JP2016059598A - Assistance support device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a care support device which rotates a plurality of links with one driving source.SOLUTION: A care support device comprises: a first link 3R whose one end is supported rotatably around a first shaft J1 with respect to a body 2; a motor 10R for rotating the first link 3R; a toothed pulley 13R which is concentric with the first shaft J1 and fixed to the body 2; a toothed pulley 15R rotatable around a second shaft J2 with respect to the first link 3R; a toothed belt 14R for transmitting rotational force between the toothed pulley 13R and the toothed pulley 15R; and a second link 4R whose one end is connected to the toothed pulley 15R. By rotating the first link 3R, the second link 4R also rotates interlockingly, thereby changing a form of a link mechanism. This supports standing and transferring of a care-receiver.SELECTED DRAWING: Figure 3

Description

  The present invention relates to an assistance support device that assists a person being assisted in standing up and transferring.

  In Patent Document 1, an assistance device that is configured by a plurality of links as an assistance device that supports rising or transfer of a person being assisted, and changes to a form necessary for assistance by controlling the rotation angle of each link. Is disclosed.

JP 2010-148567 A

In the conventional apparatus described in Patent Document 1, a drive motor is provided for each link in order to rotate each link. On the other hand, the care support apparatus may be required to be configured from a large number of links in order to cope with various forms necessary for care. In this case, there is a problem that the number of motors increases and the weight, space, and cost increase.
The present invention has been made in view of the above circumstances, and provides an assistance device capable of reducing weight, space, and cost because a plurality of links can be rotated by a single driving device (motor).

  In order to solve the above problems, the invention according to claim 1 is characterized in that a body and a link mechanism held by the body are provided, and the form of the link mechanism is changed so that the person being assisted rises and transfers. In the assistance support device that changes to a suitable form and supports the rising and transfer of the person being assisted, the link mechanism has a first link supported at one end rotatably around the first axis with respect to the main body, A driving device for rotating the first link; a first rotational force transmission wheel concentrically fixed to the main body with the first shaft; and a second rotational force rotatable about the second shaft with respect to the first link. A transmission wheel, a first torque transmission means for transmitting torque between the first torque transmission wheel and the second torque transmission wheel, and a second end connected to the second torque transmission wheel. A link, and rotating the first link It is to change the form of click mechanism.

  The invention according to claim 2 is characterized in that, in the invention according to claim 1, at least one of the other end of the first link and the other end of the second link is provided with a wheel, and the wheel is supported by the wheel. is there.

  The invention according to claim 3 is characterized in that, in the invention according to claim 1, a third torque transmission wheel concentric with the second shaft and fixed to the first link, and a third shaft with respect to the second link. A fourth rotational force transmitting wheel rotatable around, a second rotational force transmitting means for transmitting rotation between the third rotational force transmitting wheel and the fourth rotational force transmitting vehicle, and one end of the fourth rotational force transmitting wheel A third link connected to the transmission wheel.

  A feature of the invention according to claim 4 is that, in the invention according to claim 3, at least one of the other end of the second link and the other end of the third link is provided with a wheel, and the wheel is supported by the wheel. .

  A feature of the invention according to claim 5 is that, in the invention according to any one of claims 1 to 4, the number of revolutions of the second torque transmission wheel with respect to the first torque transmission wheel is doubled. The first rotational force transmission wheel and the second rotational force transmission wheel have the same rotational direction.

According to the first aspect of the present invention, the first link is rotated around the first shaft by the driving device, so that the second torque transmission means connected to the first torque transmission wheel by the first torque transmission means. The car rotates about the second axis relative to the first link. Therefore, the second link whose one end is connected to the second torque transmission wheel rotates with respect to the first link. That is, the first link can be rotated around the first axis and the second link can be rotated around the second axis by one driving device.
As a result, since the form is changed by rotating the two links by one drive device, it is possible to realize an assistance support device that is small in weight, space, and cost.

  According to the invention which concerns on Claim 2, the assistance assistance apparatus with which a movement of a main body is easy is realizable by earth | grounding the wheel with which the other end of the 1st link and the 2nd link was equipped.

According to the third aspect of the present invention, the second link is rotated around the second axis with respect to the first link, so that the fourth rotational force transmission means is connected to the third rotational force transmission wheel by the second rotational force transmission means. The rotational force transmission wheel rotates around the third axis with respect to the second link. Therefore, the third link having one end connected to the fourth rotational force transmission wheel rotates with respect to the second link. That is, one drive device can rotate the first link around the first axis, rotate the second link around the second axis, and rotate the third link around the third axis.
As a result, since the form is changed by rotating the three links by one drive device, it is possible to realize an assistance support device that is small in weight, space, and cost.

  According to the invention which concerns on Claim 4, the assistance assistance apparatus with which a movement of a main body is easy is realizable by earth | grounding the wheel provided in the other end of the 2nd link and the 3rd link.

  According to the invention which concerns on Claim 5, a 1st link and a 2nd link rotate in a reverse direction, and the rotation angle of a 2nd link becomes 2 times the rotation angle of a 1st link. As a result, it is possible to realize an assistance device in which the angle of the main body with respect to the ground contact surface is always constant.

  According to the present invention, since a plurality of links can be rotated by one drive device, an assistance support device that can reduce weight, space, and cost can be realized.

It is the schematic which shows the whole structure of 1st Embodiment. It is A arrow directional view of FIG. It is BB sectional drawing of FIG. It is a figure of the state which a care recipient uses a assistance assistance apparatus in a sitting position. It is a figure of the state which a care recipient uses a assistance assistance apparatus in a standing position. It is a side view of 2nd Embodiment. It is CC sectional drawing of FIG. It is a side view of 3rd Embodiment. It is DD sectional drawing of FIG. It is operation | movement explanatory drawing of 3rd Embodiment.

  Embodiments of the present invention will be described below with reference to the drawings.

[First Embodiment]
With reference to FIGS. 1-3, the assistance assistance apparatus of 1st Embodiment of this invention is demonstrated.
As shown in FIG. 1, the assistance support device 1 is engaged with a first link 3R having a first wheel 5R at the lower end as a right link mechanism on the right side surface of the main body 2 and an intermediate portion of the first link 3R. A second link 4R having a second wheel 6R is provided at the lower end. Further, as a left link mechanism on the left side surface of the main body 2, a first link 3L having a first wheel 5L at the lower end and a second link 6L engaging at an intermediate portion of the first link 3L and having a second wheel 6L at the lower end. A link 4L is provided. The second wheels 6R and 6L are preferably casters or steering wheels.
A handle 8 is provided at the top of the main body 2.

  In the cross-sectional view of the right link mechanism shown in FIG. 3, the first link 3R is rotatably held with respect to the main body 2 via a bearing 16R, and the main body 2 is driven by a motor 10R as a driving source via gears 11R and 12R. With respect to the first axis J1. A toothed pulley 13R, which is a first torque transmission wheel, has one end fixed to the main body 2 and is held coaxially with the first shaft J1 by a bearing 17R.

  The toothed pulley 15R, which is the second rotational force transmission wheel, is rotatably supported around the second axis J2 via a bearing 18R at an intermediate portion in the longitudinal direction of the first link 3R. The toothed pulley 13R and the toothed pulley 15R are connected to each other by a toothed belt 14R serving as a first torque transmission means and rotate in conjunction with each other. The second link 4R is coupled to one end of the toothed pulley 15R, and the second link 4R rotates around the second axis J2 with respect to the first link 3R. Here, the number of teeth of the toothed pulley 13R is set to twice the number of teeth of the toothed pulley 15R.

In the side view of the right link mechanism shown in FIG. 2, a line m perpendicular to the ground contact surface F of the low-profile assistance support device 1 indicated by a solid line, the first axis J1 that is the rotation center of the first link 3R, and the first wheel 5R. of the angle formed by the straight line connecting the rotational center as the alpha _1, the second axis J2 and the straight line connecting the rotational center of the first wheel 5R which is the rotation center of the second link 4R, and the second axis J2 of the second wheel 6R The angle formed by the straight line connecting the rotation centers is β ₁ . In this case, the distance between the first wheel 5R and the second wheel 6R is _{L 1.}

From this state, the motor 10R rotates the first link 3R counterclockwise, and an angle formed by a straight line connecting the line m and the first axis J1 that is the rotation center of the first link 3R and the rotation center of the first wheel 5R is formed. Let α ₂ . Thus, since the toothed pulley 13R is fixed to the main body 2, the toothed pulley 13R rotates clockwise by α ₁ −α ₂ relative to the first link 3R. For this reason, the toothed pulley 15R connected to the toothed pulley 13R by the toothed belt 14R also rotates clockwise with respect to the first link 3R. Since the number of teeth of the toothed pulley 13R is set to twice the number of teeth of the toothed pulley 15R, the rotation angle of the toothed pulley 15R is twice the rotation angle of the toothed pulley 13R, and the second shaft J2 a straight line connecting the rotational center of the first wheel 5R, the angle formed by the straight line connecting the second axis J2 center of rotation of the second wheel 6R becomes beta _2. In this way, the form as shown by two-dot chain line is changed, the first wheel 5R and the interval between the second wheel 6R L _2, and the distance from the ground plane F of the main body 2 becomes larger. Since the relation of the rotation angle of the link is β ₁ −β ₂ = 2 · (α ₁ −α ₂ ), the angle of the main body 2 with respect to the ground contact surface F is always constant.

When the assistance support apparatus 1 is used for transfer or rising of the person being assisted, the following operation is performed. As shown in FIG. 4, with the main body 2 being in a low form, a caretaker in a sitting posture holds the handle 8 and takes a posture of covering the upper body with the main body 2 if necessary.
When the person being assisted operates an operation member (not shown) and rotates the first link 3R counterclockwise, the second link 4R rotates clockwise, and the main body 2 is moved to a desired height as shown in FIG. When the person being assisted is in the middle or standing posture, the rotation is stopped. In the initial stage of this operation, a large force pulling forward acts on the assistance support device 1 to raise the person being assisted, but is stable because the distance between the first wheel 5R and the second wheel 6R is wide.
The person being assisted moves / turns the assistance support device 1 to move to a desired position. At this time, since the distance between the first wheel 5R and the second wheel 6R is narrow, the moment of force that becomes resistance during turning is reduced, and the vehicle can turn easily. Moreover, when the 2nd wheel 6R is a steering wheel, the turning radius of the assistance assistance apparatus 1 can be made small.
The person being assisted operates the operation member to rotate the first link 3R to the right and simultaneously rotate the second link 4R to the left to lower the main body 2 to a desired height. Stop rotation when sitting posture.

[Second Embodiment]
As shown in FIGS. 6 and 7, the assistance support apparatus 100 has a main body 102 mounted on a carriage 108 provided with casters 107.
In the cross-sectional view of the link mechanism shown in FIG. 7, one end of the first link 103 is rotatably held with respect to the main body 102 via a bearing 116, and is attached to the main body 102 by a motor 110 via gears 111 and 112. It rotates around the first axis J101. A toothed pulley 113, which is a first torque transmission wheel, is fixed at one end to the main body 102 and is held coaxially with the first axis J101 by a bearing 117.

  The toothed pulley 115 that is the second rotational force transmission wheel is supported at the other end of the first link 103 so as to be rotatable around the second axis J102 via a bearing 118. The toothed pulley 113 and the toothed pulley 115 are connected by a toothed belt 114 serving as a first rotational force transmitting means and rotate in conjunction with each other. One end of the second link 104 is coupled to one end of the toothed pulley 115, and the second link 104 rotates around the second axis J <b> 102 with respect to the first link 103. A grip portion 105 is coupled to the other end of the second link 104. Here, the number of teeth of the toothed pulley 113 is set to twice the number of teeth of the toothed pulley 115.

In the side view of the link mechanism shown in FIG. 6, the line m perpendicular to the ground contact surface F of the assistance support apparatus 100 in the low form shown by the solid line, and the first axis J101 and the second link 104 that are the rotation centers of the first link 103. the angle formed by the straight line connecting the second axis J102 as the rotational axis and alpha _1, and the line connecting the center of the second shaft J102 and the grip portion 105, the angle formed by the straight line connecting the first axis J101 the second axis J102 and β _1. In this case, the height to the center of the grip portion 105 from the ground plane F is H _1.

From this state, the motor 110 to rotate the first link 103 clockwise, to the line m, and ₂ the angle α formed by the straight line connecting the first axis J101 the second axis J102. Thus, since the toothed pulley 113 is fixed to the main body 102, the toothed pulley 113 rotates counterclockwise by α ₁ −α ₂ relative to the first link 103. For this reason, the toothed pulley 115 connected to the toothed pulley 113 by the toothed belt 114 also rotates counterclockwise with respect to the first link 103. Since the number of teeth of the toothed pulley 113 is set to twice the number of teeth of the toothed pulley 115, the rotation angle of the toothed pulley 115 is twice the rotation angle of the toothed pulley 113, and the second axis J102 and The angle formed by the straight line connecting the centers of the grip portion 105 and the straight line connecting the first axis J101 and the second axis J102 is β ₂ , and β ₂ −β ₁ = 2 (α ₁ −α ₂ ). As a result, the shape changes as indicated by a two-dot chain line, the height from the ground contact surface F to the center of the grip portion 105 becomes H ₂ , and the angle of the grip portion 105 with respect to the ground contact surface F is (α ₁ −α ₂ ). Just turn left.

When the assistance support apparatus 100 is used for transfer or rising of the person being assisted, the operation is performed as follows. In FIG. 6, the caretaker in the sitting posture holds the grip portion 105 with the grip portion 105 being low, and takes the posture of covering the upper body with the grip portion 105 if necessary.
When the person being assisted operates an operation member not shown, and the first link 103 is rotated to the right, the second link 104 is rotated to the left, and the gripping portion 105 is moved to a desired position as indicated by a two-dot chain line. Raise it to the height and stop rotating when the caregiver is in the middle or standing posture.
The person being assisted moves / turns the assistance device 100 to move to a desired position.
The person being assisted operates the operation member to rotate the first link 103 counterclockwise and simultaneously rotate the second link 104 to the right to lower the grip 105 to a desired height, and the person being assisted at the desired position. Stop rotating when is in the sitting position.
As described above, the assistance support apparatus 100 can realize an assistance support apparatus that has a small movement distance in the horizontal direction of the link unit and a small exclusive surface tip with respect to the movement distance in the vertical direction of the gripping part 105.

[Third Embodiment]
In the third embodiment, the link mechanism of the first embodiment is divided into a link mechanism that increases the degree of freedom in changing the form of the link by dividing the first link and adding one link. Since it is the same except for the link mechanism, the link mechanism will be described below based on an implementation example of the right link mechanism.

As illustrated in FIG. 8, the assistance device 200 includes, as a right link mechanism on the right side surface of the main body 202, a first link 203R, a second link 204R that engages with a lower end of the first link 203R, and a second link 204R. 3rd link 221R engaged with the intermediate part of this is provided. A first wheel 205R is provided at the lower end of the second link 204R, and a second wheel 206R is provided at the lower end of the third link 221R. The second wheel 206R is preferably a caster or a steering wheel.
A handle 208 is provided on the upper portion of the main body 202.

  In the cross-sectional view of the right link mechanism shown in FIG. 9, one end of the first link 203R is rotatably held with respect to the main body 202 via a bearing 216R, and is attached to the main body 202 by a motor 210R via gears 211R and 212R. And rotate around the first axis J201. One end of the toothed pulley 213R, which is the first torque transmission wheel, is fixed to the main body 202, and is held coaxially with the first shaft J201 by a bearing 217R.

  A toothed pulley 215R, which is a second torque transmission wheel, is rotatably supported around the second axis J202 via a bearing 218R at the other end of the first link 203R. The toothed pulley 213R and the toothed pulley 215R are connected by a toothed belt 214R serving as a first rotational force transmitting means and rotate in conjunction with each other. A second link 204R is coupled to one end of the toothed pulley 215R, and the second link 204R rotates around the second axis J202 with respect to the first link 203R. Here, the number of teeth of the toothed pulley 213R is set to twice the number of teeth of the toothed pulley 215R.

  One end of the third link 221R is rotatably held around the third axis J203 via the bearing 226R with respect to the second link 204R. A toothed pulley 223R, which is a third torque transmission wheel, is fixed to the other end of the first link 203R so as to be concentric with the second shaft J202. A toothed pulley 225R that is a fourth torque transmission wheel is fixed to one end of the third link 221R so as to be concentric with the third axis J203. The toothed pulley 223 </ b> R and the toothed pulley 225 </ b> R are connected by a toothed belt 224 </ b> R serving as a second rotational force transmission unit and rotate in conjunction with each other. Here, the number of teeth of the toothed pulley 223R is set to be the same as the number of teeth of the toothed pulley 225R.

  In the side view of the right link mechanism shown in FIG. 8, an angle formed by a line m perpendicular to the ground contact surface F and a straight line connecting the first axis J201 and the second axis J202, which is the rotation center of the first link 203R, is α. . An angle formed by a straight line connecting the third axis J3 and the rotation center of the first wheel 205R and a straight line connecting the third axis J203 and the rotation center of the second wheel 206R is β. An angle formed by a straight line connecting the first axis J201 and the second axis J202 and a straight line connecting the second axis J202 and the third axis J203 is γ.

In the side view of the right link mechanism shown in FIG. 10, the angle α is α ₁ , the angle β is β ₁ , and the angle γ is γ ₁ in the low form indicated by the solid line of the assistance support device 200. In this case, the distance between the first wheel 205R and the second wheel 206R is _{L 1,} the height from the ground surface F of the first shaft J201 is _{H 1.}

From this state, the motor 10R rotates the first link 203R clockwise, the angle alpha ₁ and alpha _2. Thus, since the toothed pulley 213R is fixed to the main body 202, the toothed pulley 213R rotates counterclockwise by α ₁ −α ₂ relative to the first link 203R. Therefore, the toothed pulley 215R connected to the toothed pulley 213R by the toothed belt 214R also rotates counterclockwise with respect to the first link 203R, and the second link 204R fixed to the toothed pulley 215R is also the first link 203R. Rotate counterclockwise. As a result, the angle γ ₁ becomes γ ₂ and the number of teeth of the toothed pulley 213R is set to twice the number of teeth of the toothed pulley 215R, so γ ₂ −γ ₁ = 2 (α ₁ −α ₂ ) It becomes.

Further, since the second link 204R rotates counterclockwise with respect to the first link 203R, the toothed pulley 223R is fixed to the first link 203R, so the toothed pulley 223R is relatively relative to the second link 204R. Rotate clockwise by γ ₂ −γ ₁ . For this reason, the toothed pulley 225R connected to the toothed pulley 223R by the toothed belt 224R also rotates clockwise with respect to the second link 204R, and the third link 221R fixed to the toothed pulley 225R is also the second link 204R. Rotate to the right. As a result, the angle β ₁ becomes β ₂ and the number of teeth of the toothed pulley 223R is set to be the same as the number of teeth of the toothed pulley 225R, so β ₁ −β ₂ = γ ₂ −γ ₁ = 2 (α ₁₋ α ₂ ).
In this way, the form as shown by two-dot chain line is changed, the first wheel 5R and the interval between the second wheel 6R L _2, and the height from the ground surface F of the first shaft J201 becomes H _2. Since the relation of the rotation angle of the link is β ₁ −β ₂ = 2 · (α ₁ −α ₂ ), the angle of the main body 202 with respect to the ground contact surface F is always constant.

The method of using the assistance support device 200 for transferring or standing up the person being assisted is the same method as the assistance support device 1 of the first embodiment.

The assistance device 200 operates by rotating the first link 203R and the second link 204R in the opposite directions. Therefore, the assistance device 200 has a small movement distance in the horizontal direction with respect to the vertical movement distance of the main body 202 and a small occupation area. A support device can be realized.

In the present embodiment, a toothed pulley is used as the rotational force transmission wheel and a toothed belt is used as the rotational force transmission means. However, a mechanism capable of transmitting rotational force, such as a friction belt, a pulley, and a gear coupling mechanism. Any mechanism can be used.
Further, although the tooth ratio of the first torque transmission wheel and the second torque transmission wheel is doubled, a ratio other than double may be used. In this case, in the first embodiment and the third embodiment, the angle of the main body with respect to the ground plane changes.
In the first embodiment and the third embodiment, the right link mechanism and the left link mechanism may be driven by one motor. Moreover, you may add a brake function to either the 1st wheel 5R, 5L, 205R and the 2nd wheel 6R, 6L, 206R.
In the first embodiment and the third embodiment, when used only for rising, the first wheels 5R, 5L, and 205R may be eliminated and only the second wheel side may be moved with respect to the ground plane. This increases the stability because the assistance device is stopped during operation.

1, 100, 200: Assistance support device 2, 102, 202: Main body 3R, 3L, 103, 203R: First link 4R, 4L, 104, 204R: Second link 5R, 5L, 205R: First wheel 6R, 6L 206R: Second wheel 8: Handle 10R, 110: Motor 11R, 12R, 111, 112: Gear 13R, 15R, 113, 115, 213R, 215R, 223R, 225R: Toothed pulley 14R, 114, 224R: Toothed Belt 16R, 17R, 18R, 116, 117, 118: Bearing 107: Caster 108: Cart

Claims (5)

A body having a main body and a link mechanism held by the main body, and changing the form of the link mechanism to change the form to be suitable for rising and transfer of the person being assisted, and assisting the rising and transfer of the person being assisted In the support device, the link mechanism includes a first link, one end of which is rotatably supported about the first axis with respect to the main body,
A driving device for rotating the first link;
A first torque transmission wheel concentric with the first shaft and fixed to the main body;
A second torque transmission wheel rotatable about a second axis with respect to the first link;
First rotational force transmission means for transmitting rotational force between the first rotational force transmission wheel and the second rotational force transmission wheel;
A second link having one end connected to the second torque transmission wheel;
An assistance device that changes the form of the link mechanism by rotating the first link. The assistance support device according to claim 1, wherein a wheel is provided on at least one of the other end of the first link and the other end of the second link, and the wheel is supported by the wheel. A third torque transmission wheel concentric with the second shaft and fixed to the first link;
A fourth rotational force transmission wheel rotatable about a third axis with respect to the second link;
Second torque transmission means for transmitting rotation between the third torque transmission wheel and the fourth torque transmission wheel;
The assistance support apparatus according to claim 1, further comprising a third link having one end connected to the fourth rotational force transmission vehicle.   The assistance support device according to claim 3, wherein a wheel is provided on at least one of the other end of the second link and the other end of the third link, and the wheel is supported by the wheel.   The number of rotations of the second torque transmission wheel with respect to the first torque transmission wheel is doubled, and the rotation directions of the first torque transmission wheel and the second torque transmission wheel are the same. Item 5. The assistance support device according to any one of items 4.

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