JP2008029823A - Loading/unloading unit and transferring device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a loading/unloading unit and a transferring device, preventing an occurrence of the entanglement of the hair and the like of a cared person to safely transfer the cared person. <P>SOLUTION: This loading/unloading unit 11 is formed with an oblique surface 11a and an upper surface 11b having contact areas to come into contact with the cared person 101, and the oblique surface 11a and the upper surface 11b of the loading/unloading unit 11 are vibrated in a loading direction LD and in an unloading direction UL upon loading the cared person 101 on the loading/unloading unit 11 or unloading the cared person 101 from the loading/unloading unit 11. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention relates to a transfer unit and a transfer device for supporting transfer of a care recipient from a bed or the like to another object.

  In recent years, the number of care recipients has increased with the declining birthrate and aging population, and the number of caregivers is expected to decrease in the near future. Of the care work, the transfer work of transferring the care recipient from a bed or the like to another bed, wheelchair or the like has a large physical burden on the caregiver and further increases as the number of caregivers decreases.

  In consideration of such circumstances, several transfer devices that support transfer work have been proposed in the past. The example shown in FIG. 34 is an example of a transfer unit using a belt mechanism, and the moving state for transferring from the left bed to the right bed is shown in (a) to (d) of FIG. This is a configuration for inserting the transfer unit below the cared person without great resistance.

  The transfer unit shown in FIG. 34 has a belt 201 at the top and a belt 202 at the bottom. First, as shown in FIGS. 34A and 34B, when the belts 201 and 202 are rotated in the directions of arrows AA1 and AA2, respectively, the entire transfer unit is moved to the left by the belt 202. At this time, since the belt 201 is reversed with respect to the belt 202, the point P1 on the belt 201 does not move relative to the care receiver CP or the bed. Therefore, the transfer unit can be kept under the care recipient CP as it is, and the state shown in FIG. Thereafter, when the operation of the belt 201 is stopped as shown in FIG. 34D and only the belt 202 is reversed, the care recipient CP can be transferred to the right bed (see, for example, Patent Document 1). .

  Further, the example shown in FIG. 35 is an example of the transfer unit 210 using a large number of small actuators 211. In the transfer unit 210 shown in FIG. 35, as shown in FIGS. 36A to 36D, the small actuator 211 can sequentially move the object in contact with the surface by feeding. For example, as shown in FIG. 37, the care recipient CP can be transferred from the movable bed 211 to the bed 212 (see, for example, Patent Document 2).

Furthermore, as another example of the transfer device, for example, as shown in FIG. 38, there is an arm type lifting device in which the caregiver operates the support 304 to scoop up the care receiver and transfer (see, for example, Patent Literature). 3).
JP-A-62-253057 JP 2005-304735 A JP-A-10-295744

  However, since the conventional transfer unit uses a mechanism that is largely movable, there are the following problems. For example, the transfer unit shown in FIG. 34 has a belt mechanism, and the hair, clothes, bedding, etc. of the cared person are caught in this relatively moving mechanism (such as between the belt and the drive shaft). was there. In addition, in the transfer unit shown in FIG. 35, the hair is entangled with a large number of irregularities, and cleaning is difficult because of the irregularities. Further, the conventional transfer device does not take into account the relative inclination of the cared person, and may be in an unstable support state depending on the exercise of the cared person.

  An object of the present invention is to provide a transfer unit and a transfer apparatus that can prevent a cared person's hair from being caught and can safely perform a cared person's transfer operation.

  The transfer unit according to the present invention includes a base on which a contact portion having a contact area that comes into contact with a cared person is formed, and a friction state between the contact area and the cared person is varied.

  In this transfer unit, the frictional state between the contact area and the cared person is variable, so that the contact area and the cared person are loaded when the cared person is loaded on or removed from the base. Thus, the base can be smoothly inserted and pulled out. As a result, the cared person can be loaded onto the base or unloaded from the base without providing a mechanically large displacement part, and the cared person's hair can be prevented from being caught and transferred. Operation can be performed safely.

  It is preferable that the frictional state between the contact area and the cared person is changed by vibrating the contact area and changing at least one of a vibration amplitude and a vibration frequency of the contact area.

  In this case, since the friction state between the contact area and the cared person is varied by varying at least one of the vibration amplitude and the vibration frequency of the contact area, the cared person is loaded on the base or the base At the time of lowering from the table, at least the contact area is vibrated, and the cared person can be loaded on the base or taken down from the base without providing a mechanically large displacement part. Generation | occurrence | production can be prevented and a cared person's transfer operation can be performed safely.

  The direction in which the contact portion is inserted into the cared person is the loading direction, the opposite direction to the loading direction is the unloading direction, the direction perpendicular to the left side toward the loading direction in the horizontal plane is the left width direction, and the left width The direction opposite to the direction is the right width direction, and the contact region is a component of at least one vibration direction among the load direction and the unload direction, the gravity direction and the antigravity direction, and the left width direction and the right width direction. It is preferable to vibrate to have.

  In this case, since the contact area is vibrated so as to have at least one vibration direction component among the load direction and the unload direction, the gravity direction and the antigravity direction, and the left width direction and the right width direction, the cared person When the user is loaded on or removed from the base, the friction force between the care receiver and the bed on which the care receiver is lying and the contact area of the contact portion can be reduced. A person can be easily loaded on or removed from the base.

  The loading direction is the direction in which the contact portion is inserted with respect to the cared person, the unloading direction is the direction opposite to the loading direction, and when the cared person is loaded on the base, at least the contact area is in the antigravity direction And preferably oscillated so as to have a component in the unload direction.

  In this case, when the cared person is loaded on the base, the contact area is vibrated so as to have a component in the antigravity direction and the unload direction, so the inertia of the cared person with respect to the upward acceleration of the contact area Due to the reaction caused by the above, the vertical drag on the contact area is increased and the frictional force is increased, so that the cared person can be easily loaded on the base.

  It is preferable that the contact area is vibrated so as to include rotation in a direction in which a vector in the antigravity direction in the contact area is rotated in the unload direction when the care recipient is loaded on the base.

  In this case, when the care recipient is loaded on the base, the contact area is vibrated so as to include rotation in a direction to rotate the anti-gravity direction vector in the contact area in the unload direction. The displacement of the caregiver becomes larger, and the cared person can be loaded on the base in a shorter time.

  The loading operation of loading the care receiver on the base and the operation of unloading the base from the base so that the vibration speed or vibration acceleration of the contact area differs between the loading direction and the unloading direction. The vibration state is preferably switched.

  In this case, the vibration state of the contact area is switched between the loading operation and the unloading operation so that the vibration speed or vibration acceleration of the contact area is different between the loading direction and the unloading direction. The frictional force at the time can be increased, while the frictional force at the time of moving in the load direction can be increased during the lowering operation, so that both operations can be selectively realized.

  During the loading operation, the vibration speed of the contact area in the unload direction is preferably slower than the vibration speed of the contact area in the load direction.

  In this case, since the vibration speed of the contact area in the unload direction during the loading operation is slower than the vibration speed of the contact area in the load direction, the frictional force during movement in the unload direction during the loading operation can be increased. Thus, the loading operation of the care recipient can be easily performed.

  During the loading operation, the absolute value of the vibration acceleration of the contact area at the time of switching from the unload direction to the load direction is the vibration acceleration of the contact area at the time of switching from the load direction to the unload direction. The absolute value is preferably larger.

  In this case, during the loading operation, the absolute value of the vibration acceleration in the contact area when switching from the unloading direction to the loading direction is greater than when switching from the loading direction to the unloading direction, so the inertial force during switching decreases. The slip of the cared person in the loading direction during the loading operation can be suppressed.

  The direction of inserting the contact portion with respect to the cared person is the loading direction, the direction opposite to the loading direction is the unloading direction, and when the cared person is loaded on the base, the friction coefficient of the contact area is When the cared person is lowered from the base, the friction coefficient of the contact area is preferably smaller in the unload direction than in the load direction.

  In this case, when the care recipient is loaded on the base, the friction coefficient of the contact area is increased in the unload direction than in the load direction, so that the friction force when moving the contact portion in the load direction can be reduced. In addition, the frictional force when moving the contact portion in the unloading direction can be increased, and the cared person can be easily loaded on the base. Further, when the care recipient is lowered from the base, the friction coefficient of the contact area is made smaller in the unload direction than in the load direction, so the friction force when moving the contact portion in the unload direction can be reduced. In both cases, the frictional force when moving the contact portion in the load direction can be increased, and the cared person can be easily lowered from the base.

  It is preferable that the contact portion selectively switches a direction with a large coefficient of friction according to an operation of loading the care receiver on the base and an operation of lowering the care receiver from the base.

  In this case, since it is possible to switch to a friction coefficient suitable for each operation of the operation of loading the care receiver on the base and the operation of lowering the care receiver from the base, both operations can be easily performed. it can.

  The contact portion includes a first contact member having a large coefficient of friction in a direction suitable for an operation of loading a care receiver on the base, and a large friction in a direction suitable for an operation of lowering the care receiver from the base. A second contact member having a coefficient, and the first and second contact members are configured to perform an operation of loading the care receiver on the base and an operation of lowering the care receiver from the base. Preferably, it can be selectively switched.

  In this case, for the operation of loading the cared person on the base, the first contact member having a large friction coefficient in the direction suitable for the operation of loading the cared person on the base is used. Since the second contact member having a large friction coefficient in the direction suitable for the operation of lowering the cared person from the base can be used for the operation of lowering from the base, the contact member suitable for each operation It can be switched and both operations can be easily performed.

  It is preferable that a plurality of fibrous elastic bodies aligned in a constant direction parallel to a plane including the gravitational direction, the loading direction, and the unloading direction and inclined with respect to the gravitational direction are provided on the surface of the contact region.

  In this case, since the plurality of fibrous elastic bodies are aligned in a constant direction parallel to the plane including the gravity direction, the load direction and the unload direction and inclined with respect to the gravity direction, the friction coefficient in the load direction is unloaded. The friction coefficient in the direction can be made larger, or the friction coefficient in the unload direction can be made larger than the friction coefficient in the load direction.

  The contact portion may include a sawtooth member having a sawtooth shape in which a cross section parallel to a plane including the gravity direction, the load direction, and the unload direction has an asymmetric shape in the gravity direction.

  In this case, since the sawtooth member has a sawtooth shape whose cross section parallel to the plane including the gravity direction, the load direction and the unload direction has an asymmetrical sawtooth shape in the gravity direction, the friction coefficient in the load direction is the friction coefficient in the unload direction. The friction coefficient in the unload direction can be made larger than the friction coefficient in the load direction.

  The contact portion includes a belt, the contact area is formed on an upper surface of the belt, the contact area is configured to be movable mainly in the loading direction and the unloading direction, It is preferable that the belt is driven to vibrate mainly in the loading direction and the unloading direction.

  In this case, since the contact area is mainly vibrated in the loading direction and the unloading direction by driving the belt, when the care recipient is loaded on or removed from the base, The frictional force between the bed or the like on which the cared person lies and the contact area of the contact portion can be reduced, and the cared person can be easily loaded on or removed from the base.

  It is preferable to carry out antistatic processing at least on the contact area. In this case, even when the contact area frequently rubs against the cared person, the charge accumulated in the contact area can be grounded, so that the feeling of use of the transfer unit can be improved.

  The transfer apparatus according to the present invention includes at least first and second transfer units, and the first and second transfer units include any one of the transfer units described above.

  In this transfer apparatus, since any one of the transfer units is used as the first and second transfer units, the frictional state between the contact area and the cared person is varied. As a result, the cared person can be loaded onto the base or unloaded from the base without providing a mechanically large displacement part, and the cared person's hair can be prevented from being caught and transferred. Operation can be performed safely. In addition, since at least two transfer units are provided, the operation of the two transfer units can be adjusted individually according to the posture of the cared person, and the inclination of the cared person with respect to the transfer device is suppressed. can do.

  It is preferable to further include a system control unit capable of individually adjusting the vibration characteristics of the contact areas of the first and second transfer units.

  In this case, since the vibration characteristics of the contact areas of the first and second transfer units can be individually adjusted, the inclination of the cared person when the cared person is loaded on or removed from the base is corrected. Thus, the inclination of the care recipient relative to the transfer device can be suppressed.

  When the direction of inserting the contact portion with respect to the cared person is the loading direction, and the direction opposite to the loading direction is the unloading direction, the system control unit has the direction of the spine in the lying position of the cared person and the It is preferable to adjust the vibration characteristics of the contact areas of the first and second transfer units according to inclination information corresponding to a relative angle with the loading direction or the unloading direction.

  In this case, the vibration characteristics of the contact areas of the first and second transfer units are adjusted according to the tilt information corresponding to the relative angle between the direction of the spine in the patient's lying position and the load direction or the unload direction. Therefore, the frictional force with respect to the cared person in the first and second transfer units can be individually corrected, and the inclination of the cared person with respect to the transfer device can be accurately corrected.

  A first marker and a second marker provided in parallel with the direction of the spine of the care recipient; and first and second distance sensors for detecting a distance to the first marker and the second marker, The system control unit preferably calculates the tilt information based on the distances from the first and second distance sensors to the first and second markers.

  In this case, the first and second distance sensors are used to detect the distance to the first and second markers provided in parallel with the direction of the cared person's spine, and the tilt information is obtained based on each distance. Since the calculation is performed, it is possible to accurately calculate the tilt information corresponding to the relative angle between the direction of the spine of the care recipient in the supine position and the load direction or the unload direction.

  It is preferable that the system control unit adjusts the vibration amplitude or vibration frequency of the contact area of the first and second transfer units.

  In this case, since the amplitude or frequency of vibration of the contact area of the first and second transfer units is adjusted, the vibration characteristics of the contact area of the first and second transfer units are finely controlled. It is possible to correct the tilt of the cared person when the cared person is loaded on the base or lowered from the base.

  According to the present invention, since the frictional state between the contact area of the contact portion and the cared person is variable, the cared person is loaded on the base or the base without providing a mechanically large displacement portion. The cared person can be transferred safely by preventing the cared person's hair from being caught.

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

(Embodiment 1)
The transfer device according to the first embodiment of the present invention reduces the friction between the transfer unit and the cared person by vibrating the contact area of the contact portion of the transfer unit. This transfer apparatus includes at least two transfer units.

  Hereinafter, the structure of the transfer apparatus of this Embodiment and the movement unit used for the said transfer apparatus is demonstrated using drawing. FIG. 1 is a schematic diagram showing a configuration of a transfer apparatus according to Embodiment 1 of the present invention, FIG. 1 (a) is a plan view, and FIG. 1 (b) is a side view.

  As shown in FIG. 1, the transfer device 12 includes two transfer units 11 and a transfer bed portion 13 disposed adjacent to the transfer unit 11. Below the transfer device 12, there are provided an outrigger-shaped leg portion 14 and a plurality of wheels 15 for freely moving the transfer device 12 in a horizontal plane in order to stabilize the entire device. The transfer unit 11 has a flat trapezoidal shape with a sharp tip, and vibrates in the direction of a double-headed arrow A1 shown in the figure. At this time, the care receiver 101 is lying on the bed 102. The contact portion having the contact area corresponds to the slope 11a and the upper surface 11b of the transfer unit 11, and the transfer unit 11 corresponds to the base.

  A drive mechanism, an electromechanical conversion system, a drive circuit, and the like that vibrate the transfer unit 11 are built in the lower part of the transfer bed portion 13. As a mechanism for generating vibration, for example, a piezoelectric element, a mechanism for rotating an eccentric mass, or the like can be used.

  The transfer unit 11 vibrates in the direction of the double-headed arrow A1 shown in the figure when moving the care receiver 101 on the slope 11a and the upper surface 11b. Incidentally, in order to load the care receiver 101 on the transfer unit 11, the direction in which the transfer unit 11 is inserted is the load direction, and the opposite direction is the unload direction. In the example shown in FIG. Is the load direction, and the arrow UL is the unload direction. The vibration direction A1 of the transfer unit 11 coincides with the load direction LD and the unload direction UL.

  Next, the operation of the transfer device 12 configured as described above will be described. 2 is a schematic diagram for explaining the operation of the transfer device 12 shown in FIG. 1. FIG. 2A is a plan view of an initial state, and FIG. 2B is a plan view of FIG. It is a side view and (c)-(f) of FIG.

  First, an operation of inserting the transfer unit 11 under the care receiver 101 from the states of (a) and (b) of FIG. 2 is performed. At this time, the transfer device 12 is moved in the direction of the arrow T1 while vibrating the transfer unit 11 in the direction of the double arrow A1. Then, the slope 11a which is a contact area of the transfer unit 11 contacts the care receiver 101. When the transfer device 12 is further advanced, resistance is generated by the frictional force generated between the care receiver 101 and the transfer unit 11.

  In the normal atmosphere, the frictional force between the two interfaces that do not have a large affinity and no liquid intervening and the normal drag are generally true of Ammonton-Coulomb's law. It is a coefficient. This friction coefficient is speed-dependent, and an example is shown in FIG.

  In general, the friction coefficient is as shown in FIG. 3, and the dynamic friction coefficient is smaller than the static friction coefficient. Since the transfer unit 11 vibrates the transfer unit 11 in the direction of the double-headed arrow A1 when moving the care receiver 101, the inclined surface 11a serving as a contact area that contacts the care receiver 101 and the care receiver 101. The friction state is always a dynamic friction state. In this dynamic friction state, the frictional force is lower than that in the static state, and without the need for a large external force, the state shown in FIGS. 2 (c) and (d) is passed through FIGS. 2 (e) and (f). As shown, the cared person 101 can be loaded on the transfer bed portion 13 relatively easily. Similarly, since the frictional force between the transfer unit 11 and the bed 102 is also a dynamic frictional force, the frictional force can be reduced. On the other hand, when lowering the care recipient 101, the same procedure can be followed by the reverse procedure.

  As described above, according to the present embodiment, the transfer unit 11 is vibrated in the direction of the double arrow A1, so that the friction between the care receiver 101 and the bed 102 and the transfer unit 11 is in a dynamic friction state. Thus, the burden on the caregiver can be reduced. Further, in this embodiment, it is not necessary to expose the rotation mechanism or the like, and there is no complicated surface structure, so that the care recipient 101 can be handled safely.

  Note that the vibration direction of the transfer unit 11 is not particularly limited to the above example, and as shown in FIG. 4, for example, the transfer unit 11 is moved in the direction of gravity and antigravity perpendicular to the load direction LD and the unload direction UL. You may make it vibrate in the direction of double arrow A2, which is the direction. In this case, since the vertical drag changes microscopically at the same time as the dynamic friction state, a moment with a small frictional force is created, and the care receiver 101 can easily move. Further, as shown in FIG. 1A, in the horizontal plane, the direction perpendicular to the left side in the load direction LD is the left width direction LL, and the opposite direction of the left width direction LL is the right width direction LR. The transfer unit 11 may be vibrated along. Also in this case, the friction between the care receiver 101 and the bed 102 and the transfer unit 11 can be changed to a dynamic friction state, and the burden on the caregiver can be reduced. In this way, the transfer unit 11 is vibrated so as to have at least one vibration direction component among the load direction LD and the unload direction UL, the gravity direction and the antigravity direction A2, and the left width direction LL and the right width direction LR. By doing so, the same effect as in the present embodiment can be obtained.

  Further, the vibration described above is effective when the care receiver 101 is loaded on the transfer unit 11 or lowered from the transfer unit 11, but the care receiver 101 is loaded on the transfer unit 11. Even in a certain steady loading state, the transfer unit 11 may be vibrated as necessary.

  Further, a member having a specific function on the surface of the transfer unit 11 may be attached to the contact portion. For example, as shown in FIG. 5, when it is desired to load the care recipient 101 intermittently, if there is a concern that the frictional force becomes too small due to vibration and the slope formed on the transfer unit 11 is slipped, In order to adjust the force, the illustrated friction member 16 or the like may be provided. In this case, it is possible to prevent slipping when the vibration is stopped.

(Embodiment 2)
The transfer device according to Embodiment 2 of the present invention changes the vibration direction of the contact area of the contact portion of the transfer unit between loading and unloading, and performs loading and unloading operations of the care recipient with a lower load. It is realized. Similar to the first embodiment, the transfer apparatus includes at least two transfer units.

  Hereinafter, the structure of the transfer apparatus of this Embodiment and the movement unit used for the said transfer apparatus is demonstrated using drawing. 6A and 6B are schematic diagrams illustrating the configuration of the transfer device according to the second embodiment of the present invention, in which FIG. 6A shows the time when the care recipient is loaded, and FIG. 6B shows the time when it is lowered. ing. The care receiver 101, the bed 102, the leg 14 and the wheel 15, and the arrows LD, UL, etc. shown in FIG. 6 are the same as those in the first embodiment, and the same reference numerals are given to the same parts, and detailed description thereof is given. Is omitted.

  The transfer unit 21 has an inclined surface 21a and an upper surface 21b that are integrally formed as a contact portion having a contact area. The transfer unit 21 is configured in the same manner as the transfer unit 11 of the first embodiment, but the vibration possible direction is different. Although not shown, the transfer device 22 includes two transfer units 21 as in the first embodiment.

  As shown in FIG. 6A, the transfer unit 21 vibrates in the direction of the double arrow A3 (oblique upper right direction and oblique lower left direction) when the cared person 101 is loaded, and when lowered, the transfer unit 21 in FIG. It vibrates in the direction of the double arrow A4 (oblique upper left direction and oblique lower right direction). The direction of the double arrow A3 is an intermediate direction between the horizontal direction close to the load direction LD and the gravity direction, and an intermediate direction between the horizontal direction close to the unload direction UL and the antigravity direction, and the direction of the double arrow A4 indicates the load direction. An intermediate direction between the horizontal direction near the LD and the antigravity direction and an intermediate direction between the horizontal direction near the unload direction UL and the gravity direction.

  Next, the operation of the transfer device 22 configured as described above will be described. FIG. 7 is a schematic diagram for explaining the operation when the transfer unit 21 shown in FIG. 6 is loaded. FIG. 7A is a stationary state, and FIG. When moving in the direction A31 on the antigravity side in the direction of the arrow A3, FIG. 7C also shows the time in the direction A32 on the gravity side in the direction of the double arrow A3.

  From the stationary state shown in FIG. 7A, first, as shown in FIG. 7B, when the transfer unit 21 moves in the anti-gravity side direction A31, Thus, the reaction caused by the inertia of the cared person 101 increases the vertical drag on the slope 21a and increases the frictional force. Thereby, the cared person 101 moves from the initial state of the broken line to the state of the solid line by the frictional force with the inclined surface 21a that is the contact area.

  Next, as shown in FIG. 7 (c), when the transfer unit 21 moves in the direction A32 on the gravity side, due to the inertia of the cared person 101 with respect to the downward acceleration of the transfer unit 21, The normal drag is reduced and the friction force is reduced. Thereby, although the movement of the transfer unit 21 has a horizontal component, since the frictional force is small, the movement of the care receiver 101 has substantially no horizontal component, and the dashed line in FIG. It becomes a state of a solid line from the state of.

  As a result, the cared person 101 moves from the broken line state to the solid line state due to the vibration of the transfer unit 21. In this way, as shown in FIG. 6A, the cared person 101 is loaded on the transfer unit 21, and the transfer unit 21 is inserted between the bed 102 and the cared person 101 so that the transfer device is placed. 22 can be advanced in the direction of arrow T1. On the other hand, when lowering the care receiver 101, as shown in FIG. 6B, the same operation is realized by vibrating in the direction of the double arrow A4.

  As described above, according to the present embodiment, the transfer unit 21 is vibrated in the direction of the double arrow A3 when loading the cared person 101, and is vibrated in the direction of the double arrow A4 when taking down. Thus, the loading operation and the unloading operation of the care recipient 101 can be easily realized.

  Depending on the situation, it may be an important issue to insert the transfer unit 21 between the bed 102 and the cared person 101 at the time of loading, and in that case, the vibration only in the direction of the double arrow A3. Even an apparatus that performs the above can be used practically.

  Further, as shown in FIG. 8, it is effective to cause the transfer unit 21 to rotate and vibrate. These show the vibration state when the cared person 101 is loaded. The rotation is performed so that the vector UP in the antigravity direction is overlapped toward the vector UL in the unload direction.

  (A) of FIG. 8 shows an initial state, V shows an arbitrary point of the transfer unit 21 paying attention to the motion, and ω shows a locus representing the motion of the point V. FIGS. 8B to 8E show the case where the phase of ω is rotated by 90 degrees, and the broken line in each figure advances in the unloading direction UL in one rotation in the initial state of the cared person 101. I can see that That is, when the entire transfer device 22 is advanced in the direction of the arrow T1, the transfer unit 21 is loaded in the load direction LD (see FIG. 6A). In the case of the lowering operation, the rotation direction can be reversed. As described above, in the case of rotational vibration, since the displacement of the cared person per amplitude becomes larger, the cared person can be loaded and unloaded in a shorter time.

  FIG. 9 is an example in which the same friction member 16 as that of the first embodiment is provided on the inclined surface 21a in order to increase the frictional force in the contact region and increase the traction force in the unloading direction UL. In this case, the same effect as described above can be obtained.

(Embodiment 3)
The transfer device according to the third embodiment of the present invention changes the speed or acceleration of the contact portion of the transfer unit between loading and unloading, and realizes the operation of loading and unloading the cared person with a lower load. . Similar to the first embodiment, the transfer apparatus includes at least two transfer units.

  Hereinafter, the structure of the transfer apparatus of this Embodiment and the transfer unit used for the said transfer apparatus is demonstrated using drawing. FIG. 10 is a schematic diagram showing the configuration of the transfer device according to the third embodiment of the present invention, where FIG. 10 (a) shows when a cared person is loaded, and FIG. 10 (b) shows when it is lowered. ing. Note that the care receiver 101, the bed 102, the leg 14 and the wheel 15, and the arrows LD, UL, and the like shown in FIG. 10 are the same as those in the first embodiment, and the same parts are denoted by the same reference numerals, and details thereof are shown. The detailed explanation is omitted.

  The transfer unit 31 has an inclined surface 31a and an upper surface 31b that are integrally formed as a contact portion having a contact area. The transfer unit 31 is configured in the same manner as the transfer unit 11 of the first embodiment, and the direction of vibration is the direction of the double arrow A1 as in the first embodiment, but the type of vibration is different. Although not shown, the transfer device 32 includes two transfer units 31 as in the first embodiment.

  As shown in FIG. 10A, when the care receiver 101 is loaded, the transfer unit 31 moves in a sawtooth shape as shown in a graph G1 of time and amplitude. The inclination of the graph G1 with respect to the time axis indicates the vibration speed. That is, the vibration speed is different between the load direction LD and the unload direction UL, and the movement is fast in the load direction LD. Thereby, the state close to the static friction coefficient and the state of the dynamic friction coefficient can be created in one cycle of vibration, and the cared person 101 can be slid with respect to the slope 31a when the dynamic friction force acts. Similarly, as shown in FIG. 10B, when the care receiver 101 is lowered, the relationship between the vibration speed and the direction is reversed.

  Next, the operation of the transfer device 32 configured as described above will be described. FIG. 11 is a schematic diagram for explaining the operation at the time of loading of the transfer unit 31 shown in FIG. 10, (a) of FIG. 11 shows a stationary state, and (b) to (e) of FIG. The operating state of the transfer unit 31 is shown. In addition, the broken line in a figure is an initial position of the transfer unit 31 and the care receiver 101.

  From the stationary state shown in FIG. 11A, first, as shown in FIG. 11B, when the transfer unit 31 moves at a high speed toward the load direction LD, the frictional force is in a dynamic friction state. The care receiver 101 is hardly displaced toward the load direction LD, and the transfer unit 31 is inserted between the care receiver 101 and the bed 102. Then, as shown in FIGS. 11C to 11E, when the transfer unit 31 is moved to the unload direction UL side at a low speed, a static friction state is applied, so that a large frictional force acts, The caregiver 101 can be moved to the unloading direction UL side. In this way, the loading operation can be continued. When the cared person 101 is lowered, it is realized by reversing the relationship between the vibration speed and the direction.

  As described above, according to the present embodiment, when loading and unloading the cared person 101, the vibration speed of the transfer unit 31 is changed between the load direction and the unload direction in the direction of the double arrow A1. Thus, the operation can be selectively realized. Although the vibration direction is the load direction LD and the unload direction UL, the vibration direction may be substantially parallel to the slope 31a which is a slope. Moreover, you may arrange | position the friction member 16 of FIG. 9, etc. to the inclined surface 31a as needed.

  Furthermore, as in the example shown in FIG. 12, the loading operation can be performed more effectively by giving a difference in vibration acceleration in addition to a difference in vibration speed. In the graph G3, it can be seen that the vibration acceleration from the load direction LD toward the unload direction UL is suppressed from the vibration acceleration from the unload direction UL toward the load direction LD. Thereby, the inertial force at the time of switching decreases, and it is possible to suppress the care receiver 101 from slipping in the load direction LD at the time of loading.

(Embodiment 4)
The transfer device according to the fourth embodiment of the present invention realizes the loading operation and the unloading operation by switching the contact portion of the transfer unit to a member having a different friction coefficient between the loading direction and the unloading direction when loading and unloading. To do. Similar to the first embodiment, the transfer apparatus includes at least two transfer units.

  Hereinafter, the structure of the transfer apparatus of this Embodiment and the transfer unit used for the said transfer apparatus is demonstrated using drawing. FIG. 13 is a schematic diagram showing the configuration of the transfer apparatus according to the fourth embodiment of the present invention, FIG. 13 (a) is a plan view, and FIG. 13 (b) is a side view. The care receiver 101, the bed 102, the leg 14 and the wheel 15, and the arrows LD, UL, etc. shown in FIG. 13 are the same as those in the first embodiment, and the same reference numerals are given to the same parts, and detailed description thereof is given. Is omitted.

  The transfer unit 41 includes elastic fiber plates 17a and 17b, which are contact members, as contact portions having contact areas on the inclined surface 41a and the upper surface 41b. As shown in FIG. 14, the elastic fiber boards 17a and 17b are the same object except for the mounting directions on the inclined surface 41a and the upper surface 41b. In the structure of the elastic fiber plates 17a and 17b, on the upper surface of the rigid plate 18, fiber materials 19 (an example of a fibrous elastic body) made of an elastic body are arranged in one direction. As the fiber material 19 made of this elastic body, various fiber materials can be selected, for example, nylon fiber, acrylic fiber, carbon fiber fiber and the like.

  FIG. 15 shows the movement of the object due to the movement of the elastic fiber board 17a. 15A shows a stationary state, FIG. 15B shows a state when the elastic fiber plate 17a is moved to the left, and FIG. 15C shows a state where the elastic fiber plate 17a is moved to the right. The state at the time of letting it be shown is shown.

  First, as shown in FIG. 15A, the fiber material 19 under the object M is elastically deformed by the weight of the object M. Here, as shown in FIG. 15B, when the elastic fiber board 17a moves to the left with acceleration, an inertial force acts on the object M and tries to stay there. Since the fiber materials 19 are arranged with a direction such that the object M can be easily displaced to the right in FIG. 15, only the elastic fiber board 17a moves to the left. On the other hand, as shown in FIG. 15 (c), when the elastic fiber board 17a moves to the right with acceleration, an inertial force acts on the object M and tries to stay there. Since 19 is arranged in a direction to engage with the object M, the object M moves together with the elastic fiber board 17a. As described above, the object M having one-way friction coefficient, such as the elastic fiber board 17a, can move in one direction with symmetrical vibration.

  FIG. 16 shows details of the slope 41a on which the elastic fiber plates 17a and 17b are arranged. The elastic fiber board 17a is provided with the fiber material 19 so that the friction coefficient becomes small when the object moves in the unload direction UL, and the elastic fiber board 17b has a friction coefficient when the object moves in the load direction LD. The fiber material 19 is arranged so as to be small. The transfer unit 41 has a built-in mechanism capable of switching the protruding amount of the elastic fiber plates 17a and 17b according to the purpose. FIG. 16 shows a state in which the elastic fiber plate 17a protrudes for the loading operation. The elastic fiber board 17a contacts the care receiver 101. The same structure as described above is also provided on the upper surface 41b as shown in FIG.

  Further, as shown in FIG. 13, the direction of vibration of the transfer unit 41 is the direction of the double-headed arrow A1 as in the first embodiment. The transfer device 42 includes two transfer units 41 as in the first embodiment. When lowering the care receiver 101, the elastic fiber board 17b is protruded, and the transfer unit 41 is vibrated in the direction of the double arrow A1.

  The operations of the transfer unit 41 and the transfer device 42 in the present embodiment are omitted because they are the same as those in the third embodiment, etc., but when performing symmetrical vibration in the direction of the double arrow A1, the elastic fiber plates 17a and 17b. By switching the above, the loading operation and the unloading operation of the care receiver 101 can be selectively realized. Although the direction of vibration is the direction of the double-headed arrow A1, the direction of vibration may be substantially parallel to the slope 41a, which is a slope.

  Also, as shown in FIG. 17, the same function can be realized even if the transfer unit 41 is vibrated in the direction of the double arrow A2 that is, for example, the direction of gravity and the direction of antigravity. When the elastic fiber plate 17a is accelerated upward from the stationary state shown in FIG. 18 (a) to the state shown in FIG. 18 (b), the fiber material 19 is elastically buckled and deformed by the inertial force. The object M that engages with the fiber material 19 is displaced to the right in the figure that is the buckling direction. Then, as shown in FIG. 18C, when the elastic fiber plate 17a is accelerated downward, the fiber material 19 is elastically restored, but the load applied to the fiber material 19 is reduced by the acceleration of the object M, and the engaged state. Is alleviated. For this reason, the upper end of the fiber material 19 slides on the bottom surface of the object M, and the object M is not displaced. Thus, even when vibrating in the direction of the double-headed arrow A2, the loading operation and the unloading operation for the care receiver 101 can be realized.

  Further, as shown in FIG. 19, elastic fiber plates 17 a and 17 b may also be disposed on the bottom surface 41 c of the transfer unit 41. Thereby, the frictional resistance between the transfer unit 41 and the bed 102 can be reduced.

  Further, instead of the elastic fiber plates 17a and 17b which are contact members, as shown in FIG. 20, a sawtooth shape in which a cross section parallel to the plane including the load direction LD and the unload direction UL has an asymmetric sawtooth shape in the gravity direction. Plates 18a and 18b can also be used. The serrated plate 18a has a slope along the oblique direction between the antigravity direction and the unload direction UL, that is, a slope along the direction of the fiber material 19 of the elastic fiber plate 17a, and the sawtooth plate 18b has an antigravity direction. And the slanting direction along the direction of the fiber material 19 of the elastic fiber board 17b, and the same effect as the elastic fiber boards 17a and 17b. Obtainable.

  Furthermore, as shown in FIG. 21, for example, only the elastic fiber plates 17 a and 17 b that are contact members may be vibrated with respect to the transfer unit 41. Also in this case, since the elastic fiber plates 17a and 17b have anisotropy in the coefficient of friction, the vibration direction is effective in either the direction of the double-headed arrow A1 or the direction of the double-headed arrow A2, and the combined direction is effective. is there. This configuration is more energy efficient because the mass of the moving part is low.

  Further, in the present embodiment, the elastic fiber plate 17a that is a contact member suitable for loading and the elastic fiber plate 17b that is a contact member suitable for lowering are used. For example, a contact member that functions with different anisotropy by electrical input can be used. For example, such a fine actuator can be realized by using a MEMS (Micro Electro Mechanical Systems) actuator or the like.

  In this embodiment, the effect of the elastic fiber board 17a, which is a contact member suitable for loading, and the elastic fiber board 17b, which is a contact member suitable for lowering, are set to be equal, but the load during loading is reduced. If it is larger than the load at the time, it is possible to appropriately change, for example, increase the area of the elastic fiber board 17a on the loading side, if necessary.

  Further, since the elastic fiber plates 17a and 17b as the contact members may be worn out, it is advantageous in terms of maintenance and the like to be removable. In addition, these contact members are likely to be charged due to frequent friction with the cared person, so they are used by applying antistatic processing to the contact members, such as forming the contact member with a conductor and grounding it. A feeling improves.

(Embodiment 5)
The transfer device according to the fifth embodiment of the present invention detects a posture of a cared person and realizes a transfer device for stably loading the cared person.

  Hereinafter, the structure of the transfer apparatus of this Embodiment is demonstrated using drawing. FIG. 22 is a schematic diagram showing the configuration of the transfer apparatus according to the fifth embodiment of the present invention, FIG. 22 (a) is a plan view, and FIG. 22 (b) is a side view.

  The care receiver 101, the bed 102, the transfer bed portion 13, the leg portion 14 and the wheel 15, and the arrows LD, UL, etc. are the same as those in the first embodiment, and the same reference numerals are given to the same portions, and the detailed description thereof will be given. Omitted. The transfer units 71R and 71L are the same as the transfer unit 31 used in the third embodiment, but are individually distinguished for convenience.

  The distance sensors 59R and 59L are mounted on the transfer bed portion 13. Two markers 61L and 61R are attached in a direction parallel to the midline of the cared person 101 or the spine. The markers 61L and 61R can be easily attached with clips or the like as long as they are not displaced by vibration or the like.

  Each distance sensor 59R, 59L can output the distance from each marker 61L, 61R as an electrical signal. In principle, the distance sensors 59R and 59L may detect the reflection time of light, detect the response time of infrared rays, or adopt various methods such as reflection of ultrasonic waves. be able to.

  The power switch 64 is a switch for turning on or off the power of the transfer device 52. The slider 63 is used for inputting the loading position of the care recipient 101. The set value of the slider 63 and the outputs of the distance sensors 59R and 59L are input to a system control unit 65 built in the transfer bed unit 13, and the system control unit 65 uses a drive amplifier and the like to be described later. The units 71R and 71L are driven to vibrate. The transfer device 52 is constituted by each of the above members.

  In the present embodiment, as shown in FIG. 23, a tilt that may occur when the care receiver 101 is transferred by vibration is alleviated. There are various factors that cause this inclination. For example, the transfer unit 71L and the transfer unit 71R have different portions that support the cared person 101, so the friction coefficient is naturally different, and the vertical drag is also different between the head side and the leg side, and the friction force is different. Occurs. Further, since the surface condition of the bedding is different, the difference in frictional force can be very large.

  The operation of the distance sensors 59L and 59R will be described with reference to FIG. For example, when the markers 61L and 61R are viewed from the distance sensor 59L, the distances are measured as L1 and L2, respectively. When the markers 61L and 61R are viewed from the distance sensor 59R, the distances are measured as L3 and L4, respectively. Since the distance between the distance sensors 59L and 59R along the measurement base line AL of the transfer device 52 is determined to be the illustrated distance LS, the distance d1 between the marker 61L and the base line AL is the length L1 of each side of the triangle, Geometrically calculated from L3 and LS. The distance d2 between the marker 61R and the base line AL can be obtained in the same manner. Furthermore, the relative angle between the care recipient's midline SL and the base line AL is also obtained.

  Here, the distances d1, d2 and the difference d2-d1 correspond to an example of inclination information corresponding to the relative angle between the direction of the spine of the care recipient in the supine position and the load direction LD or the unload direction UL, These calculations are executed by the system control unit 65 shown in FIG.

  FIG. 25 is a block diagram showing an electrical configuration of the transfer device 52 shown in FIG. The system control unit 65 includes a distance calculation unit 65a, subtracters 65b, 65d, 65e, and a processing unit 65c, controls the operation between the transfer units 71L, 71R, and calculates signals. In this configuration, the transfer unit 71L and the transfer unit 71R can be driven individually.

  On the transfer unit 71L side, the target distance d input from the slider 63 is input to the drive amplifier 81L and transmitted as a current value from the drive amplifier 81L to the vibration motor 82L, and the transfer unit 71L (the inclined surface 31a and the upper surface 31b). And the displacement of the markers 61L and 61R of the care recipient 101 is input to the distance sensor 59L, and the distances between the markers 61L and 61R and the distance sensor 59L are output from the distance sensor 59L as L1 and L2, respectively. Similarly, through the same process on the transfer unit 71R side, the distances between the markers 61L and 61R and the distance sensor 59R are output as L3 and L4, respectively.

  Using the distances L1 to L4, the distance d1 between the marker 61L and the base line AL and the distance d2 between the marker 61R and the base line AL are calculated by the distance calculation unit 65a of the system control unit 65, each of which is a subtractor 65d of the system control unit 65, It is fed back to 65e, subtracted from the target distance d, and negatively fed back to the transfer unit 71L side and 71R side.

  The distances d1 and d2 are input to the subtractor 65b of the system control unit 65, the difference d2-d1 is calculated, and after passing through the process K by the processing unit 65c of the system control unit 65, it is fed back to the subtractor 65e. Is further subtracted from the target distance d and negatively fed back to the transfer unit 71R side. This process K requires an appropriate proportional gain K. In addition, an integral element may be included for stabilizing signal noise such as marker fluctuations and disturbance resistance.

  The operation of the transfer device 52 configured as described above will be described below. In FIG. 22, first, the target loading position is input by the slider 63 when the cared person 101 loads. Then, the target distance d shown in FIG. 25 is set, the inputs of the drive amplifiers 81L and 81R are determined based on the difference from the current distances d1 and d2, the vibration motors 82L and 82R move, and the contact portion (in this example, transfer) Units 71L and 71R) are vibrated. As a result, the markers 61L and 61R move, the distance sensors 59L and 59R output the distances L1 to L4 from each of them, and the distance calculation unit 65a calculates the distances d1 and d2 based on FIG.

  Since the distance d1 is negatively fed back on the transfer unit 71L side, an input signal based on the difference d−d1 is input to the drive amplifier 81L. Similarly, on the transfer unit 71R side, a signal based on the difference d−d2 is input to the drive amplifier 81R. Furthermore, the input regarding the distance difference d2-d1 is performed only on the transfer unit 71R side. By this Fordback term, the component accompanying the inclination of the care recipient 101 is suppressed by the amount corresponding to K during the loading operation, so that the operation can be performed more safely. Finally, d1 = d, d2 = d, d2-d1 = 0, and the inputs of the drive amplifiers 81L, 81R become 0, completing the operation. This can be achieved by the reverse operation when the care recipient is lowered.

  As described above, according to the present embodiment, the distance, inclination, etc. detected by the distance sensors 59L, 59R are fed back to the transfer units 71L, 71R, so that the care recipient 101 can be loaded and unloaded. Tilt can be suppressed.

  In this embodiment, the transfer units 71L and 71R are the same as the transfer unit 31 used in the third embodiment. However, other transfer units may be used. In that case, an appropriate vibration direction may be selected. Further, the sensor may not be a distance sensor, but may detect the angle at which the marker is viewed and calculate the distances d1 and d2, or may detect the distance and angle of the marker by stereo vision.

  Although the input device is the slider 63, it goes without saying that other methods may be used, and fixed two-point switching may be used. In addition, although the input based on the distance difference d2−d1 is performed on the transfer unit 71R side, the input may be performed on the 71L side, and it may be input with attention to the code on either one side. Further, the signals input to the drive amplifiers 81R and 81L are not described in detail, but the vibration amplitude, the vibration frequency, and the like are applicable. When changing the frequency, if the vibration system uses resonance, the amplitude increases near the resonance frequency, so this phenomenon can also be used.

(Embodiment 6)
The transfer device according to the sixth embodiment of the present invention is provided with a transfer medium that changes the (apparent) friction state on the contact surface between the care receiver to be transferred and the contact portion of the transfer unit. When moving a caregiver from a transfer unit to a transfer unit, the friction between the care recipient and the transfer unit is reduced, and the transfer unit is smoothly inserted and withdrawn. When holding the cared person, the friction is increased and the cared person is stably held so that the posture of the cared person is not shifted and the cared person is not slipped down.

  Hereinafter, the structure of the transfer apparatus of this Embodiment is demonstrated using drawing. FIG. 26 is a schematic plan view showing the configuration of the transfer apparatus according to Embodiment 6 of the present invention. Note that the same reference numerals in the sixth embodiment denote the same parts as those in the first embodiment, and a detailed description thereof will be omitted.

  As shown in FIG. 26, the transfer device 62 includes two transfer units 72 provided with a plurality of rollers 72a having a columnar shape, and the plurality of rollers 72a are arranged in the load direction LD (or the unload direction UL). Are arranged side by side. As the diameter of the roller 72a, for example, a roller having a small diameter of about 1 to 2 mm can be used.

  FIG. 27 is a schematic diagram showing a state of the roller 72a shown in FIG. 26 at the time of low friction and high friction. The roller 72a is supported by a rotary shaft 72b fixed to the transfer unit 72 so as to be rotatable around the rotation direction R1, and the slide member 73a is slidably transferred in the movement direction B1 and the movement direction B2 along the horizontal direction. Supported by the unit 72. The slide member 73a is formed with a plurality of convex portions 73b having inclined surfaces and functions as a wedge.

  First, as shown in FIG. 27A, at the time of low friction, the slide member 73a is moved in the moving direction B1 by a driving unit such as a solenoid (not shown) to be separated from the roller 72a, and the roller 72a can roll. Put into a state. For this reason, the friction state between the cared person 101 and the roller 72a, that is, the transfer unit 72 becomes a low friction state, and the transfer unit 72 can be smoothly inserted and pulled out.

  On the other hand, as shown in FIG. 27B, at the time of high friction, the slide member 73a is moved in the moving direction B2 by a driving unit such as a solenoid (not shown) and the roller 72a and the inclined surface of the convex portion 73b are engaged with each other. Then, the slide member 73a stops the rotation of the roller 72a. For this reason, the friction state between the cared person 101 and the roller 72a, that is, the transfer unit 72 becomes a high friction state, and the cared person 101 can be loaded and moved in a stable state on the transfer unit 72. it can.

  Further, the roller 72a and the slide member 73a are made of, for example, a flexible resin, and follow the body shape of the cared person 101 when the transfer unit 72 is inserted and pulled out and when the cared person 101 is loaded. Therefore, the transfer unit 72 can be inserted and pulled out more smoothly, and the load on the care receiver 101 can be reduced during loading.

  FIG. 28 is a schematic diagram showing a state of other rollers 72a usable in the transfer unit 72 shown in FIG. 26 at the time of low friction and high friction. The roller 72a is supported by a rotary shaft 72b fixed to the transfer unit 72 so as to be rotatable around the rotation direction R1, and the slide member 74 is moved so as to be movable up and down in the movement direction C1 and the movement direction C2 along the vertical direction. It is supported by the mounting unit 72 and is composed of a flat plate elevating plate.

  First, as shown in FIG. 28A, at the time of low friction, the slide member 74 is lowered in the moving direction C1 by a drive unit such as a solenoid (not shown) and separated from the roller 72a, and the roller 72a can roll. Put into a state. For this reason, the friction state between the cared person 101 and the roller 72a, that is, the transfer unit 72 becomes a low friction state, and the transfer unit 72 can be smoothly inserted and pulled out.

  On the other hand, as shown in FIG. 28B, at the time of high friction, the slide member 74 is raised in the moving direction C2 by a drive unit such as a solenoid (not shown), and the roller 72a and the upper surface of the slide member 74 are engaged. The slide member 74 stops the rotation of the roller 72a. For this reason, the friction state between the cared person 101 and the roller 72a, that is, the transfer unit 72 becomes a high friction state, and the cared person 101 can be loaded and moved in a stable state on the transfer unit 72. it can.

  In this example, the upper surface of the slide member 74 is described as a flat surface. However, the present invention is not particularly limited to this example, and an uneven portion is formed on the upper surface of the slide member 74 by knurling or the like. By increasing the friction coefficient by using a plate material having a high coefficient, the rotation of the roller 72a can be firmly stopped, and a higher high friction state can be formed.

  FIG. 29 is a schematic diagram showing a state of other rollers 72a usable in the transfer unit 72 shown in FIG. 26 at the time of low friction and high friction. The roller 72a is supported on a rotation shaft 72b fixed to the transfer unit 72 so as to be rotatable around the rotation direction R1, and an airbag 77 is sandwiched between the top plate 75 and the bottom plate 76, and the airbag 77 is inflated and expanded. The top plate 75, the bottom plate 76, and the airbag 77 are attached to the transfer unit 72 in a state where the top plate 75 can be moved up and down by contracting.

  First, as shown in FIG. 29A, at the time of low friction, when the internal air is sucked in the exhaust direction D1 by a driving unit such as a pump (not shown), the airbag 77 is contracted and the top plate 75 is lowered. Thus, the roller 72a is separated from the roller 72a, and the roller 72a is allowed to roll. For this reason, the friction state between the cared person 101 and the roller 72a, that is, the transfer unit 72 becomes a low friction state, and the transfer unit 72 can be smoothly inserted and pulled out.

  On the other hand, as shown in FIG. 29B, at the time of high friction, when air is sucked into the airbag 77 along the intake direction D2 by a driving unit such as a pump (not shown), the airbag 77 is inflated, The top plate 75 is raised so that the rollers 72a and the top plate 75 are engaged, and the top plate 75 stops the rotation of the rollers 72a. For this reason, the friction state between the cared person 101 and the roller 72a, that is, the transfer unit 72 becomes a high friction state, and the cared person 101 can be loaded and moved in a stable state on the transfer unit 72. it can.

  In this example, the top plate 75 is described as a flat surface. However, the top plate 75 is not particularly limited to this example. By using a high plate material or increasing the friction coefficient, the rotation of the roller 72a can be stopped firmly, and a higher high friction state can be formed.

  FIG. 30 is a schematic diagram for explaining the states of the other rollers 72a usable in the transfer unit 72 shown in FIG. The roller 72a is supported by a rotating shaft 72b fixed to the transfer unit 72 so as to be rotatable around the rotation direction R1, and a variable viscous fluid 72c is sealed between the roller 72a and the rotating shaft 72b. The bearing fixing portion 78 provided in the transfer unit 72 is fixed.

  As the variable viscous fluid 72c, an electrorheological fluid whose apparent viscosity changes when a voltage is applied is used. The variable viscous fluid whose viscosity changes is not particularly limited to this example, and another variable viscous fluid such as a magnetic fluid or an MR (Magneto-Rheological) fluid is provided between the roller 72a and the rotating shaft 72b. You may make it control rolling viscous resistance of the rotating shaft 72b.

  First, at the time of low friction, voltage application from a voltage application unit (not shown) is stopped to reduce the viscosity of the variable viscous fluid 72c, whereby the friction coefficient between the roller 72a and the rotating shaft 72b is reduced, and the roller 72a rolls. Made possible. For this reason, the friction state between the cared person 101 and the roller 72a, that is, the transfer unit 72 becomes a low friction state, and the transfer unit 72 can be smoothly inserted and pulled out.

  On the other hand, at the time of high friction, by applying a voltage from a voltage application unit (not shown) to increase the viscosity of the variable viscous fluid 72c, the friction coefficient between the roller 72a and the rotating shaft 72b increases, and the rotation of the roller 72a is stopped. The For this reason, the friction state between the cared person 101 and the roller 72a, that is, the transfer unit 72 becomes a high friction state, and the cared person 101 can be loaded and moved in a stable state on the transfer unit 72. it can.

  FIG. 31 is a schematic diagram for explaining the state of the other rollers 72a usable in the transfer unit 72 shown in FIG. A cylindrical permanent magnet 72d is fixed to the inner periphery of the roller 72a, and the permanent magnet 72d is supported on a rotating shaft 72b fixed to the transfer unit 72 so as to be rotatable around the rotation direction R1. The permanent magnet 72d is magnetized with a predetermined polarity. For example, the upper part in the figure is magnetized to the N pole and the lower part is magnetized to the S pole. A plurality of iron cores 79b and coils 79c are fixed to a base portion 79a provided in the transfer unit 72, and the respective iron cores 79b and coils 79c are arranged so that the centers thereof are located at the centers of the rollers 72a.

  First, at the time of low friction, the application of a voltage from a voltage application unit (not shown) is stopped to stop the generation of magnetic flux from the iron core 79b and the coil 79c, thereby making the roller 72a rollable. For this reason, the friction state between the cared person 101 and the roller 72a, that is, the transfer unit 72 becomes a low friction state, and the transfer unit 72 can be smoothly inserted and pulled out.

  On the other hand, during high friction, a voltage is applied from a voltage application unit (not shown) to generate magnetic flux from the iron core 79b and the coil 79c, thereby attracting the lower portion of the permanent magnet 72d and stopping the rotation of the roller 72a. For this reason, the friction state between the cared person 101 and the roller 72a, that is, the transfer unit 72 becomes a high friction state, and the cared person 101 can be loaded and moved in a stable state on the transfer unit 72. it can.

  With the above-described configuration, in the present embodiment, the friction control object formed of the slide member 73a or the like comes into contact with the rolling surface of the transfer medium formed of the roller 72a. The operation of the friction control object can be controlled by changing the contact pressure and the contact area.

  In this way, when transferring the cared person 101 from the transfer unit 72 to the bed 102, or when transferring the cared person 101 from the bed 102 to the transfer unit 72, the contact pressure is reduced most, or By separating, the friction between the cared person 101 and the transfer unit 72 is minimized, and when the cared person 101 is held on the transfer unit 72, the contact pressure is increased to the maximum, The friction between the care receiver 101 and the transfer unit 72 is maximized. As a result, the transfer unit 72 can be smoothly inserted and pulled out, and the cared person 101 can be loaded and moved on the transfer unit 72 in a stable state.

  In the present embodiment, the transfer unit 72 can be thinned by using the small-diameter roller 72a, so that the load on the care receiver 101 during insertion and withdrawal can be reduced, and the roller 72a can be made of a flexible resin or the like. Since the transfer unit 72 can be made flexible by being configured, the transfer unit 72 can be made to follow the shape of the care recipient 101 and the load on the human body during insertion and withdrawal can be reduced. Stable holding is also possible.

  Furthermore, by appropriately changing the number and shape of the rollers 72a, the transfer unit 72 can be easily reduced in size or increased in size, and the transfer apparatus can be used for various applications. Further, by making the transfer unit 72 into a unit, the friction state can be adjusted for each area, and this is applicable when a shear force is applied to a part between the care receiver 101 and the transfer unit 72. By reducing the friction only in the vicinity of the site, the influence of unnecessary shearing force can be eliminated.

  In each of the above examples, mechanical displacement due to mechanical operation such as taking in and out of the wedge, raising and lowering of the plate, volume change due to expansion and contraction of fluid bag such as airbag, potential change due to electromagnetic suction, repulsion, adsorption, etc. The friction control mechanism that controls the friction state using electrical or magnetic viscosity change has been described. However, the friction control mechanism is not particularly limited to these examples, and includes a low friction state and a high friction state. Other methods such as a powder clutch method using magnetic powder may be used as long as the switching can be performed. In addition, as a conveyance medium, a rolling element other than a roller or a sliding element other than a plate material may be used, and as a friction control object, a contact is made with the rolling surface, rotating shaft or sliding surface of these conveyance medium. Various types can be used as long as the contact pressure or the contact area changes.

(Embodiment 7)
The transfer device according to the seventh embodiment of the present invention uses balls instead of the rollers used in the sixth embodiment. Hereinafter, the configuration of the transfer device according to the present embodiment will be described with reference to the drawings. . FIG. 32 is a schematic plan view showing the configuration of the transfer apparatus according to Embodiment 7 of the present invention. In the seventh embodiment, the same parts as those in the first embodiment are denoted by the same reference numerals, and detailed description thereof is omitted.

  As shown in FIG. 32, the transfer device 80 includes two transfer units 83 provided with a plurality of balls 83a having a spherical shape, and the plurality of balls 83a includes a load direction LD (or an unload direction UL) and It arrange | positions on a matrix along the direction orthogonal to this direction. As the diameter of the ball 83a, for example, a small diameter of about 1 to 2 mm can be used. The ball 83a is rotatably supported by the friction control mechanism shown in FIGS. 27 to 31 like the roller 72a of the sixth embodiment.

  As a result, in this embodiment, at the time of low friction, the ball 83a is in a rollable state, so the friction state between the care receiver 101 and the ball 83a, that is, the transfer unit 83, is in a low friction state. The transfer unit 83 can be inserted and pulled out smoothly. On the other hand, since the rotation of the ball 83a is stopped at the time of high friction, the friction state between the cared person 101 and the ball 83a, that is, the transfer unit 83 becomes a high friction state, and the cared person 101 is transferred to the transfer unit 83. It can be loaded and moved in a stable state.

  In the present embodiment, the shape of the transfer unit 72 can be arbitrarily changed by appropriately changing the arrangement position of the small-diameter balls 83a, and the friction state can be adjusted for each area. When a shearing force is applied to a part between the cared person 101 and the transfer unit 83, the influence of unnecessary shearing force can be more easily eliminated by reducing the friction only in the vicinity of the corresponding part. .

  In this embodiment, a ball is used as the conveyance medium. However, the ball is not particularly limited to this example, and other rolling elements such as a cylinder having a barrel shape or a pincushion shape, an endless belt, or a sheet. Alternatively, a sliding body such as a plate material may be used.

(Embodiment 8)
The transfer device according to the eighth embodiment of the present invention uses a transfer unit having an endless belt instead of the transfer unit 11 used in the first embodiment, and vibrates the endless belt by a minute forward and reverse feed operation of the endless belt. Hereinafter, the configuration of the transfer apparatus according to the present embodiment will be described with reference to the drawings. FIG. 33 is a schematic side view showing the configuration of the transfer apparatus according to the eighth embodiment of the present invention. In the eighth embodiment, the same parts as those in the first embodiment are denoted by the same reference numerals, and detailed description thereof is omitted.

  As shown in FIG. 33, the transfer device 92 includes two transfer units 91 to which an upper belt 93 and a lower belt 94 are rotatably attached. The upper belt 93 is wound around rollers 93a, 93b, and 93c. In addition, a roller 93d is disposed on the outer periphery of the roller 93d so as to be rotatable, and an inclined surface 91a is formed at an end portion on the care receiver 101 side. The lower belt 94 is wound around rollers 94a and 94b, is configured to be rotatable, and is disposed below the upper belt 93. Due to the arrangement of the rollers 93a to 93d, 94a, and 94b, the end of the transfer unit 91 on the care receiver 101 side has a sharp shape, and the transfer unit 91 has a sharp flat trapezoidal shape. ing.

  At least one of the rollers 93a to 93d is composed of a driving roller having a driving mechanism such as a driving motor therein, and the other rollers are driven rollers. The belt 93 is vibrated, and the slope 91a and the upper surface 91b, which are contact areas of the transfer unit 91, vibrate. A drive circuit for rotating the drive roller is built in the lower part of the transfer bed portion 13.

  When the care recipient 101 is moved, the upper belt 93 is vibrated by forward and reverse rotation of the driving roller by a minute amount, and the upper surface 91b, which is the contact area of the transfer unit 91, is shown in the load direction LD and unloading shown in the drawing. It vibrates in the load direction UL, and the inclined surface 91a vibrates in the direction along the main surface. The operation of the lower belt 94 is the same as that in FIG.

  As described above, according to the present embodiment, by driving and vibrating the upper belt 93 of the transfer unit 91, the inclined surface 91a serving as the contact region is vibrated in the direction along the main surface, Since the upper surface 91b serving as the contact region is vibrated in the load direction LD and the unload direction UL, the friction between the care receiver 101 and the transfer unit 91 can be changed to a dynamic friction state to reduce the burden on the caregiver. it can.

  In the present embodiment, only the upper belt 93 is vibrated. However, the present invention is not particularly limited to this example, and various modifications are possible. For example, at least one of the rollers 94a and 94b is composed of a driving roller having a driving mechanism such as a driving motor inside, and the other rollers are driven rollers, and the driving roller rotates forward and reverse by a minute amount. The lower belt 94 may vibrate in the illustrated load direction LD and unload direction UL. In this case, the friction between the transfer unit 91 and the bed 102 can be changed to a kinetic friction state to reduce the frictional force.

  Further, when the lower belt 94 is not vibrated, the lower belt 94 is omitted, and a sharp flat trapezoidal belt is vibrated as the upper belt, or the transfer unit 91 is vibrated as a whole so as to vibrate the upper belt 93 and the lower belt. 94 may be vibrated, or the upper belt 93 and the lower belt 94 may be directly vibrated using an ultrasonic motor or the like.

  Since the transfer unit according to the present invention does not involve entrainment or the like when the care recipient is transferred, the transfer operation can be performed safely and is useful as a transfer unit used in the transfer device.

It is the schematic which shows the structure of the transfer apparatus in Embodiment 1 of this invention. It is the schematic for demonstrating operation | movement of the transfer apparatus shown in FIG. It is a figure which shows the change of the friction coefficient with respect to speed. It is the schematic for demonstrating the other operation example of the transfer apparatus shown in FIG. It is the schematic which shows the structure which added the friction member to the transfer apparatus shown in FIG. It is the schematic which shows the structure of the transfer apparatus in Embodiment 2 of this invention. It is a schematic diagram for demonstrating the operation | movement at the time of the loading of the transfer unit shown in FIG. It is the schematic for demonstrating the other operation example of the transfer apparatus shown in FIG. It is the schematic which shows the structure which added the friction member to the transfer apparatus shown in FIG. It is the schematic which shows the structure of the transfer apparatus in Embodiment 3 of this invention. It is a schematic diagram for demonstrating the operation | movement at the time of the loading of the transfer unit shown in FIG. It is the schematic for demonstrating the other operation example of the transfer apparatus shown in FIG. It is the schematic which shows the structure of the transfer apparatus in Embodiment 4 of this invention. It is a schematic diagram which shows the structure of the elastic fiber board shown in FIG. It is a schematic diagram for demonstrating the movement state of the object by the motion of the elastic fiber board shown in FIG. It is a perspective view which shows the state which the elastic fiber board shown in FIG. 13 protrudes for loading operation | movement. It is the schematic for demonstrating the other operation example of the transfer apparatus shown in FIG. It is a schematic diagram for demonstrating the movement state of the object by the operation example shown in FIG. It is the schematic which shows the structure which added the elastic fiber board to the transfer apparatus shown in FIG. It is a schematic diagram which shows the structure of the sawtooth plate which can be used for the transfer apparatus shown in FIG. It is a perspective view for demonstrating the other operation example of the elastic fiber board of the transfer apparatus shown in FIG. It is the schematic which shows the structure of the transfer apparatus in Embodiment 5 of this invention. It is the schematic for demonstrating generation | occurrence | production of the care receiver's inclination in the transfer apparatus shown in FIG. It is a schematic diagram for demonstrating the positional relationship of the distance sensor and marker of the transfer apparatus shown in FIG. It is a block diagram which shows the electrical structure of the transfer apparatus shown in FIG. It is a schematic plan view which shows the structure of the transfer apparatus in Embodiment 6 of this invention. It is a schematic diagram which shows the state at the time of the low friction and the high friction of the roller shown in FIG. It is a schematic diagram which shows the state at the time of the low friction and the high friction of the other roller which can be used for the transfer unit shown in FIG. It is a schematic diagram which shows the state at the time of the low friction and the high friction of the other roller which can be used for the transfer unit shown in FIG. It is a schematic diagram for demonstrating the state at the time of the low friction and the high friction of the other roller which can be used for the transfer unit shown in FIG. It is a schematic diagram for demonstrating the state at the time of the low friction and the high friction of the other roller which can be used for the transfer unit shown in FIG. It is a schematic plan view which shows the structure of the transfer apparatus in Embodiment 7 of this invention. It is a schematic side view which shows the structure of the transfer apparatus in Embodiment 8 of this invention. It is a schematic diagram for demonstrating operation | movement of the conventional transfer unit. It is a perspective view which shows the structure of the conventional transfer unit using many small actuators. It is a schematic diagram for demonstrating operation | movement of the small actuator shown in FIG. It is a perspective view for demonstrating operation | movement of the transfer unit shown in FIG. It is a perspective view which shows the structure of the other conventional transfer apparatus.

Explanation of symbols

DESCRIPTION OF SYMBOLS 11 Transfer unit 11a Slope 11b Upper surface 12 Transfer apparatus 13 Transfer bed part 14 Leg part 15 Wheel 16 Friction member 17 Elastic fiber board 18 Serrated board 59L, 59R Distance sensor 61L, 61R Marker 65 Drive control part 101 Caregiver 102 Bed

Claims (20)

It comprises a base on which a contact portion having a contact area that comes into contact with a care recipient is formed,
The transfer unit characterized in that the frictional state between the contact area and the care recipient is variable.   The friction state between the contact area and the cared person is varied by vibrating the contact area and varying at least one of a vibration amplitude and a vibration frequency of the contact area. The transfer unit described.   The direction in which the contact portion is inserted into the cared person is the loading direction, the opposite direction to the loading direction is the unloading direction, the direction perpendicular to the left side toward the loading direction in the horizontal plane is the left width direction, and the left width The direction opposite to the direction is the right width direction, and the contact region is a component of at least one vibration direction among the load direction and the unload direction, the gravity direction and the antigravity direction, and the left width direction and the right width direction. The transfer unit according to claim 2, wherein the transfer unit is vibrated so as to have.   The loading direction is the direction in which the contact portion is inserted with respect to the cared person, the unloading direction is the direction opposite to the loading direction, and when the cared person is loaded on the base, at least the contact area is in the antigravity direction. The transfer unit according to claim 2, wherein the transfer unit is vibrated so as to have a component in the unload direction.   The contact area is vibrated so as to include rotation in a direction in which a vector in an antigravity direction in the contact area is rotated in the unload direction when the care recipient is loaded on the base. Item 5. The transfer unit according to Item 4.   The loading operation of loading the care receiver on the base and the operation of unloading the base from the base so that the vibration speed or vibration acceleration of the contact area differs between the loading direction and the unloading direction. 4. The transfer unit according to claim 3, wherein the vibration state is switched.   The transfer unit according to claim 6, wherein the vibration speed of the contact area in the unload direction is slower than the vibration speed of the contact area in the load direction during the loading operation.   During the loading operation, the absolute value of the vibration acceleration of the contact area at the time of switching from the unload direction to the load direction is the vibration acceleration of the contact area at the time of switching from the load direction to the unload direction. The transfer unit according to claim 6, wherein the transfer unit is larger than an absolute value. The direction of inserting the contact portion with respect to the cared person is the loading direction, and the opposite direction of the loading direction is the unloading direction,
When loading the care recipient on the base, the friction coefficient of the contact area is increased in the unload direction than the load direction,
3. The transfer unit according to claim 2, wherein when the care recipient is lowered from the base, a friction coefficient of the contact area is made smaller in the unload direction than in the load direction.   The contact portion selectively switches a direction with a large coefficient of friction according to an operation of loading a care receiver on the base and an operation of lowering the care receiver from the base. 9. The transfer unit according to 9. The contact portion includes a first contact member having a large coefficient of friction in a direction suitable for an operation of loading a care receiver on the base, and a large friction in a direction suitable for an operation of lowering the care receiver from the base. A second contact member having a coefficient,
The said 1st and 2nd contact member is selectively switched according to the operation | movement which loads a cared person on the said base, and the operation | movement which lowers a cared person from the said base. 9. The transfer unit according to 9.   A plurality of fibrous elastic bodies arranged in a certain direction parallel to a plane including the gravity direction, the loading direction and the unloading direction and inclined with respect to the gravity direction are provided on the surface of the contact region. The transfer unit according to claim 9.   10. The transfer according to claim 9, wherein the contact portion includes a sawtooth member having a sawtooth shape in which a cross section parallel to a plane including the gravity direction, the loading direction, and the unloading direction is asymmetric in the gravity direction. unit. The contact portion includes a belt,
The contact area is formed on an upper surface of the belt;
The contact area is mainly configured to be movable in the loading direction and the unloading direction,
The transfer unit according to claim 3, wherein the contact area is mainly vibrated in the loading direction and the unloading direction when the belt is driven.   The transfer unit according to claim 1, wherein at least the contact region is subjected to antistatic processing.   A transfer apparatus comprising at least a first transfer unit and a second transfer unit, wherein the first and second transfer units comprise the transfer unit according to claim 1.   The transfer device according to claim 16, further comprising a system control unit capable of individually adjusting vibration characteristics of the contact areas of the first and second transfer units.   When the direction of inserting the contact portion with respect to the cared person is the loading direction, and the direction opposite to the loading direction is the unloading direction, the system control unit has the direction of the spine in the lying position of the cared person and the 18. The transfer according to claim 17, wherein vibration characteristics of the contact area of the first and second transfer units are adjusted according to inclination information corresponding to a relative angle with respect to a load direction or the unload direction. apparatus. A first marker and a second marker provided in parallel with the direction of the spine of the care recipient; and first and second distance sensors for detecting a distance to the first marker and the second marker;
19. The transfer apparatus according to claim 18, wherein the system control unit calculates the tilt information based on distances from the first and second distance sensors to the first and second markers.   The transfer device according to any one of claims 17 to 19, wherein the system control unit adjusts an amplitude of vibration or a frequency of vibration in the contact area of the first and second transfer units.

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