JP2016193100A - Support machine for standing-up and sitting-down, and walking in standing position - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a support machine for standing-up and sitting-down, and walking in a standing position which causes a user to hardly falter.SOLUTION: A support machine 1 for standing-up and sitting-down, and walking in a standing position includes: a base 10 provided with wheels 15; a support ring 40 for surrounding the waist below the side of a user U and above the hipbone; an elbow placing member 60 attached to the support ring 40 for placing the elbow of the user U; a lifting device 20 for lifting the support ring 40 and the elbow placing member 60 with respect to the base 10 and executing main support for standing-up and sitting-down of the user U through the elbow placing member 60; an energizing member 30 for relieving a main load on the user U through the elbow placing member 60 by energizing the elbow placing member 60 upward in any lifting position 20; and an angular variation mechanism 21 for inclining the support ring 40 and the elbow placing member 60 forward at a descending limit position, and bringing them close to horizontal postures from the forward postures as they ascend.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a device that supports the standing and walking of a disabled person or the like.

  Among such devices, there is a standing walking assist robot 90 of the conventional example (Non-Patent Document 1) shown in FIG. The standing walking assist robot 90 is configured to be movable together with the user U. And the arm 92 which supports the user U via the best-like harness 96 which the user U wore is provided.

Developed “Self-supporting Standing Walking Assist Robot” that supports movement from the bed and “Mimamori System” to watch over the bed, [online], September 24, 2014, Panasonic, [March 2015 Search on the 26th], Internet

  According to the standing walking assist robot 90, the user U is supported through the harness 96, so that the user U can be supported relatively firmly. Therefore, it is functional to support a relatively severe walking handicapped person. However, there are also the following problems. That is, since the user U must wear the harness 96 before use, preparation for use is troublesome. Therefore, the standing walking assist robot 90 cannot be used promptly.

  On the other hand, if the user U is simply supported instead of the harness 96 by simple means, even if the preparation for use is simplified, the support force of the user U is weakened. There is a possibility that the person U becomes easy to sway.

  Therefore, an object is to make it difficult for the user to stagger.

  In order to achieve the above object, a standing / standing position walking support machine according to the present invention includes a base provided with wheels, a receiving member that receives a user's load, and at least moving the receiving member up and down relative to the base. The lifting device that performs the starting support of the user through the receiving member, and by urging the receiving member upward in any lifting position, the user is unloaded through the receiving member, and the starting and standing walking In a standing and standing walking support machine equipped with an urging member to support, a support ring that is lifted and lowered by a lifting device and surrounds a waist below the user's side and above the hipbone, An angle changing mechanism is provided which is inclined forward so that the front side is lower than the rear side at a position, and the forward inclination is made to be horizontal as it rises.

  Although a receiving member is not specifically limited, It is preferable that it is an elbow mount which mounts a user's elbow attached to the support ring. If the receiving member is mounted on the elbow, it is not necessary to wear a harness, so the preparation for using the standing / standing position walking support device is simplified, and the user can use the starting / standing position walking support device quickly. It is. However, when the user is a relatively severe walking handicapped person, a harness or the like may be used.

  According to the present invention, since the support ring surrounds the user's waistline, it is difficult for the user to shake. The support ring leans forward at the descent limit position and approaches horizontal as it rises, so the upper body leans forward just before standing up and gradually approaches upright as it stands up from that state. The inclination of the support ring changes according to the natural movement at the time of standing up and the natural movement at the time of sitting where the upper body gradually leans forward as you sit from the upright position.

It is a perspective view which shows the starting / standing position walking assistance machine of Example 1. FIG. It is a side view which shows the starting and standing position walking assistance machine of Example 1. FIG. It is a front view which shows the starting / standing position walking assistance machine of Example 1. FIG. In the starting / standing position walking assistance machine of Example 1, a is a plan view showing when the support ring is opened, and b is a plan view showing when the support ring is closed. It is a partial expanded side view which shows a part (connection part of a link mechanism and a support ring) of the standing-and-stand position walking assistance machine of Example 1. FIG. It is a partial enlarged front view which shows a part (up-and-down adjustment mechanism etc.) of the starting / standing position walking assistance machine of Example 1. FIG. FIG. 4 is a partially enlarged front view showing steps a and b for changing the height of the elbow rest by the vertical adjustment mechanism in the standing and standing walking support machine of the first embodiment. In the starting / standing position walking assistance machine of Example 1, a is a partially enlarged plan view showing when the support ring is opened, and b is a partially enlarged plan view showing when the support ring is closed. It is a side view which shows the procedure at the time of standing up from a bed using the standing-and-standing walking support machine of Example 1 to a and b. It is a side view which shows the procedure at the time of moving to a toilet using the starting and standing walk assistance machine of Example 1 to ad. It is a side view which shows the procedure at the time of sitting on a toilet seat using the standing-and-standing position walking assistance machine of Example 1. It is a side view which shows the procedure at the time of standing up from a toilet seat using the starting and standing walk assistance machine of Example 1 to a and b. It is a perspective view which shows the standing-and-standing position walking assistance machine of Example 2. FIG. It is a side view which shows the starting and standing position walking assistance machine of Example 3. It is a perspective view which shows the load-free walking lift of a prior art example.

  Although the raising / lowering apparatus is not specifically limited, The following aspect is illustrated. That is, the lifting device includes a four-bar link mechanism having one end attached to the base and supporting the support ring at the other end, and an actuator that moves the support ring up and down by moving the four-bar link mechanism. The angle changing mechanism also serves as the four-bar link in which two links are arranged in parallel with each other with unequal length or non-parallel.

  Although a support ring is not specifically limited, The following aspect is illustrated. In other words, the support ring includes a left arm and a right arm that are pivotally attached to the front ends so that the rear ends can be opened and closed. Furthermore, the support ring is configured to include a front pad installed between the front end of the left arm and the front end of the right arm.

  And it is preferable that the standing / standing position walking support machine is provided with the following left-right interlocking mechanism. That is, when one of the left arm and the right arm is opened / closed toward the left / right outer side or the inner side, the other arm is similarly opened / closed toward the left / right outer side / inward. Is a left-right interlocking mechanism. This is because it becomes easy to attach the support ring.

  Although the specific aspect of the left-right interlocking mechanism is not specifically limited, the following aspect is illustrated. That is, the left-right interlocking mechanism includes a left lever that protrudes to the right from the left arm and a right lever that protrudes to the left from the right arm. A long hole extending in the length direction of the lever is provided at the tip of one of the left and right levers, and an engaging portion for engaging with the long hole is provided at the tip of the left and right other lever. Yes.

  In addition, when the standing / standing position walking support machine is turned on and the opening switch is turned on, the left arm and the right arm are allowed to move in the closing direction, but the displacement in the opening direction is disabled. It is preferable to provide an opening prevention mechanism. This is because it becomes easy to attach the support ring.

  Although the specific aspect of the stop mechanism is not specifically limited, the following aspect is illustrated. That is, the anti-opening mechanism can be tilted when the anti-opening switch is turned on, and the tilting lever that is restrained from tilting when the anti-opening switch is released, and one end is attached to the left arm or the right arm, and the other end And a slide lever that is slidably mounted at a right angle with respect to the tilting lever.

  Moreover, it is preferable that the standing / standing position walking support machine includes a forearm mounting on which a user's forearm is mounted continuously or separately from the elbow mounting. This is because by placing the user's forearm on the forearm, the user's arm becomes more stable. However, this is not necessary if the forearm is not stable and it is sufficiently stable. Moreover, it is preferable that the standing / standing position walking support machine is provided with a grip that the user holds with the hand in front of the elbow rest. This is because grasping the grip makes the user's arm more stable.

  And it is preferable that the front-rear distance between the elbow rest and the grip is adjustable. It is because it can respond to the length of a user's forearm. Moreover, it is preferable that the vertical distance between the support ring and the elbow rest is adjustable. It is because it can respond to the length of a user's upper arm.

  Moreover, it is preferable to provide a limiter device that stops the raising of the elbow rest by the lifting device when a load exceeding a predetermined set value is applied to the elbow rest. This is because by not unloading more than necessary, rehabilitation of the user can be promoted and safety is increased.

  Although the specific aspect of the limiter apparatus is not specifically limited, the following aspect is illustrated. That is, the limiter device includes a detector that detects a load applied to the biasing member, and a stop device that stops the lifting of the elbow rest by the lifting device when the load detected by the detector exceeds a set value. It is an aspect.

  Moreover, it is preferable that the standing / standing position walking support machine includes a lock switch and a lock mechanism that locks the wheel when the lock switch is turned on. This is because convenience and safety are increased by being able to lock as necessary.

  Moreover, it is preferable that the standing / standing position walking support machine is provided with a safety device that makes it impossible to lift and lower the elbow mounted by the lifting device when the lock switch is released. This is because the elbow rest does not move up and down unless the lock switch is turned on, thereby increasing safety. However, when there is no safety device, it is sufficiently safe, and when there is a safety device and the usability of the standing / standing position walking support machine is deteriorated, it is preferable that it is not.

  Moreover, it is preferable that the standing / standing position walking support machine includes an ascending switch for raising the armrest on the grip and a descending switch for lowering. This is because operability is improved.

  Moreover, it is preferable that the standing / standing position walking support machine includes a brake lever for braking the wheel to the grip. It is because it becomes easy to decelerate and stop. However, it is not necessary if it is not necessary.

  The standing / standing position walking support machine 1 according to the first embodiment shown in FIGS. 1 to 12 includes a base 10, a lifting device 20, a biasing member 30, a support ring 40, an elbow rest 60, and a grip shown below. 70.

  That is, the base 10 includes wheels 15. The support ring 40 is a member that surrounds the waistline below the side of the user U and above the hipbone (the position slightly lower than the chest is the standard position). The elbow rest 60 is a member on which the user U's elbow is placed, and is attached to the support ring 40. The grip 70 is a member for the user U to grasp by hand, and is installed in front of the elbow rest 60.

  The lifting device 20 lifts and lowers the support ring 40, the elbow rest 60 and the grip 70 (hereinafter referred to as “elbow rest 40, 60, 70”) with respect to the base 10 to mainly support the user's starting up. Perform through the elbow rest 60. The urging member 30 is a spring, and by urging the elbow rest 60 upward in any lift position, the user U is mainly unloaded via the elbow rest 60, Support standing walking.

  Specifically, the elbow rest 60 is configured to receive a load of 90% or more of the entire load-unloading load unloaded by the standing / standing position walking support machine 1. The support ring 40 is configured such that a load of 10% or more of the total unloading load is not directly applied (without the elbow rest 60 or the like).

  The lifting device 20 has one end attached to the base 10 and moves the four-bar link mechanism 21 supporting the armrests 40, 60, and 70 via the support member 35 at the other end and the four-bar link mechanism 21. And the actuator 25 for raising and lowering the support ring 40. The four-link mechanism 21 has two links 21b and 21c that are constituent elements thereof arranged in unequal length. This four-bar linkage mechanism 21 also serves as an angle changing mechanism 21 that tilts the front, etc. 40, 60, 70 to the forward tilt where the front side is lowered rather than the rear side at the lower limit position and brings the forward tilt closer to the horizontal as it rises. ing.

  The support ring 40 is pivotally mounted at each front end and installed between the left arm 42 and the right arm 43 that can be opened and closed between the rear ends, and the front end of the left arm 42 and the front end of the right arm 43. It includes a front pad 41.

  The support ring 40 is provided with a left / right interlocking mechanism 46 and an opening prevention mechanism 52 described below. That is, when the left and right interlocking mechanism 46 opens or closes one of the left arm 42 and the right arm 43 toward the left or right outward or inward, the other arm is similarly directed to the left or right outward or inward. The left and right arms are connected to open and close. Then, when the opening prevention switch S4 is turned on, the opening prevention mechanism 52 allows the left arm 42 and the right arm 43 to be displaced in the closing direction, but disables the displacement in the opening direction.

  The elbow rest 60 is provided with a front / rear adjustment mechanism 61, a vertical adjustment mechanism 62, and a limiter device 28, which will be described below. That is, the front / rear adjustment mechanism 61 can adjust the front / rear distance between the elbow rest 60 and the grip 70. The vertical adjustment mechanism 62 can adjust the vertical distance between the support ring 40 and the elbow rest 60. Then, when a load exceeding a predetermined set value is applied to the elbow rest 60, the limiter device 28 stops the raising of the elbow rest 40, 60, 70 and the like by the lifting device 20.

  For the wheel 15, a lock mechanism 16 and a safety device shown below are installed. That is, the lock mechanism 16 locks the wheel 15 when the lock switch S1 is turned on. When the lock switch S1 is released, the safety device disables the raising / lowering of the armrests 40, 60, 70 and the like by the lifting device 20.

  The grip 70 is provided with a raising switch S2 for raising the armrests 40, 60 and 70 and a lowering switch S3 for lowering.

  Next, the starting and standing walking support device 1 of the first embodiment will be described in more detail. The base 10 includes a base lower portion 10a extending in the horizontal direction and a base front portion 10b extending upward from the front end portion of the base lower portion 10a. And four wheels 15, 15,... Are respectively attached to the four corners of the base lower part 10a so as to be rotatable in a horizontal plane. For this reason, the base 10 is movable in the horizontal direction and is rotatable in a horizontal plane.

  The four-joint link mechanism 21 includes four links including a front link 21a, an upper link 21b, a lower link 21c, and a rear link 21d. The front link 21a is a link extending in the up-down direction and protruding from the rear surface of the upper portion of the base front portion 10b. The upper link 21b has a front end portion attached to the upper portion of the front link 21a so as to be rotatable within a vertical plane, and a rear end portion attached to the upper portion of the rear link 21d so as to be rotatable within the vertical plane. The lower link 21c is a link longer than the upper link 21b, and has a front end portion rotatably attached to a lower portion of the front link 21a within a vertical plane, and a rear end portion vertically connected to a lower portion of the rear link 21d. It is attached so that it can be rotated inside. And the lower end part of the supporting member 35 is attached to the lower end part of the rear link 21d so that rotation in a vertical plane is possible. A lock switch S1 is attached to the upper surface of the upper link 21b.

  The actuator 25 includes a main body portion 25a and a rod 25b attached to the main body portion 25a so as to protrude and retract. And the base end part of the main-body part 25a is attached to the lower part of the base front part 10b so that rotation in a vertical surface is possible. And the front-end | tip part of the rod 25b is attached to the intermediate part of the length direction of the lower link 21c so that rotation in a vertical surface is possible. A battery 26 for supplying electric power to the actuator 25 is attached to the front surface of the base front portion 10b.

  The urging member 30 (spring) is attached to the rear link 21d, and urges the armrests 40, 60, and 70 in the ascending direction via the support member 35. Specifically, the urging member 30 is configured to turn the upper portion of the support member 35 forward (i.e., the support member 35 rotates about the lower end portion in one direction) via a biased member 31 attached to the support member 35. By urging (in the direction), the armrests 40, 60, and 70 are urged upward (in the upward direction).

  The support ring 40 is configured as follows. That is, the front pad 41 includes a front pad front part 41a extending rearward from the support member 35 and a front pad rear part 41b extending downward from the rear end of the front pad front part 41a. The left arm 42 is curved such that a left arm front part 42a extending rearward from the left end part of the support member 35 and an intermediate part projecting left and right outward (leftward) from the rear end of the left arm front part 42a. However, it is configured to include a left arm rear portion 42b extending rearward. The right arm 43 is curved such that a right arm front portion 43a extending rearward from the right end portion of the support member 35 and an intermediate portion projecting right and left outward (rightward) from the rear end of the right arm front portion 43a. However, it includes a right arm rear portion 43b extending rearward. The front pad 41, the left arm 42, and the right arm 43 are all rigid bodies such as metal, and cushions C, C, C are attached to the front pad rear part 41b, the left arm rear part 42b, and the right arm rear part 43b, respectively. ing.

  The left / right interlocking mechanism 46 is configured as follows. That is, the left-right interlocking mechanism 46 includes a left lever 47 that protrudes leftward and rightward (rightward) from the left arm front part 42a, and a right lever 48 that protrudes leftward and rightward (leftward) from the right arm front part 43a. It is composed. A long hole 48 a that extends in the length direction of the right lever 48 is provided at the tip of the right lever 48. An engaging portion 47 a that engages with the long hole 48 a is provided at the tip of the left lever 47.

  The opening prevention mechanism 52 is configured as follows. That is, the tilting lever 53 that can be tilted when the opening stop switch S4 is turned on and the tilting is restrained when the opening stop switch S4 is released, and one end portion is attached to the right arm front portion 43a, and the other end side is tilted. And a slide lever 54 slidably attached to the lever 53 at a right angle.

  The front end of the tilt lever 53 is provided with an engagement hole 53a penetrating in the vertical direction. The opening prevention switch S4 is a pin provided above the engagement hole 53a. The opening switch S4 is attached to the front contact front part 41a so as to be movable in the vertical direction so as to penetrate the front contact front part 41a in the vertical direction. When the opening stop switch S4 is lowered, the lower end of the opening stop switch S4 is engaged with the engagement hole 53a (restraining the tilting of the tilting lever 53), so that the opening of the support ring 40 is released (can be closed or opened). When it is raised, the support ring 40 is prevented from opening by retreating (releasing the restraint of tilting) from the engagement hole 53a (can be closed but cannot be opened).

  The elbow rest 60 is attached to the support ring 40 via a vertical adjustment mechanism 62 and a front / rear adjustment mechanism 61. The elbow rest 60 is a rigid body such as a metal, and a cushion C is attached thereto.

  The vertical adjustment mechanisms 62, 62 include shaft bars 63, 63 extending downward or obliquely left and right outwardly downward from the left arm rear portion 42b and the right arm rear portion 43b, respectively. The shaft rod 63 is provided with a plurality of pin holes 63a, 63a,... In parallel with a distance in the length direction (vertical direction). An outer fitting member 64 is fitted on the shaft rod 63. And the protrusion part 65 which protruded right and left outward is provided in the lower end part of the external fitting member 64. As shown in FIG. The elbow rest 60 is supported by the protrusion 65. An engagement pin 66 is inserted into the protrusion 65 so as to be displaceable in the length direction (left-right direction) of the protrusion 65. The engaging pin 66 is configured to be vertically adjustable by selectively engaging with the plurality of pin holes 63a, 63a,. A handle 67 is attached to the engagement pin 66 and passes through a long hole 65 a penetrating the protrusion 65 and protrudes outward from the protrusion 65. An engagement spring 68 is provided to urge the engagement pin 66 toward the shaft rod 63 side (left and right inward).

  Specifically, the height of the elbow rest 60 is changed by the following procedure. That is, first, as shown in FIG. 7 a, the engaging pin 66 is retracted from the pin hole 63 a with which the shaft rod 63 is engaged by pulling the handle 67 toward the left and right outwards. Next, as shown in FIG. 7 b, the outer fitting member 64 is displaced along the shaft rod 63 in the length direction (vertical direction). Next, when the handle 67 is released, the engaging pin 66 is displaced toward the shaft rod 63 (right and left inward) by the urging force of the engaging spring 68, and engages in a pin hole 63a different from the above. Thereby, the outer fitting member 64 is fixed to the shaft rod 63.

  The limiter device 28 is configured as follows. That is, the limiter device 28 includes a detector 28a that detects a load applied to the biasing member 30, and an armrest 40, 60, and 70 by the lifting device 20 when the load detected by the detector 28a exceeds a set value. And a stop device (not shown) for stopping the ascent. Specifically, the detector 28a is attached to the side surface of the rear link 21d, and detects the load applied to the urging member 30 by detecting the rotation angle of the support member 35 with respect to the rear link 21d.

  The grip 70 includes an extending portion 71 that extends from the lower end portion of the support member 35 to the left and right outwards, and a grip portion 72 that extends upward from the left and right outer ends of the extending portion 71. The grip 70 is a rigid body such as metal, and a cushion C is attached to the grip portion 72. The left and right grips 70 (right grip in the figure) are provided with a raising switch S2 for raising the armrests 40, 60, 70 and the other grip 70 (left grip in the figure) is mounted on the elbows. A lowering switch S3 for lowering 60 and the like is provided.

Next, the procedure for going to the toilet using the starting / standing position walking support machine 1 of the first embodiment will be described.
[1] Rise from bed First, the standing / standing walking support machine 1 is parked on the bedside within reach. At this time, the armrests 40, 60 and 70 are kept lowered, and the lock switch S1 is released. Next, in a state where the user U is sitting at the end of the bed 8, the user U draws the standing / standing position walking support machine 1 and wears the support ring 40 as shown in FIG. 9A. Specifically, after opening the support ring 40 with the opening switch S4 released, the trunk (trunk) is placed inside the support ring 40, and the support ring 40 is closed after the opening switch S4 is inserted. It is mounted by reducing the width of the support ring 40 to a position along the trunk. At this time, if the position of the elbow rest 60 does not match, after the lock switch S1 is turned on, the elbow rest or the like 40, 60, 70 is slightly lifted by the ascending switch S2 or the descending switch S3. The height of the mount 60 is adjusted. And if it matches, lock switch S1 will be canceled again.

  Next, with the support ring 40 attached, the standing / standing position walking support machine 1 is pushed slightly forward to take a forward leaning posture as shown in FIG. 9b. Then, the lock switch S1 is inserted to fix the position. Then, when the grip 70 is gripped and the elbow is on the elbow rest 60, the raising switch S2 is pressed. At the same time, as the user U tries to stand up with his / her foot, the user U stands up while being partly unloaded by the armrest 60 as shown in FIG. 10a. However, at this time, when a load of a predetermined set value (for example, 20 kg) or more is applied to the armrest 60, the actuator 25 is stopped by the limiter device 28. For this reason, a load exceeding the set value is not waived.

[2] Moving from the bed to the toilet After standing up, take a stable three-dimensional posture and adjust the height to make it easy to walk by raising and lowering the armrests 40, 60, 70 etc. with the ascending switch S2 or the descending switch S3 To do. Then, the lock switch S1 is released, and the person walks while pushing the standing / standing position walking support machine 1 as shown in FIG. 10b. Then open the door and enter the toilet. Then, the position of the toilet seat 9 is confirmed, and as shown in FIG. Then, as shown in FIG. 10d, the vehicle moves backward to a position where the back of the knee hits the toilet seat 9. Then, the lock switch S1 is inserted to fix the position. Then, the armrests 40, 60 and 70 are slightly lowered by the lowering switch S3 so that the shoulders are lowered. Then, turn your arms backwards and lower your pants and underwear.

[3] Sitting on the toilet seat Next, the lowering switch S3 is pressed. Thereby, as shown in FIG. 11 a, the armrests 40, 60, 70 are lowered, and the user U is seated on the toilet seat 9 accordingly. And pants and underwear are further lowered. Then, after releasing the opening stop switch S4, the support ring 40 is opened to take an easy posture as shown in FIG. 11b. (It can also be used with the support ring 40 worn. Select according to the physical function of the user U.) Then, after excretion and excretion, raise the underwear and pants as far as possible while sitting. At this time, the thighs are raised alternately. Then, as shown in FIG. 12a, the support ring 40 is attached. The specific procedure is the same as described above.

[4] Rise from the toilet seat And, as shown in FIG. And if it rises, the elbow rest etc. 40, 60, 70 will be raised / lowered with the raising switch S2 or the descending switch S3, and the height at which the elbow rest etc. 40, 60, 70 is easily arranged is adjusted. The height is a little lower than the above-mentioned height at which walking is easy. Next, clothes are prepared and the elbow rests 40, 60, 70 are finely adjusted to a height that is easy to walk with the lift switch S2. Then, the lock switch S1 is released to walk.

  According to the above procedure, the user U can go to the toilet independently. In addition, although the case where it goes to a toilet was shown above, this starting and standing walking support machine 1 can be used also for other uses, for example, when picking up things in another room, It can also be used when moving to a dining room and sitting on a chair. The approach to the desk after sitting on the chair may be achieved by, for example, approaching the swivel chair from the side, turning after sitting, and facing the desk. Also. If movement after sitting is assumed, you may sit in a wheelchair.

According to the starting / standing position walking support device 1 of the first embodiment, the following effects A to K can be obtained.
[A] Since the main load of the user U is provided by the elbow rest 60, the user U does not need to wear a harness or the like. Therefore, preparation for use of the standing / standing position walking support device 1 is simple. Therefore, the user U can use the starting / standing position walking support machine 1 promptly. Furthermore, since the restraint of the user U is less than that of a general walking support machine that unloads the user U via a harness, and the user U can move the body relatively freely, the movement is more It becomes active, and good effects can be expected in terms of rehabilitation.
[B] Since the elbow rest 40 is inclined forward at the lower limit position, the user U is inclined forward when the user U is standing up (just before standing up). Therefore, it is easy for the load of the user U to ride on the elbow rest 60 when standing up.

[C] Since the support ring 40 surrounding the trunk of the user U is provided, the user U can be prevented from wobbling.
[D] The support ring 40 is tilted forward at the lower limit position, and approaches the horizontal as it rises, so that the upper body tilts forward immediately before standing up and gradually stands upright as it stands up from that state. The inclination of the support ring 40 changes in accordance with the natural movement at the time of standing up and the natural movement at the time of sitting where the upper body gradually leans forward as the user sits from an upright state.

[E] Since the support ring 40 includes a front pad 41, a left arm 42, and a right arm 43, the left and right arms 42, 43 are opened and the chest is applied to the front pad 41. By closing 42 and 43, the support ring 40 can be easily mounted.
[F] When one of the left and right arms 42 and 43 is opened and closed toward the left and right outward or inward, the other arm 43 and 42 is similarly directed to the left and right outward or inward by the left and right interlocking mechanism 46. Since it opens and closes, it is easy to mount the support ring 40.
[G] When the stop switch S4 is turned on, the support ring 40 is displaced only in the closing direction by the stop mechanism 52, so that the support ring 40 can be easily mounted.

[H] When a load exceeding a predetermined set value is applied to the elbow rest 60, the limiter device 28 stops the raising of the elbow rest 40, 60, 70, so that unnecessary unloading is not performed. Therefore, in this respect, the rehabilitation is further improved and the safety is increased.
[I] Since the grip 70 is provided, the arm of the user U is more stable. Moreover, since the front-rear adjustment mechanism 61 that adjusts the front-rear distance between the elbow rest 40 and the grip 70 is provided, the length of the forearm of the user U can be accommodated. In addition, since the vertical adjustment mechanism 62 that adjusts the vertical distance between the support ring 40 and the elbow rest 60 is provided, the length of the upper arm of the user U can be accommodated.
[J] Since the grip 70 includes the raising switch S2 and the lowering switch S3, operability is good.

[K] Since the lock switch S1 is provided, the wheel 15 can be locked as necessary. Therefore, convenience and safety are increased. Further, when the lock switch S1 is released, the armrests 40, 60, 70 do not move up and down, so that the standing / standing walking support machine 1 does not move when standing or sitting. Therefore, safety is increased.

  The standing / standing position walking support machine 2 of the second embodiment shown in FIG. 13 is different from the first embodiment in the following points, and is the same in other points. That is, the grip 70 is provided with a brake lever S5. A brake mechanism that brakes the wheel 15 when the brake lever S5 is pressed is provided. According to the second embodiment, in addition to the effects A to K, it is possible to obtain an effect that it is easy to decelerate and stop.

  The standing / standing position walking support machine 3 of the third embodiment shown in FIG. 14 is different from the first embodiment in the following points and is the same in other points. That is, a forearm mount 69 on which the forearm of the user U is mounted is provided continuously with the elbow mount 60. According to the third embodiment, in addition to the effects A to K described above, by placing the forearm of the user U on the forearm mount 69, an effect that the arm of the user U is more stable can be obtained.

Note that the present invention is not limited to the configuration of the above-described embodiment, and can be embodied with appropriate modifications, for example, as in the following modification examples, without departing from the spirit of the invention.
[Modification 1] The angle of the support ring 40 is adjusted.
[Modification 1] The shape of the elbow rest 60 is changed to improve the trunk retention force.
[Modification 2] In order to improve the stability, the position of the front wheel 15 is changed further forward.
[Modification 3] The operation switches S1, S2, S3, and S4 of the user U are made panel type.
[Modification 3] The ascending switch S2 and the descending switch S3 are set to one side of the left and right to be a one-hand operation switch.
[Modification 4] The height and angle of the elbow rest 60 are changed to a height and angle at which the load is more easily applied, or a height and angle at which the elbow rest 60 is more difficult to drop off.
[Modification 5] The height and angle of the grip 70 are changed in accordance with the change of the height and angle of the elbow rest 60.
[Modification 6] The sensitivity of the limiter device 28 is increased, and the timing for restarting the rise is advanced.
[Modification 7] A simple harness connecting bracket is added so that the harness can be attached when necessary.
[Modification 8] A protective cover is installed in each part.
[Modification 9] The length of the four-link mechanism 21 is made as long as possible, and the upper and lower links 21 and 22 are extended while the elbow rests 40, 60, and 70 are lowered (when the user U is sitting). By making the exit direction substantially horizontal, it will not fall back once in the initial stage of standing.
[Modification 10] The front pad 41, the left and right arms 42, 43, the elbow rest 60, and the cushions C, C.
[Modification 11] The cushion C of the support ring 40 is adapted to fit any system.
[Modification 12] A grip 70 is installed at the front end portion of the elbow rest 60, and the weight holding force is increased by supporting the elbow to the wrist with the elbow rest 60 on the surface. Further, the grip 70 can be adjusted up and down by the vertical adjustment mechanism 62 together with the elbow mount 60, so that it becomes easier to cope with the length of the upper arm.
[Modification 13] The front pad 41 is constituted by a part of the support member 35.
[Modification 14] A battery 26 is built in the base 10 to cover a soft design.

1 Standing / Standing Walking Support Machine 10 Frame 16 Locking Mechanism 20 Elevating Device 21 Four-bar Link Mechanism 21b Upper Link 21c Lower Link 25 Actuator 28 Limiter Device 28a Detector 30 Biasing Member (Spring)
40 Support Ring 41 Front Pad 42 Left Arm 43 Right Arm 46 Left / Right Interlocking Mechanism 47 Left Lever 47a Engaging Portion 48 Right Lever 48a Long Hole 52 Opening Stop Mechanism 53 Tilt Lever 54 Connecting Lever 60 Elbow Mount 61 Front / Rear Adjustment Mechanism 62 Vertical Adjustment Mechanism 69 Forearm mounting 70 Grip U User S1 Lock switch S2 Up switch S3 Down switch S4 Opening switch S5 Brake lever

Claims (10)

A base (10) having wheels (15), a receiving member (60) that receives the load of the user (U), and a user (60) The lifting device (20) that performs the support for starting up U) through the receiving member (60), and the user (U) is exempted by urging the receiving member (60) upward at any lifting position. In a standing / standing walking support machine comprising an urging member (30) that supports the standing and walking while standing through the receiving member (60),
A support ring (40) that is raised and lowered by the lifting device (20) and surrounds the waistline below the side of the user (U) and above the hipbone;
The support ring (40) is provided with an angle change mechanism (21) that inclines forward to lower the front side than the rear side at the lower limit position, and moves the forward inclination to the horizontal as it rises. Standing walking support machine.   The lifting device (20) has one end attached to the base (10) and the other end supporting the support ring (40) by moving the four-bar linkage (21) and the four-bar linkage (21). The starting / standing position walking support machine according to claim 1, comprising an actuator (25) for raising and lowering the support ring (40).   The support mechanism for standing up and standing according to claim 2, wherein the angle changing mechanism (21) serves also as the four-bar linkage mechanism (21) in which two links (21b, 21c) are arranged in parallel with each other with unequal length or non-parallel. Machine.   The support ring (40) includes a left arm (42) and a right arm (43) that are pivotally attached to each front end so that the rear end can be opened and closed. The sitting / standing position walking support machine as described in the section.   The support ring (40) includes a front abutment (41) installed between the front end of the left arm (42) and the front end of the right arm (43). Machine.   When one of the left arm (42) and the right arm (43) is opened / closed toward the left / right outward or inward, the other arm is similarly opened / closed toward the left / right outward / inward. The standing / standing position walking support machine according to claim 4 or 5, further comprising a left-right interlocking mechanism (46) in which left and right arms (41, 42) are connected to each other.   The left / right interlocking mechanism (46) includes a left lever (47) protruding rightward from the left arm (42) and a right lever (48) protruding leftward from the right arm (43). The lever (48) has a long hole (48a) extending in the length direction of the lever, and the left and right lever (47) is engaged with the long hole (48a). The standing / standing position walking support machine according to claim 6, further comprising an engaging portion (47a).   When the stop switch (S4) and the stop switch (S4) are turned on, the displacement of the left arm (42) and the right arm (43) in the closing direction is allowed, but the displacement in the opening direction is disabled. The standing / standing position walking support machine according to any one of claims 4 to 7, further comprising an opening prevention mechanism (52).   The anti-opening mechanism (52) can be tilted when the anti-opening switch (S4) is turned on, and the tilting lever (53) is restrained from tilting when the anti-opening switch (S4) is released, and one end is left The slide lever (54) is attached to the arm (42) or the right arm (43), and the other end is attached to the tilting lever (53) at a right angle and slidably. Starting and standing walking support machine.   The receiving member (60) is an elbow rest (60) on which the elbow of the user (U) is placed, which is attached to the support ring (40). The standing / standing position according to any one of claims 1 to 9 Walking support machine.

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