JP2016202848A - Assistance support device - Google Patents

Abstract

To provide an assistance device capable of supporting a movement from a sitting posture to a standing posture or a movement from a standing posture to a sitting posture without imposing an excessive burden on the person being assisted. The assistance support apparatus 1 of the present invention is for assisting the movement of a person being assisted from a sitting posture to a standing posture or from a standing posture to a sitting posture. A substantially elongated rest member 6 on which the forearm of the person being assisted is placed; a first actuator 15 for moving the rest member 6 in the up-down direction; a second actuator 21 for moving the rest member 6 in the front-rear direction; And a control unit 9 that operates the first actuator 15 and the second actuator 21 independently and at a predetermined timing. The control unit 9 follows a trajectory of the rest member 6 that is set in advance according to the movement of the person being assisted from the sitting position to the standing position or the person being assisted from the standing position to the sitting position. Each of the first actuator 15 and the second actuator 21 is operated. [Selection] Figure 6

Description

  The present invention relates to an assistance support apparatus capable of supporting the movement of, for example, an elderly person or a person who needs assistance (hereinafter collectively referred to as “a person being assisted”). In particular, the present invention relates to an assistance support device that can support movement of a person being assisted from a sitting position to a standing position, or a movement from a standing position to a sitting position.

  2. Description of the Related Art Conventionally, an assistance support device that assists a person being assisted in standing or sitting or walking (see, for example, Patent Document 1). The assistance support apparatus described in Patent Document 1 is a so-called walker. As shown in FIG. 10, in this walker 40, a base frame 42 provided with a plurality of wheels 41 is provided with a link member 43 that can be folded into a substantially parallelogram shape in a side view.

  A handle frame 44 extending in the horizontal direction is provided above the link member 43. The handle frame 44 supports the person being assisted by the person being assisted. A drive device 45 is provided between the base frame 42 and the link member 43. The drive device 45 displaces the link member 43 into a folded state or a linearly extended state by expanding and contracting itself.

  In this walker 40, when the person being assisted is in a sitting position, the link member 43 is in a folded state. At this time, when the driving device 45 extends while the person being assisted grasps the handle frame 44, the link member 43 shifts to a linearly extending state as shown in FIG. As a result, the handle frame 44 also translates forward and upward, and the person being assisted is in a standing posture.

  On the other hand, when the person being assisted is in the standing posture, the link member 43 is in a state of extending linearly. At this time, when the driver 45 is contracted in a state where the person being assisted grips the handle frame 44, the link member 43 is folded. As a result, the handle frame 44 is also translated rearward and downward, and the person being assisted is in the sitting position.

  However, the walker 40 does not necessarily consider changing the posture stably without placing a burden on the person being assisted. In other words, the walker 40 simply moves the handle frame 44 in parallel to move the person being assisted from the sitting position to the standing position, or from the standing position to the sitting position.

  In this case, the handle frame 44 is gripped by the person being assisted, but it is difficult to maintain its own posture if the force of grasping the handle frame 44 of the person being assisted is relaxed. For this reason, the person being assisted needs to hold the handle frame 44 as strongly as possible and maintain the state in which the handle frame 44 is stretched against the handle frame 44 while the handle frame 44 is moving in parallel. Therefore, the walker 40 places an excessive burden on the person being assisted.

JP 2009-207772 A

  The present invention has been conceived under the above-described circumstances, and moves from a sitting posture to a standing posture or from a standing posture to a sitting posture without imposing an excessive burden on the person being assisted. It is an object of the present invention to provide an assistance device that can support movement.

  The assistance support device provided by the present invention is an assistance device for assisting the movement of the person being assisted from the sitting position to the standing position or from the standing position to the sitting position. A substantially elongated rest member on which a forearm is placed; vertical movement means for moving the rest member in the vertical direction; longitudinal movement means for moving the rest member in the longitudinal direction; and the vertical movement means and / or Motion control means for operating the front and rear movement means independently and at a predetermined timing, and the motion control means moves the person being assisted from the sitting position to the standing position or from the standing position to the sitting position. The vertical movement means and / or the back-and-forth movement means are respectively operated so as to follow a trajectory of the rest member set in advance according to the movement of the person being assisted.

  In the assistance support apparatus of the present invention, the track is a moving path along with the passage of time when the predetermined portion of the rest member moves in a side view, and the movement for realizing the movement of the rest member along the track. The apparatus further comprises storage means for storing the movement by the vertical movement means and / or the movement by the forward / backward movement means in the form of a program, wherein the operation control means reads the program stored in the storage means, and based on the program, moves the vertical movement The moving means and / or the forward / backward moving means may be operated.

  In the assistance support device of the present invention, the track includes a first movement path in which the rest member translates forward when the person being assisted moves from a sitting posture to a standing posture, and the rest member is the first. A second movement path that moves upward while moving backward along a movement path that is shorter than the movement path, and a movement of the rest member upward while moving forward along a movement path that is shorter than the second movement path. And a third movement path.

  In the assistance support apparatus of the present invention, the vertical movement means connects the base frame, the upper frame disposed above the base frame, the base frame and the upper frame, and the base frame and the upper frame. A plurality of link members rotatably supported by the frame; a support frame which is slidable with respect to the base frame and supports the base frame so as to move forward and backward in the front-rear direction; the support frame; An angle driving means for connecting any one of the link members and changing a rotation angle of the plurality of link members by the operation control means, and the angle driving means is operated by the operation control means. Driven and moved up and down by changing the angle of the link member

  In the assistance support apparatus according to the present invention, the back-and-forth moving unit includes: a rotation driving unit that is rotationally driven by the operation control unit; and a conversion unit that converts a rotational motion of the rotation driving unit into a linear motion, and the rest member Is slidable on the surface of the upper frame, and the rotational drive means is driven by the motion control means, and the rotational motion of the rotational drive means is converted into linear motion by the conversion means. It may be moved in the direction.

  In the assistance support apparatus according to the present invention, the support frame may support a rotatable wheel at a rear end thereof, and the operation control means may include a restriction means for restricting the rotation of the wheel.

  According to the present invention, the rest member on which the forearm of the person being assisted is placed is moved back and forth when the person being assisted is moved from the sitting position to the standing position or from the standing position to the sitting position. In addition, by moving the vertical movement means independently and at a predetermined timing, the vertical movement means is moved along a predetermined trajectory. Since this trajectory is a trajectory (movement path) set in advance, for example, by teaching according to the person being assisted, if the rest member moves along the trajectory, an excessive burden is placed on the assisted person. Therefore, the person being assisted can be stably moved from the sitting position to the standing position or from the standing position to the sitting position.

It is a perspective view which shows the assistance assistance apparatus which concerns on this invention. It is a top view of the assistance assistance apparatus shown in FIG. The assistance assistance apparatus shown in FIG. 1 is shown, (a) is a left view, (b) is a front view. It is a perspective view which shows the assistance assistance apparatus shown in FIG. 1, and shows the case where a person being assisted is supported in a sitting posture. It is a block diagram which shows the electrical structure of a assistance assistance apparatus. It is a figure which shows an example of the track | orbit in the front-end | tip of a rest member. It is a timing chart which shows the operation control in a control part. It is a figure which shows a state when moving to the sitting position from the standing position of an assistance assistance apparatus. It is a figure which shows a state when moving to the sitting position from the standing position of an assistance assistance apparatus. It is a figure which shows the conventional walker as an assistance assistance apparatus. It is a walker shown in FIG. 10, and is a figure which shows the state which the link member extended linearly.

  Hereinafter, embodiments of the present invention will be specifically described with reference to the drawings.

  FIG. 1 is a perspective view showing an assistance support apparatus according to the present invention. 2 is a plan view of the assistance support apparatus shown in FIG. 1, in which FIG. 3A is a left side view and FIG. 2B is a front view. In the following description, the lower right front side in FIG. 1 is referred to as “front side”, and the upper left depth side is referred to as “rear side”.

  The assistance device 1 is a device for assisting the person being assisted, and more specifically, assists the person being moved from the sitting position to the standing position or from the standing position to the sitting position. It is a device for.

  The assistance device 1 has a base frame 2 formed in a substantially U shape in a plan view, and is formed in a substantially U shape in a plan view in the same manner as the base frame 2 and is disposed above the base frame 2. Arranged above the upper frame 3, four link frames 4 connecting the base frame 2 and the upper frame 3, a pair of support frames 5 slidably provided with respect to the base frame 2, and the upper frame 3 A pair of rest members 6 are provided. In addition, the material of the member which comprises the above-mentioned assistance assistance apparatus 1 is made from aluminum alloy, for example, and the weight reduction of the apparatus is achieved.

  The base frame 2 includes a pair of channel members 7 extending in the front-rear direction and in parallel, and a front connecting member 8 that connects the channel members 7 at the front ends thereof. The front connecting member 8 is formed in a substantially U-shape that is opened downward in a front view. The reason why the front connecting member 8 is opened downward is to secure a space where the foot of the person being assisted can enter.

  On the upper surface of the front connecting member 8, a control unit 9 that controls first and second motors 18 and 22, which will be described later, and a battery 10 for supplying a DC power supply voltage to the control unit 9 are provided. ing. The battery 10 may be separately chargeable, or may be replaceable with another battery.

  A pair of rotatable front wheels 11 are provided in the vicinity of the front ends of the pair of channel members 7. The pair of front wheels 11 is configured to be restricted from rotating by the control unit 9. Each channel member 7 is formed in a substantially U shape when viewed from the front, and a rail (not shown) is provided on the inner bottom thereof. The pair of support frames 5 described above are slidable on the rails.

  The pair of support frames 5 extend in the front-rear direction, and a pair of rotatable rear wheels 12 is provided at the rear end of each support frame 5. As with the front wheel 11, the pair of rear wheels 12 is controlled to rotate by the control unit 9.

  On the upper surface of each channel member 7, the lower ends of the two link frames 4 are provided so as to be tiltable in the front-rear direction at a predetermined interval. Each upper end of each link frame 4 is connected to the lower surface of the upper frame 3 and is tiltable in the front-rear direction. The length of the link frame 4 is set to such a length that the forearm of the person being assisted can be placed on the rest member 6 when the person being assisted is in a standing posture. The link frame 4 may be configured such that the length can be changed according to the height of the person being assisted.

  A pair of connecting frames 13 are provided between the middle position of the pair of link frames 4 on the front side (the link frame on the near side in FIG. 1) and the middle position of each support frame 5 so as to bridge the both. It has been. The connection frame 13 is for supporting the state in which each link frame 4 is inclined with respect to the support frame 5. Both ends of each connecting frame 13 are supported by the front link frame 4 and the support frame 5 so as to be tiltable in the front-rear direction.

  As described above, the four link frames 4 are supported to be tiltable with respect to the base frame 2 and the upper frame 3. Therefore, the upper frame 3 is translated in the front-rear direction with respect to the base frame 2 by tilting each link frame 4 with respect to the pace frame 2 at the same angle.

  A first actuator 15 is provided between one link frame 4 and one support frame 5 on the front side. The first actuator 15 is for tilting each link frame 4 with respect to the support frame 5 and maintaining the tilted state of each link frame 4.

  The first actuator 15 includes a hollow actuator body 16 that is formed in a long shape and whose base end is supported in a tiltable manner in the front-rear direction with respect to the support frame 5. The piston rod 17 is provided so as to be movable forward and backward with respect to the main body 16, and the first motor 18 is provided on the proximal end side of the actuator main body 16 and moves the piston rod 17 forward and backward. The base end of the actuator body 16 is supported coaxially with one end of the connection frame 13. The piston rod 17 has a tip end rotatably supported by the front link frame 4.

  When the piston rod 17 of the first actuator 15 is advanced from the actuator body 16 by a predetermined amount, the link frame 4 is almost upright with respect to the base frame 2 (see FIGS. 1 to 3). At this time, the position of the rest member 6 is the highest position, and the upper frame 3 is the frontmost position. Usually, this state is a standing posture of the person being assisted.

  On the other hand, as shown in FIG. 4, in a state where the piston rod 17 is retracted into the actuator body 16, the link frame 4 is most inclined with respect to the base frame 2. At this time, the position of the rest member 6 is the lowest position, and the upper frame 3 is the rearmost position. Usually, this state is the sitting posture of the person being assisted.

  Although not shown, an angle detection sensor 31 (described later) for detecting the inclination angle of the link frame 4 is provided at the lower end of one link frame 4 on the front side. The output of the angle detection sensor 31 is transmitted to the control unit 9.

  The pair of rest members 6 are respectively disposed above the pieces of the upper frame 3 extending in the front-rear direction. The rest member 6 is for placing the forearm of the person being assisted and has a long plane. A connecting frame 19 is provided at the front end of each rest member 6 to connect the two. A handle bar 20 extending in the vertical direction is connected to a connecting portion between the rest member 6 and the connecting frame 19 at a predetermined distance (usually normal). And the shoulder width of the person being assisted).

  The rest member 6 is provided with a second actuator 21. The second actuator 21 includes a second motor 22 and a linear motion slider (not shown). The second actuator 21 is for moving the rest member 6 in the front-rear direction above the upper frame 3. That is, the second actuator 21 converts the rotational motion of the second motor 22 into a linear motion, thereby enabling the rest member 6 to move in the front-rear direction.

  The second motor 22 is provided with a position detection sensor 32 (described later) made of an encoder, for example. The position detection sensor 32 detects the position of the rest member 6 by counting the number of rotations of the second motor 22. The output of the position detection sensor 32 is transmitted to the control unit 9.

  In addition, an operation unit 23 having an operation switch (described later) for operating the assistance support device 1 is provided on the front side of the upper frame 3. The operation unit 23 may be provided with a display screen for displaying various types of information to the care recipient.

  FIG. 5 is a block diagram showing an electrical configuration of the assistance support apparatus 1. The assistance support apparatus 1 includes the above-described control unit 9 made of, for example, a computer or a sequencer. The control unit 9 electrically controls the support operation by the assistance support apparatus 1.

  The control unit 9 includes a storage unit 24 in which a trajectory program is stored. For example, when an operation signal is input from the operation unit 23, the control unit 9 reads the trajectory program from the storage unit 24. The control unit 9 operates the first and second motors 18 and 22 and the like based on the read orbit program and moves the rest member 6 back and forth and up and down, thereby moving the person being assisted from the sitting position to the standing position. Or it is moved from the standing posture to the sitting posture.

  Here, the “trajectory” in the trajectory program means that the tip A of the rest member 6 (see FIG. 3A) when the assistance support device 1 is viewed from the side, as shown in FIG. This means the route that moves with The trajectory program is a program for operating the first and second motors 18 and 22 and the like independently and at a predetermined timing in order to realize this trajectory (movement path) (see the timing chart in FIG. 7, which will be described later). ).

  The movement route is set in advance by teaching or the like according to the person being assisted. More specifically, when the assistant actually assists the person being assisted, the assistant may move while holding the forearm of the person being assisted. This corresponds to movement while holding the forearm of the assistant. Therefore, the person being assisted can be stably moved from, for example, the sitting position to the standing position without imposing an excessive burden on the person being assisted.

  A first driver 25 and a second driver 26 are connected to the control unit 9. The first driver 25 rotates the first motor 18 of the first actuator 15 according to a control signal from the control unit 9. The second driver 26 rotates the second motor 22 of the second actuator 21 in response to a control signal from the control unit 9.

  The control unit 9 sends control signals to the first and second drivers 25 and 26 at predetermined timings, respectively. The first and second drivers 25 and 26 send drive signals (voltage signals) to the first and second motors 18 and 22, respectively, in accordance with control signals from the control unit 9. Here, the control signal includes a signal for normal rotation or inversion of the first and second motors 18 and 22 in addition to the voltage signal for driving the first and second motors 18 and 22. By this forward or reverse signal, the rest member 6 is moved forward or backward, and the inclination angle of the lift frame 4 is changed from small to large or from large to small.

  The control signal includes a signal for changing the supply voltage to the first and second motors 18 and 22. In this case, since the value of the supply voltage is proportional to the displacement speed of the first and second actuators 15 and 21, that is, the rotation speed of the first and second motors 18 and 22, the movement speed of the rest member 6 is also changed. Can do.

  A front wheel brake 27 and a rear wheel brake 28 are connected to the control unit 9. The front wheel brake 27 regulates the rotation of the front wheel 11, and permits or prohibits the rotation of the front wheel 11 by a control signal from the control unit 9. On the other hand, the rear wheel brake 28 restricts the rotation of the rear wheel 12 and permits or prohibits the rotation of the rear wheel 12 by a control signal from the control unit 9.

  A battery 10 that supplies a power supply voltage is connected to the controller 9.

  An operation unit 23 is connected to the control unit 9. The operation unit 23 is provided with a standing start switch 29 for moving from a sitting position to a standing position, and a sitting position start switch 30 for moving from a standing position to a sitting position. When an operation signal by pressing the standing start switch 29 or the sitting position start switch 30 is input from the operation unit 23, the control unit 9 rotates the first and second motors 18 and 22 described above based on the operation signals. Drive.

  An angle detection sensor 31 and a position detection sensor 32 are connected to the control unit 9. The detected values (number of pulses) are input to the control unit 9 from the angle detection sensor 31 and the position detection sensor 32, respectively. When the detection value from the angle detection sensor 31 is input, the control unit 9 converts the detection value into rotation angle data and calculates the inclination angle of the link frame 4. When the detection value from the position detection sensor 32 is input, the control unit 9 converts the detection value into position data and calculates the movement position of the rest member 6.

  The control unit 9 recognizes the position of the tip A of the rest member 6 during operation based on the outputs of the angle detection sensor 31 and the position detection sensor 32, and the recognized position and the normal movement that should be originally moved by the trajectory program. The position is compared with the position, and feedback control is performed so as to operate according to the normal position.

  An emergency stop button 33 is connected to the control unit 9. When the pressing signal from the emergency stop button 33 is input, the control unit 9 controls to forcibly stop the rotational driving of the first and second motors 18 and 22.

  Next, the operation of the assistance support apparatus 1 will be described.

  For example, the operation of the assistance support apparatus 1 until the person being assisted is moved from the sitting position to the standing position will be described. For example, when the person being assisted is sitting on a chair C (see FIG. 8A), the assistance support device 1 is arranged in front of the person being assisted by the assistant M, for example. At this time, the person being assisted M places the forearm on the rest member 6 and grasps each handle bar 20 with both hands.

  In this state, when the standing position start switch 29 of the operation unit 23 is pressed by the person being assisted M or the assistant (see time t1 in FIG. 7A), the standing position start switch 29 is pressed by the operation unit 23. An operation signal to the effect is sent to the control unit 9.

  Thus, the control unit 9 first turns on the rear wheel brake 28 (see FIG. 7E) and prohibits the rear wheel 12 from rotating. On the other hand, the front wheel 11 is made rotatable by turning off the front wheel brake 27 (see FIG. 7D). That is, only the front wheel 11 can be rotated.

  The control unit 9 reads the trajectory program from the storage unit 24, and starts control according to the trajectory program. The control unit 9 rotates the first and second motors 18 and 22 so that the tip A of the rest member 6 moves along the trajectory according to the trajectory program, and causes the first and second actuators 15 and 21 to move. Make it work. In this case, the trajectory program stored in the storage unit 24 is set in advance as a program corresponding to the person being assisted using the assistance support apparatus 1.

  The control unit 9 sends a signal to the second driver 26 to supply the voltage + V1 (see FIG. 7B) to the second motor 22. Here, “+” of “+ V1” indicates that the second motor 22 rotates forward. When the voltage + V1 is supplied to the second motor 22, the second motor 22 is rotationally driven in the forward rotation direction, and the second actuator 21 converts the rotational motion of the second motor 22 into a linear motion. As a result, the rest member 6 moves forward at a speed corresponding to the voltage + V1 and corresponding to the forward rotation.

  When the voltage + V1 supplied to the second motor 22 is continued for a predetermined time T1 (time t1 to t2) as shown in FIG. 7B, the rest member 6 is moved to the initial position S1 shown in FIG. To the position S2 shown in FIG. 9B. In this case, the trajectory of the tip A of the rest member 6 is a path from the initial position S1 to the position S2 shown in FIG. The initial position S1 is an intersection of X1 (the length from the axial center of the rear wheel 12 to the tip A of the rest member 6 at time t1) and Z1 (the length from the ground to the surface of the rest member 6). Further, the position S2 is an intersection of X2 (the length from the axis of the rear wheel 12 to the tip A of the rest member 6 at time t2) and Z1. Accordingly, in the person being assisted, the forearm is pulled forward while the waist position is substantially maintained (sitting on the chair C), and the upper body is bent forward (see FIG. 9B).

  The controller 9 sends a signal indicating that the voltage −V2 (see FIG. 7B) is supplied to the second motor 22 to the second driver 26 at time t2 after the predetermined time T1 has elapsed. Here, “−” of “−V2” indicates that the second motor 22 is reversed. Further, a signal for supplying the voltage + V3 (see FIG. 7C) to the first motor 18 is sent to the first driver 25.

  When the voltage -V2 is supplied to the second motor 22, the second motor 22 is rotationally driven in the reverse direction, and the second actuator 21 converts the rotational motion of the second motor 22 into a linear motion. As a result, the rest member 6 moves rearward at a speed corresponding to the voltage −V2 and corresponding to inversion.

  Further, when the voltage + V3 is supplied to the first motor 18, the first motor 18 is rotationally driven. As a result, the piston rod 17 of the first actuator 15 advances from the actuator body 16 to the outside at a speed corresponding to the voltage V3. Therefore, the link frame 4 is displaced so that the angle between the link frame 4 and the support frame 5 increases from small to large.

  When the voltage −V2 supplied to the second motor 22 and the voltage + V3 supplied to the first motor 18 are continued for a predetermined time T2 (time t2 to t3) as shown in FIGS. 7B and 7C. The rest member 6 moves from a position S2 shown in FIG. 9B to a position S3 shown in FIG. 9C. In this case, the trajectory of the tip A of the rest member 6 is a path from the position S2 to the position S3 shown in FIG. The position S3 is an intersection of X3 (the length from the axis of the rear wheel 12 to the tip A of the rest member 6 at time t3) and Z2 (the length from the ground to the surface of the rest member 6 at time t3). is there.

  That is, at time t2 to t3, both the second motor 22 and the first motor 18 are rotationally driven (the second motor 22 is reversed), so that the rest member 6 moves rearward and is moved upward by the link frame 4 Moved to. In other words, the rest member 6 is displaced so as to rise from the state in which the link frame 4 is urged and to move backward slightly. Accordingly, as shown in FIGS. 9B and 9C, the person being assisted M is in a state where his / her waist is slightly separated from the chair C and the center of gravity moves forward. The reason why the rest member 6 is moved slightly rearward at the times t2 to t3 is to prevent the person being assisted from becoming too lean forward.

  Next, the control unit 9 sends a signal for supplying the voltage + V1 (see FIG. 7B) to the second motor 22 again to the second driver 26 at time t3 after the predetermined time T2 has elapsed. When the voltage + V1 is supplied to the second motor 22, the second motor 22 is rotationally driven in the forward rotation direction, so that the rest member 6 again moves forward at a speed corresponding to the voltage + V1 and corresponding to the forward rotation. Moving.

  When the voltage + V1 supplied to the second motor 22 and the voltage + V3 supplied to the first motor 18 are continued for a predetermined time T3 (time t3 to t4) as shown in FIGS. 7B and 7C, The rest member 6 moves from a position S3 shown in FIG. 9C to a position S4 shown in FIG. 9D. In this case, the trajectory of the tip A of the rest member 6 is a path from the position S3 to the position S4 shown in FIG. The position S4 is an intersection of X4 (the length from the axis of the rear wheel 12 to the tip A of the rest member 6 at time t4) and Z3 (the length from the ground to the surface of the rest member 6 at time t4). is there.

  That is, since the second motor 22 and the first motor 18 are both rotationally driven from time t3 to time t4 (the second motor 22 is normally rotated), the rest member 6 moves forward and is moved upward by the link frame 4. Moved in the direction. In this case, the piston rod 17 of the first actuator 15 has greatly advanced from the actuator body 16, and the link frame 4 is in a state of extending substantially in the vertical direction.

  Therefore, the person being assisted M is in a standing posture with the center of gravity moving and the waist extended (see FIGS. 9C and 9D). The reason why the rest member 6 is moved slightly forward at the times t3 to t4 is to make the person to be assisted lean forward so that the weight is applied to the rest member 6.

  Thereafter, the control unit 9 sends a signal indicating that the voltage supplied to the first and second motors 18 and 22 is zero to the first and second drivers 25 and 26 at time t4 after the predetermined time T3 has elapsed. (Refer to FIGS. 7B and 7C). Thereby, the 1st and 2nd motors 18 and 22 stop. Further, the control unit 9 turns on the front wheel brake 27 (see FIG. 7D). As a result, the rotation of both the front wheel 11 and the rear wheel 12 is stopped. Therefore, the standing posture of the person being assisted M can be maintained.

  As described above, in the assistance support apparatus 1, when the person to be assisted M is moved from the sitting position to the standing position, the first and second motors 18 and 22 are rotated and driven independently at a predetermined timing. The person being assisted can be moved along a predetermined trajectory. Since this trajectory is a trajectory (movement path) set in advance, for example, by teaching according to the person being assisted, the rest member 6 on which the forearm of the person being assisted is placed is moved along the trajectory. For example, the person being assisted can be stably moved from the sitting position to the standing position without imposing an excessive burden on the person being assisted.

  The storage unit 24 of the assistance support apparatus 1 further stores a trajectory program for moving from a standing posture to a sitting posture. Therefore, when the person being assisted presses the sitting position start switch 30 of the operation unit 23 in a standing posture, the control unit 9 causes the first and second motors 18, 18 so as to realize a track corresponding to the person being assisted. 22 is rotated and the rest member 6 is displaced.

  The scope of the present invention is not limited to the above-described embodiments, and various modifications can be made without departing from the scope of the invention. For example, the shape, size, quantity, and the like of each component of the assistance support apparatus 1 in the above embodiment are not limited to the above embodiment, and can be appropriately changed in design.

  In the said embodiment, although the track | orbit of the rest member 6 in a certain care recipient is memorize | stored and the rest member 6 is moved along the track | orbit, for example, the rest member 6 in a plurality of care recipients The trajectory may be stored for each person being assisted. Then, the trajectory may be selected by a selection switch provided in the operation unit 23 according to the person being assisted using the assistance support apparatus 1.

  Moreover, since the assistance assistance apparatus 1 which concerns on the said embodiment can support a caregiver's sitting posture and standing posture, it can be applied also to support when a caregiver walks, for example. In this case, as shown in FIG. 1, the base frame 2 is drawn into the support frame 5 side, so that the space on the floor surface in the standing position can be made as small as possible. Further, in a posture in the middle of the sitting posture and the standing posture, that is, in the washstand of the washroom, the person being assisted may stop and hold the washable posture.

DESCRIPTION OF SYMBOLS 1 Assistance assistance apparatus 2 Base frame 3 Upper frame 4 Link frame 5 Support frame 6 Rest member 9 Control part 11 Front wheel 12 Rear wheel 15 1st actuator 18 1st motor 21 2nd actuator 22 2nd motor 24 Storage part 27 Front wheel brake 28 Rear wheel brake

Claims (6)

An assistance support device for supporting movement of a person being assisted from a sitting position to a standing position or from a standing position to a sitting position,
A substantially elongated rest member on which the forearm of the person being assisted is placed;
Vertical movement means for moving the rest member in the vertical direction;
Back-and-forth moving means for moving the rest member in the front-rear direction;
Operation control means for operating the vertical movement means and / or the front-back movement means independently and at a predetermined timing,
The operation control means includes
The up-and-down moving means along the trajectory of the rest member set in advance according to the movement of the person being assisted from the sitting position to the standing position or the person being assisted from the standing position to the sitting position, and An assistance support apparatus, wherein each of the front and rear moving means is operated. The trajectory is
It is a movement path with the passage of time when the predetermined part of the rest member moves in a side view
Further comprising storage means for storing movements of the up-and-down movement means and / or the back-and-forth movement means for realizing movement of the rest member along the track in the form of a program,
The operation control means includes
The assistance support apparatus according to claim 1, wherein the program stored in the storage unit is read, and the vertical movement unit and / or the back-and-forth movement unit are operated based on the program. The trajectory is
When the caregiver moves from the sitting position to the standing position,
A first movement path in which the rest member translates forward;
A second movement path in which the rest member moves upward while translating backward along a movement path shorter than the first movement path;
A third movement path in which the rest member moves upward while moving forward along a movement path shorter than the second movement path;
The assistance support apparatus according to claim 1, comprising: The vertical movement means is
A base frame,
An upper frame disposed above the base frame;
A plurality of link members that connect the base frame and the upper frame, and are rotatably supported by the base frame and the upper frame;
A support frame that is slidable with respect to the base frame and supports the base frame so as to move forward and backward in the front-rear direction;
An angle driving means for connecting the support frame and any one of the link members and changing a rotation angle of the plurality of link members by the operation control means;
The rest member is
The assistance support apparatus according to any one of claims 1 to 3, wherein the angle driving unit is driven by the operation control unit and is moved in an up-down direction by changing an angle of the link member. The front-rear moving means is
A rotation drive means that is rotationally driven by the operation control means; and a conversion means for converting the rotational motion of the rotation drive means into a linear motion,
The rest member is
The surface of the upper frame is slidable,
5. The rotary drive unit is driven by the operation control unit, and the rotational movement of the rotary drive unit is moved in the front-rear direction by being converted into a linear motion by the conversion unit. Assistance support device. The support frame has a rotatable wheel supported at its rear end,
The operation control means includes
The assistance support apparatus according to claim 4, further comprising a regulation unit that regulates rotation of the wheel.

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