Erecting support device

Abstract

To assist standing motion of a user by using a simple structure.SOLUTION: A standing assist device 1 comprises: a first link 4 to be rotated around a rotation axis X; a device body 3 rotatably supporting the first link 4; an actuator 5 for giving a rotation driving force to the first link 4; a second link 6 connected to the first link 4 in a relatively rotatable manner; and an arm supporting part 7 provided on the second link 6 in order to support an arm of a user. The device body 3 is provided with a guide part 32 extending in a predetermined direction. The second link 6 is provided with an engaged part 61 rotatably engaged with the guide part 32. The second link 6 moves upward while moving the engaged part 61 along the guide part 32 in accordance with rotation of the first link 4.SELECTED DRAWING: Figure 2

Description

Technical Field

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[0001] The present invention relates to a standing assistance device for assisting a user's standing motion.

Background Art

[0002] In recent years, research and development related to the training or assistance of human motion have attracted attention. In particular, research and development for acquiring data related to human standing motion and assisting human standing motion have been actively conducted.

[0003] For example, Patent Document 1 discloses an assisting robot that supports a part of the body of a person to be assisted and assists the person to be assisted in standing up and sitting down.

Prior Art Document

Patent Document

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] The assisting robot of Patent Document 1 assists a person to be assisted in standing up and sitting down by a robot arm part having a complex configuration including three motors and three arms. Therefore, there is a risk that the manufacturing cost of the assisting robot will increase.

[0006] In view of the above background, an object of the present invention is to provide a standing assistance device capable of assisting a user's standing motion with a simple configuration. Further, an object is to contribute to research and development related to the training or assistance of human motion.

Means for Solving the Problems

[0007] To solve the above problems, one aspect of the present invention provides a standing assist device (1) for assisting a user's standing motion, comprising: a first link (4) that rotates about a rotation axis (X); a device body (3) that rotatably supports the first link; an actuator (5) that applies rotational driving force to the first link; a second link (6) that is rotatably coupled to the first link; and an arm support portion (7) provided on the second link to support the user's (U) arm, wherein the device body is provided with a guide portion (32) extending in a predetermined direction, and the second link is provided with an engaging portion (61) that rotatably engages with the guide portion, and the second link rises in accordance with the rotation of the first link, while moving the engaging portion along the guide portion.

[0008] According to this embodiment, the user's standing motion can be assisted by a simple configuration using an actuator and first and second links.

[0009] In the above embodiment, the arm support may move forward as the second link rises, and then rise.

[0010] In this embodiment, when the user places their arms on the arm support, the user's upper body leans forward, completing the flexion phase of the user's standing motion. Furthermore, as the arm support on which the user's arms are placed moves forward, the user's buttocks move away from the seat, completing the lift-off phase of the user's standing motion. In addition, as the arm support on which the user's arms are placed rises, the user's legs extend, completing the extension phase of the user's standing motion. In this way, a simple standing assistance device can assist all three phases of the user's standing motion.

[0011] In the above embodiment, the connection point (Z2) of the first link and the second link may be located below the guide portion in a side view when the arm support portion is not moving forward, overlap with the guide portion in a side view when the arm support portion is moving forward, and located in front of the guide portion in a side view when the arm support portion is raised.

[0012] According to this embodiment, the trajectory of the arm support can be made appropriate.

[0013] In the above embodiment, the arm support portion comprises an extension portion (71) fixed to the upper end of the second link and extending in the front-rear direction, a grip (72) provided at the front end of the upper surface of the extension portion, and an elbow rest (73) provided at the rear end of the upper surface of the extension portion, wherein the elbow rest may rise relative to the grip when the arm support portion moves forward.

[0014] In this embodiment, as the arm support moves forward, the user's buttocks can be separated from the seat while maintaining the forward-leaning posture of the user's upper body. This allows for more appropriate assistance during the seat-separation phase of the user's standing motion.

[0015] In the above embodiment, the first link comprises a first arm portion (41) extending in a first direction from the axis of rotation and a second arm portion (42) extending in a second direction different from the first direction from the axis of rotation, the actuator may be coupled to the first arm portion so as to be rotatable relative to it, and the second link may be coupled to the second arm portion so as to be rotatable relative to it.

[0016] According to this embodiment, the actuator and the second link can be connected by a first link with a simple configuration.

[0017] In the above embodiment, the actuator is rotatably coupled to the tip of the first arm, the second link is rotatably coupled to the tip of the second arm, and the distance from the tip of the second arm to the axis of rotation may be longer than the distance from the tip of the first arm to the axis of rotation.

[0018] According to this embodiment, the second link can be raised significantly with a small stroke of the actuator.

[0019] In the above aspect, the actuator includes a base member (51) swingably supported by the apparatus main body, and a rod member (52) supported by the base member so as to be able to move up and down. The tip of the rod member may be rotatably coupled to the first arm portion.

[0020] According to this aspect, a rotational driving force can be applied to the first link by an actuator having a simple configuration.

[0021] In the above aspect, the second link extends in the vertical direction. An arm support portion is provided at the upper end of the second link. The lower end of the second link is rotatably coupled to the second arm portion. An engagement portion may be provided at an intermediate portion between the upper end and the lower end of the second link.

[0022] According to this aspect, the first link and the arm support portion can be connected by a second link having a simple configuration.

[0023] In the above aspect, the actuator includes an electric motor (53) capable of normal and reverse rotation. The first link rotates in a first rotation direction according to the normal rotation of the electric motor, and rotates in a second rotation direction opposite to the first rotation direction according to the reverse rotation of the electric motor. The second link rises while moving the engagement portion along the guide portion according to the rotation of the first link in the first rotation direction, and descends while moving the engagement portion along the guide portion according to the rotation of the first link in the second rotation direction.

[0024] According to this aspect, by rotating the electric motor forward and backward, both the user's standing motion and sitting motion can be assisted.

[0025] In the above aspect, the guide portion may be a guide groove provided in a side wall portion (31) of the apparatus main body, and the engagement portion may be an engagement protrusion that engages with the guide groove.

[0026] According to this aspect, the configurations of the guide portion and the engaging portion can be simplified.

Advantages of the Invention

[0027] According to the above aspects, it is possible to provide a standing assistance device that can assist a user's standing motion with a simple configuration.

Brief Description of the Drawings

[0028] [Figure 1] Perspective view showing the state before the standing motion of the user is started in the standing assistance device according to an embodiment of the present invention [Figure 2] Side view showing the state before the arm support portion moves forward in the standing assistance device according to an embodiment of the present invention [Figure 3] Plan view showing the state before the arm support portion moves forward in the standing assistance device according to an embodiment of the present invention [Figure 4] Explanatory drawing showing a human standing motion <^ [Figure 5] Perspective view showing the state where the flexion phase of the user's standing motion is completed in the standing assistance device according to an embodiment of the present invention [Figure 6] Side view showing the state where the arm support portion has moved forward in the standing assistance device according to an embodiment of the present invention [Figure 7] Perspective view showing the state where the lifting-off phase of the user's standing motion is completed in the standing assistance device according to an embodiment of the present invention [Figure 8] Side view showing the state where the arm support portion has risen in the standing assistance device according to an embodiment of the present invention [Figure 9] Perspective view showing the state where the extension phase of the user's standing motion is completed in the standing assistance device according to an embodiment of the present invention [Figure 10] Perspective view showing the state where the flexion phase of the user's standing motion is completed in the standing assistance device according to another embodiment of the present invention [Figure 11] Perspective view showing the state where the flexion phase of the user's standing motion is completed in the standing assistance device according to another embodiment of the present invention [Modes for carrying out the invention]

[0029] <Standing aid device 1> The following describes a standing assistance device 1 according to one embodiment of the present invention, with reference to the drawings. Hereinafter, terms indicating directions such as up and down, front and back, left and right will be used based on the direction as seen from the user U using the standing assistance device 1. The arrows Fr appropriately attached to each figure indicate the front of the standing assistance device 1.

[0030] The standing assistance device 1 is a device for assisting the standing and sitting movements of user U. The standing movement of user U refers to the movement of user U, who is seated on a seat S (for example, a bed or toilet seat), to stand up. The sitting movement of user U refers to the movement of user U, who is standing, to sit down on the seat S. The standing assistance device 1 is fixed to the right side of a rectangular plate P laid on the floor F.

[0031] Referring to Figures 1 to 3, the standing assist device 1 comprises a device body 3, a first link 4, an actuator 5, a second link 6, and an arm support 7. The components of the standing assist device 1 will be described below, using the state shown in Figures 1 to 3 (the state in which the second link 6 is at its lowest point) as a reference.

[0032] <Device body 3> Referring to Figures 1 to 3, the device body 3 is box-shaped. Note that in Figure 2, only one side wall 31 of the device body 3 is shown in order to display the inside of the box-shaped device body 3.

[0033] A guide groove 32 (an example of a guide) is provided in the side wall portion 31 of the main body of the device 3. The guide groove 32 extends linearly in a direction that slopes forward toward upward. The upper wall portion 33 of the main body of the device 3 slopes downward toward rearward. A through hole 34 is provided in the upper wall portion 33 of the main body of the device 3. The through hole 34 is covered by a cover (not shown).

[0034] <Link 1, 4> Referring to Figure 2, the first link 4 is housed in the lower part of the device body 3. The first link 4 is rotatably supported on the side wall 31 of the device body 3 and is configured to rotate about a rotation axis X.

[0035] The first link 4 has a first arm portion 41 that extends linearly forward and upward from the rotation axis X (an example of a first direction), and a second arm portion 42 that extends linearly rearward and downward from the rotation axis X (an example of a second direction). The first arm portion 41 and the second arm portion 42 extend in opposite directions from the rotation axis X. The distance from the tip of the second arm portion 42 to the rotation axis X is longer than the distance from the tip of the first arm portion 41 to the rotation axis X.

[0036] <Actuator 5> Referring to Figure 2, the actuator 5 is housed in the front part of the device body 3. The actuator 5 is a device that applies rotational driving force to the first link 4. The actuator 5 is a linear actuator composed of an electric cylinder mechanism. The actuator 5 comprises a base member 51 that is pivotably supported on the side wall 31 of the device body 3, and a rod member 52 that is vertically movable and supported on the base member 51.

[0037] The base member 51 is configured to pivot about a pivot axis Y provided at its upper end. An electric motor 53 is housed in the base member 51. The electric motor 53 is configured to rotate in both forward and reverse directions.

[0038] The rod member 52 is connected to the electric motor 53 via a ball screw mechanism (not shown) and is configured to move up and down in accordance with the forward and reverse rotation of the electric motor 53. The tip (lower end) of the rod member 52 is rotatably connected to the tip of the first arm portion 41 of the first link 4 via a first coupling shaft Z1.

[0039] <Link 2, 6> Referring to Figures 1 and 2, the second link 6 extends linearly in the vertical direction. The second link 6 passes through a through hole 34 provided in the upper wall portion 33 of the device body 3. The upper end of the second link 6 is exposed to the outside of the device body 3. The lower end of the second link 6 is housed in the device body 3. The lower end of the second link 6 is rotatably coupled to the tip of the second arm portion 42 of the first link 4 via the second coupling shaft Z2.

[0040] An engaging projection 61 (an example of an engaging part) is provided in the intermediate portion between the upper and lower ends of the second link 6. The engaging projection 61 is rotatably engaged with the guide groove 32 of the device body 3. As a result, the second link 6 is supported by the device body 3 so as to be able to move up and down, and the second link 6 is able to rotate around the engaging projection 61.

[0041] <Arm support section 7> Referring to Figures 1 to 3, the arm support 7 is provided at the upper end of the second link 6 to support the user U's right arm. The arm support 7 extends forward.

[0042] The arm support portion 7 includes an extension portion 71 extending in the front-rear direction, a grip 72 provided on the upper surface of the front end of the extension portion 71, and an elbow rest 73 provided on the upper surface of the rear end of the extension portion 71.

[0043] The front portion of the extension 71 is attached to the upper end of the second link 6. Thus, the arm support portion 7 is supported by the second link 6. The extension 71 may be provided to be extendable and retractable in the front-rear direction.

[0044] The grip 72 is the part that user U holds with their right hand. The grip 72 is inclined forward and upward. The tip of the grip 72 is provided with an operating section 74 that receives the raising and lowering operations of the second link 6.

[0045] The elbow rest 73 is the part where the user U rests their right elbow. The elbow rest 73 is composed of a bottom wall portion 76 extending in the front-to-back direction, left and right wall portions 77 extending upward from both sides of the bottom wall portion 76, and a rear wall portion 78 extending upward from the rear of the bottom wall portion 76 to connect the rear ends of the left and right wall portions 77.

[0046] <Human standing motion> Next, I will explain the human motion of standing up.

[0047] Referring to Figure 4, generally, the human standing motion consists of three phases: the flexion phase, the lifting phase, and the extension phase. The flexion phase, the lifting phase, and the extension phase can be rephrased as the first, second, and third stages of the human standing motion, respectively.

[0048] First, in the flexion phase, the person shifts their center of gravity from their buttocks to their feet by leaning their upper body forward while remaining seated on the seat. Next, in the lift-off phase, the person lifts their buttocks away from the seat. Finally, in the extension phase, the person straightens their legs while raising their upper body. This completes the standing motion.

[0049] <Assistance with standing up> Next, we will explain how the standing assistance device 1 assists user U in standing up.

[0050] Referring to Figures 1 and 2, when user U is seated on seat S, the arm support portion 7 is positioned above and behind the main body 3 of the device. Also, the engaging projection 61 is engaged with the lower end of the guide groove 32.

[0051] Referring to Figure 5, User U first places their right arm on the arm support 7 and grasps the grip 72 with their right hand while remaining seated on the seat S. This causes User U's upper body to lean forward, and User U's center of gravity to shift from their buttocks to both feet. In other words, the flexion phase of User U's standing motion is completed.

[0052] User U then performs an upward operation on the second link 6 using the operating section 74 of the grip 72. In response, the electric motor 53 rotates forward, and the rod member 52, which is connected to the electric motor 53 via a ball screw mechanism (not shown), descends relative to the base member 51.

[0053] Referring to Figure 6, when the rod member 52 descends relative to the base member 51 in this manner, the base member 51 swings forward around the pivot axis Y, and the first link 4 rotates in the first rotational direction (counterclockwise in Figure 6) around the rotation axis X. Accordingly, the second link 6 rotates in the first rotational direction around the engaging projection 61. At the same time, the second link 6 rises while moving the engaging projection 61 along the guide groove 32. Accordingly, the arm support 7 moves forward. At that time, the elbow rest 73 of the arm support 7 rises relative to the grip 72.

[0054] Referring to Figure 7, as the arm support 7 moves forward as described above, the force from the movement of the arm support 7 causes the center of gravity of user U, who has placed their right arm on the arm support 7, to move forward, causing user U's buttocks to separate from the seat S. In other words, the lift-off phase of user U's standing motion is completed.

[0055] Referring to Figure 8, as the rod member 52 descends further relative to the base member 51, the base member 51 swings backward around the pivot axis Y, and the first link 4 rotates further in the first rotational direction around the rotation axis X. Accordingly, the second link 6 rotates around the engaging projection 61 in the second rotational direction (clockwise in Figure 6), which is opposite to the first rotational direction. At the same time, the second link 6 rises further, moving the engaging projection 61 along the guide groove 32. Accordingly, the arm support 7 rises.

[0056] Referring to Figure 9, when the arm support 7 rises in this manner, the upper body of user U, who has placed their right arm on the arm support 7, rises, and as user U's upper body stands up, both of user U's legs extend. That is, the extension phase of user U's standing motion is completed, and user U stands up.

[0057] Furthermore, the standing assist device 1 can assist the user U's sitting motion by an action opposite to the above. That is, when user U lowers the second link 6 relative to the operating part 74 of the grip 72, the electric motor 53 rotates in the reverse direction, the rod member 52 rises relative to the base member 51, and the first link 4 rotates in the second rotational direction around the rotation axis X. Accordingly, the second link 6 descends while moving the engaging projection 61 along the guide groove 32, and the arm support part 7 moves backward after it has descended.

[0058] <Effects> In this embodiment, when the actuator 5 applies rotational driving force to the first link 4, the second link 6 rises in accordance with the rotation of the first link 4, moving the engaging projection 61 along the guide groove 32. This allows the user U to stand up using a simple configuration with the actuator 5 and the first and second links 4 and 6.

[0059] Furthermore, the arm support section 7 moves forward and then rises in accordance with the upward movement of the second link 6. This allows the simple standing assistance device 1 to assist the user U through all three phases of standing (flexion phase, lifting phase, and extension phase).

[0060] Referring to Figure 2, the second connecting axis Z2 (the connection point between the first link 4 and the second link 6) is located below the guide groove 32 in a side view when the arm support 7 is not yet moving forward. Referring to Figure 6, the second connecting axis Z2 coincides with the guide groove 32 in a side view when the arm support 7 is moving forward. Referring to Figure 8, the second connecting axis Z2 is located in front of the guide groove 32 in a side view when the arm support 7 is raised. This positional relationship between the second connecting axis Z2 and the guide groove 32 allows for an appropriate trajectory for the arm support 7.

[0061] <Variation> In the above embodiment, the arm support portion 7 is composed of an extension portion 71, a grip 72, and an elbow rest 73. Referring to Figure 10, in another embodiment, the arm support portion 7 may also include an auxiliary grip 81 extending forward from the grip 72, in addition to the extension portion 71, the grip 72, and the elbow rest 73. With this configuration, the user U can perform standing and sitting movements while holding the grip 72 with one hand and the auxiliary grip 81 with the other hand.

[0062] In the above embodiment, the standing assist device 1 is fixed to the right side of the plate P. Referring to Figure 10, in other embodiments, the standing assist device 1 may be fixed to the left side of the plate P. In this case, the user U would place their left arm on the arm support 7.

[0063] In the above embodiment, the standing assist device 1 is fixed to only one side of the plate P. Referring to Figure 11, in other embodiments, the standing assist device 1 may be fixed to both the left and right sides of the plate P (see Figure 11). In this case, the user U places one arm on the arm support portion 7 of one standing assist device 1 and the other arm on the arm support portion 7 of the other standing assist device 1.

[0064] In the above embodiment, the standing assistance device 1 is fixed to the plate P. In other embodiments, the standing assistance device 1 may be fixed directly to the floor F without going through the plate P. Furthermore, in other embodiments, the standing assistance device 1 may be movable relative to the floor F by attaching casters to the lower end of the device body 3.

[0065] In the above embodiment, the actuator 5 is configured by an electric cylinder mechanism. In other embodiments, the actuator 5 may be configured by a cylinder mechanism other than an electric cylinder mechanism (for example, a hydraulic cylinder mechanism), or by a mechanism other than a cylinder mechanism (for example, a cam mechanism).

[0066] In the above embodiment, the standing assistance device 1 assists both the user U's standing and sitting movements. In other embodiments, the standing assistance device 1 may only assist the user U's standing movement. In other words, the standing assistance device 1 only needs to assist the user U's standing movement.

[0067] This concludes the description of specific embodiments, but the present invention is not limited to the above embodiments or modifications and can be broadly modified and implemented. [Explanation of Symbols]

[0068] 1: Standing aid device 3: Main unit of the device 4: First Link 5: Actuator 6: Second Link 7: Arm support section 31: Side wall section 32: Guide groove (an example of a guide section) 41: First arm section 42: Second arm section 51: Base component 52: Rod member 53: Electric motor 61: Engaging projection (an example of an engaging part) 71: Extension part 72: Grip 73: Elbow pads U: User X: Axis of rotation Z2: Second link axis (the connection point between the first and second links)

Claims

1. A standing assistance device for assisting a user in standing up, The first link rotates around the axis of rotation, A device body that rotatably supports the first link, An actuator that applies rotational driving force to the first link, A second link is coupled to the first link so as to be rotatable relative to it, The device comprises an arm support portion provided on the second link to support the user's arm, The main body of the device is provided with a guide portion extending in a predetermined direction, The second link is provided with an engaging portion that rotatably engages with the guide portion, The second link is a standing assist device that rises in accordance with the rotation of the first link, while moving the engaging portion along the guide portion.

2. The standing assist device according to claim 1, wherein the arm support portion moves forward and then rises in accordance with the rising of the second link.

3. The standing assist device according to claim 2, wherein the connection point of the first link and the second link is located below the guide portion in a side view when the arm support portion is not moving forward, overlaps with the guide portion in a side view when the arm support portion is moving forward, and is located in front of the guide portion in a side view when the arm support portion is raised.

4. The aforementioned arm support portion is An extension portion fixed to the upper end of the second link and extending in the front-rear direction, A grip is provided at the front end of the upper surface of the extension, The extension portion comprises an elbow rest provided at the rear end of the upper surface of the extension portion, The standing assist device according to claim 2 or 3, wherein the elbow rest rises relative to the grip when the arm support moves forward.

5. The first link mentioned above is, A first arm portion extending in a first direction from the rotation axis, It comprises a second arm portion extending from the rotation axis in a second direction different from the first direction, The actuator is rotatably coupled to the first arm portion, The standing assist device according to any one of claims 1 to 3, wherein the second link is rotatably coupled to the second arm portion.

6. The actuator is rotatably coupled to the tip of the first arm portion, The second link is rotatably coupled to the tip of the second arm portion. The standing assist device according to claim 5, wherein the distance from the tip of the second arm to the rotation axis is longer than the distance from the tip of the first arm to the rotation axis.

7. The actuator is A base member that is pivotably supported on the main body of the device, The base member comprises a rod member that is supported so as to be able to move up and down, The standing assist device according to claim 5, wherein the tip of the rod member is rotatably coupled to the first arm.

8. The aforementioned second link extends in the vertical direction, The upper end of the second link is provided with the arm support portion, The lower end of the second link is connected to the second arm so as to be rotatable relative to it. The standing assist device according to claim 5, wherein the engagement portion is provided in the intermediate portion between the upper end and the lower end of the second link.

9. The actuator includes an electric motor capable of forward and reverse rotation, The first link rotates in a first rotational direction in accordance with the forward rotation of the electric motor, and rotates in a second rotational direction opposite to the first rotational direction in accordance with the reverse rotation of the electric motor. The standing assist device according to any one of claims 1 to 3, wherein the second link rises while moving the engaging portion along the guide portion in accordance with the rotation of the first link in the first rotational direction, and descends while moving the engaging portion along the guide portion in accordance with the rotation of the first link in the second rotational direction.

10. The aforementioned guide portion is a guide groove provided on the side wall of the main body of the device. The standing assist device according to any one of claims 1 to 3, wherein the engaging portion is an engaging projection that engages with the guide groove.

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