WO2018167856A1 - 介助装置 - Google Patents

介助装置 Download PDF

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Publication number
WO2018167856A1
WO2018167856A1 PCT/JP2017/010272 JP2017010272W WO2018167856A1 WO 2018167856 A1 WO2018167856 A1 WO 2018167856A1 JP 2017010272 W JP2017010272 W JP 2017010272W WO 2018167856 A1 WO2018167856 A1 WO 2018167856A1
Authority
WO
WIPO (PCT)
Prior art keywords
arm
link member
moving
respect
base
Prior art date
Application number
PCT/JP2017/010272
Other languages
English (en)
French (fr)
Japanese (ja)
Inventor
丈二 五十棲
英明 野村
伸幸 中根
邦靖 中根
Original Assignee
株式会社Ｆｕｊｉ
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 株式会社Ｆｕｊｉ filed Critical 株式会社Ｆｕｊｉ
Priority to JP2019505572A priority Critical patent/JP6957600B2/ja
Priority to PCT/JP2017/010272 priority patent/WO2018167856A1/ja
Priority to PCT/JP2017/043839 priority patent/WO2018168112A1/ja
Priority to SG11201908144Q priority patent/SG11201908144QA/en
Priority to CN201780087965.0A priority patent/CN110381907B/zh
Priority to EP17900406.4A priority patent/EP3597165B1/en
Priority to JP2019505709A priority patent/JP6714766B2/ja
Priority to CN202210070566.6A priority patent/CN114557834B/zh
Priority to AU2017404355A priority patent/AU2017404355B2/en
Publication of WO2018167856A1 publication Critical patent/WO2018167856A1/ja
Priority to JP2020098787A priority patent/JP6985459B2/ja
Priority to JP2021190686A priority patent/JP7176083B2/ja

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Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G7/00—Beds specially adapted for nursing; Devices for lifting patients or disabled persons
    • A61G7/10—Devices for lifting patients or disabled persons, e.g. special adaptations of hoists thereto
    • A61G7/1025—Lateral movement of patients, e.g. horizontal transfer
    • A61G7/1034—Rollers, rails or other means
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
    • A61G5/10—Parts, details or accessories
    • A61G5/12—Rests specially adapted therefor, e.g. for the head or the feet
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
    • A61G5/10—Parts, details or accessories
    • A61G5/14—Standing-up or sitting-down aids
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G7/00—Beds specially adapted for nursing; Devices for lifting patients or disabled persons
    • A61G7/10—Devices for lifting patients or disabled persons, e.g. special adaptations of hoists thereto
    • A61G7/104—Devices carried or supported by
    • A61G7/1046—Mobile bases, e.g. having wheels
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
    • A61G5/10—Parts, details or accessories
    • A61G5/12—Rests specially adapted therefor, e.g. for the head or the feet
    • A61G5/127—Rests specially adapted therefor, e.g. for the head or the feet for lower legs

Definitions

  • This specification relates to assistance devices.
  • assistance devices for assisting the transfer of the person being assisted.
  • One type of assistance device supports the upper body of the person being assisted and assists in the operation of raising the buttocks of the person being assisted in a sitting position, for example, from the seating surface.
  • Patent Document 1 describes an assistance device that can swing a support portion that supports the upper body of a person being assisted forward by a single linear actuator.
  • Patent Document 2 an assistance provided with a carriage part, a frame provided on the carriage part so as to be swingable around the first axis, and a support part provided on the frame so as to be swingable around the second axis.
  • An apparatus is described.
  • the first linear motion actuator swings the frame with respect to the carriage portion
  • the second linear motion actuator swings the support portion with respect to the frame.
  • Patent Document 3 describes an assistance device that includes a carriage part, a frame that is swingable with respect to the carriage part, and a support part that is slidably provided on the frame.
  • the first linear actuator causes the frame to swing with respect to the carriage
  • the second linear actuator causes the support to slide with respect to the frame.
  • Patent Document 4 discloses a cart unit, a lower leg frame swingably provided on the cart unit, an upper body frame swingably provided on the lower leg frame, and a support provided slidably on the upper body frame.
  • An assistance device comprising a unit is described.
  • the first linear motion actuator swings the crus frame with respect to the carriage part
  • the second linear motion actuator swings and slides the support part with respect to the crus frame.
  • the drive of the second linear actuator causes the support portion to slide relative to the lower leg frame at the same time as it swings.
  • JP 2016-165313 A Japanese Patent Laid-Open No. 2017-23298 JP 2017-23299 A Japanese Patent Laid-Open No. 2017-23300
  • the support part that supports a part of the person being assisted when assisting the transfer operation of the person being assisted, only performs one type of swinging. The caregiver feels uncomfortable. Therefore, the support portion is required to perform a plurality of axis operations.
  • the second linear actuator swings and slides the support portion with respect to the lower leg frame. That is, the support portion can perform two types of axial movements by one second linear actuator. However, the support portion slides while swinging with respect to the lower leg frame by driving the second linear actuator. That is, the swing and the slide only operate simultaneously.
  • This specification is intended to provide an assistance device that enables a two-stage operation by a single actuator.
  • the present specification is an assistance device for assisting the transfer of a person being assisted, and supports a base, an arm provided on the base so as to be swingable in the front-rear direction, and a part of the body of the person being assisted
  • a linear motion actuator including a support portion provided on the arm so as to be swingable in the front-rear direction, a moving portion provided on the base and moving between a first end and a second end; When the part moves from the first end to a predetermined intermediate position, the movement of the moving part is transmitted to the forward swing of the support part with respect to the arm, and the moving part moves from the predetermined intermediate position.
  • An assisting device comprising: a link mechanism that transmits the movement of the moving unit to the forward swing of the arm with respect to the base when moving to the second end.
  • the movement of the moving part is transmitted to the swinging of the support part relative to the arm. That is, when the support portion swings forward with respect to the arm, the support portion is in a state of being interlocked with the moving portion without being interlocked with the arm. Further, when the moving unit moves from the predetermined intermediate position to the second end, the movement of the moving unit is transmitted to the swing of the arm forward relative to the base. That is, when the arm swings forward with respect to the base, the support portion is in a state of interlocking with the arm and the moving portion. In the former state and the latter state, the swing center when the person being assisted is tilted forward is different. Thereby, the person being assisted can lift the body of the person being assisted while obtaining a sense of stability and security.
  • one actuator can perform the first stage operation for swinging the support portion with respect to the arm and the second stage operation for swinging the arm with respect to the base. That is, the above-described two-stage operation of the support portion can be performed by a single actuator. Thereby, an assistance apparatus becomes low cost.
  • the assistance device 1 assists the transfer of the person M to be assisted.
  • the assistance device 1 is used for assistance in transfer between two different places such as transfer between a bed and a wheelchair and transfer between a wheelchair and a toilet seat.
  • the assistance apparatus 1 is applied also when two places to transfer are located in the distance, and can move to the target place in the state where the person M was supported.
  • the assistance device 1 supports a part of the body of the person being assisted, for example, the upper body, and assists the person who is moving the person M from the sitting posture to the posture at the time of transfer, or from the posture at the time of transfer to the sitting posture.
  • the posture at the time of transfer is a posture in a state where the buttocks floats from the seating surface, and includes a standing posture and a middle waist posture. That is, the transfer posture includes a state in which the upper body stands up and a state of leaning forward.
  • the assistance device 1 includes a base 10.
  • the base 10 is a member located at the lowest part in the assistance device 1.
  • the base 10 includes a frame 11, a foot mounting table 12, and a plurality of wheels 13 and 14.
  • the frame 11 includes a substantially horizontal rear part 11a near the floor surface F and a front part 11b extending upward and forward from the front end of the rear part 11a.
  • the footrest 12 is fixed to the upper surface of the rear portion 11a of the frame 11 and is provided almost horizontally. On the upper surface of the footrest 12, a mark 12 a for guiding the position where the person being assisted puts his / her foot is written.
  • the lower side of the frame 11 is provided with two wheels 13 and 14 on the left and right.
  • Each wheel 13 and 14 has a steering function which changes a moving direction.
  • the front wheel 13 is provided in the front part 11 b of the frame 11, and the rear wheel 14 is provided in the rear part 11 a of the frame 11. Further, the front wheel 13 has a lock function for restricting movement.
  • the assistance device 1 is capable of lateral movement and super turning as well as rectilinear movement and turning in the front-rear direction by the turning function of the four wheels 13 and 14.
  • the assistance device 1 further includes an arm 20 provided on the base 10 and capable of swinging in the front-rear direction with respect to the base 10.
  • the arm 20 is formed in a curved shape or a bent shape so as to protrude forward.
  • the lower end of the arm 20 is supported by the front part 11b of the frame 11 of the base 10 so as to be swingable about the first base axis A.
  • the upper end of the arm 20 swings in the front-rear direction with respect to the base 10 in the upper region of the base 10.
  • the assistance device 1 further includes a stopper structure 30 for regulating the swing angle of the arm 20 with respect to the base 10.
  • the stopper structure 30 includes a first stopper 31 and a second stopper 32 that are fixed to the front portion 11 b of the frame 11 of the base 10, and a contact member 33 that is fixed to the arm 20.
  • the contact member 33 swings around the first base axis A with respect to the front portion 11 b of the frame 11 of the base 10 integrally with the arm 20.
  • the contact member 33 is fixed to the lower end of the arm 20, swings backward as the arm 20 swings forward, and swings forward as the arm 20 swings backward.
  • the first stopper 31 defines a limit position where the contact member 33 can swing forward. That is, the first stopper 31 defines a swing limit position to the rear of the arm 20.
  • the second stopper 32 defines a limit position where the contact member 33 can swing backward. That is, the second stopper 32 defines a swing limit position of the arm 20 forward.
  • the upper end of the arm 20 is located behind the lower end of the arm 20.
  • the second stopper 32 and the contact member 33 are in contact with each other, the upper end of the arm 20 is positioned almost directly above the lower end of the arm 20. That is, the upper end of the arm 20 performs an operation of rising while swinging forward and an operation of lowering while swinging backward.
  • the assistance device 1 further includes a crus pad 40 fixed to the base 10.
  • the lower thigh pad 40 includes a pair of support members 41 and 41 and a cushion material 42.
  • the lower ends of the pair of support members 41, 41 are fixed to the front portion 11 b of the frame 11 of the base 10.
  • the upper ends of the support members 41 and 41 are located behind the arm 20.
  • the cushion material 42 is fixed to the upper ends of the support members 41 and 41. That is, the cushion material 42 is located above the footrest 12 and is provided slightly forward of the mark 12a.
  • the cushion material 42 is a part that contacts the lower leg of the person being assisted M.
  • the assistance device 1 further includes a support portion 50 that supports a part of the body of the person being assisted M, particularly a part of the upper body.
  • the support portion 50 is provided near the upper end of the arm 20 and is supported so as to be swingable in the front-rear direction with respect to the arm 20.
  • the support portion 50 can swing around the arm axis E located near the upper end of the arm 20. That is, the support unit 50 swings about the first base axis A with respect to the base 10 in conjunction with the arm 20 and swings about the arm axis E with respect to the arm 20 independently of the arm 20. It is possible to move.
  • the support unit 50 includes a support main body 51, a body support unit 52, and a pair of side support units 53 and 53.
  • the support body 51 is provided on the arm 20 and is supported so as to be swingable about the arm axis E with respect to the arm 20.
  • the support body 51 includes a handle 51a and a locking part 51b.
  • the handle 51a is formed in a substantially rectangular frame shape.
  • the handle 51a is used as a part to be held by the person being assisted M, and is also used as a part to be held by the assistant to move the assistance device 1.
  • the locking portion 51b is positioned near the center of the rectangular frame of the handle 51a and is positioned forward of the arm axis E.
  • the trunk support 52 is supported by the support body 51 and supports the trunk of the person being assisted.
  • the body support portion 52 is located in the vicinity of the arm axis E and is located rearward with respect to the arm axis E. 1 and 2, the arm axis E is located near the center of the body support portion 52 in the height direction.
  • the support surface of the trunk support portion 52 is formed in a surface shape close to the front shape of the trunk of the person being assisted M.
  • the support surface of the trunk support portion 52 is made of a material that can be flexibly deformed.
  • the support surface of the torso support portion 52 supports the torso by making surface contact with the front surface of the torso among the upper body of the person being assisted.
  • drum support part 52 supports the range from the chest to the abdomen in the care receiver M from below.
  • the pair of side support parts 53 and 53 are supported by the support body 51 and support the side of the person being assisted. Specifically, the pair of side support parts 53, 53 are provided on the left and right sides of the body support part 52.
  • the side support portion 53 is formed in an L shape by a rod-shaped member. Specifically, the side support portion 53 is a portion extending upward, and includes a shoulder receiving portion 53a that supports the front surface of the shoulder of the person being assisted. Further, the side support portion 53 is a portion extending rearward from the lower end of the shoulder receiving portion 53a, and includes a side insertion portion 53b that is inserted beside the person being assisted.
  • the side insertion portion 53b is formed in a straight line over substantially the entire length.
  • the side insertion part 53b is formed longer than the shoulder receiving part 53a.
  • the pair of side support parts 53 is supported by the support body 51 so as to be swingable around the vicinity of the shoulder support part 53a. By swinging the side support portions 53, the rear ends of the side insertion portions 53b of the pair of side support portions 53 approach or separate from each other. Further, the surface of the side support portion 53 is covered with a material that can be flexibly deformed.
  • the assistance device 1 further includes a linear motion actuator 60 provided on the base 10.
  • the actuator 60 includes a main body portion 61 and a moving portion 62 that can move linearly relative to the main body portion 61 and moves between a first end and a second end.
  • the first end and the second end mean both ends of the moving portion 62 in the linear motion direction when the main body portion 61 is used as a reference.
  • the first end and the second end are defined by the tip position of the moving unit 62.
  • Actuator 60 can be configured to use a motor as a drive source and move moving unit 62 directly through a transmission mechanism.
  • the transmission mechanism is, for example, a gear mechanism, a screw mechanism, a rack and pinion mechanism, or the like.
  • the actuator 60 may have a cylinder structure using hydraulic pressure and air pressure as a driving source.
  • the main body 61 of the actuator 60 is supported by the frame 11 of the base 10 so as to be swingable about the second base axis B. That is, the main body 61 can swing in the front-rear direction with respect to the base 10.
  • the second base axis B in the frame 11 is located behind the first base line A that is the center of swinging of the arm 20. Therefore, the actuator 60 is located at a position that passes between the pair of support members 41, 41.
  • the moving part 62 of the actuator 60 moves linearly with respect to the main body part 61 and is formed of, for example, a shaft-like member.
  • the tip of the moving part 62 moves between the first end and the second end. That is, the tip of the moving part 62 as the shaft-like member moves between the first end as the contracted end and the second end as the extended end.
  • the assistance device 1 further includes a link mechanism 70 that transmits the movement of the moving unit 62 of the actuator 60 to the arm 20 and the support unit 50, as shown in FIGS.
  • the link mechanism 70 transmits the movement of the moving unit 62 to the forward swing of the support unit 50 relative to the arm 20 when the moving unit 62 moves from the first end to a predetermined intermediate position. Further, the link mechanism 70 transmits the movement of the moving unit 62 to the forward swing of the arm 20 relative to the base 10 when the moving unit 62 moves from a predetermined intermediate position to the second end. That is, the link mechanism 70 is a mechanism for realizing the two-stage operation of the support unit 50 by one actuator 60.
  • the link mechanism 70 includes a first link member 71 and a second link member 72.
  • the first link member 71 is a long member formed of metal or hard resin.
  • the first link member 71 is provided on the arm 20 and supported so as to be swingable about the first swing axis C with respect to the arm 20.
  • the first swing axis C is located at an intermediate position of the arm 20.
  • the first swing axis C is located near the center of the first link member 71 in the longitudinal direction. That is, the first link member 71 swings with respect to the arm 20 at an intermediate position of the arm 20.
  • first link member 71 is provided at the tip of the moving part 62 and is supported by the moving part 62 so as to be swingable about the second swing axis D.
  • the second swing axis D is located in front of the first swing axis C.
  • the second swing axis D is located near the front end of the first link member 71 in the longitudinal direction. The first link member 71 swings with respect to the arm 20 in accordance with the movement of the moving unit 62.
  • the first link member 71 includes a roller 71 a above the second swing axis D connected to the moving unit 62.
  • the roller 71a is a member that can roll with respect to the regulating member 80 when it comes into contact with the regulating member 80 described later.
  • the second link member 72 connects the first link member 71 and the support portion 50. More specifically, the second link member 72 connects the vicinity of the rear end of the first link member 71 and the locking portion 51b of the support body 51 of the support portion 50.
  • the second link member 72 can be formed of a non-flexible member such as a metal or hard resin, but is formed of a flexible member in the present embodiment.
  • the flexible member is made of, for example, rubber, elastomer, soft resin, film-like hard resin, or the like.
  • the second link member 72 is in an interlocking state in which the first link member 71 and the support portion 50 are interlocked. To do. Therefore, when the first link member 71 swings about the first swing axis C with respect to the arm 20, the support portion 50 swings about the arm axis E with respect to the arm 20.
  • the second link member 72 does not interlock the first link member 71 and the support portion 50. Allow interlocking state. Therefore, the support portion 50 can freely swing around the arm axis E with respect to the arm 20. Free swinging means swinging that can be operated manually regardless of driving by the actuator 60.
  • the second link member 72 is a flexible member, the second link member 72 is bent and deformed between the first link member 71 and the locking portion 51b of the support portion 50 in a non-interlocking state. .
  • the second link member 72 is constituted by, for example, a belt having an end made of a flexible member. Both ends of the belt that is the second link member 72 are fixed to the first link member 71, and an intermediate position of the belt that is the second link member 72 is hung on the locking portion 51 b of the support portion 50. Further, both ends of the belt which is the second link member 72 may be fixed to the first link member 71 and the locking portion 51b of the support portion 50. Furthermore, when the second link member 72 is constituted by an endless belt, the second link member 72 may be wound around the first link member 71 and the locking portion 51b of the support portion 50. .
  • the second link member 72 is a non-flexible member, although not shown, a long hole or the like for allowing a non-linked state may be provided.
  • the second link member 72 is swingably supported on the rear end side of the first link member 71, and the elongated hole of the second link member 72 is engaged with the locking portion 51 b of the support portion 50.
  • the 2nd link member 72 is supported by the latching
  • the assistance device 1 further includes a restriction member 80 that is fixed to the arm 20 and restricts the moving unit 62 from freely moving with respect to the arm 20.
  • Free movement means movement in which the moving unit 62 is not interlocked with the arm 20. That is, in a state where the regulating member 80 acts, the regulating member 80 functions as a member that the moving unit 62 moves in conjunction with the arm 20.
  • the restricting member 80 is provided at an intermediate position of the arm 20.
  • the regulating member 80 is formed in a plate shape, for example, and is provided at a position corresponding to the vicinity of the tip of the moving unit 62.
  • the regulating member 80 comes into contact with the roller 71a when the moving unit 62 moves between a predetermined intermediate position and the second end. That is, the regulating member 80 is not regulated so as not to regulate the free movement of the moving unit 62 with respect to the arm 20 without contacting the roller 71a when the moving unit 62 moves from the first end to a predetermined intermediate position. State. On the other hand, when the moving part 62 moves from the predetermined intermediate position to the second end, the restricting member 80 is maintained in contact with the roller 71a and restricts the moving part 62 from freely moving with respect to the arm 20. Regulated.
  • the assistance device 1 further includes a control unit 90.
  • the control unit 90 is a member that moves less, such as the base 10, the lower thigh pad portion 40, and the arm 20, and is fixed to a place that does not interfere with the person being assisted. In the present embodiment, the control unit 90 is fixed to the front surface of the arm 20 near the lower end of the arm 20.
  • the control unit 90 includes a computer device that operates with software, a battery power source, and the like.
  • the control unit 90 controls the actuator 60 in accordance with an instruction input to the input device when an assistant operates an input device (not shown).
  • the types of instructions that are input are an ascending mode for raising the buttocks of the person being assisted M and a descending mode for lowering the buttocks of the person being assisted M.
  • the assistant operates an input device (not shown) to position the moving unit 62 of the actuator 60 at the first end, which is the contracted end.
  • the state where the moving part 62 is positioned at the first end is a state where the contact member 33 contacts the first stopper 31. That is, the arm 20 is restricted from swinging backward with respect to the base 10.
  • the assistant may place the moving unit 62 at a position slightly elevated from the first end, not the first end. At this time, the normal line of the support surface of the trunk support part 52 is slightly above the horizontal rear. Further, the side insertion portion 53b is substantially horizontal or slightly rearwardly lowered.
  • the caregiver grips the handle 51a of the assistance device 1 and causes the assistant M in the sitting position to approach the assistance device 1.
  • the caregiver causes the lower half of the person being assisted M to enter the area above the base 10 and below the support portion 50.
  • the assistant places the person M's feet on the mark 12 a of the footrest 12. A part of the lower leg of the person being assisted M comes into contact with the cushion material 42 of the lower leg pad 40, so that the entire lower leg of the person being assisted M becomes stable.
  • the second link member 72 allows a non-linked state in which the first link member 71 and the support portion 50 are not linked. Further, the second link member 72 can swing around the arm axis E with respect to the arm 20 as well. That is, the support part 50 can be in a state that is not linked to the arm 20, the moving part 62, and the first link member 71.
  • the support unit 50 can freely swing forward with respect to the arm 20 about the arm axis E. This operation is possible with the hand or foot of the person being assisted M. And the lower surface of the support part 50 raises because the support part 50 rock
  • the second link member 72 is formed of a flexible member, the second link member 72 bends and deforms between the first link member 71 and the support portion 50 when the support portion 50 freely swings. Therefore, when the support portion 50 freely swings, the second link member 72 does not protrude upward from the support portion 50 and does not protrude downward from the first link member 71. Therefore, the safety and design properties of the assistance device 1 are very good.
  • the caregiver brings the body of the person being assisted M into surface contact with the body support portion 52. Further, the assistant causes the side insertion part 53 b of the side support part 53 to be inserted beside the person being assisted M. Then, the assistant places the front surface of the shoulder of the person being assisted into contact with the shoulder receiving portion 53a and places the side of the person being assisted on the side insertion portion 53b.
  • the posture of the person being assisted at this time is the initial posture. In the initial posture, as shown in FIG. 2, the buttocks are in contact with the seating surface, and the trunk is inclined slightly forward.
  • the side insertion part 53b is substantially horizontal or slightly lowered rearward. Therefore, the person being assisted M easily inserts the side insertion portion 53b to the side.
  • the assistant operates the input device (not shown) in the ascending mode to raise the moving unit 62.
  • the roller 71a of the first link member 71 has not yet contacted the regulating member 80. Therefore, the regulating member 80 allows the moving part 62 to move freely with respect to the arm 20.
  • the support portion 51b which is the connection position with the support portion 50, downward.
  • the locking portion 51 b is located in front of the arm axis E. Accordingly, the support portion 50 swings forward with respect to the arm 20 about the arm axis E.
  • This operation is continued until the moving part 62 reaches a predetermined intermediate position, that is, until the roller 71a contacts the regulating member 80. That is, the support unit 50 swings forward about the arm axis E while the moving unit 62 maintains a relatively constant posture with respect to the base 10 from the first end to a predetermined intermediate position. To do.
  • the support unit 50 is not linked to the arm 20 and is linked to the moving unit 62 and the first link member 71. Then, the movement of the moving unit 62 is transmitted to the forward swing of the support unit 50 with respect to the arm 20.
  • the upper body of the person being assisted M is greatly tilted forward by the above operation.
  • the collar part maintains the state which contacted the seat surface.
  • the arm axis E is located in the vicinity of the body of the person being assisted. Therefore, the upper body is in a stretched state while the buttocks are in contact with the seating surface. That is, the posture of the person being assisted M is a posture suitable for raising the upper body of the person being assisted.
  • the moving part 62 is located at a predetermined intermediate position, the side insertion part 53b is lowered forward. Therefore, the side insertion portion 53b restricts the person being assisted M from moving backward. Therefore, the person being assisted M is in a stable state with a forward leaning posture.
  • the assistant moves the moving unit 62 by operating the input device (not shown) in the ascending mode.
  • the roller 71 a of the first link member 71 is in contact with the regulating member 80. Therefore, the restricting member 80 restricts the moving portion 62 from freely moving with respect to the arm 20.
  • the roller 71a pushes up the regulating member 80 as shown in FIG.
  • the regulating member 80 is fixed to the arm 20. Therefore, when the moving part 62 is raised, the arm 20 swings forward about the first base axis A while the contact between the roller 71a and the regulating member 80 is maintained, and the body part 61 of the actuator 60 is moved to the first position. It swings forward about the two base axes B.
  • the roller 71a is in contact with the regulating member 80. Accordingly, the first swing axis C and the roller 71 a in the first link member 71 are not moved with respect to the arm 20. That is, the first link member 71 maintains a certain posture with respect to the arm 20. And since the 2nd link member 72 is the interlocking state which makes the 1st link member 71 and the support part 50 interlock
  • the upper body of the person being assisted M is moved forward and upward, and is further inclined forward.
  • the buttocks of the person being assisted M are located at a position that is greatly elevated from the seating surface.
  • the leg portion of the person being assisted M is in an extended state as compared with the sitting posture.
  • first stage operation an operation in which the moving unit 62 moves from the first end to the predetermined intermediate position
  • second stage operation an operation in which the moving unit 62 moves from the predetermined intermediate position to the second end
  • first stage operation the swing center of the support portion 50 is the arm axis E
  • the swing center of the support portion 50 is the first base axis A.
  • the swing center of the support portion 50 is different between the first stage operation and the second stage operation.
  • the first base axis A that is the center of swing in the second stage operation is located farther from the body of the person being assisted M than the arm axis E that is the center of swing in the first stage operation. Specifically, the first base axis A is located far from the trunk F of the person being assisted in the sitting posture at a position close to the floor surface F. Therefore, as compared with the first-stage operation, the second-stage operation increases the amount of the upper half of the person being assisted and the amount of forward movement.
  • the person being assisted M can obtain a sense of stability and a sense of security by changing the swing center when the person assisted is tilted forward.
  • the upper body of the person being assisted M can be lifted.
  • the link mechanism 70 includes the first link member 71 and the second link member 72.
  • the link mechanism 70 may be configured by three or more members.
  • the first swing axis C on which the first link member 71 swings with respect to the arm 20 is located at the center of the first link member 71.
  • the first swing axis C may be located at the end of the first link member 71. In this case, it is possible to perform the same operation as described above by appropriately changing the connecting position between the first link member 71 and the moving part 62, the connecting position between the first link member 71 and the second link member 72, and the like. Become.
  • the actuator 60 has the contracted end as the first end and the extended end as the second end.
  • the link mechanism 70 can also use a rope and a pulley.
  • the second base axis B on which the main body 61 of the actuator 60 swings with respect to the base 10 is provided behind the first base axis A on which the arm 20 swings with respect to the base 10. The position in the direction may be reversed.
PCT/JP2017/010272 2017-03-14 2017-03-14 介助装置 WO2018167856A1 (ja)

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JP2019505572A JP6957600B2 (ja) 2017-03-14 2017-03-14 介助装置
PCT/JP2017/010272 WO2018167856A1 (ja) 2017-03-14 2017-03-14 介助装置
EP17900406.4A EP3597165B1 (en) 2017-03-14 2017-12-06 Assistive device
SG11201908144Q SG11201908144QA (en) 2017-03-14 2017-12-06 Assistive device
CN201780087965.0A CN110381907B (zh) 2017-03-14 2017-12-06 辅助装置
PCT/JP2017/043839 WO2018168112A1 (ja) 2017-03-14 2017-12-06 介助装置
JP2019505709A JP6714766B2 (ja) 2017-03-14 2017-12-06 介助装置
CN202210070566.6A CN114557834B (zh) 2017-03-14 2017-12-06 辅助装置及辅助方法
AU2017404355A AU2017404355B2 (en) 2017-03-14 2017-12-06 Assistive device
JP2020098787A JP6985459B2 (ja) 2017-03-14 2020-06-05 介助方法
JP2021190686A JP7176083B2 (ja) 2017-03-14 2021-11-25 介助装置

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JPWO2018167856A1 (ja) 2019-11-07
CN114557834A (zh) 2022-05-31
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AU2017404355A1 (en) 2019-09-26
JP2022020848A (ja) 2022-02-01
CN114557834B (zh) 2023-09-26
EP3597165A1 (en) 2020-01-22
JP6985459B2 (ja) 2021-12-22
WO2018168112A1 (ja) 2018-09-20
CN110381907B (zh) 2022-05-03
JPWO2018168112A1 (ja) 2019-11-14
JP6714766B2 (ja) 2020-06-24
CN110381907A (zh) 2019-10-25
EP3597165A4 (en) 2020-02-26
JP2020157082A (ja) 2020-10-01
AU2017404355B2 (en) 2020-01-23
JP6957600B2 (ja) 2021-11-02
EP3597165B1 (en) 2022-12-21

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