JP2017148149A - Transfer device and control method thereof - Google Patents

Abstract

PROBLEM TO BE SOLVED: To prevent a person to be transferred from being given discomfort without pressing the abdomen of the person to be transferred.SOLUTION: A transfer device includes: a holder having body holding means for holding a front surface of the body of a person to be transferred and thigh holding means swingably connected to the lower end side of the body holding means for holding a front surface of the thigh of the person to be transferred; an arm connected to the upper end side of the holder for moving the holder so that the lower end side of the body holding means moves upward more than the upper end side by swinging when lifting the person to be transferred; angle detection means for detecting a swinging angle of the arm; driving means for swinging the thigh holding means with respect to the body holding means; and control means for controlling the swinging by the driving means according to the swinging angle detected by the angle detection means.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a transfer apparatus for transferring a person and a control method thereof.

  2. Description of the Related Art A transfer device that transfers a transferee while holding the front of the transferee's body with a holder is known (see Patent Document 1).

JP 2013-090842 A

  In the transfer device, for example, when the transferee is lifted by holding the front of the transferee's torso with a holder, the transferee may slide off the holder. In this case, there is a possibility that the lower end of the holder presses the abdomen of the transferred person and gives uncomfortable feeling to the transferred person (FIG. 15).

  The present invention has been made to solve such problems, and provides a transfer apparatus that does not cause uncomfortable feeling to the transferred person without pressing the abdomen of the transferred person, and a control method thereof. The main purpose.

In order to achieve the above object, one aspect of the present invention includes a torso holding means for holding a front surface of a to-be-transferred person and a lower end side of the torso holding means that are slidably connected to hold the front face of the to-be-transferred person. A thigh holding means that is connected to the upper end side of the holder, and the lower end side of the body holding means moves more upward than the upper end side by swinging when the transferee lifts As described above, the arm is moved by the arm, the angle detecting means for detecting the swing angle of the arm, the driving means for swinging the thigh holding means with respect to the body holding means, and the angle detecting means. And a control means for controlling the peristalsis by the driving means in accordance with the peristaltic angle.
In this aspect, the control means may be configured such that, as the peristaltic angle detected by the angle detecting means increases, the trunk holding means and the thigh holding means are separated from each other and the peristaltic angle formed thereby increases. In addition, the peristalsis by the driving means may be controlled.
In this aspect, the force detecting means for detecting a force acting in a direction in which the thigh holding means swings and approaches the body holding means, and the control means increases the peristaltic angle detected by the angle detecting means. Accordingly, the peristalsis by the driving means may be controlled so that the force detected by the force detecting means increases.
In this aspect, the thigh holding means has left and right thigh holding portions that individually hold the left and right thigh front surfaces of the transferred person, and holds the left and right thighs with respect to the trunk holding means. A pair of the driving means for swinging the respective parts may be provided, and the control means may independently control the peristalsis by the driving means according to the peristaltic angle detected by the angle detecting means.
In this aspect, in the thigh holding means, a portion that contacts the thigh of the transferred person may be formed in a concave shape.
In this aspect, the thigh holding means includes a first holding part slidably connected to a lower end side of the body holding means, and a second holding part slidably connected to a lower end side of the first holding part. And may have.
In order to achieve the above object, one aspect of the present invention includes a torso holding means for holding a front surface of a to-be-transferred person and a lower end side of the torso holding means that are slidably connected to hold the front face of the to-be-transferred person. A thigh holding means that is connected to the upper end side of the holder, and the lower end side of the body holding means moves more upward than the upper end side by swinging when the transferee lifts A control method for a transfer apparatus comprising: an arm for moving the holding tool; and a driving means for swinging the thigh holding means with respect to the body holding means, wherein the swing angle of the arm is detected. And a step of controlling the peristaltic motion by the driving means in accordance with the detected peristaltic angle.

  ADVANTAGE OF THE INVENTION According to this invention, the transfer apparatus which does not give a discomfort to a transferred person, and its control method can be provided, without pressing the abdomen of a transferred person.

It is a figure which shows schematic structure of the transfer apparatus which concerns on Embodiment 1 of this invention. It is a block diagram which shows the schematic system configuration | structure of the transfer apparatus which concerns on Embodiment 1 of this invention. It is a block diagram which shows the schematic system configuration | structure of the control apparatus which concerns on Embodiment 1 of this invention. It is a figure which shows an example of the graph information of the peristaltic angle of an arm, and the displacement target value of a 2nd actuator. It is a flowchart which shows the flow of the control method of the transfer apparatus which concerns on Embodiment 1 of this invention. It is a figure which shows an example of the state which hold | maintained the transferee of the boarding attitude | position with the holder. It is a figure which shows an example of the state which hold | maintained the transferee of the raising attitude | position with the holder. It is a figure which shows schematic structure of the transfer apparatus which concerns on Embodiment 2 of this invention. It is a block diagram which shows the schematic system configuration | structure of the control apparatus which concerns on Embodiment 2 of this invention. It is a figure which shows an example of the graph information of the peristaltic angle of an arm, and the target value of a force sensor. It is a block diagram which shows the schematic system configuration | structure of the transfer apparatus which concerns on Embodiment 3 of this invention. It is a figure which shows schematic structure of the transfer apparatus which concerns on Embodiment 4 of this invention. It is a figure which shows an example of the structure which connected the 1st holding | maintenance part and the 2nd holding | maintenance part with the pulley and the belt. It is a figure which shows an example of the structure by which the thigh holding part was formed in concave shape. It is a figure which shows the state which the lower end of the conventional holder pressed the abdomen of the transferee.

Embodiment 1
Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is a diagram showing a schematic configuration of a transfer apparatus according to Embodiment 1 of the present invention. FIG. 2 is a block diagram illustrating a schematic system configuration of the transfer apparatus according to the first embodiment. The transfer device 1 according to the first embodiment holds a transferred person by a holder 2 and transfers the transferred person.

  The holder 2 has a body holding part 21 that holds the front of the body of the transferee, and a thigh holding part 22 that is connected to the lower end side of the body holding part 21 and holds the front of the thigh of the transferee. . The torso holding part 21 faces and contacts the torso front of the transferee. The thigh holding part 22 faces and comes into contact with the front surface of the thigh of the transferred person. For example, elastic cushions are provided on the contact surfaces of the body holding unit 21 and the thigh holding unit 22.

  The tip of the arm 3 is connected to the body holding portion 21 of the holder 2. The arm 3 may be a multi-joint type arm having a plurality of joint portions (wrist joint, elbow joint, etc.). The rear end of the arm 3 is connected to the arm column 4 so as to be swingable. The upper end side of the holder 2 is connected to the distal end side of the arm 3. The arm 3 swings when the transferee is lifted, thereby moving the holder 2 so that the lower end side of the body holding portion 21 moves more than the upper end side.

  A first actuator 5 such as a servo motor that swings the arm 3 is provided at the rear end of the arm 3. The first actuator 5 can move the holding tool 2 by swinging the arm 3 and lift the transferred person held by the holding tool 2.

  The arm column 4 is erected on a carriage 6 that can move in any direction. The user can move the person to be transferred held by the holder 2 to an arbitrary position by moving the carriage unit 6. Alternatively, the user can move the carriage unit 6 to the position of the person to be held and hold the person to be transferred by the transfer device 1.

  By the way, when a to-be-transferred person's body front surface is hold | maintained with a holder and a to-be-transferred person is lifted, a to-be-transferred person may slide off from a holder. In this case, conventionally, the lower end of the holder presses the abdomen of the transferred person, which may cause discomfort to the transferred person (FIG. 15).

  On the other hand, in the first embodiment, as described above, the holder 2 includes the body holding portion 21 that holds the front of the transferee's torso and the thigh holding portion 22 that holds the front of the transferee's thigh. Have. Further, the transfer device 1 performs control to swing the thigh holding part 22 relative to the body holding part 21 according to the swing angle of the arm 3.

  Thereby, for example, the arm 3 swings and the transferred person may slide down from the body holding portion 21 of the holder 2. Even in this case, the thigh holding part 22 is swung with respect to the body holding part 21 according to the swing angle of the arm 3, and not only the body holding part 21 but also the continuous thigh holding part 22 slides off the transferred person. The torso and the thigh of the transferee can be held evenly by the torso holding part 21 and the thigh holding part 22 with good balance. For this reason, a load concentrates on a transferee's abdomen and does not press a transferee's abdomen, and does not give a discomfort to a transferee.

  As shown in FIG. 2, the transfer device 1 according to the first embodiment includes a first actuator 5 that swings the arm 3, and a second actuator 7 that swings the thigh holding part 22 relative to the body holding part 21 of the holder 2. And an angle sensor 8 that detects the peristaltic angle of the arm 3, a displacement sensor 9 that detects the amount of displacement of the second actuator 7, and a control device 10 that controls peristalsis by the first and second actuators 5 and 7. I have.

  The second actuator 7 is a specific example of driving means. The second actuator 7 includes a linear motor, a piston, a cylinder, and the like. For example, the second actuator 7 has a mechanism in which one end is connected to the body holding part 21 of the holder 2 and the other end is connected to the thigh holding part 22 to expand and contract. When the second actuator 7 contracts, the body holding part 21 and the thigh holding part 22 of the holder 2 approach each other, and the peristaltic angle formed by these decreases. On the other hand, when the second actuator 7 is extended, the body holding portion 21 and the thigh holding portion 22 of the holder 2 are separated from each other, and the peristaltic angle formed by these increases. The thigh holding part 22 is connected to the trunk holding part 21 via a rotation shaft. The second actuator 7 may change the peristaltic angle formed by the body holding unit 21 and the thigh holding unit 22 by driving the rotation shaft of the thigh holding unit 22. The second actuator 7 is driven according to the torque command value transmitted from the control device 10.

  The angle sensor 8 is a specific example of an angle detection unit. The angle sensor 8 includes, for example, an encoder, a potentiometer, and the like. For example, the angle sensor 8 detects the peristaltic angle θ from a predetermined angle with the counterclockwise direction being positive. When this swing angle is increased, the arm 3 swings counterclockwise, and the holder 2 connected to the arm 3 is lifted. The angle sensor 8 outputs the detected peristaltic angle θ to the control device 10.

  The displacement sensor 9 detects a displacement amount (expansion / contraction amount) X of the second actuator 7 when the second actuator 7 expands and contracts. The displacement sensor 9 outputs the detected displacement amount X of the second actuator 7 to the control device 10.

  The control device 10 is a specific example of the control means. The control device 10 includes, for example, a CPU (Central Processing Unit) 10a that performs control processing, arithmetic processing, and the like, a ROM (Read Only Memory) or a RAM (Random Access Memory) that stores a control program executed by the CPU 10a, an arithmetic program, and the like. ), And a microcomputer including an interface unit (I / F) 10c for inputting / outputting signals to / from the outside. The CPU 10a, the memory 10b, and the interface unit 10c are connected to each other via a data bus or the like.

  FIG. 3 is a block diagram illustrating a schematic system configuration of the control device according to the first embodiment. The control device 10 according to the first embodiment includes a target value generation unit 11 that generates a displacement target value of the second actuator 7 and a control unit 12 that controls the second actuator 7.

The target value generation unit 11 shows, for example, the relationship between the peristaltic angle θ of the arm 3 output from the angle sensor 8, the preset peristaltic angle θ of the arm 3, and the displacement target value X _ref of the second actuator 7. Based on the graph information, a displacement target value X _ref of the second actuator 7 is generated. The graph information of the swing angle θ of the arm 3 and the target displacement value X _ref of the second actuator 7 is, for example, as shown in FIG. 4, as the swing angle θ of the arm 3 increases. This information is such that the target displacement value X _ref of the current increases gradually. The graph information can be obtained, for example, inductively from the results of a lifting test for a plurality of transferees, or a priori from the assumed transferee's physique. The graph information is set in the memory 10b or the like. The target value generation unit 11 outputs the generated displacement target value X _ref of the second actuator 7 to the control unit 12.

For example, based on the displacement target value X _ref of the second actuator 7 output from the target value generation unit 11 and the displacement amount X of the second actuator 7 output from the displacement sensor 9, the control unit 12 2 Perform feedback control of the actuator 7. The control unit 12 generates a torque command value for the second actuator 7 so that the displacement amount X of the second actuator 7 output from the displacement sensor 9 follows the target displacement value X _ref of the second actuator 7. The control unit 12 outputs the generated torque command value to the second actuator 7.

FIG. 5 is a flowchart showing a flow of the control method of the transfer apparatus according to the present embodiment.
For example, the carriage unit 6 is brought close to the transferee in the end sitting position with a wheelchair or a bed, the body holding part 21 of the holder 2 is brought into contact with the front face of the transferee, and the thigh holding part 22 is brought into contact with the thigh. Thus, the transferred person in the boarding posture is held by the holder 2 (FIG. 6).
The control device 10 controls the first actuator 5 to swing the arm 3 (step S101). The angle sensor 8 detects the swing angle of the arm 3 and outputs it to the control device 10.

The target value generation unit 11 of the control device 10 includes the peristaltic angle θ of the arm 3 output from the angle sensor 8, and graph information of the peristaltic angle θ of the arm 3 and the displacement target value X _ref of the second actuator 7. Based on this, a displacement target value X _ref for the second actuator 7 is generated and output to the control unit 12 (step S102).

The control unit 12 of the control device 10 is based on the displacement target value X _ref of the second actuator 7 output from the target value generation unit 11 and the displacement amount X of the second actuator 7 output from the displacement sensor 9. Then, feedback control of the second actuator 7 is performed (step S103).

  By performing the above-described control, the second actuator 7 extends and the displacement amount X increases as the swing angle θ of the arm 3 increases. In other words, as shown in FIG. 7, as the peristaltic angle θ of the arm 3 increases, the torso holding part 21 and the thigh holding part 22 extend along the torso and thigh of the transferred person in the lifted posture. It will separate and the peristaltic angle will increase. Therefore, for example, even when the arm 3 swings and the transferee slides down from the body holding portion 21 of the holder 2, the transferee's torso and thigh are evenly balanced by the body holding portion 21 and the thigh holding portion 22. Can hold well. For this reason, a load concentrates on a transferee's abdomen and does not press a transferee's abdomen, and does not give a discomfort to a transferee.

Embodiment 2
FIG. 8 is a diagram showing a schematic configuration of the transfer apparatus according to the second embodiment of the present invention. In the transfer device 20 according to the second embodiment of the present invention, instead of the displacement sensor 9 that detects the displacement amount of the second actuator 7, the force acting in the direction in which the thigh holding portion 22 swings and approaches the body holding portion 21. You may provide the force sensor 13 which detects this.

  The force sensor 13 is provided in parallel or in series with the second actuator 7 between the thigh holding part 22 and the trunk holding part 21. The force sensor 13 includes a load sensor or the like.

The target value generation unit 11 is, for example, graph information indicating the relationship between the peristaltic angle θ of the arm 3 output from the angle sensor 8, the preset peristaltic angle θ of the arm 3, and the target value f _ref of the force sensor 13. Based on the above, the target value f _ref of the force sensor 13 is generated (FIG. 9). The graph information of the swing angle θ of the arm 3 and the displacement target value f _ref of the force sensor 13 is, for example, as shown in FIG. 10, as the swing angle θ of the arm 3 increases, The information is such that the value f _ref increases gradually.

For example, the control unit 12 performs feedback control of the second actuator 7 based on the target value f _ref of the force sensor 13 output from the target value generation unit 11 and the measurement value f output from the force sensor 13. Do. The control unit 12 generates a torque command value for the second actuator 7 so that the measurement value f output from the force sensor 13 follows the target value f _ref of the force sensor 13. The control unit 12 outputs the generated torque command value to the second actuator 7. The control unit 12 causes the measurement value f output from the force sensor 13 to follow the target value f _ref of the force sensor 13 so that the thigh holding unit 22 of the holder 2 is always pressed against the thigh of the transferred person. Thus, a torque command value for the second actuator 7 is generated.
In the second embodiment, the same parts as those in the first embodiment are denoted by the same reference numerals, and detailed description thereof is omitted.

  When the arm 3 is swung and the transferred person is lifted, the amount of increase of the angle formed by the transferred person's trunk and thigh varies depending on the transferred person's physique. According to the second embodiment, the peristalsis by the second actuator 7 is controlled so that the force detected by the force sensor 13 increases as the peristaltic angle of the arm 3 increases. As a result, since the thigh of the transferred person can always be sufficiently brought into contact with and held by the thigh holding part 22, even a transferred person having a different physique can transfer the transferred person without pressing the abdomen of the transferred person. No discomfort to the person.

Embodiment 3
FIG. 11 is a block diagram showing a schematic system configuration of the transfer apparatus according to the third embodiment of the present invention. In the third embodiment, the body holding unit 21 may be provided with left and right thigh holding units 221 that individually hold the left and right thigh front surfaces of the transferred person. The pair of second actuators 7 swing the left and right thigh holding portions 221 relative to the body holding portion 21. Similar to the first embodiment, the control device 10 independently controls the peristaltic motion by the second actuator 7 according to the peristaltic angle detected by the angle sensor 8.
In the third embodiment, the same parts as those in the first embodiment are denoted by the same reference numerals, and detailed description thereof is omitted.

  For example, the movable range of the left and right hip joints of the transferred person may be different due to hemiplegia or the size of the left and right thighs may be different. According to the third embodiment, even in such a case, according to the peristaltic angle detected by the angle sensor 8, the peristalsis by the second actuator 7 is independently controlled so as to adapt to the left-right difference of the transferred person. can do.

Embodiment 4
FIG. 12 is a diagram illustrating a schematic configuration of a transfer apparatus according to the fourth embodiment of the present invention.
In Embodiment 4 of the present invention, the first holding part 223 is slidably connected to the lower end side of the body holding part 21, and the second holding part 224 is slidably connected to the lower end side of the first holding part 223. Yes. The second actuator 7 has one end connected to the body holding part 21 and the other end connected to the first holding part 223. As the second actuator 7 expands and contracts, the first holding portion 223 swings with respect to the body holding portion 21. The third actuator 14 has one end connected to the body holding part 21 and the other end connected to the second holding part 224. As the third actuator 14 expands and contracts, the second holding portion 224 swings relative to the body holding portion 21 and the first holding portion 223.

The third actuator 14 may have one end connected to the first holding unit 223 and the other end connected to the second holding unit 224. As the third actuator 14 expands and contracts, the second holding portion 224 swings with respect to the first holding portion 223. The pulley 225 may be provided in the 1st holding | maintenance part 223 and the 2nd holding | maintenance part 224, and the pulley 225 of the 1st holding | maintenance part 223 and the pulley 225 of the 2nd holding | maintenance part 224 may be connected with the belt 226 (FIG. 13). The third actuator 14 drives the belt 226 so that the second holding unit 224 swings relative to the first holding unit 223. Similarly, a pulley 225 may be provided in the body holding unit 21 and the first holding unit 223, and the pulley 225 of the body holding unit 21 and the pulley 225 of the second holding unit 224 may be connected by a belt 226. The second actuator 7 drives the belt 226 to swing the first holding unit 223 relative to the body holding unit 21.
In the fourth embodiment, the same parts as those in the first embodiment are denoted by the same reference numerals, and detailed description thereof is omitted.

  According to the fourth embodiment, the thigh holding part 22 that holds the front face of the transferee's thigh is divided and held by a plurality of holding parts. According to the physique, each holding part can be operated very finely to form an optimum holding surface. Therefore, the load on the abdomen of the transferred person can be further reduced.

Note that the present invention is not limited to the above-described embodiment, and can be changed as appropriate without departing from the spirit of the present invention.
In the said embodiment, the part which contacts a transferee's thigh in the thigh holding | maintenance part 23 may be formed in the concave shape 231 corresponding to the outer shape of a thigh (FIG. 14). As a result, the surface pressure applied to the thigh of the transferred person is reduced, so that the transferred person is less likely to feel uncomfortable. Further, since the thigh of the transferred person fits into the concave shape 231 of the thigh holding part 23, the thigh is not easily displaced from the thigh holding part 23 when the transferred person is lifted, and the holding posture is stabilized.
The above embodiments can be arbitrarily combined.

  DESCRIPTION OF SYMBOLS 1 Transfer apparatus, 2 holding fixture, 3 arm, 4 arm support | pillar part, 5 1st actuator, 6 dolly part, 7 2nd actuator, 8 angle sensor, 9 displacement sensor, 10 control apparatus, 11 target value generation part, 12 control Part

Claims (7)

A holder having a body holding means for holding the front of the body of the transferee, and a thigh holding means that is slidably connected to a lower end side of the body holding means and holds the front of the thigh of the transferee;
An arm that is connected to the upper end side of the holder, and that moves the holder so that the lower end side of the torso holding means moves more than the upper end side by swinging when the transferee is lifted;
An angle detection means for detecting a swing angle of the arm;
Drive means for swinging the thigh holding means relative to the torso holding means;
Control means for controlling peristalsis by the drive means according to the peristaltic angle detected by the angle detection means;
A transfer apparatus comprising: The transfer device according to claim 1,
The control means is configured to increase the peristaltic angle formed by the body holding means and the thigh holding means as the peristaltic angle detected by the angle detecting means increases. A transfer device, characterized by controlling peristalsis caused by. The transfer device according to claim 1,
Force detecting means for detecting a force acting in a direction in which the thigh holding means swings and approaches the body holding means;
The control means controls the peristalsis by the driving means so that the force detected by the force detecting means increases as the peristaltic angle detected by the angle detecting means increases. Characteristic transfer device. The transfer device according to any one of claims 1 to 3,
The thigh holding means has left and right thigh holding portions that individually hold the left and right thigh front surfaces of the transferred person,
A pair of the driving means for respectively swinging the left and right thigh holding portions with respect to the body holding means;
The control means controls the peristalsis by each driving means independently according to the peristaltic angle detected by the angle detection means.
A transfer device characterized by that. The transfer device according to any one of claims 1 to 4,
In the thigh holding means, a portion that contacts the thigh of the transferred person is formed in a concave shape,
A transfer device characterized by that. The transfer device according to any one of claims 1 to 5,
The thigh holding means has a first holding part slidably connected to the lower end side of the body holding means, and a second holding part slidably connected to the lower end side of the first holding part,
A transfer device characterized by that. A holder having a body holding means for holding the front of the body of the transferee, and a thigh holding means that is slidably connected to a lower end side of the body holding means and holds the front of the thigh of the transferee;
An arm that is connected to the upper end side of the holder, and that moves the holder so that the lower end side of the torso holding means moves more than the upper end side by swinging when the transferee is lifted;
And a driving means for swinging the thigh holding means with respect to the trunk holding means,
Detecting a swing angle of the arm;
Controlling the peristaltic motion by the driving means according to the detected peristaltic angle;
A control method for a transfer apparatus, comprising:

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