Assistive devices

Abstract

We propose an assistance device that can facilitate smooth transfer and standing movements for users, thereby reducing the burden on users. [Solution] The assistive device 1 is configured such that the first actuator 6 drives the side support arm portion 26 upward via the first link mechanism 4, and the knee contact portion 34 is tilted backward via the first link mechanism 4 and the second link mechanism 5. Furthermore, the amount of tilt R1, r1, r2 of the knee contact portion 34 per unit time is gradually increased as the tilt angle R1 to R3 from the retracted position M increases. With this configuration, as the side support arm portion 26 lifts the user's upper body, the knee contact portion 34 strongly pushes the knee backward, so that the knee can be smoothly extended in accordance with the user's change in posture.

Description

Technical Field

[0001] The present invention relates to an assistance device for assisting a transfer operation from a seated position of a person to be assisted.

Background Art

[0002] When a person to be assisted such as an elderly person or a person with a disability in the lower limbs transfers from a bed to a wheelchair, assistance for this transfer operation is required. For example, in Patent Document 1, an assistance device for assisting the transfer operation of a person to be assisted has been proposed. This assistance device includes an underarm support arm that rotates vertically via a rotating frame that rotates in conjunction with the expansion and contraction operation of an actuator, and a knee support body that varies back and forth in conjunction with the expansion and contraction operation of the actuator. According to such a configuration, with the underarm of the person to be assisted in the seated position supported by the underarm support arm, the upper body of the person to be assisted is lifted upward and made to stand up by the upward rotation of the underarm support arm, and the knee of the person to be assisted can be pushed backward and extended by the backward movement of the knee support body in conjunction with the upward rotation of the underarm support arm, thereby assisting the standing up.

[0003] In addition, a conventional assistance device is provided with, for example, a remote control that can be operated by an assistant, and a configuration in which operation control is performed by operating the remote control is known. Furthermore, in order to reduce the burden on the person to be assisted during movement, an assistance device provided with a seating portion on which the person to be assisted can sit during movement is already known.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] However, the conventional assistance devices described above still had room for improvement. Specifically, there was a need for a configuration that could smoothly change the posture of the person being assisted during transfer and standing-up movements, and that could reduce the burden on the person being assisted during such posture changes.

[0006] Furthermore, as conventional assistive devices become more multi-functional, the number of moving parts increases, and the number of control buttons on the remote control that controls the movement of these moving parts also increases unnecessarily, making button operation complicated and potentially leading to the risk of malfunction. For example, in a configuration where the seating section changes position, there are concerns that when a caregiver intends to raise the side support arms (lift section) to lift and support a seated person, they might accidentally press the button to retract the seating section. Furthermore, in the field where assistance is provided, there has been a demand for simplification of the operation of assistance devices in order to reduce the burden on caregivers.

[0007] The present invention aims to provide an assistance device that can facilitate transfer and standing movements for the person being assisted, thereby reducing the burden on the person being assisted, and an assistance device that can reduce malfunctions. [Means for solving the problem]

[0008] The first aspect of the present invention is a base on which the user's feet rest, a frame erected on the base, side support sections disposed on the frame and connected to support the user's sides, and a first link mechanism that tilts the side support sections upward from a seated support position capable of supporting the user's sides in a seated position, and a knee contact section disposed on the frame and connected to contact the user's lower knees, and the knee contact section is connected to the tilting of the side support sections upward from the seated support position by the first link mechanism. The assistive device is characterized by comprising a second link mechanism that moves to tilt the device backward from a predetermined retracted position, and a driving means disposed on the frame portion that tilts the side support portion via the first link mechanism and tilts the knee contact portion via the second link mechanism, wherein the amount of tilt per unit time of the knee contact portion tilted backward from the retracted position via the second link mechanism by the drive of the driving means gradually increases with increasing tilt angle from the retracted position.

[0009] In this configuration, the upward tilting of the side support allows the user's (person being cared for) upper body, supported by the side support, to stand up from a seated position. Simultaneously, the tilting of the knee contact portion in conjunction with the tilting of the side support portion allows the user's knee to be pushed diagonally backward, assisting in straightening the knee. Here, since the amount of tilting of the knee contact portion gradually increases with increasing tilt angle, the force pushing the user's knee backward by the knee contact portion is small in the initial stages of the user standing up from a seated position, and increases as the user's upper body rises. As a result, the knee can be naturally straightened in accordance with the change in posture as the user's upper body rises from a seated position, allowing the change in posture to be performed smoothly and stably, and significantly reducing the burden on the user during the change in posture.

[0010] In the assistance device of the first invention described above, a configuration is proposed in which one end of a tilting rod is connected to the frame so as to be tiltable in the front-rear direction and the position can be changed between a predetermined storage position and a seating position tilted rearward from the storage position; a pair of left and right seating parts are connected to the tilting rod so as to be convertible between a closed state in which the seating surfaces face each other and an expanded state in which the seating parts are expanded to the left and right from the closed state and are biased to the expanded state; a seating part conversion mechanism disposed on the frame or the base base that changes the position of the tilting rod between the storage position and the seating position, and holds the left and right seating parts in the closed state in the storage position and in the expanded state in the seating position; and a seating part driving means disposed on the frame or the base base that tilts the tilting rod via the seating part conversion mechanism.

[0011] In this configuration, the user can be seated on the seat by repositioning the pair of left and right seating sections to the seating position and deploying them. Specifically, with the user standing up due to the operation of the side support section and the knee rest section, the seating section is repositioned to the seating position and deployed. After this, the side support section is returned to the seating support position and the knee rest section is returned to the retracted position, allowing the user to be seated on the seat. Once the user is seated on the seat, they can be moved in that state to a transfer destination that is a relatively long distance away, and the user can be transferred to that destination. Thus, with this configuration, the user can be moved stably to the transfer destination while seated, and the burden on the user during the movement can be reduced.

[0012] In a configuration that includes such a seating area, "The seating portion conversion means is, A seating link is provided, which is tilted by the seating drive means to change the position of the tilting rod between the storage position and the seating position, with one end connected to the base so as to be tiltable in the front-rear direction, and the other end provided with a sliding support portion that supports the tilting rod so as to be slidable in the longitudinal direction, and between the one end and the sliding support portion, a pair of left and right fitting rods are provided side by side with an interval such that the left and right seating portions can be fitted into them in the closed state, A preferred configuration is one in which, with the tilting rod in the stored position, the left and right seating portions are positioned between the fitting rods of the seating link portion to maintain the closed state, while with the tilting rod in the seating position, the left and right seating portions are positioned outside the fitting rods to achieve the unfolded state.

[0013] In this configuration, the seating link and tilting rod allow the left and right seating sections to be stably changed between a stowed position and a seated position, and the seating sections can be changed between a closed state and an extended state in conjunction with this position change.

[0014] On the other hand, the second aspect of the present invention is an assistance device comprising: a seating section that can be converted between a seating position in which a user can sit and a storage position in which the user cannot sit; a lifting section that can be converted between a seating support position in which the user is in a seated position and an upper limit lifting position in which the user's waist is raised higher than the seated position; and an operating section for performing the conversion of the seating section between the seating position and the storage position, and the conversion of the lifting section between the seating support position and the upper limit lifting position, wherein the operating section comprises a first operating section and a second operating section that can be operated by the user. When the lift section is in the seating support position and the seating section is in the storage position or the seating position, if the first operating unit is started, the lift section is operated to change position from the seating support position toward the upper lifting limit position while the operation continues, and when the lift section is in the upper lifting limit position and the seating section is in the storage position, if the first operating unit is started, the seating section is operated to change position from the storage position toward the seating position while the operation continues, and when the lift section is in the upper lifting limit position and the seating section is in the storage position or The assistive device is characterized in that, when the second operating unit is started while the seated position is in place, the lift unit is operated to change position from the upper lifting position toward the seated support position while the operation continues; when the lift unit is in the seated support position and the seating unit is in the seated position, the first operating unit is started to change position toward the upper lifting position; and when the operation that has been continued since the start of the operation continues even after the position has been changed toward the upper lifting position, the seating unit is operated to change position toward the stored position.

[0015] In this configuration, the user (person being assisted) can be moved while seated on the seat. Furthermore, since a predetermined control unit controls different actions depending on the position of the lift unit or the seat, the series of actions of the lift unit and the seat become a repetition of a single action pattern, resulting in a simple device that reduces malfunctions. [Effects of the Invention]

[0016] According to the assisting device of the first invention, the knees of the user can be naturally extended in accordance with the posture change of raising the upper body of the user, so that the posture change can be performed smoothly and stably. Therefore, the burden on the user during the posture change can be reduced, and the posture change can be performed without causing uneasiness to the user.

[0017] According to the assisting device of the second invention, there is an excellent effect of reducing the operation of the incorrect operation part.

Brief Description of the Drawings

[0018] [Figure 1] It is an overall explanatory view of the assisting device 1 according to Example 1. [Figure 2] It is a side view showing the assisting device 1. [Figure 3] It is an explanatory view showing the process of making the user 101 stand up. [Figure 4] It is an explanatory view following from FIG. 3. [Figure 5] It is an explanatory view showing the operating process of the side support arm part 26 and the knee contact part 34. [Figure 6] It is an explanatory view following from FIG. 5. [Figure 7] It is an explanatory view showing the process of converting the seating part 41 to the seating position and seating the user 101. [Figure 8] It is an explanatory view following from FIG. 7. [Figure 9] It is an explanatory view showing the process of converting the position of the seating part 41 from the storage position G to the seating position H. [Figure 10] It is an explanatory view following from FIG. 9. [Figure 11] (A) It is an explanatory view showing the seating part 41 in the storage position G and (B) the seating part 41 in the seating position H. [Figure 12] It is an explanatory view showing the operation of the assisting device 1 by the operation of the remote controller 50 according to Example 2. [Figure 13] It is an explanatory view showing the operation of the assisting device 1 by the operation of the remote controller 50. [Figure 14]This is an explanatory diagram showing the operation of the assistance device 1 via the remote control 50. [Figure 15] This is an explanatory diagram showing the operation of the assistance device 1 via the remote control 50. [Figure 16] This is an explanatory diagram showing the operation of the assistance device 1 via the remote control 50. [Figure 17] This is an explanatory diagram showing the operation of the assistance device 1 via the remote control 50. [Modes for carrying out the invention]

[0019] The assistance device 1 according to the present invention will be described in detail in the following examples 1 and 2. [Examples]

[0020] The assistance device 1 of Embodiment 1 is for assisting the transfer and standing movements of a user (person being assisted) 101. As shown in Figures 1 and 2, it comprises a base platform 2 on which the user's feet rest, a frame portion 3 erected on the base platform 2, a first link mechanism 4 to which a pair of left and right side support arm portions 26 are connected, a second link mechanism 5 to which a pair of left and right knee contact portions 34 are connected, a first actuator 6 that operates the first link mechanism 4 and the second link mechanism 5, a third link mechanism 7 to which a pair of left and right seating portions 41 are connected, and a second actuator 8 that operates the third link mechanism 7. In this embodiment, the front-to-back, left-to-right, and up-and-down directions are defined with respect to the user 101 being assisted by the assistance device 1, and the following description will be based on these directions.

[0021] The base platform 2 is a flat plate sized to allow both feet of the user 101 to rest on it (see Figure 3) and is capable of supporting the user's weight. Rear wheels 11 are rotatably mounted on both the left and right sides of the rear end of the base platform 2. The frame platform 3 is erected on the front of the base platform 2. The frame platform 3 comprises left and right frame rods 12, 12 (see Figure 11) erected on the base platform 2 at a distance from each other in the left-right direction, and a U-shaped support rod 13 positioned in front of the frame rods 12, 12. Front wheels 14 are rotatably mounted on the left and right lower ends of the support rod 13. Here, the frame rods 12 and the support rods 13 are formed from metal pipes, and the support rods 13 are fixedly attached to the frame rods 12 to form a single unit. The frame rod portion 12 has a roughly L-shape, composed of an upright portion (not shown) that runs along the vertical direction and an extended portion (not shown) that is bent backward from the upright portion and extends diagonally upward. Connecting rods (not shown) are inserted between these left and right extended portions, and the left and right frame rod portions 12 are connected by these connecting rods.

[0022] Furthermore, the first actuator 6 is attached to the left-right center of the upper part of the support rod 13. One end of the first actuator 6 is rotatably connected to the upper part of the support rod 13 via a left-right rotation axis (not shown), and the other end is rotatably connected to the first link mechanism 4 (actuating rod 23, described later) via a left-right rotation axis (not shown). Here, the first actuator 6 in this embodiment is an electrically operated actuator that extends and retracts in the longitudinal direction, and a generally known configuration can be applied. The first actuator 6 has a defined upper limit position where it is most extended (Figures 3(A) and 5(A)) and a lower limit position where it is most shortened (Figures 4(B) and 6(B)), and it is driven to extend and retract at a constant speed between the upper limit position and the lower limit position, and can be stopped at any position in between. The assistance device 1 is also equipped with a first remote control 15 (Figure 2) for driving the extension and retraction of the first actuator 6 and a battery (not shown) for supplying power to the first actuator 6. The first remote control 15 includes a down button 16 for extending the first actuator 6 and an up button 17 for retracting the first actuator 6, and the first actuator 6 is controlled to operate continuously as long as the down button 16 or the up button 17 is continuously operated.

[0023] The first link mechanism 4 is connected to this frame section 3. As shown in Figures 5 and 6, the first link mechanism 4 comprises a link rod section 21 whose lower end is rotatably connected to the frame section 3 via a left-right rotation axis (not shown), an arm support section 22 rotatably connected to the upper end of the link rod section 21 via a left-right rotation axis (not shown), and an operating rod section 23 connected to the front of the arm support section 22 and the upper end of the frame rod section 12. Here, the link rod section 21 and the operating rod section 23 are formed from metal pipes, and the arm support section 22 is formed by joining a plurality of metal pipes, with the side support arm section 26 attached to an extended rod section (not shown) that extends to the rear. This side support arm section 26 is constructed by winding a rectangular plate-shaped cushioning material around the extended rod section.

[0024] The link rod portion 21 has a substantially L-shape, composed of a main portion (not shown) in the vertical direction and an extension portion (not shown) that is bent rearward from the main portion and extends diagonally upward. The operating rod portion 23 has one end that is rotatably connected to the frame rod portion 12 (connecting rod portion) via a left-right rotation axis (not shown), and the other end that is rotatably connected to the front part of the arm support portion 22 via a left-right rotation axis (not shown). The other end of the first actuator 6 is rotatably connected to the central part of the operating rod portion 23 via a left-right rotation axis (not shown). The arm support portion 22 has a portion located between the front part connected to the operating rod portion 23 and the extension rod portion to which the side support arm portion 26 is attached that is rotatably connected to the upper end of the link rod portion 21 as described above.

[0025] This first link mechanism 4 allows the side support arm 26 to tilt vertically in conjunction with the extension and retraction of the first actuator 6. The details of this will be described later.

[0026] As shown in Figures 5 and 6, the aforementioned second link mechanism 5 operates via the first link mechanism 4 and comprises a U-shaped tilting rod 31 whose upper end is connected to the frame rod 12, and an operating rod 32 connected to the tilting rod 31 and the link rod 21. Here, the tilting rod 31 is made of a metal pipe, and its upper end is rotatably connected to the frame rod 12 (connecting rod) via a left-right rotation axis (not shown). Knee rests 34 are arranged on the tilting rod 31 at intervals in the left-right direction. Here, the knee rests 34 are made of a substantially three-dimensional cushioning material, and the distance between the left and right knee rests 34 is set so that the seating link 36 (and the seating portion 41 in the closed state), which will be described later, can be inserted through them. Furthermore, one end of the operating rod 32 is rotatably connected to the upper end of the tilting rod 31 via a left-right rotation axis (not shown), and the other end is rotatably connected to the upper part of the main body of the link rod 21 via a left-right rotation axis (not shown).

[0027] This second link mechanism 5 (and the first link mechanism 4) allows the knee contact portion 34 to tilt in the front-rear direction as the first actuator 6 extends and retracts. The details of this will be described later.

[0028] The third link mechanism 7 is connected to the base 2 and the frame 3. As shown in Figures 9 to 11, the third link mechanism 7 comprises a seating link portion 36 whose lower end is connected to the base 2, and a substantially L-shaped tilting rod portion 37 whose upper end is connected to the frame rod portion 12. The tilting rod portion 37 is made of a metal pipe, and its upper end is rotatably connected to the frame rod portion 12 (connecting rod portion) via a pivot shaft (not shown), and a pair of left and right seating portions 41, 41 are attached to its lower part. The left and right seating portions 41, 41 are formed in a substantially flat shape and are provided to be convertible between a closed state in which the respective seating surfaces 42, 42 face each other (Figures 9 and 11(A)) and an expanded state in which they are extended to both the left and right sides so that both seating surfaces 42, 42 are substantially flush in the left-right direction (Figures 10 and 11(B)). The left and right seating portions 41, 41 are biased to the extended state by biasing means (such as leaf springs or coil springs), which are not shown.

[0029] The seating link portion 36 consists of a pair of left and right insertion rod portions 38, 38 formed from roughly L-shaped metal pipes, arranged side by side at a distance from each other in the left-right direction. The lower and upper ends of the left and right insertion rod portions 38, 38 are connected to each other and provided integrally. Here, the left and right insertion rod portions 38, 38 are arranged side by side at a distance that allows the closed seating portions 41, 41 to be inserted in the front-rear direction. The lower end of the seating link portion 36 is rotatably connected to the base 2 via a left-right rotation axis (not shown), and a sliding support portion 39 is provided at the upper end of the seating link portion 36 to support the tilting rod portion 37 so that it can slide in the longitudinal direction. This sliding support portion 39 is rotatably provided with a reel that has a curved groove around it, and the groove of the reel supports the tilting rod portion 37 so that it can slide in the longitudinal direction.

[0030] Furthermore, one end of the second actuator 8 is connected to the center of the lower end of the seating link portion 36 in the left-right direction. The second actuator 8 in this embodiment is an electric actuator that extends and retracts in the longitudinal direction, similar to the first actuator 6 described above. One end of the second actuator 8 is rotatably connected to the lower end of the seating link portion 36 via a left-right rotation axis (not shown), and the other end is rotatably connected to the lower end of the frame rod portion 12 via a left-right rotation axis (not shown). Similar to the first actuator 6 described above, the second actuator 8 also has a defined upper limit position (Figure 10(B)) and a lower limit position (Figure 9(A)), and it is driven to extend and retract at a constant speed between these upper and lower limit positions, and can be stopped at any position in between. The assistance device 1 also includes a second remote control 18 (Figure 2) for driving the extension and retraction of the second actuator 8, and a battery (not shown) for supplying power to the second actuator 8. The second remote control 18 includes an upward button 19 for extending the second actuator 8 and a downward button 20 for retracting the second actuator 8. The second actuator 8 is controlled to operate continuously as long as either the upward button 19 or the downward button 20 is continuously operated.

[0031] This third link mechanism 7 allows the seating sections 41, 41 to be converted between the retracted and extended positions G and the seated position H, as described later, as the second actuator 8 extends and retracts. The details of this will be described later.

[0032] Next, the operation of the aforementioned side support arm portion 26 and knee contact portion 34 will be described. For example, when transferring a user 101 from a seat 102 where the user 101 is seated to a wheelchair or toilet, the assist device 1 is moved to a position where the user 101 can use it while seated, as shown in Figure 3(A). The seated user 101 then places both feet on the base 2 of the assist device 1 and holds the left and right side support arms 26 of the assist device 1 under their arms.

[0033] In the normal state, the assist device 1 has the first actuator 6 in the upper limit position, and as shown in Figures 3(A) and 5(A), the side support arm portion 26 is in the seating support position and the knee contact portion 34 is in the retracted position. In this embodiment, as shown in Figure 5(A), the seating support position T is the position where the side support arm portion 26 is slightly tilted backward in a side view, and the retracted position M is the position where the knee contact portion 34 is approximately hanging down in a side view.

[0034] When the upward button 17 of the first remote control 15 is operated, the first actuator 6 is driven to retract, and as shown in Figures 3(B) and 5(B), the first link mechanism 4 is activated, causing the side support arm portion 26 to tilt upward from the seating support position T, and the second link mechanism 5 is activated via the first link mechanism 4, causing the knee contact portion 34 to tilt backward from the retracted position M. More specifically, in the first link mechanism 4, the retraction drive of the first actuator 6 causes the operating rod portion 23 to tilt forward relative to the frame rod portion 12, and consequently the arm support portion 22 and the link rod portion 21 tilt forward in conjunction. As a result, the side support arm portion 26 of the arm support portion 22 tilts upward. In the second link mechanism 5, the retraction drive of the first actuator 6 causes the link rod portion 21 to tilt forward, and the tilting rod portion 31 tilts backward via the operating rod portion 32. As a result, the knee contact portion 34 of the tilting rod portion 31 tilts backward.

[0035] This contraction drive of the first actuator 6 causes the side support arm portion 26 to tilt, lifting the upper body of the user 101 upward in a forward-leaning posture, and separating the user 101's waist upward from the seat portion 102. Here, Figures 3(B) and 5(A) show the state in which the first actuator 6 has been driven to contract by 1 / 3 of the drive distance from the upper limit position to the lower limit position. This contraction drive causes the side support arm portion 26 to tilt upward from the seating support position T at an angle S1, and the knee contact portion 34 to tilt backward from the retracted position M at an angle R1. The tilt angle S1 of the side support arm portion 26 is greater than the tilt angle R1 of the knee contact portion 34 because, when the first actuator 6 is driven, the arm support portion 22 (side support arm portion 26) tilts via the operating rod portion 23, while the tilting rod portion 31 (knee contact portion 34) tilts via the interlocking of the operating rod portion 23, the arm support portion 22, the link rod portion 21, and the operating rod portion 32.

[0036] By continuing to retract the first actuator 6 (continuing to operate the rise button 17 of the first remote control 15), as shown in Figure 4(A), the side support arm portion 26 tilts further via the operation of the first link mechanism 4, and the knee contact portion 34 tilts further via the operation of the second link mechanism 5. This tilting of the side support arm portion 26 lifts the upper body of the user 101 further upward in a forward-leaning posture, raising the user 101's waist position, and the tilting of the knee contact portion 34 pushes the lower part of the user 101's knee diagonally backward, assisting in straightening the knee. Here, Figures 4(A) and 6(A) show the state in which the first actuator 6 has been contracted by 2 / 3 of its driving distance (1 / 3 of the driving distance from Figures 3(B) and 5(B)). This contraction drive causes the side support arm portion 26 to tilt upward from the seating support position T at an angle S2, and the knee contact portion 34 to tilt backward from the retracted position M at an angle R2.

[0037] Furthermore, the amount of tilt of the side support arm portion 26 from tilt angle S1 to tilt angle S2 (angle difference between S1 and S2) s1 is greater than the tilt angle (= amount of tilt) S1 from the seated support position T. Also, the amount of tilt of the knee contact portion 34 from tilt angle R1 to tilt angle R2 (angle difference between R1 and R2) r1 is greater than the tilt angle (= amount of tilt) R1 from the retracted position M.

[0038] By continuing to contract the first actuator 6, as shown in Figure 4(B), the side support arm portion 26 tilts further via the operation of the first link mechanism 4, and the knee contact portion 34 tilts further via the operation of the second link mechanism 5. This tilting of the side support arm portion 26 causes the upper body of the user 101 to lean further forward, and the tilting of the knee contact portion 34 causes the knee contact portion 34 to press the lower part of the user 101's knee diagonally backward, extending the knee. As a result, the user 101's waist position can be raised even more easily.

[0039] Here, Figures 4(B) and 6(B) show the first actuator 6 contracted to the lower limit position. The contraction drive to this lower limit position (a drive that contracts the drive distance by 1 / 3 from Figures 4(A) and 6(A)) causes the side support arm portion 26 to tilt upward from the seating support position T at an angle S3, and the knee contact portion 34 to tilt backward from the retracted position M at an angle R3. The position of the side support arm portion 26 at the lower limit position of the first actuator 6 will be referred to as the upper limit position W below, and the position of the knee contact portion 34 at this lower limit position will be referred to as the rearward tilt limit position N below.

[0040] Furthermore, the amount of tilt of the side support arm portion 26 from tilt angle S2 to tilt angle S3 (angle difference between S2 and S3) s2 is larger than the amount of tilt from tilt angle S1 to tilt angle S2 (angle difference between S2 and S1) s1. Also, the amount of tilt of the knee contact portion 34 from tilt angle R2 to tilt angle R3 (angle difference between R2 and R3) r2 is larger than the amount of tilt from tilt angle R1 to tilt angle R2 (angle difference between R1 and R2) r1.

[0041] As the driving distance (amount of drive in the extension / retraction direction) of the first actuator 6 is increased at regular intervals from the upper limit position, the tilt angles S1 to S3 of the side support arm portion 26 at each interval gradually increase, and the tilt angles R1 to R3 of the knee contact portion 34 at each interval also gradually increase. In other words, in this embodiment in which the first actuator 6 is driven to extend and retract at a constant speed, the amount of tilt S1, s1, s2 of the side support arm portion 26 per unit time gradually increases as the amount of drive from the upper limit position of the first actuator 6 (tilt angles S1 to S3 of the side support arm portion 26 from the seated support position T) increases. Similarly, the amount of tilt R1, r1, r2 of the knee contact portion 34 per unit time gradually increases as the amount of drive from the upper limit position of the first actuator 6 (tilt angles R1 to R3 of the knee contact portion 34 from the retracted position M) increases.

[0042] As described above, the assistance device 1 retracts the first actuator 6 from the upper limit position to the lower limit position, thereby lifting the user 101's upper body upward while tilting it forward from a seated position, and also assisting in straightening the user 101's knees. As a result, the user 101 can easily and stably stand up from a seated position.

[0043] When transferring user 101 to a nearby wheelchair or toilet with their upper body lifted in this manner, the assist device 1 is moved to the transfer destination. Then, the lowering button 16 on the first remote control 15 is operated to extend the first actuator 6, causing the side support arm 26 to tilt downward and the knee contact part 34 to tilt forward, allowing user 101 to be seated in the wheelchair or toilet at the transfer destination.

[0044] On the other hand, when transferring a passenger over a relatively long distance, the second actuator 8 is extended to change the position of the left and right seating sections 41, 41 from the stored position G to the seating position H, and then the first actuator 6 is extended to seat the user 101 on the seating sections 41, 41 (see Figures 7 and 8). The operation of these left and right seating sections 41, 41 will be explained below.

[0045] Under normal conditions, the second actuator 8 is in the lower limit position, and as shown in Figures 2 and 9(A), the left and right seating portions 41, 41 are in the closed position G. Here, the left and right seating portions 41, 41 are inserted between the fitting rods 38, 38 of the seating link portion 36 and are held in the closed position by the left and right fitting rods 38, 38 (see Figure 11(A)).

[0046] As described above, with the first actuator 6 held in the lower limit position (Figure 4(B)), when the up button 19 of the second remote control 18 is operated, the second actuator 8 is driven to extend from the lower limit position. As shown in Figures 7(A) and 9(B), the seating link portion 36 tilts backward, and the sliding support portion 39 of the seating link portion 36 pushes the tilting rod portion 37 backward, causing it to tilt. At this time, the seating portions 41, 41 move between the fitted rod portions 38, 38 of the tilting rod portion 37, so that the seating portions 41, 41 are kept in a closed state.

[0047] By continuing to extend the second actuator 8 (continuing to operate the up button 19 of the second remote control 18), the seating link portion 36 tilts further backward, as shown in Figure 9(C), and the tilting rod portion 37 tilts backward. Here, the left and right seating portions 41, 41 are kept in the closed state as long as they are located between the fitted rod portions 38, 38 of the seating link portion 36, but when they move out from between the fitted rod portions 38, 38, they unfold in the left and right directions and are converted to the unfolded state (see Figure 10).

[0048] By continuing to extend the second actuator 8, as shown in Figure 10(A), the seating link portion 36 tilts further rearward, and the tilting rod portion 37 tilts upward above the seating link portion 36. As a result, the seating portions 41, 41 are extended.

[0049] When the second actuator 8 is further extended to the upper limit position, the seated portions 41, 41 in the extended state become the seated position H, as shown in Figures 7(B) and 10(B). This seated position H is the position in which the seated surfaces 42, 42 of the seated portions 41, 41 in the extended state are positioned to be approximately horizontal (see Figure 11(B)).

[0050] By extending the second actuator 8 from the lower limit position to the upper limit position, the seating portions 41, 41, which are closed in the storage position G, are tilted rearward from the storage position G, converted to an unfolded state, and converted to the seating position H. Here, the third link mechanism 7 of this embodiment, as described above, comprises a seating link portion 36 having a substantially L-shaped tilting rod portion 37 and a sliding support portion 39 that slides along its longitudinal direction. By tilting the seating link portion 36 rearward, the tilting rod portion is tilted via the sliding of the sliding support portion 39. As a result, as the seating link portion 36 tilts rearward, the tilting rod portion 37 tilts upward above the seating link portion 36, as shown in Figure 10(A), and then, as shown in Figure 10(B), the tilting rod portion 37 tilts downward to reach the seating position H. This third link mechanism 7 allows the seating portions 41, 41 to be ejected from between the fitted rod portions 38, 38 of the seating link portion 36 and deployed, and then the seating surfaces 42, 42 to be repositioned to a seating position H that is approximately horizontal.

[0051] As described above, after deploying the left and right seating sections 41, 41 to the seating position H, the first actuator 6 is driven to extend from the lower limit position to the upper limit position, as shown in Figure 8, thereby tilting the side support arm section 26 to the seating support position T and tilting the knee contact section 34 to the retracted position M. This allows the user 101, who has stood up from the seat section 102, to be seated on the deployed seating sections 41, 41. With the user 101 seated on the seating sections 41, 41, the assistance device 1 can be moved, and the user 101 can be moved to the transfer destination.

[0052] Furthermore, at the transfer destination, as described above, the first actuator 6 is retracted to allow the user 101 to stand up, and then the second actuator 8 is retracted (by operating the lowering button 20 on the second remote control 18) to return the seating sections 41, 41 to the storage position G. Then, by extending the first actuator 6, the user 101 can be transferred.

[0053] As described above, the assistance device 1 of this embodiment 1 tilts the side support arm portion 26 upward via the first link mechanism 4 by the contraction drive of the first actuator 6, and tilts the knee contact portion 34 backward via the first link mechanism 4 and the second link mechanism 5. Furthermore, the first link mechanism 4 and the second link mechanism 5 are configured to gradually increase the amount of tilt R1, r1, r2 of the knee contact portion 34 as the tilt angle of the knee contact portion 34 increases from the retracted position M. According to the configuration of this embodiment, as the upper body of the user 101 is lifted by the side support arm portion 26, the force pushing backward by the knee contact portion 34 gradually increases, allowing the knee to be extended naturally, and enabling the user 101 to stand up smoothly and stably. In particular, in this embodiment, the amount of tilt S1, s1, s2 of the side support arm 26 is gradually increased as the upward tilt angle of the side support arm 26 increases. As a result, the knee contact portion 34 can extend the user's 101's knee more smoothly in accordance with the change in posture caused by the side support arm 26.

[0054] Furthermore, in this embodiment 1, the extension and retraction drive of the second actuator 8 causes the seating sections 41, 41 to be moved between a stored position G and a seating position H via the third link mechanism 7, and this position change also causes a change between a closed state and an extended state. With this configuration, as described above, with the user 101 standing up by the contraction drive of the first actuator 6, the second actuator 8 is extended to set the seating sections 41, 41 to the seating position H, and then the first actuator 6 is extended to allow the user 101 to be seated on the seating sections 41, 41. Since the user 101 can be moved to the desired transfer destination while seated on the seating sections 41, 41, the user 101 can be moved stably to the transfer destination, and the burden on the user 101 during the move can be reduced. Furthermore, this configuration has the advantage that, since the seating sections 41, 41 are closed in the stored position G and positioned between the left and right knee rest sections 34, they do not interfere with the change in posture of the user 101 when the extension and retraction drive of the first actuator 6 is used to change the posture of the user.

[0055] Furthermore, in this embodiment 1, the function of gradually increasing the tilt amount between the side support arm portion 26 and the knee contact portion 34 is realized by the operation of the first link mechanism 4 and the second link mechanism 5. Therefore, complex control of the drive source (first actuator 6) is not required, and this can be done by turning the drive source ON / OFF. As the control function can be made relatively simple in this way, the tilting of the side support arm portion 26 and the knee contact portion 34 can be performed stably over a relatively long period of time, and the burden of maintenance (time, cost, etc.) can be reduced.

[0056] Furthermore, in the aforementioned Embodiment 1, the side support arm portion 26 corresponds to the side support portion according to the present invention. Also, the first link mechanism 4 and the second link mechanism 5 of this embodiment constitute the second link mechanism according to the present invention. The first actuator 6 corresponds to the driving means according to the present invention. The seating link portion 36 and the sliding support portion 39 correspond to the seating portion conversion means according to the present invention, and the second actuator 8 corresponds to the seating portion driving means according to the present invention. [Examples]

[0057] The assistance device 1 of Embodiment 2 includes a remote control 50 for operating the first actuator 6 and the second actuator 8, and a drive control means (not shown) for driving and controlling the first actuator 6 and the second actuator 8 according to the operation of the remote control 50. The configuration of Embodiment 2 is the same as that of Embodiment 1 described above, except for the remote control 50 and the drive control means, so the same reference numerals are used for the same components and their descriptions are omitted.

[0058] The remote control 50 of this embodiment 2 is usable by a caregiver assisting the movement of a user (person being cared for) 101, and as shown in Figure 12(A), it is equipped with a first button 51 as a first operation unit and a second button 52 as a second operation unit, and is configured to move the required parts electrically. Furthermore, the remote control 50 is equipped with an indicator lamp 55 as a seating unit status indicator means for indicating the status of the seating unit 41.

[0059] The aforementioned drive control means (not shown) has a control function that switches and controls the first actuator 6 and the second actuator 8, which are driven by the operation of the remote control 50, according to predetermined conditions. In this embodiment, the predetermined conditions of this drive control means are set to prioritize the driving of the first actuator 6, and to switch the driving of the first actuator 6 and the second actuator 8 according to the respective positions of the side support arm portion 26 and the seat portion 41. The procedure for moving a person to a bed, wheelchair, toilet, etc. using the assistance device 1 driven by this drive control means and the remote control 50 will be explained with reference to Figures 12 to 16 and 17.

[0060] First, as shown in Figure 12, the assistive device 1 is placed adjacent to the seat portion (side portion of a bed, etc.) 102 on which the user 101 is seated, and the side support arms 26 of the assistive device 1 support both sides of the user 101. At this time, the seat portion 41 is in the storage position G, and the side support arms 26 are in the seated support position T. Also, the notification lamp 55 is turned off.

[0061] In this state, when the operation of pressing the first button 51 on the remote control 50 is initiated, the required electrical control content for the first actuator 6 is activated ON, and the side support arm 26 begins to tilt upward from the seating support position T. As long as the operation of the first button 51 is continued, the first actuator 6 remains in the ON state, and the side support arm 26 continuously tilts toward the upper lifting limit position W. When the side support arm 26 reaches the upper lifting limit position W, the electrical control content for the first actuator 6 is turned OFF. As the side support arm 26 is thus repositioned to the upper lifting limit position W, the user 101 is transferred from the bed or the like to the assistance device 1. Furthermore, by operating the first button 51, the knee contact portion 34 is repositioned from the retracted position M to the backward tilt limit position N in accordance with the drive of the first actuator 6. Meanwhile, the seating portion 41 is maintained in the stored position G.

[0062] Next, as shown in Figure 13, when the user 101 moves away from the bed or the like and there are no obstacles behind the user 101, and the operation of pressing the first button 51 of the remote control 50 again is initiated, the target of drive control by the drive control means switches to the second actuator 8, and the necessary electrical control content for the second actuator 8 is turned ON. Here, the drive control means switches the target of drive control to the second actuator 8 because, when the first button 51 is started to be operated, the side support arm portion 26 is at the upper lifting limit position W and the seat portion 41 is at the stored position G.

[0063] When the first button 51 is pressed, the seat 41 begins to tilt backward from the stowed position G. As long as the first button 51 is pressed, the second actuator 8 remains in the ON state, and the seat 41 continuously tilts toward the seated position H. When the seat 41 reaches the seated position H, the notification lamp 55 lights up, and the electrical control to the second actuator 8 is turned OFF. In this way, the seat 41 is repositioned from the stowed position G to the seated position H.

[0064] Furthermore, if there is an obstacle behind the user 101, it is also possible to configure the system so that a warning sound is emitted from the remote control 50 or the like without the seat 41 changing position from its storage position G.

[0065] Next, when the side support arm portion 26 is at the upper lifting limit position W and the seat portion 41 is at the seating position H, as shown in Figure 14, when the operation of pressing the second button 52 of the remote control 50 is initiated, the target of drive control by the drive control means switches to the first actuator 6, and the necessary electrical control content for the first actuator 6 is turned ON. Here, the drive control means switches the target of drive control to the first actuator 6 when the second button 52 is started to be operated because the side support arm portion 26 is at the upper lifting limit position W and the seat portion 41 is at the seating position H.

[0066] When the second button 52 is pressed, the side support arm 26 begins to tilt from the upper limit lifting position W towards the seating support position T. As long as the second button 52 is pressed, the first actuator 6 remains in the ON state, and the side support arm 26 tilts continuously toward the seating support position T. When the side support arm 26 reaches the seating support position T, the electrical control to the first actuator 6 is turned OFF. As the side support arm 26 is repositioned to the seating support position T, the user 101 can sit on the seat 41. Furthermore, when the second button 52 is pressed, the knee contact portion 34 is repositioned from the backward tilt limit position N to the retracted position M in accordance with the drive of the first actuator 6.

[0067] As shown in Figure 15(A), the assistance device 1 can transport a user to a predetermined location by moving it when the side support arm portion 26 is in the seating support position T and the seat portion 41 is in the seating position H, and the user 101 is seated on the seat portion 41. After this movement, when the operation of pressing the first button 51 of the remote control 50 is initiated, the drive control means sets the first actuator 6 as the target of drive control, and the necessary electrical control content for the first actuator 6 is turned ON. Here, the drive control means sets the first actuator 6 as the target of drive control when the first button 51 is pressed because the side support arm portion 26 is in the seating support position T and the seat portion 41 is in the seating position H.

[0068] As shown in Figure 15, when the first button 51 is pressed, the side support arm 26 tilts continuously toward the upper lifting position W while the operation continues. After the side support arm 26 has moved to the upper lifting position W, if the operation of the first button 51 continues, the drive control means switches the drive control target to the second actuator 8 because the side support arm 26 is at the upper lifting position W and the seating section 41 is at the seating position H. As a result, the electrical control to the first actuator 6 is turned OFF and the electrical control to the second actuator 8 is turned ON, so that the side support arm 26 remains held at the upper lifting position W and the seating section 41 tilts continuously from the seating position H toward the storage position G. When the seating section 41 reaches the storage position G, the notification lamp 55 turns off and the electrical control to the second actuator 8 is turned OFF. Thus, in this embodiment 2, in order to change the position of the seating portion 41 to the storage position G, it is necessary to raise the side support arm portion 26 to the upper limit position W by operating the first button 51, and then continue operating the first button 51. In other words, in embodiment 2, it is not possible to tilt the seating portion 41 to the storage position G by operating the second button 52.

[0069] Furthermore, when the operation of the first button 51 is released after the side support arm 26 reaches the upper lifting limit position W due to the operation of the first button 51, the aforementioned switching of the drive control target does not occur, and the seating section 41 is held in the seating position H.

[0070] Furthermore, as shown in Figure 16(A), the assistive device 1, with the seating portion 41 in the retracted position G and the side support arm portion 26 in the upper lifting position W, is moved to a position where there is a bed or the like behind the user 101, while the side support arm portion 26 continues to support the user 101. After this movement, when the operation of pressing the second button 52 of the remote control 50 is initiated, the target of drive control by the drive control means switches to the first actuator 6, and the necessary electrical control content for the first actuator 6 is turned ON. Here, the drive control means switches the target of drive control to the first actuator 6 when the second button 52 is pressed because the side support arm portion 26 is in the upper lifting position W and the seating portion 41 is in the retracted position G.

[0071] As shown in Figure 16, when the operation of the second button 52 is initiated, the side support arm 26 continuously tilts toward the seating support position T while the operation is continued, and when the seating support position T is reached, the electrical control to the first actuator 6 is turned OFF. This completes the movement of the user 101.

[0072] Furthermore, if there is no object such as a bed behind the user 101 that can be seated, the side support arm 26 may be configured to emit a warning sound from the remote control 50 or the like without changing position from the upper lifting limit position W.

[0073] Furthermore, as shown in Figure 12(A), when the seating portion 41 is in the storage position G and the side support arm portion 26 is in the seating support position T, the first button 51 is started to be operated. If the operation of the first button 51 is released before the side support arm portion 26 reaches the upper lifting limit position W (between the seating support position T and the upper lifting limit position W), the side support arm portion 26 stops. In this state, since the drive control means has the first actuator 6 as the drive control target, when the first button 51 is operated again, the side support arm portion 26 tilts toward the upper lifting limit position W. On the other hand, when the second button 52 is operated, the side support arm portion 26 tilts toward the seating support position T.

[0074] Furthermore, as shown in Figure 13, if the operation of the first button 51 is released while the seating section 41 is tilting from the storage position G to the seating position H, the seating section 41 stops. In this state, since the drive control means has set the second actuator 8 as the drive control target, the operation of the first button 51 causes the seating section 41 to tilt toward the seating position H.

[0075] Furthermore, as shown in Figure 14, if the operation of the second button 52 is released while the side support arm 26 is tilting from the upper lifting position W to the seating support position T, the side support arm 26 will stop. In this state, since the drive control means has the first actuator 6 as the drive control target, the side support arm 26 will tilt when the first button 51 or the second button 52 is operated.

[0076] In this embodiment 2, if the operation of the first and second buttons 51 and 52 is released while the side support arm portion 26 is tilting, the drive control target at the time of release (first actuator 6) is activated, and the side support arm portion 26 tilts when the first and second buttons 51 and 52 are operated again. On the other hand, if the operation of the first button 51 is released while the seat portion 41 is tilting, the drive control target at the time of release (second actuator 8) is activated, and the seat portion 41 tilts when the first button 51 is operated again. Here, if the operation of the first button 51 is released while the seat portion 41 is tilting from the seating position H to the storage position G due to continued operation of the first button 51, the operation of the first button 51 will cause the seat portion 41 to tilt toward the seating position H.

[0077] As described above, the assistance device 1 of Embodiment 2 allows the position changes of the seating section 41 and the side support arm section 26 to be performed by operating only two buttons on the remote control 50, the first button 51 and the second button 52. Moreover, since the second button 52 is operated only during the operation that requires the most care, which is to change the position of the side support arm section 26 from the upper lifting position W to the seating support position T, the operation is made clear, reducing the likelihood of errors and improving safety.

[0078] In the configuration of this second embodiment, the left and right side support arm portions 26 correspond to the lift portion according to the present invention. The remote control 50 corresponds to the operating portion according to the present invention.

[0079] The present invention is not limited to the above-described embodiments 1 and 2, and can be modified as appropriate without departing from the spirit of the invention. For example, the dimensions and shapes of each part in the above-described embodiments 1 and 2 can be changed as appropriate.

[0080] In Examples 1 and 2, the knee contact portion is tilted via the first and second link mechanisms by the extension and retraction drive of the first actuator. However, the system is not limited to this configuration, and may also include a configuration with a second link mechanism that tilts the knee contact portion without going through the first link mechanism. In this configuration, the link member constituting the second link mechanism is rotatably connected to the other end of the first actuator, and the knee contact portion is tilted via only the second link mechanism by the drive of the first actuator. Even with this second link mechanism, if the amount of tilt of the knee contact portion can be gradually increased, the same effects as in the above-described examples can be achieved.

[0081] In Examples 1 and 2, the first and second actuators were configured to move the cylinder back and forth, but the system is not limited to this configuration, and various types of actuators can be applied. For example, a configuration in which the first to third linkage mechanisms are driven by gears using a general-purpose motor or stepping motor can be used. [Explanation of Symbols]

[0082] 1. Assistive Devices 2 Base 3. Frame section 4. First link mechanism 5. Second link mechanism 6. First actuator (driving means) 8. Second actuator (seat drive mechanism) 26 Side support arm section (side support section) 34 Knee contact part 36. Seating link section 37 Tilting rod part 39 Sliding support part 41 Seating area 42 seating surface 50 Remote control (operating unit) 51 First control unit (first button) 52 Second control section (second button) 101 User G Storage location H Seating position M Retreat position T Seating support position W holds the upper limit position R1 Tilt Moment (Tilt Angle) tilting moments r1, r2

Claims

1. A base platform on which the user's feet rest, A frame portion erected on the aforementioned base, Displaced on the frame portion, side support portions that support both sides of the user are connected, and a first link mechanism that tilts the side support portions upward from a seating support position that can support both sides of the user in a seated position, A knee rest portion is disposed on the frame portion and is connected to the lower part of the user's knee, and a second link mechanism is provided to tilt the knee rest portion backward from a predetermined retracted position in conjunction with the upward tilting of the side support portion from the seated support position by the first link mechanism, A driving means is disposed on the frame portion and tilts the side support portion via the first link mechanism and tilts the knee contact portion via the second link mechanism. Equipped with, An assistive device characterized in that the amount of tilt per unit time of the knee contact portion, which is tilted backward from the retracted position via the second link mechanism by the drive of the drive means, gradually increases with increasing tilt angle from the retracted position.

2. A tilting rod is connected to the frame at one end so as to be tiltable in the front-rear direction, and its position can be changed between a predetermined storage position and a seating position tilted rearward from the storage position. The tilting rod is provided with a pair of left and right seating portions that are biased to be in the extended state, which can be converted between a closed state in which the seating surfaces face each other and an extended state in which the seating surfaces are extended to the left and right from the closed state. A seating section conversion means is provided on the frame or base, which changes the position of the tilting rod between the storage position and the seating position, and holds the left and right seating sections in the closed state in the storage position and in the extended state in the seating position. A seating drive means is disposed on the frame or base and tilts the tilting rod via the seating conversion mechanism. The assistance device according to claim 1, characterized in that it is equipped with the following:

3. A seating section that can be switched between a seating position where the user can sit and a storage position where the user cannot sit, A lift unit that can change position between a seated support position in which the user is in a seated position and an upper limit lifting position in which the user's waist is raised higher than the seated position, An operating unit for performing a position change of the seating portion between the seating position and the storage position, and a position change of the lifting portion between the seating support position and the upper limit lifting position. An assistive device equipped with, The aforementioned operating unit comprises a first operating unit and a second operating unit that can be operated by the user. When the lift unit is in the seating support position and the seating unit is in the storage position or the seating position, if the first operating unit is started, the lift unit is operated to change position from the seating support position toward the upper lifting limit position while the operation is continued. When the lift section is in the upper limit position and the seating section is in the storage position, if the first operating section is started, the seating section is moved to change position from the storage position to the seating position while the operation continues. When the lift section is in the upper limit lifting position and the seating section is in the storage position or the seating position, if the second operating section is started, the lift section is operated to change position from the upper limit lifting position to the seating support position while the operation is continued. When the lift section is in the seating support position and the seating section is in the seating position, if the first operating section is started, the lift section is operated to change position toward the upper lifting limit position, and if the operation of the first operating section, which has been continued since the start of the operation, continues after the seating section has been moved toward the upper lifting limit position, the seating section is operated to change position toward the storage position from the seating position. An assistive device characterized by the following features.

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