WO2018168112A1

WO2018168112A1 - Assistive device

Info

Publication number: WO2018168112A1
Application number: PCT/JP2017/043839
Authority: WO
Inventors: 英明野村; 剛裕野口; 聡志清水
Original assignee: 株式会社Ｆｕｊｉ
Priority date: 2017-03-14
Filing date: 2017-12-06
Publication date: 2018-09-20
Also published as: AU2017404355B2; JP7176083B2; JP6957600B2; EP3597165B1; JP6985459B2; JP2022020848A; JP6714766B2; JPWO2018167856A1; CN114557834A; JP2020157082A; CN110381907B; WO2018167856A1; EP3597165A1; CN110381907A; EP3597165A4; CN114557834B; SG11201908144QA; JPWO2018168112A1; AU2017404355A1

Abstract

Provided is an assistive device for assisting a transfer movement of an individual to be assisted, the assistive device including: a base; an arm provided on the base so as to be swingable in a front-to-back direction; a support part which supports a part of the body of the individual to be assisted and is provided on the arm so as to be swingable in the front-to-back direction; an actuator which has a main body provided on the base so as to be tiltable in the front-to-back direction and a movable part that extends and retracts relative to the main body; and a link mechanism which has a first link member that is swingably provided on the arm and connected to the movable body and a second link member that is fixedly installed on the support part and engages with the first link member, wherein the link mechanism transfers a first movement of the movable part extending out from a retracted position to a predetermined midway position into swinging of the support part to the front and transfers a second movement of the movable part extending beyond the midway position to an extended position into swinging of the arm to the front.

Description

Assistance device

This description relates to an assistance device that assists a person being transferred.

As the aging society progresses, the need for assistance devices is increasing. The assistance device generally moves a support portion that supports a part of the body of the person being assisted by driving from an actuator. The introduction of the assistance device reduces the physical burden on the caregiver and the person being assisted and also reduces the shortage of caregivers. As an example of the assistance device, there is a device that assists the transfer operation from the sitting posture of the person being assisted. Examples of technology relating to this type of assistance device are disclosed in

Patent Documents

1 and 2.

The human body transfer device of Patent Document 1 includes a traveling unit equipped with wheels, a support unit that is positioned above the traveling unit and supports the person being assisted, and a drive unit that drives the human body support unit in the height direction, Is provided. Further, the arcuate swinging motion of the support portion is performed by driving from the drive portion corresponding to the actuator. According to this, it is supposed that the person being assisted can be transferred easily and quickly while preventing the assistant from hurting his / her waist.

Further, the assistance robot of Patent Document 2 includes an elevating unit that moves linearly in the vertical direction with respect to the base, an arm that is swingably provided on the elevating unit, and a support unit that is provided at the tip of the arm. Prepare. The elevating unit and the arm are driven by separate actuators to perform a two-stage operation. According to this, it is supposed that a raising / lowering part and an arm can be operated cooperatively, and it is suppressed that a caregiver is given a discomfort.

JP 2016-165313 A International Publication No. 2017/060964

By the way, in Patent Document 1, since the support portion only swings in an arc shape, it cannot always be used comfortably for the care recipient. On the other hand, in Patent Document 2, since the elevating part and the arm are independently operated using two actuators, the transfer operation of the person being assisted becomes smooth and the use comfort is improved. However, using two actuators leads to an increase in cost.

In this specification, it is an issue to be solved to provide an assistance device in which a plurality of members are operated using a single actuator to improve the use comfort of the person being assisted.

The present specification is an assistance device that assists a transfer operation of a person being assisted, and includes 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 support portion provided on the arm so as to be swingable in the front-rear direction, a main body portion provided on the base so as to be tiltable in the front-rear direction, and an actuator having a movable portion extending and contracting from the main body portion; A first link member swingably provided on the arm and connected to the movable part, and a second link member fixed to the support part and engaged with the first link member, A first motion in which the movable portion extends from a shortened position to a predetermined midway position is transmitted to the forward swing of the support portion, and a second motion in which the movable portion extends from the midway position to a stretched position is forward of the arm. And a link mechanism that transmits the swing to the It discloses an assistant equipment.

According to the assistance device disclosed in this specification, it is possible to drive the swinging of the support portion forward and the swinging of the arm forward using a single actuator. Thereby, the transfer operation of the person being assisted becomes smooth, and the use comfort is improved. In addition, the cost is low compared with the prior art using two actuators.

It is the perspective view which looked at the assistance apparatus of embodiment from diagonally backward. It is side surface sectional drawing which shows an initial state in case an assistance apparatus assists a person to be transferred by transfer operation. It is side surface sectional drawing which shows the state in the middle in case an assistance apparatus assists a person to be transferred by transfer operation. It is side surface sectional drawing which shows the final state in case an assistance apparatus assists the transfer operation | movement of the care receiver M. It is the elements on larger scale explaining the structure and operation | movement of a link mechanism, and is equivalent to the initial state of an assistance apparatus. It is the elements on larger scale explaining the structure and operation | movement of a link mechanism, and is equivalent to the state in the middle of an assistance apparatus. It is the elements on larger scale explaining the structure of an arm control mechanism, and is equivalent to the initial state of an assistance apparatus. It is the elements on larger scale explaining the structure and operation | movement of an arm control mechanism, and is equivalent to the state in the middle of an assistance apparatus. It is the perspective view which looked at the upper part of the arm from diagonally upward. It is side surface sectional drawing explaining the unexpected rocking | fluctuation operation | movement of an arm, and has shown the state in the middle position of a movable part.

1. Configuration of Assisting Device 1 of Embodiment The assisting device 1 of the embodiment will be described with reference to FIGS. 1 to 10. Drawing 1 is a perspective view which looked at assistance device 1 of an embodiment from the slanting back. FIG. 2 is a side sectional view showing an initial state when the assistance device 1 assists the transfer operation of the person being assisted. FIG. 3 is a side cross-sectional view showing a state in the middle when the assistance device 1 assists the transfer operation of the person being assisted. FIG. 4 is a side cross-sectional view showing the final state when the assistance device 1 assists the transfer operation of the person being assisted M.

The assistance device 1 assists transfer between two different places such as transfer between the bed of the person being assisted M and the wheelchair and transfer between the wheelchair and the toilet seat. The assistance device 1 supports the body of the person being assisted M and assists the transfer operation from the sitting posture to the posture at the time of transfer and the sitting operation from the posture at the time of transfer to the sitting posture. Here, the transfer posture is a posture in which the buttocks floats from the seating surface, and includes a standing posture and a middle waist posture. That is, the posture at the time of transfer includes a state where the upper body stands up and a state of leaning forward. Moreover, the assistance apparatus 1 can transfer the care recipient M in the posture at the time of transfer when the two places to be transferred are separated.

The assistance device 1 includes a base 2, an arm 3, a support unit 4, an actuator 5, a link mechanism 6, an arm regulation mechanism 7, and a control unit (not shown). The base 2 is formed by a foot placing base 21, a rear wheel 23, a base rod 24, a lower thigh pad 25, a mounting plate 26, a front wheel 28, and the like. The footrest 21 is disposed substantially horizontally in the vicinity of the floor surface F. On the front side of the upper surface of the footrest 21, an actuator support 22 protrudes upward. The pair of left and right rear wheels 23 are provided on the left and right of the rear side of the footrest 21.

The pair of left and right base rods 24 are respectively provided forward from the left and right of the front surface of the footrest 21. After the base rod 24 bends from the front to the top, the base rod 24 extends slightly inclined backward. The crus support 25 is provided on the upper part of the two base rods 24 in a rearward direction. The lower thigh pad portion 25 is located above the front side of the footrest 21. The lower leg rest part 25 is formed of a cushion material, and the lower leg vicinity of the person being assisted M can be contacted.

The pair of left and right mounting plates 26 are fixed at positions slightly above the bent portion that is bent upward from the front of the base rod 24 and at the inner positions facing each other. The mounting plate 26 extends forward from the base rod 24. Arm support seats 27 are provided on the upper portions of the pair of left and right mounting plates 26, respectively. A pair of left and right front wheels 28 is provided at the lower front portion of the pair of left and right mounting plates 26. Due to the steering function of the front wheels 28 and the rear wheels 23, the assistance device 1 can perform not only a straight movement and a turning movement, but also a lateral movement and a super turning. Further, the front wheel 28 has a lock function for restricting movement.

The arm 3 is formed of a rod-shaped member 31, a front cover member 36, an upper cover member 38, various structural materials denoted by reference numerals, and the like. The rod-shaped member 31 is a substantially U-shaped rod-shaped member whose lower side is open. Lower ends 32 on both sides of the rod-shaped member 31 are supported by the arm support seat 27 of the mounting plate 26 so as to be swingable. Thereby, the arm 3 can swing in the front-rear direction with respect to the base 2.

In order to regulate the swing angle of the arm 3, a stopper mechanism having a reference numeral is provided in the vicinity of the arm support seat 27. The rod-shaped member 31 extends upward from the left and right lower ends 32, bends and extends obliquely upward and rearward in the middle, and is united at the upper part of the rear. The overall shape of the arm 3 includes an arm front portion 34 extending upward from the arm support seat 27 and an arm upper portion 35 extending obliquely upward and rearward from the upper portion of the arm front portion 34.

The front cover member 36 constitutes the arm front portion 34. The front cover member 36 is disposed on the front side of the rod-shaped member 31 with a space therebetween. The front cover member 36 is formed by bending both side surfaces in a rearward direction, and defines an internal space. A battery 37 is accommodated in the internal space of the front cover member 36. The battery 37 is a power source for the actuator 5 and the control unit.

The upper cover member 38 is formed continuously with the front cover member 36 and constitutes the arm upper portion 35. The upper cover member 38 is disposed close to the upper side of the rod-shaped member 31. The upper cover member 38 is formed by bending both side surfaces downward and defines an internal space. The arm regulating mechanism 7, the link mechanism 6, and the support portion mounting seat 33 are provided in order from the front lower side to the rear upper side of the internal space of the upper cover member 38. In FIG. 1, the upper cover member 38 is not shown.

The support part 4 is formed including a body support part 41 and a pair of left and right side support parts 45. The body support portion 41 is supported on the support portion mounting seat 33 of the arm upper portion 35 so as to be swingable. Thereby, the support part 4 can be rock | fluctuated in the front-back direction on the basis of the arm 3. FIG. The body support part 41 has a handle 42. The handle 42 is formed in a substantially rectangular frame shape. The handle 42 is a part to be held by the person being assisted M and a part to be held by the assistant in order to move the assistance device 1.

The trunk support section 41 is formed of a base plate 43 (see FIG. 5), a trunk contact member 44, and the like. The base plate 43 is formed in a substantially rectangular shape using a plate material having a high rigidity made of metal or resin. The base plate 43 is provided with the above-described handle 42, a portion attached to the support portion mounting seat 33, and a second link member 62 described later.

The body contact member 44 is formed larger than the base plate 43 using a flexible material, and is attached to the upper surface of the base plate 43. The body contact member 44 can have, for example, a two-layer structure including a surface layer and a base layer. Examples of the surface layer forming material include low-resilience urethane foam, and examples of the base layer forming material include low-flammability urethane foam. The torso support part 41 supports the vicinity of the abdomen from the chest of the torso, which is a part of the body of the person being assisted.

The pair of left and right side support portions 45 are attached to the chest support portions on the left and right sides of the body support portion 41. The side support part 45 is formed in an L shape that bends at an obtuse angle. The side support portion 45 is formed of a core member 46 (see FIG. 5), an outer peripheral member 47, and the like. The core member 46 is formed by, for example, a bending process of bending a metal or hard resin round bar or pipe into an L shape.

The outer peripheral member 47 is formed in a cylindrical shape covering the outer periphery of the core member 46 using a cushion material. A short straight line portion from the base end on the attachment side of the side support portion 45 to the bent position is a shoulder receiving portion, and a long straight portion from the bent position to the tip is a side entry portion. The shoulder support part supports the front surface of the shoulder of the person being assisted. The side entry portion enters the sides on both sides of the body of the person being assisted. The body support part 41 and the side support part 45 may include a removable cover made of cloth or leather.

The actuator 5 includes a main body 51, a movable part 52, a motor 53, and the like. The main body 51 is supported by the actuator support 22 of the base 2 so as to be tiltable. As a result, the actuator 5 tilts in the front-rear direction. The movable part 52 extends and contracts from the main body part 51. Specifically, the movable portion 52 extends from the shortened position to the extended position through a predetermined midway position, and contracts in the opposite direction. The first operation is performed while the movable portion 52 extends from the shortened position to the intermediate position, and the second operation is performed while the movable portion 52 extends from the intermediate position to the extended position.

The stroke length of the first action can be exemplified as 30 mm, and the stroke length of the second action can be exemplified as 60 mm. The tip of the movable part 52 is connected to a connecting pin 613 of the link mechanism 6 described later. The motor 53 is provided in the main body 51. The direction of the current flowing through the motor 53 is controlled by a control unit (not shown), and drives the expansion and contraction of the movable unit 52. Instead of the motor 53, another type of drive source such as a pressure drive source using hydraulic pressure or air pressure can be used.

The link mechanism 6 includes a first link member 61, a second link member 62, a restriction member 63, and the like. FIG. 5 is a partially enlarged view for explaining the configuration and operation of the link mechanism 6, and corresponds to the initial state of the assistance device 1. FIG. 6 is a partially enlarged view for explaining the configuration and operation of the link mechanism 6 and corresponds to a state in the middle of the assistance device 1.

The first link member 61 is an elongated member having a support point 611, a forearm portion 612, and a rear arm portion 616. The support point 611 is disposed near the center of the arm upper portion 35. The support point 611 is supported by the structural material of the arm 3 so as to be swingable. As a result, the first link member 61 swings around the support point 611.

The forearm 612 extends forward from the support point 611. A connecting pin 613 is provided at the lower front portion of the forearm 612. The connection pin 613 connects the forearm portion 612 and the tip of the movable portion 52. A restricting protrusion 614 is formed on the front upper portion of the forearm 612. The rear arm 616 extends backward from the support point 611. An engagement pin 617 is provided on the rear side of the rear arm 616 so as to extend in the left-right direction. The engagement pin 617 engages with the second link member 62 from the counterclockwise direction of FIG. 5 and pushes the second link member 62.

The second link member 62 is fixed to the base plate 43 of the support portion 4. Thereby, the support part 4 and the 2nd link member 62 rock | fluctuate integrally centering | focusing on the support part attachment seat 33. FIG. The restricting member 63 is fixed to the structural material near the front of the arm upper portion 35. The restriction protrusion 63 614 of the first link member 61 can come into contact with the restriction member 63.

In the initial state shown in FIG. 5, the movable part 52 of the actuator 5 is in the shortened position. Further, the first link member 61 is in a state of swinging clockwise, and the second link member is in a state of swinging counterclockwise. There is a gap between the restricting protrusion 614 of the first link member 61 and the restricting member 63. The movable part 52 that has started the first operation extends as indicated by the arrow A1. Then, the forearm portion 612 of the first link member 61 is pushed through the connection pin 613. As a result, the first link member 61 swings counterclockwise as indicated by an arrow A2.

By the counterclockwise swing of the first link member 61, the engagement pin 617 of the rear arm 616 drives the second link member 62 to swing. The second link member 62 swings clockwise as indicated by an arrow A3, and the support portion 4 also swings forward as indicated by an arrow A4. That is, the link mechanism 6 transmits the first movement in which the movable part 52 extends from the shortened position to a predetermined midway position to the forward swing of the support part 4. This operation is continued until the movable portion 52 extends to a predetermined halfway position, and reaches the state shown in FIG.

6, the restriction protrusion 614 of the first link member 61 just contacts the restriction member 63 in the middle state shown in FIG. Thereby, the further rocking | fluctuation of the 1st link member 61 is controlled. Thereafter, the movable portion 52 that has started the second operation extends as indicated by an arrow A5. Then, the forearm portion 612 of the first link member 61 directly transmits the second operation of the movable portion 52 to the arm 3. As a result, the arm 3 swings forward about the arm support seat 27 as indicated by an arrow A6. As the arm 3 swings, the actuator 5 tilts forward as indicated by an arrow A7. That is, the link mechanism 6 transmits the second operation in which the movable portion 52 extends from the midway position to the extended position to the forward swing of the arm 3.

The arm restricting mechanism 7 includes a restricting guide member 71 and an urging member 75. FIG. 7 is a partially enlarged view illustrating the configuration of the arm regulating mechanism 7 and corresponds to the initial state of the assistance device 1. FIG. 8 is a partially enlarged view for explaining the configuration and operation of the arm regulating mechanism 7, and corresponds to a state in the middle of the assistance device 1.

The regulation guide member 71 is a member having a support point 72 at one end on the front upper side and an urging point 73 on the other end on the lower rear side. The regulation guide member 71 further has a long hole 74 extending in an oblique direction between the support point 72 and the urging point 73. The support point 72 is disposed at a predetermined position 3A near the upper portion of the arm front portion 34, and is supported by the structural member so as to be swingable. The long hole 74 accommodates the connecting pin 613 in a movable manner, in other words, accommodates the tip of the movable portion 52 in a movable manner.

As the urging member 75, for example, a coil spring can be used. One end 751 on the rear upper side of the urging member 75 is locked to the upper position 3 B of the arm 3. The upper position 3B of the arm 3 is on the upper rear side behind the predetermined position 3A. The other end 752 on the lower front side of the urging member 75 is engaged with the urging point 73 of the regulation guide member 71. The urging member 75 urges the upper position 3 B of the arm 3 in a direction approaching the restriction guide member 71 as indicated by an arrow F 1. In other words, the urging member 75 urges the upper position 3 B of the arm 3 in a direction to approach the movable portion 52.

In the initial state shown in FIG. 7, the movable part 52 of the actuator 5 is in the shortened position. At this time, the connecting pin 613 is located at the rear lower end of the long hole 74. Here, when the movable portion 52 starts the first operation, the connecting pin 613 moves forward and upward in the elongated hole 74 in parallel with the swing of the first link member 61. Further, the regulation guide member 71 swings clockwise around the support point 72. In the configuration of the present embodiment, the regulation guide member 71 swings by 24 ° by the first operation of the movable portion 52. This operation is continued until the movable portion 52 extends to a predetermined midway position and the restricting protrusion 614 comes into contact with the restricting member 63 to reach the state shown in FIG.

In the middle state shown in FIG. 8, the connecting pin 613 is located at the front upper end of the long hole 74. Thereafter, when the movable portion 52 starts the second operation, the arm 3 swings, but the relative positional relationship between the arm 3 and the arm regulating mechanism 7 does not change. Through the initial state to the final state of the assistance device 1, the biasing member 75 biases the upper position 3 B of the arm 3 toward the movable portion 52.

The control unit (not shown) is composed of an operating unit and a control main unit. The operating device has an up button and a down button for operating the actuator 5 and is operated by an assistant. The control main body is configured using a computer device having a CPU and operating with software. The control main body controls the direction of the current flowing through the motor 53 of the actuator 5 according to the operation information acquired from the operating device.

2. Operation, Action, and Effect of Assistance Device 1 of Embodiment Next, the operation, action, and effect of the assistance device 1 of the embodiment will be described. Hereinafter, control and operation in the ascending mode for assisting the transfer operation of the person being assisted M will be described. In the ascending mode, the assistance device 1 operates from the initial state shown in FIG. 2 to the final state shown in FIG. 4 through the intermediate state shown in FIG. In addition, when assisting the sitting operation of the person being assisted M, the assistance device 1 operates in the reverse direction in the generally reverse order of the transfer operation.

First, the assistant returns the movable part 52 of the actuator 5 to the shortened position shown in FIG. Subsequently, the assistant holds the handle 42 and moves the assistant device 1 to approach the person M who is in the sitting position. The person being assisted M causes the lower body to enter the area below the support portion 4 and places both feet on the footrest 21. The person being assisted M can obtain a stable posture by bringing a part of the lower leg into contact with the lower leg pads 25.

Subsequently, the person being assisted M tilts the trunk forward to bring it into surface contact with the trunk support part 41 and leans against the side support part 45 on both sides. At this time, the trunk support 41 swings in the standing direction, so that the forward tilt angle of the trunk is small. Moreover, since the side support part 45 is substantially horizontal or slightly rearwardly lowered, the person being assisted M can lean on the side support part 45 easily. The posture of the person being assisted at this time is the initial posture. The series of operations of the person being assisted M described above may be assisted by an assistant. In the initial posture, the buttocks of the person being assisted M are seated on the seating surface. Therefore, the person being assisted M has a comfortable posture with the load caused by the weight supported by the buttocks.

Subsequently, the assistant starts to control the ascending mode. Thereby, the movable part 52 of the actuator 5 starts the first operation and extends, and the first link member 61 swings counterclockwise in FIG. Further, the arm 3 maintains the rear position of the initial state. As the first link member 61 swings, the support portion 4 swings forward in conjunction with the second link member 62. At this time, since the side support portion 45 is lowered forward, the rearward person M is restricted from moving backward and does not fall off the support portion 4.

¡By swinging the support part 4, the upper body of the person M who is being assisted gradually advances forward. When the movable portion 52 extends to a predetermined midway position, the state shown in FIG. 3 is obtained. In the state of FIG. 3, the restricting protrusion 614 comes into contact with the restricting member 63 and the swing of the first link member 61 is finished. Therefore, the swinging of the support portion 4 is also finished. Then, the buttocks of the person being assisted M are in a state of being away from the seating surface.

Furthermore, when the movable part 52 starts the second operation, the arm 3 is driven by the movable part 52 and swings clockwise in FIG. At the same time, the actuator 5 tilts forward. Further, the support portion 4 maintains a constant posture with respect to the arm 3. This operation is continued until the final state of FIG. 4 in which the movable portion 52 extends to the extended position and the arm 3 reaches the front position. Accordingly, the person being assisted M further tilts forward while the upper body moves obliquely upward and forward. As a result, as shown in FIG. 4, the person being assisted M takes the posture at the time of transfer in which the buttocks are greatly raised from the seating surface and the legs are extended.

According to the assistance device 1 of the embodiment, it is possible to drive the swinging of the support unit 4 forward and the swinging of the arm 3 forward using a single actuator 5. As a result, the transfer operation of the person being assisted M becomes smooth, and the use comfort is improved. In addition, the cost is low compared with the prior art using two actuators.

Furthermore, in the assistance device 1 of the embodiment, the second link member 62 is allowed to disengage from the first link member 61. That is, the second link member 62 can be separated from the engagement pin 617 of the first link member 61 and swing clockwise (see FIG. 10). Thereby, the support part 4 freely rocks forward. For this reason, it becomes possible to expand the area | region below the support part 4, and the care receiver M can make a lower body approach easily. In addition, the thigh of the person being assisted M is not pinched with a strong force.

FIG. 9 is a perspective view of the upper part of the arm 3 as viewed obliquely from above. As shown in the drawing, the movable first link member 61 and the second link member 62 are covered with an upper cover member 38. As a result, safety is improved and the appearance is simplified and the beauty is improved. Further, the arm 3 is formed by connecting an arm front part 34 and an arm upper part 35, and the actuator 5 is disposed in the vicinity of the arm front part 34. For this reason, a wide space area is secured below the support part 4 and the person being assisted M does not feel tight.

3. Action and Effect of Arm Restricting Mechanism 7 Next, the action and effect of the arm restricting mechanism 7 will be described. In the assistance device 1 of the embodiment, the base 2, the arm 3, the actuator 5, and the first link member 61 constitute a four-bar link, and the degree of freedom of operation remains. In other words, when an external force is applied, the shape of the four-bar link described above can change. The arm restricting mechanism 7 eliminates the degree of freedom of the four-bar link and restricts the swinging of the arm 3 to the unexpected front. FIG. 10 is a side sectional view for explaining an unexpected swinging motion of the arm 3 and shows a state in the middle of the movable portion 52.

As shown in FIG. 10, it is assumed that the arm regulating mechanism 7 is not provided and a forward external force is applied to the support portion 4. In this case, first, the support part 4 freely swings forward. Still, when there is a surplus force in the external force, the arm 3 swings forward. That is, the arm 3 swings without the movable part 52 operating. As can be seen by comparing FIG. 3 and FIG. 10, the arm 3 swings by an angle α in an unexpected operation. This phenomenon occurs when the person being assisted gets on the support unit 4 vigorously. At this time, the person being assisted M feels uneasy about the unexpected swinging motion of the arm 3, and the comfort of use is reduced.

The arm regulating mechanism 7 indicated by a broken line in FIG. 10 regulates the unexpected swinging motion of the arm 3 by always accommodating the position of the connecting pin 613 in the long hole 74. According to this embodiment, even if the degree of freedom remains in the link mechanism 6, the arm restriction mechanism 7 eliminates the degree of freedom of the link mechanism 6 and restricts the unexpected operation of the arm 3. Therefore, according to the assistance device 1 of the embodiment, it is possible to regulate the unexpected operation of the arm 3 and ensure the comfort of use of the person being assisted M.

Furthermore, the arm regulating mechanism 7 does not hinder driving by the actuator 5. If the forward swinging of the arm 3 is simply restricted, the arm 3 may be urged rearward using the urging member. However, in this case, the rearward biasing force hinders driving by the actuator 5. On the other hand, according to the present embodiment, an unexpected operation of the arm 3 can be regulated without requiring a large output of the actuator 5 or the like.

4). Modifications and Applications of Embodiments The present embodiment can be variously modified and applied, including changes in the shape and size of the constituent members.

1: Assistance device 2: Base 22: Actuator support 27: Arm support seat 3: Arm 31: Rod member 33: Support portion mounting seat 38: Upper cover member 3A: Predetermined position 3B: Upper position 4: Support portion 5: Actuator 51: Body part 52: Movable part 53: Motor 6: Link mechanism 61: First link member 611: Support point 612: Forearm part 613: Connection pin 614: Restriction protrusion 616: Rear arm part 617: Engagement pin 62 : Second link member 63: restriction member 7: arm restriction mechanism 71: restriction guide member 74: oblong hole 75: biasing member M: person being assisted

Claims

An assistance device for assisting the transfer operation of the person being assisted,
The base,
An arm provided on the base so as to be swingable in the front-rear direction;
A support unit that supports a part of the body of the person being assisted and is swingable in the front-rear direction on the arm;
A main body provided on the base so as to be tiltable in the front-rear direction, and an actuator having a movable part extending and contracting from the main body;
A first link member that is swingably provided on the arm and connected to the movable portion; and a second link member that is fixed to the support portion and engages with the first link member, A first motion in which the movable portion extends from the shortened position to a predetermined midway position is transmitted to the forward swing of the support portion, and a second motion in which the movable portion extends from the midway position to the extended position is forward of the arm. A link mechanism that transmits to the swing of
An assistance device comprising:
The first link member is oscillated by the first operation of the movable part, and the second operation of the movable part is directly driven without being oscillated by the second operation of the movable part. The assisting device according to claim 1, wherein the assisting device is transmitted to the arm.
The first link member is supported by the arm so as to be swingable. The forearm extends forward from the support point and is connected to the movable portion and can come into contact with a regulating member provided on the arm. And a rear arm portion extending rearward from the support point,
When the rear arm portion is driven by the first operation of the movable portion, the support portion is driven to swing through the engaged second link member,
When the forearm portion is driven by the second movement of the movable portion, the forearm portion swings and drives the arm via the restricting member in contact with the forearm portion.
The assistance device according to claim 1 or 2.
The support portion according to any one of claims 1 to 3, wherein the second link member is allowed to freely swing forward by allowing the second link member to be disengaged from the first link member. The assistance device described.
The assistance device according to any one of claims 1 to 4, further comprising a cover member that covers the first link member and the second link member.