WO2019111514A1 - 介助装置 - Google Patents
介助装置 Download PDFInfo
- Publication number
- WO2019111514A1 WO2019111514A1 PCT/JP2018/037140 JP2018037140W WO2019111514A1 WO 2019111514 A1 WO2019111514 A1 WO 2019111514A1 JP 2018037140 W JP2018037140 W JP 2018037140W WO 2019111514 A1 WO2019111514 A1 WO 2019111514A1
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- WO
- WIPO (PCT)
- Prior art keywords
- arm
- person
- actuator
- support
- assisted
- Prior art date
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Classifications
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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
- 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
- A61G7/1013—Lifting of patients by
- A61G7/1017—Pivoting arms, e.g. crane type mechanisms
-
- 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
- A61G1/00—Stretchers
- A61G1/02—Stretchers with 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
- A61G5/04—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs motor-driven
-
- 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
- A61G5/1005—Wheelchairs having brakes
- A61G5/1037—Wheelchairs having brakes manipulated by assisting person
-
- 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
- A61G5/125—Rests specially adapted therefor, e.g. for the head or the feet for arms
-
- 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
-
- 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
- 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
- A61G7/1073—Parts, details or accessories
- A61G7/1082—Rests specially adapted for
- A61G7/1086—Upper body
-
- 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
- A61G7/1073—Parts, details or accessories
- A61G7/1082—Rests specially adapted for
- A61G7/1092—Rests specially adapted for the arms
-
- 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
- A61G7/1073—Parts, details or accessories
- A61G7/1082—Rests specially adapted for
- A61G7/1094—Hand or wrist
-
- 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
- A61G2200/00—Information related to the kind of patient or his position
- A61G2200/30—Specific positions of the patient
- A61G2200/34—Specific positions of the patient sitting
-
- 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
- A61G2200/00—Information related to the kind of patient or his position
- A61G2200/30—Specific positions of the patient
- A61G2200/36—Specific positions of the patient standing
-
- 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
- A61G2200/00—Information related to the kind of patient or his position
- A61G2200/50—Information related to the kind of patient or his position the patient is supported by a specific part of the body
- A61G2200/52—Underarm
-
- 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
- A61G2200/00—Information related to the kind of patient or his position
- A61G2200/50—Information related to the kind of patient or his position the patient is supported by a specific part of the body
- A61G2200/54—Shoulder
-
- 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
- A61G2200/00—Information related to the kind of patient or his position
- A61G2200/50—Information related to the kind of patient or his position the patient is supported by a specific part of the body
- A61G2200/60—Elbow
Definitions
- the present specification relates to an assistance device that assists a transfer operation of a person being assisted.
- the assistance device moves a support portion that supports a part of the body of a person being assisted by driving from an actuator.
- the introduction of the assistance device alleviates the physical burden on the assistant and the assistant, and also alleviates the shortage of care workers.
- Patent Document 1 discloses an example of a technology related to such an assistance device.
- the human body transfer apparatus of Patent Document 1 includes a traveling unit equipped with wheels, a human body supporting unit positioned above the traveling unit to support a person being assisted, and a driving unit driving the human body supporting unit in the height direction. And. Furthermore, the telescopic actuator corresponding to the drive unit and the link mechanism are used in combination, and the extension operation of the telescopic actuator is converted into the arc-like rocking operation of the support. According to this, it is supposed that transfer of a person being assisted can be carried out easily and quickly while suppressing that the person in needing hurts the lower back.
- the assistance robot disclosed in Patent Document 2 includes an elevating unit linearly moving in the vertical direction with respect to the base, an arm swingably provided to the elevating unit, and a supporting unit provided at the tip of the arm. Prepare.
- the elevator and the arm are driven by separate actuators to perform a two-step operation. According to this, the elevating part and the arm can be operated in cooperation, and it is said that giving a sense of discomfort to the person being assisted is suppressed.
- an assistive device capable of suppressing the progress of the operation and securing good use comfort even when the operation of the device has a degree of freedom and the operation which is unforeseeable to the assisted person occurs. Make it a problem to be provided.
- This specification is capable of supporting a base on which a support person puts his / her feet and a part of the support person's body, and is provided on the base to make it stand up or to raise the support person.
- a support arm capable of operating with the seating direction in which the person to be assisted is seated as an operating direction, an actuator for driving the support arm, and transmitting the driving force of the actuator to the support arm
- a link mechanism that allows the current position of the support arm driven by the control unit to change independently of the drive state of the actuator, and resistance to movement of at least one side of the operation direction of the support arm
- the assistance apparatus which assists the transfer operation
- the damper mechanism generates a resistance to an unforeseeable movement on at least one side of the support arm, so that the progress of the movement of the support arm is suppressed.
- an unexpected action progresses slowly, and the person being assisted does not feel anxious and is not surprised. Therefore, good use comfort of the assistance device is ensured.
- FIG. 5 is a diagram showing a state after the current position of the arm shown in FIG. 2 has changed in the rising direction, regardless of the drive state of the actuator. It is the figure which showed the operation state of the damper mechanism corresponding to the state of FIG.
- FIGS. 1 to 3 are side partial cross-sectional views showing the progress of an operation in which the assistance device 1 assists the person M to be assisted from the sitting position to the transfer position.
- the assistance device 1 assists transfer between two different places, for example, transfer between the bed of the person being assisted M and the wheelchair, transfer between the wheelchair and the toilet seat, and the like.
- the assistance device 1 supports the body of the person to be assisted M, and assists the transfer operation from the sitting posture to the transfer posture, and the sitting motion from the transfer posture to the sitting posture.
- the transfer posture is a posture in which the buttocks float from the seat surface, and includes a standing posture and a mid-latitude posture. That is, the transfer posture includes the state in which the upper body is upright and the state in which the upper body is bent.
- the assistance device 1 can transfer the person being assisted M in the transfer posture.
- the assistance device 1 includes a base 2, an arm 3, a support 4, an actuator 5, a link mechanism 6, a damper mechanism 7, and a control unit (not shown).
- a base 2 an arm 3, a support 4, an actuator 5, a link mechanism 6, a damper mechanism 7, and a control unit (not shown).
- FIG. 1 the arrangement position of the damper mechanism 7 is shown by a broken line. Further, in FIGS. 2 and 3, the damper mechanism 7 is not shown.
- the base 2 is formed of a foot mounting table 21, a rear wheel 23, a base rod 24, a lower leg support 25, a mounting plate 26, a front wheel 28 and the like.
- the foot mounting table 21 is disposed substantially horizontally close to the floor surface F.
- the foot placing table 21 is a site on which the person M receives the foot.
- An actuator support portion 22 is provided upward at the center in the left-right direction on the front side of the upper surface of the foot placement table 21.
- 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 provided forward from the left and right of the front of the footrest 21 respectively.
- the base rod 24 bends from the front to the top, and then extends obliquely to the rear.
- the lower thigh rests 25 are provided on the upper portions of the two base rods 24 in a backward direction.
- the lower thigh rest portion 25 is positioned above the front of the foot placement table 21.
- the lower thigh rest portion 25 is formed of a cushion material, and the lower thigh area of the person being assisted M can contact.
- the pair of left and right mounting plates 26 is fixed at a position slightly above the bending portion bent upward from the front of the base rod 24 and at a position on the inside facing each other.
- the mounting plate 26 extends forward from the base rod 24.
- Arm support seats 27 are provided on top 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 of the pair of left and right mounting plates 26.
- the steering function of the front wheel 28 and the rear wheel 23 enables the assistance device 1 to perform not only linear movement and turning movement, but also lateral movement and corner turning.
- the front wheel 28 has a lock function that restricts movement.
- the arm 3 is formed of a rod-like member 31, a front cover member 36, an upper cover member 38, and various structural members of a code abbreviation.
- the rod-like member 31 is a substantially U-shaped rod-like member whose lower side is open.
- the lower ends 32 on both sides of the rod-like member 31 are swingably supported by the arm support seats 27 of the mounting plate 26.
- the arm 3 swings in the front-rear direction with respect to the base 2 as the operation direction.
- the forward swinging of the arm 3 corresponds to the standing direction in which the person being assisted M stands up, and the swinging in the rear direction corresponds to the seating direction in which the person M is seated.
- a stopper mechanism (not shown) is provided in the vicinity of the arm support 27.
- the rod-like member 31 extends upward from the lower ends 32 on the left and right, bends obliquely backward upward halfway along the way, and merges at the upper rear.
- the overall shape of the arm 3 includes an arm front portion 34 extending upward from an arm support seat 27 and an arm upper portion 35 connected to the upper portion of the arm front portion 34 and extending rearward and obliquely upward.
- the front cover member 36 constitutes an arm front 34.
- the front cover member 36 is disposed on the front side of the rod-like member 31 at an interval.
- the front cover member 36 is formed by bending the side surfaces of the front cover member 36 in the backward direction, and the inner space is defined.
- a battery (not shown) is accommodated in the internal space of the front cover member 36.
- the battery is a power supply of the actuator 5 and the control unit.
- the upper cover member 38 is formed continuously with the front cover member 36 and constitutes an arm upper portion 35.
- the upper cover member 38 is disposed close to the upper side of the rod-like member 31.
- the upper cover member 38 is formed by bending both side surfaces downward, and the inner space is defined.
- the link mechanism 6 is provided on the front lower side of the internal space of the upper cover member 38.
- the support part attachment seat 33 is provided in the back upper side of internal space.
- the support portion 4 is formed to include a body support portion 41 and a pair of left and right side support portions 45.
- the torso support portion 41 is swingably supported by the support portion mounting seat 33 of the arm upper portion 35.
- the support 4 sets the swinging of the arm 3 in the front-rear direction as the operation direction.
- the forward swinging of the support portion 4 corresponds to the standing direction in which the person being assisted M stands up, and the swinging in the rear direction corresponds to the seating direction in which the person M is seated.
- the torso support 41 has a handle 42.
- the handle 42 is formed in a substantially rectangular frame shape.
- the handle 42 is not only a portion gripped by the person M but also a portion gripped by the helper in order to move the assistance device 1.
- the fuselage support portion 41 is formed by the base plate 43 and the fuselage contact member 44 or the like.
- the base plate 43 is formed in a substantially rectangular shape using a rigid plate material made of metal or resin.
- the base plate 43 is provided with the above-described handle 42, a portion attached to the support portion attachment seat 33, and a second link member 62 described later.
- the fuselage contact member 44 is formed larger than the base plate 43 by using a flexible material, and is attached to the upper surface of the base plate 43.
- the fuselage contact member 44 can have, for example, a two-layer structure consisting of a surface layer and a base layer.
- a low resilience urethane foam can be exemplified as a material for forming the surface layer, and a low flammability urethane foam can be exemplified as a material for forming the base layer.
- the torso support portion 41 can support the area from the chest to the abdomen of the torso which is a part of the body of the person being assisted M.
- the pair of left and right side support portions 45 are attached to the left and right sides of the body support portion 41 so as to be closer to the chest.
- the side support portion 45 is formed in an L-shape bent at an obtuse angle.
- the side support portion 45 is formed of a core member 46 (see FIG. 4), an outer peripheral member 47, and the like.
- the core member 46 is formed, for example, by bending a round bar or pipe made of metal or hard resin.
- the outer peripheral member 47 is formed in a cylindrical shape that covers the outer periphery of the core member 46 using a cushion material.
- the short linear portion from the proximal end on the mounting side of the side support portion 45 to the bending position is a shoulder receiving portion, and the long linear portion from the bending position to the tip is a side entry portion.
- the shoulder support portion supports the front of the shoulder of the person being assisted M.
- the side approach part enters the side of the both sides of the body of the person being assisted M.
- the torso support portion 41 and the side support portion 45 may include a removable cover made of cloth or leather.
- the actuator 5 is a telescopic actuator, and includes a main body 51, a movable portion 52, a motor 53, and the like.
- the main body 51 is a cylindrical member with a large diameter that is long in the upper and lower direction, and has an opening that opens upward.
- the lower end of the main body 51 is supported by the actuator support 22 of the base 2.
- the movable portion 52 is a thin and round rod-like member which is long in the vertical direction.
- the upper end of the movable portion 52 is connected to the first link member 61 of the link mechanism 6.
- the lower portion of the movable portion 52 is fitted into the opening of the main body 51.
- the motor 53 is attached to the front side of the lower portion of the main body 51.
- the motor 53 controls the direction of the current flowing by the control unit (not shown), and drives the extension operation and the contraction operation of the movable unit 52.
- the movable portion 52 expands and contracts with respect to the main body portion 51 by the drive from the motor 53.
- the actuator 5 may use another type of drive source such as a pressure drive source using oil pressure or air pressure instead of the motor 53.
- the actuator 5 performs a first extension operation extending from a reduced length to a predetermined intermediate length, a second extension operation extending from an intermediate length to an extended length, and a contraction operation from an extended length to a reduced length through an intermediate length.
- a first extension operation extending from a reduced length to a predetermined intermediate length
- a second extension operation extending from an intermediate length to an extended length
- a contraction operation from an extended length to a reduced length through an intermediate length.
- Do. 30 mm can be illustrated as the stroke length of the first elongation operation
- 60 mm can be illustrated as the stroke length of the second elongation operation.
- the link mechanism 6 is configured of a first link member 61, a second link member 62, a restriction member 63, and the like.
- the first link member 61 is a longitudinally elongated member having a support point 611, a forearm 612, and a rear arm 616.
- the support point 611 is disposed near the center of the arm upper portion 35. Further, the support point 611 is swingably supported by the swing shaft portion of the arm 3. Thereby, the first link member 61 swings around the support point 611.
- the forearm 612 extends forward from the support point 611.
- a connection pin 613 is provided at a lower portion of the front arm 612 near the front.
- the connecting pin 613 connects the forearm portion 612 and the upper end of the movable portion 52 of the actuator 5.
- a restricting protrusion 614 is formed on the front upper portion of the forearm portion 612.
- a damper engaging portion 615 is provided at the tip of the forearm portion 612.
- a damper mechanism 7 is provided between the damper engaging portion 615 and the arm 3 (details will be described later).
- the rear arm 616 extends rearward 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. As shown in FIGS. 1 to 3, the engagement pin 617 engages the second link member 62 from the counterclockwise direction, and pushes the second link member 62 downward to swing it.
- the second link member 62 is fixed to the base plate 43 of the support 4 and extends forward. Thereby, the support 4 and the second link member 62 integrally swing around the support mounting seat 33.
- the restricting member 63 is fixed to the front side structural member of the arm upper portion 35.
- the restricting projection 614 of the first link member 61 can be in contact with the restricting member 63.
- the control unit (not shown) is composed of an operating unit, a control main unit, and the like.
- the controller has an up button and an down button for operating the actuator 5.
- the controller is operated by the assistant.
- the control main body unit is configured using a computer device having a CPU and operating with software. The control main body controls the presence or absence of the current flowing in the motor 53 of the actuator 5 and the flowing direction according to the operation information of the up and down buttons.
- FIG. 4 shows the original state before the damper mechanism 7 operates.
- a part of the arm 3 is not shown.
- a damper support seat 39 is provided near the lower portion of the rod-like member 31 constituting the arm 3.
- the first link member 61 constituting the link mechanism 6 is provided with the damper engaging portion 615.
- the damper mechanism 7 is provided to be bridged between the arm 3 and the first link member 61.
- the damper mechanism 7 is a telescopic mechanism having a main body portion 71 and a movable portion 72.
- the main body portion 71 has a large diameter cylindrical outer appearance.
- the main body 71 has a cylinder opening upward and an oil chamber.
- the cylinder and the oil chamber are formed oil-tight and filled with hydraulic oil.
- the cylinder and the oil chamber communicate with each other in the oil passage, and the hydraulic oil flows in and out. Since the cross sectional area of the oil passage is narrowed, resistance force is generated by the inflow and outflow of the hydraulic oil.
- the lower end of the main body 71 is rotatably supported by the damper support seat 39.
- the movable portion 72 is formed in a small diameter round rod shape.
- the upper end of the movable portion 72 is rotatably engaged with the damper engaging portion 615 of the first link member 61.
- the lower portion of the movable portion 72 is fitted into the cylinder of the main body portion 71.
- the damper mechanism 7 is a two-way type that generates resistance in both directions of expansion and contraction. Further, the magnitude of the resistance changes in accordance with the operating speed of the movable part 72 and is generally proportional to the operating speed of the movable part 72.
- the damper mechanism 7 can also be a load of the actuator 5 even in the normal assistance operation. However, since the normal operation is at a low speed, the damper mechanism 7 has only a slight load. Therefore, the actuator 5 does not have to be ranked in terms of performance, and may be the same product as the configuration without the damper mechanism 7.
- the assistant returns the actuator 5 to the shortened length to the initial state shown in FIG.
- the first link member 61 is swung clockwise, and the second link member 62 is swung counterclockwise. There is a gap between the restricting protrusion 614 of the first link member 61 and the restricting member 63.
- the assistant grasps the handle 42 and moves the assistance device 1 to approach the person M in the sitting position.
- the assisted person M causes the lower body to enter the area below the support portion 4 and places both feet on the footrest 21.
- the support person M can obtain a stable posture by bringing a part of the lower leg into contact with the lower thigh rest 25.
- the second link member 62 can be pivoted clockwise away from the engagement pin 617 of the first link member 61. That is, the support portion 4 freely swings forward. Therefore, the area under the support 4 can be expanded, and the person M can easily make the lower body approach and does not feel cramped.
- the support person M tilts the body forward to make surface contact with the body support portion 41, and leans against the side support portion 45 on both sides.
- the trunk support portion 41 is swung in the standing direction (the counterclockwise direction in FIG. 1)
- the anteversion angle of the trunk may be small.
- the side support portion 45 is substantially horizontal or slightly downward, the person M can easily lean on the side support portion 45.
- the posture of the person being assisted M at this time is the initial posture.
- the assistant may assist the series of actions of the person M who is assisted. In the initial position, the buttocks of the person being assisted M are on the seat. Therefore, the support person M has a comfortable posture because the load caused by the weight is supported by the buttocks.
- the assistant pushes the raising button of the operation unit to advance the assistance operation.
- the actuator 5 having started the first extension operation pushes the forearm portion 612 of the first link member 61 upward via the connection pin 613.
- the first link member 61 swings counterclockwise (see the arrow A1 in FIG. 1).
- the counterclockwise swing of the first link member 61 causes the engagement pin 617 to push and swing the second link member 62.
- the second link member 62 pivots clockwise, and the support 4 pivots forward (upward direction) (see arrow A2 in FIG. 1). This operation is continued until the actuator 5 extends to a predetermined halfway length to reach the state shown in FIG. At this time, since the side supporting portion 45 is lowered to the front, the person being assisted M is restricted from moving backward and does not drop out of the supporting portion 4. In the state of FIG. 2, the restricting protrusion 614 abuts on the restricting member 63, and the swinging of the first link member 61 is finished. Accordingly, the swinging of the support 4 also ends. And the buttocks of the person being assisted M are in the state of the moment they leave the seating surface.
- the actuator 5 starts the second extension operation
- the first link member 61 is in pressure contact with the arm 3 without swinging.
- the arm 3 is driven by the actuator 5 and pivots clockwise (upward direction) clockwise (see an arrow A3 in FIG. 2).
- the actuator 5 tilts forward.
- the support 4 maintains a fixed posture with respect to the arm 3. This operation is continued until the end state of FIG.
- the upper body of the person being assisted M leans forward while moving forward and obliquely upward.
- the buttocks largely rise from the seat surface, and the legs become extended at the time of transfer.
- FIG. 5 is a diagram showing a state after the current position of the arm 3 shown in FIG. 2 has changed in the rising direction independently of the driving state of the actuator 5.
- the phenomenon in which the shape of the four-bar link changes is generated, for example, when the person being assisted M rushes on the support portion 4.
- the arm 3 may freely swing in the standing direction.
- the contact state between the restricting protrusion 614 and the restricting member 63 is cancelled.
- the second link member 62 since the second link member 62 only engages with the engagement pin 617 of the first link member 61 from one direction, the second link member 62 does not stop changing the current position of the arm 3 in the standing direction, and allows it. .
- the swing position of the arm 3 changes in the rising direction by the swing angle ⁇ independently of the driving state of the actuator 5. If the damper mechanism 7 is not provided, the arm 3 rapidly swings from the state shown in FIG. 2 to the state shown in FIG. The rapid rocking motion of the arm 3 is unforeseeable to the person M being assisted. For this reason, the support person M feels uneasy or surprised by the unexpected rocking motion of the arm 3, and the use comfort is lowered.
- FIG. 4 shows the original state of the damper mechanism 7 corresponding to the state of FIG. 6 shows an operating state of the damper mechanism 7 corresponding to the state of FIG.
- the movable portion 72 of the damper mechanism 7 operates to shorten. Therefore, the damper mechanism 7 applies resistance to the swinging movement of the arm 3 which changes from the state of FIG. 2 to the state of FIG.
- the progress of the rocking motion of the arm 3 in the rising direction is suppressed, in other words, the rocking motion of the arm 3 proceeds slowly.
- the assistance device 1 in the reverse direction of the assistance operation of the assistance device 1 described above, that is, when assisting the person M to be assisted from the posture at transfer to the sitting posture, the assistance device 1 is in the state of FIG. Migrate to In this case, regardless of the contraction operation of the actuator 5, if the person being assisted M steps on the foot to maintain the transfer posture, the state shown in FIG. 5 is obtained. Thereafter, when the person M can not step on the foot, the state changes to the state shown in FIG. If the damper mechanism 7 is not provided, the arm 3 rapidly swings in the seating direction from the state shown in FIG. 5 to the state shown in FIG.
- the damper mechanism 7 suppresses the progress of the swinging operation of the arm 3. That is, the damper mechanism 7 applies resistance to the swinging movement of the arm 3 changing from the state of FIG. 5 to the state of FIG. As a result, the progress of the swinging motion of the arm 3 in the seating direction is suppressed, and the swinging motion of the arm 3 proceeds slowly. That is, the damper mechanism 7 generates resistance against rapid swinging motion on both sides in the movement direction of the arm 3.
- the damper mechanism 7 may be a unidirectional type mechanism that generates a resistance force in one of the extension direction and the shortening direction.
- the unidirectional damper mechanism generates a resistance against rapid swing motion of one side of the movement direction of the arm 3 which is more important. Then, another measure can be taken for the operation on the other side in the movement direction of the arm 3 or the measure can be omitted.
- the assistance device 1 there is a degree of freedom in the operation of the device, and the current position of the arm 3 may change independently of the driving state of the actuator 5, and it is difficult for the service person M to predict. . Even so, the damper mechanism 7 generates resistance to the unpredictable movement on at least one side of the arm 3, so that the progress of the movement of the arm 3 is suppressed. As a result, since the unexpected motion progresses slowly, the person M who is assisted does not feel anxious and is not surprised. Therefore, good use comfort of the assistance device 1 is ensured.
- the two-way type damper mechanism 7 is expensive compared to the one-way damper mechanism. Therefore, a modified embodiment may be adopted in which a unidirectional damper mechanism that generates a resistive force in the extension direction and a unidirectional damper mechanism that generates a resistive force in the shortening direction are provided in parallel.
- the price of the unidirectional damper mechanism is less than half that of the bidirectional damper mechanism 7. Therefore, cost can be reduced in the modification.
- the damper mechanism may be a rotary type mechanism in which the arm 3 intervenes in a swinging shaft portion that supports the first link member 61 so as to be able to swing.
- the rotary damper mechanism is configured, for example, to generate a resistance by friction between two members rotating relative to each other.
- the rotary damper mechanism generates a resistance to the swing of the first link member 61 with respect to the arm 3.
- the damper mechanism 7 can be provided also in a configuration in which the arm 3 and the support portion 4 according to the embodiment are integrated to form a support arm portion, and the support arm portion performs an elevating operation or a rocking operation in the front-rear direction.
- the actuator 5 is not limited to the telescopic actuator, and may be a rotary drive type actuator.
- the configuration of the link mechanism 6 can be modified as appropriate. Besides, various modifications and applications of the present embodiment are possible.
- Assist device 2 Base 3: Arm 39: Damper support seat 4: Support 5: Actuator 51: Main body 52: Movable part 53: Motor 6: Link mechanism 61: First link member 614: Regulating projection 615 Damper engaging portion 617: Engaging pin 62: Second link member 63: Regulating member 7: Damper mechanism 71: Body portion 72: Movable portion M: Assisted person
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Abstract
Description
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~図3は、介助装置1が被介助者Mを座位姿勢から移乗時姿勢まで介助する動作の進行を表す側面部分断面図である。
次に、ダンパー機構7の構成について、図4を参考にして説明する。図4には、ダンパー機構7が動作する以前の原状態が示されている。なお、図4および後出の図6において、アーム3の一部が図示省略されている。アーム3を構成する棒状部材31の下部寄りに、ダンパー支持座39が設けられる。また、前述したように、リンク機構6を構成する第一リンク部材61には、ダンパー係合部615が設けられている。ダンパー機構7は、アーム3と第一リンク部材61の間に架け渡されて設けられる。
次に、実施形態の介助装置1の介助動作について説明する。以降では、被介助者Mを座位姿勢から移乗時姿勢へ介助する動作を中心にして説明する。介助者は、まず、アクチュエータ5を短縮長さまで戻して、図1に示される初期状態とする。第一リンク部材61は、時計回りに揺動した状態となり、第二リンク部材62は、反時計回りに揺動した状態となっている。第一リンク部材61の規制突部614と規制部材63との間には、隙間がある。
次に、ダンパー機構7の動作および作用について説明する。実施形態の介助装置1において、基台2、アーム3、アクチュエータ5、および第一リンク部材61は、四節リンクを構成しており、動作の自由度が残されている。それでも、通常時には、規制突部614が規制部材63に当接した以降、この当接状態が維持されるので、四節リンクの形状は安定的に保たれる。ところが、アーム3を前方に揺動させる方向の外力が作用すると、アーム3が前方(起立方向)に自由揺動して四節リンクの形状が変化する。図5は、アクチュエータ5の駆動状態に依存せずに、図2に示されたアーム3の現在位置が起立方向に変化した後の状態を示す図である。
なお、両方向タイプのダンパー機構7は、単方向ダンパー機構と比較して高価である。このため、伸長方向で抵抗力を発生する単方向ダンパー機構、および短縮方向で抵抗力を発生する単方向ダンパー機構を並列に設ける変形形態を採用してもよい。単方向ダンパー機構の価格は、両方向タイプのダンパー機構7の半分未満である。したがって、変形形態では、コストダウンが可能となる。
Claims (5)
- 被介助者が足を載せる基台と、
前記被介助者の身体の一部を支持可能であり、かつ、前記基台に設けられて前記被介助者を起立させる起立方向または前記被介助者を着座させる着座方向を動作方向とする動作が可能な支持アーム部と、
前記支持アーム部を駆動するアクチュエータと、
前記アクチュエータの駆動力を前記支持アーム部に伝達するとともに、前記アクチュエータにより駆動された前記支持アーム部の現在位置が前記アクチュエータの駆動状態に依存せずに変化することを許容するリンク機構と、
前記支持アーム部の前記動作方向の少なくとも一方側の動作に抵抗力を発生するダンパー機構と、
を備えて、前記被介助者の移乗動作を介助する介助装置。 - 前記ダンパー機構は、前記支持アーム部の前記動作方向の両側の動作に前記抵抗力を発生する、請求項1に記載の介助装置。
- 前記支持アーム部は、前記基台に前後方向に揺動可能に設けられたアーム、および、前記被介助者の身体の一部を支持可能であって前記アームに前後方向に揺動可能に設けられた支持部を含み、
前記アクチュエータは、短縮長さから所定の途中長さまで伸びる第一伸び動作、および前記途中長さから伸長長さまで伸びる第二伸び動作を行う伸縮アクチュエータであり、
前記リンク機構は、
前記アームに揺動可能に設けられ、前記伸縮アクチュエータの前記第一伸び動作にしたがって前記起立方向に揺動し、前記伸縮アクチュエータの前記第二伸び動作にしたがって揺動することなく前記アームに圧接される第一リンク部材、および、
前記支持部に固定され、前記第一リンク部材に押動されて前記起立方向に揺動するとともに、前記被介助者から作用する外力に応じて前記第一リンク部材から離間することにより前記アームの現在位置が前記起立方向に変化することを許容する第二リンク部材を有する、
請求項1または2に記載の介助装置。 - 前記ダンパー機構は、前記アームと前記第一リンク部材の間に伸縮可能に架設されて、伸長動作時および短縮動作時の少なくとも一方で動作速度に見合う前記抵抗力を発生する、請求項3に記載の介助装置。
- 前記ダンパー機構は、前記アームが前記第一リンク部材を揺動可能に支持する揺動軸部に介在し、前記アームに対する前記第一リンク部材の揺動に前記抵抗力を発生する、請求項3に記載の介助装置。
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JP2019558033A JP6934535B2 (ja) | 2017-12-06 | 2018-10-04 | 介助装置 |
SG11202004127VA SG11202004127VA (en) | 2017-12-06 | 2018-10-04 | Aid device |
EP18884977.2A EP3721850B1 (en) | 2017-12-06 | 2018-10-04 | Aid device |
KR1020207009425A KR102359173B1 (ko) | 2017-12-06 | 2018-10-04 | 시중 장치 |
CN201880072630.6A CN111315338B (zh) | 2017-12-06 | 2018-10-04 | 辅助装置 |
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PCT/JP2017/043843 WO2019111356A1 (ja) | 2017-12-06 | 2017-12-06 | 介助装置 |
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CN112274355A (zh) * | 2020-10-13 | 2021-01-29 | 广东博方众济医疗科技有限公司 | 移位机的膝托和具有其的移位机 |
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EP3721849A4 (en) | 2020-12-30 |
SG11202004127VA (en) | 2020-06-29 |
JP6889783B2 (ja) | 2021-06-18 |
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JPWO2019111514A1 (ja) | 2020-10-22 |
CN111315338B (zh) | 2021-12-24 |
JPWO2019111356A1 (ja) | 2020-10-22 |
KR20200043477A (ko) | 2020-04-27 |
KR102359172B1 (ko) | 2022-02-08 |
CN111315338A (zh) | 2020-06-19 |
CN111315337B (zh) | 2021-08-31 |
JP6934535B2 (ja) | 2021-09-15 |
SG11202004125YA (en) | 2020-06-29 |
KR102359173B1 (ko) | 2022-02-08 |
EP3721850A4 (en) | 2021-01-06 |
EP3721849B1 (en) | 2023-05-10 |
KR20200043478A (ko) | 2020-04-27 |
EP3721850B1 (en) | 2022-10-26 |
CN111315337A (zh) | 2020-06-19 |
EP3721850A1 (en) | 2020-10-14 |
WO2019111356A1 (ja) | 2019-06-13 |
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