CN110381907A - Auxiliary device - Google Patents
Auxiliary device Download PDFInfo
- Publication number
- CN110381907A CN110381907A CN201780087965.0A CN201780087965A CN110381907A CN 110381907 A CN110381907 A CN 110381907A CN 201780087965 A CN201780087965 A CN 201780087965A CN 110381907 A CN110381907 A CN 110381907A
- Authority
- CN
- China
- Prior art keywords
- arm
- swing
- auxiliary
- movable portion
- link member
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G7/00—Beds specially adapted for nursing; Devices for lifting patients or disabled persons
- A61G7/10—Devices for lifting patients or disabled persons, e.g. special adaptations of hoists thereto
- A61G7/1025—Lateral movement of patients, e.g. horizontal transfer
- A61G7/1034—Rollers, rails or other means
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
- A61G5/10—Parts, details or accessories
- A61G5/12—Rests specially adapted therefor, e.g. for the head or the feet
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
- A61G5/10—Parts, details or accessories
- A61G5/14—Standing-up or sitting-down aids
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G7/00—Beds specially adapted for nursing; Devices for lifting patients or disabled persons
- A61G7/10—Devices for lifting patients or disabled persons, e.g. special adaptations of hoists thereto
- A61G7/104—Devices carried or supported by
- A61G7/1046—Mobile bases, e.g. having wheels
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
- A61G5/10—Parts, details or accessories
- A61G5/12—Rests specially adapted therefor, e.g. for the head or the feet
- A61G5/127—Rests specially adapted therefor, e.g. for the head or the feet for lower legs
Landscapes
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Nursing (AREA)
- Invalid Beds And Related Equipment (AREA)
- Rehabilitation Tools (AREA)
- Manipulator (AREA)
Abstract
The present invention provides an assisting apparatus for assisting a transfer operation of an assisted person, including: a base station; an arm provided on the base so as to be swingable in a front-rear direction; a support portion that supports a part of the body of the person to be assisted and is provided to the arm so as to be swingable in a front-rear direction; an actuator having a main body part provided on the base so as to be tiltable in a front-rear direction and a movable part extending and contracting from the main body part; and a link mechanism including a first link member provided to the arm so as to be swingable and connected to the movable portion, and a second link member fixedly provided to the support portion and engaged with the first link member, wherein the link mechanism transmits a first motion of the movable portion extending from a shortened position to a predetermined midway position to a forward swing of the support portion, and transmits a second motion of the movable portion extending from the midway position to an extended position to the forward swing of the arm.
Description
Technical field
This specification is related to multiplying the auxiliary device that movement is assisted to by the shifting of auxiliary.
Background technique
With the development of aging society, the demand of auxiliary device is continuously increased.Auxiliary device, which generally passes through to come from, to be actuated
The driving of device makes to be supported by mobile by the support portion of a part of the body of auxiliary.By the importing of auxiliary device, alleviate
Auxiliary and body burden by auxiliary, and also alleviate being short of hands for nursing staff.As an example of auxiliary device,
Have and multiplies the device that movement is assisted to by the shifting of the slave seated position of auxiliary.Patent document 1,2 is disclosed about this auxiliary
Help the technology example of device.
The human body transfer device of patent document 1 has: traveling portion equipped with wheel, positioned at the top of traveling portion and to quilt
The support portion that auxiliary is supported and the driving portion that body support portion is driven along short transverse.In addition, by coming
From the driving for the driving portion for being equivalent to actuator, it is supported the wobbling action of the arc-shaped in portion.Thereby, it is possible to inhibit to make to assist
Person's Low Back Pain, and easily and rapidly carry out by the transfer of auxiliary.
In addition, the auxiliary robot of patent document 2 has the liter to move along a straight line relative to base station along up and down direction
Drop portion, the support portion in a swingable manner set on the arm of lifting unit and set on the front end of arm.Lifting unit and arm are respectively by each
From actuator driving, carry out the movement in two stages.Thereby, it is possible to act lifting unit and arm in phase, it is suppressed that give quilt
Auxiliary causes unplessantness displeasure.
Existing technical literature
Patent document 1: Japanese Unexamined Patent Publication 2016-165313 bulletin
Patent document 2: International Publication No. 2017/060964
Summary of the invention
But in patent document 1, support portion be only in arc-shaped swung, therefore for by auxiliary not
Use must can be carried out cosily.On the other hand, in patent document 2, make lifting unit and arm independently using two actuators
It is acted, therefore multiply movement by the shifting of auxiliary to become smooth, comfort improves.But it is led using two actuators
Cause the rising of cost.
In the present specification, make multiple component actuations and improve to be relaxed by the use of auxiliary using an actuator to provide
The auxiliary device of adaptive is the project to be solved.
The means to solve the problem
Subject description discloses a kind of auxiliary devices, assist movement is multiplied by the shifting of auxiliary, have: base station；
Arm is set to above-mentioned base station in a manner of it can swing along the longitudinal direction；Support portion supports one of the above-mentioned body by auxiliary
Point, and said arm is set in a manner of it can swing along the longitudinal direction；Actuator has the side that can vert along the longitudinal direction
Formula is set to the main part of above-mentioned base station and carries out flexible movable part from aforementioned body portion；And link mechanism, have can put
Dynamic mode be set to said arm and be connected to the first connecting rod component of above-mentioned movable part and be fixedly installed on above-mentioned support portion and with
The second connecting rod component of above-mentioned first connecting rod component engaging, aforementioned link mechanism extend above-mentioned movable part to pre- from position is shortened
First movement transmitting of fixed half-way is the swing of above-mentioned support portion forwards, by above-mentioned movable part from above-mentioned half-way
It extends to the second movement of extended position and transmits as the swing of said arm forwards.
Invention effect
Auxiliary device according to the disclosure in this specification, be able to use an actuator to support portion swing forwards and
The swing of arm forwards is driven.Multiplying movement by the shifting of auxiliary as a result, becomes smooth, and comfort improves.In addition, with
It is compared using the prior art of two actuators, it is low in cost.
Detailed description of the invention
Fig. 1 is the perspective view of the auxiliary device of embodiment from rear ramp.
Fig. 2 is to indicate auxiliary device to the side for being multiplied the original state in the case that movement assists by the shifting of auxiliary
Cross-sectional view.
Fig. 3 is to indicate auxiliary device to the side for being multiplied the midway state in the case that movement assists by the shifting of auxiliary
Cross-sectional view.
Fig. 4 is to indicate auxiliary device to the side for being multiplied the latter stage state in the case that movement assists by the shifting of auxiliary M
Face cross-sectional view.
Fig. 5 is the structure of linkage and the partial enlarged view that movement is illustrated, and is equivalent to the initial of auxiliary device
State.
Fig. 6 is the structure of linkage and the partial enlarged view that movement is illustrated, and is equivalent to the midway of auxiliary device
State.
Fig. 7 is the partial enlarged view being illustrated to the structure of arm limiting mechanism, is equivalent to the original state of auxiliary device.
Fig. 8 is the partial enlarged view being illustrated to the structure of arm limiting mechanism and movement, is equivalent in auxiliary device
Way state.
Fig. 9 is the perspective view from the top of oblique upper view.
Figure 10 is the side sectional view that the wobbling action outside the expectation to arm is illustrated, and indicates the half-way of movable part
State.
Specific embodiment
1. the structure of the auxiliary device 1 of embodiment
It is illustrated with reference to Fig. 1~Figure 10 come the auxiliary device 1 to embodiment.Fig. 1 is the embodiment party from rear ramp
The perspective view of the auxiliary device 1 of formula.In addition, Fig. 2 is to indicate that 1 pair of auxiliary device multiplies movement by the shifting of auxiliary M and assisted
In the case of original state side sectional view.Fig. 3 is to indicate that 1 pair of the auxiliary device shifting by auxiliary M multiplies movement and assists
In the case where midway state side sectional view.Fig. 4 be indicate 1 pair of the auxiliary device shifting by auxiliary M multiply movement carry out it is auxiliary
The side sectional view of latter stage state in the case where helping.
Auxiliary device 1 multiplies the shifting for example multiplied by the shifting between the bed and wheelchair of auxiliary M or between wheelchair and closet
Shifting between two different places, which multiplies, to be assisted.The support of auxiliary device 1 by the trunk of auxiliary M, to from seated position to
The shifting for moving posture of taking the opportunity multiplies movement and is assisted from the movement of taking one's seat for moving take the opportunity posture to seated position.Here, moving appearance of taking the opportunity
Gesture is the posture that buttocks is lifted from seat surface, includes stance and posture of bending over.That is, moving posture of taking the opportunity includes above the waist
The state of standing and anteflexion state etc..In addition, auxiliary device 1 can be right in the case where two places that shifting multiplies are apart from each other
Move being transferred under posture by auxiliary M of taking the opportunity.
Auxiliary device 1 is omitted by base station 2, arm 3, support portion 4, actuator 5, link mechanism 6, arm limiting mechanism 7 and diagram
Control unit etc. constitute.Base station 2 is by foot's mounting table 21, rear-wheel 23, base station bar 24, shank butting section 25, mounting plate 26 and preceding
Wheels 28 etc. are formed.Foot's mounting table 21 is substantially horizontally configured close to ground F.In the forward of the upper surface of foot's mounting table 21
At side, it has been provided projectingly actuator supporting part 22 upward.The rear-wheel 23 of pair of right and left is set to the rear side of foot's mounting table 21
Left and right.
The base station bar 24 of pair of right and left is frontward arranged respectively from the left and right of the front surface of foot's mounting table 21.Base station bar 24
After being bent above front direction, obliquely extend gently towards rear.Shank butting section 25 is set to two base station bars 24 backwards
Top.Shank butting section 25 is located at the top of foot's mounting table 21 located on the front.Shank butting section 25 is by padded coaming shape
At, by the lower leg of auxiliary M nearby can be contacted with the shank butting section 25.
Above the front direction from base station bar 24 curved bending section slightly against the top from position and relative to each other
The position of inside is fixedly installed the mounting plate 26 of pair of right and left respectively.Mounting plate 26 extends forwards from base station bar 24.On a left side
The top of the mounting plate 26 of right a pair is respectively equipped with arm support base 27.It is equipped in the front of the downside of the mounting plate 26 of pair of right and left
The front-wheel 28 of pair of right and left.By front-wheel 28 and the turning function of rear-wheel 23, auxiliary device 1 can not only keep straight on mobile and turn to
It is mobile, it also being capable of transverse shifting and pivot stud.In addition, front-wheel 28 has the mobile lock function of limitation.
Arm 3 is by bar-like member 31, front cover member 36, top cover member 38 and the various structuring for omitting appended drawing reference etc.
It is formed.Bar-like member 31 is the rodlike component for the substantially U-shaped that downside is opened.The lower end 32 of the two sides of bar-like member 31 is with energy
The mode enough swung is supported on the arm support base 27 of mounting plate 26.Arm 3 can be put along the longitudinal direction on the basis of base station 2 as a result,
It is dynamic.
In order to limit the swing angle of arm 3, the stop mechanism for omitting appended drawing reference is equipped near arm support base 27.It is rodlike
Component 31 extends upwards from the lower end 32 of left and right, and halfway, rearward oblique upper extends deviously, closes two on the top at rear
It is one.The global shape of arm 3 is connected simultaneously by the arm front 34 that extends upwards from arm support base 27 and with the top of arm front 34
The arm top 35 that rearward oblique upper extends is constituted.
Front cover member 36 constitutes arm front 34.Before front cover member 36 is configured at bar-like member 31 at spaced intervals
Side.Front cover member 36 makes to be formed to bending behind two sides, and marks off inner space.In front, the inside of cover member 36 is empty
Between middle storage battery 37.Battery 37 is the power supply of actuator 5 and control unit.
Top cover member 38 is conjointly formed with front cover member 36, constitutes arm top 35.Top cover member 38 is close to stick
Configure to the upside of shape component 31.Top cover member 38 forms two sides bending downward, and marks off inner space.From
The front lower lateral rear upside of the inner space of top cover member 38, is successively arranged arm limiting mechanism 7, link mechanism 6 and support portion
Mounting base 33.In addition, the diagram of top cover member 38 is omitted in Fig. 1.
Support portion 4 includes the oxter support portion 45 in trunk support portion 41 and pair of right and left and is formed.Trunk support portion 41 with
The mode that can be swung is supported on the support portion mounting base 33 on arm top 35.As a result, support portion 4 can on the basis of arm 3 and to
Front-rear direction is swung.Trunk support portion 41 has handle 42.Handle 42 is in substantially to be formed to the frame shape of square.Handle 42 is
The position held by auxiliary M, also for the position for keeping auxiliary device 1 mobile and being held by auxiliary.
Trunk support portion 41 is formed by bottom plate 43 (referring to Fig. 5) and trunk contact component 44 etc..Bottom plate 43 uses made of metal
Or the biggish plate of rigidity of resin is formed in the form of a substantially rectangular.On bottom plate 43, it is equipped with above-mentioned handle 42, pacifies to support portion
Fill the position and aftermentioned second connecting rod component 62 that seat 33 is installed.
Trunk contact component 44 is installed on the upper table of bottom plate 43 using having the material of flexibility greatly to be formed than bottom plate 43
Face.Trunk contact component 44 can be set as the double-layer structural being for example made of surface layer and bottom.As the forming material on surface layer, energy
The polyurethane foam of low bounce is enough exemplified, as the forming material of bottom, low combustible polyurethane foam can be exemplified
Foam.41 pairs of trunk support portion around the chest to abdomen slave trunk of a part of the body of auxiliary M as being supported.
The oxter support portion 45 of pair of right and left be installed on the left and right sides in trunk support portion 41 at the chest.Oxter support
Portion 45 is formed as curved L-shaped in obtuse angle.Oxter support portion 45 is by shapes such as core components 46 (referring to Fig. 5) and periphery components 47
At.Core components 46 for example by by the pole of made of metal or hard resin or bending pipes at L-shaped bending machining and shape
At.
Periphery component 47 using padded coaming in covering core components 46 periphery tubular formed.From oxter support portion 45
The shorter straight part of cardinal extremity to bending position of installation side be divided into shoulder carrier, it is longer from bending position to front end
Straight part is divided into oxter entrance.Shoulder carrier is supported by the front surface of the shoulder of auxiliary M.Oxter entrance enter by
The oxter of the trunk two sides of auxiliary M.Trunk support portion 41 and oxter support portion 45 can also have fabric or leather removable
The cover of dress.
Actuator 5 is made of main part 51, movable part 52 and motor 53 etc..The branch in a manner of it can vert of main part 51
It holds on the actuator supporting part 22 of base station 2.Actuator 5 verts along the longitudinal direction as a result,.Movable part 52 is from main part 51
It stretches.Specifically, movable part 52 is extended via scheduled half-way to extended position or opposite direction from shortening position
It shrinks.Movable part 52 is the first movement from shortening position to extend to the distance of half-way, and movable part 52 is extended from half-way
Distance to extended position is the second movement.
Stroke length as the first movement can exemplify 30mm, and the stroke length as the second movement can exemplify
60mm.The front end of movable part 52 is connected to the connecting pin 613 of aftermentioned link mechanism 6.Motor 53 is set to main part 51.It is electronic
The sense of current for the control unit control flowing that machine 53 is omitted by diagram, drives the expanding-contracting action of movable part 52.Separately
Outside, motor 53 can be replaced, and use and utilize the other kinds of driving sources such as hydraulic or air pressure pressure-driven source.
Link mechanism 6 is made of first connecting rod component 61, second connecting rod component 62 and limiting component 63 etc..Fig. 5 is to even
The partial enlarged view that the structure of linkage 6 and movement are illustrated is equivalent to the original state of auxiliary device 1.In addition, Fig. 6 is
The partial enlarged view that the structure of linkage 6 and movement are illustrated is equivalent to the midway state of auxiliary device 1.
First connecting rod component 61 is the elongated component with supporting point 611, forethiga 612 and rear arm 616.Supporting point
611 are configured near the center on arm top 35.Also, supporting point 611 is supported by the structuring of arm 3 in swingable mode.By
This, first connecting rod component 61 is swung centered on supporting point 611.
Forethiga 612 extends forwards from supporting point 611.Connecting pin 613 is equipped in the forward lower part of forethiga 612.
Connecting pin 613 connects forethiga 612 and the front end of movable part 52.It is formed on the forward top of forethiga 612 limited
Protrusion 614 processed.Arm 616 rearward extends from supporting point 611 afterwards.At the place rearward of rear arm 616, engagement pin 617 with along
The mode that left and right directions extends is arranged.Engagement pin 617 is sticked in second connecting rod component 62 from the direction counterclockwise in Fig. 5, comes
Push second connecting rod component 62.
Second connecting rod component 62 is fixedly installed on the bottom plate 43 of support portion 4.Support portion 4 and second connecting rod component 62 as a result,
It is integrally swung centered on support portion mounting base 33.Limiting component 63 is fixed on the structuring of the front on arm top 35.
The limitation protrusion 614 of first connecting rod component 61 can be abutted with limiting component 63.
Under original state shown in Fig. 5, the movable part 52 of actuator 5, which is in, shortens position.In addition, first connecting rod component
61 be the state after deasil swing, and second connecting rod component is the state after widdershins swinging.In first connecting rod component 61
Limitation protrusion 614 and limiting component 63 between there are gaps.The movable part 52 of the first movement is started as indicated by arrow a 1
Elongation.Then, the forethiga 612 of first connecting rod component 61 is pushed via connecting pin 613.First connecting rod component 61 is such as a result,
It is widdershins swung shown in arrow A2.
By the swing counterclockwise of first connecting rod component 61, the engagement pin 617 of rear arm 616 drives second connecting rod component
62 are swung.Second connecting rod component 62 is deasil swung as shown with arrow a 3, support portion 4 also as represented by arrow a 4 to
Front is swung.That is, link mechanism 6 extends movable part 52 to the first movement of scheduled half-way from position is shortened
Transmitting is the swing of support portion 4 forwards.The movement continues to be elongated to scheduled half-way up to movable part 52, reaches Fig. 6
Shown in state.
Under midway state shown in Fig. 6, the limitation protrusion 614 of first connecting rod component 61 is just supported with limiting component 63
It connects.The further swing of first connecting rod component 61 is limited as a result,.Then, the movable part 52 such as arrow of the second movement have been started
It is extended shown in A5.Then, the second movement of movable part 52 is directly transmitted to arm by the forethiga 612 of first connecting rod component 61
3.Arm 3 is swung centered on arm support base 27 forwards as indicated by arrow as a result,.With arm 3 swing into
Degree, actuator 5 vert forwards as indicated by arrow a 7.That is, link mechanism 6 is by movable part 52 from half-way
It extends to the second movement of extended position and transmits as the swing of arm 3 forwards.
Arm limiting mechanism 7 is made of limitation guide member 71 and force application part 75 etc..Fig. 7 is the knot to arm limiting mechanism 7
The partial enlarged view that structure is illustrated is equivalent to the original state of auxiliary device 1.In addition, Fig. 8 is the knot to arm limiting mechanism 7
The partial enlarged view that structure and movement are illustrated, is equivalent to the midway state of auxiliary device 1.
Limitation guide member 71 be one end of front upper side have supporting point 72, rear side the other end with the point of application
73 component.Limiting guide member 71 also has the long hole extended between supporting point 72 and the point of application 73 along inclined direction
74.Supporting point 72 is configured at the predetermined position 3A close to the top of arm front 34, is carried out in a swingable manner by structuring
Support.The front end storage of movable part 52 for that can move, in other words, can be moved the storage of connecting pin 613 by long hole 74.
As force application part 75, it is able to use such as helical spring.One end 751 of the rear upside of force application part 75 is locked to
The upper position 3B of arm 3.The upper position 3B of arm 3 is in the upper side than predetermined position 3A rearward.Before force application part 75
The other end 752 of downside is locked to the point of application 73 of limitation guide member 71.Force application part 75 is as indicated by arrows f1 to arm 3
Upper position 3B exerts a force to close to the direction of limitation guide member 71.In other words, make force application part 75 to the top for making arm 3
Position 3B exerts a force close to the direction of movable part 52.
In the starting condition shown in figure 7, the movable part 52 of actuator 5, which is in, shortens position.At this point, connecting pin 613
In the end of the rear side of long hole 74.Here, the swing with first connecting rod component 61 is simultaneously when movable part 52 starts the first movement
Row ground, the forward upward in long hole 74 of connecting pin 613 are mobile.In addition, limitation guide member 71 centered on supporting point 72 and into
Row clockwise oscillation.In the structure of present embodiment, by the first movement of movable part 52, limitation guide member 71 is swung
24°.The movement continues until movable part 52 is extended to scheduled half-way, and is limited protrusion 614 and be connected to limiting component 63
Until, reach state shown in Fig. 8.
Under midway state shown in Fig. 8, connecting pin 613 is located at the end of the front upper side of long hole 74.Then, work as movable part
52 start carry out second movement when, arm 3 is swung, but the relative positional relationship between arm 3 and arm limiting mechanism 7 is constant.From
The original state of auxiliary device 1 is to latter stage state, and force application part 75 is to the direction for the close movable part 52 of upper position 3B for making arm 3
It exerts a force.
The control unit omitted is illustrated to be made of operator and control main part etc..Operator, which has, grasps actuator 5
The rising button and declines button of work, are operated by auxiliary.Control main part is used with CPU and is moved by software
The computer installation of work is constituted.Main part is controlled according to the operation information obtained from operator, controls the motor in actuator 5
The sense of current flowed in 53.
2. the movement of the auxiliary device 1 of embodiment, functions and effects
Then, the movement of the auxiliary device of embodiment 1, functions and effects are illustrated.Hereinafter, being assisted auxiliary
The shifting of person M multiplies the control of the ascending fashion of movement and movement is illustrated.Under ascending fashion, auxiliary device 1 is from shown in Fig. 2
Original state is acted by midway state shown in Fig. 3 to latter stage state shown in Fig. 4.In addition, in auxiliary by auxiliary M's
It takes one's seat in the case where movement, auxiliary device 1 is acted in reverse direction according to the substantially opposite sequence for multiplying movement is moved.
Firstly, auxiliary makes the movable part 52 of actuator 5 be back to shortening position shown in Fig. 2.Next, auxiliary's handle
Holding handle 42 makes the movement of auxiliary device 1, and makes its being approached by auxiliary M to seated position.Enter the lower part of the body by auxiliary M
To the region of the lower section of support portion 4, bipod is placed in foot's mounting table 21.It can be by making one of shank by auxiliary M
Divide and contacted with shank butting section 25, and obtains stable posture.
Next, making trunk forward by auxiliary M and trunk and trunk support portion 41 being made to carry out face contact, and also two
Oxter rests against oxter support portion 45.At this point, trunk support portion 41 is swung to the direction stood up, therefore the top rake of trunk
It spends smaller.In addition, oxter support portion 45 is approximate horizontal or slightly rear portion declines, therefore can be easily by auxiliary M
Rest against oxter support portion 45.The posture by auxiliary M at this time becomes initial posture.It is above-mentioned to be moved by a succession of of auxiliary M
Work can also be assisted by auxiliary.Under initial posture, seat surface is seated at by the buttocks of auxiliary M.Therefore, by auxiliary
M supports the load generated by weight by buttocks, becomes comfortable posture.
Next, auxiliary starts to carry out the control of ascending fashion.The movable part 52 of actuator 5 starts carry out as a result,
One acts and extends, and counter clockwise direction of the first connecting rod component 61 into Fig. 2 is swung.In addition, after arm 3 maintains under original state
Side position.Along with the swing of first connecting rod component 61, support portion 4 is swung forwards in linkage with second connecting rod component 62.This
When, the front decline of oxter support portion 45, therefore limited by the movement of auxiliary M rearward, it will not fall off from support portion 4.
By the swing of support portion 4, gradually developed by the upper part of the body of auxiliary M as forward-lean state.Also, work as movable part 52
When elongation to scheduled half-way, become state shown in Fig. 3.In the state of Fig. 3, protrusion 614 and limiting component are limited
63 abut, and the swing of first connecting rod component 61 terminates.Therefore, the swing of support portion 4 also terminates.Also, by the buttocks of auxiliary M
State as the moment left from seat surface.
Further, when movable part 52 starts to carry out the second movement, arm 3 is driven and up time into Fig. 3 by movable part 52
Needle direction is swung.Meanwhile actuator 5 verts forwards.In addition, support portion 4 maintains certain posture relative to arm 3.The movement
Continue until the latter stage state for Fig. 4 that the elongation of movable part 52 to extended position, arm 3 reach forward position.It is assisted as a result,
Oblique upper is mobile forwards and further leans forward for the upper part of the body of person M.As a result, as shown in figure 4, becoming buttocks by auxiliary M
Significantly rise from seat surface, and the shifting of leg extension is taken the opportunity posture.
According to the auxiliary device 1 of embodiment, an actuator 5 is able to use to the swing forwards of support portion 4 and arm 3
Swing forwards is driven.Multiplying movement by the shifting of auxiliary M as a result, becomes smooth, and comfort improves.In addition, with
It is compared using the prior art of two actuators, it is low in cost.
In addition, in the auxiliary device 1 of embodiment, allow second connecting rod component 62 relative to first connecting rod component 61 at
For non-engagement state.That is, second connecting rod component 62 can leave the engagement pin 617 of first connecting rod component 61 and clockwise
Ground swings (referring to Fig.1 0).Support portion 4 freely swings forwards as a result,.Therefore, the region of the lower section of support portion 4 can be expanded,
Easily the lower part of the body can be made to enter by auxiliary M.It is strongly clamped in addition, will not generate by the huckle of auxiliary M
Situation.
In addition, Fig. 9 is the perspective view from the top of oblique upper view 3.As shown, movable first connecting rod component 61
And second connecting rod component 62 is covered by top cover member 38.The safety is improved as a result, also, appearance is simple, and aesthetics improves.
In addition, arm 3 is connected with arm top 35 by arm front 34 and is formed, actuator 5 is configured close to 34 ground of arm front.Therefore, it can prop up
The lower section of support part 4 ensures biggish area of space, will not be felt constraint by auxiliary M.
3. the functions and effects of arm limiting mechanism 7
Then, the functions and effects of arm limiting mechanism 7 are illustrated.In the auxiliary device 1 of embodiment, base station 2,
Arm 3, actuator 5 and first connecting rod component 61 constitute four section connecting rods, remain the freedom degree of movement.In other words, outside being applied with
In the case where power, the shape of above-mentioned four sections connecting rod can change.Arm limiting mechanism 7 eliminates the freedom degree of the four sections connecting rod, limit
The swing forwards outside the expectation of arm 3 is made.Figure 10 is the side, sectional that the wobbling action outside the expectation to arm 3 is illustrated
Figure, illustrates the state of the half-way of movable part 52.
As shown in Figure 10, in the structure of not set arm limiting mechanism 7, it is assumed that be applied with forward external force to support portion 4
The case where.In this case, firstly, support portion 4 freely swings forwards.Even if when in this way, external force remains surplus energy, arm 3
It swings forwards.That is, arm 3 is swung in the case where movable part 52 is failure to actuate.Fig. 3 is compared with Figure 10
It is found that arm 3 has swung angle [alpha] with the movement outside expectation.The phenomenon can be the case where being multiplied by support portion 4 by the violent gesture of auxiliary M
Inferior generation.At this point, uneasy is felt to the wobbling action outside the expectation of arm 3 by auxiliary M, comfort decline.
The position of connecting pin 613 is accommodated in the inside of long hole 74 by arm limiting mechanism 7 as illustrated with broken lines always,
To limit the wobbling action outside the expectation of arm 3.According to the present embodiment, even if link mechanism 6 remains freedom degree,
Arm limiting mechanism 7 also eliminates the freedom degree of link mechanism 6, limits the movement outside the expectation of arm 3.Therefore, according to reality
The auxiliary device 1 for applying mode, can limit the movement outside the expectation of arm 3, it is ensured that by the comfort of auxiliary M.
In addition, arm limiting mechanism 7 will not hinder the driving of actuator 5.If only merely limiting the pendulum of arm 3 forwards
It is dynamic, it is rearward exerted a force to arm 3 using force application part.But in this case, active force rearward can hinder actuator
5 driving.In contrast, according to the present embodiment, it does not need to make big outputization of actuator 5 etc., it will be able to limit the expectation of arm 3
Outer movement.
4. the deformation and application of embodiment
In addition, present embodiment headed by the change of the shape of each component parts or size, be able to carry out various modifications and
Using.
The explanation of appended drawing reference
1: auxiliary device 2: base station 22: actuator supporting part 27: arm support base 3: arm 31: bar-like member 33: support portion peace
Dress seat 38: top cover member 3A: predetermined position 3B: upper position 4: support portion 5: actuator 51: main part 52: movable part 53:
Motor 6: link mechanism 61: first connecting rod component 611: supporting point 612: forethiga 613: connecting pin 614: limitation protrusion 616:
Arm 617 afterwards: engagement pin 62: second connecting rod component 63: limiting component 7: arm limiting mechanism 71: limitation guide member 74: long hole
75: force application part M: by auxiliary
Claims (5)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210070566.6A CN114557834B (en) | 2017-03-14 | 2017-12-06 | Auxiliary device and auxiliary method |
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JPPCT/JP2017/010272 | 2017-03-14 | ||
| PCT/JP2017/010272 WO2018167856A1 (en) | 2017-03-14 | 2017-03-14 | Aid device |
| PCT/JP2017/043839 WO2018168112A1 (en) | 2017-03-14 | 2017-12-06 | Assistive device |
Related Child Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210070566.6A Division CN114557834B (en) | 2017-03-14 | 2017-12-06 | Auxiliary device and auxiliary method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110381907A true CN110381907A (en) | 2019-10-25 |
| CN110381907B CN110381907B (en) | 2022-05-03 |
Family
ID=63521959
Family Applications (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201780087965.0A Active CN110381907B (en) | 2017-03-14 | 2017-12-06 | Auxiliary device |
| CN202210070566.6A Active CN114557834B (en) | 2017-03-14 | 2017-12-06 | Auxiliary device and auxiliary method |
Family Applications After (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210070566.6A Active CN114557834B (en) | 2017-03-14 | 2017-12-06 | Auxiliary device and auxiliary method |
Country Status (6)
| Country | Link |
|---|---|
| EP (1) | EP3597165B1 (en) |
| JP (4) | JP6957600B2 (en) |
| CN (2) | CN110381907B (en) |
| AU (1) | AU2017404355B2 (en) |
| SG (1) | SG11201908144QA (en) |
| WO (2) | WO2018167856A1 (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111315337A (en) * | 2017-12-06 | 2020-06-19 | 株式会社富士 | Auxiliary device |
| CN111973370A (en) * | 2020-08-21 | 2020-11-24 | 山东科亿宏智能科技有限公司 | Clamping device of shifting machine, working method and application |
| CN116901033A (en) * | 2022-04-12 | 2023-10-20 | 马自达汽车株式会社 | Auxiliary equipment |
Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CA3102513A1 (en) * | 2018-06-05 | 2019-12-12 | Fuji Corporation | Management device for assistive device and management method |
| WO2020070848A1 (en) * | 2018-10-04 | 2020-04-09 | 株式会社Ｆｕｊｉ | Assistance apparatus |
| JP7186286B2 (en) * | 2019-04-12 | 2022-12-08 | 株式会社Fuji | assistive device |
| US12127987B2 (en) * | 2019-04-12 | 2024-10-29 | Fuji Corporation | Caring device |
| US12186252B2 (en) * | 2019-09-12 | 2025-01-07 | Fuji Corporation | Assistance device |
| CN115397380A (en) * | 2020-04-28 | 2022-11-25 | 株式会社富士 | Auxiliary device |
| CN221180897U (en) * | 2020-05-11 | 2024-06-21 | 护理自动化控股有限公司 | Auxiliary machine for transferring accompanying robot |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202699484U (en) * | 2012-06-05 | 2013-01-30 | 王英会 | Electric shifting machine for the disabled |
| CN203874012U (en) * | 2014-06-13 | 2014-10-15 | 王忠平 | Living assisting vehicle for disabled person |
| JP2015177869A (en) * | 2014-03-19 | 2015-10-08 | 大和ハウス工業株式会社 | Entrainment support device |
| CN205307276U (en) * | 2015-12-12 | 2016-06-15 | 许征文 | Multi -functional machine of shifting that freely goes up and down of frame -type |
| JP2016144628A (en) * | 2015-02-04 | 2016-08-12 | 住友理工株式会社 | Care taker assist device |
Family Cites Families (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP3816173B2 (en) * | 1997-01-10 | 2006-08-30 | 株式会社日本製鋼所 | Assistance transfer device |
| JP2000070312A (en) * | 1998-09-02 | 2000-03-07 | Yamaha Motor Co Ltd | Assisting device for care |
| US6348005B1 (en) * | 2001-03-01 | 2002-02-19 | Shin Yeh Enterprise Co., Ltd. | Swing assembly with convertible seat |
| GB2380399B (en) * | 2001-04-03 | 2005-02-02 | Graham Taylor | A powered lift recliner chair |
| GB2378171B (en) * | 2001-06-29 | 2004-04-14 | Arjo Ltd | Invalid hoist |
| JP4051926B2 (en) * | 2001-12-13 | 2008-02-27 | 勝二 鈴木 | wheelchair |
| CN1753653A (en) * | 2003-03-28 | 2006-03-29 | 株式会社日立医药 | Wear-type joint drive device |
| JP2008073501A (en) * | 2006-08-21 | 2008-04-03 | Toshihiko Yasuda | Transfer assisting robot |
| JP4714819B2 (en) * | 2008-07-15 | 2011-06-29 | 有限会社青葉テクノソリューションズ | Walking training device with fall prevention function |
| JP5623179B2 (en) * | 2010-08-19 | 2014-11-12 | パラマウントベッド株式会社 | Stand-up assist device |
| JP5773718B2 (en) * | 2011-04-11 | 2015-09-02 | 富士機械製造株式会社 | Stand-up motion assist robot |
| JP5278860B2 (en) * | 2011-10-04 | 2013-09-04 | 株式会社アートプラン | Self-supporting transfer device |
| JP2016165313A (en) | 2013-07-11 | 2016-09-15 | 共栄プロセス株式会社 | Human body transfer device |
| JP6436703B2 (en) * | 2014-09-25 | 2018-12-12 | 大和ハウス工業株式会社 | Transfer support device |
| KR20160133191A (en) * | 2015-05-12 | 2016-11-22 | 현대중공업 주식회사 | Assistant robot for transfer |
| EP3323399B1 (en) | 2015-07-14 | 2021-02-17 | FUJI Corporation | Patient care robot |
| WO2017060964A1 (en) | 2015-10-06 | 2017-04-13 | 富士機械製造株式会社 | Assistance robot |
-
2017
- 2017-03-14 WO PCT/JP2017/010272 patent/WO2018167856A1/en not_active Ceased
- 2017-03-14 JP JP2019505572A patent/JP6957600B2/en active Active
- 2017-12-06 SG SG11201908144Q patent/SG11201908144QA/en unknown
- 2017-12-06 EP EP17900406.4A patent/EP3597165B1/en active Active
- 2017-12-06 AU AU2017404355A patent/AU2017404355B2/en active Active
- 2017-12-06 JP JP2019505709A patent/JP6714766B2/en active Active
- 2017-12-06 CN CN201780087965.0A patent/CN110381907B/en active Active
- 2017-12-06 WO PCT/JP2017/043839 patent/WO2018168112A1/en not_active Ceased
- 2017-12-06 CN CN202210070566.6A patent/CN114557834B/en active Active
-
2020
- 2020-06-05 JP JP2020098787A patent/JP6985459B2/en active Active
-
2021
- 2021-11-25 JP JP2021190686A patent/JP7176083B2/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202699484U (en) * | 2012-06-05 | 2013-01-30 | 王英会 | Electric shifting machine for the disabled |
| JP2015177869A (en) * | 2014-03-19 | 2015-10-08 | 大和ハウス工業株式会社 | Entrainment support device |
| CN203874012U (en) * | 2014-06-13 | 2014-10-15 | 王忠平 | Living assisting vehicle for disabled person |
| JP2016144628A (en) * | 2015-02-04 | 2016-08-12 | 住友理工株式会社 | Care taker assist device |
| CN205307276U (en) * | 2015-12-12 | 2016-06-15 | 许征文 | Multi -functional machine of shifting that freely goes up and down of frame -type |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111315337A (en) * | 2017-12-06 | 2020-06-19 | 株式会社富士 | Auxiliary device |
| CN111973370A (en) * | 2020-08-21 | 2020-11-24 | 山东科亿宏智能科技有限公司 | Clamping device of shifting machine, working method and application |
| CN116901033A (en) * | 2022-04-12 | 2023-10-20 | 马自达汽车株式会社 | Auxiliary equipment |
Also Published As
| Publication number | Publication date |
|---|---|
| JP6957600B2 (en) | 2021-11-02 |
| EP3597165A1 (en) | 2020-01-22 |
| WO2018168112A1 (en) | 2018-09-20 |
| AU2017404355B2 (en) | 2020-01-23 |
| JP6985459B2 (en) | 2021-12-22 |
| EP3597165A4 (en) | 2020-02-26 |
| JP2022020848A (en) | 2022-02-01 |
| JP6714766B2 (en) | 2020-06-24 |
| AU2017404355A1 (en) | 2019-09-26 |
| JP7176083B2 (en) | 2022-11-21 |
| SG11201908144QA (en) | 2019-10-30 |
| JPWO2018168112A1 (en) | 2019-11-14 |
| JP2020157082A (en) | 2020-10-01 |
| CN114557834A (en) | 2022-05-31 |
| CN110381907B (en) | 2022-05-03 |
| WO2018167856A1 (en) | 2018-09-20 |
| EP3597165B1 (en) | 2022-12-21 |
| JPWO2018167856A1 (en) | 2019-11-07 |
| CN114557834B (en) | 2023-09-26 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110381907A (en) | Auxiliary device | |
| JP6889783B2 (en) | Assistance device | |
| JP2015000070A (en) | Massage machine | |
| WO2018179430A1 (en) | Assistance device | |
| JP6209185B2 (en) | Transfer support device | |
| CN112752559B (en) | Auxiliary device | |
| HK40067510A (en) | Assistive device and assistive method | |
| HK40015297B (en) | Assistive device | |
| HK40015297A (en) | Assistive device | |
| JPWO2018179294A1 (en) | Assistance device | |
| HK40042214B (en) | Assistance apparatus | |
| HK40042214A (en) | Assistance apparatus |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| REG | Reference to a national code |
Ref country code: HK Ref legal event code: DE Ref document number: 40015297 Country of ref document: HK |
|
| GR01 | Patent grant | ||
| GR01 | Patent grant |