Auxiliary device

Abstract

The assist device is provided with: a base; a support member which is provided so as to be movable in the vertical direction with respect to the base and which supports the upper body of the person to be assisted; a driving device for driving the support member; and a storage battery remaining amount meter which displays the standby state in which the driving device is converted into a state in which the supporting member can be driven and displays the remaining amount of the storage battery after the storage battery remaining amount meter is powered on.

Description

[0001] This application is a divisional application of an application with a filing date of January 18, 2023, application number 202080104731.4, and invention name “Assistive Device”. Technical Field

[0002] The invention relates to an auxiliary device. Background Art

[0003] Patent Document 1 discloses an assisting device for assisting a person being assisted in standing up. The assisting device is positioned relative to a person being assisted who is seated on a bed or a wheelchair, and moves the person being assisted from a sitting position to a standing position by raising a support member that supports the person's upper body.

[0004] Prior art literature

[0005] Patent Document 1: International Publication No. 2018 / 116472 Summary of the invention

[0006] Problems to be solved by the invention

[0007] There is a demand for assistive devices to improve their practicality by adopting a structure that does not easily interfere with seat equipment such as a wheelchair or the like having a seat surface. In addition, there is a demand for assistive devices to improve their stability, such as preventing them from tipping over.

[0008] An object of the present specification is to provide an assist device that can improve stability by suppressing interference with a seat device and suppressing a shift in the center of gravity of a person being assisted.

[0009] Technical solutions to solve problems

[0010] The present specification discloses an assistive device, comprising: a base; a support component, which is configured to be movable in the up-down direction relative to the base and supports the upper body of an assisted person; a knee support portion, which supports the knee of the calf of the assisted person supported by the support component from the front and limits the movement of the knee in the left-right direction; and a calf support portion, which supports the calf of the calf from the front, and the width of the calf support portion in the left-right direction is smaller than the width of the knee support portion in the left-right direction.

[0011] Effects of the Invention

[0012] According to such a structure, the left-right movement of the knees of the assisted person is restricted, and the movement of the center of gravity of the assisted person can be suppressed. In particular, by defining the left-right position of the knees of the assisted person in a standing position, the balance can be improved, thereby improving stability. In addition, the left-right width of the calf support portion is set to be smaller than the left-right width of the knee support portion. As a result, the calf support portion arranged below the knee support portion becomes compact, and for example, interference with the seat device can be suppressed. As a result, it can be closer to the seat device, so the degree of freedom of positioning relative to the assisted person can be improved, and the practicality of the assisting device can be improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 This is a perspective view of the assist device according to the first embodiment as seen from obliquely lower rear.

[0014] Figure 2 This is a side view showing the assisting device in a state of supporting a person being assisted in a sitting position.

[0015] Figure 3 This is a side view showing the assisting device in a state of supporting a person being assisted in a standing position.

[0016] Figure 4 This is a three-dimensional view of the calf support pad viewed from the oblique front.

[0017] Figure 5 This is a perspective view showing a first embodiment of the calf support pad.

[0018] Figure 6 This is a perspective view showing a state where an assistive device is brought close to a wheelchair as seen from obliquely behind, and a part of the wheelchair is omitted.

[0019] Figure 7 It is a perspective view showing a second embodiment of the calf support pad.

[0020] Figure 8 It is a perspective view showing a third aspect of the calf support pad.

[0021] Fig. 9 It is a perspective view showing a fourth embodiment of the calf support pad.

[0022] Fig.10 It is a perspective view showing a fifth embodiment of the calf support pad.

[0023] Fig.11 It is a perspective view showing a state where the left pad portion and the right pad portion are offset in the front-rear direction.

[0024] Fig.12 This is a perspective view of the assist device according to the second embodiment as seen from an oblique rear side.

[0025] Fig.13 yes Fig.12 The XIII-XIII cross-sectional view in FIG. 1 omits components other than the cover component and the calf support pad.

[0026] Fig.14 This is a block diagram showing a control device and a controller of an auxiliary device.

[0027] Fig.15 is a schematic diagram of the controller.

[0028] Fig.16 This is a flowchart showing the standby process after the power is turned on. DETAILED DESCRIPTION

[0029] 1. First Implementation Method

[0030] 1-1. Structure of auxiliary device 1

[0031] Reference Figure 1~Figure 3 The configuration of the assisting device 1 according to the first embodiment will be described. The assisting device 1 assists a person M (see Figure 2 The above-mentioned seat device may include, in addition to the wheelchair 90, a general-purpose chair without wheels, a toilet, and an auxiliary bed.

[0032] In addition, if Figure 3 As shown, the assisting device 1 assists the transfer action between, for example, a wheelchair 90 and a bed (not shown) by supporting the upper body of the assisted person M in a standing position. In addition, the assisting device 1 is used to assist the assisted person M to move to a moving target (for example, a wheelchair 90, a bed, a toilet) by having an assisting person pull the assisting device 1 or the like.

[0033] In addition, the "standing posture" refers to the posture in which the lower body of the assisted person M stands. Figure 3 As shown, the standing posture includes the posture of the assisted person M in which the buttocks are raised from the sitting posture, the lower body is standing, and the upper body is leaning forward. That is, the assistance of the standing action refers to the assistance of the action of raising the buttocks of the assisted person M and leaning the upper body forward to transfer the mass of the upper body to the assisting device 1. In addition, the assistance of the sitting action refers to the assistance of the action of lowering the position of the buttocks of the assisted person M.

[0034] 1-1-1. Abutment 10

[0035] like Figure 1As shown, the auxiliary device 1 includes a base 10. More specifically, the base 10 includes a main frame 11 constituting a main body. The main frame 11 is mainly composed of a metal pipe member formed in a U-shape when viewed from above and a plurality of auxiliary pipes connecting portions of the pipe member extending in the front-rear direction on both sides. The base 10 includes a support bracket 12 fixed to the main frame 11. The support bracket 12 supports each caster 15 to 17 and a drive device 20 described later.

[0036] The base 10 has a footrest 13. The footrest 13 is provided on the main frame 11 so that the upper surface thereof is horizontal. The footrest 13 carries the feet of the person being assisted M. The base 10 has a pair of front casters 15, a middle caster 16, and a rear caster 17, each provided in the left-right direction at three different positions in the front-back direction of the main frame 11.

[0037] A pair of front casters 15, a pair of middle casters 16, and a pair of rear casters 17 are fixed to the main frame 11 via the support bracket 12. In the present embodiment, each caster 15-17 has a steering function for changing the direction of movement. Thus, the auxiliary device 1 is configured to be capable of not only moving in the front-rear direction and changing the direction, but also moving laterally (moving toward the front and side) and turning in place (turning on the spot).

[0038] 1-1-2. Driving device 20 and cover member 25

[0039] like Figure 2 As shown, the assist device 1 includes a drive device 20 that drives the support member 30. The drive device 20 includes an arm 21 that connects the base 10 and the support member 30. The drive device 20 drives the arm 21 using an actuator 22 to move the support member 30 in the up-down direction and the front-back direction while tilting. The drive device 20 drives the actuator 22 based on a command from a control device 71 described later.

[0040] The assist device 1 includes a cover member (in this embodiment, the cover member 25 covers the rear, side, and part of the front of the arm 21) that covers at least the rear portion of the arm 21 of the drive device 20. The cover member 25 is manufactured by resin molding or the like.

[0041] 1-1-3. Support member 30 and handle 35

[0042] like Figure 1~Figure 3 As shown, the assisting device 1 includes a supporting member 30. The supporting member 30 supports the upper body of the person being assisted M. The supporting member 30 is supported so as to be rotatable about a horizontal rotation axis relative to the arm 21 of the driving device 20. The supporting member 30 is configured to be movable in the up-down direction relative to the base 10 by the above-described structure, and in the present embodiment, is configured to be movable in the front-back direction.

[0043] The support member 30 includes a trunk support portion 31 and a pair of armpit support portions 32. The trunk support portion 31 is formed into a surface shape close to the trunk shape of the person being assisted M. The trunk support portion 31 is formed of a material that can be flexibly deformed. The support surface of the trunk support portion 31 is in surface contact with the front surface of the trunk in the upper body of the person being assisted M to support the trunk from the front. More specifically, the support surface of the trunk support portion 31 supports the range from the chest Mb to the abdomen of the person being assisted M.

[0044] A pair of armpit support parts 32 are supported on the trunk support part 31 to support the armpits of the person being assisted M. Specifically, the pair of armpit support parts 32 are provided on the left and right sides of the trunk support part 31. The armpit support part 32 is supported on the trunk support part 31 in a swingable manner. The armpit support part 32 is formed into an L shape by a rod-shaped member. The surface of the armpit support part 32 is covered with a flexibly deformable material.

[0045] The assisting device 1 includes a handle 35. The handle 35 is formed in a substantially rectangular frame shape. The handle 35 is formed to extend forward and upward from the rear end of the arm of the driving device 20. The side portions of the handle 35 are gripped by both hands of the assisted person M. In addition, the assisted person grips the side portions and the front portion of the handle 35 in order to move the assisting device 1.

[0046] 1-1-4. Calf support device 40

[0047] like Figure 1 As shown, the assisting device 1 includes a calf supporting device 40. The calf supporting device 40 is provided on the base 10 and is a component against which the knee Mk or calf Mh of the person being assisted in the standing-up action abuts. The calf supporting device 40 is provided to stabilize the standing-up action or sitting-down action of the person being assisted M by regulating the position of the knee Mk or calf Mh of the person being assisted. Figure 4 As shown, the calf supporting device 40 includes a supporting rod 41 , a position adjusting portion 42 and a calf supporting pad 43 .

[0048] The support rod 41 is composed of a metal pipe member 411 formed into an L-shape when viewed from the side, and a plate 412 fixed to the front end of the portion extending upward. The calf support pad 43 is provided on the plate 412. A plurality of pin holes 421 are formed in the portion extending forward in the pipe member 411 at equal intervals in the front-rear direction and penetrating in the up-down direction.

[0049] The position adjustment unit 42 can adjust the position of the calf support pad 43 relative to the base 10 in the front-back direction. In the present embodiment, the position adjustment unit 42 is composed of a plurality of pin holes 421 formed in the pipe member 411, a support pipe 422 provided in the base 10, and a fixing pin 423. The inner diameter of the support pipe 422 is formed to be slightly larger than the outer diameter of the pipe member 411. The support pipe 422 supports the pipe member 411 so that it can slide in the front-back direction. In addition, a pin hole 422A is formed in the support pipe 422 to penetrate in the up-down direction.

[0050] The fixing pin 423 is inserted through the pin hole 422A of the support tube 422 and the pin hole 421 of the support rod 41, thereby restricting the relative movement of the support rod 41 in the front-rear direction with respect to the support tube 422. With such a structure, the position adjusting unit 42 can adjust the front-rear direction position of the calf support pad 43 provided on the support rod 41 in several stages by bringing the fixing pin 423 into a state where the fixing pin 423 is pulled out. In addition, the position adjusting unit 42 positions the calf support pad 43 in the front-rear direction by providing the fixing pin 423.

[0051] The calf support pad 43 is a cushioning member extending in the left-right direction. The calf support pad 43 is covered with a protective cover made of, for example, cloth or leather. The calf support pad 43 supports at least one of the knee Mk and the calf Mh in the calf part Mg of the person being assisted M supported by the support member 30. In the present embodiment, the calf support pad 43 is replaceably mounted on the base 10. Specifically, a calf support pad selected from a plurality of calf support pads 43 having different shapes corresponding to at least one of the physique of the person being assisted M and the required assistance level is mounted on the base 10. Details on the replacement of the calf support pad 43 will be described later.

[0052] Here, as an example, Figure 1~Figure 5 The calf support pad 43 shown supports both the knee Mk and the calf Mh in the calf part Mg. The calf support pad 43 is composed of a knee support part 50 and a calf support part 60. The knee support part 50 supports the knee Mk in the calf part Mg of the person being assisted M supported by the support member 30 from the front. Here, the assisting device 1 used for assisting the standing action has a higher center of gravity as a whole when the person being assisted M is in a standing position, so it is particularly required to improve stability.

[0053] For this purpose, the assisting device 1 of the present embodiment adopts a knee supporting portion 50 that restricts the left-right movement of the knee Mk in the calf Mg of the person being assisted M supported by the supporting member 30 in a standing position. According to such a structure, the left-right movement of the knee Mk of the person being assisted M riding on the assisting device 1 is restricted, and the movement of the center of gravity of the person being assisted M can be suppressed. In particular, by regulating the left-right position of the knee Mk of the person being assisted M in a standing position, the center of gravity of the entire body can be maintained near the center in the left-right direction of the assisting device 1. As a result, the overall balance is improved, and the stability can be improved.

[0054] Specifically, the knee supporting portion 50 includes a main body member 51 and a limiting member 52. The main body member 51 is formed in a planar shape and fixed to the plate 412 of the support rod 41. Both ends of the limiting member 52 in the left-right direction of the main body member 51 are formed as convex strips protruding in the normal direction from the support surface of the main body member 51 in contact with the knee Mk of the assisted person M and extending in the up-down direction. The limiting member 52 contacts the support surface of the main body member 51 when the knee Mk of the assisted person M in contact with or separated from the support surface moves outward in the left-right direction, thereby limiting the movement of the knee Mk.

[0055] The calf supporting portion 60 supports the calf Mh of the calf portion Mg of the person being assisted M supported by the supporting member 30 from the front. Figure 5 As shown, the calf support part 60 is formed integrally with the main body part 51 of the knee support part 50 in this embodiment, and has a support surface that extends the support surface of the main body part 51 downward. As a result, when the person being assisted M is assisted in the standing up action, the sitting action, and the standing posture, the knee Mk or the calf Mh is supported by the calf support pad 43 in addition to the support part 30, so that the load can be dispersed and the load on each part can be reduced. In addition, the posture of the part below the knee Mk can be guided by the calf support part 60, so that it can be guided to a stable posture in the standing up action.

[0056] On the other hand, the calf support part 60 is located below the knee support part 50, so there is a concern about interference with a seat device such as a wheelchair 90. That is, if the support surface of the calf support part 60 that contacts the calf Mh of the person being assisted M is enlarged in the left-right direction, the degree of freedom of the position where the calf Mh contacts becomes higher, but on the other hand, it becomes easy to interfere with other components such as a seat device. Therefore, there is a risk that the assisting device 1 cannot be brought sufficiently close to the seat device or it becomes difficult to approach.

[0057] For this reason, the calf support portion 60 of the assist device 1 in the present embodiment is formed to have a width in the left-right direction smaller than that of the knee support portion 50. Specifically, the width Wh of the calf support portion 60 in the left-right direction is smaller than the width Wk of the knee support portion 50 in the left-right direction (Wh<Wk). In addition, in the present embodiment, the outer edge of the calf support portion 60 in the left-right direction is located closer to the center side than the restriction member 52 of the knee support portion 50. That is, the calf support portion 60 adopts the above-mentioned structure in order to support the calf Mh at the inner side of the restriction member 52, on the premise that the movement of the knee Mk to the outer side in the left-right direction is restricted by the restriction member 52.

[0058] The knee support portion 50 and the calf support portion 60 constituting the calf support pad 43 are respectively formed so that when the assisting device 1 is positioned relative to the person being assisted M sitting on the seat device, they are within a range that does not interfere with the seat device during the assisting standing action. Here, a wheelchair 90 as a seat device has a pair of footrests 92 on which the feet of the person being assisted M can be placed. The pair of footrests 92 are respectively configured to be rotatable around an axis extending in the front-rear direction, and are in a folded state that pops up when not in use (see Figure 6 ).

[0059] Furthermore, when the seat device is a wheelchair 90, the knee support portion 50 is located above the upper ends of the pair of footrests 92 in the folded state. In addition, the width Wh of the calf support portion 60 in the left-right direction is smaller than the width of the pair of footrests 92 in the folded state. Thus, the assist device 1 can prevent interference between the calf support portion 60 and the footrest 92. Figure 2 As shown, the assisting device 1 can be sufficiently close to the person being assisted M sitting in the wheelchair 90, and the person can easily get on and off the assisting device 1, and the stability of the motion assistance can be improved.

[0060] However, in the assisting device 1 that assists the standing action by supporting the upper body with the support member 30, from the viewpoint of increasing leg strength through rehabilitation, it is preferred that the assisted person M maintains the posture to a certain extent by his own leg strength. Furthermore, when the calf Mg is supported on the calf support pad 43 in a standing position, since the posture of the part below the knee Mk is affected, the proper positional relationship of the sole relative to the knee Mk affects the stability of the posture maintenance. In addition, depending on the physical limitations of the assisted person M, the movable range of the ankle is sometimes narrower than usual, and it is desirable to support the calf Mg in consideration of reducing the burden on the assisted person M.

[0061] Therefore, in the calf support pad 43, the angle θg of the portion supporting at least one of the knee Mk and the calf Mh in the calf portion Mg from the front over a predetermined vertical range relative to the horizontal plane is set in the range of 65 to 75 degrees. Figure 2 and Figure 3 As shown, the angle θg of the calf support pad 43 supporting both the knee Mk and the calf Mh is set to about 70 degrees. For example, if the calf support pad 43 is greater than 75 degrees, there is a concern that the distance in the front-back direction from the sole of the foot supporting its own mass to the center of gravity of the body (near the waist) becomes longer. On the other hand, if the calf support pad 43 is less than 65 degrees, the load applied to the support member 30 by the upper body becomes larger, and there is a concern that the ankle needs to be bent more.

[0062] In contrast, by setting the calf support pad 43 within the range of 65 to 75 degrees, the posture can be stabilized when changing from a sitting position to a standing position. In addition, in such a posture change, the range of ankle bending can be within the movable range, thereby reducing the burden on the assisted person M. As a result, leg strength can be increased through rehabilitation.

[0063] 1-1-5. Control device 71 and controller 80

[0064] like Fig.14 As shown, the assist device 1 includes a control device 71. The control device 71 controls the operation of the drive device 20. When the power is turned on by operating the power switch 72, the control device 71 performs a standby process to enable the drive device 20 to operate. When the standby process is performed, the assist device 1 is in a state where it can accept an operation to the controller 80.

[0065] The controller 80 receives the operation of the assisted person M or the assisting person. Fig.14 and Fig.15 As shown in FIG. 1 , the controller 80 is composed of, for example, a standing button 81, a sitting button 82, and a battery remaining meter 83. The standing button 81 is a button for receiving a request for assisting the upward movement of the support member 30, that is, the standing action. The sitting button 82 is a button for receiving a request for assisting the downward movement of the support member 30, that is, the sitting action. The control device 71 controls the action of the drive device 20 according to the operation of the controller 80.

[0066] The battery remaining meter 83 is a display device that displays the remaining amount of the battery that supplies power to the actuator 22 of the drive device 20. The control device 71 periodically detects the remaining amount of the battery when the power is turned on. The battery remaining meter 83 displays the detected remaining amount of the battery in multiple stages. As an example, Fig.15As shown, the battery remaining meter 83 indicates the remaining battery level in four stages. In addition, the battery remaining meter 83 may indicate the battery status by display color or lighting pattern, or may indicate it by a specific numerical value (eg, "80%").

[0067] 1-2. Movement assistance by assisting device 1

[0068] Reference Figure 2 and Figure 3 The assistance of the standing-up action and the sitting-down action by the assisting device 1 will be described. First, the assisting device 1 moves backward to approach the person M who is seated in the wheelchair 90, with the torso supporting portion 31 of the supporting member 30 facing the chest Mb of the person M at an angle. At this time, the footrest 92 of the wheelchair 90 is in a pre-populated state. At this time, the knee supporting portion 50 is located above the upper ends of the pair of footrests 92 in the folded state, avoiding interference with the pair of footrests 92 (see FIG. 1 ). Figure 6 ).

[0069] Here, the width of the footrest 13 in the left-right direction is set to be shorter than the left-right distance between the pair of front wheels 91 of the wheelchair 90. Thus, the rear end of the footrest 13 is configured to be able to pass inside the pair of front wheels 91 of the wheelchair 90 and move backward. Figure 2 As shown, the base 10 is set so that the rear end of the base 10 is located behind the front wheel 91 of the wheelchair 90. Next, the person being assisted M places both feet on the footrest 13 and makes the calf Mg contact the calf support pad 43.

[0070] More specifically, the knee Mk is in contact with the support surface of the main body part 51 of the knee support part 50 and is located on the inner side of the pair of limiting parts 52. In addition, the calf Mh is in contact with the support surface of the calf support part 60. In addition, the assisted person M leans forward by pressing the chest Mb against the trunk support part 31. In addition, the assisted person M extends both hands to the handle 35 side and supports both armpits on the pair of armpit support parts 32. As a result, the assisted person M is in a state where he can sit on the assisting device 1.

[0071] Next, the driving device 20 is driven, and the supporting member 30 moves upward and forward while tilting. Figure 2 The sitting position shown transforms into Figure 3 The assisting device 1 moves and rotates in a state of supporting the assisted person M in a standing position, and assists the sitting action at a position and angle corresponding to the purpose. Since the assistance for the sitting action is the reverse order of the assistance for the standing action, the detailed description is omitted.

[0072] In such a series of movements, the calf support pad 43 has the restriction member 52, so that the knee Mk of the person being assisted M can be prevented from moving outward in the left-right direction of the calf support pad 43. This can suppress the change of the center of gravity position in each posture and in the transition between postures, thereby improving the movement stability.

[0073] In addition, since the calf support pad 43 has the calf support portion 60, the posture of the part below the knee Mk of the person being assisted M can be guided by the calf support portion 60, thereby guiding the person to a stable posture in the standing action and the sitting action. In addition, the width Wh of the calf support portion 60 in the left-right direction is smaller than the width of the pair of footrests 92 in the folded state. Thus, the assisting device 1 can be brought sufficiently close to the wheelchair 90, the assisting device 1 can be easily mounted and dismounted, and the stability of the motion assist can be improved.

[0074] Furthermore, by setting the angle of the support surface of the calf support pad 43 to about 70 degrees relative to the horizontal plane, the standing and sitting movements can be stabilized. In addition, in the change of the posture of the assisted person M in such movements, the range of ankle bending can be within the movable range, thereby reducing the burden on the assisted person M. As a result, leg strength can be increased through rehabilitation.

[0075] 1-3. Replacement structure of the calf support pad 43

[0076] As described above, the angle and shape of the optimal support surface of the calf support pad 43 of the calf support device 40 may differ depending on the physical limitations of the person being assisted M. In particular, in an assistive device with various physiques and required assistance levels, if a plurality of persons being assisted M use the assistive device 1, it is desirable to use an appropriate calf support pad 43.

[0077] To this end, in the present embodiment, the assisting device 1 mounts a calf support pad selected from a plurality of calf support pads 43 having different shapes from each other in accordance with at least one of the physique and the required assistance level of the assisted person M on the base 10. The required assistance level of the assisted person M is determined based on the leg strength of the assisted person M, the movable range of the joints such as the ankle and the knee Mk, and the like as indicators.

[0078] In the present embodiment, the calf support device 40 uses the support rod 41 and the calf support pad 43 as a unit, and adopts a replacement structure using the structure of the position adjustment part 42. That is, the replacement structure can remove the support rod 41 from the support tube 422 in a state where the fixing pin 423 of the position adjustment part 42 is pulled out. The following describes the manner in which the calf support pad 43 can be mounted on the assist device 1.

[0079] like Figure 4 and Figure 5 As shown in the figure, the calf support pad 43A of the first embodiment has a knee support portion 50A and a calf support portion 60A. The knee support portion 50A is composed of a main body member 51A and a pair of restriction members 52A. The calf support portion 60A is formed integrally with the main body member 51A and has the same support surface as the main body member 51. Since the details of the calf support pad 43A have been described, they are omitted.

[0080] like Figure 7 As shown, the calf support pad 43B of the second embodiment has a knee support portion 50B and does not have a calf support portion 60. The calf support pad 43B of the second embodiment is suitable for, for example, the person being assisted M who has a certain degree of leg strength and can maintain a standing posture even without supporting the calf Mh. In addition, a space can be ensured below the knee support portion 50B.

[0081] Here, the leg strength and the movable range of the joints of the left and right legs differ according to the required assistance level of the assisted person M. Therefore, in order to cope with the above situation, the calf support pad 43 is required to have an asymmetric shape. For this purpose, the calf support pad 43C of the third embodiment and the calf support pad 43D of the fourth embodiment are arranged as a pair in the left-right direction of the base 10, and have a left pad portion 45 and a right pad portion 46 whose positions in the front-back direction relative to the base 10 can be independently adjusted.

[0082] like Figure 8 As shown in FIG. 1 , the left side pad portion 45C of the calf support pad 43C of the third embodiment is composed of a main body component 51C and a limiting component 52C divided in the middle of the left-right direction. The right side pad portion 46C is composed of another main body component 51C and another limiting component 52C divided in the middle of the left-right direction. The left side pad portion 45C and the right side pad portion 46C are supported by the support tube 422 and positioned by the fixing pin 423 through their respective support rods 41, and are adjusted to different positions in the front-back direction (see FIG. 1 ). Fig.11 ).

[0083] like Fig. 9 As shown, the left pad portion 45D and the right pad portion 46D of the calf support pad 43D of the fourth embodiment each have a knee support portion 50D, and do not have a calf support portion 60. The calf support pad 43D of the fourth embodiment is suitable for the person being assisted M who has a certain degree of leg strength and can maintain a standing posture even without supporting the calf Mh, as in the second embodiment. In addition, a space can be ensured below the knee support portion 50D.

[0084] In addition, the left pad 45 and the right pad 46 illustrated in the third and fourth embodiments are completely separated and their respective facing surfaces are in contact. In contrast, the left pad 45 and the right pad 46 may be configured such that sliders are provided on their respective facing surfaces to restrict relative movement in the up-down direction and allow relative movement in the front-back direction.

[0085] like Fig.10 As shown in FIG. 1 , the calf support pad 43E of the fifth embodiment has a knee support portion 50E extending in the vertical direction and having two grooves parallel to each other. Specifically, the two grooves are formed by forming a groove bottom 521 and a pair of groove side portions 522 by two restricting members 52E, respectively. The person being assisted M restricts the left-right movement of the knee Mk by bringing the knee Mk into contact with the groove bottom 521, thereby maintaining the posture of the calf Mg.

[0086] As described above, the calf support device 40 can replace the support rod 41 and the calf support pad 43 as a unit. In addition, the calf support device 40 can also be configured such that, for example, the support rod 41 and the position adjustment unit 42 are common components, and the calf support pad 43 is detachable from the plate 412 of the support rod 41 in a replaceable manner.

[0087] 2. Second Implementation

[0088] 2-1. Configuration of the Second Embodiment of the Assisting Device 101

[0089] Reference Fig.12 and Fig.13 The structure of the assisting device 101 of the second embodiment will be described. Here, the assisting device 101 of the second embodiment is different from the assisting device 1 of the first embodiment in that the structures of the arm 21 and the actuator 22 of the driving device 120 are different in order to realize multifunctionality. Fig.12 As shown, the shape of the cover member 125 of the auxiliary device 101 is different.

[0090] Compared with the cover part 25 of the first embodiment, the cover part 125 is enlarged at the rear. Therefore, in order to prevent interference with the cover part 125, the calf support device 140 has a potential problem of limiting the movable range that can be adjusted in the front-to-back direction. In contrast, the auxiliary device 101 of this embodiment adopts a structure that can prevent interference with the cover part 125 and can fully ensure the movable range of the calf support pad 143 that can be adjusted in the front-to-back direction. In addition, the other structures of the auxiliary device 101 are substantially the same as those of the auxiliary device 1 of the first embodiment, and therefore detailed descriptions are omitted.

[0091] The calf support pad 143 (the calf support pad 43F of the fifth embodiment) has at least a knee support portion 150. The knee support portion 150 has a pair of restriction members 152 and a connecting member 153. Fig.13 As shown, the pair of limiting members 152 are each formed in a groove shape that opens rearward in a plan view, and limit the left-right movement of the knee Mk at the groove side portion 522. The connecting member 153 is arranged on the rear side of the cover member 125. The connecting member 153 connects the pair of limiting members 152 in a state where the groove bottoms 521 of the pair of limiting members 152 are respectively arranged on the front side relative to the rear end 251 of the cover member 125.

[0092] According to such a structure, the cover member 125 and the calf support pad 143 can be set to overlap in the front-back direction. As a result, the position in the front-back direction can be adjusted so that the calf support pad 143 moves further forward, so that the adjustable movable range can be fully ensured. In addition, the movement of the knee Mk of the assisted person M in the left-right direction is restricted by the calf support pad 143, and the movement of the center of gravity of the assisted person M can be suppressed. As a result, the position of the knee Mk of the assisted person M in the left-right direction can be determined, and the overall stability can be improved.

[0093] 2-2. About the calf support device 140

[0094] In this embodiment, the calf supporting device 140 is described as having only the knee supporting portion 150. However, the calf supporting device 140 may be further provided with the calf supporting portion 60 for supporting the calf Mh in the calf portion Mg from the front, as in the first embodiment.

[0095] In this structure, the width Wk of the calf supporting portion 60 in the left-right direction is preferably set smaller than the width Wk of the knee supporting portion 50 in the left-right direction. In addition, the outer edge of the calf supporting portion 60 in the left-right direction is preferably located closer to the center side of the base 10 in the left-right direction than the inner surfaces of the two groove side portions 522 located on the left-right outer sides of the knee supporting portion 150. According to such a structure, the calf supporting device 140 can be miniaturized and interference with other equipment such as a seat equipment can be prevented.

[0096] 3. Third Implementation Method

[0097] 3-1. Overview of the assisting device 1

[0098] The support device 1 has a function of notifying the user that the power is turned on when the power is turned on by operating the power switch 72. Specifically, the support device 1 notifies the user that the power is turned on by lighting a lamp built into the power switch 72. In addition, the support device 1 notifies the user that the power is turned on by, for example, displaying the remaining amount of the battery on the battery remaining amount meter 83 of the controller 80.

[0099] In addition, when the power supply is turned on by operating the power switch 72, the auxiliary device 1 performs a standby process to enable the drive device 20 to operate. In this standby process, for example, the remaining amount of the battery is detected, the operating state of the actuator 22, and the operation program is read, and a predetermined time is required from the power supply being turned on. From the viewpoint of ensuring safety, the auxiliary device 1 is controlled so that the corresponding operation is not performed even if the controller 80 is operated before the standby process is completed.

[0100] On the other hand, when the user operates the power switch 72 to turn on the power, if the lamp of the power switch 72 is lit and the battery remaining amount is displayed on the battery remaining amount meter 83 during the execution of the standby process, it is assumed that the controller 80 is recognized as being usable and the operation is performed on the controller 80. However, in reality, the operation corresponding to the above operation is not performed during the execution of the standby process.

[0101] Therefore, although the user presses the button of the controller 80, the support member 30 does not operate, so there is a risk of mistaking the auxiliary device 1 for some abnormality. It is desirable that in the auxiliary device 1, after the power is turned on, the user is informed that the standby process has ended and the state has changed to a state where the operation of the controller 80 can be accepted, and the user is allowed to recognize that the state is in preparation before the display. For this reason, the auxiliary device 1 of this embodiment adopts a structure that displays the transition to the standby state as follows.

[0102] 3-2. Structure of auxiliary device 1

[0103] like Figure 1 and Fig.14 As shown in FIG. 1 , the auxiliary device 1 includes: a base 10, a driving device 20, a supporting member 30, and a display device. After the driving device 20 is powered on, the display driving device 20 changes to a standby state capable of driving the supporting member 30. In this embodiment, as shown in FIG. Fig.15 As shown, the display device is a battery remaining amount meter 83 of the controller 80. The battery remaining amount meter 83 as a display device can display the standby state in various ways.

[0104] In the present embodiment, the battery remaining meter 83 displays the remaining battery level after the standby process is completed and the state is changed to a state where the controller 80 can be operated (i.e., the drive device 20 is in the standby state). At this time, the battery remaining meter 83 may be turned off or flashing during the execution of the standby process, or displayed in a color different from the normal display to indicate that the standby state is not in progress.

[0105] 3-3. Standby processing after power on

[0106] Reference Fig.16 The standby process after the power supply of the support device 1 is turned on is described. The standby process is executed by the control device 71 when the power supply is turned on by operating the power switch 72. First, the power switch 72 lights the built-in lamp, and the user is notified of the power supply being turned on by this operation (S11).

[0107] Next, the control device 71 performs an initialization process (S12). Specifically, as the initialization process, the control device 71 appropriately detects the remaining amount of the battery, the operating state of the actuator 22, reads the operating program, initializes the memory, etc. At this time, even if the control device 71 detects the remaining amount of the battery, it does not display the battery remaining amount meter 83 of the controller 80. The battery remaining amount meter 83 remains off.

[0108] The control device 71 determines whether the initialization process is completed and whether the drive device 20 is switched to the standby state (S13). If the control device 71 has not switched to the standby state (S13: No), the control device 71 continues to repeat the above determination. In addition, in this standby state, even if the standing button 81 of the controller 80 is pressed, the control device 71 does not accept the auxiliary request for the standing action.

[0109] When the drive device 20 is switched to the standby state (S13: Yes), the control device 71 causes the battery remaining meter 83 of the controller 80 to display the remaining amount of the detected battery (S14). Thus, the battery remaining meter 83 displays the remaining amount and notifies the user that the operation by the controller 80 can be accepted. The control device 71 ends the standby process.

[0110] According to the above-mentioned structure, the user first turns on the power switch 72, and the built-in lamp lights up, so that the user can recognize that the power is turned on. In addition, before the standby process is completed, the battery remaining meter 83 is in a state of being extinguished, so the user can recognize that the drive device 20 does not operate even if the controller 80 is operated. In addition, since the battery remaining meter 83 lights up after the standby process is completed, the user can recognize that the standby state in which the drive device 20 operates is changed by operating the controller 80.

[0111] 3-4. Various display device types

[0112] In the present embodiment, the display device is configured as a battery remaining meter 83. In contrast, the auxiliary device 1 may be configured to include, for example, a dedicated display device that displays whether it is in a standby state. In addition, the display device may be provided in a portion of the main body of the auxiliary device 1 other than the controller 80, or may be provided in a portion that can be visually recognized by the user. In addition, the display device may be, for example, a lamp built into the power switch 72, which, for example, flashes when the power is turned on and not in the standby state, lights up when the power is turned on and changes to the standby state, and turns off when the power is turned off.

[0113] Description of Reference Numerals

[0114] 1, 101, auxiliary device; 10, base; 20, 120, driving device; 21, arm; 22, actuator; 25, 125, cover member; 251, rear end (of the cover member); 30, support member; 40, 140, calf support device; 42, position adjustment unit; 43, 43A-43F, 143, calf support pad; 45, 45C, 45D, left pad; 46, 46C, 46D, right pad; 50, 50A-50E, 150, knee support; 51, 51A-51E, main body; 52, 52A-52E, 152. Restriction member; 521. Groove bottom; 522. Groove side; 153. Connecting member; 60, 60A, 60C, calf support; 61. Outer edge; 71. Control device; 72. Power switch; 80. Controller; 83. Battery level meter (display device); 90. Wheelchair (seat device); 91. (a pair of) front wheels; 92. Footrest; M. assisted person; Mb. chest; Mg. calf; Mk. knee; Mh. calf; Wk. (width of knee support); Wh. (width of calf support); θg. (angle of support part).

Claims

1. An auxiliary device comprising: abutment; A support member is provided to be movable in the up-down direction relative to the base, and supports the upper body of the person being assisted; A driving device, driving the supporting member; and The battery remaining amount meter indicates that the driving device has changed to a standby state capable of driving the supporting member and displays the remaining amount of the battery when the power is turned on.

2. An auxiliary device comprising: abutment; A support member is provided to be movable in the up-down direction relative to the base, and supports the upper body of the person being assisted; A driving device, driving the supporting member; A controller, receiving an operation of the assisted person or the assistant; Battery remaining meter, showing the remaining battery capacity; and The control device, when powered on, causes the battery remaining meter to display the battery remaining amount after the driving device is in a state where the driving device can be operated by the operation of the controller.

3. The auxiliary device according to claim 2, wherein: The control device does not accept an operation from a controller before causing the battery remaining amount gauge to display the battery remaining amount.

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