CN101568317A - Transfer assistance device and transfer assistance device with multi-supporter mechanism - Google Patents

Transfer assistance device and transfer assistance device with multi-supporter mechanism Download PDF

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Publication number
CN101568317A
CN101568317A CN 200880001212 CN200880001212A CN101568317A CN 101568317 A CN101568317 A CN 101568317A CN 200880001212 CN200880001212 CN 200880001212 CN 200880001212 A CN200880001212 A CN 200880001212A CN 101568317 A CN101568317 A CN 101568317A
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CN
China
Prior art keywords
implantation
holder
means
support
mounting surface
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CN 200880001212
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Chinese (zh)
Inventor
中村彻
久米洋平
河上日出生
藤冈总一郎
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松下电器产业株式会社
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Priority to JP083718/2007 priority Critical
Priority to JP2007083718 priority
Priority to JP232328/2007 priority
Application filed by 松下电器产业株式会社 filed Critical 松下电器产业株式会社
Publication of CN101568317A publication Critical patent/CN101568317A/en

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Abstract

A transfer assistance device which, even if a placement base is not horizontal, enables a carer to smoothly scoop a person to be cared from the placement base and transfer the person to another place. The transfer assistance device (1) has a supporter (16) for scooping the human body placed on the placement base, joints (13, 15) for changing the attitude of the supporter (16), landing sensors (32) for sensing the landing of the lower side of the supporter (16) on a placement surface, a leg (8) for lifting and lowering the supporter (16), and a control section (110) for controlling, based on outputs from the landing sensors (32), rotational operation of the joints (13, 15) or lifting and lowering operation of the leg (8). The control section (110) operates either the leg (8) or the joints (13, 15) to form and maintain either a parallel state or a copied state between the placement surface of the placement base and the lower side of the supporter (16).

Description

移乘辅助设备及具有多个支撑器机构的移乘辅助设备 The transfer assistance device having a plurality of support mechanisms and transfer assistance device

技术领域 FIELD

本发明涉及一种用于辅助人们在医院或家庭等进行移乘(transfer)作业的移乘辅助设备,特别涉及一种用于将老人、病人或受伤人等接受护理者(以下称为"被护理者") 载置于轮椅、床、担架等载置装置上的被护理者捧起,并进行移乘的移乘辅助设备及具有多个支撑器机构的移乘辅助设备。 The present invention relates to a method for assisting people in other hospitals or families were shifted take the (transfer) job transfer assistance device, and more particularly to a method for the elderly, sick or injured persons and other care-receiver (hereinafter referred to as " caregiver ") placed on the care-wheelchair, bed, stretcher mounting means won, and transfer assistance apparatus and transfer assistance device having a plurality of support mechanisms by the shift.

背景技术 Background technique

在医院或家庭等,对于难以自己走动或挪动身体者与卧床不起者,现在其家属与专业负责人主要靠人力进行护理。 Such as in hospital or home, for it is difficult to walk or move his own body and those who are bedridden, now in charge of their families and professional people mainly rely on human nursing. 在这种情况下,护理者的作业负担重,随之出现包括人材确保与费用等方面在内的各种各样的问题。 In this case, the job of caregiver burden heavy, wide range of issues including aspects of human resources to ensure that the costs, including appears. R前,社会正趋于老龄化,上述状况逐渐成为一个重要的社会问题。 Before R, society is aging, the above situation is becoming an important social issue.

对此,以往例如提出了为卧床不起的患者的搬运提供护理的移载护理装置与沐浴用护理辅助机器人(例如,参照日本专利公丌公报特开平8—168505号(以下称为"专利文献1" )、 n本专利公开公报特公平6—9588号(以下称为"专利文献2"))。 In this regard, for example, conventionally proposed to provide care for handling bedridden patient care device and a transfer bath with auxiliary nursing robots (e.g., refer to Japanese Patent Publication Laid-Open Publication No. 8-168505 Ji (hereinafter referred to as "Patent Document 1 "), n Kokoku Publication No. 6-9588 Patent Publication (hereinafter referred to as" Patent Document 2 ")).

专利文献l公开这样一种功能,即:沿着床的上表面以能够前后移动的方式设置三个分别支撑患者的上半身、腰部及脚部的移载用板,护理者操作三个板即可毫不费力地将患者的各个部位移离床或放回床上。 Patent Document l discloses such a feature that: in order to be able to move back and forth manner three respectively support the upper body, the waist and legs of a patient transfer plate, the caregiver operating the three plates along the upper surface of the bed can be effortlessly ministries out of bed or patient movement back into bed. 另外,在所述专利文献l的护理装置中,通过设置力量检测器及限制开关,对板的位置及操作力进行检测来控制护理。 Further, in the Patent Document l care apparatus, provided by the power detector and the limit switch, the position of the plate and the operation force is detected to control treatments.

另外,专利文献2中,在沐浴用护理辅助机器人的例子中,在两个支撑板(用于上半身及下半身)上分别设置水面检测传感器,控制沐浴者的姿势及沐浴深度来进行沐浴。 Further, in Patent Document 2, in the example of the auxiliary bath with care robots, the two support plates (for upper and lower body) are provided on the surface of the water detecting sensor, and controls the posture of the depth of bath to bath bathers.

然而,以往的移乘辅助设备均为对固定式的床或浴盆的水面等水平面进行检测的装置,未考虑到应对包括倾斜面在内的复杂形状的检测面进行控制的功能。 However, the conventional transfer assistance devices are fixed bed type or the like tub water level detecting means is not considered to deal with a complex shape including an inclined surface of the detection surface, including a function of controlling. 另一方面,近年来,作为医院与家庭中所利用的被护理者用的床,具有可调整靠背倾斜度的躺椅(reclinmg)功能的床已普及,以往的移乘辅助设备无法用于具有躺椅功能的床等所涉及的被护现者的移乘作业。 On the other hand, in recent years, as the use of hospital beds and the family caregiver utilized, with adjustable backrest inclination of the recliner (reclinmg) function of the bed has been popular in the past transfer assistance device can not be used with a recliner now protected persons involved in functions such as shift bed multiply operations.

特别是,当载置被护理者的床的载置面在摇起靠背的状态下变得不水平时,需要使支撑被护理者的支撑器的倾斜度与床上表面的倾斜度相符,使支撑器与床接触来捧起被护理者。 In particular, when the bed is placed care-mounting surface becomes horizontal at wagging back state, the support is necessary to match the inclination of the inclination surface of the support bed's caregiver, so that the support bed in contact with the caregiver to be won. 因此,对于护理者而言,难以通过手动操作,根据载置面的倾斜度调整支撑器的位置及倾斜角度。 Thus, for a caregiver, it is difficult by a manual operation, the adjustment holder mounting surface according to the position and the inclination angle of inclination.

发明内容 SUMMARY

鉴于所述问题,本发明的目的在于提供一种移乘辅助设备及具有多个支撑器机构的移乘辅助设备,即使载置被护理者的载置装置的载置面倾斜不水平,护理者也能够顺利地从载置装置上捧起被护理者并进行移乘。 In view of the above problems, an object of the present invention is to provide a transfer assistance equipment and auxiliary equipment holder means having a plurality of shift by even the inclined mounting surface mounting the mounting device is not level caregiver, the caregiver can be smoothly lifted from the caregiver is placed on shifting means and multiplied.

为实现所述目的,本发明的移乘辅助设备包括:支撑器,被插入载置装置的载置面与载賈于该载置面上的人体之间,捧起人体;至少一个转动装置,用于进行支撑器的姿势变更及调整至少其屮之一;多个着床检测装置,用于检测支撑器的下面是否着床于载置面的上表而;升降装置,使支撑器升降;以及控制装置,根据所述多个着床检测装置的输出, 控制所述转动装置或所述升降装置,以形成并维持所述载置面与所述支撑器之间的平行状态及适应状态的至少其中之一状态。 To achieve this object, the present invention is the transfer assistance apparatus comprising: a holder, is inserted into the mounting surface of mounting means between the body and the carrier Jia the mounting surface, won body; at least one rotatable means, a posture change device for supporting and adjusting at least one of Che; implantation plurality of detecting means for detecting a following holder is placed onto the mounting surface if the tables; elevating means elevating the support; and a control means according to an output of said detecting means of the plurality of implantation, controlling the rotation of said lifting device or means, to form and maintain a parallel state between the mounting surface of the holder and adaptation in at least one state.

附图说明 BRIEF DESCRIPTION

图1为表示利用本发明第一实施方式的移乘辅助设备时的状况的立体图。 FIG. 1 is a perspective view a first embodiment of the present invention using the condition at the time of transfer assistance device.

图2为表示作为所述移乘辅助设备的作业对象,载置被护理者的载置装置的使用例的 FIG 2 is shifted by the work object, as auxiliary equipment, used in Example mounting means mounting caregiver

图3为表示所述移乘辅助设备的主耍部分的结构的立体图。 FIG 3 is a perspective view showing the main assist shifting by playing the part of the apparatus structure.

图4为表示所述移乘辅助设备的支撑器的结构的侧视图。 4 is a side view of the structure of the shifter by auxiliary support device in FIG.

图5为表示所述移乘辅助设备的着床检测装置的结构的局部放大图。 5 is a partially enlarged view of the shift by the structure of the detection device implantation auxiliary equipment.

图6为表示所述移乘辅助设备的通知装置的结构的立体图。 FIG 6 is a perspective view of the shift notification by means of auxiliary equipment.

图7为表示所述移乘辅助设备的电气结构的方框图。 7 is a block diagram showing an electrical configuration of a shift by the auxiliary equipment.

图8为用于说明所述移乘辅助设备的控制系统的图。 FIG 8 is a view for explaining the shift control by the system of FIG auxiliary equipment.

图9为用于说明所述移乘辅助设备的动作的流程图。 FIG 9 is a flowchart of the shifting operation by the auxiliary apparatus for explaining.

图10为表示所述移乘辅助设备的着床检测装置的其它配置例的俯视图。 FIG 10 is a plan view showing the shift by implantation of another arrangement example of auxiliary equipment detecting means.

图11为表示本发明第二实施方式的移乘辅助设备所使用的轮椅的例子的图。 11 is showing an example of shift wheelchair auxiliary equipment used in the second embodiment of the present invention.

图12为表示所述移乘辅助设备的支撑器的结构例的图。 12 shows a configuration example of the multiplier shifter auxiliary support device in FIG.

图13为用于说明利用所述移乘辅助设备的支撑器吋的动作的图。 13 is for explaining the operation of the shift by FIG holder inch auxiliary equipment.

7图14为表示利用所述移乘辅助设备时的支撑器的其它状态例的图。 FIG 714 is a diagram showing another example of a state when the holder with the transfer assistance device. 图15为表示本发明第三实施方式的移乘辅助设备的基本结构的立体图。 FIG 15 is a perspective view showing a basic structure of the transfer assistance apparatus of the third embodiment of the present invention. 图16为用于说明与本发明第四实施方式的移乘辅助设备的支撑器结构有关的应用例的图。 FIG 16 is a shift by the application example related to the support structure of the accessory of FIG fourth embodiment of the present invention is described.

图17为用于说明与本发明第五实施方式的移乘辅助设备的支撑器结构有关的其它应用例的图。 FIG 17 is a fifth embodiment of a support structure for the embodiment of the present invention is described transfer assistance apparatus showing another embodiment related applications.

图18为用于说明与所述移乘辅助设备的支撑器结构有关的其它应用例的图。 FIG 18 is a view for explaining the shift by showing another application example related to the support structure of the auxiliary equipment. 图19为用于说明与本发明第六实施方式的移乘辅助设备的支撑器结构有关的其它应用例的侧视图。 FIG 19 is a side view for explaining the transfer assistance related to the holder device structure of the sixth embodiment of the present invention, another embodiment application example.

图20为表示本发明第七实施方式的移乘辅助设备的车轮的结构例的正视图。 FIG 20 is a front view showing a configuration example of a shift by the auxiliary wheel device according to a seventh embodiment of the present invention.

图21是用于说明本发明第八实施方式的移乘辅助设备的显示部的结构例的说明图。 FIG. 21 illustrates a configuration example of the display unit transfer assistance apparatus according to an eighth embodiment of the present invention for explaining an embodiment.

具体实施方式 Detailed ways

下面参照附图,对本发明的具体实施方式详细地进行说明。 DETAILED DESCRIPTION Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. (第一实施方式) (First Embodiment)

首先,参照图1及图2,说明护理者3利用本发明第一实施方式的移乘辅助设备1进行被护理者2的护理时的概要。 First, referring to FIG. 1 and FIG. 2, described with the first embodiment of the caregiver embodiment 3 of the present invention, the transfer assistance device 1 is a schematic Nursing when the user 2. 图1为表示利用本发明第一实施方式的移乘辅助设备1时的状况的立体图,图2为表示作为本发明第一实施方式的移乘辅助设备1的作业对象,载置被护理者2的载置装置的使用例的侧视图。 FIG 1 shows a first embodiment of the present invention using a shift by a perspective diagram illustrating a state when an auxiliary device, FIG. 2 is a diagram showing a first embodiment of the present invention, shift work object by auxiliary equipment 1, 2 is placed by the caregiver the use of a side view of the mounting apparatus of the embodiment.

移乘辅助设备1主要用于将支撑器16插入载置于载置装置上的被护理者2与载置装置之间,将被护理者2捧起至支撑器16的捧起而上,并将其移乘(transfer)至其它的载置装置上。 The transfer assistance apparatus 1 is mainly used for the care-receiver between the holder 16 is inserted into the mounting device 2 is placed on the mounting means 2 is lifted to the caregiver holder 16 is lifted and the upper, and it is moved by (Transfer) to the other mounting means.

图1表示操作两个移乘辅助设备1,通过两个支撑器16从载置被护理者2的载置装置(例如,床等)上捧起并保持被护理者2的状态。 1 represents two operations transfer assistance apparatus of FIG. 1, by two supports 16 from the mounting means mounting the care-2 (e.g., beds, etc.) and maintaining a state won 2 caregiver. 通常,载置装置多在水平状态下使用, 但在第一实施方式中,能够应对载置台的多种使用状态。 Typically, the mounting apparatus is often used in the horizontal state, in the first embodiment, the usage state can cope with various mounting table.

如图2 (a)所示的例子中,被护理者2被载置于相对于水平面H的倾斜角度为角度0a的载置装置51上。 As shown in FIG 2 (a) in the example shown, the caregiver 2 is placed on the mounting device 51 with respect to the horizontal plane H is an inclination angle of the angle 0a.

在这种情况下,护理者3通过操作移乘辅助设备1,使支撑器16接近载置装置51, 检测载置装置51的载置面与支撑器16的下面的平行度,调整支撑器16的倾斜角度。 In this case, the carer by operating the 3 transfer assistance device 1, the support means 16 is placed near the 51, following the detection of holder mounting surface 51 of mounting means 16 parallel, to adjust the holder 16 the tilt angle. 接着,护理者3将支撑器16插入被护理者2与载置装置51的载置面之间,将被护理者2 Next, the caregiver 3 is inserted into the holder 16 between two caregiver mounting surface and the mounting device 51, the caregiver will be 2

8捧起至支撑器16的捧起面上。 8 is lifted to the support surface 16 of the won. 由此,护理者3可将被护理者2移乘至其它的载置装置上。 Accordingly, the caregiver 3 may be shifted by 2 to the caregiver on the other mounting means.

如图2 (b)所示的例子中,载置装置51连接有两个载置部51a、 51b,各个载置部51a、 51b的载置面的倾斜度互不相同。 As shown in FIG 2 (b) in the example shown, the mounting means 51 is connected to 51a, 51b, the inclination of the mounting surface of the respective mounting portions 51a, 51b of the two mounting portions different from each other. 在此,载置部51a相对于水平面H的倾斜角度为角度0b,载置部51b相对于水平面H的倾斜角度为角度0c。 Here, the mounting portion 51a inclined with respect to the horizontal plane H is an angle 0B, the mounting portion 51b is inclined with respect to the horizontal plane H is an angle 0c.

在这种情况下,护理者3操作两台移乘辅助设备1,使各个支撑器16接近载置装置51 (载置部51a、 51b),然后检测载置部51a、 51b的载置面与各个支撑器16的下面的平行度,将支撑器16的下面调整为相对于载置面的倾斜度平行,随后将各个支撑器16插入被护理者2与载置装置51 (载置部51a、 51b)的载置面之间。 In this case, the two-shift operation caregiver 3 mounting surface 51a, 51b by the auxiliary device 1 so that each holder 16 is placed close to the apparatus 51 (mounting portions 51a, 51b), and then detects the mounting portion the following respective parallelism of the support 16, the support 16 will now be adjusted with respect to the mounting surface parallel to the inclination, then the holder 16 is inserted into each of the care-receiver 2 and the mounting means 51 (the mounting portion 51a, between 51b) of the mounting surface. 接着,护理者3通过操作两台移乘辅助设备l,利用各个支撑器16捧起被护理者2。 Subsequently, by operating the two 3 caregiver transfer assistance device L, each holder 16 using the care-2 won. 由此,护理者3可在被护理者2维持躺卧姿势的状态下将其移乘至其它的载置装置。 Accordingly, the caregiver may be in a state 3 is maintained 2 lying posture by a caregiver to move it to the other mounting means.

下面参照图3,对移乘辅助设备1的结构进行说明。 Referring to FIG 3, the structure of the shift by the auxiliary device 1 will be described. 图3为表示本发明第一实施方式的移乘辅助设备1的主要部分的结构的立体图。 3 is a shift by the first embodiment of the present invention is a perspective view showing the structure of a main part of an auxiliary equipment. 在图3中,相互垂直的三个轴(X轴、Y 轴及Z轴)中,XY平面为平行于地面的水平面,移乘辅助设备1的正面对着X轴方向。 In Figure 3, three axes (X axis, Y axis and Z-axis) perpendicular to each other, XY plane is a horizontal plane parallel to the ground, by shifting the positive X-axis direction facing the auxiliary device 1. 即,X轴方向为支撑器16的插入方向。 I.e., X-axis direction as the insertion direction of the support 16. 另夕卜,Z轴为垂直方向。 Another Bu Xi, Z-axis vertical direction.

移乘辅助设备1包括支撑器16、关节部13、关节部15、臂部12、支撑部4、控制部110及输入部14。 The transfer assistance apparatus 1 comprises a holder 16, the joint portion 13, the joint portion 15, the arm 12, the supporting portion 4, the control unit 110 and an input unit 14.

支撑器16插入载置于载置装置51的被护理者2与载置装置51的载置面之间,用于捧起被护理者2。 Holder 16 is inserted between the care-mounting surface 51 of the mounting means 2 and the mounting device 51 is placed, for the care-2 won. 支撑器16包括用于改变捧起至支撑器16上的被护理者2的支撑位置的带部23、以及作为着床检测装置(或着床检测部)的着床检测传感器32,该着床检测传感器32用于检测支撑器16的下面是否接触着床(touch)到载置装置51的载置面(或上表面)。 Belt support 16 includes a support portion for changing a position lifted to a caregiver on the holder 16 2 23, and a detection device implantation (implantation or the detection unit) detecting sensor 32 of the implantation, the implantation detection sensor 32 for detecting whether the holder 16 below the contact implantation (Touch) to the mounting device 51 mounting surface (or upper surface).

带部23由后述的带驱动部25 (图4)驱动转动。 Belt drive unit 23 is rotated by the belt driving unit 25 described later (FIG. 4). 多个着床检测传感器32分别设置于支撑器16的插入方向上的前侧下面的两端部附近。 Implantation near both ends of the plurality of detecting sensors 32 are provided on the holder 16 in the insertion direction front side below. 其中,将位于宽度方向上的一侧端部附近的着床检测传感器32设为着床检测传感器32a,将位于另一侧端部附近的着床检测传感器32设为着床检测传感器32b。 Wherein the detection sensor is located in the vicinity of the implantation of one end portion in the width direction detecting sensor 32 to the implantation 32a, implantation detecting sensor located near the other side end portion detection sensor 32 to the implantation 32b. 着床检测传感器32a与着床检测传感器32b在Y轴方向上相隔开。 Implantation Implantation detection sensors 32a and 32b detecting sensor spaced apart in the Y direction. 着床检测传感器32a包括在X轴方向上相隔开的两个传感器。 Implantation detecting sensor 32a comprises two sensors spaced apart in the X-axis direction. 另外,着床检测传感器32b包括在X轴方向上相隔开的两个传感器。 Further, implantation detecting sensor 32b comprises two sensors spaced apart in the X-axis direction. 着床检测传感器32a、 32b还可设置于支撑器6的下端面的两端部,或设置于侧面的下端部。 Implantation detection sensors 32a, 32b may be provided on both end portions of the lower end surface of the holder 6 or the lower end portion disposed in the side surface.

关节部13为用于进行支撑器16的姿势变更及调整至少其中之一的第1转动装置(或第1转动部)。 A joint portion 13 for supporting and adjusting the posture change of at least a first rotating device (or the first rotatable portion) 16 of one of them. 关节部13相对于支撑部4,围绕X轴进行转动动作。 The joint portion 13 relative to the support portion 4 performs rotating operation around the X axis. 同样,关节部15为用于进行支撑器16的姿势变更及调整至少其中之一的第2转动装置(或第2转动部),相对于支撑部4,围绕Y轴进行转动动作。 Similarly, the joint portion 15 for supporting the posture changing and adjusting at least 16 of the second rotating device (or a second rotational portion) of one of them, relative to the support portion 4, the operation is rotated about the Y-axis. 关节部15结合于支撑部4,关节部13结合于该关节部15,形成关节部13的转动轴与关节部15的转动轴相互垂直的位置关系。 The joint portion 15 bonded to the supporting portion 4, the joint portion 13 combined with the joint portion 15, the rotation shaft 13 formed in the joint portion of the rotary shaft 15 and the joint portion mutually orthogonal positional relationship. 关节部13、 15可分别采用能够在单轴方向上转动的公知的轴承机构,通过以电动机等作为动力源的关节驱动部114驱动。 The joint portion 13, 15 respectively by a known bearing means rotatably in a uniaxial direction, by joint driving unit 114 as a power source such as a motor drive.

臂部12连接关节部13与关节部15。 A joint portion 13 connecting the arm 12 and joint portion 15. 其中,可在臂部12设置伸縮机构,通过该臂部12的伸縮动作变更支撑器16的位置。 Wherein the arm may be telescopic mechanism 12 is provided to change the position of the support 16 through the arm 12 of the telescopic operation.

支撑部4包括:作为支撑器插入装置(或支撑器插入部)的保持部6,用于将支撑器16插入被护理者2与载置装置51的载置面之间;以及作为升降装置(或升降部)的脚部8,用于使支撑器16升降;所述支撑部4通过关节部13、关节部15及臂部12支撑支撑器16。 4 supporting portion comprises: a supporting means insertion (insertion portion or the support) of the holding portion 6, is placed between a caregiver surface 2 and the mounting device 51 is inserted into the support 16; and a lifting device ( or foot lifting unit) 8 for elevating holder 16; the supporting portion 4 by a joint portion 13, the joint portion 15 and the arm portion 12 supports the support 16.

保持部6设有多个车轮5。 Holding part 6 is provided with a plurality of wheels 5. 车轮5由以电动机等作为动力源的位置驱动部116驱动, 使移乘辅助设备l独立地移向前后左右,并以可围绕Z轴转动的方式支撑于保持部6。 5 position of the wheel driven by the driving section such as a motor 116 as a power source, so that the transfer assistance device l is independently moved around, and the Z-axis to be rotatably supported around the holding portion 6. 此外,作为支撑器插入装覽,也可采用并用车轮5与臂部12的结构,或可仅采用臂部12。 Further, as the support means is inserted sheets, the structure may also be used with wheel 5 and the arm portion 12 or arm portion 12 may be employed only. 在仅采ffl臂部12的情况下,通过臂部12的伸缩动作变更支撑器16的位置。 In the case of using only its ffl arm portion 12, the position of the holder 16 is changed by operation of the telescopic arm 12.

脚部8连接保持部6与关节部15,通过滑动机构使支撑器16升降。 8 is connected to the leg portion 6 and the holding joint portion 15, the support 16 is raised and lowered by a slide mechanism. 滑动机构通过以电动机等作为动力源的升降驱动部118驱动。 Driving the slide mechanism 118 by the elevation driving section such as a motor as a power source. 并且,作为其它升降装置,可组合多个链杆(lmk),并将连接部分的角度设为可变更,从而使支撑器16升降。 Further, as the other lifting device, may be a combination of a plurality of the chain bar (LMK), and is connected to the angle portion can be changed, so that the holder 16 up and down.

控制部110进行关节驱动部114、位置驱动部116、升降驱动部118及带驱动部25 的控制。 The control unit 110 performs a joint driving unit, the position of the drive unit 114 controls the elevation driving unit 116 and the belt 118 of the drive unit 25.

输入部14用于输入操作移乘辅助设备1用的指示信息。 An input unit 14 for inputting operation instruction information shifted by 1 with auxiliary equipment. 所述指示信息传递至控制部110,控制部110控制所述各驱动部114、 116、 118、 25。 The instruction information is transmitted to the control unit 110, the control unit 110 controls each of the drive portions 114, 116, 118, 25. 另外,输入部14可采用能够进行移动方向、移动速度、操作指示的切换等操作输入的操纵杆(joystick),杠杆(lever)、 按钮开关、触控面板等公知的输入设备。 Further, the input unit 14 is capable of moving direction can be known lever operation input moving speed, the switching operation instruction and the like (Joystick), the lever (Lever), button switch, a touch panel input device. 护理者3通过操作输入部14,能够操纵移乘辅助设备1。 Caregiver 3 by operating the input unit 14, capable of manipulating the transfer assistance device 1. 此外,输入部14还可具备用于辅助输入操作的通知部或显示部。 Further, the input unit 14 or the display unit may further includes a notification unit for assisting the input operation. 关于所述通知部及显示部的结构例如后所述。 With respect to the structure and the notification unit, for example, after the display unit.

下面参照图4及图5,对支撑器16的具体结构进行说明。 Referring now to Figures 4 and 5, the specific structure of holder 16 will be described. 图4为表示本发明第一实施方式的移乘辅助设备1的支撑器16结构的侧视图,图5为表示本发明第一实施方式的移乘辅助设备1的着床检测装置结构的局部放大图。 FIG 4 is a side view of the shift 16 by the support structure of the auxiliary device 1 of the first embodiment of the present invention, FIG 5 is a shift by a first embodiment of the present invention means a partial structure detecting implantation an enlarged auxiliary equipment Fig.

如图4所示,支撑器16包括框体21、带导向辊22、带部23、带驱动部25、固定辊26、可动辊26a及着床检测传感器32 (32a、 32b)。 As shown, the holder 164 includes a housing 21 with guide roller 22, band portion 23, a tape drive unit 25, the fixing roller 26, the movable roller 26a and the implantation detection sensor 32 (32a, 32b).

带部23由支撑于框体21的带导向辊22保持(hold),并通过以电动机作为动力源的带驱动部25驱动。 With the belt unit 23 is supported by a guide frame 21 holding the roller 22 (hold), and driven by a drive unit with an electric motor as a power source 25. 另外,带部23露出于盖罩20的上表面,能够使被护理者2以载置于带部23的状态进行移动。 Further, with the exposed surface portion 23 in the cap 20, enables the caregiver to be placed in a state 2 with the portion 23 moves. 由带部23的上表面构成的用于支撑被护理者3的支撑面在插入方向上具有与人的后背宽度大致相同的长度。 For supporting the upper surface of the belt consisting of portion 23 is caregiver support surface 3 has substantially the same width and length of a human back in the insertion direction.

多个固定辊26以与支撑器16的插入方向垂直的状态保持在框体21的两侧面上,并以突出至下端面33的状态可进行转动。 State of the plurality of fixing rollers 26 perpendicular to the direction of insertion of holder 16 is held on both sides of the frame body 21, and is projected to the end face 33 is rotatable state. 通过固定辊26的转动,减小了将支撑器16插入被护理者2与载置装置51的载置面之间时的负荷。 By rotation of the fixing roller 26, the holder 16 is reduced when a load is inserted between the mounting surface and the mounting caregiver 2 device 51 is.

多个着床检测传感器32 (32a、 32b)设置于框体21,并设置于支撑器16的插入方向上的前侧附近且下面的两端部附近。 Implantation plurality of detection sensors 32 (32a, 32b) disposed in the housing 21, and disposed in the vicinity of both end portions near the side of and below the front in the insertion direction of the holder 16. 通过使用着床检测传感器32 (32a、 32b),可在插入支撑器16之前检测载置装置51的载置面与支撑器16的姿势关系,调整支撑器16的倾斜度。 By using implantation detecting sensor 32 (32a, 32b), can be inserted into the support mounting posture detection relationship with the mounting surface 51 of the support device 16 prior to 16, 16 to adjust the inclination of the holder.

图5为将图4中的A部(两处)放大后的局部放大图,表示设置于A部的着床检测传感器32 (32a、 32b)的结构。 FIG 5 is a partial enlarged view of the A portion of the (two) enlarged in FIG. 4, showing the structure provided Implantation A detection sensor unit 32 (32a, 32b) of. 如图5所示,可动辊26a为用于检测支撑器16的姿势的辊,该可动辊26a以与支撑器16的插入方向垂直,且从下端面33向下方稍微突出的状态保持在框体21的两侧面上。 5, the movable roll holder 26a for detecting a gesture 16, the movable roller 26a in the insertion direction 16 perpendicular to the support, and protrudes slightly downward from the lower end face 33 remains at state both side surfaces of the housing 21. 可动辊26a以辊轴芯26b为中心转动。 Movable roller die 26a to the roller shaft 26b is rotated. 辊轴芯26b在框体21的两侧而部以山板簧28向下推压的状态,由长孔部31轴支撑(pivotally support)。 Roller axis 26b on both sides of the frame body 21 and the plate spring portion 28 to press down the mountain state, by the long shaft support hole portion 31 (pivotally support). 将设置于框体21的两侧面部之一的长孔部31设为长孔部31a,将设置于另一侧面部的长孔部31设为长孔部31b。 The elongated hole is provided on the frame portion 21 of one of the sides of the face portion 31 has an elongated hole 31a, the long hole portion provided on the other side surface portion 31 to the long hole portion 31b. 可动辊26a为可在支撑器16下面的法线方向上移动位置的可动导向部件,该辊26a由长孔部31 (31a、 31b)轴支撑。 Movable roller 26a to be movable guide member moves in the normal direction position below holder 16, 26a of the long hole portion 31 (31a, 31b) supporting the roller shaft. 板簧28允许可动辊26a沿着长孔部31a、 31b在与框体21的下端面垂直的方向上移动。 The leaf spring 28 allows the movable portion of the long hole 31a, 31b move along the roller 26a in a direction perpendicular to the lower end face 21 of the frame body. 由此,可动辊26a通过支撑器16与载置装置51的接触压力,改变位置。 Thus, the movable roller 26a and the transfer device 51 by a contact pressure holder 16, the position change.

此外,作为可动辊26a的移动方向,只要有相对于支撑器16下面的法线方向的成分即可。 Further, as the moving direction of the movable roller 26a, as long as the component with respect to the normal direction of the holder 16 can be the following. 另外,作为可动导向部件,并不局限于可动辊26a,也可采用摩擦系数较小的雪橇橇式(sleigh-like)导向部件(例如,低摩擦的树脂材料等)或可动框等。 Further, as the movable guide member is not limited to the movable rollers 26a, low coefficient of friction may also be employed ski skid formula (sleigh-like) the guide member (e.g., a low friction resin material or the like) or the like movable frame . 关于该可动框如后所述。 With respect to the movable frame described later. 另夕卜,着床检测传感器32 (32a、 32b)设置于辊轴芯26b的附近。 Another Bu Xi, implantation detection sensor 32 (32a, 32b) disposed in the vicinity of the roller axis 26b.

移乘辅助设备1还包括控制部110。 The transfer assistance apparatus 1 further includes a control section 110. 当由着床检测传感器32 (32a、 32b)检测到辊轴芯26b的位移时,控制部110控制支撑器16的倾斜度、支撑器16相对于载置装置51 载置面的平行度等相互位置关系,以使着床检测传感器32的输出变为设定范围内。 When the implantation is detected by the detection sensor 32 (32a, 32b) to the displacement of the roller axis 26b, the control unit 110 controls the inclination of the supporter, the supporter 16 is placed in parallel with respect to the 16 degree surface of each of the mounting means 51 positional relationship, so that the output becomes implantation detection sensor 32 within a set range. 艮P, 控制部110具有形成并维持支撑器16与载置装置51载置面的平行状态及适应状态(adjusted state)其中至少任一状态的功能。 Gen P, the control section 110 has a form and maintain the support 16 and the mounting means 51 parallel to the mounting surface state and the state of adaptation (adjusted state) wherein at least one of a functional state. 控制部110对着床状态的判断是,当着床检测传感器32的输出在设定范围内的情况下,判断为着床状态。 Analyzing 110 pairs implantation state control unit, when the detection sensor when the output 32 of implantation within a set range, it is determined implantation state.

此外,在第一实施方式中在四处设置了着床检测传感器32,但并不局限于此,作为设计事项,着床检测传感器32的设置数量与设置位置可根据支撑器16的结构或功能采取各种方式。 In the first embodiment, the four implantation detection sensor 32 is provided, but is not limited to this, as a matter of design, implantation detection sensor 32 to set the number provided may take a position according to the structure or function of supporting 16 a variety of ways. 另外,用于推压可动辊26a的部件,除了板簧28外还可采用橡胶、弹簧等弹性体。 Further, the movable member for urging the roller 26a, outside the plate springs 28 may also be used in addition to elastomeric rubber, spring or the like. 另外,长孔部31 (31a、 31b)即使形成为除了Z轴方向之外还包括X轴方向成分的形状,例如,长孔部31 (31a、 31b)形成为在斜向上较长的形状,仍可获得同样的效果。 Further, the long hole portion 31 (31a, 31b) is formed even if the Z-axis direction in addition to the X-axis direction further comprises a shape component, e.g., the long hole portion 31 (31a, 31b) is formed as a shape that is long in an oblique direction, still obtain the same effect. 另外,可动辊26a还可作为独立结构设置在框体21的两侧面部。 Further, the movable roller 26a can also be provided as a separate structure on both sides of the face 21 of the block body. 并且,作为着床检测传感器32,除了如图5所示的微动开关(micro switch)外,还可采用簧片开关(reed switch)、 接近开关、光反射式光反射器(photo reflector)等。 Further, as implantation detection sensor 32, in addition to the micro switch (micro switch) shown in Figure 5, you can also use a reed switch (reed switch), proximity switch, a light reflection type light reflector (photo reflector) and the like . 另外,作为着床检测传感器32,可采用应变传感器27,通过应变传感器27检测因可动辊26a的位移而变形的板簧28的应变量的方法,也可发挥同样的效果。 Further, as the implantation detection sensor 32, strain sensor 27 may be employed, due to displacement by the strain detecting sensor 26a of the movable roller deformed leaf spring 28 a method of strain 27, the same effect can be.

其中,虽然检测了可动辊26a的位移,但也可检测接触压力。 Wherein, while detecting the displacement of the movable rollers 26a, but the contact pressure may be detected. 例如,在支撑固定辊26 的部分设置检测支撑器16与载覽装置51的接触压力的薄片式压敏传感器等压力传感器, 检测载S装置51的载贾而对支撑器16下面的接触压力。 For example, the carrier sheet-sensitive sensor Jia fixing roller supporting portion 26 is disposed detector holder 16 with the carrier device 51 Browse contact pressure pressure sensor S detecting the carrier device 51 and the contact pressure of the support 16 below. 由此,控制部110根据着床检测传感器32的输出值,在与载置面的接触压力在设定压力范围内的情况下判断为着床状态。 Accordingly, the control unit 110 based on the output value of the sensor 32 detects the implantation, in a case where the mounting surface of the contact pressure set in the pressure range is determined implantation state. 所述设定压力可设定为大致相同于载置装置51的载覽面由被护理者2承受的压力。 The set pressure may be set to be substantially identical to the mounting means 51 is contained by the surface pressure is 2 Browse subjected caregiver. 如此, 在支撑器16的插入部位,设置大致相同于载置面由被护理者2承受的压力范围,能够使被护理者2对载置而的下陷量与在插入部位上的支撑器16的下陷量设为大致相同。 Thus, the insertion portion holder 16 is provided substantially equal to the pressure range of the mounting surface of the two receiving caregiver can be made by a caregiver two pairs of mounting the sagging amount in the insertion portion of the support 16 set roughly the same amount of subsidence. 由此, 在插入支撑器16的位置,可以抑制因下陷量不同而产生的高低不平,从而避免支撑器16 的甜端部搲到被护理者2的身体,能够顺利地将支撑器16插入载贾装置51与被护理者2 Accordingly, the position of the insert holder 16, it is possible to suppress uneven subsidence amount produced varies, thus avoiding Wa to the body 2 sweet caregiver end support 16, can be smoothly inserted into the carrier holder 16 Jia means 51 with the caregiver 2

设定压力可设为固定值。 Set pressure can be set to a fixed value. 例如,在将本实施方式的移乘辅助设备1能应对的被护理者2的身高L设为150cm〜180cm的情况下,其中位(median) 165cm的人的体重的第50个百分位数值(percentile)约为57kg。 For example, in the embodiment according to the present embodiment by shifting the case where the auxiliary equipment 1 is able to cope with the height L of the caregiver 150cm~180cm 2, wherein the human bit 165cm (median) of 50 weight percentile (percentile) of approximately 57kg. 在这种情况下,由该人造成的压力值P为0.035kgf/cm2,因此,可将该压力值设为设定压力,或包含其上下10%左右的容许值的范围设为设定压力。 In this case, the person caused by the pressure value P of 0.035kgf / cm2, thus a pressure value to be the set pressure, comprising upper and lower, or about 10% of the allowable range is set to the set pressure value .

此外,设定压力可根据对象者加以变更。 In addition, the set pressure can be changed according to the target person. 例如,当通过支撑器16捧起被护理者2时, 山于支撑器16之问的间隔是根据被护理者2的身高而被调整的,因此也可根据该间隔变更设定压力。 For example, when lifted by the holder 16 is 2, the interval Q of the mountain on the holder 16 based on the height of the caregiver 2 is adjusted, and therefore may be changed according to the set pressure interval caregiver. 例如,存储与棒起身高165cm的被护理者2吋的支撑器16之间的问隔相当的数据等使被护理者2的身高L和支撑器16之间的间隔相关联的数据以及下式,设定压力P (L),可根据导出的身高L,通过按下式进行的运算而导出。 For example, the rod storage compartment up to ask the like corresponding to the data between the holder 16 is high 165cm 2 inches caregiver is associated interval data between the caregiver and the height L 2 of the holder 16 and the following formula , the set pressure P (L), can be derived according to the height L, the following formula is derived by calculation performed. 即,用身高补正身高为165cm的人所造成的压力值P,将该补正后的值作为设定压力P (L)使用。 That is, the pressure height of 165cm with a height correction value of the damage of man P, the correction value as the set pressure P (L) used. 设定压力P (L) =PxL/165 Set pressure P (L) = PxL / 165

此外,所设定的压力范围也可以为载置面在支撑器16的插入部位由被护理者2承受的压力范围。 Further, the set pressure range may be a mounting surface at the insertion site by the scope holder 16 is subjected to 2 caregiver pressure. 在这种情况下,所设定的接触压力的范围为载置面在被护理者2的头部、肩部、足部或后背部等插入支撑器16的部位由被护理者2所承受的压力范围,是事先通过实验测定的范围。 In this case, the range of the set pressure of the contact surface is placed in the holder is inserted into the head portion 2 of the caregiver, shoulders, back or rear of the foot 16 and the like by the caregiver 2 is subjected pressure range, the range is experimentally determined in advance. 移乘辅助设备l的存储部(图中没有表示)中存储在被护理者2的各部位上所测量的数值的数据库,控制部110可访问存储部的数据库。 A storage unit transfer assistance apparatus l (not shown) is stored in each part of the care-receiver 2 of the measured values ​​of the database, the control unit 110 may store a database access unit. 控制部110从数据库取得压力信息,并根据压力信息使支撑器16着床于载置面,从而使被护理者2对载置面的下陷量与插入部位上的支撑器16的下陷量大致相同。 A pressure control unit 110 acquires information from the database, and the support information according to the pressure placed onto the mounting surface 16, so that the amount of sag is supported on the mounting surface of the caregiver Sinkage insertion portion 16 is substantially the same as two pairs .

这时的设定压力可为固定值,也可为可变值。 In this case the pressure may be set to a fixed value, or may be a variable value. 在固定值的情况下,例如在数据库中存储身高165cm的人的背部、臀部、腿部各部位上的压力值(第50个百分位数值等),并将该压力值作为设定压力。 In the case of a fixed value, for example, in a database stored height 165cm human back, buttocks, a pressure value (50th percentile value, etc.) on each leg portion, and the pressure value as a set pressure. 另一方面,在可变值的情况下,可采用相当于支撑器16之间的问隔的数据,根据所述数据及身高补正身高165cm的人的各部位上的压力值,利用所述补正后的各部位上的设定压力。 On the other hand, in the case where the variable value, corresponding to the data can be used to ask the interval between the support 16, according to the pressure value at each of said parts of the person 165cm height and corrected height data, using said correction set pressure on the various parts.

下面参照图6,对设置于支撑器16的通知装置进行说明。 Referring now to Figure 6, a notification means provided in the holder 16 will be described. 图6为表示本发明第一实施方式的移乘辅助设备1的通知装置的结构的立体图。 6 is a first embodiment of the present invention, by shifting perspective view of the auxiliary device 1 notifies the device.

如图6所示,作为向护理者3通知各个着床检测传感器32的状态的通知装置,多个通知部34设置于各个着床检测传感器32的附近。 6, each of implantation as the notification means notifies the state detecting sensor 32 to the caregiver 3, a plurality of notification portion 34 is provided in the vicinity of the respective sensor 32 detected implantation. 通知部34设置于护理者3可直接观察的位置,并配置为在将被护理者2捧起至支撑器16的带部23上时与被护理者2不接触。 Notification portion 34 is provided at a position 3 can directly observe the caregiver, and configured with the upper portion 2 to be lifted to the support caregiver 16 2 23 is not in contact with the caregiver. 例如,通知部34设置于框体21的两侧面部,并按各个着床检测传感器32而设置。 For example, the notification portion 34 is provided on both sides of the housing portion 21, the respective implantation press detection sensor 32 is provided.

作为通知部34,利用发光二极管、液品而板等,通过亮灯、闪烁、熄灭等状态变化向护理者3通知着床状态。 34 as the notification unit using a light emitting diode, liquid and plate products, by lighting, blinking, and other off state notification implantation state 3 changes to the caregiver. 由此,护理者3可容易掌握支撑器16的倾斜状况。 Thus, the caregiver can easily grasp 3 support 16 is inclined condition. 其中,通知装置并不局限于发光二极管等显示装置,例如可采用声音发生装置或振动装置等,通过将声音或振动传达给护理者3来进行通知。 Wherein the notification means is not limited to a light emitting diode display device, such as device or a vibration sound generating device or the like can be used, 3 to be notified by sound or vibration communicated to the caregiver. 声音发生装置可以发出"支撑器的左侧已着床" 等用于通知着床状态的信息。 Sound-generating means may issue a "holder has left implantation" and other information for notifying the state of implantation. 振动装置具备"振动模式",用于根据着床状态,使护理者3的手等感觉到不同振动的摇动,其中,与声音发生装置相同,根据着床状态设定不同的"振动模式",从而能够向护理者3传达不同的信息。 Vibration device includes a "vibration mode", according to the state of implantation of the nursing person's hand shaking felt 3 and the like is vibrated, wherein the sound generating means the same, a different set of "vibration pattern" according to the state of implantation, 3 thereby convey different information to caregivers.

下而参照图7及图8,对移乘辅助设备1的电气结构及控制系统所涉及的动作进行说明。 Referring next to FIG 7 and FIG. 8 and, by shifting the operation of auxiliary equipment and electrical configuration of the control system 1 will be described.

图7为表示本发明第一实施方式的移乘辅助设备1的电气结构的方框图,图8为用于说明本发明第一实施方式的移乘辅助设备1的控制系统的图。 7 is a first embodiment of the present invention is an electrical block diagram showing a configuration of a shift by the auxiliary equipment, FIG. 8 is a view for explaining a first embodiment by shifting embodiment of the present invention, a control system of the auxiliary device 1.

首先,如图7所示,移乘辅助设备1包括用于输入操作指令的输入部14、使关节部13、 15转动的关节驱动部114、驱动带部23的带驱动部25、使脚部8升降的升降驱动部118、驱动车轮5的位置驱动部116及控制部110。 First, as shown in FIG. 7, by a shift operation instruction comprises an input for input of the auxiliary device 14, the joint portion 13, 15 rotating joint driving unit 114, a belt driving unit 23 drives belt portion 25 of the leg portion 8 elevating lift driving unit 118, the position of the drive unit 5 drives the wheels 116 and the control section 110. 并且,移乘辅助设备1包括用于检测支撑器16的着床状态的多个着床检测传感器32、用于向护理者3通知着床状态的通知部34,作为输入输出装置。 Then, the transfer assistance apparatus 1 comprises a holder detector 16 implantation of a plurality of implantation state detection sensor 32, the status notification to the caregiver implantation notification unit 3 34, output as an input means for. 关节驱动部114、带驱动部25、升降驱动部118及位置驱动部116可分别采用以公知的电动机等作为动力源的驱动装置。 Joint driving unit 114, a tape drive unit 25, the elevation driving unit 118 and the position of the drive unit 116 may be respectively a known drive means such as a motor as a power source.

下面参照图8,对移乘辅助设备1的控制系统所涉及的动作进行说明。 Referring now to Figure 8, by operation of the shift assist apparatus 1 the control system will be described. 在此,以关节驱动部114、升降驱动部118为例,详细地进行说明。 Here, the joint driving unit 114, the elevation driving unit 118 as an example, be described in detail.

首先,对关节驱动部114的控制系统的动作进行说明。 First, the operation of the control system of a joint driving unit 114 will be described. 关节驱动部114的控制系统包括局部控制回路(minor control loop)与全局控制回路(overall control loop)。 Joint driving unit 114 includes a local control system control loop (minor control loop) control circuit global (overall control loop). 在局部控制回路中,针对根据输入部14的操作所指令的各角度指令值,控制关节部13及关节部15 的转动动作,由此控制支撑器16的倾斜度。 In the local control loop for each angle command according to the operation input unit 14 the command value, the control unit 13 and the joint operation of the joint portion 15 is rotated, thereby controlling the inclination of the holder 16. 在全局控制回路,当支撑器16着床于载置装置51 (图2)时,根据支撑器16与载置装置51的载置面的平行度的偏差,补正角度指令值。 In the global control circuit, when the support 16 is placed onto the mounting device 51 (FIG. 2), the deviation of the support 16 and parallel to the mounting surface of the mounting means 51, the correction angle command value.

根据所述结构,在关节驱动部114,通过全局控制回路中所包括的局部控制回路进行角度控制,从而,例如即使来自输入部14的操作指令中途中断,由于可通过让局部控制回路动作来使内部稳定,因此能够控制使操作指令中途中断时的支撑器16的倾斜度维持不变。 According to the configuration, the joint driving unit 114, through the global control circuit included in a local control loop controlling the angle so that, even if the input from the operation unit 14 of the instruction interrupted halfway, since by allowing to make the operation of the local control loop internal stability, so that the holder can be controlled during the operation instruction aborts inclination 16 remain unchanged.

首先,对关节驱动部114中用于控制关节部13围绕X轴的转动动作的局部控制回路进行说明。 First, the joint driving unit 114 for controlling the operation of a joint portion partially rotate about the X-axis control circuit 13 will be described.

如图8所示,关节驱动部114包括用于使关节部13围绕X轴转动的驱动电动机82a、 检测关节部13围绕X轴的转动角度的转动角度检测部87a、检测通过转动角度检测部87a 检测到的关节部13的转动角度量与角度指令值的差分值的差分检测部41a、以及根据由差分检测部41a输出的差分值使驱动电动机82a驱动,控制关节部13的转动角度的调节器40a。 As shown, the joint driving unit 1148 includes a section 87a by the rotation angle detection portion for causing the joint 13 around the X-axis driving motor 82a is rotated, the joint portion 13 detecting a rotation angle around the X axis of the rotation angle detecting unit 87a detects detecting the rotation angle amount difference detection unit difference value angle command value of the joint portion 13, 41a, and according to the difference value 41a output from the difference detector unit the driving motor 82a is driven control joint unit rotation angle of 13 regulator 40a.

作为驱动电动机82a,可采用公知的电动机,例如DC电动机、AC电动机、歩进电 As the driving motor 82a, and a known electric motor such as a DC motor, the AC motor, into electric ho

动机等。 Motivation.

14作为转动角度检测部87a,可采用公知的编码器,例如,可采用转动型电位计(potentiometer)或转动型差动变压器等。 14 as a rotation angle detecting unit 87a, and a known encoder, for example, may be employed a rotary potentiometer (Potentiometer) rotary type differential transformer or the like.

调节器40a包括根据由差分检测部41a输出的差分值,使驱动电动机82a向正转或反转方向转动的驱动电路83a。 The regulator 40a comprises a difference value output from the difference detecting unit 41a, the driving circuit 83a drives the motor 82a is rotated in the forward or reverse direction.

作为驱动电路83a,可采用公知的驱动电路,例如桥接电路等。 As the drive circuit 83a, and a known drive circuit, for example a bridge circuit. 由此,调节器40a可切换连接于驱动电动机82a的电源的极性,使驱动电动机82a向正转或反转方向转动。 Thus, the polarity switching controller 40a may be connected to the drive motor 82a of the power source, the drive motor 82a is rotated in the forward or reverse direction. 并且,调节器40a包括微分器(图中没有表示),使局部控制回路的控制系统稳定。 Further, the regulator 40a comprises a differentiator (not shown), the local control loop system is stable. 由此, 关节驱动部114可稳定地将关节部13控制为角度指令中指定的转动角度。 Thus, joint driving unit 114 can be stably controlled to the joint portion 13 an angle rotation angle specified in the instruction.

并且,关节驱动部114为了在支撑器16的下面着床于载置装置51 (图2)的载置面的情况下形成自动着床适应的全局控制回路,包括差分检测部43a、稳定化补偿器42a与加算部44a。 Further, the joint driving unit 114 to below the holder 16 is placed onto the mounting device 51 (FIG. 2), the mounting surface is formed automatically adapt to implantation global control circuit includes a differential detection section 43a, the stabilizing compensation adding portion 42a, and 44a.

差分检测部43a检测设覽于支撑器16下面的着床检测传感器32a的输出与着床检测传感器32b的输出的差分值。 Difference value detecting unit 43a detects a difference view of the support 16 is provided below the implantation detection sensor 32a outputs the output of the detection sensor 32b of implantation.

稳定化补偿器42a包括用于对差分检测部43a所输出的差分值进行累积相加的积分器(图中没有表示),使全局控制回路的控制系统稳定。 42a comprises a stabilizing compensator 43a for the difference value output from the difference detector unit cumulatively added integrator (not shown), so that the overall control loop system is stable. 由此,关节驱动部114可根据通过差分检测部43a检测到的差分值,形成支撑器16的下面与载置装置51的载置面的平行状态及适应状态其中任一状态,并使该状态保持稳定。 Thus, joint driving unit 114 according to the difference detected by the difference value detecting unit 43a, formed parallel to the mounting surface following the mounting state of the support means 51 and 16 accommodate any of a state in which the state and the state keep it steady.

加算部44a对角度信息0 d与稳定化补偿器42a的输出进行加法运算,计算出所述角度指令值0e。 Information output section 44a of the angle 0 d and stabilized the compensator 42a for adding an addition, the angle command value calculated 0e.

如此,在关节驱动部114中,根据来S输入部14的操作指令0d,控制支撑器16的Y轴方向(围绕X轴)的倾斜度,且,在支撑器16的下面着床于载置装置51的载置面的情况下,针对操作指令值0d启动全局控制回路,根据支撑器16着床于载置装置51时的支撑器16的下面与载置面在Y轴方向上的平行度的偏差,将操作指令0d补正为角度指令值0e。 Thus, the joint driving unit 114 in accordance with an operation instruction input unit 14 to the S 0D, control holder 16 of the Y-axis direction (around the X axis) inclination and, below the holder 16 is placed onto the mounting a case where the mounting surface of the device 51, the operation command values ​​for the global control circuit starts 0d, parallelism of the Y-axis direction in accordance with the following mounting surface supporter 16 is placed onto the support means 51 is placed at 16 deviation, the operation instruction is the angle command value correcting 0d 0e. 由此,在关节驱动部114中,关于支撑器16在Y轴方向上的倾斜度,形成并维持支撑器16与载置装置51载置面的平行状态及适应状态其中任一状态。 Thus, the joint driving unit 114, the inclination on the supporter 16 in the Y-axis direction, and is formed with a mounting 16 to maintain the mounting surface 51 of the device holder and the parallel state to adapt to any state in which a state.

下面,对关节驱动部114中用于控制关节部15围绕Y轴的转动动作的局部控制回路进行说明。 Next, the joint driving unit 114 for controlling the local operation of the joint portion 15 is rotated around the Y axis control circuit will be described.

如图8所示,关节驱动部114包括用于使关节部15围绕Y轴转动的驱动电动机82b、 As shown, the joint driving unit 1148 comprises a joint portion 15 for the drive motor 82b Y about an axis of rotation,

检测关节部15围绕Y轴的转动角度的转动角度检测部87b、检测通过转动角度检测部87b Detecting the rotation angle of the joint portion 15 about the Y-axis rotation angle detecting unit 87b, the rotation angle detected by the detecting unit 87b

检测到的关节部15的角度量与角度指令但的差分值的差分检测部41b、以及根据差分检测部41b所输出的差分值使驱动电动机82b驱动,控制关节部15的转动角度的调节器40b。 Detecting the joint portion angular amount angle instruction 15, but the difference value of the difference detecting unit 41b, and the drive motor 82b according to the difference value difference detector output 41b of the drive, the control joint turning angle 15 of the regulator 40b .

作为驱动电动机82b,可采用公知的电动机,例如DC电动机、AC电动机、步进电 As the drive motor 82b, and a known electric motor such as a DC motor, the AC motor, stepping motor

动机等。 Motivation.

作为转动角度检测部87b,可采用公知的编码器,例如,可采用转动型电位计或转动型差动变压器等。 As the rotation angle detecting unit 87b, and a known encoder, e.g., a rotary type potentiometer may be employed rotary type differential transformer or the like.

调节器40b包括根据差分检测部41b所输出的差分值使驱动电动机82b向正转或反转方向转动的驱动电路83b。 Regulator 40b includes the driving circuit 83b drives the motor 82b is rotated in the forward or reverse direction according to the difference value outputted from the difference detecting unit 41b.

作为驱动电路83b,可采用公知的驱动电路,例如桥接电路等。 As the driving circuit 83b, and a known drive circuit, for example a bridge circuit. 由此,调节器40b可切换连接于驱动电动机82b的电源的极性,使驱动电动机82b向正转或反转方向转动。 Thereby, the switching regulator 40b may be connected to the drive motor 82b polarity of the power source, the drive motor 82b is rotated in the forward or reverse direction. 并且,调节器40b包括微分器(图中没有表示),使局部控制回路的控制系统稳定。 Further, the regulator 40b comprises a differentiator (not shown), the local control loop system is stable. 由此, 可稳定地将关节部15控制为角度指令中指定的转动角度。 Thus, the joint portion can be stably controlled to the angle of 15 specified in the instruction turning angle.

并且,关节驱动部114为了在支撑器16的下面着床于载置装置51 (图2)的载置面的情况下形成自动着床适应的全局控制回路,包括差分检测部43b、稳定化补偿器42b与加算部44b。 Further, the joint driving unit 114 to below the holder 16 is placed onto the mounting device 51 (FIG. 2), the mounting surface is formed automatically adapt to implantation global control circuit includes a differential detection section 43b, the stabilizing compensation and an adding portion 42b 44b.

差分检测部43b例如检测出在支撑器具16的下面沿X轴方向相隔设置的两个着床检测传感器32a各自的输出的差分值。 Difference detecting unit 43b detects, for example, spaced apart along the X-axis direction is provided below the support fixture 16 in the implantation of two sensors detecting a difference value of the respective output 32a.

稳定化补偿器42b包括对差分检测部43b所输出的差分值进行累积加算的积分器(图中没有表示),使全局控制回路的控制系统稳定。 42b comprises a stabilizing compensator 43b of the difference value output from the difference detector unit cumulatively summing integrator (not shown), so that the overall control loop system is stable. 由此,关节驱动部114可根据通过差分检测部43b检测到的差分值,形成支撑器16的下面与载置装置51 (图2)载置面的平行状态及适应状态其中任一状态,并使该状态保持稳定。 Thus, joint driving unit 114 according to the difference detected by the difference value detecting section 43b is formed parallel to the mounting surface of the holder under a state the mounting apparatus 5116 (FIG. 2) and a state in which the adaptation to any state, and the state remains stable.

加算部44b对角度信息0f与稳定化补偿器42b的输出进行加法运算,计算出所述角度指令值0 g。 Angle information output section 44b with a stabilizing compensator 0f the adder 42b for adding, calculating the angle instruction value 0 g.

如此,在关节驱动部114中,根据来自输入部14的操作指令0f,控制支撑器16的X轴方向(围绕Y轴)的倾斜度,且,在支撑器16的下面着床于载置装置51 (图2)的载置面的情况下,针对操作指令值0f启动全局控制回路,根据支撑器16着床于载置装置51时的支撑器16与载置面在X轴方向上的平行度的偏差,将操作指令0f补正为角度指令值0g。 Thus, the joint driving unit 114 in accordance with an operation instruction from the input unit 14, 0f, controlling the X-axis direction of the support 16 (about the Y-axis) inclination and, below the holder 16 is placed onto the mounting means the mounting surface of the case 51 (FIG. 2), for the operation start command value 0f global control circuit, according to the parallel support 16 is placed onto a supporting device 51 is placed at the mounting surface 16 in the X-axis direction the degree of deviation, the operation instruction is the angle command value correcting 0f 0g. 由此,在关节驱动部114中,关于支撑器16在X轴方向上的倾斜度,形成并维持支撑器16与载置装置51载置面的平行状态及适应状态其中任一状态。 Thus, the joint driving unit 114, the inclination on the supporter 16 in the X-axis direction, and is formed with a mounting 16 to maintain the mounting surface 51 of the device holder and the parallel state to adapt to any state in which a state.

如上所述,在关节驱动部114中,通过全局控制回路中所包括的局部控制回路进行角度控制,从而,例如即使来自输入部14的操作指令中途中断,由于可通过让局部控制回路动作来使内部稳定,因此能够控制使操作指令中途中断时的支撑器16的倾斜度维持不变。 As described above, the joint driving unit 114, the angle control by the overall local control circuit included in the circuit, so that, even if the input from the operation unit 14 of the instruction interrupted halfway, since by allowing to make the operation of the local control loop internal stability, so that the holder can be controlled during the operation instruction aborts inclination 16 remain unchanged. 由此,可防止支撑器16夹住被护理者2等动作,提高移乘辅助设备l的安全性。 This prevents the supporter 16 is sandwiched between two other caregiver action, improve the security of the transfer assistance apparatus l. 下面,对使支撑器16进行升降的升降驱动部118的控制系统所涉及的动作进行说明。 Next, the holder 16 so that the control system operates lift driving unit 118 of the lifter will be described. 如图8所示,在升降驱动部118中,根据来自输入部14的操作指令中的高度位置指令值Hc,使脚部8沿Z轴方向进行上下动作,从而控制支撑器16的升降。 As illustrated, in the lift driving unit 118, the position command value according to the height 8 operation instruction from the input section Hc of 14, so that the leg 8 in the Z-axis direction up and down operation, so as to control the lift 16 of the supporter. 因此,升降驱动部118包括用于使脚部8沿Z轴方向升降的驱动电动机82c、检测使脚部8升降时的支撑器16在高度方向上的停止位置的高度位置检测部87c、检测通过高度位置检测部87c 检测到的高度方向上的停止位置与高度位置指令值Hc的差分值的差分检测部41c、以及根据差分检测部41c所输出的差分值使驱动电动机82c驱动,从而控制支撑器16在高度方向上的停止位置的调节器40c。 Thus, the foot 118 includes a Z-axis direction 8 of the elevation drive motor driving the lift unit 82c, detects that the holder 16 when the lifting height of 8 feet position detecting unit 87c of the stop position in the height direction, is detected by stop position and a height position of instructions on a height position detecting unit 87c in the height direction of the detected value of the difference value Hc difference detecting section 41c, and the driving motor 82c is driven according to the difference value difference detector unit output 41c, thereby controlling holder regulator 16 in the height direction stop position 40c.

作为驱动电动机82c,可采用公知的屯动机,例如DC电动机、AC电动机、歩进电动机等。 As known Tun motor drive motor 82c, may be employed, for example a DC motor, the AC motor, stepper motor, etc. ho.

作为高度位置检测部87c,可采用公知的直动转动位置检测器,例如光学式编码器、 磁性编码器、屯位计、差动变压器等。 As the height position detecting section 87c, and a known direct acting rotational position detector such as an optical encoder, magnetic encoder, village level meter, a differential transformer.

调节器40c包括用于根据差分检测部41c所输出的差分值,使驱动电动机82c向正转或反转方向转动,从而使脚部8沿Z轴方向升降的驱动电路83c。 The regulator 40c 41c includes a difference value outputted from the difference detection unit, the drive motor 82c is rotated in the forward or reverse direction, so that the leg portion 8 and down along the Z-axis direction driving circuit 83c. 作为驱动电路83c,可采用公知的驱动电路,例如桥接电路,从而切换连接于驱动电动机82c的电源的极性,使驱动电动机82c向正转或反转方向转动。 As the drive circuit 83c, and a known drive circuit, e.g. a bridge circuit connected to switch the polarity of the drive power to the motor 82c, the drive motor 82c is rotated in the forward or reverse direction.

并且,调节器40c包括微分器,使局部控制回路的控制系统稳定。 Further, the regulator comprises a differentiator 40c, the control system stable local control loop. 由此,可使脚部8 升降,将支撑器16定位于高度位置指令中指定的高度。 Accordingly, the leg 8 can lift the holder 16 is positioned at the height position of the height specified in the instruction.

并且,升降驱动部118包括用于生成支撑器16的高度位置指令值Hc的高度位置生成器45。 Further, the elevation driving unit 118 comprises a holder for generating a height position command value 16 of height Hc generator 45.

高度位置生成器45,例如对控制部110所输出的方向指令值进行累积加算,输出高度位置的指令值。 The height position of the generator 45, for example, a direction instruction control unit 110 outputs the cumulatively added values, the height position of the output command value. 其中,若作为来自输入部14的操作指令,输入了向上[-l]的值,控制部110向高度位置生成器45输出向上[-l]的方向指令值。 Wherein, as an operation when the instruction from the input unit 14, the input of the up [-l] value, the control unit 110 upward direction instruction [-l] of the height position of the output value of the generator 45. 同样,若作为来自输入部14 的操作指令,输入了停止[0]的值,控制部110向高度位置生成器45输出停止[0]的方向指令值。 Similarly, when as the operation instruction from the input unit 14, the input stop [0], the control unit 110 stops [0] output of generator 45 to the height position of the direction command value. 同样,若作为来自输入部14的操作指令,输入了向下[+l]的值,控制部110向高度位置生成器45输出向下[+1]的方向指令值。 Similarly, when as the operation instruction from the input unit 14, the input of the down [+ l] value, the control unit 110 outputs the generator 45 to the height position of the down [l] direction command value.

高度位置生成器45将所述方向指令值乘于规定的系数,并进行累积加算。 The height position of the generator 45 to the direction command value is multiplied by a predetermined coefficient, and cumulatively added. 例如,在 For example,

17将规定的系数设为[2]的情况下,高度位置生成器45将方向指令值变为2倍,并进行累积加算。 The case where the predetermined factor is set to 17 [2], the height position of the direction command generator 45 becomes 2 times the value, and cumulatively added. 当进行高度调整时的定位速度可通过更改所述规定系数实现,若增大规定系数,则定位速度变快,若减小规定系数,则定位速度变慢。 When the positioning speed of the height adjustment may be achieved by altering the predetermined coefficient, when the predetermined coefficient is increased, the faster positioning speed, when a predetermined coefficient is reduced, the positioning slow. 此外,规定系数并不局限于[2]。 Additionally, a predetermined coefficient is not limited to [2].

另外,在作为来自输入部14的操作指令,输入了向下[+l]的值,且支撑器16的下面着床于载置装置51 (图2)的载置面,着床检测传感器32a及着床检测传感器32b的输出均变为[ON]的情况下,控制部110向高度位置生成器45输出停止[0]的方向指令值。 Further, as the operation instruction from the input unit 14, the input of the down [+ l] value, and the holder 16 following implantation on the mounting device 51 (FIG. 2) of the mounting surface, detection sensors 32a implantation implantation direction command and the detection output in the case of the sensor 32b both become [ON], the control unit 110 stops [0] output of generator 45 to a height position value.

如此,在升降驱动部118中,根据来自输入部14的操作指令控制支撑器16在高度方向上的停止位置,且在支撑器16的下面着床于载置装置51 (图2)的载置面的情况下, 停止支撑器16的升降动作,维持支撑器16的高度。 Thus, in the elevation driving unit 118, a control support according to an operation instruction from the input section 16 of the stop position 14 in the height direction, and below the holder 16 is placed onto the mounting device 51 (FIG. 2) is placed case faces, stopping the operation of the lift holder 16 to maintain the height of the support 16.

根据所述结构,在移乘辅助设备l中,由控制部110进行这样一种控制,g卩:使关节部13、 15及脚部8其中任何之一进行动作,从而使多个着床检测传感器32的输出变为设定范围内的值,形成并维持载置装置51 (图2)的载置面与支撑器16的平行状态及适应状态其中任一状态。 According to the configuration, the transfer assistance apparatus l, make such a control by the control unit 110, g Jie: the joint portion 13, 15 and 8 wherein any one leg is operated, so that the plurality of detection implantation the output of the sensor 32 becomes a value within the set range, created and maintained holder mounting surface and the mounting means 51 (FIG. 2) parallel to the state 16 and a state in which any one of the adaptation state. 由此,移乘辅助设备1根据载置有被护理者2的载置装置51的载置面的倾斜度,自动地调整支撑器16的位置及角度等空间姿势,因此,护理者3无需特别留意载置面与支撑器16的位置关系,即可顺利地从载置装置51上捧起被护理者2,进行移乘。 Thus, the transfer assistance apparatus 1 in accordance with the inclination of the mounting surface is placed caregiver mounting device 51 2, automatically adjusting the position and angle of the posture of the support space 16, and therefore, no particular caregiver 3 watching the positional relationship between the mounting surface of the support 16 can be smoothly lifted from the carrier device 51 is caregiver 2, performed by shifting.

另外,移乘辅助设备l中,在支撑器16的下面,与关节部13的转动轴垂直的方向上相隔设置着床检测传感器32a与32b,并且所述着床检测传感器32a、 32b均具有与关节部15的转动轴垂直的方向上相隔设置于支撑器16下面的两个传感器。 Further, the transfer assistance device l, the following holder 16, in a direction perpendicular to the axis of rotation of the joint portion 13 is disposed spaced apart implantation detecting sensors 32a and 32b, and the implantation detection sensor 32a, 32b each have 16 disposed spaced apart in the following two sensor holder is rotated in a direction perpendicular to the axis 15 of the joint portion. 而且,当通过脚部8的滑动动作使支撑器16从载置面的上方向载置面降低时,若多个着床检测传感器32其中任何之一检测到对载置面的着床,则以保持检测到着床的着床检测传感器32相对于载置面的高度的状态,执行脚部8的滑动动作,并且使关节部13及关节部15其中任何之一转动。 Further, when the sliding operation of the support leg 8 through 16, in the direction from the mounting surface of the mounting surface is lowered, if one of the plurality of implantation detection sensors 32 detects any Implantation of the mounting surface, the implantation to maintain the detection sensor 32 relative to the implantation of the height of the mounting surface state, the sliding operation performed leg 8 and the joint portion 13 and the joint portion 15 where any one of the rotation. 并且,若多个着床检测传感器32中的两个以上检测到着床,则结束绕与倾斜对应的轴的关节部13、 15的转动,在结束所有关节部13、 15的转动时就停止通过脚部8的滑动动作所执行的支撑器16的降低。 Then, when two or more sensors detecting a plurality of implantation of 32 detects implantation, the joint portion of the shaft is inclined about the rotation corresponding to the end 13, 15, the rotation of all the joints at the end portions 13, 15 is stopped by lower the support leg portion 8 of the sliding operation 16 performed. 由此,移乘辅助设备1可使支撑器16平行地着床、 停止在载置面上。 Thus, the transfer assistance apparatus 1 allows parallel implantation holder 16 is stopped at the mounting surface.

并且,在移乘辅助设备l中,当驱动车轮5,进行将支撑器16插入被护理者2与载置面之间的插入动作时,若多个着床检测传感器32均未检测到着床,则通过脚部8的滑动动作使支撑器16降低。 Further, the transfer assistance apparatus l, when the driving wheel 5, the holder 16 is inserted into the caregiver is 2 when inserted between the surface of the mounting operation, when the sensor 32 detects a plurality of implantation implantation was not detected, by sliding the operation of the foot 8, the support 16 is lowered. 并且,若在与关节部13、 15的转动轴垂直的方向上设置的多个着床检测传感器32其中任何之一的输出大于设定范围,则使关节部13、 15向使输出较大的着床检测传感器32远离载置面的方向转动,另一方面,若多个着床检测传感器32其中任何之一的输出小于设定范围,则使关节部13、 15向使输出较小的着床检测传感器32抵接载置面的方向转动,从而将多个着床检测传感器32的输出状态维持在设定范围内。 And, if the sensor 32 which detects a plurality of implantation in a direction perpendicular to the axis of rotation of the joint portion 13, 15 provided to any one of the output is greater than the set range, the joint portion 13, 15 to output a large implantation rotation detection sensor 32 in a direction away from the mounting surface, on the other hand, when the output of any one of more than 32 less than the set detection sensors implantation range, the joint portion 13, 15 to output the smaller bed detection sensor 32 abutting surface facing the direction of rotation of the carrier, so that the output state of the plurality of implantation detection sensor 32 is maintained within a set range. 由此,在进行支撑器16的插入动作中,能够将支撑器16与载置面调整为一定的抵接状态。 Thus, during the insertion operation of the holder 16, it is possible to support the mounting surface 16 is adjusted to a constant contact state.

下面参照图9,对移乘辅助设备l的动作进行说明。 Referring to FIG 9, a shifting operation by the auxiliary equipment l will be described. 图9为用于说明本发明第一实施方式的移乘辅助设备1的动作的流程图。 FIG 9 is a view for explaining a first embodiment of the present invention is an operation flowchart of an auxiliary equipment by shift. 以下,对移乘辅助设备1捧起载置于载置装置51 上的被护理者2,并进行移乘时的护理者3的操作步骤与移乘辅助设备1的动作进行说明。 Hereinafter, the transfer assistance device 1 to be lifted is placed on the carer carrier device 512, and the operation steps of the transfer assistance apparatus 1 is shifted by a caregiver when the 3 will be described.

如图9所示,护理者3为了使移乘辅助设备1接近被护理者2所躺卧的载置装置51 的侧面,向输入部14进行输入,发出操作指示(Sl)。 9, the caregiver 3 in order to make the transfer assistance apparatus 1 is closer to the side surface lying caregiver two carrier device 51, the input to the input unit 14, issuing an operation instruction (Sl). 根据所述输入,控制部110控制位置驱动部116,驱动车轮5,使移乘支援装置1接近载置装置51的侧面(S2)。 According to the input, the control unit 110 controls the position of the drive unit 116, a drive wheel 5, so that by shifting a support device placed near the side of the device 51 (S2).

接着,护理者3输入用于使支撑器16降低,使载置装置51的载置面与支撑器16的前端部分成为平行状态,将支撑器16插入被护理者2与载置装置51之间的指示信息(S3)。 Next, the caregiver holder 3 for an input 16 decreases, so that the holder mounting surface 51 of the mounting device tip portion 16 becomes parallel state, the holder 16 is inserted between the caregiver and the mounting means 51 2 indication information (S3).

根据所述输入,控制部110向关节驱动部114及升降驱动部118传达控制信息,使关节部13、 15及脚部8动作。 According to the input, the control unit 110 controls to convey information to the joint driving unit 118 and the elevation driving unit 114, the joint portion 13, 15 and 8 foot operation. 并且,根据必要,控制部110控制位置驱动部116来驱动车轮5,调节移乘辅助设备l的位置。 And, according to need, the control unit 110 controls the position of the drive unit 116 to drive the wheels 5 to adjust the position of the transfer assistance apparatus l.

控制部110,当通过脚部8的滑动动作使支撑器16从载置面的上方向载置面降低时-, 若多个着床检测传感器32其中任何之一检测到对载置面的着床,则以维持检测到着床的着床检测传感器32相对于载置面的高度的状态,使关节部13及关节部15其中任何之一转动,并且,若多个着床检测传感器32中,在X方向及Y方向其中任一方向上两个以上的传感器32检测到着床,则结束绕与该方向上的倾斜对应的轴的关节部13、 15的转动动作,同样,在结束了其它方向上的所有关节部13、 15的转动动作时,就停止通过脚部8 的滑动动作执行的支撑器16的降低(S4、 S5、 S6)。 The control unit 110, when the holder 8 through the foot 16 of the sliding action in the direction from the mounting surface of the mounting surface is lowered -, wherein if any one of the plurality of detection sensor 32 detects the implantation of the mounting surface bed, maintained places implantation detection sensor 32, the implantation state with respect to the height of the mounting surface, the joint portion 13 and the joint portion 15 where any one of the rotation, and, when the sensor 32 detects the plurality of implantation, in the X direction and Y direction, wherein two or more in either direction sensor 32 detects the implantation, the rotational operation around the ends corresponding to the inclination axis in the direction of the joint portion 13, 15, also in the other end direction All the joint portion 13, 15 of the rotation operation, lower the support 16 stops the sliding movement performed by the foot 8 (S4, S5, S6). 由此,可使支撑器16平行地着床、 停止在载置面上。 Thus, the holder 16 can make parallel implantation is stopped at the mounting surface.

护理者3在停止支撑器16的降低后,确认通知部34的发光二极管的亮灯状态。 3 after stopping the caregiver holder 16 is reduced, the light emitting diode lighting state confirmation notification portion 34. 护理者3,例如在根据通知部34的亮灯状态,确认了至少三个着床检测传感器32检测到着床的状态时,就向输入部14输入用于使支撑器16的下端面33接触载置装置51的上表面的状态下将支撑器16插入被护理者2与载置装置51之间的指示(S7)。 3 when the caregiver, for example, in accordance with the lighting state notification unit 34, a state was confirmed at least three detected implantation implantation detection sensor 32, it is input to the input unit 14 for the support 33 is in contact with the lower end surface 16 of the carrier a state opposing the upper surface 51 of the support means 16 is inserted between the caregiver and the 2 indicates the mounting device 51 (S7). 由此,护理者3不必特别留意相对于插入支撑器16的倾斜度,即可在维持支撑器16的下端面33的倾斜度的状态下将支撑器16插入被护理者2与载置装置51之间。 Accordingly, the caregiver 3 does not have to pay special attention to the inclination relative to the insert holder 16, can be maintained in a state where the inclination of the lower end surface 16 of the support 33 of the holder 16 is inserted into the caregiver and the mounting means 51 2 between.

接着,控制部110在插入支撑器16时向带驱动部25发出指示,使以露出于支撑器 Next, the control section 110 is inserted into holder 16 issues an instruction to the tape drive unit 25, so as to expose to the holder

1916的上部的状态所设置的带部23向与支撑器16的移动方向相反的方向以与支撑器16的移动速度大致相同的速度进行转动(S8)。 The 1916 state of the upper belt portion 23 provided to the holder 16 opposite to the moving direction of the moving speed of the support 16 is substantially the same rotational speed (S8). 另外,控制部110向位置驱动部116发出指示, 配合带部23的转动,驱动车轮5,使移乘辅助设备l移向前方(X轴方向),插入支撑器16 (S9)。 Further, the control unit 110 issues an indication to the position of the drive unit 116, mating portion 23 with the rotation of the driving wheels 5, so that the transfer assistance apparatus moves forward l (X axis direction), the insertion holder 16 (S9). 因此,当插入支撑器16时被护理者2与带部23的相对速度大致为[0],接触被护理者2背部的支撑器16的带部23不会与被护理者2发生摩擦,而且,通过设置于支撑器16下端面33上的多个固定辊26,能够顺利地插入支撑器16。 Thus, when the support 16 is inserted into the caregiver relative speed of the belt part 2 is substantially 23 [0], is in contact with a friction generating portion 2 caregiver 2 back support 16 and 23 is not a caregiver, and , 26, can be inserted into the holder 16 through a plurality of fixing rollers disposed on the end face 33 of holder 16 smoothly.

接着,护理者3若判断为已将支撑器16充分地插入被护理者2与载置装置51的上表面之间,则向输入部14输入用于将被护理者2捧起至支撑器16的捧起面上的指示信息(SIO)。 Next, it is determined if the caregiver has 3 holder 16 is fully inserted between the upper surface 2 and the caregiver mounting device 51, the input unit 14 for the caregiver to be lifted to the support 16 2 won indication information surface (SIO). 根据所述输入,控制部110停止支撑器16的带驱动部25的驱动,停止带部23 的转动(Sll)。 According to the input, the control unit 110 stops driving the support belt 16 of the driving unit 25 stops the rotation of the belt portion 23 (Sll). 与此同时或随后,控制部110向升降驱动部118发出指示,驱动脚部8, 抬起支撑器16 (S12)。 At the same time or subsequently, the control section 110 instructs the lifting drive unit 118, a driving leg portions 8, lift the holder 16 (S12).

接着,护理者3向输入部14输入用于使移乘辅助设备1移向移动目标位置的载置装置51的指示信息(S13)。 Next, the caregiver 3 for input to the input unit 14 information indicating that the move by the auxiliary equipment mounting apparatus 1 toward the movement target position 51 (S13). 根据所述输入,控制部IIO控制位置驱动部116,使移乘辅助设备l移至移动目标位置,例如,另一个载置装置51的位置(Sl4)。 According to the input, the control unit controls the position IIO driving section 116, so that the transfer assistance apparatus l moved movement target position, e.g., position 51 of the other mounting means (Sl4).

护理者3确认移乘辅助设备1已接近移动目标位置的载置装置51,向输入部14输入用于使支撑器16接触移动目标位置的载置装置51表面的指示信息(S15)。 3 by shifting the caregiver confirmation auxiliary device 51 placed close to a moving target position, the support information for indicating the movement target position 16 the contact mounting surface 51 of the apparatus (S15) input to the input section 14.

根据所述输入,控制部110控制升降驱动部118或关节驱动部114,进行脚部8的升降动作、关节部13、 15的转动动作,使载置有被护理者2的支撑器16接触另一个载置装置51之上。 According to the input, the control unit 110 controls the lift drive unit 118 or the joint driving unit 114, an operation for elevating leg portion 8, the rotational operation of the joint portion 13, 15 of the contacts are placed caregiver 16 of the other support 2 a mounting means 51 on top.

控制部110,当通过脚部8的滑动动作使支撑器16从载置面的上方向载置面降低时, 若多个着床检测传感器32其中任何之一检测到对载置面的着床,则以维持检测到着床的着床检测传感器32相对于载置面的高度的状态,使关节部13及关节部15其中任何之一转动,并且若多个着床检测传感器32中,在X方向及Y方向其中任一方向上两个以上的传感器32检测到着床,则结束绕与该方向上的倾斜对应的轴的关节部13、 15的转动动作, 同样,在结束了其它方向上的所有关节部13、 15的转动动作时,就停止通过脚部8的滑动动作执行的支撑器16的降低(S16、 S17、 Sl8)。 The control unit 110, when the holder 8 through the foot 16 of the sliding action in the direction from the mounting surface of the mounting surface is lowered, if any one of the plurality of detection sensor 32 detects the implantation of implantation of the mounting surface , to maintain the detected places implantation implantation sensor 32 detects the height of the mounting surface state, the joint portion 13 and the joint portion 15 where any one of the rotation, and the detection sensor 32 when the plurality of implantation, at X and Y directions in which the two or more in either direction sensor 32 detects the implantation, the inclined end portion about the joint axis corresponding to the direction of pivotal movement of 13, 15, likewise, at the end of all the other directions joint portions 13, 15 of the rotation operation, stop holder sliding operation performed by the leg portion 16 of reduced 8 (S16, S17, Sl8).

接着,护理者3在支撑器16的降低停止后,确认通知部34的亮灯状态,例如在至少三个着床检测传感器32检测到着床的状态下(支撑器16的下端面33相对于载置装置51 的载置面呈平行状态及适应状态其中至少任一状态),向输入部14输入用于使支撑器16 移向后方(与X方向相反的方向)的指示(Sl9)。 Next, after reducing the caregiver 3 holder 16 is stopped, the lighting state notification confirmation unit 34, for example, when detecting a state of at least three Implantation Implantation detection sensor 32 (the lower end surface of the holder 16 relative to the carrier 33 appear before the mounting device 51 is set in a parallel state and a state in which any of the at least one adaptation state), for the support 16 is moved backward (a direction opposite to the X direction) is indicated (SL9) input to the input section 14. 根据所述输入,控制部110向带驱动 According to the input, the control unit 110 to the tape drive

2部25发出指示,使得带部23以与支撑器16的移动速度大致相同的速度,向与支撑器16 的移动方向相反的方向进行转动(S20)。 2 instructs 25, so that the belt portion 23 with the moving speed of the holder 16 is substantially the same speed, is rotated (S20) opposite to the moving direction of the holder 16 in the direction. 与此同时或随后,控制部110控制位置驱动部116,驱动车轮5,使移乘辅助设备l移向后方,从被护理者2与载置装置51之间拔出支撑器16 (S21)。 At the same time or subsequently, the control section 110 controls the position of the drive unit 116, a drive wheel 5, so that the transfer assistance apparatus l is moved rearward, the support pulled from between the caregiver and the mounting means 2 51 16 (S21). 当拔出支撑器16时也与插入时相同,通过带部23及固定辊26的功能及动作,支撑器16不会与被护理者2发生摩擦,能够顺利地进行拔出。 When removing the same when the support 16 is inserted, through the function and operation of band portion 23 and the fixing roller 26, holder 16 will not, can be smoothly pulled out with the two friction caregiver.

如上所述,根据本发明第一实施方式的移乘辅助设备1,当将支撑器16插入被护理者2与载置装置51的载置面之间时,即使载置面不水平,由于在将支撑器16插入被护理者2与载置面之间时,通过关节部13、关节部15的转动动作及脚部8的升降动作其中至少之一來使多个着床检测传感器32的输出变为设定范围内的值,从而能够形成并维持载置面与支撑器16之间的平行状态及适应状态其中至少任一状态。 As described above, by shifting the first embodiment according to the embodiment of the present invention, the auxiliary device 1, when the support is inserted between 16:00 caregiver mounting surface 2 with the mounting device 51 is, even if the mounting surface is not horizontal, since when the holder 16 is inserted between the caregiver and the mounting surface 2, to output a plurality of detection sensors implantation through 32, the joint portion 15 and the leg rotation operation wherein at least one of the vertical movement of the joint portion 13 8 becomes a value within the set range, it is possible to form and maintain a parallel state between the mounting surface of the support 16 and accommodate any of a state in which at least one condition. 因此,在移乘辅助设备1 中,当进行被护理者2的移乘动作时,根据载置面的倾斜度自动地调整支撑器16的位置及角度等空间姿势,因此,护理者3无需特别留意载置面与支撑器16的位置关系,即可顺利地从载置装置51上捧起被护理者2,并进行移乘。 Thus, the transfer assistance apparatus 1, when being shifted by the operation of 2 caregiver, automatically adjusting the position and angle of the support 16, the inclination of the posture of the space of the mounting surface, and therefore, no particular caregiver 3 watching the positional relationship between the mounting surface of the support 16 can be smoothly lifted caregiver 2 from transfer device 51, and by shifting.

此外,也可以设置用于控制使两台移乘辅助设备l配合动作的控制装置(图中没有表示),当操作两台移乘辅助设备1中的一台移乘辅助设备1时,可使另一台移乘辅助设备1 也联动地动作。 In addition, may be provided for controlling the apparatus so that the two transfer assistance l fitting operation control means (not shown), when the transfer assistance apparatus 1 by operating the two auxiliary shifting device 1 a, can another transfer assistance apparatus 1 also operates in conjunction. 例如,当护理者3操作一台移乘辅助设备1使之移向前后左右时,控制装置可控制为,边使设置于各装置上的支撑器16的间隔保持一定,边使两台移乘辅助设备1 移向前后左右。 For example, when the operation caregiver 3 all around the transfer assistance apparatus 1 is moved so that a single control device may be controlled, so that the edge is provided on each support means 16 is kept constant spacing, so that the edge shift by two auxiliary equipment around 1 moves back and forth. 此时的控制装置可采用与如第三实施方式及图15所示的控制部110相同的结构。 At this time, the control means may be employed as the control unit 110 shown in FIG. 15 of the third embodiment and the same configuration.

由此,采用多个移乘辅助设备l,分别调整支撑器16的倾斜度,则能够应对具有躺椅功能的床等具有倾斜度不同的多个载置面的载置装置51。 Thus, a plurality of transfer assistance device L, respectively, to adjust the inclination of the holder 16, it is possible to cope with recliner bed functions having different inclinations plurality of mounting means 51 mounting surface. 因此,所述移乘辅助设备可灵活地应对各种载置装置。 Thus, the transfer assistance apparatus can flexibly cope with various mounting devices. 例如,也能够应对载置装置51的载置面的倾斜度为两种以上的复杂形状的载置装置51,可实现具有多个支撑器机构的移乘辅助设备。 The inclination of the mounting surface, for example, it is possible to cope with the mounting device 51 to a complicated shape of two or more of the carrier device 51 can be realized with a plurality of auxiliary shift mechanism by a support.

作为控制装置,还可共用两台移乘辅助设备1其中任一移乘辅助设备1所设有的控制部110。 As the control means also share two transfer assistance apparatus 1 by either a shift control unit provided with an auxiliary device 110. 此外,相配合的移乘辅助设备1的台数并不局限于两台,也可根据载置装置51 的载置面的形状,使三台以上的移乘辅助设备1相配合。 Further, mating transfer assistance device 1 is not limited to the number of two, but also according to the shape of the mounting surface of the mounting device 51, so that three or more transfer assistance device 1 is fitted.

另外,移乘辅助设备1的着床检测传感器32a、 32b的配置方式并不局限于本实施方式的配置方式。 Further, shift detection sensor 32a by the implantation of the auxiliary device 1, 32b is not limited to the arrangement configuration of the present embodiment. 下面,对所述移乘辅助设备l的着床检测装置的其它配置例进行说明。 Next, another arrangement example of the shift detection means by implantation l auxiliary equipment will be described.

图10 (a)〜(d)是表示本发明第一实施方式的移乘辅助设备1的支撑器16上的着床检测装置的其它设置例的俯视图,图10 (a)及图10 (d)是对X轴及Y轴方向上的支 FIG. 10 (a) ~ (d) is a diagram showing a first embodiment of the present invention, by shifting a plan view of another embodiment of the implantation detecting means provided on the holder 16 of the auxiliary device 1, FIG. 10 (a) and FIG. 10 (d ) is the support of the X-axis and Y-axis directions

21撑器16下端面33的倾斜度进行检测时的配置例,图10 (b)是对Y轴方向上的支撑器16下端面33的倾斜度进行检测时的配置例,图10 (c)是对X轴方向上的支撑器16下端面33的倾斜度进行检测时的配置例。 Configuration example when the inclination of the end face 33 of the support 16 is detected 21, FIG. 10 (b) is an example when the configuration of the holder 16 in the Y-axis direction inclination of the end face 33 is detected, FIG. 10 (c) It is a configuration example when the inclination of the end face 33 of the holder 16 in the X-axis direction is detected.

具体而言,图10 (a)是在两个可动辊26a的辊轴芯26b的一侧端部上分别配置着床检测传感器32a,在另一侧端部,仅在一个辊轴芯26b上配置着床检测传感器32b的例子。 Specifically, FIG. 10 (a) are respectively disposed implantation detecting sensor 32a, the end portion on the other side on the side ends of the two roller axis movable roller 26a and 26b, only one roller axis 26b examples of implantation of the configuration of the detection sensor 32b. 通过所述配置,包括围绕支撑器16的插入方向上的X轴转动的关节部13、以及围绕在支撑器16的下面与插入方向垂直的Y轴转动的关节部15的移乘辅助设备1,可在支撑器16的插入方向及与插入方向垂直的方向这两个方向上,检测支撑器16的下端面33的倾斜度,可调整与载置装置51的上表面的平行度。 By the configuration, the joint portion including an X-axis in the insertion direction around the support 16 is rotated 13, and around the joint portion of the Y-axis perpendicular to the supporter 16 beneath the insertion direction of the rotational transfer assistance apparatus 1 15, It may be on the support 16 in the insertion direction and the direction perpendicular to the insertion direction of the two directions, the lower end surface of the detector holder 16 inclination 33, adjust the upper surface of the mounting device 51 of parallelism.

另外,图10 (b)是在两个可动辊26a中任一可动辊26a的辊轴芯26b的两端部上配置着床检测传感器32a、 32b的例子。 Further, FIG. 10 (b) in any two movable roller 26a disposed a movable implantation detecting sensor 32a on both end portions of the roller axis 26b of roller 26a, 32b of the examples. 通过所述配置,着床检测传感器32a、 32b检测辊轴芯26b的位移。 By the configuration, the displacement detecting sensor implantation 32a, 32b of the detection roller axis 26b. 移乘辅助设备1可利用围绕支撑器16的插入方向上的X轴转动的关节部13, 一边检测支撑器16的下端面33的倾斜度, 一边调整支撑器16的下端面33与载置装置51上表面的平行度。 The transfer assistance apparatus 1 can utilize the X-axis rotation of the joint portion in the insertion direction 16 around the holder 13, while detecting the inclination of the lower end face 16 of the holder 33, while adjusting holder 33 and the lower end face 16 of the mounting device of the surface 51 parallel. 因此,在载置装置51,例如床未相对于支撑器16的插入方向倾斜等的情况下发挥作用。 Thus, the mounting device 51, for example, the bed is not the case with respect to the insertion direction of the support 16 is inclined like role. 此外,如床那样,在不必调整X轴方向上的倾斜度,不需要围绕Y轴转动的情况下,可略去关节部15. In addition, such as bed, without adjusting the inclination on the X-axis direction, no rotation about the Y-axis of the case, the joint portion 15 may be omitted.

另外,图10 (c)为在两个可动辊26a的辊轴芯26b的支撑器16的任一方的侧面, 位于两个可动辊26a的辊轴芯26b的附近,在两处配置着床检测传感器32b的例子。 Further, FIG. 10 (c) is a side surface of either one of the two movable core 26a of the roller shaft 26b of the holder 16, located near the two movable rollers 26a, 26b of the core roller, disposed in two examples of the detection sensor 32b beds. 通过所述配置,可检测支撑器16在X轴方向上的倾斜度,将支撑器16的下端面33与载置装置51的上表面调整为平行。 By the configuration, the support 16 may detect the inclination in the X-axis direction, the lower support 16 and the upper surface of the end face 33 of adjusting device 51 is placed in parallel.

另外,图10 (d)为在与支撑器16的插入方向垂直的宽度方向上,在支撑器16的下面的中心附近,例如,与两侧面分别相隔距离Ya的位置设置一个着床检测传感器32的例子。 Further, FIG. 10 (d) is in a direction perpendicular to the insertion direction of the width of the holder 16, near the center of the underlying support 16, for example, both side surfaces are spaced apart a distance Ya implantation position detection sensor 32 is provided example of. 当采用所述结构时,着床检测传感器32在可动辊26a的轴芯26b的两端部分别移至长孔部31的上侧时启动。 , Implantation detection sensor 32 is started when both end portions of the movable core 26a of the roller shaft 26b respectively move to the side of the long hole portion 31 when the structure is employed. 由此,也可检测出在Y轴方向上支撑器16的下端面33相对于载置装置51的载置面平行。 This also can be detected in the Y-axis direction end face 33 of the holder 16 relative to the mounting means 51 parallel to the mounting surface. 并且,在该例子中,将可动辊26a配置于与支撑器16的下端面33的前端部相隔距离Xa的位置,即设置于与支撑器16的前端部相隔距离Xb的范围部位的中心位置。 Further, in this example, the center of the movable position rollers 26a arranged at a position supporting the front end portion of the lower end face 16 of the 33 are separated by a distance Xa, i.e., disposed at a distance Xb and the distal end portion of the support 16 is spaced from the scope site . 即,着床检测传感器32配置于支撑器16的前端侧距离Xb的范围内的重心位置。 That is, the detection sensor 32 disposed in the implantation barycentric position distal support 16 a distance within the range of Xb. 在采用所述结构的情况下,在X轴方向上,支撑器16的下端面33的前端部在距离Xb的范围内与载置装置51抵接吋,支撑器16的下端面33在X轴方向上平行于载置装置51的载置面。 In the case of the structure in the X-axis direction, the lower end surface of the distal end portion 33 of the supporter 16 at a distance within the range Xb and the mounting means 51 abuts inch, the lower end face 16 of the holder 33 in the X-axis mounting means parallel to the direction of the mounting surface 51. 但是,在所述图10 (d)的情况下,当支撑器16与载置装置51不平行时,难以判断支撑器16应向哪个方向倾斜,因此,设置着床检测传感器32用于确认平行度。 However, in the case of FIG. 10 (d) of, when the support 16 is not parallel with the mounting means 51, 16 should be difficult to determine in which direction the holder is inclined, therefore, set detection sensor 32 for confirming implantation parallel degree. 因此,也可组合所述传感器32与如图10 (a)〜(b)所示的传感器32a、 32b。 Thus, the sensor may be combined with the sensor shown in FIG. 10 (a) ~ (b) of 32 32a, 32b. 此外,支撑器16的下端面33的前端部与载置装置51抵接的距离Xb预先设定为插入支撑器16时的适当距离。 Further, the lower end face of the support portion 16 front end 33 of the mounting device 51 abuts a distance Xb is set in advance to be inserted at the appropriate distance holder 16.

(第二实施方式) (Second Embodiment)

下面参照图11至图14,对本发明第二实施方式的支撑器17进行说明。 Referring to FIG. 11 to FIG. 14, a second embodiment of the holder 17 of the embodiment of the present invention will be described. 图11为表示本发明第二实施方式的移乘辅助设备1使用的轮椅的例子的图,图12为表示本发明第二实施方式的支撑器17的结构例的图,图13为用于说明利用本发明第二实施方式的移乘辅助设备1的支撑器17吋的动作的图,图14是表示利用本发明第二实施方式的移乘辅助设备1时的支撑器17的其它状态例的图。 FIG 11 is a shift in wheelchairs aid 1 using an example of a second embodiment of the present invention, and FIG. 12 is a diagram showing a configuration example of a holder of the second embodiment 17 of the present invention, and FIG. 13 is a view for explaining with the second embodiment of the present invention by shifting the support 1 of the auxiliary apparatus 17 inch FIG operation, FIG 14 is a diagram showing a second embodiment of the present invention, by shifting the holder 1 when the state of the other auxiliary Example 17 Fig. 其中,与第一实施方式的移乘辅助设备1相同的功能标为相同的附图标记,并略去其说明。 Wherein the transfer assistance apparatus of the first embodiment of the same functionality as a labeled the same reference numerals, and description thereof will be omitted.

在第一实施方式中,检测出设置于移乘辅助设备1的支撑器16下面上的可动辊26a (或辊轴芯26b)的位移,从而形成并维持载置面与支撑器16的平行状态及适应状态其中任一状态。 In the first embodiment, the detected displacement of the movable roller 26a (or roller axis 26b) disposed below the upper 16 to support the transfer assistance apparatus 1, thereby forming and maintaining the loading surface of the holder 16 parallel to the state and a state in which any one of the adaptation state. 即,在第一实施方式中,其前提是支撑器16着床于床等宽度较宽的载置装置51 (图2)上。 That is, in the first embodiment, the holder 16 which is provided in the implantation bed wide width is placed on the device 51 (FIG. 2).

而在第二实施方式中,对当使支撑器着床于宽度比床等更窄的载置装置51 (图2), 例如,如图11所示的轮椅53等时,可形成并维持载置面与支撑器17的平行状态及适应状态其中任--状态的支撑器17进行说明。 In the second embodiment, when the holder of implantation in the bed width narrower than the mounting device 51 (FIG. 2), e.g., a wheelchair 11 shown in FIG. 53, etc., can be formed and maintained carrier adaptation parallel state and the facing surface of the support 17 to any of a state in which - the state holder 17 will be described. 在本实施方式的移乘辅助设备1中,利用支撑器17取代支撑器16。 In the transfer assistance apparatus 1 according to the present embodiment, by the support 17, the support 16 is substituted.

下面,对支撑器17的细节进行说明。 Next, the details of the holder 17 will be described. 首先,图12 (a)表示支撑器17的侧视图。 First, FIG. 12 (a) shows a side view of the holder 17. 该图表示剖丌支撑器17的一部分的状态。 The cross-sectional view showing a state Ji holder portion 17. 如图12 (a)所示,支撑器17包括在支撑器17 的下面一侧固定于支撑器17主体上的框体21、保持于该框体21的可动框18、以及检测可动框18在支撑器17下面的法线方向上位移的多个着床检测传感器32c。 FIG 12 (a), the holder 17 comprises a holder 17 below the side frame is fixed to the holder 17 on the body 21, the movable holding frame 21 in the frame 18, and the detection movable frame 18 in the normal direction of displacement of the holder 17 following implantation of a plurality of detection sensors 32c. 其中,作为可动框18的移动方向,只要有相对于支撑器17下面的法线方向的成分即可。 Wherein, as the moving direction of the movable frame 18, as long as the component with respect to the normal direction of the holder 17 can be the following.

并且,在支撑器17中,框体21与可动框18之间设有作为弹性体的弹簧19。 Further, in the holder 17, frame 21 and the movable frame provided with a spring 19 between the elastic body 18. 弹簧19使可动框18向支撑器17下面的法线方向上的下面一侧压靠。 The spring 19 causes the movable frame 18 toward the lower side in the normal direction 17 is pressed against the underlying support. 可动框18设置于框体21的内侧,因弹簧19的伸縮沿上下方向位移。 The movable frame 18 is disposed inside the frame body 21, due to stretching of the spring 19 in the vertical direction of displacement.

下面,图12 (b)表示支撑器17的仰视图。 Next, FIG. 12 (b) showing a bottom holder 17 of FIG. 框体21的开口形成为覆盖支撑器17下面的大部分的大小,可动框18形成为覆盖框体21的开口的大部分的大小。 The opening 21 formed in the housing 17 so as to cover most of the size of the underlying support, a movable frame 18 formed so as to cover most of the size of the opening 21 of the housing body. 如图12 (b) FIG. 12 (b)

23所示,可动框18保持(hold)与支撑器17的插入方向垂直配置的多个固定锟26。 23, the movable frame 18 holding a plurality of fixed Kun (HOLD) arranged vertically to the support 17 in the insertion direction 26. 另夕卜, 如图12 (a)所示,构成辊列的各个固定辊26以从下端面33向下方稍微突出的状态,可转动地保持在可动框18上。 Another Bu Xi, FIG. 12 (a), each of the fixing rollers constituting the roller rows 26 projecting slightly downward from the lower end surface state 33, rotatably held by the movable frame 18. 因所述固定辊26的转动,支撑器17插入被护理者2与载置装置51的载置面之间时的负荷减小。 Because the fixing roller is rotated, the holder 26 is to reduce the load 17 is inserted between the mounting surface when the caregiver 2 and the mounting means 51.

下面,在图12 (c)中表示沿图12 (b)的BB线的剖面图(主要部分)。 Next, a sectional view (main part) in FIG. 12 (b) of the line BB in FIG. 12 (c). 如图12 (c) 所示,可动框18在支撑器17的下面一侧由框体21保持,并被维持成相对于支撑器17 的下面沿法线方向能够位移。 FIG. 12 (c), the movable frame 18 below the holder 17 is held by the side frame member 21, and is maintained relative to the underlying support 17 can be displaced in the normal direction. 由此,在支撑器17的下面一侧,可使可动框18的一部分, 例如,固定辊26或框的下面(前端部、中央部、后端部中能以点、线或面与载置面接触的任意部分区域)等与轮椅53的载置面51接触。 Accordingly, the following side of the support 17, the movable part of the frame 18 can, for example, the following (or distal portion fixing roller frame 26, a central portion, a rear end portion can be a point, line or area with a carrier any portion of the opposing surface of the contact area) and the like in contact with the mounting face 51 of the wheelchair 53.

此外,并不局限于如图12 (a)至图12 (c)所示的结构。 Further, not limited to FIG. 12 (a) to 12 (c) configuration shown. 例如,可采用钢丝索(wire) 等结合部件,在支撑器17的下面一侧,以与框体21相隔规定距离的状态维持可动框18 能够位移。 For example, a wire rope (Wire) and other binding member, below the side support 17 to the housing 21 spaced apart a predetermined distance from the state of maintaining the movable frame 18 can be displaced. 另外,可利用弹簧取代钢丝索。 Further, the wire rope may be substituted by a spring. 并且,可在支撑器17的下面一侧设置导向件或滑动机构等,从而支撑可动框18能够直线移动。 And may be provided on the side guides or sliding mechanism or the like under the support 17 so as to support the movable frame 18 can be moved linearly. 若为可动框18可沿支撑器17的下面的法线方向位移的机构,通过可动框18的位移,可与着床检测传感器32c接触,因此能够启动着床检测传感器32c。 When the movable frame means 18 may be displaced in the normal direction of the underlying support 17, by the displacement of the movable frame 18, 32c can be in contact with the implantation detection sensor, it is possible to start the implantation detecting sensor 32c.

弹簧19配置于可动框18的四个角附近。 A spring 19 disposed in the vicinity of the four corners of the movable frame 18. 作为弹簧,例如可采用公知的压縮弹簧、板簧、盘簧等。 As a spring, for example, and a known compression spring, leaf spring, coil spring and the like. 如此,通过弹簧19使可动框18向支撑器17下面的法线方向上的下面一侧压靠,因此,可抑制可动框18因支撑器17的倾斜、振动、外部干扰而向框体21侧位移, 防止着床检测传感器32c误检测。 Thus, the spring 19 by the movable frame 18 toward the lower side in the normal direction 17 is pressed against the underlying support, thus, the movable frame 18 is suppressed due to the inclination, vibration, disturbance of the holder 17 to the housing 21 side of the displacement detecting sensor 32c to prevent erroneous detection implantation. 其中,弹簧19的配置并不局限于四个位置。 Wherein the configuration of the spring 19 is not limited to the four positions.

多个着床检测传感器32c以相隔开的状态设置于框体21与可动框18之间。 Implantation plurality of detection sensors 32c disposed in spaced-apart state of the frame body 21 and the movable frame 18 between. 各传感器32c固定于框体21上。 Each sensor 32c fixed to the housing 21. 由此,若可动框18位移,并与着床检测传感器32c接触,则着床检测传感器32c因其接触压力启动。 Accordingly, when the displacement of the movable frame 18, and detection sensor 32c in contact with the implantation, the implantation because of the contact pressure detection sensor 32c start. 作为着床检测传感器32c,可采用与着床检测传感器32a同样的传感器。 As implantation detecting sensor 32c, implantation may be employed with the same sensor detecting sensor 32a. 另夕卜,在如图12 (b)所示的配置例中,四个着床检测传感器32c配置于可动框18的四个角附近。 Another Bu Xi, in the configuration as shown in Example 12 (b) shown, four implantation detection sensor 32c disposed in the vicinity of the four corners of the movable frame 18. 即,着床检测传感器32c在X轴方向及Y轴方向上排列。 I.e., implantation detecting sensor 32c arranged in the X-axis direction and the Y-axis direction. 通过将着床检测传感器32c安装于主体上的框体21上,至着床检测传感器32c的配线变得容易。 By implantation detecting sensor 32c attached to the frame body 21 on the main body, to a wiring implantation detecting sensor 32c becomes easy. 另外,无须进行从框体21侧至可动框18侧的配线,可固定于框体21侧进行配线,因此能够提高可靠性。 Furthermore, no wiring from the frame 21 side to the side of the movable frame 18, 21 may be fixed to the side body wiring, thereby improving the reliability.

根据所述结构,辊列中的任一固定辊26与载置装置51接触的情况下,或可动框18 的一部分与载置装置51接触的情况下,可动框18沿支撑器17下面的法线方向位移,并且,固定于框体21上的着床检测传感器32c其中任何之一与可动框18的一部分接触,使得着床检测传感器32c其中任何之一启动。 The case where any of the above structure, a column roller fixed roller 26 in contact with the mounting means 51, or the portion where the movable contact means 51 with the mounting frame 18, 17 below the movable frame 18 along the holder normal direction of displacement, and fixed to the implantation of the contact portion 32c detecting sensor 21 is on any one of the movable frame 18 and the frame body, so that the implantation wherein any one of the detection sensor 32c start. 由此,可检测出支撑器17下面着床于载置装置51。 Thus, the device can be detected 51 is placed under the support 17 in the implantation. 由此,移乘辅助设备1的支撑器17,即使在可动框18的一部分与轮椅53的载置面51接触的情况下,也可使可动框18位移,使可动框18与着床检测传感器32c接触, 因此还可检测与具有较小面积的载置面的载置装置相接触。 Thus, the transfer assistance apparatus 1 of the holder 17, even in a case where the movable portion of the block in contact with the mounting surface 51 of the wheelchair 53, 18, also allows the displacement of the movable frame 18, the movable frame 18 and the bed detection sensor 32c in contact, thus having a small area may also detect the mounting surface of the mounting means in contact.

并且,在可动框18的、作为支撑器17前侧的前端部附近设有突起部30。 And, in the vicinity of the movable frame 18, the front side of the holder 17 as the front end portion of the projection portion 30 is provided. 由于所述突起部30无须保持固定辊26,因此可将突起部30的形状形成为较薄。 Since the projection portion 30 without holding the fixed roller 26, thus the shape of the projection portion 30 is formed to be thin. 因此,可将突起部30加工成随着从可动框18靠近支撑器17的前端部附近而越来越薄。 Accordingly, the protrusion 30 may be processed with the portion near the distal end 17 of the support frame 18 from the movable and thinner. 突起部30的一端连接于可动框18,另一端延长至支撑器17的前端部附近。 One end of the projection portion 30 is connected to the movable frame 18, and the other end extended to the vicinity of the distal end portion 17 of the holder. 此外,也可将突起部30与可动框18—体成型。 Further, the protrusion 30 may be movable frame 18 and the shaping.

由此,可在支撑器17的前端部附近也检测可动框18着床于载置装置51。 Accordingly, the movable frame can be detected in the vicinity of the distal end portion 18 of the holder 17 placed onto the mounting means 51. 另外,由于突起部30形成为越靠近支撑器17的前端部附近而越薄的形状,因此,可将支撑器17 的插入方向上的整个前端部形成为较薄,使将支撑器17插入被护理者2与载置装置51的载賈面之间时的插入作业变得容易。 Further, since the projection 30 is formed near the front end portion of the supporting portion 17 and the thin shape, therefore, the entire front end portion in the insertion direction of the support 17 can be formed thinner, so the support 17 is inserted 2 and caregiver when the job is inserted between the mounting surface of the carrier Jia device 51 becomes easy.

下面,参照图13 (a)〜(e),对移乘辅助设备l利用支撑器17时的动作进行说明。 Referring to FIG. 13 (a) ~ (e), of the transfer assistance apparatus 17 is operated when using l holder will be described.

如图13 (a)所示,移乘辅助设备1为了将支撑器17插入被护理者2与载置装置51 的载置面之间,使支撑器17降低至作为被护理者2跟前的载置装置51的端部。 FIG 13 (a), the transfer assistance device 1 to the support 17 is inserted between the mounting surface and the mounting caregiver 2 device 51, the support is lowered to the care-2 as the carrier 17 of the front opposite end portions 51 of the apparatus. 此吋,移乘辅助设备1使支撑器17的前端部降低至载置装置51的端部,且可避免与被护理者2接触的位置上。 This inch, transfer assistance apparatus 1 front end portion of the support 17 is lowered to the end portion of the mounting device 51, and the contact can be avoided with the position of the caregiver 2. 即使在这种情况下,由于移乘辅助设备1在支撑器17的前端部附近设有突起部30,因此可使突起部30与载置面51接触。 Even in this case, since the transfer assistance apparatus 1 in the vicinity of the distal end portion of the holder 17 is provided with protrusions 30, 30 can thus contact protrusion 51 with the mounting surface. 伴随着所述突起部30与载置面51接触, 可动框18沿支撑器17下面的法线方向位移,因可动框18与着床检测传感器32c接触, 着床检测传感器32c启动。 Along with the projection portion 30 contacts the mounting surface 51, normal to the direction 17 along the support 18 below the movable block is displaced by 18 detection sensor 32c in contact with the movable frame implantation, implantation start detection sensor 32c. 由此,移乘辅助设备1可检测支撑器17着床于载置装置51的载置面,因此可形成并维持载置面与支撑器17的平行状态及适应状态其中任一状态。 Thus, the transfer assistance apparatus 1 may detect implantation holder 17 to the mounting surface of the mounting device 51, thus maintaining the parallel state can be formed and the mounting surface of the support 17 and accommodate any of a state in which a state.

接着,如图13 (b)所示,移乘辅助设备1将支撑器17插入被护理者2与载置装置51的载置面之间。 Next, FIG. 13 (b), the transfer assistance device 1 is inserted between the support 17 is placed caregiver surface 2 and the mounting device 51. 接着,如图13 (c)所示,移乘辅助设备1在插入时使可动框18的前端部及后端部均与载置面接触,从而能够使载置面的倾斜度与支撑器17的倾斜度维持于平行状态及适应状态其中任一状态。 Next, FIG. 13 (c), the transfer assistance device 1 so that the front end portion and the rear end portion of the movable frame 18 are inserted in the contact with the mounting surface, thereby enabling the inclination of the mounting surface of the holder 17 is maintained at the inclination of a parallel state and a state in which any one of the adaptation state.

接着,移乘辅助设备1在支撑器17的插入完成后,如图13 (d)所示,将被护理者2 捧起至支撑器17上。 Next, the transfer assistance device 1 after the holder 17 of insertion is completed, FIG. 13 (d), the caregiver 2 is lifted on to the support 17.

接着,如图13 (e)所示,移乘辅助设备1为了将被护理者2移乘至例如宽度比床等更窄的轮椅53上,降低支撑器17,使支撑器17着床于轮椅53。 Next, FIG. 13 (e), the upper order transfer assistance apparatus 1 is shifted by 2 to the carer e.g. a width narrower than the bed 53 of the wheelchair, lower the support 17, the support 17 is placed onto a wheelchair 53. 此时,即使支撑器17 In this case, even if the support 17

25的配置有着床检测传感器32c部位的长度Lb大于轮椅53的宽度La (图11) (Lb〉La), 由于位于支撑器17下面的可动框18的一部分(中央部)与轮椅53接触,可动框18发生位移。 Configuration 25 has a 32c portion Bed detection sensor length Lb is greater than the wheelchair 53, the width La (FIG. 11) (Lb> La), because of the support 17 is the following part of the frame 18 (central portion) of the movable contact with the wheelchair 53, The movable frame 18 is displaced. 并且,可动框18与分别在该可动框18四角附近的框体21上所固定的着床检测传感器32c的至少其中之一相接触,从而着床检测传感器32c启动,检测出支撑器17下面着床于轮椅53。 The movable frame 18, respectively, and the movable frame 18 near the four corners of the frame body 32c of the fixed implantation 21 detects at least one contact sensor, such that implantation start detection sensor 32c detects the holder 17 The following implantation in the wheelchair 53. 因此,即使将被护理者2移乘至宽度比床等更窄的轮椅53等的情况下, 也可检测支撑器17的下面着床于轮椅53。 Therefore, even if the caregiver is shifted by 2 to the width of the bed than in the case of a narrower wheelchair 53, etc., can be detected following 17 holder 53 is placed onto the wheelchair.

如此,在移乘辅助设备1的一系列移乘动作中,如图13 (a)所示,移乘辅助设备l 需要首先将支撑器17降低至载置装置51的端部,然后将支撑器17插入被护理者2与载置装置51的载置面之间,捧起被护理者2,通过支撑器17保持被护理者2,并移动至移乘位置。 Thus, the transfer assistance apparatus 1 is shifted by a series operation, FIG. 13 (a), the transfer assistance apparatus l need to reduce the support 17 to the end portion of the mounting device 51, and the holder 17 is inserted between the mounting surface and the mounting caregiver 2 device 51, the caregiver won 2, the holder 2 by the caregiver holder 17, and moves to a position shifted by. 并且,如图13 (e)所示,当移乘至轮椅53时,需要将被护理者2移至轮椅53 的中央位置,在使支撑器17着床后,从被护理者2与载置装置51的载置面之间拔出支撑器17。 And, FIG. 13 (e), when shifting to a wheelchair by 53, 2 need to be moved to a wheelchair 53 of a caregiver center position, when the holder 17 after implantation, and the mounting 2 from the caregiver pull the support 17 between the mounting surface 51 of the apparatus. 所述移乘辅助设备1可针对载置面的倾斜度调整支撑器17的倾斜度,并且能够在支撑器17的前端部及中央部均检测着床,因此可应对各种载置装置51的大小、形状。 The transfer assistance apparatus 1 may adjust the inclination of the holder for mounting the inclination surface 17, and can be detected both at the front end portion of the implantation of the support 17 and the central portion, it is possible to cope with various mounting means 51 size, shape.

另夕卜,着床检测传感器32c分别固定于可动框18四角附近的框体21上。 Another Bu Xi, implantation detection sensor 32c are respectively fixed to the movable frame 18 near the four corners of the frame body 21. 而且,移乘辅助设备1根据着床检测传感器32c的输出,针对载置面在X轴方向及Y轴方向上的倾斜度,调整支撑器17的倾斜度,因此不会将支撑器17碰到被护理者2的身体,可沿着载置装置51的上表面,顺利地插入被护理者2的背面。 Further, the transfer assistance apparatus 1 in accordance with the detection output of sensor implantation 32c in the X-axis direction and the Y-axis direction for the inclination of the mounting surface, the inclination of the adjustment holder 17, the holder 17 does not therefore encounter the caregiver body, can be smoothly inserted into the back of the care-2, 2 along the upper surface of the mounting device 51.

如上所述,根据本发明第二实施方式的移乘辅助设备1,即使将被护理者2移乘至宽度比床等更窄的轮椅53等的情况下,也可使支撑器17设有的可动框18的一部分,例如突起部30、固定辊26或框下面(前端部、中央部、后端部中能以点、线或面与载置面接触的任意部分区域)等与轮椅53的载置而接触。 As described above, according to the second embodiment of the present invention, the transfer assistance apparatus 1, even if the caregiver is shifted by 2 to the width of the bed than in the case of a narrower wheelchair 53 or the like, also allows the holder 17 is provided with the movable frame portion 18, for example, the protrusions 30, (can be a point, a line or any portion of the surface area in contact with the mounting surface of the distal end portion, a central portion, a rear end portion) or the like in the box below the fixed roller 26 and a wheelchair 53 mounting contact. 由此,移乘辅助设备1即使将支撑器17 降低至宽度比床等更窄的轮椅53上的情况下,由于可动框18沿支撑器17下面的法线方向位移,通过可动框18与着床检测传感器32的接触,着床检测传感器32启动,因此也可检测支撑器17的下面着床于轮椅53的载置面,形成并维持载置面与支撑器17的平行状态及适应状态其中任一状态。 Accordingly, even if the transfer assistance apparatus 1 is reduced to the support 17 than the width of the case 53 and the like on a narrower wheelchair, since the movable frame 18 along the normal direction of displacement of the holder 17 below, the movable frame 18 the contact detection sensor 32 with the implantation, implantation start detection sensor 32, and therefore can be detected under the support 17 is placed onto the mounting surface 53 of the wheelchair, maintaining the parallel state is formed and the mounting surface of the support 17 and adapted a state in which any state.

此外,如图14 (a)所示,移乘辅助设备1在支撑器17的姿势为前端部着床于载置装置51的载置面、支撑器17的后方部不着床的情况下,可动框18的前端部位置沿支撑器17下面的法线方向位移,前端部附近的着床检测传感器32c启动,另一方面,可动框18的后端部位置不位移,后端部附近的着床检测传感器32c不启动。 Further, in the case in FIG. 14 (a), the transfer assistance apparatus 1 in the posture of the support portion 17 is placed onto distal end 51 of the mounting device mounting surface, the rear support portion 17 is not implantation, may the position of the movable frame 18 in the distal end portion 17 in the normal direction displacement underlying support, implantation near the front end portion detection sensor 32c starts, on the other hand, the rear end portion of the movable frame 18 is not displaced position, near the rear end portion implantation detecting sensor 32c is not started. 由此,可根据在相当于可动框18四个角的位置配置的四个着床检测传感器32c的检测状况,检测出如图14(a) Thus, according to the detection status implantation four detection sensor disposed in the movable frame 18 corresponding to four corners of the location 32c is detected as shown in FIG 14 (a)

26所示的支撑器17下面的倾斜姿势。 Holder 2617 shown below inclined posture.

另外,为了避免因支撑器17的降低而压住被护理者2,例如在支撑器17与臂部12 的连接部设置回避机构以策安全的情况下,支撑器17有时采取如图14 (b)所示的姿势。 In order to avoid lower the support 17 and presses the care-2, for example, the lower support portion 17 and the connecting arm portion 12 is provided to avoid the situation for safety mechanism, the holder 17 may take in FIG. 14 (b ) posture shown. 即,移乘辅助设备1在支撑器17的前端部未着床于载置装置51的载置面的状态下,会采取支撑器17后方部着床的姿势。 That is, the transfer assistance apparatus 1 in a state where the tip mounting surface of the holder portion 17 is not placed onto the mounting device 51, the rear portion 17 will take a posture supporter implantation. 在这种情况下,可动框18的后端部位置沿支撑器1下面的法线方向位移,因此,支撑器17后端部附近的着床检测传感器32c启动。 In this case, the position of the movable frame 18 along the rear end portion of the support 1 below the normal direction of displacement, thus, implantation detecting sensor holder 17 near the rear end portion 32c start. 但是,可动框18的前端部位置不位移,因此支撑器17前端部附近的着床检测传感器32c不启动。 However, the position of the movable frame 18 of the distal portion is not displaced, and therefore the implantation detecting sensor holder 17 near the distal end portion 32c does not start. 由此,移乘辅助设备l可根据四个着床检测传感器32c的检测状态,检测出如图14 (b)所示的支撑器17下面的姿势。 Thus, the transfer assistance apparatus according to a detection state l four implantation detection sensor 32c detects the following 17 14 (b) supporting the posture shown in FIG. 由于移乘辅助设备1包括在检测到所述支撑器17下面的姿势时停止插入动作的控制,因此可防止造成支撑器17碰到被护理者2的身体的动作。 Since the transfer assistance apparatus 1 includes a stop control insert operation upon detection of the holder 17 below the posture, the supporter 17 can be prevented from causing movement of the body is encountered caregiver 2.

此外,虽然对采用多个固定辊26作为可动框18的可动导向部件的例子进行了说明, 但也可在可动框18上设置摩擦系数较小的而状板(例如,采用低摩擦的树脂材料成型的板等),以取代多个固定辊26。 Furthermore, although use of a plurality of fixing roller 26 has been described as an example of the movable guide member of the movable frame 18, but may be provided a small coefficient of friction on the plate-shaped movable frame 18 (e.g., low friction molding a resin material sheet or the like), instead of fixing the plurality of rollers 26. 通过将所述板以其下面稍突出于下端面33 (图11 (a)) 的状态安装于可动框18上,可与固定辊26相同,减小将支撑器17插入被护理者2与载置装置51的载置面之间时的负荷。 By slightly below the plate with its projection 33 in the lower end surface (FIG. 11 (a)) in a state mounted on the movable frame 18, the fixing roller 26 may be identical, reducing the supporter 17 is inserted with the care-2 when the load between the mounting surface of the mounting device 51. 另夕卜,在采用板的情况下,可消除如采用固定辊26时那样的固定辊26之间的间隙,因此在支撑器17下面的任何位置都能够检测着床。 Another Bu Xi, in the case of the plate, such as may be employed to eliminate the gap between the fixing roller 26 as a fixing roller 26, so at any position of the holder 17 following implantation can be detected. 由此, 例如在轮椅53的载置面上有突起物,例如有调整轮椅53的载置面倾斜度的调节杆等,仍可检测支撑器17下面着床于载置装置51。 Thus, for example, projections on the mounting surface 53 of the wheelchair, for example, to adjust the inclination of the wheelchair mounting surface of the adjustment lever 53 and the like, can still be detected following implantation holder 17 on the mounting means 51.

另外,即使将可动框18与板一体成型,也在支撑器17下面的任何位置都能够检测着床,实现上述效果。 Further, even if the movable frame 18 is integrally formed with the plate, also of any underlying support 17 can detect the position of implantation, to achieve the above effects.

(第三实施方式) (Third Embodiment)

下而,参照图15,对本发明第三实施方式的移乘辅助设备9进行说明。 And lower, with reference to FIG. 15, the transfer assistance apparatus of a third embodiment of the present invention will be described 9. 图15为表示本发明第三实施方式的移乘辅助设备9的基本结构的立体图。 FIG 15 is a shift by the third embodiment of the present invention is a perspective view showing a basic structure of the auxiliary equipment 9. 其中,与第一实施方式的移乘辅助设备1相同的功能标为相同的附图标记,并略去其说明。 Wherein the transfer assistance apparatus of the first embodiment of the same functionality as a labeled the same reference numerals, and description thereof will be omitted.

在第一实施方式中说明的是,移乘辅助设备1利用一个支撑器16,将支撑器16插入 Described in the first embodiment, the transfer assistance apparatus 1 using a holder 16, the holder 16 is inserted

载置装置51与被护理者2之间,将载置于载置装置51上的被护理者2捧起至支撑器16 51 with the mounting means 2 between the caregiver, the caregiver will be placed on the carrier device 512 to the support 16 won

的捧起面上,并移乘至其它的载置装置的例子。 Examples of surface won, and moved to the other by the mounting apparatus. 在第一实施方式中,根据载置装置51的 In the first embodiment, the mounting device 51 according to

一个载置面的倾斜度,使支撑器16着床,将支撑器16插入载置具51与被护理者2之间。 A mounting surface inclination of the implantation holder 16, the holder 16 is inserted between the mounting device 251 with the caregiver.

而第三实施方式的移乘辅助设备9设有多个支撑器16,并设有对应于各个支撑器16 Third embodiment of transfer assistance device 9 is provided with a plurality of holder 16, and a holder 16 corresponding to the respective

27的多个转动装置(多个关节部13、 15)及多个升降装置(脚部8)。 A plurality of rotating means (a plurality of joint portions 13, 15) and a plurality of lifting devices 27 (8 foot). 由此,实现即使是载置面的倾斜度为两种以上的复杂形状的载置装置51,各个支撑器16的姿势也可变更的移乘辅助设备9。 Thus, the mounting means 51 to achieve even the inclination of the carrier mounting surface of two or more kinds of complex shapes, each holder 16 is also capable of changing the posture of transfer assistance device 9.

如图15所示,移乘辅助设备9包括两个支撑器16、用于支撑各个支撑器16以便使其姿势自如的两个关节部13、两个臂部12、两个关节部15、两个脚部8、用于保持两个脚部8的两个保持部11、 一个控制部110、以及两个输入部14。 15, the transfer assistance apparatus 9 comprises two supports 16, for supporting the respective holder 16 so as to freely gesture two joints 13, two arms 12, two joint portions 15, two leg portions 8, two holding portions 11, a control unit 110, an input unit 14 and the two leg portions 8 for holding two.

如同图l,护理者3站在两个支撑器16之间,用双手操作输入部14,并进行各种输入,从而进行移乘辅助设备9的移动、各个支撑器16的移动、及被护理者2的捧起动作等。 As FIG. L, 3 caregiver standing between two supports 16, with both hands, the operation input unit 14, and performs various inputs to move the transfer assistance device 9, moving the respective support 16, and the Care 2 action, etc. are won.

控制部110根据来自输入部14的操作指示,针对具有倾斜度不同的载置面的载置装置51 (例如,载置部51a、 51b),控制两个支撑器16各自的倾斜度,使各个支撑器16 的倾斜度与各个载置面相符。 The control unit 110 according to an operation instruction from the input unit 14, for the mounting surface of the mounting means 51 (e.g., mounting portions 51a, 51b) having different inclination, controls two respective tilt holder 16, the respective inclination of each holder mounting surface 16 of the match. 另外,控制部110可进行这样一种控制,g卩:根据来自一个输入部14的指示一个支撑器16被操作时,使另一个支撑器16也与之联动动作。 Further, the control unit 110 may control a, g Jie: according to a time indication from a input unit holder 14, 16 is operated, so that also the other holder 16 with the interlock operation. 例如, 在将支撑器16分别插入载置装置51与被护理者2之间,捧起被护理者2后,控制部110 进行用于使两个支撑器16联动,使所述两个支撑器16保持一定间隔的控制。 For example, when the holder 16 are respectively inserted into the mounting 2 between the device 51 and the caregiver, the caregiver after 2 won, the control unit 110 for causing the two linkage holder 16, the two holder control 16 to maintain a certain interval. 由此,移乘辅助设备9可在被护理者2躺卧在支撑器16上的状态下安全地进行移乘。 Thus, the transfer assistance device 9 can be shifted safely by the caregiver at 2 lying on the support 16 in the state. 此外,使两个支撑器联动的控制可在插入、拔出支撑器16时执行,或仅在通过两个支撑器16支撑被护理者2时执行。 Further, two of the control linkage holder may be inserted, performing holder 16 is pulled out, or only by two supports 16 supporting 2 is executed when the caregiver. 例如,在将支撑器16插入被护理者2及载置面之间后使两个支撑器16联动的情况下,可进行这样一种控制,即:若检测到各个支撑器16已完成插入,则作出标记(flag),切换至抱起模式,在该抱起模式下,使两个支撑器16联动。 For example, at the rear holder 16 is inserted between the two supports 2 and caregiver linkage mounting surface 16 cases, such a control can be performed, namely: upon detecting each insertion holder 16 has been completed, then be marked (in flag), mode is switched to pick up, in the pick mode, the holder 16 of the two linkage.

保持部11通过连接部10将两个保持部6连成一体。 Holding unit 1110 holding the two portions integrally connected by connecting portions 6. 其中,连接部10可采用伸缩自如的结构,以便变更两个支撑器16的间隔。 Wherein the connecting portion 10 can be retractable structure so as to change the two spaced supports 16. 由此,可高效地控制各个支撑器16的位置、 角度等空问姿势,提高操作性能。 Thus, each support can efficiently control the position and angle of 16 spatial posture, the operability is improved. 由此,根据被护理者2的身体条件,支撑器16能够以适宜的条件分别支撑头部、腿部等,在提高移乘时的功能方面发挥效果。 Thus, according to the physical condition of the care-receiver 2, the support 16 can be in a suitable condition, respectively supporting the head, legs and the like, an effect improving function by shifting aspects.

如上所述,根据本发明第三实施方式的移乘辅助设备9,利用多个支撑器16分别调整各个支撑器16的倾斜度,从而应对具有躺椅功能的床等具有倾斜度不同的多个载置面的载置装置51,因此,可发挥多样且高效的应对效果。 As described above, according to the third embodiment of the present invention, the transfer assistance device 9, the use of a plurality of tilt adjusting holder 16 are each holder 16 so as to cope with the bed recliner functions like carrier having a plurality of different inclinations mounting means of the mounting surface 51, thus, may play a diverse and efficient response effect. 例如,即使是具有倾斜度不同的两个载置面的载置装置51,也能够应对。 For example, even with different inclinations two mounting means mounting surface 51, it is possible to respond. 另外,由于各支撑器16以一体化的保持部11为基座被支撑,因此,可提高装置的抗变形强度。 Further, since the holder 16 holding portion 11 is integrated is supported by the base, and therefore, can improve the deformation resistance strength of the device. 由此,能够高精度地确保各支撑器16的间隔。 Accordingly, it is possible to accurately spaced to ensure that the holder 16. 此外,虽然说明了移乘辅助设备9设有两个支撑器16,并捧起被护理者2,在保持躺卧的状态下进行移乘的例子,但是,移乘辅助设备9中的支撑器16的个数并不局限于两个。 Further, while the transfer assistance device 9 is provided with two supports 16, and the care-2 won example, performed by shifting in a state holding lying, however, shifted by the aid holder 9 the number 16 is not limited to two. 根据载置装置51的载置面的形状,可增加支撑器16的个数。 The shape of the mounting surface of the mounting device 51, the support 16 may increase the number of. 由此,可使各个支撑器16分别适应载置装置51的复杂的载置面形状。 Accordingly, each holder 16, respectively, can adapt to the complex shape of the mounting surface 51 of the carrier device. 在增加支撑器16的情况下,相应地增加自如支撑各个支撑器16的转动装置(关节部13、 15)及升降装置(脚部8)即可。 In the case of increasing the holder 16, rotatably supports a corresponding increase in the respective holder device 16 is rotated (the joint portion 13, 15) and lifting means (8 foot) to.

另外,虽然对移乘辅助设备9利用第一实施方式中提及的支撑器16的情况进行了说明,但也可利用第二实施方式中提及的支撑器17取代支撑器16。 Further, although the transfer assistance device 9 by the support of the first embodiment mentioned in the case 16 has been described, but may be utilized in the second embodiment mentioned substituted holder 17 holder 16.

(第四实施方式) (Fourth Embodiment)

下面参照图16 (a)、 (b),对与本发明第四实施方式的移乘辅助设备1的支撑器16 有关的应用例进行说明。 Referring now to Figures 16 (a), (b), the shift will be described a fourth embodiment of the present invention relating to the application example 16 by aid of a holder.

图16 (a)、 (b)是用于说明与本发明第四实施方式的移乘辅助设备1的支撑器16结构有关的应用例的图,图16 (a)是表示利用移乘辅助设备1时着床前的支撑器16的状态的图,图16 (b)是表示利用移乘辅助设备1时着床后的支撑器16的着床状态的图。 FIG 16 (a), (B) is a fourth embodiment of the present invention is described by showing an application example of the shift of the support structure 1 16 associated auxiliary equipment, FIGS. 16 (a) is a diagram showing the transfer assistance device FIG state bed support 16 with 1, FIG. 16 (b) is a diagram showing a state shifted by implantation of the support of FIG. 16 after implantation aid 1. 其中,与第----实施方式的移乘辅助设备1相同的功能标为相同的附图标记,并略去其说明。 Wherein, in the first embodiment ---- transfer assistance apparatus 1 the same functionality as denoted by the same reference numerals, and description thereof will be omitted.

如图16 (a)所示,支撑器16连接于用于使支撑器16围绕Y轴转动的关节部15, 臂部12连接于该关节部15。 FIG 16 (a), the holder 16 is connected to a holder 16 for the Y-axis rotated about the joint portion 15, the arm 12 is connected to the joint portion 15. 臂部12构成连接于关节部15的平行链杆机构的一个链杆。 Arm portion 12 constituting the chain bar is connected to a parallel link mechanism portion 15 of the joint. 因此,支撑器16在未着床于载置装置51的载置面的状态下保持水平。 Thus, the holder 16 is maintained at the level of the mounting surface state is not placed onto the mounting device 51.

关节部15包括:用于使支撑器16能够自由地向角度0O变小的方向转动的回避机构(没有图示);以及用于检测支撑器16与臂部12在以Y轴为中心轴而绕轴转动的转动部分所形成的角度0 0的角度检测传感器73。 The joint section 15 comprises: for the support 16 can freely angle toward the rotation direction becomes smaller 0O avoidance mechanism (not shown); and a detector holder 16 and the arm 12 in the Y-axis as the central axis the angle of rotation of the rotatable part about the shaft 00 the angle formed by the detection sensor 73.

作为角度检测传感器73,可采用公知的编码器,例如可采用转动型电位计或转动型差动变压器等。 As an angle detection sensor 73, and a known encoder, a rotary type potentiometer may be employed, for example, a rotary differential transformer or the like.

首先,移乘辅助设备1通过角度检测传感器73检测支撑器16着床于载置装置51的载置面前的状态下支撑器16与臂部12所形成的角度0 0,并将检测到的角度0O存储至控制部110的存储部(图中没有表示)。 16 and the angle of the support arm portion 12 is formed in the state 00 First, the transfer assistance device 1 is placed in front of detector 73 by the angle detection sensor 16 is placed onto the support mounting means 51, and the detected angle 0O stored in the storage unit 110 of the control unit (not shown).

接着,在移乘辅助设备l中,在护理者3将支撑器16降低至Z轴方向上的下方(箭头a的方向)的情况下,如图16 (b)所示,通过角度检测传感器73检测因支撑器16的一部分着床于载置装置51的载置面,支撑器16与臂部12所形成的角度变成略小于角度0 0的角度0 1。 Subsequently, in the transfer assistance device l, the reduction in caregiver 3 to the supporting case 16 downward (arrow a direction) on the Z-axis direction, FIG. 16 (b), by the angle detection sensor 73 detecting a portion of the holder 16 due to implantation of the mounting surface of the mounting device 51, the support arm 16 and the angle 12 formed by the angle 0 becomes slightly less than the angle of 001.

29由此,移乘辅助设备i可比较存储于存储部中的角度eo的角度信息与角度ei的角度信息,判断出角度00<角度0 1的状态,因此,可检测出支撑器16着床于载置装置51的载置面。 29 Thus, the transfer assistance device i stored in the storage unit may compare the angle eo angle information and angle information of the angle ei, determined the <1 0 posture angle angle 00, therefore, the holder 16 can be detected implantation the mounting device 51 to the mounting surface. 如上所述,根据本发明第四实施方式的移乘辅助设备1,可通过角度检测传感器73 检测出支撑器16与臂部12所形成的角度的变化,并根据该角度变化检测出支撑器16着床于载置装置51的载置面,因此,可发挥与着床检测传感器32相同的效果。 As described above, according to the fourth embodiment of the present invention, the transfer assistance device 1, 73 can detect a change in the angle of the support arm portion 16 and 12 formed by the angle detection sensor, and detects the change according to the angle holder 16 implantation on the mounting surface 51 of the mounting apparatus, therefore, can exert the same effect sensor 32 detects the implantation. 由此,如床等那样,载置装置51的载置面在X轴方向上不倾斜、水平的情况下,在移乘辅助设备l 中可采用角度检测传感器73取代着床检测传感器32。 Thus, as of a bed as mounting surface mounting device 51 is not inclined in the X-axis direction, a case where the level of the transfer assistance apparatus employed in the l-substituted implantation angle detection sensor 73 detecting sensor 32. 此外,虽略去了说明,但所述移乘辅助设备1中可设置使支撑器16能够围绕X轴转动的关节部13,并且在支撑器16的两侧面分别设置着床检测传感器32a、 32b。 Further, although the explanation is omitted, but by the auxiliary shift apparatus 1 may be arranged around the support 16 can rotate the X-axis joint part 13, and the detecting sensor 32a are disposed implantation on both sides of the support 16, 32b . 在这种情况下,可根据所述传感器32a、 32b 的检测结果,控制Y轴方向上的支撑器16的倾斜度。 In this case, according to the detection result of the sensors 32a, 32b, the control on the holder 16 in the Y-axis direction of the inclination. (第五实施方式)下面参照图17 (a)、 (b)及图18 (a)、 (b),对本发明第五实施方式的移乘辅助设备1的支撑器16进行说明。 (Fifth Embodiment) Next, with reference to FIG. 17 (a), (b) and FIG. 18 (a), (b), a fifth embodiment of the present invention, by shifting the support 1 of the auxiliary device 16 will be described. 第五实施方式中,对床等载置装置51的载置面不仅在Y轴方向,而且还在X轴方向上倾斜时,调整支撑器16的倾斜度的自动调芯功能进行说明。 In the fifth embodiment, the mounting surface of the mounting bed apparatus 51, not only in the Y-axis direction, but also when the X-axis tilt adjusting holder automatic inclination adjustment function 16 will be described. 图17 (a)、 (b)及图18 (a)、 (b)是用于对与本发明第五实施方式的移乘辅助设备1的支撑器16结构有关的其它应用例进行说明的图,图17 (a)是支撑器16的结构的侧视图,图17 (b)是放大图17 (a)中的沿CC线剖面的剖面剖视图,图18 (a)是表示支撑器16与载置装置51的位置关系的正视图,图18 (b)是支撑器16接触到载置装置51时的侧视图。 FIG 17 (a), (b) and FIG. 18 (a), (b) is an application example to other structural support 16 associated auxiliary shift apparatus 1 of the fifth embodiment of the present invention is illustrated by diagram , FIG. 17 (a) is a side view of a configuration of the support 16, FIG. 17 (b) is an enlarged FIG. 17 (a) along the line CC cross-sectional view of a cross-sectional sectional view of FIG. 18 (a) shows a holder 16 with the carrier front view illustrating the positional relationship of the adjacent device 51, FIG. 18 (b) is a side view of the contact holder 16 to the mounting device 51. 其中,与第一实施方式的移乘辅助设备1相同的功能标为相同的附图标记, 并略去其说明。 Wherein the transfer assistance apparatus of the first embodiment of the same functionality as a labeled the same reference numerals, and description thereof will be omitted. 首先,对将支撑器16连接于臂部12的结构进行说明。 First, the support structure 16 is connected to the arm portion 12 will be described. 如图17 (a)及图17 (b)所示,支撑器16通过关节部13及关节部15,连接于臂部12。 FIG 17 (a) and FIG. 17 (b), the holder 16 through the joint portion 13 and the joint portion 15, 12 is connected to the arm portion. 关节部13包括电磁离合器等的离合器部81。 The joint portion 13 includes an electromagnetic clutch, a clutch portion 81. 关节部13、 15中,为了以X轴及Y轴为中心使支撑器16绕轴进行转动,与各轴分别对应地设置驱动电动机82。 Joint portions 13, 15 in order to X-axis and Y-axis so that holder 16 is rotated about the shaft, with each axis corresponding to the drive motor 82 is provided. 在驱动电动机82中,将围绕X轴使关节部13转动的电动机设为驱动电动机82a,将围绕Y轴使关节部15转动的电动机设为驱动电动机82b。 In the driving motor 82, the electric motor about the X axis is defined as the joint portion 13 to rotate the driving motor 82a, the joint portion of the motor 15 to rotate about the Y-axis driving motor 82b. 驱动电动机82 (82a、 82b)可设有降低转速、提高转矩的减速装置等。 Drive motor 82 (82a, 82b) may be provided to reduce the speed, increase the torque of the reduction gear device and the like. 离合器部81包括驱动轴部81a与从动轴部81b。 Clutch portion 81 includes a drive shaft portion 81a and the driven shaft portion 81b. 驱动轴部81a设有向Y轴方向上的两侧突出的两个弹簧挂接部84。 A drive shaft portion 81a is provided on both sides in the Y-axis direction projecting hook portion 84 of the two springs. 并且,支撑器16在关节部13侧的侧面上设有向X轴方向上的两侧突出的两个弹簧挂接部85,同一侧的两个弹簧挂接部84、 85之间分别设置有伸张弹簧86。 Further, the holder 16 is provided to both sides in the X-axis direction of the two protruding portions 85 of the spring hook on the side of the side of the joint portion 13, two spring hook portions 84 on the same side, there are provided between 85 stretching spring 86. 所述两个伸张弹簧86具有自动调芯作用,当支撑器16以X轴为中心绕轴转动时,维持支撑器16在由驱动电动机82a固定的转动位置上的倾斜度。 The stretched springs 86 has two self-aligning effect when the X-axis is rotated about central support shaft 16, 16 is maintained at a fixed inclination of the rotational position of the holder by a drive motor 82a. 其中,伸张弹簧86也可为橡胶或弹簧等弹性体。 Wherein stretching the spring 86 may be an elastomer such as rubber or spring. 当离合器部81断开(OFF,不工作)时,支撑器16与驱动电动机82a被隔开。 When the clutch 81 is disconnected (OFF, does not work), the drive motor 16 and the holder 82a are spaced apart. 由此,支撑器16以X轴为中心的绕轴转动变得自由,克服从驱动电动机82a到离合器部81 的两侧所设置的两个伸张弹簧86的压靠力而转动。 Accordingly, the support 16 is centered on the X-axis is rotated about the shaft becomes free, against the biasing force of two springs done from both sides of the rotated portion 82a to the clutch 81 by the drive motor 86 is provided. 由此,以在由驱动电动机82a固定的转动位置上的支撑器16的倾斜度为中心,将所述支撑器16的倾斜度维持在规定的转动范围内。 Accordingly, an inclination of the drive motor 82a is fixed by the rotational position on the holder 16 as a center, the inclination of the holder 16 is maintained within a predetermined range of rotation. 另一方面,当离合器部81接合(ON,工作)时,支撑器16固定于关节部13,伴随着驱动电动机82a的转动,以X轴为中心绕轴转动。 On the other hand, when 81 engaged (ON, operation) of the clutch portion, supporting portion 16 is fixed to the joint 13, with the rotation of the driving motor 82a to rotate about the X axis as a center axis. 移乘辅助设备1例如通过关节驱动部114,利用驱动电动机82a使支撑器16以X轴为中心绕轴转动。 The transfer assistance apparatus 1, for example, by joint driving unit 114, the drive motor 82a of the support 16 to rotate about the X axis as a center axis. 下面,对调整支撑器16的倾斜度吋的动作进行说明。 Next, the tilt adjusting holder 16 inches of operation will be described. 如图18 (a)所示,当使支撑器16着床于载置装置51的载置面时,在支撑器16离开载置装置51的状态下,将离合器部81设为断开(OFF,不工作)。 FIG 18 (a), when the support 16 is placed onto the mounting surface of the mounting device 51, in a state where the support 16 away from the mounting device 51, the clutch 81 is disconnected (OFF ,Not working). 此时,支撑器16通过两个伸张弹簧86维持姿势。 At this time, the posture of the support 16 is maintained by two springs 86 stretched. 接着, 若在支撑器16宽度方向上,支撑器16的端部E接触到载置装置51的载置面,则支撑器16克服伸张弹簧86的压靠力,以X轴为中心转动。 Next, if the holder 16 in the width direction of the support end portion E 16 contacts the mounting surface of the mounting device 51, the holder 16 against the biasing force of the spring 86 is stretched, rotated about the X-axis. 接着,若向Z轴下方向降低支撑器16,支撑器16向箭头D方向转动,变成与载置装置51的载置面平行。 Next, when the decrease holder 16 in the direction of the Z-axis, the support 16 is rotated in the direction of arrow D, becomes in parallel with the mounting surface 51 of the mounting device. 在此状态下,通过将离合器部81设为接合(ON,工作),可以固定支撑器16的倾斜度。 In this state, the clutch portion 81 is engaged (ON, work), the inclination may be fixed holder 16. 接着,如图18 (b)所示,若在X轴方向上载置装置51的载置面与支撑器16下面之间存在倾斜度差,护理者3将指示信息输入至输入部14,启动着床检测传感器32a、 32b, 并使驱动电动机82b驱动,使支撑器16以Y轴为中心转动。 Next, FIG. 18 (b) shown below if there is a difference between the inclination of the holder mounting surface 51 of mounting means 16 in the X-axis direction, the caregiver to input information indicating the 3 input section 14, starting with bed detection sensors 32a, 32b, and 82b drive the drive motor, the support 16 is rotated in the Y-axis. 如上所述,本发明第五实施方式的移乘辅助设备1断开离合器部81来将支撑器16与驱动电动机82a隔开,从而能够使支撑器16自由地以X轴为中心绕轴转动,因此可顺利地使支撑器16适应载置装置51的载置面。 As described above, by shifting the fifth embodiment of the present invention, the auxiliary device 1 to disengage the clutch portion 81 and the support 16 is spaced from the driving motor 82a, thereby enabling the holder shaft 16 to rotate freely about the X-axis as the center, it is possible to smoothly accommodate the support 16 mounting surface of the mounting means 51. 并且,在支撑器16下面与载置装置51的载置面平行的状态下,通过将离合器81设为接合,能够固定支撑器16的倾斜度。 And, in a state where the mounting surface is parallel to the support 16 below the mounting device 51, 81 is engaged by the clutch can be fixed to the holder 16 tilt. 另外,若在X轴方向上载置装置51的载置面与支撑器16下面之间存在倾斜度差,则将指示信息输入至输入部14,启动着床检测传感器32a、 32b,并使驱动电动机82b驱动,以Y轴为中心31调整支撑器16的倾斜度。 Further, if there is a difference between the inclination 16 in the X-axis direction below the mounting surface of the holder mounting device 51, then the information input to the input section 14 indicates start implantation detection sensor 32a, 32b, and the drive motor 82b is driven in the Y-axis 31 to adjust the inclination of the holder 16. 由此,当床等载置装置51的载置面不仅在Y轴方向,而且在X 轴方向上倾斜时,可使支撑器16的倾斜度与之相符。 Thus, when the bed placing surface 51 of the mounting apparatus not only in the Y-axis direction, but also in the X-axis direction is inclined, the inclination allows the holder 16 to conform thereto. 并且,通过伸张弹簧86及离合器部81,能够制动支撑器16的动作,并且根据被护理者2的体型、姿势,可调节支撑器16的倾斜度,因此,护理者3可顺利地进行移乘作业。 Further, by stretching the spring 86 and the clutch unit 81, the operation of holder 16 capable of braking, and in accordance with the body 2 of the caregiver, the posture, the adjustable tilt holder 16, so that a caregiver can smoothly shift 3 take the job. (第六实施方式)下面参照图19,对本发明第六实施方式的移乘辅助设备1的支撑器16进行说明。 (Sixth Embodiment) Referring to FIG 19, a sixth embodiment of the present invention, by shifting the support 1 of the auxiliary device 16 will be described. 在第六实施方式中,对利用驱动电动机维持支撑器16的倾斜度的例子进行说明。 In the sixth embodiment, an example of the inclination of the holder 16 to maintain the drive motor will be described. 图19为用于说明与本发明第六实施方式的移乘辅助设备1的支撑器16结构有关的其它应用例的侧视图。 FIG 19 is a side view for explaining the shift of the sixth embodiment of the present invention by another application of the holder 16 about the structural aid device 1. 其中,与第一实施方式的移乘辅助设备1相同的功能标为相同的附图标记,并略去其说明。 Wherein the transfer assistance apparatus of the first embodiment of the same functionality as a labeled the same reference numerals, and description thereof will be omitted. 如图19所示,保持支撑器16的关节部13及关节部15包括驱动电动机82及转动角度检测部87,控制部110包括姿势控制部88。 19, the joint portion 13 and the joint portion 16 of the holder 15 comprises a holder drive motor 82 and the rotation angle detection unit 87, the control unit 110 includes a posture control section 88. 转动角度检测部87中,将检测围绕X轴转动的检测部设为转动角度检测部87a,将检测围绕Y轴转动的检测部设为转动角度检测部87b。 A rotation angle detecting unit 87, the detection of the rotation about the X axis is set to the rotation angle detection unit detecting unit 87a, a detection section to detect a rotation angle detecting unit 87b around the Y-axis rotation. 姿势控制部88为控制部110的一部分,根据来自输入部14的指示信息启动。 Posture control unit 88 is a part of the control unit 110, an instruction to start from the input unit 14 of the information. 若通过输入部14输入"倾斜度维持模式"等指示信息,姿势控制部88根据来自转动角度检测部87 (87a、 87b)的信息,启动驱动电动机82a、 82b从而使关节部13、 15以X轴及Y轴为中心绕轴转动,控制支撑器16的倾斜度。 When the input through the input unit 14 'to maintain the inclination mode "instructions, the posture control unit 88 based on the information from the rotation angle detection unit 87 (87a, 87b), and starting the drive motor 82a, 82b so that the joint portion 13, X 15 axis and Y-axis pivoting, controlling the inclination of the supporter 16. 并且,当维持支撑器16的倾斜度时,可控制为使支撑器16能够在设定的允许范围内变动。 And, while maintaining the inclination of the holder 16, the control 16 can be varied within the allowable range set for the supporting device. 例如,在输入部14中,可设定支撑器16的倾斜度的允许变动范围较大的"模式A"、 支撑器16的倾斜度的允许变动范围较小的"模式B"等多个设定模式。 For example, in the input unit 14, the inclination of the holder may be set allowable fluctuation range of the larger 16 "pattern A", the inclination of the holder 16 allows for a smaller range of fluctuation "Mode B" provided a plurality of like given mode. 另外,也可采用滑动型输入装置,阶段性或连续性地调整支撑器16的倾斜度的允许变动范围或控制支撑器16的倾斜度时的驱动力。 Further, slide-type input device may also be employed, stepwise or continuously adjust the inclination of the holder 16 or the allowable fluctuation range of the drive force control holder 16 when the inclination. 如上所述,根据本发明第六实施方式的移乘辅助设备l,由于姿势控制部88根据来自输入部14的"倾斜度维持模式"等指示信息与来自转动角度检测部87 (87a、 87b)的信息,启动驱动电动机82a、 82b,使关节部13、 15以X轴及Y轴为中心绕轴转动,因此可维持支撑器16的倾斜度。 As described above, according to the sixth embodiment of the present invention, the transfer assistance device L, since the posture control section 88 and the information from the rotation angle detecting unit from the input unit 14 in accordance with the "slope maintenance mode," etc., indicate 87 (87a, 87b) information, start the drive motor 82a, 82b, the joint portion 13, 15 to the X-axis and Y-axis is rotated about the shaft, thereby maintaining the inclination of the support 16. 另外,输入部14中设有支撑器16的倾斜度的允许变动范围较大的"模式A"或支撑器16的倾斜度的允许变动范围较小的"模式B",因此,能够以按设定模式改变允许变32动范围的方式控制支撑器16的倾斜度。 Further, the input unit 14 is provided with an inclination of the support 16 allows a greater range of variation "mode A" or holder 16 allows a small inclination variation range of "B mode", therefore, can be provided by given variations mode change allows the movable range 32 is controlled inclination 16 of the holder. 另外,通过采用滑动型输入设备,可阶段性或连续性地调整支撑器16的倾斜度的允许变动范围或控制支撑器16的倾斜度时的驱动力,因此,可针对被护理者2的姿势进行精细的控制,实现使被护理者2更为舒适的自动调芯功能。 Further, by using a sliding type input device, can be adjusted stepwise or continuously holder 16 tilt or allowable fluctuation range of the drive force control holder 16 when the inclination, and therefore, can be a posture for a caregiver 2 fine of control, so the caregiver 2 more comfortable self-aligning feature. (第七实施方式)下面参照图20,对本发明第七实施方式的移乘辅助设备1的其它着床检测方式进行说明。 (Seventh Embodiment) Referring to FIG 20, a seventh embodiment of the present invention, by shifting other adjunctive detection implantation apparatus 1 will be described. 具体而言,对采用多个荷重传感器检测着床的方式例进行说明。 Specifically, a plurality of load sensors for detecting implantation using manner will be described. 图20为表示本发明第七实施方式的移乘辅助设备1的车轮5的结构例的正视图。 FIG 20 is a front view showing a configuration example 5 of the wheel 1 transfer assistance apparatus of a seventh embodiment of the present invention. 其中,与第一实施方式的移乘辅助设备l相同的功能标为相同的附图标记,并略去其说明。 Wherein the transfer assistance apparatus and l the same functionality as the first embodiment is labeled the same reference numerals, and description thereof will be omitted. 如图20所示,车轮5包括辊101、辊轴102、框架103及荷重传感器104。 , The wheel 5 comprises a roller 101, the roller shaft 102, frame 103 and load sensor 104 in Figure 20. 其中设有多个车轮5,各个车轮5分别固定或可转动地安装于保持部6 (例如,参照图3)上。 5 wherein a plurality of wheels, each wheel 5 are fixed or rotatably mounted to the holding portion 6 (see FIG. 3). 另外,荷重传感器104安装于框架103上。 Further, a load sensor 104 mounted on the frame 103. 驱动源105通过减速装置连接于车轮5,构成为能够独立行进。 Driving source 105 is connected to a wheel through a reduction device 5, it can be configured to travel independently. 控制部IIO包括计算移乘辅助设备1的重心位置的运算部106、以及用于存储运算结果的存储部107。 The control unit comprises calculating IIO by shifting the center of gravity position calculating unit auxiliary device 1 106, and a storage unit 107 for storing operation results. 运算部106根据来自多个荷重传感器104的输出信号、按规定的时间间隔计算移乘辅助设备l的重心位置,并依次将该运算结果存储至存储部107。 Calculation unit 106 based on the output signals from the plurality of load sensor 104, at predetermined time intervals is calculated by shifting the center of gravity position of the auxiliary equipment l and sequentially stored in the calculation result storage unit 107. 并且,运算部106计算存储于存储部107的多个运算结果的差分值,根据该差分值检测出支撑器16着床于载置装置51的载置面。 Further, the calculation unit 106 calculates a plurality of operation results stored in the difference value storage unit 107, based on the difference value detector 16 implantation in the holder mounting surface 51 of the mounting means. S卩,荷重传感器104作为着床检测装置发挥功能。 S Jie, load cell 104 functions as a detecting device implantation. 如上所述,根据本发明第七实施方式的移乘辅助设备1,可根据来自多个荷重传感器104的输出信号,检测操作时移乘辅助设备1的重心位置的变化,并根据该变化检测支撑器16着床于载置装置51的载置面。 As described above, according to the seventh embodiment of the present invention, the transfer assistance apparatus 1, the position of the center of gravity can be moved by the change of the auxiliary device according to the output signals from the plurality of load sensor 104 detects the operation, and based on the detected change in the support 16 is placed onto the mounting surface 51 of the mounting device. 并且,通过检测移乘辅助设备1的重心位置,可在操作时掌握重心姿势,从而能够提前防止出现危险的姿势,因此,可提高移乘辅助设备l的安全性。 Further, by detecting the shift position of the auxiliary apparatus 1 by gravity, and can control the posture of the center of gravity during operation, it is possible to prevent the risk of occurrence of gestures in advance, and therefore, can improve the safety of the transfer assistance apparatus l. (第八实施方式)下面参照图21,对本发明第八实施方式的移乘辅助设备1设有显示部111时的应用例进行说明。 (Eighth Embodiment) will be described below with reference to FIG. 21, shift of the eighth embodiment of the present invention by an accessory provided with a display application unit 111 embodiment. 图21是用于说明本发明第八实施方式的移乘辅助设备1的显示部111的结构例的图。 FIG 21 is a view for explaining an eighth embodiment by shifting embodiment of the present invention illustrating a configuration example of the auxiliary display unit 111 of the apparatus 1. 其中,与第一实施方式的移乘辅助设备l相同的功能标为相同的附图标记,并略去其说明。 Wherein the transfer assistance apparatus and l the same functionality as the first embodiment is labeled the same reference numerals, and description thereof will be omitted. 在此,表示利用两台移乘辅助设备1,配合进行移乘动作时显示部111的结构例。 Here, it indicates the use of two transfer assistance device 1, with the example of the structure of the display unit 111 by the time shift operation. 如图21所示,显示部111投影显示辊101的配置位置113、移乘辅助设备1的重心位置G及使支撑器16着床于载置装置51的载置面时设备1的重心位置G1。 When the gravity center position of the apparatus shown in FIG. 1, the projection display unit 111 displays the disposed position of the roller 101 11 321, the transfer assistance device and the gravity center position G 1 of the support 16 is placed onto the mounting means 51 mounting surface G1 . 其中,作为重心位置G及重心位置G1,可利用第七实施方式中计算出的位置。 Wherein a position of the center of gravity G and the center of gravity G1, may be utilized to calculate the position of the seventh embodiment. 另外,显示部lll上分别显示表示两台支撑器16的位置的外形框Fl、 F2。 Further, the display represents the outer frame Fl show two positions of the holder 16, F2 upper portion lll. 作为显示部111,例如可采用利用液晶显示部或有机EL (electroluminescence)显示屏等的显示装置。 As the display unit 111, for example, a liquid crystal display unit may be employed or an organic EL (electroluminescence) displays and other display devices. 由此,护理者3可根据使支撑器16着床于载置装置51的载置面时在显示部111上显示的重心位置G与重心位置Gl的位置关系的变化,确认支撑器16已着床于载置装置51的载置面。 Thus, changes in the positional relationship of the center of gravity position of the center of gravity G and Gl according to the caregiver when the support 3 is placed onto a mounting surface 16 mounted device 51 displays on the display unit 111, the support 16 has been confirmed that the means on the mounting bed 51 mounting surface. 其中,只要在两台移乘辅助设备1其中任何之一设置显示部111即可。 Wherein, as long as the two transfer assistance apparatus 1 in any one of the display unit 111 can be provided. 另外,若重心位置G1位于着床确认框(El、 E2)内,则表示支撑器16以适宜的压力着床于载置装置51的载置面。 Further, when the position of the center of gravity G1 is located implantation confirmation box (El, E2) inside, said holder 16 at a suitable pressure placed onto the mounting surface 51 of the mounting device. 其中,在着床于载置装置51载置面的支撑器16为一个的情况下利用着床确认框E1,而在支撑器16为两个的情况下利用着床确认框E2。 Wherein the implantation device is placed in the mounting surface 51 of the case holder 16 by implantation of a check box E1, whereas the support 16 for the use of implantation confirmed case of two block E2. 另外, 将在显示部111上显示的着床确认框(El、 E2)的外侧设为移乘辅助设备1会翻倒等的危险姿势区域,将其内侧设为安全姿势区域。 Further, the outer implantation confirmation box (El, E2) displayed on the display section 111 to transfer assistance apparatus 1 overturn danger such gesture area, which is set inside the safety zone pose. 如上所述,根据本发明第八实施方式的移承辅助设备1,护理者3可根据显示部111 上显示的重心位置G与重心位置Gl的位置关系的变化,确认支撑器16着床于载置装置51的载置面。 As described above, according to the eighth embodiment of the present invention, the auxiliary shift bearing apparatus 1, according to the caregiver 3 changes the positional relationship between the position of the center of gravity position G of the center of gravity Gl of the display on the display unit 111, confirm implantation holder 16 to the carrier mounting surface 51 of the adjacent device. 另外,护理者3通过显示部111上显示的重心位置G、 Gl的显示位置,能够容易地把握移乘辅助设备l是否处于安全姿势状态,因此,可避免出现移乘辅助设备l翻倒等危险姿势状态,可提高移乘辅助设备l的安全性。 Further, the caregiver through the center of gravity G 3 on the display unit 111 displays the display position of Gl, can easily grasp whether the transfer assistance apparatus l in a safe posture state, and therefore, can avoid overturning transfer assistance equipment l dangerous posture state, safety can be improved by shifting the auxiliary equipment l. 并且,在表示支撑器16的位置的外形框F1、 F2上可设置通知部显示112,用于在与着床检测传感器32的设置位置相对应的坐标上显示着床检测传感器32的工作状态。 Further, the external frame F1 indicates the position of the holder 16, the notification unit may be provided F2 display 112 for displaying the operating state detection sensor 32 in the implantation of the implantation with the position detection sensor 32 is provided corresponding to the coordinates. 如上所述,本发明的实施方式的移乘辅助设备1及移乘辅助设备9中,对护理者3移乘被护理者2时的情况进行了说明。 As described above, the embodiment of the present invention, the transfer assistance apparatus 1 and transfer assistance device 9, 3 shift to the caregiver by the case 2 is caregiver has been described. 但被护理者2为人体即可,例如,可同样应用于难以自己走动或挪动身体的人。 But the care-receiver 2 for the human body can be, for example, can be equally applied to their own people can not walk or move the body. 由此,移乘辅助设备1及移乘辅助设备9可从载置装置的载置面上捧起所述人体,移乘至其它载置装置。 Thus, the transfer assistance device 1 and the transfer assistance apparatus body 9 may be lifted from the mounting surface of the mounting means, by shifting to other mounting means. 另外,还可在移乘辅助设备1上设置摄象机等,根据图像信息识别支撑器16、 17, 控制支撑器16、 17的位置及姿势。 Further, also in the transfer assistance apparatus 1 is provided on the camera and the like, according to the image information for identifying the holder 16, 17, controls the position and posture of the support 16, 17. [实施方式的概要]下而对本实施方式的概耍进行说明。 Under [Summary of Embodiments] while playing overview of the present embodiment will be described. 34(1) 如上所述,即使在床面倾斜等,载置人体的载置装置的载置面不水平的情况下, 将支撑器插入人体与载置面之间时,启动转动装置及升降装置的至少其中之一,根据多个着床检测装置的输出,能够形成并维持载置面与支撑器之间的平行状态及适应状态其中至少任一状态。 34 (1) described above, even when the tilt bed, mounting means mounting the body of the mounting surface is not horizontal, when the support is inserted between the body and the mounting surface, starting the rotation and lifting means at least one means, detecting means based on an output of the plurality of implantation, a parallel state can be formed and maintained between the holder and the mounting surface and adapted to at least any of a state in which a state. 因此,本实施方式的移乘辅助设备在进行被护理者的移乘动作时,发挥根据载置人的载置装置的载置面的倾斜,自动调整支撑器的位置及角度的效果。 Accordingly, the present embodiment is performed by shifting by a time shift operation, play in accordance with the inclined mounting surface mounting apparatus is placed human, the effect of automatically adjusting the position and angle of the holder caregiver auxiliary equipment. 由此,护理者无需特别留意载置面与移乘辅助设备的位置关系,即可顺利地从载置装置捧起被护理者, 并进行移乘。 Accordingly, the caregiver without special attention to the positional relationship between the mounting surface and transfer assistance device can be smoothly lifted the caregiver from the mounting means, and by shift. (2) 另外,多个着床检测装置也可以在与各个转动装置的转动轴垂直的方向上相隔开,被设置在支撑器的下面;所述控制装置,当通过升降装置使支撑器从载置面的上方朝载置面而降低时,在与转动装置的转动轴垂直的方向上对于各个转动装置所设置的多个着床检测装置其中任何之一检测到对载置面的着床的情况下,让转动装置转动并启动升降装置,以保持检测到着床的着床检测装置相对于所述载置面的高度,在多个着床检测装置中的两个以上的着床检测装置检测到着床的情况下,结束转动装置的转动,在所有的转动装置的转动结束时,停止所述升降装置的降低。 (2) Further, a plurality of detecting means implantation may be spaced apart in the direction of the axis of rotation of each rotating device relative to the vertical, is provided below the holder; said control means, when the holder by the lifting device from when the mounting surface toward the upper mounting surface decreases, in a direction perpendicular to the rotation axis of the device for implantation of a plurality of detecting means each provided rotating means detects any one of the implantation of the mounting surface in a case, so that the rotation means rotates and activates the lifting means to maintain the detection means detects the implantation implantation relative to the height of the mounting surface, two or more detecting means at a plurality of implantation implantation detecting means a case where the implantation is detected, the rotating device rotates the end, at the end of the rotation, all rotating means, said lifting means stops decreasing. 根据所述结构,通过多个着床检测装置及转动装置,能够使支撑器平行地在载置面上着床、停止。 According to the configuration, the plurality of detection means and a rotating implantation apparatus capable of holder mounting surface parallel to the implantation is stopped. 因此,能够使支撑器的下面的倾斜度平行于倾斜度不同的载置面。 Therefore, the inclination of the following holder parallel to the mounting surface of different inclination. (3) 另外,移乘辅助设备还可以包括支撑器插入装置,使支撑器向插入方向移动, 其中,控制装置,在通过支撑器插入装置将支撑器插入所述人体与所述载置面之间的插入动作时,当多个着床检测装置均没有检测到着床时,使升降装置降低,当与各个转动装置的转动轴垂直的方向上设置的多个着床检测装置其中任何之一的输出大于设定范围时,让转动装置向使输出较大的着床检测装置离开载置面的方向转动,当多个着床检测装置其中任何之一的输出小于设定范围时,让转动装置向使输出较小的着床检测装置抵接于载置面的方向转动,从而使多个着床检测装置的输出状态维持在设定范围内。 (3) Further, the transfer assistance apparatus may further include a support means is inserted, the support is moved in the insertion direction, wherein the control means is inserted in the support device inserted through said support body and said mounting surface of is inserted between the operation detecting means when the plurality of implantation implantation was not detected, so that the lifting device lowered, when a plurality of implantation respective detecting means in a direction perpendicular to the rotation axis of the rotary device of any one set of when the output is greater than the set range, so that rotation of the output means to a larger implantation detecting means away from the mounting surface is rotated, when a plurality of implantation wherein the detecting means is less than the output of any one of the set range, so that the rotation means implantation to make smaller output detecting device mounting surface abuts against the direction of rotation, so that a plurality of detecting means implantation output state is maintained within a set range. 根据所述结构,当进行支撑器的插入动作时,能够使多个着床检测装置的输出状态维持在设定范围内。 According to the configuration, operation performed when the holder is inserted, it is possible to make a plurality of output status detecting means implantation maintained within a set range. 因此,当进行支撑器的插入动作时,能够将支撑器与载置面调整为一定的抵接状态。 Thus, when the holder is inserted into the operation, the support can be adjusted with the mounting surface abuts against a constant state. (4) 另外,多个着床检测装置分别采用压力传感器,根据与载置面的接触压力是否在设定的压力范围内判断着床状态。 (4) Further, a plurality of detecting means respectively implantation pressure sensor, depending on whether the mounting surface of the contact pressure state determination implantation within a set pressure range. 根据所述结构,可根据接触压力的信息,判断支撑器相对于载置面的着床状态。 According to the configuration, with respect to the mounting surface of the contact pressure according to the state of implantation information judgment holder. 由此,可控制接触压力,使支撑器着床于载置面。 Thus, the contact pressure can be controlled, so that the support is placed onto the mounting surface. 另外,可防止误使支撑器接触到载置面时,其35反作用力引起的移乘辅助设备的翻倒与破损、载置装置的破损等。 Further, the support can be prevented from coming into contact erroneous mounting surface of the transfer assistance and tipping device damage, damage caused by a reaction force 35 which is placed in the apparatus and the like. (5) 另外,所设定的压力范围也可以是载置面在支撑器的插入部位承受的来自人体的压力范围。 (5) Further, the set pressure range may be a mounting surface of the holder at the insertion site range of the pressure from the human body. 根据所述结构,在支撑器的插入部位设为与载置面由人体承受的压力范围相同,从而可使人体相对于载置面的下陷量与支撑器在插入部位的下陷量大致相同。 According to the configuration, mounting surface is set by the human body to withstand the same pressure range at the insertion site of the holder, thereby allowing the mounting surface of the support in an amount of sag amount of the sag is substantially the same insertion site with respect to the body. 由此, 可抑制因支撑器在插入部位的下陷量不同而造成的高低不平,顺利地插入支撑器。 Thus, uneven suppressed because the support amount of sag in different insertion site caused smoothly insert holder. (6) 另外,还可以包括可动导向部件,能够沿所述支撑器的下面的法线方向位移, 其中,多个着床检测装置被设置在所述支撑器的下面,通过检测所述可动导向部件的位移来检测着床状态。 (6) Further, the guide member may comprise a movable, movable along the holder below the normal direction of displacement, wherein the plurality of implantation detecting means is disposed below said holder by said detecting the displacement of the movable guide means to detect the state of implantation. 根据所述结构,由于可动导向部件根据载置装置与支撑器的接触压力而位移,因此, 可通过所述可动导向部件位移,检测出支撑器着床于载置装置的上表面。 According to the configuration, since the movable guide member placement device according to the contact pressure of the support is displaced, thus, by displacement of said movable guide member, the detector is placed onto the supporting surface of the mounting apparatus. (7) 另外,可动导向部件可以为相对于支撑器的框体上可位移地被支撑的可动框, 可动框通过与载置面的接触压力,向支撑器下面的法线方向位移。 (7) Further, the movable guide member may be supported relative to the movable frame displaceable on the housing holder, the movable frame by contact pressure with the mounting surface, the normal direction displacement of the holder below . 由此,例如当可动框的一部分与载置面接触时,可动框沿支撑器下面的法线方向位移。 Thus, for example, when the movable frame portion in contact with the mounting surface, the normal direction of displacement of the movable block along the holder below. 而且,着床检测装置因可动框与载置面的接触而启动。 Furthermore, implantation detecting means initiated by the movable frame and the contact mounting surface. 因此,可通过可动框这一较大面积的动作进行着床检测,因此,即使在将被护理者移乘至宽度比床更窄的轮椅等时,将支撑器下面的中央部分降低至轮椅的载置面的情况下,仍可通过着床检测装置检测出着床。 Thus, implantation can be detected by the operation of the movable frame a larger area, and therefore, even if the caregiver will be shifted by a width narrower than the bed to the wheelchair, the support is lowered to below the central portion of the wheelchair in the case where the mounting surface, can still be detected by implantation implantation detecting means. (8) 另外,还可以包括弹性体,配置于框体与可动框之间,使所述可动框向下压靠。 (8) Further, an elastic body may further comprise, disposed between the frame and the movable frame, said movable frame is pressed down against. 由此,因为使可动框从框体向支撑器下面的法线方向上的下面一侧压靠,所以可抑制可动框因支撑器的倾斜、振动、外部干扰而位移,可防止着床检测装置的误检测。 Accordingly, since the movable frame against the pressure from the housing toward the lower side in the holder below the normal direction, the movable frame can be suppressed due to the inclination, vibration, disturbance holder is displaced to prevent implantation erroneous detection of the detection means. (9) 另外,多个着床检测装置可以被设置在支撑器的框体上。 (9) Further, the plurality of implantation detecting means may be provided on the holder frame. 根据所述结构,可在支撑器的周边部进行着床检测,可提高着床时对支撑器姿势的检测精度。 According to the configuration, the implantation may be detected in the peripheral portion of the supporter can improve the detection accuracy of the holder during implantation gesture. 并且,可在作为主体部的框体上配线,因此,配线较为容易。 Further, the frame may be used as the main body portion of the wiring, and therefore, the wiring is easy. 另外,无须从框体向可动导向部件配线,可固定于框体上进行配线,因此可提高可靠性。 Further, without the housing from the movable guide member wiring, wiring can be secured to the frame, the reliability can be improved. (10) 另外,多个着床检测装置可以至少分别设置于支撑器的插入方向上的前侧的下面两端部附近。 (10) Further, a plurality of detecting means implantation may be at least in the vicinity of both end portions are respectively disposed below the front side in the insertion direction of the holder. 根据所述结构,插入时可在前侧下面的两端部附近检测支撑器的着床状况。 According to the configuration, the front side of the following holder detector implantation nearby both ends of the insertion. 因此,插入时可在支撑器的前端部(前端部)进行有关支撑器姿势的检测,发挥实现顺利的插入及着床的效果。 Accordingly, when inserted into a holder about the detected posture of the holder at the front end portion (front end portion), play a smooth insertion and implantation effect. (11) 另外,转动装置可以具有围绕支撑器插入方向上的轴转动的第l转动装置,多个着床检测装置至少有两个。 (11) Further, the device may have a rotation around the support shaft is inserted into the l direction of rotation of the rotating means, a plurality of detecting means has at least two implantation. 根据所述结构,可通过围绕支撑器插入方向上的轴转动的一个转动装置与两个着床检测装置,控制支撑器的姿势。 According to the configuration, a rotatable means and two detecting means is rotated by implantation around the support shaft insertion direction, a posture control holder. 因此,针对载置面的二维倾斜,可在支撑器的姿势控制方面发挥效果。 Thus, for a two-dimensional inclination of the mounting surface, the holder may be an effect posture control. (12) 另外,转动装置可以具有围绕支撑器插入方向上的轴转动的第l转动装置、以及在围绕支撑器的下面与第1转动装置垂直的轴转动的第2转动装置,并且,着床检测装置至少有三个。 (12) Further, the rotation means may have a second rotation around the support means is inserted in the direction of the l axis of rotation of the rotation means and rotation in a vertical below the pivoting device about the holder shaft, and the implantation detecting means has at least three. 根据所述结构,可通过围绕支撑器的相互垂直的两个轴转动的两个转动装置与三个着床检测装置,控制支撑器的姿势。 The structure of the two rotation means rotatable by about two axes perpendicular to each other and the three holder implantation detecting means, the control in which the posture support. 因此,针对载置面的三维倾斜,可在支撑器姿势控制方面发挥效果。 Thus, for three-dimensional mounting of the inclined surface, the posture of the support may be an effect control. (13) 本发明的移乘辅助设备包括:支撑器,被插入载置装置的载置面与载置于该载置面上的人体之间,捧起所述人体;至少一个转动装置,用于进行支撑器的姿势变更及调整的至少其中之一;着床检测装置,用于检测支撑器的下面是否着床于载置面的上表面; 升降装置,使支撑器升降;以及控制装置,极据着床检测装置的输出,能够控制升降装置, 其中,着床检测装置在与支撑器的插入方向垂直的宽度方向上被设置在支撑器的下面的中心附近,移乘辅助设备还包括配置于所述支撑器与所述转动装置之间的离合器、以及弹性支撑所述支撑器以使支撑器可相对于转动装置转动的弹性体,其中,控制装置当通过升降装置从载置面的上方使支撑器降低时,控制离合器及升降装置,在着床检测装置检测到对载置面的着床为止,让离合器在被解除的状态下使支 (13) the transfer assistance apparatus according to the present invention comprises: a support, a carrier device is inserted into the mounting surface and placed between the mounting surface of the body, the body won; at least one rotating means for the change in the posture and the holder for adjusting at least one of; implantation detecting means for detecting a following holder is placed onto the upper surface of whether the mounting surface; lifting device lifting the supporting device; and a control means, According electrode implantation output detecting means, the lifting device can be controlled, wherein the implantation detecting means is disposed near the center of the underlying support is in a direction perpendicular to the insertion direction of the width of the support, the transfer assistance apparatus further comprises configuring said support and said rotation between the clutch means and elastically supporting the holder so that the holder may be rotated with respect to the elastomeric means is rotated, wherein when the control means from above the mounting surface by the elevating means that the holder is lowered, the lifting device and the clutch control, the detection means detects the implantation of implantation until the mounting surface, so that the clutch is supported in a released state 撑器降低,当着床检测装置检测到着床时接合离合器,并结束支撑器的降低。 Support is lowered, engagement of the clutch when the detecting means detects the implantation of implantation, and lower the support's ends. 根据所述结构,当支撑器升降时,可在山弹性体限制的范围内允许支撑器的转动动作, 并当通过着床检测装置检测到支撑器的着床,在着床位置离合器接合时,可由转动装置固定支撑器,停止转动。 According to the configuration, when the elevating holder, may allow rotational movement of the holder in the elastomer Yamauchi limited range, and when the detection means detected by the implantation of the holder implantation, implantation engaged position of the clutch, holder fixing means may be rotated, the rotation is stopped. 因此,通过仅设置一个着床检测装置,能够发挥控制并维持支撑器的空问姿势的效果,而且减少着床检测装置的数目。 Thus, by providing only one detection device implantation, can exhibit the effect of maintaining and controlling the spatial posture of the holder, and reduce the number of implantation detecting means. 另外,当离合器断开时,可由弹性体进行限制以避免支撑器自由移动。 Further, when the clutch is disengaged, the elastic body may be limited to avoid holder is free to move. 此外,可根据被护理者的休型与姿势,调整支撑器的倾斜度。 Further, according to the type of gesture is off caregiver to adjust the inclination of the holder. —(14) 另外,支撑器为多个;转动装置以及升降装置为分别对应于多个支撑器而设置的多个,多个着床检测装置检测多个支撑器的下面是否分别着床于载置装置的载置面,控制装置根据多个着床检测装置的输出,控制转动装置或升降装置。 - (14) Further, a plurality of holder; if a plurality of rotating means and lifting means to respectively correspond to the plurality of holder provided below the plurality of detecting means detects a plurality of implantation holder are placed onto the carrier It means facing mounting surface, a plurality of control means according to an output of the detecting means of implantation, the rotation control device or the lifting device. 根据所述结构,能够利用多个支撑器,容易地应对载置装置的载置面的倾斜,发挥多样化且高效的应对效果。 According to the configuration, it is possible by using a plurality of holder, the inclined surface of the mounting apparatus mounted easily cope with play diverse and efficient response effect. 例如,即使是载置装置的载置面的倾斜度为三种以上的复杂形状的载置装置,也可进行应对。 For example, even if the mounting apparatus mounting surface inclination of more than three mounting apparatus complicated shape, can be cope. (15) 另外,本发明的具有多个支撑器机构的移乘辅助设备包括:多个所述任意一种移乘辅助设备;控制装置,相互配合地控制多个移乘辅助设备;其中,使各个移乘辅助设备的支撑器适应于与载置面的倾斜角度相对应的角度。 (15) Further, the transfer assistance apparatus has a plurality of support mechanisms of the present invention comprises: any one of said plurality of transfer assistance apparatus; controlling means cooperatively controlling a plurality of transfer assistance apparatus; wherein the supported by each mobile device is adapted to the auxiliary mounting surface corresponding to the angle of the inclination angle. 根据所述结构,即使载置装置具有倾斜度互不相同的多个载置面的情况下,仍可利用多个支撑器应对载置装置的载置面的倾斜。 According to this structure, even where the mounting means having a plurality of mutually different inclination mounting surface, the holder can still respond with a plurality of inclined mounting surface mounting apparatus. 因此,可灵活应对各种载置装置。 Thus, it can respond flexibly to the mounting means. 例如,即使是载置装置的载置面的倾斜度为三种以上的复杂形状的载置装置,也可进行应对。 For example, even if the mounting apparatus mounting surface inclination of more than three mounting apparatus complicated shape, can be cope. (16)另外,也可以多个移乘辅助设备通过连接部被连成一体。 (16) Further, a plurality of transfer assistance may be integrally connected through the connecting device is part. 由此,可进一歩强化多个移乘辅助设备的配合,提高装置的抗变形强度。 Accordingly, the shift into a ho reinforced by a plurality of auxiliary equipment with improved resistance to deformation strength of the device. 由此,可以以更高的精度确保各支撑器的间隔。 Thus, the spacing of the holder can be ensured with higher accuracy. 如上所述,根据本实施方式,能提供一种移乘辅助设备及具有多个支撑器机构的移乘辅助设备,其即使载置人体的载置装置的载置面的倾斜度不水平,仍可顺利地从载置装置上捧起人体,进行移乘,对于护理者而言作业负担较小。 As described above, according to the present embodiment can provide an apparatus for the transfer assistance and transfer assistance device having a plurality of support mechanisms, which are not placed on the horizontal plane even when the inclination of the mounting means mounting the body, still It can be smoothly lifted from the body is placed on the device, a shift multiplication, for caregiver burden in terms of smaller jobs. 产业上的利用可能性如上所述,根据本发明,可将支撑器插入载置着要移乘的被护理者的载置装置与被护理者之问,捧起至支撑器的捧起面上并进行移乘,特别是,即使载置被护理者的载置面的倾斜度不水平,护即.者仍可以顺利地从载置装置上捧起被护理者,并进行移乘。 INDUSTRIAL POSSIBILITY As described above, according to the present invention, the support may be inserted into the mounting device is placed to be moved by the caregiver with the caregiver is asked, won to the support surface of the filter won and shifting by, in particular, even if the inclination is not placed horizontally mounting surface of the caregiver, i.e. protection. smoothly could still be won from the caregiver transfer device, and by shifting. 因此,可用作移乘辅助设备及采用这一装置的具有多个支撑器机构的移乘辅助设备、护理机器人装覽等。 Thus, the device can be used as the transfer assistance and the use of this device transfer assistance device, having a plurality of Browse care robot apparatus supporting mechanism and the like.

Claims (16)

1.一种移乘辅助设备,其特征在于包括: 支撑器,被插入载置装置的载置面与载置于该载置面上的人体之间,捧起所述人体; 至少一个转动装置,用于进行所述支撑器的姿势变更及调整的至少其中之一; 多个着床检测装置,用于检测所述支撑器的下面是否着床于所述载置面; 升降装置,使所述支撑器升降;以及控制装置,根据所述多个着床检测装置的输出,控制所述转动装置或所述升降装置,以形成并维持所述载置面与所述支撑器之间的平行状态及适应状态的至少其中之一状态。 A transfer assistance apparatus, comprising: a support, a mounting surface is inserted into the mounting device and placed between the mounting surface of the body, the body won; at least one rotation means wherein at least one of posture change and adjustment, for supporting said filter; implantation plurality of detecting means for detecting whether the support is placed onto below the mounting surface; lifting means, so that the elevating said support; and a control means according to an output of said detecting means of the plurality of implantation, controlling the rotation of said lifting device or means, to form and maintain the parallelism between the mounting surface of the supporter At least one state of the state and the state of adaptation.
2. 根据权利要求l所述的移乘辅助设备,其特征在于:所述多个着床检测装置,在与各个所述转动装置的转动轴垂直的方向上相隔开,被设置在所述支撑器的下面,所述控制装置,当通过所述升降装置使所述支撑器从所述载置面的上方朝所述载置面而降低吋,在与所述转动装置的转动轴垂直的方向上对于各个所述转动装置所设置的所述多个着床检测装置其中任何之一检测到对所述载置面的着床的情况下,让所述转动装置转动并启动所述升降装置,以保持检测到所述着床的着床检测装置相对于所述载置面的高度,在所述多个着床检测装置中的两个以上的着床检测装置检测到着床的情况下,结束所述转动装置的转动,在所有的所述转动装置的转动结束时,停止所述升降装置的降低。 The transfer assistance apparatus according to claim l, characterized in that wherein: the plurality of implantation detecting means, each rotary shaft in a direction perpendicular to said relative rotation means spaced, is provided in the below the holder, said control means, when said support means by said elevating from above the mounting surface toward said mounting surface is reduced inch, perpendicular to the rotation shaft of the rotation device direction detecting means for each of said plurality of implantation of said rotating means is provided to detect any one of a case where the implantation of the mounting surface, so that rotation of said rotating means and said lifting means starting to keep the case of detecting the detected implantation implantation implantation detecting means with respect to the height of the mounting surface, the implantation of two or more of the plurality of detecting means detecting device implantation, said rotation means when the rotation is completed, the rotation of the rotating means in the end all of the stops of the lifting device lowered.
3. 根据权利要求1或2所述的移乘辅助设备,其特征在于还包括:支撑器插入装置,使所述支撑器向插入方向移动,其中,所述控制装置,在通过所述支撑器插入装置将所述支撑器插入所述人体与所述载置面之间的插入动作时,当所述多个着床检测装置均没有检测到着床时,使所述升降装覽降低, 当与各个所述转动装置的转动轴垂直的方向上设置的所述多个着床检测装置其中任何之一的输出大于设定范围时,让所述转动装置向使所述输出较大的着床检测装置离开所述载置面的方向转动,当所述多个着床检测装置其中任何之一的输出小于设定范围时,让所述转动装置向使所述输出较小的着床检测装置抵接于所述载置面的方向转动, 从而使所述多个着床检测装置的输出状态维持在设定范围内。 According to claim 12 or transfer assistance apparatus as claimed in claim characterized by further comprising: a support means is inserted, the holder moves in the insertion direction, wherein said control means, through said holder when the support means is inserted into the insertion operation is inserted between the body and the mounting surface, when the plurality of detecting means implantation implantation was not detected, the lifting means Browse decreased, and when implantation said plurality of detecting means disposed in a direction in which the rotation axis of the rotating means perpendicular to each of the output of any one of greater than the set range, so that the rotation of said output means to detect a large implantation means the direction away from the mounting surface of the rotation, when the plurality of implantation wherein the detecting means is less than the output of any one of the set range, so that the rotation detecting means smaller implantation abutment means to cause said output connected to the carrier surface facing the direction of rotation, so that the output state of the plurality of implantation detecting means is maintained within a set range.
4. 根据权利要求1至3中任一项所述的移乘辅助设备,其特征在于:所述多个着床检测装置分别采用压力传感器,根据与所述载置面的接触压力是否在设定的压力范围内判断着床状态。 According to claim 1 to 3 by any one of the shift assist apparatus, wherein: said plurality of detecting means respectively Implantation pressure sensor, according to the contact pressure with the mounting surface disposed in whether Analyzing the state of implantation within a predetermined pressure range.
5. 根据权利要求4所述的移乘辅助设备,其特征在于:所述设定的压力范围是所述载置面在所述支撑器的插入部位承受的來自所述人体的压力范围。 According to claim 4, wherein the transfer assistance apparatus, wherein: the set pressure range is contained in the pressure range from said body facing surface of the holder at the insertion site to bear.
6. 根据权利耍求1至3中任一项所述的移乘辅助设备,其特征在于还包括: 可动导向部件,能够沿所述支撑器的下而的法线方向位移,其中,所述多个着床检测装置,被设置在所述:^f器的下而,通过检测所述可动导向部件的位移來检测着床状态。 The playing request to any claim 1 to 3, one of the transfer assistance apparatus, characterized by further comprising: a movable guide member, can be displaced along the normal direction and the holder, wherein, the implantation of said plurality of detecting means, disposed in the: ^ f the filter and, by detecting displacement of said movable guide means to detect the state of implantation.
7. 根据权利要求6所述的移乘辅助设备,其特征在于:所述可动导向部件为相对于所述支撑器的框体上可位移地被支撑的可动框, 所述可动框,通过与所述载置面的接触压力,向所述支撑器下面的法线方向位移。 6 according to the transfer assistance apparatus as claimed in claim, wherein: said movable guide member is displaceable relative to the upper frame of the holder is supported by the movable frame, said movable frame , by contact pressure with the mounting surface, the normal direction of displacement of the holder below.
8. 根据权利要求7所述的移乘辅助设备,其特征在于还包括:弹性体,配置于所述框体与所述可动框之间,使所述可动框向下压靠。 According to claim 7 of the transfer assistance apparatus, characterized by further comprising: an elastic member disposed between the frame and the movable frame, said movable frame is pressed down against.
9. 根据权利要求1至8中任一项所述的移乘辅助设备,其特征在于:所述多个着床检测装置被设置在所述支撑器的框体上。 According to claim 1 to 8 by one of the shift assist apparatus, wherein: said plurality of implantation detecting means is provided on the housing of the holder.
10. 根据权利要求1至9中任一项所述的移乘辅助设备,其特征在于:所述多个着床检测装置至少分别设置于所述支撑器的插入方向上的甜侧的下面两端部附近。 Claim 10. The transfer assistance apparatus according to any one of claims, 1 to 9, characterized in that: the plurality of implantation detecting means are disposed on at least a sweet side in the insertion direction of the holder of the following two near an end.
11. 根据权利要求1至9中任一项所述的移乘辅助设备,其特征在于: 所述转动装置具有围绕所述支撑器插入方向上的轴转动的第1转动装置, 所述多个着床检测装置至少有两个。 Any one of 11. A transfer assistance apparatus, characterized in that 1 to 9, wherein: said rotating means having a first rotational shaft means rotatable about said insertion direction of the holder, a plurality of detecting means has at least two implantation.
12. 根据权利要求1至9中任一项所述的移乘辅助设备,其特征在于: 所述转动装置具有围绕所述支撑器插入方向上的轴转动的第1转动装置、以及围绕在所述支撑器的下面与所述第1转动装置垂直的轴转动的第2转动装置, 所述多个着床检测装置至少有三个。 12.1 to any one of claims 9 transfer assistance apparatus according to claim, wherein: said rotating means having a first rotational shaft means rotatable about said insertion direction of the holder, and around the said second rotation means following to the rotation of the holder perpendicular to the first shaft means, said detecting means has a plurality of at least three implantation.
13. —种移乘辅助设备,其特征在于包括:支撑器,被插入载置装置的载置面与载置于该载置面上的人体之间,捧起所述人体; 至少一个转动装置,用于进行所述支撑器的姿势变更及调整的至少其中之一; 着床检测装置,用于检测所述支撑器的下面是否着床于所述载置面的上面; 升降装置,使所述支撑器升降;以及控制装置,根据所述着床检测装置的输出,控制所述升降装置,其中, 所述着床检测装置,在与所述支撑器的插入方向垂直的宽度方向上,被设置在支撑器的下面的中心附近,所述移乘辅助设备还包括配置于所述支撑器与所述转动装置之间的离合器、以及弹性支撑所述支撑器以使所述支撑器可相对于所述转动装置转动的弹性体,其中,所述控制装置,当通过所述升降装置从所述载置面的上方使所述支撑器降低时,控制所述离合器及所述 13. - species transfer assistance apparatus, comprising: a support, a mounting surface is inserted into the mounting device and placed between the mounting surface of the body, the body won; at least one rotation means , posture change and adjustment of the holder for at least one of; implantation detecting means for detecting the below whether the holder placed onto the upper surface of the mounting surface; lifting means, so that the elevating said support; and a control means, an output of the detecting means of implantation, control of the lifting device, wherein the implantation detecting means in a direction perpendicular to the insertion direction of the width of the support, was provided below the vicinity of the center of the holder, the transfer assistance apparatus further comprises a holder disposed in the clutch between the rotation means and elastically supporting said holder such that said holder is movable relative to elastomeric means for rotating said rotation, wherein said control means, when the support is lowered from above the mounting surface by the elevating device, the control of the clutch and the 降装置,在所述着床检测装置检测到对所述载置面的着床为止,让所述离合器在被解除的状态下使所述支撑器降低,当所述着床检测装置检测到着床时接通所述离合器并结束所述支撑器的降低。 Down means in said detection means detects the implantation of implantation until the opposing surface of the carrier, so that the holder of the clutch decreases at the released state, when said detecting means detects implantation implantation the clutch is turned on and ending when the holder is lowered.
14. 根据权利耍求1至13中任一项所述的移乘辅助设备,其特征在于: 所述支撑器为多个,所述转动装置以及所述升降装置为分别对应于所述多个支撑器而设置的多个, 所述多个着床检测装置,检测所述多个支撑器的下面是否分别着床于所述载置装置的载置而,所述控制装置,根据所述多个着床检测装置的输出,控制所述转动装置或所述升降装 Playing request as claimed in any one of claims 1 to 13, transfer assistance apparatus, characterized in that: a plurality of said holder, said rotating means and said lift means respectively corresponding to the plurality of a plurality of holder provided, the plurality of implantation detecting means detects a plurality of whether the holder of the following implantation are placed on the carrier mounting means and said control means, based on said plurality implantation outputs a detecting means, the rotation control means or the lifting means
15. —种具有多个支撑器机构的移乘辅助设备,其特征在于包括: 多个如权利要求1至14中任一项所述的移乘辅助设备;以及控制装置,相互配合地控制多个所述移乘辅助设备;其中,使各个所述移乘辅助设备的所述支撑器适应于与载置面的倾斜角度相对应的角度。 15. - species transfer assistance device having a plurality of holder mechanisms, comprising: a plurality of multiplying as claimed in any one of the auxiliary shift device as claimed in claim 1 to 14; and a control means cooperatively control multiple by shifting of said auxiliary apparatus; wherein said shifting the respective support by the auxiliary device is adapted to the mounting surface with an inclination angle corresponding to the angle.
16. 根据权利要求15所述的具有多个支撑器机构的移乘辅助设备,其特征在于:多个所述移乘辅助设备通过连接部被连成一体。 16. The apparatus as claimed in claim transfer assistance mechanism having a plurality of the holder 15, wherein: said plurality of transfer assistance device are integrally connected through the connecting portion.
CN 200880001212 2007-03-28 2008-03-26 Transfer assistance device and transfer assistance device with multi-supporter mechanism CN101568317A (en)

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Cited By (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103501746A (en) * 2011-10-04 2014-01-08 株式会社阿通普郎 Transfer device
CN104274282A (en) * 2014-10-28 2015-01-14 孙雨萍 Appliance convenient for transferring patients to be subjected to medical imaging examination in hospital
CN104352310A (en) * 2014-10-28 2015-02-18 焦广宇 Apparatus capable of conveniently transporting patient in department of cardiology to have medical imaging examination
CN104523386A (en) * 2014-12-25 2015-04-22 南通康盛医疗器械有限公司 Wheel chair
CN105055091A (en) * 2015-08-06 2015-11-18 遂宁市长丰机械科技有限公司 Arm type transfer chair
CN105636567A (en) * 2013-10-18 2016-06-01 马仕路株式会社 Robot
CN106142096A (en) * 2016-06-04 2016-11-23 浙江侍维波机器人科技有限公司 Carrying containing variable form mechanical arm and embrace the medical robot lifting the obesity patients
CN106236457A (en) * 2015-12-28 2016-12-21 许征文 Position, portable side lifting and translocating machine
CN106473879A (en) * 2016-10-12 2017-03-08 常州工学院 A kind of control system of board plug type patient transferring cart and its control method
CN108890279A (en) * 2018-06-19 2018-11-27 广东新华丰医疗科技有限公司 A kind of wheelchair production line

Cited By (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103501746A (en) * 2011-10-04 2014-01-08 株式会社阿通普郎 Transfer device
CN105636567A (en) * 2013-10-18 2016-06-01 马仕路株式会社 Robot
CN104274282A (en) * 2014-10-28 2015-01-14 孙雨萍 Appliance convenient for transferring patients to be subjected to medical imaging examination in hospital
CN104352310A (en) * 2014-10-28 2015-02-18 焦广宇 Apparatus capable of conveniently transporting patient in department of cardiology to have medical imaging examination
CN104523386A (en) * 2014-12-25 2015-04-22 南通康盛医疗器械有限公司 Wheel chair
CN105055091A (en) * 2015-08-06 2015-11-18 遂宁市长丰机械科技有限公司 Arm type transfer chair
CN106236457A (en) * 2015-12-28 2016-12-21 许征文 Position, portable side lifting and translocating machine
CN106142096A (en) * 2016-06-04 2016-11-23 浙江侍维波机器人科技有限公司 Carrying containing variable form mechanical arm and embrace the medical robot lifting the obesity patients
CN106473879A (en) * 2016-10-12 2017-03-08 常州工学院 A kind of control system of board plug type patient transferring cart and its control method
CN106473879B (en) * 2016-10-12 2018-09-18 常州工学院 A kind of control system and its control method of board plug type patient transferring cart
CN108890279A (en) * 2018-06-19 2018-11-27 广东新华丰医疗科技有限公司 A kind of wheelchair production line

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