CN110381907B - Auxiliary device - Google Patents

Abstract

An assisting device according to the present invention assists a person to be assisted in moving and riding, and includes: a base; an arm provided on the base so as to be swingable in the front-rear direction; and a support part for supporting a part of the body of the person being assisted , and is provided on the arm so as to be able to swing in the front-rear direction; the actuator has a main body portion provided on the base so as to be able to tilt in the front-rear direction, and a movable portion that extends and contracts from the main body portion; and A link mechanism includes a first link member that is swingably provided on the arm and connected to the movable portion, and a second link member that is fixedly provided on the support portion and engages with the first link member The link mechanism transmits a first movement of extending the movable portion from the shortened position to a predetermined mid-position as a forward swing of the support portion, and extends the movable portion from the mid-position to the extended position. The second motion transmission is the forward swing of the arm.

Description

assisting equipments

technical field

This specification relates to an assisting device that assists a person being assisted in the transfer operation.

Background technique

With the development of an aging society, the demand for assistive devices continues to increase. The assisting device generally moves a support portion that supports a part of the body of the person being assisted by driving from an actuator. The introduction of the assisting device reduces the physical burden of the assisters and the assisted, and also alleviates the manpower shortage of the nursing staff. As an example of the assisting device, there is a device that assists the person being assisted in the movement of moving from the seated posture. Patent Documents 1 and 2 disclose technical examples of such auxiliary devices.

The human body transfer device of Patent Document 1 includes a running part equipped with wheels, a support part positioned above the running part to support the person being assisted, and a drive part that drives the human body support part in the height direction. In addition, the arc-shaped swinging operation of the support portion is performed by the drive from the drive portion corresponding to the actuator. As a result, it is possible to easily and quickly transfer the assisted person while suppressing the back pain of the helper.

In addition, the assist robot of Patent Document 2 includes a lift unit that moves linearly in the vertical direction with respect to a base, an arm swingably provided on the lift unit, and a support unit provided at a tip end of the arm. The lifter and the arm are driven by their respective actuators, and operate in two stages. As a result, the lifting and lowering portion and the arm can be operated in coordination, and discomfort to the assisted person can be suppressed.

prior art literature

Patent Document 1: Japanese Patent Laid-Open No. 2016-165313

Patent Document 2: International Publication No. 2017/060964

SUMMARY OF THE INVENTION

However, in Patent Document 1, since the support part only swings in an arc shape, it is not always possible for the person to be assisted to use it comfortably. On the other hand, in Patent Document 2, two actuators are used to operate the lift section and the arm independently, so that the assisted person's transfer operation becomes smooth and the usability is improved. However, the use of two actuators leads to an increase in cost.

In this specification, the problem to be solved is to provide an assisting device that operates a plurality of components using one actuator and improves the comfort of the person being assisted.

means of solving problems

The present specification discloses an assisting device for assisting a person being assisted in moving and riding. A part of the body of the arm is provided on the arm so as to be able to swing in the front-rear direction; a movable part; and a link mechanism including a first link member which is swingably provided on the arm and connected to the movable part, and a second link member which is fixedly provided on the support part and engages with the first link member Two link members, wherein the link mechanism transmits a first motion of extending the movable portion from the shortened position to a predetermined halfway position as the forward swing of the support portion, and extends the movable portion from the halfway position to The second motion transmission in the extended position is the forward swing of the arm.

Invention effect

According to the assisting device disclosed in this specification, the forward swing of the support portion and the forward swing of the arm can be driven using one actuator. Thereby, the transfer operation of the assisted person becomes smooth, and the usability is improved. In addition, the cost is low compared to the prior art using two actuators.

Description of drawings

FIG. 1 is a perspective view of the assist device according to the embodiment as viewed obliquely from the rear.

FIG. 2 is a side cross-sectional view showing an initial state when the assisting device assists the person being assisted in the transfer operation.

FIG. 3 is a side cross-sectional view showing an intermediate state when the assisting device assists the person being assisted in the transfer operation.

4 is a side cross-sectional view showing a terminal state when the assisting device assists the transferee M in the transfer operation.

FIG. 5 is a partially enlarged view illustrating the structure and operation of the link mechanism, and corresponds to the initial state of the assist device.

FIG. 6 is a partially enlarged view illustrating the structure and operation of the link mechanism, and corresponds to a midway state of the assist device.

FIG. 7 is a partially enlarged view for explaining the structure of the arm restraint mechanism, and corresponds to the initial state of the assist device.

FIG. 8 is a partially enlarged view for explaining the structure and operation of the arm restricting mechanism, and corresponds to a midway state of the assist device.

Fig. 9 is a perspective view of the upper part of the arm viewed obliquely from above.

10 is a side cross-sectional view illustrating an unexpected swinging motion of the arm, and shows a state in a midway position of the movable portion.

Detailed ways

1. Configuration of the assist device 1 of the embodiment

The assisting device 1 of the embodiment will be described with reference to FIGS. 1 to 10 . FIG. 1 is a perspective view of the assist device 1 of the embodiment as viewed obliquely from the rear. In addition, FIG. 2 is a side cross-sectional view showing an initial state when the assisting device 1 assists the transferee M in the transfer operation. FIG. 3 is a side cross-sectional view showing a midway state when the assisting device 1 assists the transferee M in the transfer operation. 4 is a side cross-sectional view showing a terminal state when the assisting device 1 assists the transferee M in the transfer operation.

The assisting device 1 assists the transfer between two different places, for example, the transfer between the bed of the assisted person M and the wheelchair, or the transfer between the wheelchair and the toilet. The assisting device 1 supports the trunk of the person being assisted M, and assists the transfer operation from the sitting posture to the transfer posture and the seating movement from the transfer posture to the sitting posture. Here, the posture at the time of transferring is a posture in which the buttocks are raised from the seat surface, and includes a standing posture and a bent posture. That is, the posture at the time of transfer includes a state where the upper body is standing up, a state where the upper body is bent forward, and the like. In addition, the assisting device 1 can transfer the person being assisted M in the posture at the time of transfer when the two points of transfer are far apart.

The assisting device 1 includes a base 2 , an arm 3 , a support portion 4 , an actuator 5 , a link mechanism 6 , an arm restricting mechanism 7 , a control portion not shown, and the like. The base 2 is formed of a foot mount 21 , a rear wheel 23 , a base rod 24 , a calf abutting portion 25 , a mounting plate 26 , a front wheel 28 , and the like. The foot rests 21 are arranged substantially horizontally so as to be close to the ground surface F. As shown in FIG. On the front side of the upper surface of the foot rest table 21 , an actuator support portion 22 is protruded upward. A pair of left and right rear wheels 23 are provided on the left and right of the rear side of the leg rests 21 .

A pair of left and right base rods 24 are respectively provided forward from the left and right of the front surface of the leg part mounting table 21 . The base rod 24 is bent upward from the front, and then extends slightly obliquely rearward. The calf abutting portion 25 is provided rearwardly on the upper portions of the two abutment rods 24 . The lower leg abutting portion 25 is located above the front portion of the foot rest platform 21 . The calf abutting portion 25 is formed of a cushioning material, and the vicinity of the lower leg of the person being assisted M can come into contact with the calf abutting portion 25 .

A pair of left and right mounting plates 26 are respectively fixed and provided at positions slightly above the curved portions bent upward from the front direction of the base rod 24 and at positions on the inner sides facing each other. The mounting plate 26 extends forward from the base rod 24 . Arm support bases 27 are provided on the upper portions of the pair of left and right mounting plates 26, respectively. A pair of left and right front wheels 28 are provided on the lower front portion of the pair of left and right mounting plates 26 . With the steering function of the front wheels 28 and the rear wheels 23 , the assist device 1 can not only move straight and turn, but also move laterally and turn in place. In addition, the front wheel 28 has a locking function that restricts movement.

The arm 3 is formed by the rod-shaped member 31 , the front cover member 36 , the upper cover member 38 , various structural members whose reference numerals are omitted, and the like. The rod-shaped member 31 is a substantially U-shaped rod-shaped member whose lower side is opened. The lower ends 32 on both sides of the rod-shaped member 31 are swingably supported by the arm support bases 27 of the attachment plate 26 . Thereby, the arm 3 can swing in the front-rear direction with reference to the base 2 .

In order to restrict the swing angle of the arm 3, a stopper mechanism whose reference numeral is omitted is provided in the vicinity of the arm support base 27. The rod-shaped member 31 extends upward from the left and right lower ends 32 , and extends obliquely upward and obliquely rearward in the middle, and merges into one at the upper part of the rear. The overall shape of the arm 3 is constituted by an arm front portion 34 extending upward from the arm support base 27 and an arm upper portion 35 extending obliquely rearward and upward in connection with the upper portion of the arm front portion 34 .

The front cover member 36 constitutes the arm front portion 34 . The front cover member 36 is arranged on the front side of the rod-shaped member 31 at intervals. The front cover member 36 is formed so that both side surfaces are bent back to define the interior space. The battery 37 is accommodated in the inner space of the front cover member 36 . The battery 37 is a power source for the actuator 5 and the control unit.

The upper cover member 38 is formed continuously to the front cover member 36 and constitutes the upper arm portion 35 . The upper cover member 38 is arranged close to the upper side of the rod-shaped member 31 . The upper cover member 38 is formed so that both side surfaces are folded downward to define an inner space. The arm restriction mechanism 7 , the link mechanism 6 , and the support portion mounting seat 33 are provided in this order from the front lower side to the rear upper side of the inner space of the upper cover member 38 . In addition, in FIG. 1, illustration of the upper cover member 38 is abbreviate|omitted.

The support part 4 is formed by including a trunk support part 41 and a pair of left and right underarm support parts 45 . The trunk support portion 41 is swingably supported by the support portion mount 33 of the upper arm portion 35 . Thereby, the support part 4 can rock|fluctuate in the front-rear direction with reference to the arm 3. As shown in FIG. The trunk support 41 has a handle 42 . The handle 42 is formed in a substantially square frame shape. The handle 42 is a part held by the assistant M, and is also a part held by the assistant in order to move the assisting device 1 .

The trunk support portion 41 is formed of the bottom plate 43 (see FIG. 5 ), the trunk contact member 44 , and the like. The bottom plate 43 is formed in a substantially rectangular shape using a metal or resin-made plate with high rigidity. The bottom plate 43 is provided with the above-described handle 42 , a portion to be attached to the support portion mounting base 33 , and a second link member 62 to be described later.

The trunk contact member 44 is formed larger than the bottom plate 43 using a material having flexibility, and is attached to the upper surface of the bottom plate 43 . The trunk contact member 44 can be, for example, a two-layer structure composed of a surface layer and a bottom layer. As a material for forming the surface layer, a low-resilience urethane foam can be exemplified, and as a material for forming a bottom layer, a low-flammability urethane foam can be exemplified. The trunk support portion 41 supports from the chest to the abdomen of the trunk, which is a part of the body of the person being assisted M.

The pair of left and right underarm support parts 45 are attached to the chest on the left and right sides of the trunk support part 41 . The underarm support portion 45 is formed in an L-shape curved at an obtuse angle. The underarm support portion 45 is formed of a core member 46 (see FIG. 5 ), an outer peripheral member 47 and the like. The core member 46 is formed by, for example, bending a metal or hard resin round bar or pipe into an L-shape.

The outer peripheral member 47 is formed in a cylindrical shape covering the outer periphery of the core member 46 using a buffer material. The short linear portion from the base end on the attachment side of the underarm support portion 45 to the curved position is the shoulder receiving portion, and the long linear portion from the curved position to the distal end is the underarm entry portion. The shoulder socket supports the front surface of the shoulder of the person being assisted M. The underarm entry portion enters into the underarms on both sides of the torso of the assisted person M. The trunk support portion 41 and the underarm support portion 45 may be provided with a removable cover made of cloth or leather.

The actuator 5 includes a main body portion 51 , a movable portion 52 , a motor 53 , and the like. The main body portion 51 is tiltably supported by the actuator support portion 22 of the base 2 . Thereby, the actuator 5 is tilted in the front-rear direction. The movable portion 52 extends and contracts from the main body portion 51 . Specifically, the movable portion 52 is extended from the shortened position to the extended position via a predetermined midway position, or is retracted in the opposite direction. The distance by which the movable portion 52 is extended from the shortened position to the mid-position is the first motion, and the distance by which the movable portion 52 is extended from the mid-position to the extended position is the second motion.

30 mm can be exemplified as the stroke length of the first operation, and 60 mm can be exemplified as the stroke length of the second operation. The front end of the movable portion 52 is connected to a connecting pin 613 of the link mechanism 6 to be described later. The motor 53 is provided in the main body portion 51 . The electric motor 53 controls the direction of the current flowing by the control unit (not shown), and drives the expansion/contraction operation of the movable portion 52 . In addition, instead of the electric motor 53, other types of drive sources such as a pressure drive source using hydraulic pressure or air pressure can be used.

The link mechanism 6 includes a first link member 61 , a second link member 62 , a restricting member 63 , and the like. FIG. 5 is a partially enlarged view illustrating the structure and operation of the link mechanism 6 , and corresponds to the initial state of the assist device 1 . In addition, FIG. 6 is a partial enlarged view explaining the structure and operation|movement of the link mechanism 6, and corresponds to the middle state of the assist device 1. As shown in FIG.

The first link member 61 is an elongated member having a support point 611 , a front arm portion 612 and a rear arm portion 616 . The support point 611 is arranged near the center of the upper arm portion 35 . Also, the support point 611 is swingably supported by the structural member of the arm 3 . Thereby, the first link member 61 swings around the support point 611 .

The forearm portion 612 extends forward from the support point 611 . A connecting pin 613 is provided on the lower front portion of the forearm portion 612 . The connecting pin 613 connects the forearm portion 612 to the front end of the movable portion 52 . A restriction protrusion 614 is formed on the upper front portion of the forearm portion 612 . The rear arm portion 616 extends rearward from the support point 611 . At the rear of the rear arm portion 616, the engaging pin 617 is provided so as to extend in the left-right direction. The engaging pin 617 is engaged with the second link member 62 from the counterclockwise direction in FIG. 5 to push the second link member 62 .

The second link member 62 is fixed to the bottom plate 43 of the support portion 4 . Thereby, the support portion 4 and the second link member 62 are integrally swung around the support portion mount 33 . The restricting member 63 is fixed to the front structure of the arm upper part 35 . The restricting protrusion 614 of the first link member 61 can abut against the restricting member 63 .

In the initial state shown in FIG. 5 , the movable portion 52 of the actuator 5 is in the shortened position. In addition, the first link member 61 is in a state of swinging clockwise, and the second link member is in a state of swinging counterclockwise. There is a gap between the restricting protrusion 614 of the first link member 61 and the restricting member 63 . The movable portion 52 that has started the first operation expands as indicated by arrow A1. Then, the forearm portion 612 of the first link member 61 is pushed through the connecting pin 613 . Thereby, the first link member 61 swings counterclockwise as indicated by arrow A2.

By the counterclockwise swing of the first link member 61, the engagement pin 617 of the rear arm portion 616 drives the second link member 62 to swing. The second link member 62 swings clockwise as indicated by arrow A3, and the support portion 4 also swings forward as indicated by arrow A4. That is, the link mechanism 6 transmits the first movement of extending the movable portion 52 from the shortened position to the predetermined midway position as the forward rocking of the support portion 4 . This operation is continued until the movable portion 52 is extended to a predetermined halfway position and reaches the state shown in FIG. 6 .

In the halfway state shown in FIG. 6 , the restricting protrusion 614 of the first link member 61 just abuts the restricting member 63 . Thereby, further rocking|fluctuation of the 1st link member 61 is restrained. And the movable part 52 which started the 2nd operation|movement is extended as shown by arrow A5. Then, the forearm portion 612 of the first link member 61 directly transmits the second movement of the movable portion 52 to the arm 3 . Thereby, the arm 3 swings forward about the arm support base 27 as shown by arrow A6. As the swing of the arm 3 progresses, the actuator 5 tilts forward as indicated by arrow A7. That is, the link mechanism 6 transmits the second operation of extending the movable portion 52 from the intermediate position to the extended position as the forward swing of the arm 3 .

The arm restricting mechanism 7 includes a restricting guide member 71 , a biasing member 75 and the like. FIG. 7 is a partially enlarged view illustrating the configuration of the arm restricting mechanism 7 , and corresponds to the initial state of the assist device 1 . In addition, FIG. 8 is a partial enlarged view explaining the structure and operation|movement of the arm restriction|limiting mechanism 7, Comprising: It corresponds to the middle state of the assist apparatus 1. As shown in FIG.

The restriction guide member 71 has a support point 72 at one end on the front upper side and a biasing point 73 at the other end on the rear lower side. The restriction guide member 71 further has an elongated hole 74 extending in an oblique direction between the support point 72 and the force application point 73 . The support point 72 is arranged at a predetermined position 3A close to the upper part of the arm front part 34, and is supported by the structure so as to be swingable. The long hole 74 accommodates the connecting pin 613 so as to be movable, in other words, accommodates the distal end of the movable portion 52 so as to be movable.

As the biasing member 75, for example, a coil spring can be used. One end 751 of the upper rear side of the biasing member 75 is locked at the upper position 3B of the arm 3 . The upper position 3B of the arm 3 is located on the rear and upper side of the predetermined position 3A. The other end 752 of the lower front side of the urging member 75 is locked to the urging point 73 of the restriction guide member 71 . The urging member 75 urges the upper position 3B of the arm 3 in a direction to approach the restriction guide member 71 as indicated by the arrow F1. In other words, the biasing member 75 is biased in a direction in which the upper position 3B of the arm 3 is brought closer to the movable portion 52 .

In the initial state shown in FIG. 7 , the movable portion 52 of the actuator 5 is in the shortened position. At this time, the connecting pin 613 is located at the rear lower end of the long hole 74 . Here, when the movable portion 52 starts the first motion, the connecting pin 613 moves forward and upward in the long hole 74 in parallel with the swinging of the first link member 61 . Further, the guide member 71 is restricted from swinging clockwise around the support point 72 . In the configuration of the present embodiment, the guide member 71 is restricted from swinging by 24° by the first movement of the movable portion 52 . This operation is continued until the movable portion 52 is extended to a predetermined midway position and the restricting protrusion 614 abuts the restricting member 63, and the state shown in FIG. 8 is reached.

In the halfway state shown in FIG. 8 , the connecting pin 613 is located at the end portion on the upper front side of the long hole 74 . Then, when the movable portion 52 starts to perform the second operation, the arm 3 swings, but the relative positional relationship between the arm 3 and the arm restricting mechanism 7 does not change. From the initial state to the final state of the assist device 1 , the biasing member 75 biases the upper position 3B of the arm 3 toward the movable portion 52 .

The control unit, which is not shown in the drawings, is composed of an operator, a control main body, and the like. The operator has an up button and a down button for operating the actuator 5, and is operated by an assistant. The control main body is configured using a computer device having a CPU and operating by software. The control main body section controls the direction of the current flowing in the electric motor 53 of the actuator 5 based on the operation information acquired from the operator.

2. Operation, function, and effect of the assisting device 1 of the embodiment

Next, operations, functions, and effects of the assist device 1 of the embodiment will be described. Hereinafter, the control and operation of the ascending mode for assisting the transfer operation of the assisted person M will be described. In the ascending mode, the assist device 1 operates from the initial state shown in FIG. 2 to the final state shown in FIG. 4 through the intermediate state shown in FIG. 3 . In addition, when assisting the sitting motion of the person being assisted M, the assisting device 1 operates in the reverse direction in a substantially reverse order of the transfer motion.

First, the assistant returns the movable portion 52 of the actuator 5 to the shortened position shown in FIG. 2 . Next, the assistant grasps the handle 42 and moves the assisting device 1 to approach the assistant M in the seated posture. The person to be assisted M enters the lower body into the area below the support part 4 , and places both feet on the foot rest table 21 . The person being assisted M can obtain a stable posture by bringing a part of the lower leg into contact with the lower leg abutting portion 25 .

Next, the person being assisted M leans the trunk forward so that the trunk is in surface contact with the trunk support portion 41, and also leans on the underarm support portion 45 under both armpits. At this time, since the trunk support portion 41 swings in the upright direction, the forward inclination angle of the trunk may be small. In addition, since the underarm support portion 45 is substantially horizontal or slightly lowered at the rear, the person being assisted M can easily lean on the underarm support portion 45 . The posture of the assisted person M at this time is the initial posture. The above-mentioned series of actions of the assisted person M may also be assisted by the assisted person. In the initial posture, the buttocks of the person being assisted M are seated on the seat surface. Therefore, the person being assisted M supports the load due to the body weight through the hips, and has a comfortable posture.

Next, the assistant starts to control the ascending mode. As a result, the movable portion 52 of the actuator 5 starts to perform the first operation and expands, and the first link member 61 swings in the counterclockwise direction in FIG. 2 . In addition, the arm 3 maintains the rear side position in the initial state. As the first link member 61 swings, the support portion 4 swings forward in conjunction with the second link member 62 . At this time, since the front of the underarm support portion 45 descends, the rearward movement of the person being assisted M is restricted and does not come off from the support portion 4 .

The upper body of the person being assisted M gradually develops into a forward leaning state by the swinging of the support portion 4 . Then, when the movable portion 52 is extended to a predetermined halfway position, the state shown in FIG. 3 is obtained. In the state of FIG. 3 , the restricting protrusion 614 is in contact with the restricting member 63 , and the swinging of the first link member 61 is completed. Therefore, the rocking|fluctuation of the support part 4 is also complete|finished. In addition, the buttocks of the person being assisted M are in a state at the moment of being separated from the seat surface.

Further, when the movable portion 52 starts the second operation, the arm 3 is driven by the movable portion 52 to swing clockwise in FIG. 3 . At the same time, the actuator 5 is tilted forward. In addition, the support portion 4 maintains a constant posture with respect to the arm 3 . This operation is continued until the final state of FIG. 4 in which the movable portion 52 is extended to the extended position and the arm 3 reaches the front side position. As a result, the upper body of the person being assisted M moves obliquely forward and upward, and further leans forward. As a result, as shown in FIG. 4 , the person being assisted M takes a posture at the time of transfer in which the buttocks are greatly raised from the seat surface and the legs are stretched.

According to the assist device 1 of the embodiment, the forward swing of the support portion 4 and the forward swing of the arm 3 can be driven using one actuator 5 . Thereby, the transfer operation of the assisted person M becomes smooth, and the usability is improved. In addition, the cost is low compared to the prior art using two actuators.

In addition, in the assist device 1 of the embodiment, the second link member 62 is allowed to be in a disengaged state with respect to the first link member 61 . That is, the second link member 62 can swing clockwise away from the engagement pin 617 of the first link member 61 (see FIG. 10 ). Thereby, the support part 4 is free to swing forward. Therefore, the area below the support part 4 can be enlarged, and the person being assisted M can easily enter the lower body. In addition, there is no case where the thigh of the person being supported M is gripped strongly.

In addition, FIG. 9 is a perspective view of the upper part of the arm 3 viewed from obliquely above. As shown in the figure, the movable first link member 61 and the second link member 62 are covered by the upper cover member 38 . Thereby, the safety is improved, the appearance is simple, and the appearance is improved. In addition, the arm 3 is formed by connecting an arm front part 34 and an arm upper part 35 , and the actuator 5 is arranged close to the arm front part 34 . Therefore, a large space area can be secured below the support portion 4, and the person being assisted M does not feel restrained.

3. Function and effect of arm restraint mechanism 7

Next, the action and effect of the arm restricting mechanism 7 will be described. In the assist device 1 of the embodiment, the base 2 , the arm 3 , the actuator 5 , and the first link member 61 constitute a four-joint link, and the degree of freedom of movement remains. In other words, when an external force is applied, the shape of the four-joint link can be changed. The arm restricting mechanism 7 eliminates the degree of freedom of the four-joint link, and restricts the unexpected forward swing of the arm 3 . FIG. 10 is a side cross-sectional view illustrating an unexpected swinging motion of the arm 3 , and shows a state of the movable portion 52 at a midway position.

As shown in FIG. 10 , in the configuration in which the arm restricting mechanism 7 is not provided, it is assumed that a forward external force is applied to the support portion 4 . In this case, first, the support portion 4 is free to swing forward. Even so, if there is a surplus of external force, the arm 3 swings forward. That is, when the movable portion 52 does not move, the arm 3 swings. Comparing FIG. 3 with FIG. 10 , it can be seen that the arm 3 swings by the angle α in an unexpected motion. This phenomenon occurs, for example, when the person being assisted M rides on the support portion 4 abruptly. At this time, the person being assisted M feels uneasy about the unexpected swinging motion of the arm 3, and the usability is reduced.

The arm restricting mechanism 7 shown by the broken line in FIG. 10 always accommodates the position of the connecting pin 613 inside the long hole 74 , thereby restricting the unexpected swinging motion of the arm 3 . According to the present embodiment, even if the link mechanism 6 has a degree of freedom, the arm restricting mechanism 7 cancels the degree of freedom of the link mechanism 6 and restricts the unexpected movement of the arm 3 . Therefore, according to the assisting device 1 of the embodiment, the unexpected movement of the arm 3 can be restricted, and the comfort of the person being assisted M can be ensured.

In addition, the arm restricting mechanism 7 does not hinder the driving of the actuator 5 . As long as the swinging of the arm 3 in the forward direction is simply restricted, the arm 3 may be urged rearward using an urging member. However, in this case, the driving force of the actuator 5 is hindered by the backward force. On the other hand, according to the present embodiment, the unexpected movement of the arm 3 can be restricted without increasing the output of the actuator 5 or the like.

4. Variation and application of the embodiment

In addition, the present embodiment can be modified and applied in various ways, including changes in the shape and size of each constituent member.

Explanation of reference numerals

1: Auxiliary device 2: Base 22: Actuator support part 27: Arm support base 3: Arm 31: Rod member 33: Support part mounting base 38: Upper cover member 3A: Predetermined position 3B: Upper position 4: Support part 5: Actuator 51: Main body part 52: Movable part 53: Motor 6: Link mechanism 61: First link member 611: Support point 612: Front arm part 613: Connection pin 614: Limiting protrusion 616: Rear arm Part 617 : Engagement pin 62 : Second link member 63 : Restriction member 7 : Arm restricting mechanism 71 : Restriction guide member 74 : Long hole 75 : Forcing member M: Assisted person

Claims (6)

1. An assisting device for assisting a person being assisted in a transfer action, the assisting device being characterized by comprising: abutment; an arm provided on the base in a manner that can swing in the front-rear direction; a support part, which supports a part of the body of the person being assisted, and is provided on the arm so as to be able to swing in the front-rear direction; an actuator having a main body portion provided on the base so as to be able to tilt in the front-rear direction, and a movable portion extending and contracting from the main body portion; and A link mechanism includes a first link member swingably provided on the arm and connected to the movable portion, and a second link member fixedly provided on the support portion and engaged with the first link member Two link members, the link mechanism transmits a first movement of extending the movable portion from a shortened position to a predetermined midway position as the forward swing of the support portion, and moves the movable portion from the The second action of extending from the midway position to the extended position is transmitted as the forward swing of the arm and the posture of the support portion relative to the arm is maintained constant, The first link member is driven to swing by the first motion of the movable portion, and is not driven to swing by the second motion of the movable portion, and the movable portion is driven to swing. The second motion of the part is transmitted directly to the arm. 2. The auxiliary device of claim 1, wherein, The first link member has a support point that is swingably supported by the arm, and a forearm portion that extends forward from the support point, is connected to the movable portion, and is capable of being connected to the movable portion. the restraining member of the arm abuts; and the rear arm portion, which extends rearward from the support point, When the rear arm portion is driven by the first movement of the movable portion, the support portion is driven to swing via the engaged second link member, When the forearm portion is driven by the second movement of the movable portion, the arm is driven to swing via the abutting restricting member. 3. The auxiliary device of claim 1, wherein, The first link member has a support point that is swingably supported on the arm, and a forearm portion that extends forward from the support point, is connected to the movable portion, and is capable of being connected to the movable portion. the restraining member of the arm abuts; and the rear arm portion, which extends rearward from the support point, When the rear arm portion is driven by the first movement of the movable portion, the support portion is driven to swing via the engaged second link member, When the forearm portion is driven by the second movement of the movable portion, the arm is driven to swing via the abutting restricting member. 4. The auxiliary device according to any one of claims 1 to 3, wherein, The support portion can freely swing forward by allowing the second link member to be in a disengaged state with respect to the first link member. 5. The auxiliary device according to any one of claims 1 to 3, wherein, The auxiliary device further includes a cover member that covers the first link member and the second link member. 6. The auxiliary device of claim 4, wherein, The auxiliary device further includes a cover member that covers the first link member and the second link member.

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