KR102359172B1 - market device - Google Patents

Abstract

A serving device that assists the lifting motion of a person of a person, a base, an arm installed so as to be able to swing in the front-rear direction on the base, and supporting a part of the body of the person of the person, and enabling the arm to swing in the front-rear direction An actuator having a support provided therein, a main body provided so as to be tiltable in the front-rear direction on the base, and a movable portion that expands and contracts from the main body, and the support portion performs a first operation in which the movable portion extends from a contracted position to a predetermined intermediate position. a link mechanism that transmits a forward swing of the arm and transmits a second motion of extending the movable part from the intermediate position to the extended position to the forward swing of the arm; and an arm regulating mechanism urging in the direction.

Description

market device

The present specification relates to an assisting device for assisting the transfer of the person in the audience (移乘).

With the progress of an aging society, the demand for market equipment is increasing. In general, the assisting device moves the support portion supporting a part of the person's body by driving from an actuator. The introduction of the assistive device reduces the physical burden of the attendant and the person receiving the service, and also alleviates the lack of labor for the caregiver. As an example of the assisting device, there is a device that serves the lifting motion from the sitting position of the target person. Technical examples relating to this type of commercial device are disclosed in Patent Documents 1 and 2.

The human body transport apparatus of Patent Document 1 includes a traveling part equipped with wheels, a support part positioned above the traveling part to support a human body, and a driving part for driving the human body support part in a height direction. Moreover, the arc-shaped rocking|fluctuation operation|movement of a support part is performed by the drive from the drive part corresponded to an actuator. According to this, it is said that it is possible to carry out the transfer of the person to be fished easily and quickly while suppressing that the attendant inflicts a back pain.

Moreover, the commercial robot of patent document 2 is provided with the raising/lowering part which moves linearly with respect to a base in an up-down direction, the arm provided in the raising/lowering part so that it can swing, and the support part provided at the front-end|tip of the arm. The lifting unit and the arm are driven by different actuators, and two-stage operation is performed. According to this, the lifting unit and the arm can be operated cooperatively, and it is said that it is possible to suppress the feeling of discomfort to the viewer.

Japanese Patent Laid-Open No. 2016-165313 International Publication No. 2017/060964

However, in Patent Document 1, since the support portion only swings in a circular arc shape, it cannot be said that it can be used comfortably in the center of gravity. Moreover, in patent document 2, since the lifting part and the arm are respectively operated using two actuators, the moving operation|movement of a person of a receiver becomes smooth, and use comfort improves. However, using two actuators leads to an increase in cost.

So, it can be recalled that a plurality of members are operated using one actuator. However, in order to drive a plurality of members with one actuator, a certain link mechanism is required. In addition, if the degree of freedom remains in the link mechanism, an unexpected operation may occur, so that the user's user comfort decreases.

In the present specification, in a configuration in which a plurality of members are operated from one actuator through a link mechanism, an unexpected operation is regulated to provide a commercial device in which user comfort is secured.

The present specification is a commercial device that serves the lifting motion of a person, a base, an arm installed so as to be able to swing in the front-rear direction on the base, and supporting a part of the body of the person, and swinging the arm in the front-rear direction An actuator having a support portion provided so as to be possible, a body portion provided so as to be able to tilt in the front-rear direction on the base, and a movable portion extending and contracting from the main body portion, and the movable portion is in a predetermined middle position from the retracted position. a link mechanism for transmitting a first motion of extending to a position to a forward swing of the support part and transmitting a second motion of extending the movable part from the intermediate position to an extended position to swinging forward of the arm; Disclosed is a commercial device provided with an arm regulating mechanism that biases an upper position of an arm in a direction close to the movable part.

In addition, the present specification is a serving device that serves the lifting motion of a target person, and includes a base, a support part that supports a part of the body of the target person, and is installed on the arm so as to be able to swing in the front-rear direction, and the front-rear direction on the base An actuator having a main body provided so as to be able to tilt with a swiveling motion, and a movable part that expands and contracts from the main body, and a first operation in which the movable part extends from a retracted position to a predetermined intermediate position is performed in the forward swing of the support part. and a link mechanism for transmitting a second motion of extending the movable part from the intermediate position to the extended position to the forward swing of the arm, and regulating the forward swing of the arm by an external force other than the actuator A commercial device having a cancer regulatory mechanism is disclosed.

According to the commercial device disclosed in this specification, even if the degree of freedom remains in the link mechanism, the arm regulating mechanism is provided to regulate the unexpected operation of the arm. Accordingly, it is possible to regulate the operation of the arm unexpectedly and to ensure the user's comfort in use.

BRIEF DESCRIPTION OF THE DRAWINGS It is the perspective view which looked obliquely from the rear of the aid apparatus of embodiment.
Figure 2 is a side cross-sectional view showing an initial state when the serving device serves the transfer (移乘) operation of the person being fished.
3 is a side cross-sectional view showing a state in the middle when the serving device serves the lifting operation of the fisher.
Fig. 4 is a side cross-sectional view showing the boil state when the serving device attends the lifting operation of the person M.
Fig. 5 is a partially enlarged view for explaining the configuration and operation of the link mechanism, and corresponds to the initial state of the commercial device.
6 is a partially enlarged view for explaining the configuration and operation of the link mechanism, and corresponds to a state in the middle of the commercial device.
Fig. 7 is a partially enlarged view for explaining the configuration of the cancer regulation mechanism, and corresponds to the initial state of the commercial device.
It is a partial enlarged view explaining the structure and operation|movement of a cancer regulation mechanism, and it corresponds to a state in the middle of a commercial device.
It is the perspective view which looked at the upper part of an arm obliquely from above.
Fig. 10 is a side cross-sectional view illustrating an unexpected rocking operation of the arm, showing a state in the middle position of the movable part.

1. Configuration of commercial device 1 according to the embodiment

The commercial apparatus 1 of embodiment is demonstrated with reference to FIGS. 1-10. 1 : is the perspective view which looked at the commercial apparatus 1 of embodiment obliquely from the rear. Moreover, FIG. 2 is a side cross-sectional view which shows the initial state in the case where the serving apparatus 1 attends the lifting operation of the person M. FIG. Fig. 3 is a side cross-sectional view showing a state in the middle when the serving device 1 serves the lifting operation of the person M. Fig. 4 is a side cross-sectional view showing the boil state when the serving device 1 serves the lifting operation of the person M.

The assisting device 1 serves, for example, transfer between two other places, such as transfer between the bed of the person M and the wheelchair, and transfer between the wheelchair and the toilet seat. The assisting apparatus 1 supports the body of the person M, and attends the moving movement from the sitting posture to the lifting posture, and the sitting movement from the lifting posture to the sitting posture. Here, the posture when lifting is a posture in which the hip part is raised from the seat surface, and includes a standing posture and a reclining posture. That is, the posture at the time of moving includes a state in which the upper body is erected and a state in which the upper body is bent forward. In addition, the assisting apparatus 1 can transfer the person M in the moving posture when the two places to be moved are separated.

The assisting device 1 includes a base 2 , an arm 3 , a support part 4 , an actuator 5 , a link mechanism 6 , an arm regulating mechanism 7 , and a control unit (not shown). The base 2 is formed of a foot rest 21 , a rear wheel 23 , a base rod 24 , a calf dam portion 25 , an attachment plate 26 , a front wheel 28 , and the like. The foot rest 21 is disposed substantially horizontally close to the floor F. Near the front side of the upper surface of the foot rest 21, the actuator support 22 is installed to protrude upward. The pair of left and right rear wheels 23 are provided on the left and right sides of the rear side of the foot mounting table 21 .

A pair of left and right base rods 24 are provided forward, respectively, from the left and right of the front surface of the foot mounting table 21 . After bending upward from the front, the base rod 24 inclines backward a little and extends. The calf dam part 25 is installed in the upper part of the two base rods 24 in a rearward direction. The calf dam part 25 is located above and near the front of the foot mounting table 21 . The calf dam part 25 is formed of a cushioning material, and the calf vicinity of the fish center M is contactable.

The pair of left and right attachment plates 26 are respectively fixedly provided at the inner positions facing each other in a position slightly above and near the bent portion bent upward from the front of the base rod 24 . The attachment plate 26 extends forward from the base rod 24 . On the upper part of the left and right pair of attachment plates 26, arm support seats 27 are respectively installed. A pair of left and right front wheels 28 are provided in the front of the lower side of the pair of left and right attachment plates 26 . Due to the turning functions of the front wheels 28 and the rear wheels 23, the assisting device 1 can not only move straight forward and swing, but also move horizontally and with a spin turn. In addition, the front wheel 28 is provided with a lock function for regulating movement.

The arm 3 is formed of a rod-like member 31 , a front cover member 36 , an upper cover member 38 , and various structural materials not denoted by reference numerals. The rod-shaped member 31 is a substantially U-shaped rod-shaped member with an open lower side. The lower ends 32 on both sides of the rod-shaped member 31 are supported on arm support seats 27 of the attachment plate 26 so that swinging is possible. Thereby, the arm 3 is able to swing|fluctuate in the front-back direction with respect to the base 2 as a reference.

In order to regulate the swinging angle of the arm 3 , a stopper mechanism (not indicated) is provided in the vicinity of the arm support seat 27 . The rod-shaped member 31 extends upwardly from the lower ends 32 on the left and right, bends obliquely upwards in the middle on the way, and extends, and unites with the upper part at the rear. The overall shape of the arm 3 is a front arm 34 extending upward from the arm support seat 27 , and an upper arm 35 extending obliquely upward following the upper part of the arm front 34 . is done

The front cover member 36 constitutes the front arm 34 . The front cover member 36 is disposed on the front side of the rod-shaped member 31 at intervals. The front cover member 36 is formed by bending the side surfaces of both sides backward, and internal space is partitioned. The battery 37 is accommodated in the inner space of the front cover member 36 . The battery 37 serves as a power source for the actuator 5 and the control unit.

The upper cover member 38 is formed to be connected to the entire cover member 36 , and constitutes the upper arm 35 . The upper cover member 38 is disposed adjacent to the upper side of the rod-shaped member 31 . The upper cover member 38 is formed with both side surfaces bent downward, and an internal space is partitioned. An arm regulating mechanism 7 , a link mechanism 6 , and a support seat 33 are provided sequentially from the front side to the rear and upper side of the inner space of the upper cover member 38 . In addition, in FIG. 1, illustration of the upper cover member 38 is abbreviate|omitted.

The support part 4 is formed including the body support part 41 and the armpit support part 45 of a pair of right and left. The body support part 41 is supported by the support part attachment seat 33 of the upper arm 35 so that a rocking|fluctuation is possible. Thereby, the support part 4 is able to swing|fluctuate in the front-back direction with respect to the arm 3 as a reference|standard. The body support part 41 has a handle 42 . The handle 42 is formed in a substantially rectangular frame shape. The handle 42 is not only a part gripped by the person M, but also a part gripped by the attendant in order to move the serving device 1 .

The body support part 41 is formed from the base plate 43 (refer FIG. 5), the body contact member 44, etc. The base plate 43 is formed in a substantially rectangular shape using a metal or resin-made plate with high rigidity. The base plate 43 is provided with the handle 42 described above, a portion attached to the support member attachment seat 33 , and a second link member 62 , which will be described later.

The body contact member 44 is formed larger than the base plate 43 using a flexible material, and is attached to the upper surface of the base plate 43 . The body contact member 44 can be made into the two-layer structure which consists of a surface layer and a base layer, for example. As a material for forming the surface layer, a low-repulsion foamed synthetic rubber can be exemplified, and as a material for forming a base layer, a low-flammability foamed synthetic rubber can be exemplified. The body support part 41 supports the periphery of the abdomen from the chest of the body which is a part of the body of the target person M.

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

The outer periphery member 47 is formed in a cylindrical shape which covers the outer periphery of the core member 46 using a cushioning material. The short linear portion from the base end to the bent position on the attachment side of the armpit support portion 45 serves as the shoulder rest, and the long linear portion from the bent position to the tip serves as the armpit entry portion. The shoulder rest supports the front of the shoulder of the target M. The armpit entry part enters into the armpits of both sides of the body of the person M. The body support part 41 and the armpit support part 45 may be provided with the cover which can be attached and detached made from cloth or leather.

The actuator 5 is constituted by a body portion 51 , a movable portion 52 , a motor 53 , and the like. The body part 51 is supported by the actuator support part 22 of the base 2 so that tilting is possible. Thereby, the actuator 5 inclines in the front-back direction. The movable part 52 expands and contracts from the body part 51 . In detail, the movable part 52 expands from a contracted position through a predetermined intermediate position to an extended position, and contracts in the reverse direction. The period during which the movable part 52 is extended from the retracted position to the intermediate position becomes the first operation, and the period during which the movable part 52 is extended from the intermediate position to the extended position becomes the second operation.

30 mm may be exemplified as the stroke length of the first operation, and 60 mm may be exemplified as the stroke length of the second operation. The tip of the movable part 52 is connected to a connection pin 613 of a link mechanism 6 which will be described later. The motor 53 is provided in the main body 51 . In the motor 53 , the direction of the current flowing is controlled by a control unit (not shown) and drives the expansion/contraction operation of the movable unit 52 . In addition, instead of the motor 53, it is possible to use a different type of drive source such as a pressure drive source using hydraulic pressure or pneumatic pressure.

The link mechanism 6 is constituted by a first link member 61 , a second link member 62 , a regulating member 63 , and the like. 5 : is a partial enlarged view explaining the structure and operation|movement of the link mechanism 6, and it corresponds to the initial state of the market apparatus 1. As shown in FIG. In addition, FIG. 6 is a partially enlarged view explaining the structure and operation|movement of the link mechanism 6, and it corresponds to the intermediate state of the market apparatus 1. As shown in FIG.

The first link member 61 is an elongated member having a fulcrum 611 , a forearm part 612 , and a rear arm part 616 . The support point 611 is disposed near the center of the upper arm 35 . In addition, the support point 611 is supported by the structural material of the arm 3 so as to be able to swing. Thereby, the 1st link member 61 oscillates centering on the support point 611. As shown in FIG.

The forearm 612 extends forward from the fulcrum 611 . In the lower part near the front of the forearm part 612, a connection pin 613 is provided. The connection pin 613 connects the forearm part 612 and the front end of the movable part 52 . In the upper part near the front of the forearm part 612, the regulating projection part 614 is formed. The rear arm portion 616 extends rearward from the fulcrum 611 . Near the back of the rear arm portion 616, the engaging pins 617 are provided so as to extend in the left-right direction. The engagement pin 617 engages with the second link member 62 from the counterclockwise direction in FIG. 5 , and pushes the second link member 62 .

The second link member 62 is fixed to the base plate 43 of the support part 4 . Thereby, the support part 4 and the 2nd link member 62 swing integrally centering on the support part attachment seat 33. As shown in FIG. The regulating member 63 is fixed to a structural member near the front of the upper arm 35 . The regulating protrusion 614 of the first link member 61 is abutable to the regulating member 63 .

In the initial state shown in Fig. 5, the movable part 52 of the actuator 5 is in the retracted position. Moreover, the 1st link member 61 is in the state which rock|fluctuated clockwise, and the 2nd link member is in the state which rocked|fluctuated counterclockwise. There is a gap between the regulating projection 614 of the first link member 61 and the regulating member 63 . The movable part 52 which started the 1st operation|movement expands as shown by arrow A1. Then, the forearm 612 of the first link member 61 is pressed through the connecting pin 613 . Thereby, as shown by arrow A2, the 1st link member 61 oscillates counterclockwise.

By counterclockwise oscillation of the first link member 61 , the engagement pin 617 of the rear arm portion 616 swings and drives the second link member 62 . The second link member 62 oscillates clockwise as indicated by the arrow A3, and the support portion 4 also oscillates forward as indicated by the arrow A4. That is, the link mechanism 6 transmits the first operation in which the movable portion 52 extends from the contracted position to the predetermined intermediate position to the forward swing of the support portion 4 . This operation continues until the movable part 52 extends to the predetermined intermediate position, and the state shown in FIG. 6 is reached.

In the intermediate state shown in FIG. 6 , the regulating projection 614 of the first link member 61 directly abuts against the regulating member 63 . Thereby, the new rocking|fluctuation of the 1st link member 61 is regulated. After this, the movable part 52 which started the 2nd operation|movement expands as shown by arrow A5. Then, the forearm part 612 of the first link member 61 directly transmits the second operation of the movable part 52 to the arm 3 . Thereby, as shown by arrow A6, the arm 3 swings forward centering on the arm support seat 27. As shown in FIG. With progress of the rocking|fluctuation of the arm 3, the actuator 5 tilts forward as shown by arrow A7. That is, the link mechanism 6 transmits the 2nd operation|movement in which the movable part 52 expands from an intermediate position to an extended position to the rocking|fluctuation of the arm 3 forward.

The arm regulating mechanism 7 includes a regulating guide member 71 , a biasing member 75 , and the like. FIG. 7 is a partially enlarged view illustrating the configuration of the cancer regulating mechanism 7 , and corresponds to the initial state of the commercial device 1 . In addition, FIG. 8 is a partial enlarged view explaining the structure and operation|movement of the arm regulating mechanism 7, and it corresponds to the state in the middle of the market apparatus 1. As shown in FIG.

The regulating guide member 71 is a member having a fulcrum 72 at one end of the front upper side and a bias point 73 at the other end of the rear lower side. The regulating guide member 71 further has an elongated hole 74 extending in an oblique direction between the supporting point 72 and the biasing point 73 . The fulcrum 72 is disposed at a predetermined position 3A close to the upper portion of the front arm 34 , and is supported by a structural material so that it can swing. The long hole 74 movably accommodates the connecting pin 613, in other words, the front end of the movable part 52 is movably accommodated.

As the biasing member 75, for example, a coil spring can be used. One end 751 of the upper rear side of the biasing member 75 is locked at the upper position 3B of the arm 3 . The upper position 3B of the arm 3 is on the upper side, behind the predetermined position 3A. The other end 752 on the charge side of the biasing member 75 is locked by the biasing point 73 of the regulating guide member 71 . The biasing member 75 biases the upper position 3B of the arm 3 in a direction close to the regulating guide member 71 as indicated by the arrow F1 . In other words, the biasing member 75 biases the upper position 3B of the arm 3 in a direction close to the movable part 52 .

In the initial state shown in FIG. 7 , the movable part 52 of the actuator 5 is in the retracted position. At this time, the connecting pin 613 is located at the lower rear end of the long hole 74 . Here, when the movable part 52 starts a 1st operation|movement, in parallel with the rocking|fluctuation of the 1st link member 61, the connection pin 613 moves forward and upward in the inside of the elongate hole 74. As shown in FIG. Moreover, the regulating guide member 71 pivots clockwise around the support point 72 . In the configuration of the present embodiment, the regulating guide member 71 swings by 24 degrees by the first operation of the movable part 52 . This operation is continued until the movable part 52 extends to a predetermined intermediate position and the regulating projection 614 abuts against the regulating member 63, and the state shown in FIG. 8 is reached.

In the intermediate state shown in FIG. 8 , the connecting pin 613 is located at the front upper end of the long hole 74 . Thereafter, when the movable part 52 starts the second operation, the arm 3 swings, but the relative positional relationship between the arm 3 and the arm regulating mechanism 7 does not change. From the initial state to the final state of the assisting device 1 , the biasing member 75 urges the upper position 3B of the arm 3 in a direction close to the movable part 52 .

The control unit (not shown) is constituted by a manipulator, a control body, and the like. The manipulator has an ascending button and a descending button for operating the actuator 5, and is operated by an attendant. The control body portion is configured using a computer device that has a CPU and operates with software. The control body part controls the direction of the electric current flowing through the motor 53 of the actuator 5 in response to the operation information acquired from the manipulator.

2. Operation, operation, and effect of the commercial device 1 of the embodiment

Next, the operation, operation, and effect of the commercial apparatus 1 of the embodiment will be described. Hereinafter, the control and operation of the rising mode serving the lifting operation of the person M will be described. In the rising mode, the commercial device 1 operates from the initial state shown in FIG. 2, through the intermediate state shown in FIG. 3, and up to the final state shown in FIG. In addition, when attending the seating operation of the person M, the serving apparatus 1 operates in the reverse direction in substantially the reverse order of the moving operation.

First, the attendant returns the movable part 52 of the actuator 5 to the retracted position shown in FIG. Next, the attendant grips the handle 42 to move the assisting device 1, and makes the attendant M in the sitting posture approach. The target person M makes the lower part of the body enter the area below the support part 4, and places both feet on the foot mounting table 21. As shown in FIG. A stable posture is obtained by bringing a part of the calf into contact with the calf dam part 25 for the person M to be received.

Next, the fisherman M leans forward and makes surface contact with the body support part 41, and leans on the armpit support part 45 with both armpits. At this time, since the body support part 41 is rock|fluctuated in the direction which stood up, the angle of inclination forward of a body may be small. Moreover, since the armpit support part 45 is substantially horizontal or the back is lowered slightly, the person M can easily rely on the armpit support part 45. As shown in FIG. The posture of the person M at this time becomes the initial posture. The attendant may attend the series of operations of the person M described above. In the initial posture, the hip portion of the person M is attached to the bearing surface. Therefore, the weight-bearing person M is in a comfortable posture, supported by the buttocks.

Then, the attendant starts controlling the rising mode. Thereby, the movable part 52 of the actuator 5 starts a 1st operation|movement, and it expands, and the 1st link member 61 swings counterclockwise in FIG. Moreover, the arm 3 maintains the rear side position of an initial state. With the oscillation of the first link member 61 , the support part 4 oscillates forward in association with the second link member 62 . At this time, since the armpit support part 45 goes down, the movement to the rear of the person M is restricted and does not fall off from the support part 4 .

With the oscillation of the support part 4, the upper body of the target person M gradually advances in a forward leaning state. And when the movable part 52 extends to a predetermined intermediate position, it will be in the state shown in FIG. In the state of FIG. 3 , the regulating projection 614 abuts against the regulating member 63 , and the swinging of the first link member 61 is completed. Accordingly, the oscillation of the support part 4 is also finished. Then, the buttocks of the person M are in a state at the moment when they are separated from the seat surface.

Moreover, when the movable part 52 starts the 2nd operation|movement, the arm 3 is driven by the movable part 52, and oscillates clockwise in FIG. At the same time, the actuator 5 tilts forward. Moreover, the support part 4 maintains a fixed attitude|position with respect to the arm 3 . This operation continues until the end state of FIG. 4 when the movable part 52 extends to the extended position, and the arm 3 reaches the anterior position. Thereby, the target person M inclines further forward while the upper body moves upward obliquely forward. As a result, as shown in Fig. 4 , in the subject M, the hip portion rises significantly from the seating surface, and the leg portion is elongated to be in the lifting posture.

According to the market device 1 of the embodiment, it is possible to drive the forward swing of the support part 4 and the forward swing of the arm 3 using one actuator 5 . Thereby, the transfer operation of the center person M becomes smooth, and use comfort improves. In addition, the cost is low compared to the prior art using two actuators.

Moreover, in the market apparatus 1 of embodiment, the non-engagement state of the 2nd link member 62 with respect to the 1st link member 61 is permitted. That is, the 2nd link member 62 is separated from the engagement pin 617 of the 1st link member 61, and it is possible to swing clockwise (refer FIG. 10). Thereby, the support part 4 freely swings forward. For this reason, it becomes possible to widen the area|region below the support part 4, and the person M can enter the lower body easily. In addition to this, the thigh portion of the fisher M is not pinched with strong force.

Moreover, FIG. 9 is the perspective view which looked at the upper part of the arm 3 obliquely from above. As shown, the movable first link member 61 and the second link member 62 are covered by an upper cover member 38 . Thereby, while safety is improved, an external appearance is simplified, and an aesthetics is also improved. In addition, the arm 3 is formed so that the front arm 34 and the arm upper part 35 are connected, and the actuator 5 is arrange|positioned adjacent to the front arm 34. As shown in FIG. For this reason, a large spatial area is ensured below the support part 4, and the person M does not feel cramped.

3. Actions and Effects of Cancer Regulatory Organizations (7)

Next, the action and effect of the cancer regulation mechanism 7 will be described. In the market apparatus 1 of the embodiment, the base 2, the arm 3, the actuator 5, and the first link member 61 constitute a four-fold link, and the degree of freedom of operation remains. . In other words, when an external force is applied, the shape of the four-bar link can be changed. The arm regulating mechanism 7 eliminates the degree of freedom of this 4-joint link, and regulates the unexpected forward swinging of the arm 3 . FIG. 10 is a side cross-sectional view for explaining an unexpected rocking operation of the arm 3 , and shows a state in the middle position of the movable part 52 .

As shown in FIG. 10 , it is assumed that a forward external force is applied to the support part 4 in a configuration in which the arm regulating mechanism 7 is not provided. In this case, first, the support part 4 freely swings forward. Nevertheless, if the external force remains with a surplus force, the arm 3 swings forward. That is, the arm 3 swings without the movable part 52 operating. As can be seen by comparing Figs. 3 and 10, the arm 3 swings by an angle α in an unexpected motion. This phenomenon occurs when, for example, the person M is caught by riding on the support part 4 vigorously. At this time, the target person M feels uneasy about the unexpected rocking operation of the arm 3, and the use comfort decreases.

The arm regulating mechanism 7 shown by the broken line in FIG. 10 regulates the unexpected swinging operation of the arm 3 by always accommodating the position of the connecting pin 613 inside the elongated hole 74 . According to this embodiment, even if the degree of freedom of the link mechanism 6 remains, the arm regulating mechanism 7 removes the degree of freedom of the link mechanism 6 and regulates the unexpected operation of the arm 3 . Therefore, according to the market apparatus 1 of the embodiment, it is possible to regulate the unexpected operation of the arm 3, and to ensure the user comfort M of the person being used.

In addition, the arm regulating mechanism 7 does not inhibit driving by the actuator 5 . If only the forward swing of the arm 3 is restricted, it is sufficient to bias the arm 3 backward using the biasing member. However, in this case, the negative force to the rear inhibits driving by the actuator 5 . On the other hand, according to this embodiment, the unexpected operation|movement of the arm 3 can be regulated, without needing to increase the power of the actuator 5, etc.

4. Modifications and Applications of Embodiments

In addition, this embodiment can be variously modified and applied, including the change of the shape and size of all the structural members.

1: Aid device 2: Expectation
22: actuator support part 27: arm support seat
3: arm
31: rod-shaped member
33: Supporting part attachment seat
38: upper cover member
3A: Predetermined position 3B: Upper position
4: Support part 5: Actuator
51: body 52: movable part
53: Motor 6: Link mechanism
61: first link member
611: support point 612: forearm
613: Connection pin
614: Regulatory projection 616: Back arm
617: engagement pin
62: Second link member 63: Regulatory member
7: Arm regulatory mechanism
71: Regulatory guide member 74: Long hole
75: Absence of tax
M: fish

Claims (7)

As a serving device that attends to the lifting motion of the fisherman,
anticipation and
an arm installed on the base so as to be able to swing in the forward and backward directions;
A support part that supports a part of the body of the fisherman and is installed on the arm so as to be able to swing in the front-rear direction;
An actuator having a main body installed on the base so as to be able to tilt in the front-rear direction, and a movable part that expands and contracts from the main body;
A first operation in which the movable part extends from the retracted position to a predetermined intermediate position is transmitted to the forward swing of the support part, and a second operation in which the movable part extends from the intermediate position to the extended position is performed forward of the arm. a link mechanism to transmit the swing;
and an arm regulating mechanism for biasing the upper position of the arm in a direction close to the movable part. As a serving device that attends to the lifting motion of the fisherman,
anticipation and
an arm installed on the base so as to be able to swing in the forward and backward directions;
A support part that supports a part of the body of the fisherman and is installed on the arm so as to be able to swing in the front-rear direction;
An actuator having a main body installed on the base so as to be able to tilt in the front-rear direction, and a movable part that expands and contracts from the main body;
A first operation in which the movable part extends from the retracted position to a predetermined intermediate position is transmitted to the forward swing of the support part, and a second operation in which the movable part extends from the intermediate position to the extended position is performed forward of the arm. a link mechanism to transmit the swing;
and an arm regulating mechanism for regulating forward swinging of the arm by an external force other than the actuator. 3. The method of claim 1 or 2,
wherein the arm regulating mechanism does not impede driving by the actuator. 3. The method of claim 1 or 2,
The cancer regulatory body,
a regulating guide member having a holding portion for holding the tip of the movable portion and provided so as to be able to swing at a predetermined position of the arm;
and a biasing member for biasing an upper position of the arm above the predetermined position in a direction closer to the regulating guide member. 5. The method of claim 4,
The holding portion of the regulating guide member is an elongated hole for movably receiving the tip of the movable portion. 3. The method of claim 1 or 2,
The link mechanism includes a first link member oscillatingly provided on the arm and connected to the movable part, and a second link member fixedly installed on the support part and engaged with the first link member. 7. The method of claim 6,
The first link member includes a support point oscillatingly supported by the arm, a forearm that extends forward from the support point to be connected to the movable part and abuts against a regulating member installed on the arm, and extends backward from the support point. It has a rear arm that engages with the second link member,
The arm regulating mechanism urges the upper position of the arm in a direction close to a connection point of the first link member and the movable part.

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