lower side of the supported member 51 is supported by the other end 412 of the swing arm member 41 so as to be freely tiltable.
  • a body receiving portion 52 is provided on the rear upper side of the supported member 51.
  • the torso receiving part 52 is formed in a surface shape close to the torso shape of the person being assisted M using a cushion material, and can be flexibly deformed.
  • the surface of the body receiving unit 52 that contacts the abdomen from the chest of the person being assisted M is the support surface 521.
  • the support surface 521 supports the body of the person being assisted M from below.
  • the pair of left and right side receiving portions 53 are provided on the left and right sides of the body receiving portion 52.
  • the side receiving portion 53 is formed in an arc shape facing upward, and supports both sides of the person being assisted M from below. Thereby, the trunk
  • the control unit 6 is provided on the upper right side of the frame 21.
  • the control unit 6 controls the elevation drive unit 32 and the swing drive unit 42 based on the person being assisted M or a command from the assistant.
  • the control unit 6 can be a computer device that operates with software.
  • the computer device may include an unillustrated remote control device that accepts a command from the person being assisted M or a caregiver.
  • As software a standing assistance program for assisting standing up and a sitting assistance program for assisting seating are stored so as to be executable.
  • a battery power source having a symbol that can be repeatedly charged and discharged is attached.
  • a battery power source is also attached to the upper left side of the frame 21.
  • the battery power source is also shared by the lift drive unit 32 and the swing drive unit 42.
  • FIG. 4 is a partial perspective view showing a structure in the vicinity of the upper portion of the elevating cover 33.
  • FIG. 5 is a partial perspective view for explaining the sheet member 7 assembled on the outer periphery of the swing arm member 41.
  • the upper surface 331 of the elevating cover 33 has a curved surface portion 333 continuously formed on the rear side of the inclined flat surface portion 332 having a lower rear side.
  • the curved surface portion 333 is bent sharply in the middle in the front-rear direction, and the rear end is directed downward.
  • a rectangular opening 36 is formed from the inclined flat surface portion 332 to the rear end of the curved surface portion 333.
  • the opening 36 is located in the center in the left-right direction and is long in the front-rear direction.
  • the swing arm member 41 swings in the opening 36 in the front-rear direction. Therefore, a front gap 361 is formed between the swing arm member 41 and the front edge of the opening 36, and a rear gap 362 (shown in FIG. 6) is formed between the swing arm member 41 and the rear edge of the opening 36. Occurs. Further, the side gap between the swing arm member 41 and the right and left edges of the opening 36 is very small.
  • a guide member 37 is disposed on the inner surface side of the opening 36.
  • the guide member 37 is formed in a rectangular plate shape larger than the entire opening 36 and has a rectangular hole through which the swing arm member 41 passes.
  • the guide member 37 is fixedly attached to the elevating member 31 or the elevating cover 33 and is bent substantially in parallel with the upper surface 331.
  • a moving space having a substantially constant gap dimension is defined between the upper surface 331 and the guide member 37.
  • the gap size of the moving space is set so as to have a margin with respect to the thickness of the sheet member 7 described below.
  • the elastically deformable sheet member 7 is disposed in the moving space.
  • the sheet member 7 is made of, for example, a synthetic resin, and is not limited to this. As shown in FIG. 5, the sheet member 7 is assembled to the outer periphery of the swing arm member 41 and is held so as to be movable along the swing arm member 41 (see arrow M).
  • the sheet member 7 is a rectangle whose outer shape is long in the front-rear direction, and the width in the left-right direction is narrower than the guide member 37 and wider than the opening 36.
  • the sheet member 7 is disposed so as to extend over the entire opening 36.
  • the seat member 7 swings in the moving space in the front-rear direction, and moves along the swing arm member 41 while being elastically deformed. Accordingly, the sheet member 7 can swing along the periphery of the opening 36 and can always block the front gap 361, the rear gap 362, and the side gap.
  • the sheet member 7 is an embodiment of the closing member of the present invention.
  • FIG. 6 is a diagram illustrating the rear gap 362 between the swing arm member 41 swinging rearward and the rear edge of the opening 36.
  • the minimum dimension Gm of the rear gap 362 shown in the figure is set to be three times or more the thickness of the plate material forming the lifting cover 33.
  • the elevating cover 33 is formed of a 1 mm thick steel plate, and the minimum dimension Gm of the rear gap 362 is set to about 10 mm.
  • the minimum dimension of the front gap 361 between the swinging arm member 41 swinging forward and the front edge of the opening 36 is also set to about 10 mm.
  • the person being assisted M starts an initial operation routine of the standing assistance program of the control unit 6. Thereby, the height of the elevating member 31 is automatically adjusted according to the physique of the person being assisted.
  • the person being assisted M places his upper body close to the body receiving portion 52 and puts both arms forward from above the side receiving portion 53. Furthermore, the person being assisted M holds the handle 43 with both hands. Thereby, it will be in the sitting position of the assistance person M shown by FIG. In the sitting position, the upper body of the person being assisted M is in a slightly forward tilted posture.
  • the person being assisted M starts the standing up assistance routine of the standing up assistance program.
  • the vertical movement of the elevating member 31 and the forward swing of the swing arm member 41 are performed in a coordinated manner.
  • the elevating member 31 is raised, and the swing arm member 41 is swung forward to be in the standing position of the person being assisted shown in FIG.
  • the upper body of the person being assisted M is in a largely forward leaning posture.
  • the seating movement of the person being assisted M is almost the reverse of the standing movement, so the explanation is omitted. Note that a part of a series of standing motions of the person being assisted M described above may be assisted by the assistant, or may be performed by the assistant.
  • the swing arm member 41 swings from the rear to the front. Conversely, in the sitting operation of the person being assisted M, the swing arm member 41 swings from the front to the rear.
  • the front gap 361, the rear gap 362, and the side gap are always closed by the sheet member 7. Therefore, the body, clothes, etc. of the person being assisted M are not sandwiched between the openings 36.
  • FIG. 7 is a partial perspective view for explaining the possibility of pinching that occurs when the swing arm member 41 swings backward in the conventional assistance device 1X.
  • FIG. 8 is a partial perspective view for explaining the possibility of pinching that occurs when the swing arm member 41 swings forward in the conventional assisting device 1X.
  • the assisting device 1X of the prior art does not include the guide member 37 and the sheet member 7, and the minimum dimension Gm of the rear gap 362 and the minimum dimension of the front gap 361 are not ensured.
  • the seat member 7 prevents the body or clothes of the person being assisted M from entering the rear gap 362 and the front gap 361, so there is no possibility of being caught. Further, the minimum dimension Gm of the rear gap 362 and the minimum dimension of the front gap 361 are secured. Thereby, the pinching between the small opening of the lifting cover 33 and the swing arm member 41 is also eliminated.
  • the assisting device 1 includes a base 2, a lifting member 31 supported on the base 2 so as to be movable up and down, a swinging arm member 41 having one end 411 supported swingably on the lifting member 31, The holding member 5 supported by the other end 412 of the swing arm member 41 and holding the upper body of the person being assisted, the lifting member 31 and the one end 411 of the swing arm member 41 are covered, and the swing arm member 41 passes through.
  • An elevating cover 33 having an opening 36 and elevating together with the elevating member 31, and a closing member (sheet member 7) for closing a gap between the periphery of the opening 36 and the swing arm member 41 are provided.
  • an opening 36 is provided in the elevating cover 33 so that the swing arm member 41 can swing.
  • the opening 36 has a risk of pinching the body or clothes of the person being assisted in the prior art, but is closed by the closing member (sheet member 7) in the present embodiment. Therefore, the body, clothes, etc. of the person being assisted M are not caught in the opening 36, and it is safe.
  • the opening 36 is formed in the curved surface portion 333 of the elevating cover 33, and the closing member is assembled to the outer periphery of the swing arm member 41 and stretched over the entire opening 36 to be elastically deformable.
  • the elevating member 31 or the elevating cover 33 includes a guide member 37 that causes the sheet member 7 that swings together with the swing arm member 41 to run along the periphery of the opening 36. According to this, the opening part 36 can be closed using a simple configuration, and an increase in cost is suppressed.
  • the sheet member 7 is held so as to be movable along the swing arm member 41, and moves along the swing arm member 41 as the swing arm member 41 swings. According to this, since the sheet member 7 can freely move in accordance with the shape of the opening 36, the range of the shape of the opening 36 in which the present invention can be implemented is wide.
  • the swing arm member 41 swings in the front-rear direction of the person being assisted M held by the holding member 5, between the swing arm member 41 swinging forward and the front edge of the opening 36, and Between the swing arm member 41 swinging rearward and the rear edge of the opening 36, a gap of at least three times the thickness of the plate material forming the lifting cover 33 is secured.
  • the minimum dimension Gm of the rear gap 362 and the minimum dimension of the front gap 361 are set to three times or more the thickness of the plate material. Accordingly, the body or clothes of the person being assisted M is not sandwiched between the small opening of the opening 36 of the lifting cover 33 and the swing arm member 41.
  • the guide member 37 may be arranged on the outer surface side of the opening 36 to partition the movement space of the sheet member 7 outside the upper surface 331. Even if the holding member 5 does not tilt freely with respect to the swing arm member 41, the same effect is produced. Furthermore, the shapes of the base 2 and the handle 43 can be changed as appropriate. Various other modifications and applications of the present invention are possible.
  • Assistance device 2 Base 3: Lifting part 31: Lifting member 32: Lifting drive part 33: Lifting cover 333: Curved part 36: Opening part 361: Front gap 362: Rear gap 37: Guide member 4: Swing Portion 41: Swing arm member 411: One end 42: Swing drive portion 43: Handle 5: Holding member 7: Seat member (blocking member) 1X: Conventional assistance device

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  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Invalid Beds And Related Equipment (AREA)

Abstract

This assisting device (1) is provided with: a base (2); a lifting member (31) which is supported on the base so as to be capable of moving vertically; a swinging arm member (41) which is swingably supported at one end (411) by the lifting member; a holding member (5) which is supported at the other end (412) of the swinging arm member and which holds the upper body of a care recipient (M); a lifting cover (33) which covers one end of the lifting member and the swinging arm member, has an opening (36) through which the swinging arm member passes, and rises and lowers together with the lifting member; and a closing member (a seat member 7) which closes the gap between the peripheral edge of the opening and the swinging arm member. Thus, because the opening is closed by the closing member, the care recipient's body, clothing, etc., are not caught in the opening, making the assisting device safer.

Description

介助装置Assistance device
　本発明は、被介助者の起立補助や着座補助などを行う介助装置に関する。 The present invention relates to an assistance device that performs assistance for standing up or sitting for a person being assisted.
　高齢化社会の進展に伴い、介助装置のニーズが増大している。介助装置は、被介助者の移乗介助、移動介助、排泄介助などを行うものであり、介助の一環としての起立補助や着座補助の機能を具備する。介助装置の導入により、介助者の身体的な負担が軽減されて腰痛などの予防につながるとともに、介護士の人手不足も緩和される。この種の介助装置に関する一技術例が特許文献１に開示されている。 As the aging society progresses, the need for assistance devices is increasing. The assistance device performs assistance, transfer assistance, excretion assistance, etc. of the person being assisted, and has functions of standing assistance and sitting assistance as part of assistance. The introduction of the assistance device reduces the physical burden on the assistant and leads to prevention of back pain and the like, and also reduces the shortage of caregivers. One technical example regarding this type of assistance device is disclosed in Patent Document 1.
　特許文献１の介助装置は、被介助者の脇下に挿入される左右１対の腕部を備え、この腕部が上昇することによって被介助者の起立動作を補助する。この介助装置は、腕部の先端部分が内側に自在に屈曲して、被介助者の背中を支えるようにしたことを特徴としている。介助装置は、さらに被介助者の胸部に当接する胸当て（保持部材）や、被介助者が握るグリップ、移動時に介助者が用いるハンドルなどを備える。これによれば、被介助者の起立を補助する際に、人に抱きかかえられる状態と同じような安心感を被介助者に与えることができる、とされている。 The assistance device of Patent Document 1 includes a pair of left and right arms that are inserted into the armpit of the person being assisted, and assists the person being erected by raising the arms. This assisting device is characterized in that the distal end portion of the arm portion is freely bent inward to support the back of the person being assisted. The assistance device further includes a breastplate (holding member) that comes into contact with the chest of the person being assisted, a grip gripped by the person being assisted, and a handle used by the assistant during movement. According to this, it is said that, when assisting the person being assisted in standing up, it is possible to give the person being assisted like the state of being held by a person.
特開２００８－３６３９２号公報JP 2008-36392 A
　ところで、特許文献１の介助装置の実施形態の説明によると、腕部の上昇は、腕部の取り付けられた揺動アームがスライド支柱の上端部分で揺動することにより行われる。このため、揺動アームとスライド支柱との間に、手や指、衣服などが挟まれやすくなる。 By the way, according to the description of the embodiment of the assisting device of Patent Document 1, the raising of the arm portion is performed by the swinging arm to which the arm portion is attached swinging at the upper end portion of the slide column. For this reason, hands, fingers, clothes and the like are easily sandwiched between the swing arm and the slide column.
　本発明は、上記背景技術の問題点に鑑みてなされたものであり、被介助者の身体や衣服などが挟まれることの無い安全な介助装置を提供することを解決すべき課題とする。 The present invention has been made in view of the above problems of the background art, and an object to be solved is to provide a safe assistance device in which the body or clothes of the person being assisted is not caught.
　本発明の介助装置は、基台と、前記基台に上下動可能に支持された昇降部材と、一端が前記昇降部材に揺動可能に支持された揺動アーム部材と、前記揺動アーム部材の他端に支持されて被介助者の上半身を保持する保持部材と、前記昇降部材および前記揺動アーム部材の前記一端を覆い、かつ前記揺動アーム部材が通り抜ける開口部を有して、前記昇降部材と共に昇降する昇降カバーと、前記開口部の周縁と前記揺動アーム部材との間の隙間を塞ぐ閉塞部材と、を備えた。 The assistance device according to the present invention includes a base, a lifting member supported by the base so as to be movable up and down, a swinging arm member having one end swingably supported by the lifting member, and the swinging arm member A holding member that is supported by the other end of the person and holds the upper body of the person being assisted, an opening that covers the one end of the elevating member and the swing arm member, and through which the swing arm member passes, An elevating cover that moves up and down together with the elevating member, and a closing member that closes a gap between the periphery of the opening and the swing arm member.
　本発明の介助装置において、揺動アーム部材が揺動できるように、昇降カバーに開口部が設けられている。この開口部は、従来技術において被介助者の身体や衣服などを挟むおそれを有していたが、本発明においては、閉塞部材によって塞がれる。したがって、被介助者の身体や衣服などが開口部に挟まれることが無く、安全である。 In the assistance device of the present invention, an opening is provided in the elevating cover so that the swing arm member can swing. Although this opening has a possibility of pinching the body or clothes of the person being assisted in the prior art, in the present invention, the opening is closed by a closing member. Therefore, the body or clothes of the person being assisted is not pinched by the opening and is safe.
実施形態の介助装置を斜め後方から見た斜視図である。It is the perspective view which looked at the assistance apparatus of embodiment from diagonally backward. 介助装置の構成および座位姿勢にある被介助者を示す側面図である。It is a side view which shows the assistance person in the structure and sitting posture of a assistance apparatus. 介助装置の構成および立位姿勢にある被介助者を示す側面図である。It is a side view which shows the care receiver in the structure of an assistance apparatus, and a standing posture. 昇降カバーの上部付近の構造を示す部分斜視図である。It is a fragmentary perspective view which shows the structure of the upper part vicinity of a raising / lowering cover. 揺動アーム部材の外周に組み付けられたシート部材を説明する部分斜視図である。It is a fragmentary perspective view explaining the sheet | seat member assembled | attached on the outer periphery of the rocking | swiveling arm member. 後方に揺動した揺動アーム部材と開口部の後縁との間の後側隙間を例示した図である。It is the figure which illustrated the back side clearance gap between the rocking | swiveling arm member rock | fluctuated back, and the rear edge of an opening part. 従来技術の介助装置において、揺動アーム部材の後方揺動時に発生する挟み込みのおそれを説明する部分斜視図である。In the assistance apparatus of a prior art, it is a fragmentary perspective view explaining the possibility of the pinching generate | occur | produced at the time of rocking | fluctuation arm member rocking | fluctuating backward. 従来技術の介助装置において、揺動アーム部材の前方揺動時に発生する挟み込みのおそれを説明する部分斜視図である。FIG. 10 is a partial perspective view for explaining the possibility of pinching that occurs when the swing arm member swings forward in the conventional assisting device.
　（１．実施形態の介助装置１の構成）
　本発明の実施形態の介助装置１について、図１～図６を参考にして説明する。図１は、実施形態の介助装置１を斜め後方から見た斜視図である。また、図２は、介助装置１の構成および座位姿勢にある被介助者Ｍを示す側面図であり、図３は、介助装置１の構成および立位姿勢にある被介助者Ｍを示す側面図である。図２および図３に示される被介助者Ｍを基準にして、図１に示されるように前後方向、左右方向、および上下方向を定める。なお、図２および図３において、固定カバー２３、昇降カバー３３、および制御部６は図示省略されている。 (1. Configuration of the assistance device 1 of the embodiment)
An assistance device 1 according to an embodiment of the present invention will be described with reference to FIGS. Drawing 1 is a perspective view which looked at assistance device 1 of an embodiment from the slanting back. 2 is a side view showing the configuration of the assistance device 1 and the person being assisted in the sitting posture, and FIG. 3 is a side view showing the configuration of the assistance device 1 and the assisted person M in the standing posture. It is. As shown in FIG. 1, the front-rear direction, the left-right direction, and the up-down direction are determined with reference to the person M who is shown in FIGS. 2 and 3, the fixed cover 23, the lifting cover 33, and the control unit 6 are not shown.
　介助装置１は、被介助者Ｍの座位姿勢から立位姿勢への起立補助、および立位姿勢から座位姿勢への着座補助を行う。さらに、介助装置１は、立位姿勢の被介助者Ｍを乗せた状態で、介助者の操作により移動可能となっている。これにより、介助装置１は、被介助者Ｍの移乗介助および移動介助が可能となっている。なお、本明細書において、「立位姿勢」は、被介助者Ｍの下半身が立っている姿勢を意味し、上半身の姿勢を問わない。介助装置１は、基台２、昇降部３、揺動部４、保持部材５、および制御部６などで構成されている。 The assistance device 1 performs the standing assistance from the sitting posture to the standing posture and the sitting assistance from the standing posture to the sitting posture. Furthermore, the assistance apparatus 1 can be moved by the operation of the assistant in a state where the person M who is in the standing posture is placed. Thereby, the assistance apparatus 1 can perform transfer assistance and movement assistance of the person M to be assisted. In the present specification, the “standing posture” means a posture in which the lower body of the person being assisted M stands, and the posture of the upper body is not questioned. The assistance device 1 includes a base 2, an elevating unit 3, a swinging unit 4, a holding member 5, and a control unit 6.
　基台２は、フレーム２１、支柱２２、固定カバー２３、足載置台２４、下腿当て部２５、および６個の車輪２６～２８などで構成されている。フレーム２１は、床面Ｆの近くにほぼ水平に設けられる。支柱２２は、フレーム２１の前寄りの左右方向の中央から上方に向かって立設されている。支柱２２の略矩形断面の内部空間に、後述する昇降駆動部３２が配置される。固定カバー２３は、支柱２２および後述する昇降部材３１の下部の周りを覆って保護する。 The base 2 is composed of a frame 21, a support column 22, a fixed cover 23, a foot placing table 24, a crus support part 25, six wheels 26 to 28, and the like. The frame 21 is provided almost horizontally near the floor surface F. The column 22 is erected upward from the center in the left-right direction near the front of the frame 21. In the internal space of the substantially rectangular cross section of the support column 22, an elevating drive unit 32 described later is disposed. The fixed cover 23 covers and protects the support 22 and the lower part of the elevating member 31 described later.
　足載置台２４は、フレーム２１の上面後方に固定されて、ほぼ水平に設けられる。足載置台２４の上面に描かれた足形の接地マーク２４１は、被介助者Ｍが足を乗せる位置を案内する。基台２は、被介助者Ｍが乗っても十分な機械的強度を有する。足載置台２４の後部中央に、凹部２４２が形成されている。下腿当て部２５は、左右一対の支持アーム２５１によって、接地マーク２４１よりも少し前側の上方に配設される。左右一対の支持アーム２５１は、フレーム２１の上面の支柱２２の両側からそれぞれ後方に延び、途中で屈曲して上方に延びている。下腿当て部２５は、左右の支持アーム２５１の直立した部分を渡って配置され、左右方向に延在する。下腿当て部２５は、被介助者Ｍの下腿が接触する部位であり、クッション材によって形成される。下腿当て部２５の配置高さは、調整可能となっている。 The foot mounting table 24 is fixed to the rear of the upper surface of the frame 21 and is provided almost horizontally. A foot-shaped ground mark 241 drawn on the upper surface of the foot placement table 24 guides a position where the person being assisted M places his / her foot. The base 2 has sufficient mechanical strength even when the person being assisted is on the vehicle. A recess 242 is formed in the center of the rear part of the footrest 24. The crus support part 25 is disposed slightly above the ground mark 241 by a pair of left and right support arms 251. The pair of left and right support arms 251 extend rearward from both sides of the column 22 on the upper surface of the frame 21, bend in the middle, and extend upward. The lower thigh pad portion 25 is disposed across the upright portions of the left and right support arms 251 and extends in the left-right direction. The lower leg support part 25 is a part where the lower leg of the person being assisted M contacts, and is formed of a cushion material. The arrangement height of the lower leg pad 25 can be adjusted.
　フレーム２１の下側の前寄りに、左右一対の前車輪２６が設けられている。前車輪２６は、移動方向を転換する転舵機能、および移動を規制するロック機能を備える。足載置台２４の下側の前後方向の中間付近に、左右一対の中車輪２７が設けられている。さらに、足載置台２４の下側の後寄りに、左右一対の後車輪２８が設けられている。中車輪２７および後車輪２８は、移動方向を転換する転舵機能を備える。６個の車輪２６～２８により、フレーム２１および足載置台２４は、床面Ｆからわずかに離れて水平に維持される。６個の車輪２６～２８の転舵機能により、介助装置１は、前後方向の移動および方向転換だけでなく、横移動（真横への移動）や超信地旋回（その場旋回）が可能となっている。 A pair of left and right front wheels 26 are provided on the lower front side of the frame 21. The front wheel 26 has a turning function for changing the moving direction and a lock function for restricting the movement. A pair of left and right middle wheels 27 is provided in the vicinity of the middle in the front-rear direction on the lower side of the footrest 24. Further, a pair of left and right rear wheels 28 are provided on the lower rear side of the footrest 24. The middle wheel 27 and the rear wheel 28 have a steering function for changing the moving direction. With the six wheels 26 to 28, the frame 21 and the footrest 24 are kept slightly apart from the floor F and kept horizontal. With the steering function of the six wheels 26 to 28, the assistance device 1 can move not only in the front-rear direction and the direction change, but also in the lateral movement (movement to the side) and the super-revolution (in-situ turning). It has become.
　昇降部３は、昇降部材３１、昇降駆動部３２、および昇降カバー３３などで構成されている。昇降部材３１は、上下方向に長い長尺部材であり、支柱２２の後面に上下動可能に支持されている。昇降部材３１の上部は後方に突出しており、突出した後端寄りに揺動支持部３４が設けられている。昇降部材３１の上部の内部空間には、後述する揺動駆動部４２が配置される。支柱２２の内部空間に配置された昇降駆動部３２は、昇降部材３１の上下動を駆動する。昇降カバー３３は、昇降部材３１および支柱２２の周りを覆うとともに、昇降部材３１および揺動アーム部材４１の一端４１１の上方を覆って保護する。昇降カバー３３は、昇降部材３１に結合されており、昇降部材３１とともに上下動する。上下動する昇降カバー３３の下部は、常に固定カバー２３の外周側に重なっている。 The elevating unit 3 includes an elevating member 31, an elevating drive unit 32, an elevating cover 33, and the like. The elevating member 31 is a long member that is long in the vertical direction, and is supported on the rear surface of the support column 22 so as to be movable up and down. The upper part of the elevating member 31 protrudes rearward, and a swing support part 34 is provided near the protruding rear end. In the internal space above the elevating member 31, a swing drive unit 42 described later is disposed. The raising / lowering drive part 32 arrange | positioned in the internal space of the support | pillar 22 drives the raising / lowering movement of the raising / lowering member 31. As shown in FIG. The elevating cover 33 covers the elevating member 31 and the support column 22 and covers and protects the elevating member 31 and the upper end 411 of the swing arm member 41. The lifting cover 33 is coupled to the lifting member 31 and moves up and down together with the lifting member 31. The lower part of the elevating cover 33 that moves up and down always overlaps the outer peripheral side of the fixed cover 23.
　揺動部４は、揺動アーム部材４１および揺動駆動部４２などで構成されている。揺動アーム部材４１の一端４１１は、昇降部材３１の揺動支持部３４に揺動可能に支持されている。昇降部材３１の上部の内部空間に配置された揺動駆動部４２は、揺動アーム部材４１の一端４１１を揺動中心として、他端４１２を前後方向に揺動駆動する。揺動アーム部材４１の揺動範囲は、図略のストッパ部材により規制されている。 The rocking part 4 is composed of a rocking arm member 41, a rocking drive part 42 and the like. One end 411 of the swing arm member 41 is swingably supported by the swing support portion 34 of the elevating member 31. The swing drive unit 42 disposed in the internal space above the elevating member 31 drives the other end 412 to swing back and forth with the one end 411 of the swing arm member 41 as the swing center. The swing range of the swing arm member 41 is regulated by a stopper member (not shown).
　ハンドル４３は、揺動アーム部材４１の他端４１２に、一体に付設される。ハンドル４３は、概ね四角形の枠形状に形成されている。ハンドル４３は、揺動アーム部材４１の他端４１２の両側から左右方向に延び、９０°屈曲して前上方向に延び、前上位置で再度９０°屈曲して左右が繋がっている。被介助者Ｍは、起立動作時および着座動作時にハンドル４３を把持する。介助者は、ハンドル４３を牽引することで介助装置１を前方に移動できる。さらに、介助者は、ハンドル４３を回転操作することで介助装置１を方向転換したり、横移動させたり、超信地旋回させたりできる。 The handle 43 is integrally attached to the other end 412 of the swing arm member 41. The handle 43 is formed in a substantially rectangular frame shape. The handle 43 extends in the left-right direction from both sides of the other end 412 of the swing arm member 41, bends 90 °, extends in the front upper direction, and bends 90 ° again at the front upper position to connect the left and right. The person being assisted M grips the handle 43 during the standing-up operation and the seating operation. The caregiver can move the assistance device 1 forward by pulling the handle 43. Furthermore, the assistant can turn the assistance device 1 by rotating the handle 43, move it sideways, or turn it around.
　保持部材５は、被支持部材５１、胴体受部５２、および左右一対の脇受部５３などで構成されている。被支持部材５１の前下側は、揺動アーム部材４１の他端４１２に、自由傾動可能に支持されている。被支持部材５１の後上側に、胴体受部５２が設けられている。胴体受部５２は、クッション材を用いて被介助者Ｍの胴体形状に近い面状に形成されており、柔軟な変形が可能になっている。胴体受部５２の被介助者Ｍの胸部から腹部に接触する面が、支持面５２１である。支持面５２１は、被介助者Ｍの胴体を下方から支持する。 The holding member 5 includes a supported member 51, a body receiving portion 52, a pair of left and right side receiving portions 53, and the like. The front lower side of the supported member 51 is supported by the other end 412 of the swing arm member 41 so as to be freely tiltable. A body receiving portion 52 is provided on the rear upper side of the supported member 51. The torso receiving part 52 is formed in a surface shape close to the torso shape of the person being assisted M using a cushion material, and can be flexibly deformed. The surface of the body receiving unit 52 that contacts the abdomen from the chest of the person being assisted M is the support surface 521. The support surface 521 supports the body of the person being assisted M from below.
　左右一対の脇受部５３は、胴体受部５２の左右に設けられている。脇受部５３は、上方を向く円弧状に形成されており、被介助者Ｍの両脇を下方から支持する。これにより、胴体受部５２および脇受部５３は、被介助者Ｍの上半身を安定して保持できる。 The pair of left and right side receiving portions 53 are provided on the left and right sides of the body receiving portion 52. The side receiving portion 53 is formed in an arc shape facing upward, and supports both sides of the person being assisted M from below. Thereby, the trunk | drum receiving part 52 and the armpit receiving part 53 can hold | maintain the upper body of the care receiver M stably.
　制御部６は、フレーム２１の上側右寄りに設けられている。制御部６は、被介助者Ｍまたは介助者からの指令に基づいて、昇降駆動部３２および揺動駆動部４２を制御する。制御部６には、ソフトウェアで動作するコンピュータ装置を用いることができる。コンピュータ装置は、被介助者Ｍまたは介助者からの指令を受け付ける図略のリモコン装置を備えていてもよい。ソフトウェアとして、起立補助を行う起立補助プログラムや、着座補助を行う着座補助プログラムが実行可能に記憶されている。制御部６の下側には、繰り返しての充放電が可能な符号略のバッテリ電源が付属されている。バッテリ電源は、フレーム２１の上側左寄りにも付属されている。バッテリ電源は、昇降駆動部３２および揺動駆動部４２にも共用される。 The control unit 6 is provided on the upper right side of the frame 21. The control unit 6 controls the elevation drive unit 32 and the swing drive unit 42 based on the person being assisted M or a command from the assistant. The control unit 6 can be a computer device that operates with software. The computer device may include an unillustrated remote control device that accepts a command from the person being assisted M or a caregiver. As software, a standing assistance program for assisting standing up and a sitting assistance program for assisting seating are stored so as to be executable. Below the control unit 6, a battery power source having a symbol that can be repeatedly charged and discharged is attached. A battery power source is also attached to the upper left side of the frame 21. The battery power source is also shared by the lift drive unit 32 and the swing drive unit 42.
　（２．昇降カバー３３の上部付近の構造）
　次に、昇降カバー３３の上部付近の構造について詳述する。図４は、昇降カバー３３の上部付近の構造を示す部分斜視図である。また、図５は、揺動アーム部材４１の外周に組み付けられたシート部材７を説明する部分斜視図である。図４に示されるように、昇降カバー３３の上面３３１は、後側が低い傾斜平面部３３２の後側に、曲面部３３３が連続して形成されている。曲面部３３３は、前後方向の中間で急峻に屈曲しており、後端が下方に向かっている。 (2. Structure near the top of the lifting cover 33)
Next, the structure near the upper portion of the lifting cover 33 will be described in detail. FIG. 4 is a partial perspective view showing a structure in the vicinity of the upper portion of the elevating cover 33. FIG. 5 is a partial perspective view for explaining the sheet member 7 assembled on the outer periphery of the swing arm member 41. As shown in FIG. 4, the upper surface 331 of the elevating cover 33 has a curved surface portion 333 continuously formed on the rear side of the inclined flat surface portion 332 having a lower rear side. The curved surface portion 333 is bent sharply in the middle in the front-rear direction, and the rear end is directed downward.
　傾斜平面部３３２から曲面部３３３の後端にかけて、矩形の開口部３６が形成されている。開口部３６は、左右方向の中央に位置して、前後方向に長い。揺動アーム部材４１は、開口部３６の中を前後方向に揺動する。したがって、揺動アーム部材４１と開口部３６の前縁との間に前側隙間３６１が生じ、揺動アーム部材４１と開口部３６の後縁との間に後側隙間３６２（図６に示す）が生じる。また、揺動アーム部材４１と、開口部３６の右縁および左縁との間の側部隙間は、ごく僅かとなっている。 A rectangular opening 36 is formed from the inclined flat surface portion 332 to the rear end of the curved surface portion 333. The opening 36 is located in the center in the left-right direction and is long in the front-rear direction. The swing arm member 41 swings in the opening 36 in the front-rear direction. Therefore, a front gap 361 is formed between the swing arm member 41 and the front edge of the opening 36, and a rear gap 362 (shown in FIG. 6) is formed between the swing arm member 41 and the rear edge of the opening 36. Occurs. Further, the side gap between the swing arm member 41 and the right and left edges of the opening 36 is very small.
　開口部３６の内面側に、ガイド部材３７が配置されている。ガイド部材３７は、開口部３６の全体よりも大きな矩形の板状に形成され、揺動アーム部材４１が通り抜ける矩形孔を中央に有する。ガイド部材３７は、昇降部材３１または昇降カバー３３に固定取り付けされ、概ね上面３３１に並行して屈曲している。これにより、上面３３１とガイド部材３７との間に、概ね一定の間隙寸法の移動スペースが区画される。移動スペースの間隙寸法は、次に説明するシート部材７の厚みに対して余裕を有するように設定されている。 A guide member 37 is disposed on the inner surface side of the opening 36. The guide member 37 is formed in a rectangular plate shape larger than the entire opening 36 and has a rectangular hole through which the swing arm member 41 passes. The guide member 37 is fixedly attached to the elevating member 31 or the elevating cover 33 and is bent substantially in parallel with the upper surface 331. As a result, a moving space having a substantially constant gap dimension is defined between the upper surface 331 and the guide member 37. The gap size of the moving space is set so as to have a margin with respect to the thickness of the sheet member 7 described below.
　移動スペース内に、弾性変形可能なシート部材７が配置される。シート部材７は、例えば合成樹脂製とされ、これに限定されない。図５に示されるように、シート部材７は、揺動アーム部材４１の外周に組み付けられ、揺動アーム部材４１に沿って移動可能（矢印Ｍ参照）に保持されている。シート部材７は、その外形が前後方向に長い矩形であり、左右方向の幅がガイド部材３７よりも狭く、開口部３６よりも広い。シート部材７は、開口部３６の全体に延伸して配置される。揺動アーム部材４１の前後方向の揺動に伴い、シート部材７は、移動スペース内を前後方向に揺動し、その際に弾性変形しつつ、かつ揺動アーム部材４１に沿って移動する。これにより、シート部材７は、開口部３６の周縁に沿って揺動でき、前側隙間３６１、後側隙間３６２、および側部隙間を常に塞ぐことができる。シート部材７は、本発明の閉塞部材の一実施例である。 The elastically deformable sheet member 7 is disposed in the moving space. The sheet member 7 is made of, for example, a synthetic resin, and is not limited to this. As shown in FIG. 5, the sheet member 7 is assembled to the outer periphery of the swing arm member 41 and is held so as to be movable along the swing arm member 41 (see arrow M). The sheet member 7 is a rectangle whose outer shape is long in the front-rear direction, and the width in the left-right direction is narrower than the guide member 37 and wider than the opening 36. The sheet member 7 is disposed so as to extend over the entire opening 36. As the swing arm member 41 swings in the front-rear direction, the seat member 7 swings in the moving space in the front-rear direction, and moves along the swing arm member 41 while being elastically deformed. Accordingly, the sheet member 7 can swing along the periphery of the opening 36 and can always block the front gap 361, the rear gap 362, and the side gap. The sheet member 7 is an embodiment of the closing member of the present invention.
　図６は、後方に揺動した揺動アーム部材４１と開口部３６の後縁との間の後側隙間３６２を例示した図である。図示される後側隙間３６２の最小寸法Ｇｍは、昇降カバー３３を形成する板材の厚さの３倍以上に設定されている。例えば、図６の例で、昇降カバー３３は厚さ１ｍｍの鋼板で形成され、後側隙間３６２の最小寸法Ｇｍは、１０ｍｍ程度に設定されている。前方に揺動した揺動アーム部材４１と開口部３６の前縁との間の前側隙間３６１の最小寸法も、同様に１０ｍｍ程度に設定されている。 FIG. 6 is a diagram illustrating the rear gap 362 between the swing arm member 41 swinging rearward and the rear edge of the opening 36. The minimum dimension Gm of the rear gap 362 shown in the figure is set to be three times or more the thickness of the plate material forming the lifting cover 33. For example, in the example of FIG. 6, the elevating cover 33 is formed of a 1 mm thick steel plate, and the minimum dimension Gm of the rear gap 362 is set to about 10 mm. Similarly, the minimum dimension of the front gap 361 between the swinging arm member 41 swinging forward and the front edge of the opening 36 is also set to about 10 mm.
　（３．実施形態の介助装置１の使用方法および作用）
　次に、実施形態の介助装置１の使用方法および作用について説明する。以降では、椅子Ｃに座っている被介助者Ｍが起立動作を行う場合を例にして説明する。仮に介助装置１が遠くにある場合、介助者は、前以て介助装置１を被介助者Ｍの近くまで移動させておく。座位姿勢の被介助者Ｍは、まず介助装置１を引き寄せる。すると、図２に示されるように、被介助者Ｍの両脚は、保持部材５の下側に入り込む。ここで、保持部材５が邪魔になる場合、被介助者Ｍは、保持部材５の下端部を手または膝で持ち上げる。これにより、保持部材５は、前方に傾動する。被介助者Ｍは、次に、両足を接地マーク２４１の上に乗せる。被介助者Ｍの下腿は、下腿当て部２５に接触し、または接近する。 (3. Usage method and operation of the assistance device 1 of the embodiment)
Next, the usage method and effect | action of the assistance apparatus 1 of embodiment are demonstrated. Hereinafter, the case where the person M who is sitting in the chair C performs the standing up operation will be described as an example. If the assistance device 1 is far away, the assistant moves the assistance device 1 to the vicinity of the person being assisted M in advance. The person M who is in the sitting posture first pulls the assistance device 1. Then, as shown in FIG. 2, both legs of the person being assisted enter the lower side of the holding member 5. Here, when the holding member 5 gets in the way, the person being assisted lifts the lower end of the holding member 5 with a hand or knee. As a result, the holding member 5 tilts forward. Next, the person being assisted M places both feet on the ground mark 241. The lower leg of the person being assisted M contacts or approaches the lower leg pad 25.
　次に、被介助者Ｍは、制御部６の起立補助プログラムの初期動作ルーチンを始動させる。これにより、被介助者Ｍの体格に合わせて、昇降部材３１の高さが自動調整される。次に、被介助者Ｍは、上半身を胴体受部５２に寄りかからせ、両腕を脇受部５３の上から前方に出す。さらに、被介助者Ｍは、両手でハンドル４３をそれぞれ把持する。これにより、図２に示された被介助者Ｍの座位状態となる。座位状態において、被介助者Ｍの上半身は、少し前傾した姿勢となる。 Next, the person being assisted M starts an initial operation routine of the standing assistance program of the control unit 6. Thereby, the height of the elevating member 31 is automatically adjusted according to the physique of the person being assisted. Next, the person being assisted M places his upper body close to the body receiving portion 52 and puts both arms forward from above the side receiving portion 53. Furthermore, the person being assisted M holds the handle 43 with both hands. Thereby, it will be in the sitting position of the assistance person M shown by FIG. In the sitting position, the upper body of the person being assisted M is in a slightly forward tilted posture.
　続いて、被介助者Ｍは、起立補助プログラムの起立補助ルーチンを始動させる。これにより、昇降部材３１の上下動と、揺動アーム部材４１の前方への揺動とが協調して行われる。起立補助プログラムが終了した時点で、昇降部材３１は上昇し、揺動アーム部材４１は前方へ揺動して、図３に示された被介助者Ｍの立位姿勢となる。立位姿勢において、被介助者Ｍの上半身は、大きく前傾した姿勢となる。 Subsequently, the person being assisted M starts the standing up assistance routine of the standing up assistance program. As a result, the vertical movement of the elevating member 31 and the forward swing of the swing arm member 41 are performed in a coordinated manner. When the standing assistance program is completed, the elevating member 31 is raised, and the swing arm member 41 is swung forward to be in the standing position of the person being assisted shown in FIG. In the standing posture, the upper body of the person being assisted M is in a largely forward leaning posture.
　被介助者Ｍの着座動作については、概ね起立動作の逆の動作となるので、説明は省略する。なお、上述した被介助者Ｍの一連の起立動作の一部は、介助者が介助してもよく、あるいは介助者が代行してもよい。 The seating movement of the person being assisted M is almost the reverse of the standing movement, so the explanation is omitted. Note that a part of a series of standing motions of the person being assisted M described above may be assisted by the assistant, or may be performed by the assistant.
　上記した被介助者Ｍの起立動作において、揺動アーム部材４１は後方から前方に揺動する。逆に、被介助者Ｍの着座動作において、揺動アーム部材４１は前方から後方に揺動する。ここで、揺動アーム部材４１の位置に関係なく、前側隙間３６１、後側隙間３６２、および側部隙間は、シート部材７によって常に塞がれている。したがって、被介助者Ｍの身体や衣服などが開口部３６に挟まれることは無い。 In the standing operation of the person being assisted M described above, the swing arm member 41 swings from the rear to the front. Conversely, in the sitting operation of the person being assisted M, the swing arm member 41 swings from the front to the rear. Here, regardless of the position of the swing arm member 41, the front gap 361, the rear gap 362, and the side gap are always closed by the sheet member 7. Therefore, the body, clothes, etc. of the person being assisted M are not sandwiched between the openings 36.
　一方、従来技術の介助装置１Ｘでは、挟み込みのおそれが解消されていない。図７は、従来技術の介助装置１Ｘにおいて、揺動アーム部材４１の後方揺動時に発生する挟み込みのおそれを説明する部分斜視図である。また、図８は、従来技術の介助装置１Ｘにおいて、揺動アーム部材４１の前方揺動時に発生する挟み込みのおそれを説明する部分斜視図である。従来技術の介助装置１Ｘは、ガイド部材３７やシート部材７を備えず、後側隙間３６２の最小寸法Ｇｍや、前側隙間３６１の最小寸法も確保されていない。 On the other hand, in the conventional assistance device 1X, the possibility of pinching has not been resolved. FIG. 7 is a partial perspective view for explaining the possibility of pinching that occurs when the swing arm member 41 swings backward in the conventional assistance device 1X. FIG. 8 is a partial perspective view for explaining the possibility of pinching that occurs when the swing arm member 41 swings forward in the conventional assisting device 1X. The assisting device 1X of the prior art does not include the guide member 37 and the sheet member 7, and the minimum dimension Gm of the rear gap 362 and the minimum dimension of the front gap 361 are not ensured.
　このため、図７に示されるように、揺動アーム部材４１が後方に揺動するにつれて後側隙間３６２が徐々に減少するとき、仮に被介助者Ｍの身体や衣服などが後側隙間３６２に進入していると、挟まれてしまう。同様に、図８に示されるように、揺動アーム部材４１が前方に揺動するにつれて前側隙間３６１が徐々に減少するとき、仮に被介助者Ｍの身体や衣服などが前側隙間３６１に進入していると、挟まれてしまう。 For this reason, as shown in FIG. 7, when the rear gap 362 gradually decreases as the swing arm member 41 swings backward, the body, clothes, etc. of the person being assisted M are temporarily placed in the rear gap 362. If you are entering, you will be pinched. Similarly, as shown in FIG. 8, when the front gap 361 gradually decreases as the swing arm member 41 swings forward, the body, clothes, etc. of the person being assisted temporarily enter the front gap 361. If it is, it will be pinched.
　これに対し、本実施形態では、シート部材７は、被介助者Ｍの身体や衣服などが後側隙間３６２および前側隙間３６１に進入することを防止するので、挟み込みのおそれは無い。さらに、後側隙間３６２の最小寸法Ｇｍおよび前側隙間３６１の最小寸法が確保されている。これにより、昇降カバー３３の小口と揺動アーム部材４１との間の挟み込みも、無くなる。 On the other hand, in the present embodiment, the seat member 7 prevents the body or clothes of the person being assisted M from entering the rear gap 362 and the front gap 361, so there is no possibility of being caught. Further, the minimum dimension Gm of the rear gap 362 and the minimum dimension of the front gap 361 are secured. Thereby, the pinching between the small opening of the lifting cover 33 and the swing arm member 41 is also eliminated.
　（４．実施形態の介助装置１の態様および効果）
　実施形態の介助装置１は、基台２と、基台２に上下動可能に支持された昇降部材３１と、一端４１１が昇降部材３１に揺動可能に支持された揺動アーム部材４１と、揺動アーム部材４１の他端４１２に支持されて被介助者Ｍの上半身を保持する保持部材５と、昇降部材３１および揺動アーム部材４１の一端４１１を覆い、かつ揺動アーム部材４１が通り抜ける開口部３６を有して、昇降部材３１と共に昇降する昇降カバー３３と、開口部３６の周縁と揺動アーム部材４１との間の隙間を塞ぐ閉塞部材（シート部材７）と、を備えた。 (4. Aspects and effects of the assistance device 1 of the embodiment)
The assisting device 1 according to the embodiment includes a base 2, a lifting member 31 supported on the base 2 so as to be movable up and down, a swinging arm member 41 having one end 411 supported swingably on the lifting member 31, The holding member 5 supported by the other end 412 of the swing arm member 41 and holding the upper body of the person being assisted, the lifting member 31 and the one end 411 of the swing arm member 41 are covered, and the swing arm member 41 passes through. An elevating cover 33 having an opening 36 and elevating together with the elevating member 31, and a closing member (sheet member 7) for closing a gap between the periphery of the opening 36 and the swing arm member 41 are provided.
　実施形態の介助装置１において、揺動アーム部材４１が揺動できるように、昇降カバー３３に開口部３６が設けられている。この開口部３６は、従来技術において被介助者Ｍの身体や衣服などを挟むおそれを有していたが、本実施形態においては、閉塞部材（シート部材７）によって塞がれる。したがって、被介助者Ｍの身体や衣服などが開口部３６に挟まれることは無く、安全である。 In the assistance device 1 of the embodiment, an opening 36 is provided in the elevating cover 33 so that the swing arm member 41 can swing. The opening 36 has a risk of pinching the body or clothes of the person being assisted in the prior art, but is closed by the closing member (sheet member 7) in the present embodiment. Therefore, the body, clothes, etc. of the person being assisted M are not caught in the opening 36, and it is safe.
　さらに、開口部３６は、昇降カバー３３の曲面部３３３に形成されており、閉塞部材は、揺動アーム部材４１の外周に組み付けられて開口部３６の全体に延伸する弾性変形可能なシート部材７であり、昇降部材３１または昇降カバー３３は、揺動アーム部材４１とともに揺動するシート部材７を開口部３６の周縁に沿わせるガイド部材３７を有する。これによれば、簡易な構成を用いて開口部３６を塞ぐことができ、コストの増加が抑制される。 Further, the opening 36 is formed in the curved surface portion 333 of the elevating cover 33, and the closing member is assembled to the outer periphery of the swing arm member 41 and stretched over the entire opening 36 to be elastically deformable. The elevating member 31 or the elevating cover 33 includes a guide member 37 that causes the sheet member 7 that swings together with the swing arm member 41 to run along the periphery of the opening 36. According to this, the opening part 36 can be closed using a simple configuration, and an increase in cost is suppressed.
　さらに、シート部材７は、揺動アーム部材４１に沿って移動可能に保持され、揺動アーム部材４１の揺動に伴い揺動アーム部材４１に沿って移動する。これによれば、開口部３６の形状に合わせてシート部材７が自在に移動できるので、本発明を実施可能な開口部３６の形状の範囲が広い。 Furthermore, the sheet member 7 is held so as to be movable along the swing arm member 41, and moves along the swing arm member 41 as the swing arm member 41 swings. According to this, since the sheet member 7 can freely move in accordance with the shape of the opening 36, the range of the shape of the opening 36 in which the present invention can be implemented is wide.
　さらに、揺動アーム部材４１は、保持部材５に保持された被介助者Ｍの前後方向に揺動し、前方に揺動した揺動アーム部材４１と開口部３６の前縁との間、および後方に揺動した揺動アーム部材４１と開口部３６の後縁との間に、昇降カバー３３を形成する板材の厚さの３倍以上の隙間が確保されている。換言すると、後側隙間３６２の最小寸法Ｇｍ、および前側隙間３６１の最小寸法は、板材の厚さの３倍以上に設定されている。これによれば、昇降カバー３３の開口部３６の小口と揺動アーム部材４１との間に、被介助者Ｍの身体や衣服などが挟まれることも無くなる。 Further, the swing arm member 41 swings in the front-rear direction of the person being assisted M held by the holding member 5, between the swing arm member 41 swinging forward and the front edge of the opening 36, and Between the swing arm member 41 swinging rearward and the rear edge of the opening 36, a gap of at least three times the thickness of the plate material forming the lifting cover 33 is secured. In other words, the minimum dimension Gm of the rear gap 362 and the minimum dimension of the front gap 361 are set to three times or more the thickness of the plate material. Accordingly, the body or clothes of the person being assisted M is not sandwiched between the small opening of the opening 36 of the lifting cover 33 and the swing arm member 41.
　（５．実施形態の変形および応用）
　なお、ガイド部材３７を開口部３６の外面側に配置して、上面３３１の外側にシート部材７の移動スペースを区画することもできる。また、揺動アーム部材４１に対して保持部材５が自由傾動しない構成であっても、同様の効果が生じる。さらに、基台２やハンドル４３の形状は適宜変更できる。本発明は、その他にも様々な変形や応用が可能である。 (5. Modification and application of the embodiment)
Note that the guide member 37 may be arranged on the outer surface side of the opening 36 to partition the movement space of the sheet member 7 outside the upper surface 331. Even if the holding member 5 does not tilt freely with respect to the swing arm member 41, the same effect is produced. Furthermore, the shapes of the base 2 and the handle 43 can be changed as appropriate. Various other modifications and applications of the present invention are possible.
　　１：介助装置　　２：基台　　３：昇降部
　　３１：昇降部材　　３２：昇降駆動部　　３３：昇降カバー
　　３３３：曲面部　　３６：開口部　　３６１：前側隙間
　　３６２：後側隙間　　３７：ガイド部材
　　４：揺動部　　４１：揺動アーム部材　　４１１：一端
　　４２：揺動駆動部　　４３：ハンドル
　　５：保持部材　　７：シート部材（閉塞部材）
　　１Ｘ：従来技術の介助装置 1: Assistance device 2: Base 3: Lifting part 31: Lifting member 32: Lifting drive part 33: Lifting cover 333: Curved part 36: Opening part 361: Front gap 362: Rear gap 37: Guide member 4: Swing Portion 41: Swing arm member 411: One end 42: Swing drive portion 43: Handle 5: Holding member 7: Seat member (blocking member)
1X: Conventional assistance device

Claims (4)

  1. 　基台と、
    　前記基台に上下動可能に支持された昇降部材と、
    　一端が前記昇降部材に揺動可能に支持された揺動アーム部材と、
    　前記揺動アーム部材の他端に支持されて被介助者の上半身を保持する保持部材と、
    　前記昇降部材および前記揺動アーム部材の前記一端を覆い、かつ前記揺動アーム部材が通り抜ける開口部を有して、前記昇降部材と共に昇降する昇降カバーと、
    　前記開口部の周縁と前記揺動アーム部材との間の隙間を塞ぐ閉塞部材と、
    　を備えた介助装置。     The base,
    An elevating member supported by the base so as to be movable up and down;
    A swing arm member having one end swingably supported by the elevating member;
    A holding member that is supported by the other end of the swing arm member and holds the upper body of the person being assisted;
    An elevating cover that covers the one end of the elevating member and the oscillating arm member and has an opening through which the oscillating arm member passes, and elevates and lowers together with the elevating member;
    A closing member that closes a gap between the periphery of the opening and the swing arm member;
    Assistance device equipped with.
  2. 　前記開口部は、前記昇降カバーの曲面部に形成されており、
    　前記閉塞部材は、前記揺動アーム部材の外周に組み付けられて前記開口部の全体に延伸する弾性変形可能なシート部材であり、
    　前記昇降部材または前記昇降カバーは、前記揺動アーム部材とともに揺動する前記シート部材を前記開口部の周縁に沿わせるガイド部材を有する、請求項１に記載の介助装置。     The opening is formed in the curved surface of the lifting cover,
    The closing member is an elastically deformable sheet member that is assembled to the outer periphery of the swing arm member and extends over the entire opening,
    The assisting device according to claim 1, wherein the elevating member or the elevating cover includes a guide member that causes the seat member that swings together with the swing arm member to run along a peripheral edge of the opening.
  3. 　前記シート部材は、前記揺動アーム部材に沿って移動可能に保持され、前記揺動アーム部材の揺動に伴い前記揺動アーム部材に沿って移動する、請求項２に記載の介助装置。 The assisting device according to claim 2, wherein the seat member is movably held along the swing arm member, and moves along the swing arm member as the swing arm member swings.
  4. 　前記揺動アーム部材は、前記保持部材に保持された前記被介助者の前後方向に揺動し、
    　前方に揺動した前記揺動アーム部材と前記開口部の前縁との間、および後方に揺動した前記揺動アーム部材と前記開口部の後縁との間に、前記昇降カバーを形成する板材の厚さの３倍以上の前記隙間が確保されている、請求項１～３のいずれか一項に記載の介助装置。     The swing arm member swings in the front-rear direction of the person being held held by the holding member,
    The elevating cover is formed between the swing arm member swinging forward and the front edge of the opening, and between the swing arm member swinging backward and the rear edge of the opening. The assistance device according to any one of claims 1 to 3, wherein the gap is secured at least three times the thickness of the plate material.
PCT/JP2016/064650 2015-10-06 2016-05-17 Assisting device WO2017199349A1 (en)

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PCT/JP2016/064650 WO2017199349A1 (en) 2016-05-17 2016-05-17 Assisting device
CN201680085482.2A CN109069334A (en) 2016-05-17 2016-05-17 Jie helps device
JP2018517980A JP6767480B2 (en) 2016-05-17 2016-05-17 Assistance device
AU2016336284A AU2016336284B2 (en) 2015-10-06 2016-06-30 Assistance device
SG11201802365WA SG11201802365WA (en) 2015-10-06 2016-06-30 Assisting apparatus
EP16853306.5A EP3360526B1 (en) 2015-10-06 2016-06-30 Assistance device
PCT/JP2016/069400 WO2017061151A1 (en) 2015-10-06 2016-06-30 Assistance device
JP2017544389A JP7007912B2 (en) 2015-10-06 2016-06-30 Caregiving device

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