JP2002102297A - Care assist machine - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a care assist machine capable of raising the upper part of the body of a person to be taken care of and lying on his back and transferring and moving the person to a wheel chair and a toilet seat through a rising condition from a seated position and again in a seated condition to improve the quality of care of the person and reduce the labor required for care of a caretaker. SOLUTION: A lift cylinder 4 is erected at one end of a base 3 having wheels 20, and an attitude conversion means lifted and lowered by the lift cylinder 4 and a seat plate 10 for holding the person to be taken care of 31 at a seated attitude are provided. The attitude conversion means has a grip device 5 gripping a chest part of the person to be taken care of 31, a turn shaft 2a of the grip device 5 converting an attitude of the person from a lying position to a seated attitude is provided at a hip position of the person to be taken care of 31, and a turn shaft of the seat plate 10 is also provided at the same position. A grip force detection means is provided in the grip device 5 to automatically adjust a grip force to the optimum value by a microcomputer 29a.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

TECHNICAL FIELD The present invention relates to home, welfare facilities,
The present invention relates to a nursing care support device that assists a caregiver in a hospital or the like, such as transfer of a care recipient who is difficult to stand up independently between beds, between a bed and a wheelchair, or transfer or transfer to a toilet or a bathtub.

[0002]

2. Description of the Related Art With an increase in the aging population, an increase in the number of disabled persons due to aging has been regarded as a problem. In addition, in a social environment in which the number of households of elderly couples is increasing rapidly due to the increase in nuclear families, the number of cases in which elderly spouses are similarly cared for elderly disabled persons is increasing. It is hard work for the elderly to care for disabled people, which is hard work than expected, so care is likely to be neglected, and in some cases, the care recipient is left bedridden. As one of the solutions to this problem, a long-term care insurance system has been created in Japan to provide mutual assistance to society as a whole. However, since it is not possible to cover everything with insurance, the state in which the elderly care for the elderly still exists, and further reduction in the nursing care labor is desired.

[0003] In recent years, from the viewpoint of maintaining the remaining ability of a disabled person as much as possible, it is desirable not to live on a bed, but to live in a posture changed from a bed to a sitting posture represented by a wheelchair. . In addition, transfer care can be raised along with bathing care and excretion care as one of those requiring great labor among care work. That is,
In order to support sitting life, transfer care from the bed, transfer from the bed to the chair or wheelchair, and transfer from the wheelchair to the toilet seat for excretion and vice versa are indispensable. The reason why this transfer care requires a great deal of effort is that it is often necessary to have a middle waist, leaning forward posture, or to support the weight, but it is also a big factor that the number of times is more important, Improvement is awaited.

[0004] Conventionally, as a nursing care support device for raising or moving a disabled person with bedridden or walking disability from a bed, a disabled person using a reclining bed described in Japanese Patent No. 1646640 or a wheelchair using a sling sheet or the like. Japanese Patent Application Laid-Open No. H8-2242 discloses an overhead traveling lift which is wrapped and lifted and moved by a ceiling rail traveling type lift.
No. 78, a floor traveling lift in which a care receiver is wrapped with a sling sheet and the like and lifted and moved by a floor lift with a trolley, or a disabled person with a knee and hip in a sitting position described in Japanese Patent No. 1984542. There is a forward-tilt holding traveling lift or the like that moves on the floor in a forward-tilt hanging posture state while holding the vehicle and the chest or back.

[0005]

However, in the above-mentioned overhead traveling lift, since the ceiling rail is laid to the destination to be used, the moving operability is good, but the destination is limited, and other destinations are generated. In such a case, the rails must be extended, and the building needs to be remodeled, which is large and expensive. In addition, it is necessary for the caregiver to lift, lower, or perform a traveling operation according to the contents of the care. In order to lift the care receiver, the caregiver replaces his or her body on the back of the care receiver on the bed. Must be laid down and wrapped so that it can be lifted, and the lifting bracket must be fixed to the lift for lifting operations.Moreover, it is necessary to attach and detach the sling sheet every time it is moved. Further reduction was desired.

[0006] The floor traveling lift is considered to be easy to introduce in terms of cost because its structure is relatively simple. The traveling lift is configured such that it is easy to transfer the transfer to a wheelchair, a toilet seat, or the like because the back is open, but a large amount of care is required for the position change work until the care receiver on the bed takes a sitting position. Have a problem. As described above, each form has advantages and disadvantages, and is not satisfactory, and improvement has been desired.

In view of the above problems, the present invention provides a caregiver that raises the upper body of a care-receiver in a supine position, allows the cared person to move from a sitting position to a wheelchair, a toilet seat, or the like in a sitting position again from a standing position. It is an object of the present invention to provide a support device to improve the quality of nursing care for a cared person and to reduce the care effort of the cared person.

[0008]

SUMMARY OF THE INVENTION In order to solve the above-mentioned problems, a first aspect of the present invention provides a base having wheels, an elevating means provided upright at one end of the base, and an elevating means operated by the elevating means. A posture changing means for assisting the posture change from the supine position to the sitting position, or from the sitting position to the supine position, while moving and holding the care receiver's upper body,
The posture changing means has a gripper for gripping at least the chest of the care receiver from above the bed, and when the base is inserted under the bed from the side of the bed, the posture changing means changes the posture when the posture is changed. The moving center is located at the hip joint of the care receiver, and the care receiver in the supine position is gripped from the chest side by the gripper.

According to a second aspect of the present invention, in the first aspect of the present invention, there is provided a seat plate serving as a seat portion of the care receiver when the care receiver is changed to a sitting posture, and an insertion means therefor. The insertion means inserts the seat plate into the lower part of the thigh of the care receiver in the supine position with the base inserted below.

According to a third aspect of the present invention, in the second aspect of the present invention, the center of rotation of the seat plate is provided at the same position as the center of rotation of the posture changing means. The board is moved to the rear of the cared person, and performs a leg extension assisting operation when the cared person changes posture to the standing position.

According to a fourth aspect of the present invention, in the third aspect of the present invention, the gripper is rotatable approximately 90 degrees in a horizontal plane, and the care receiver is rotated approximately 90 degrees to face the lifting / lowering means. It is characterized in that it is possible.

According to a fifth aspect of the present invention, in any one of the first to fourth aspects, the position of the care receiver can be changed in the height direction while the base is inserted into the lower part of the bed. .

According to a sixth aspect of the present invention, in any one of the first to fifth aspects of the present invention, the gripper has a gripping hand for gripping a girth extending from the chest to the back of the care receiver. Characterized in that a flexible cushioning material is attached to at least a part in contact with the cared person.

According to a seventh aspect of the present invention, in the sixth aspect of the present invention, the gripping hand has a gripping force detecting means at at least one position in contact with the cared person, so that the gripping force can be detected. .

According to an eighth aspect of the present invention, in the invention of the sixth or seventh aspect, the gripping hand is formed such that one opening on the head side of the cared person is widened and the other opening is narrowed, and the gripping hand is substantially conical. It is characterized by having a shape.

According to a ninth aspect of the present invention, in any one of the first to eighth aspects of the present invention, there is provided a computer for operating the lifting / lowering means and the posture changing means, and an operation displacement adapted to each care receiver in a memory of the computer. It has a memory for storing amount data, and is characterized in that it is possible to recall the data at the time of a nursing operation and reproduce the operation based on the displacement amount according to each individual cared person.

[0017]

Embodiments of the present invention will be described below in detail with reference to the drawings. FIGS. 1 to 3 show an example of a care support machine according to the present invention, which is arranged beside a bed on which a cared person is lying, and in which the care support machine is set to receive moving / transfer care from the bed. Is shown. 1 is a front view, FIG. 2 is a plan view, and FIG. 3 is a right side view. In the figure, a care support machine is a base 3, a gripper 5 for gripping a chest, a seat plate 10, and a lift cylinder as an elevating means. 4. Microcomputer 29 for controlling operation of movable part
The main component is the protection frame 11 provided with the control unit 29 containing the a. Also, 31 is a cared person, 32
Indicates a bed.

The base 3 comprises a substantially U-shaped frame 3a opened rearward and a tread plate 3b covering the upper part thereof.
Wheels 20 are arranged at the four corners so that they can be easily moved on the floor. The lift cylinder 4 is provided upright at the center of the front side of the frame 3a. The piston rod 21 of the lift cylinder 4 has a piston rod 21
The carriage 8 is hung in a cylindrical shape so as to enclose the lift cylinder body, and the carriage 8 is assembled so as to be rotatable in the circumferential direction of the lift cylinder 4. A bracket 22 is provided at the lower end of the carriage 8 to rotate the posture changing means. A shaft 2a is formed.

The posture changing means fixes the lift arm 17a to a disk-shaped bearing 23 which is supported by the rotating shaft 2a, and holds the lift arm 17a via a connecting arm 17b projecting rearward at a right angle from the tip of the lift arm 17a. The container 5 is provided.
A rotation axis 10a of the seat plate 10 is provided concentrically outside the rotation axis 2a of the posture changing means, and the rotation axis 10a
The seat plate 10 is supported by a fan-shaped seat plate rotating bearing 24, which is rotatably supported by the seat plate, a cylindrical seat plate housing bearing 25 fixed to the seat plate rotating bearing 24, and a seat plate rotating shaft 19 formed through the bearing. Is installed.

The seat plate 10 is connected to a seat plate rotating shaft 19 via a seat cylinder 9 which is a seat plate inserting means formed by connecting two cylinders, and is provided in the front-rear direction, that is, in the lateral direction with respect to the care receiver. And movably mounted on the seat plate rotating shaft 19.
Are mounted rotatably in the circumferential direction of the seat plate storage bearing 25.

The connecting arm 17b has a lift arm cylinder 18 inside, and the tip is formed to be movable back and forth. The gripper 5 is mounted via a slide cylinder 14 provided in a direction perpendicular to the tip. A gripping hand 15 for gripping the chest, and a gripping cylinder 13 for gripping the gripping hand 15. The gripping hand 15 is mounted via a gripper carriage 16 connected to the tip of a slide cylinder 14. It pivots around a central axis in a hinge-like manner and performs a pinching operation. The gripping hand 15 is provided with a handle 12 for the care receiver 31 to grip.

The slide cylinder 14 is provided for setting the gripper 5 at an optimum position even if the care receiver 31 has a difference in height. It is provided so that it can be moved in the height direction to correspond to an arbitrary height. Further, by providing the lift arm cylinder 18 on the connecting arm 17b, the gripper 5 can be arranged at the center of the chest in accordance with the left and right positions on the bed 32 of the care receiver 31 (front and rear positions as viewed from the machine). I have.

The gripping hand 15 is formed in a symmetrical circular arc shape so as to grip the girth from the chest to the back of the care receiver 31. The grip hand 15 has a substantially conical shape with a wide head side and a narrow abdomen side. It has a shape. Therefore, the entire gripping hand can be gripped with a substantially uniform pressing force. In addition, a buffering agent 15a having flexibility and excellent heat insulation properties is mounted on the inner side in contact with the care receiver so as to minimize discomfort even when directly touching the skin. In addition, the temperature difference with the gripping hand 15 is reduced, and the difference in body shape is absorbed. Further, a gripping force detecting means 30 for detecting a gripping force is provided on the gripping surface, so that the gripping is always performed with a constant optimal gripping force, and the burden on the care receiver can be reduced as much as possible.
As the gripping force detecting means, for example, a pressure sensor for detecting pressure or a strain sensor for detecting distortion may be used. The buffer 15a may be formed to have sufficient elasticity by filling an elastic body or a gel material inside.

The posture changing means has a posture changing cylinder 6 in a protection frame 11 and is formed so as to be able to rotate the gripper 5 in the left-right direction. It is formed so as to rotate in the left-right direction by a seat plate rotation cylinder 7 provided adjacently. The base ends of both cylinders are pivotally supported by a cylinder bracket 28 provided on the upper part of the carriage 8 so as to be freely swingable, and the end of a cylinder piston rod 26 which is the tip of the posture changing cylinder 6 is supported by a bearing 23. The end of the cylinder piston rod 27 which is the tip of the seat plate rotating cylinder 7 is connected to the seat plate rotating bearing 2.
4 is supported. The microcomputer 29a provided in the protection frame 11 is provided for each of the cared persons 3
The position data once set, such as the height and position of the gripper 5, the gripping force of the gripping hand 15, and the position of the seat plate 10, can be stored according to the body shape and state of the device 1. Readout and each movable part can be automatically set. In this way, the angle and position of each movable part can be instantaneously arranged in a state that matches the individual cared person without making fine adjustments to each cared person. Support can be performed efficiently.

Next, an operation procedure of the care device will be described. First, the base 3 is inserted under the bed from the side of the bed 32, that is, from the side with respect to the care receiver 31 who is lying on the bed 32. The base 3 is inserted from the rear end direction, and the insertion operation can be smoothly performed by the wheels 20 provided at the four corners. At this time, the gripper 5 for gripping the chest and the waist is disposed above the care receiver 31, and the seat plate 10 on which the care receiver 31 sits is positioned on the upper surface of the bed 11, and the seat 11 is seated. Initially, the plate rotating shaft 19 is set at a position where the angle becomes a horizontal angle. As for the position of the base 3, the position of the rotating shaft 2 a of the posture changing means is finally determined by the care receiver 31.
The position of the bed in the vertical direction is finely adjusted and fixed so that the position substantially coincides with the hip joint serving as a pivot point for raising the upper body. It is preferable to fix the base 3 by providing a stopper on the wheel 20.

Next, in order to position the gripper 5 in the bed width direction, the center of the gripper carriage 16 is moved to the care receiver 31.
The length of the connecting arm 17b is adjusted by extending and retracting the lift arm cylinder 18 so as to substantially coincide with the center of the arm.
Thereafter, the side of the gripping hand 15 is moved to the care receiver 3 while the gripping hand 15 is opened by extending and retracting the slide cylinder 14.
Take it to the armpit position of 1. Then, the lift cylinder 4 is operated to expand and contract so that the height of the bearing 23 substantially matches the hip joint of the care receiver 31. By doing so, the position of the seat plate 10 is also adjusted to the position of the bearing 23 in the initial set, so that the position substantially coincides with the upper surface of the bed 32. Seat plate 10
If necessary, the caregiver assists in lifting the knee and sets the seat plate 10 on the lower part of the thigh. Thus, by providing the seat cylinder, the seat plate serving as the seat can be easily set. The height of the gripper 5 may be finely adjusted by operating the posture changing cylinder 6.

With the above, preparations for switching to the sitting position are completed, and the user enters the sitting position switching operation. First, a grip operation of the chest and the waist is performed.
The gripping operation will be described based on the operation explanatory diagram of FIG. 4A and 4B show side views of the gripper unit, where FIG. 4A shows a state in which preparation for gripping is completed, FIG. 4B shows a state in the middle of gripping operation, and FIG. 4C shows a state in which gripping operation is completed. First, the grip cylinder 13 is operated to change the grip hand 15 from the open state to the grip state. At this time, the gripping force of the gripping hand 15 is detected by the gripping force detecting means 30, and when the set value is reached, the gripping operation is terminated. After the holding, the care receiver 31 grips the handle 12 to fix the positions of the hands and arms. Since data such as the height of the gripper bearing 23, the position of the gripper 5, and the gripping force for each individual are stored in the controller, the data can be automatically set to the respective positions by calling the data and giving an operation instruction. The caregiver can save time and the cared person has less discomfort.

Next, the operation for raising the upper body is started. First, the posture changing cylinder 6 is contracted to rotate the posture changing means, and is rotated in the direction of the arrow shown in FIG. 1A to change from the supine position to the sitting position. At this time, since the pivot point of the cared person 31 and the pivot point of the posture changing means coincide with each other, it is possible to minimize the displacement and the feeling of oppression caused by the movement, and to change the body position to the sitting position. It can be done smoothly. After that, the operation for leaving the bed 32 is started. Extend the lift cylinder 4 to lift up to a height commensurate with the length of the care receiver's 31 leg, unlock the wheels 20 and insert the machine into the bed 32 to the nearest easy-to-care location. After moving, the lift cylinder 4 is operated again to extend and retract the cared person so that the foot of the cared person can step on the base 3 of the machine. FIG. 5 is a front view of this state, FIG.
FIG. 7 is a right side view. In this manner, the care receiver can be held in a sitting posture, and the care receiver and the caregiver can be pulled out of the bed in a sitting position without placing a burden on the care receiver and the caregiver. Then, in this sitting position, the user moves to the target nursing care location, locks the wheel 20, and starts the next position changing operation.

Next, a description will be given of an operation of changing the direction from the sitting state to the standing state, further changing the direction from the standing state to a state in which it is easy to sit on a wheelchair or a toilet seat. First, in order to take a standing posture, the lift cylinder 4 is extended and the seat plate 10 is extended.
Is rotated in the direction of arrow B in FIG. 1 to extend the waist of the care receiver 31. This rotation operation is performed by operating the seat plate rotation cylinder 7, and the lift cylinder 4 stops extending at a position where the care receiver 31 can take the standing posture on the base 3. 8 is a front view in a standing position, FIG. 9 is a plan view, and FIG. 10 is a right side view.

Next, a direction change operation is started. First, the seat plate 10 is stored. The storage of the seat plate 10 is completed by reducing the length of the seat cylinder 9 to the shortest and rotating the seat rotation shaft 19 by 90 degrees to fold the seat plate 10 so as to be parallel to the protective frame 11. In this state, the lift arm cylinder 18 is contracted to bring the care receiver 31 closer to the protection frame 11. Then, the care receiver is assisted around the gripper carriage 16 so as to face the lift cylinder 4 which is the front direction. When facing the front, the carriage 8 and the protective frame 11 integrated with the carriage 8 are moved around the lift cylinder 4 to the care receiver 31.
Is rotated so as to be positioned substantially at the center of the base 3 and the body position change is completed.

With the above operation, the transfer preparation is completed, and the rider makes a final approach from the back of the care receiver 31 (behind the machine) to the transfer destination in a standing position to start the transfer, and for example, lifts to sit on a wheelchair or a toilet seat. The cylinder 4 is contracted and switched to the sitting position again to complete the transfer. 11 to 13 show this sitting position, FIG. 11 is a front view, FIG. 12 is a plan view, and FIG. 13 is a right side view. If the care recipient's chest needs to be gripped at the transfer destination, the gripping force may be reduced as necessary, and
It is only necessary to reduce the burden on the user and continue gripping, and when it is not necessary to grip the chest, open the gripping hand 15 and release the grip,
Retract the machine and end transfer care.

As described above, since the care receiver's upper body is lifted by grasping the chest and the waist and the patient is switched from the supine position to the sitting position, the sitting position can be achieved without requiring the caregiver's labor. Further, when switching from the supine position to the sitting position, the center of rotation of the body coincides with the center of rotation of the machine, so that there is almost no displacement of the body, and it is possible to reduce the pain and burden on the cared person. In addition, since the care operation is performed from the front of the cared person when the cared person is transferred, there is no obstacle on the back side, the transfer can be easily performed without any labor, and the device to be attached to the cared person is a gripper. However, since the seat plate is only inserted under the thigh, the operation of the caregiver is simple, and the labor can be reduced.

In the above-described embodiment, a cylinder is frequently used as a driving device for each part. However, a hydraulic pressure generating device as a driving source is incorporated in the protection frame 11 together with a valve.
As a driving power source, a storage battery is built in the protection frame 11 (not shown).
V or 200 V may be used by connecting a plug. It goes without saying that the actuator can be replaced by an electric motor and other transmission devices such as screws, gears, belts, chains, etc. other than the hydraulic cylinder.

[0034]

As described above in detail, according to the first aspect of the present invention, the posture changing means grips the care receiver and assists the posture change from the supine position to the sitting position or vice versa. So that the caregiver does not require much effort. In addition, since the rotation center of the posture changing means at the time of changing the posture is located at the hip joint of the care receiver, the center of rotation of the body coincides with the center of rotation of the machine, and the displacement of the body hardly occurs. Thus, the pain and burden on the cared person can be reduced.

According to the second aspect of the present invention, in addition to the effect of the first aspect, the cared person can be held in a sitting posture, and the cared person can be placed on the bed without burdening the cared person and the carer. It can be pulled out as it is.

According to the third aspect of the invention, in addition to the effect of the second aspect, the seat plate has the same rotation center as the rotation center of the posture changing means, that is, the seat plate is rotated to the hip joint position of the care receiver. Since the patient has the center, the care receiver can extend his or her leg without difficulty by gradually rotating when the posture is changed to the standing position.

According to the fourth aspect of the invention, in addition to the effect of the third aspect, the seat plate can be easily set, and the cared person can be turned to the elevating means side, that is, the front, so that the subject can be transferred rearward. If a wheelchair, a toilet seat, or the like is arranged, the vehicle can be easily transferred without obstacles.

According to the invention of claim 5, claims 1 to 4 are provided.
In addition to the effects of any one of the above, the gripper can be arranged and gripped at an optimum position in accordance with the height of the care receiver, and can be easily supported for the care support of a plurality of care receivers having different body shapes.

According to the invention of claim 6, according to claims 1 to 5,
In addition to the effect of any one of the above, since the portion of the gripper in contact with the care receiver has flexibility, even when directly touching the skin, it is possible to reduce discomfort when gripping and absorb differences in body shape be able to. In addition, the entire chest and waist circumference can be held, and the burden on the care receiver is small.

According to the invention of claim 7, in addition to the effect of claim 6, since the gripping force of the gripping hand can be detected, the gripping force can always be kept constant, and the burden on the cared person is minimized. Grip operation can be performed.

According to the invention of claim 8, according to claim 6 or 7,
In addition to the effect described above, it is possible to grip with substantially uniform pressing force over the entire gripping surface.

According to the ninth aspect, the first to eighth aspects are described.
In addition to the effects of any one of the above, the angle, position, and the like of each movable portion can be instantaneously arranged in a state adapted to the individual cared person, and optimal care support for the cared person can be efficiently performed.

[Brief description of the drawings]

FIG. 1 shows an example of an embodiment of the present invention, and is a front view of a care support device arranged beside a bed on which a care receiver lies.

FIG. 2 is a plan view of FIG.

FIG. 3 is a right side view of FIG. 1;

4A and 4B are enlarged views of the gripper unit of FIG. 3 for explaining the operation of the gripper, wherein FIG. 4A shows a state in which gripping preparation is completed, FIG. 4B shows a state in which gripping is being performed, and FIG. The state is shown.

FIG. 5 is a front view of the care receiver in a sitting position.

FIG. 6 is a plan view of FIG. 5;

FIG. 7 is a right side view of FIG.

FIG. 8 is a front view of the care receiver in a standing state.

FIG. 9 is a plan view of FIG.

FIG. 10 is a right side view of FIG.

FIG. 11 is a front view of a state in which the care receiver is turned to the front.

FIG. 12 is a plan view of FIG.

FIG. 13 is a right side view of FIG.

[Explanation of symbols]

2a ··· Rotating axis of posture changing means, 3 ··· base, 4 ··· lift cylinder (elevating means), 5 · · · gripper, 6 · · · posture changing cylinder, 7 · · · seat plate rotating cylinder, 9 ..Seat plate cylinder (seat plate insertion means), 10 ·· Seat plate, 10a ·· Seat plate rotating shaft, 15 ·· Grip hand, 15a ··· cushioning material, 1
7a lift arm, 17b connecting arm, 20
Wheel, 29 controller, 29a microcomputer, 30 gripping force detecting means.

Claims (9)

[Claims] 1. A base having wheels, elevating means provided upright at one end of the base, moving up and down by the operation of the elevating means, and holding the cared person's upper body from the supine position to the sitting position. Or a posture changing means for assisting posture change from a sitting position to a supine posture, wherein the posture changing means has a gripper for gripping at least the chest of the care receiver from above the bed. When the base is inserted beneath the bed from the side of the bed, the center of rotation of the posture changing means when changing the posture is located at the hip joint site of the care receiver, and the care receiver in the supine position with the gripper. A nursing support machine characterized by gripping a person from the chest side. 2. The method according to claim 1, further comprising a seat plate serving as a seat portion of the care receiver when the care receiver is changed to a sitting posture, and an insertion means for inserting the base under the bed from a lateral direction of the bed. 2. The care assisting device according to claim 1, wherein the means inserts the seat plate at a position below the thigh of the care receiver in the supine position. 3. The center of rotation of the seat plate is provided at the same position as the center of rotation of the posture changing means, and when the posture changing means is raised in the sitting position, the seat plate moves to the rear of the care receiver, 3. The nursing care support machine according to claim 2, wherein when the caregiver changes posture to the standing position, the caregiver performs a leg extension assisting operation. 4. The care assisting device according to claim 3, wherein the gripper is rotatable by about 90 degrees in a horizontal plane, and the care receiver is able to rotate by about 90 degrees to face the elevating means. 5. The care assisting device according to claim 1, wherein the position of the gripper can be changed in the height direction of the care receiver with the base inserted into the lower part of the bed. 6. The gripper has a gripping hand for gripping a waist circumference extending from the chest to the back of the care receiver, and a flexible cushioning material is attached to at least a portion of the gripping hand in contact with the care receiver. A care support machine according to any one of claims 1 to 5, wherein 7. The nursing care support device according to claim 6, wherein the gripping hand has a gripping force detecting means at at least one position in contact with the care receiver, and can detect the gripping force. 8. The care assisting machine according to claim 6, wherein the gripping hand has a substantially conical shape with one opening on the head side of the care receiver being widened and the other opening being narrow. . 9. A computer for operating the lifting / lowering means and the posture changing means, and a memory for storing operation displacement data according to each cared person in a memory of the computer, and the data is called at the time of nursing operation. The nursing care support machine according to any one of claims 1 to 8, wherein the operation can be reproduced based on a displacement amount corresponding to each care receiver.