JP2018134430A - Assistance robot - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an assistance robot capable of performing standing motion according to a seating posture and a body type of an assistance receiver.SOLUTION: An assistance robot 10 includes: a base 21; a vertical motion operation part 15c that is operated by an assistance receiver M1 or a helper to change the vertical position of a holding part 13; a first control part 17a that controls an actuator 45 according to an operation onto the vertical motion operation part 15c to vertically move the holding part 13; a storage part 16 that prestores motion loci of actuators 45, 32a1, and 32b1 for moving the holding part 13 from a reference seating attitude to a reference standing attitude; a correction part 17b that corrects the motion loci of the actuators 45, 32a1, and 32b1 on the basis of the vertical position of the holding part 13 having been moved by the first control part 17a and the vertical position of the reference seating attitude; and a second control part 17c that controls the actuators 45, 32a1, and 32b1 on the basis of the corrected motion loci and moves the holding part 13 to the prescribed standing attitude.SELECTED DRAWING: Figure 6

Description

  The present invention relates to an assistance robot that assists a person being assisted in standing up.

  Assisting robots described in Patent Documents 1 to 4 are known. This type of assistance robot assists the operation from the sitting posture to the standing posture. These assistance robots move to the standing posture while holding a part of the upper body of the person being assisted in the sitting posture.

JP 09-066082 A JP 2012-030077 A JP 2008-067849 A JP2012-217686A

  By the way, in order to assist the standing motion in a more stable state, it is required to perform the standing motion according to the sitting posture of the person being assisted and the physique of the person being assisted.

  An object of this invention is to provide the assistance robot which can perform the standing-up operation | movement according to the person's sitting posture and the person's physique. It is another object of the present invention to provide an assistance robot that can perform the above-described standing motion with a simple configuration.

  The assistance robot according to the present invention includes a base, a part of the body of the person being assisted, a holding part that is at least vertically movable and tiltable with respect to the base, and the holding part with respect to the base. An actuator that performs an operation, a vertically moving operation unit that is operated to change a vertical position of the holding unit by the person being assisted or a caregiver, and controlling the actuator according to an operation to the vertical movement operating unit, Moved by a first control unit that moves the holding unit up and down, a storage unit that stores in advance an operation locus of the actuator for moving the holding unit from a reference seating posture to a reference standing posture, and the first control unit. A correction unit that corrects an operation trajectory of the actuator based on the vertical position of the holding unit and the vertical position of the reference seating posture; and the actuator based on the corrected operation trajectory. Controls data, and a second control unit for moving the holding portion to a predetermined vertical position.

  When the person being assisted or the person assisted operates the vertical movement operation unit, the position of the holding part can be moved to an arbitrary position when the person being assisted is in the sitting state. Then, the operation trajectory of the actuator for moving to a predetermined standing posture is corrected according to the vertical position of the moved holding unit. That is, the start position to move to the standing posture is freely determined according to the sitting height of the person being assisted and the physique of the person being assisted. In particular, since the start position is freely determined to be an arbitrary position by the person being assisted or the operation of the assistant, the operability is improved and the standing operation is stably performed.

Another assistance robot according to the present invention is provided with a base, a holding base that can move at least up and down with respect to the base, and detachable with respect to the holding base. And a holding portion that is an attachment formed according to the physique of the person being assisted.
When the holding portion is an attachment that can be attached to and detached from the holding base, an appropriate holding portion corresponding to the physique of the person being assisted is applied. As a result, a stable standing operation is performed.

  Further, another assisting robot according to the present invention includes a base, a holding base that can move at least up and down with respect to the base, and a part of the body of the person being assisted, and is attached to the holding base by a cam mechanism. A holding portion coupled to be movable back and forth and tiltable; a first actuator that moves the holding base up and down relative to the base; and a second actuator that moves the holding portion forward and backward relative to the holding base. An actuator. The holding part is moved back and forth and tilted with a simple configuration.

It is the figure seen from the right side of one Embodiment of the assistance robot by this invention. It is the figure seen from the right side of the outline | summary of the internal structure of the assistance robot in the expansion | extension state shown in FIG. It is the figure seen from the back of the outline | summary of the internal structure of the assistance robot in the expansion | extension state shown in FIG. It is the figure seen from the upper direction around the holding | maintenance part shown in FIG. It is the figure seen from the upper periphery of the holding part of the state which moved the elbow-place pad of the holding part shown to FIG. 4A. It is sectional drawing which shows a detection apparatus among the holding | maintenance parts shown in FIG. It is a functional block diagram regarding the control apparatus shown in FIG. It is the figure which looked at a mode that the assistance robot is supporting the care receiver who is seated from the right side. It is the figure which looked at a mode that the assistance robot is supporting the person who is standing up from the right side. It is a figure which shows the standing-up operation | movement of an assistance robot. It is a flowchart which shows the process by the 1st control part shown in FIG. It is a flowchart which shows the process by the correction | amendment part shown in FIG. It is a flowchart which shows the process by the 2nd control part shown in FIG. It is a figure which shows the other standing motion of an assistance robot. It is a figure which shows the other standing motion of an assistance robot. It is the figure seen from the right side of the assistance robot which attached the other holding | maintenance part. It is the figure seen from the upper periphery of the other holding | maintenance part shown in FIG. It is the figure seen from the upper periphery of the holding part of the state which changed the space | interval of the right and left side clamping part of the other holding part shown in FIG. It is the figure seen from the right side of the assistance robot which attached the holding | maintenance part using a cam mechanism. It is the figure seen from the upper part of the component of the cam mechanism shown in FIG. It is the fragmentary sectional view of the figure seen from the right side of a part of assistance robot of FIG. It is the figure seen from the right side of a part of assistance robot of the state which moved the holding | maintenance part. It is the fragmentary sectional view of the figure seen from the right side of a part of assistance robot of FIG. It is the figure seen from the right side of a part of assistance robot in the state using a part of cam groove.

(1. Configuration of assistance robot)
Hereinafter, an embodiment of an assistance robot according to the present invention will be described. The assistance robot 10 supports a part of the body (for example, the upper body) of the person being assisted M1 and assists standing and sitting. As shown in FIGS. 1 to 3, the assistance robot 10 includes a base 11, an actuator 12, a holding unit 13, a handle (gripping unit) 14, an operation device 15, a storage device (storage unit) 16, and a control device 17. Hereinafter, the structure of the assisting robot 10 (excluding the storage device 16 and the control device 17) will be described with reference to FIGS. In the following description, front, rear, left, and right are front, back, left, and right when the traveling direction of the assisting robot 10 is the front.

  The base 11 includes a base 21, a base cover 22, and a boarding plate 23. The base 21 is formed in a substantially U shape in plan view that opens rearward (leftward in FIG. 1). Specifically, the base 21 is a connecting frame 21c that connects the left and right frames 21a and 21b and one end of the left and right frames 21a and 21b (in this embodiment, the front end (right direction in FIGS. 1 and 2)). Is provided. The left and right frames 21a and 21b are arranged at an interval necessary for the care recipient M1 to enter.

  Left and right rear wheels 21d and 21e are provided at the rear ends of the left and right frames 21a and 21b, respectively. The left and right rear wheels 21d and 21e may be driven by motors. Left and right front wheels 21h and 21i are provided at the front ends of the left and right frames 21a and 21b, respectively. The left and right front wheels 21h and 21i are rotatable according to the traveling direction of the assisting robot 10.

  As shown in FIG. 1, the base cover 22 is a cover that covers the base 21 from above. Similar to the base 21, the base cover 22 is formed in a substantially U shape in plan view that opens rearward. The boarding plate 23 is provided in the U-shaped opening part of the base 21, as shown in FIG.2 and FIG.3. The assistance robot 10 functions as a towing vehicle when the person being assisted M1 gets on the boarding plate 23. Moreover, the boarding plate 23 can be made to stand as shown by the two-dot chain line in FIG. In this case, the assistance robot 10 functions as a walker.

  As shown in FIGS. 2 and 3, the actuator 12 (30) includes a slide portion 31 and a tilting portion 32. The slide part 31 moves the holding part 13 up and down with respect to the base 21. The tilting part 32 tilts the holding part 13 with respect to the base 21.

  The slide part 31 (40) includes left and right slide parts 41 and. As shown in FIG. 3, the left slide part 41 includes a slide base 41a, a first slide part 41b, and a second slide part 41c. The base of the left slide part 41 is attached to the left frame 21 a of the base 21. That is, the slide base 41 a is attached to the base 21 while being inclined at a predetermined angle (for example, 80 degrees) to the front side. The first slide portion 41b slides in the longitudinal direction (axial movement direction) with respect to the slide base portion 41a, and is configured to be substantially accommodated in the slide base portion 41a when contracted. The second slide portion 41c slides in the longitudinal direction (axial movement direction) with respect to the first slide portion 41b, and is configured to be substantially accommodated in the first slide portion 41b when contracted. .

  An arm portion 43 (holding base portion) extending rearward is attached to the upper end of the second slide portion 41c. In the present embodiment, the arm portion 43 is orthogonal to the longitudinal direction of the left slide portion 41. The holding portion 13 is rotatably attached to the distal end portion of the arm portion 43.

  Furthermore, the slide part 31 includes a drive motor 45 (vertical movement actuator, first actuator) for sliding the first and second slide parts 41b and 41c. The output of the drive motor 45 is configured to be transmitted to the second belt 48 via the speed change mechanism 46 and the first belt 47. The second belt 48 is mounted on the pulley 48a and the pulley 48b. The pulley 48a is rotatably attached to the lower end portion of the slide base 41a. The pulley 48b is rotatably attached to the upper end of the slide base 41a. The lower end portion of the first slide portion 41 b is fixed to the second belt 48.

  The third belt 49 is mounted on the pulley 49a and the pulley 49b. The pulley 49a is rotatably attached to the lower end portion of the first slide portion 41b. The pulley 49b is rotatably attached to the upper end portion of the first slide portion 41b. A lower end portion 41 c 1 of the second slide portion 41 c is fixed to one side of the third belt 49. An upper end 41 a 1 of the slide base 41 a is fixed to the other side of the third belt 49.

  The left slide portion 41 includes a slide cover 41d (shown in FIG. 1) that covers the first slide portion 41b and the second slide portion 41c. The slide cover 41d is formed in a cylindrical shape. The slide cover 41d may be configured by one cylindrical body, or may be configured by a two-stage slide type in which two cylindrical bodies slide.

  As shown in FIGS. 2 and 3, the right slide part 42 includes a slide base part 42 a, a first slide part 42 b, and a second slide part 42 c, similar to the left slide part 41. The base of the right slide part 42 is attached to the right frame 21 b of the base 21. An arm portion 44 (holding base portion) extending rearward is attached to the upper end of the second slide portion 42c. The holding portion 13 is rotatably attached to the distal end portion of the arm portion 44.

  Further, the output of the driving motor 45 is transmitted to the second belt 52 via the speed change mechanism 46 and the first belt 51. The second belt 52 is mounted on the pulley 52a and the pulley 52b. The pulley 52a is rotatably attached to the lower end portion of the slide base portion 42a. The pulley 52b is rotatably attached to the upper end portion of the slide base portion 42a. A lower end portion of the first slide portion 42 b is fixed to the second belt 52.

  The third belt 53 is mounted on the pulley 53a and the pulley 53b. The pulley 53a is rotatably attached to the lower end portion of the first slide portion 42b. The pulley 53b is rotatably attached to the upper end portion of the first slide portion 42b. A lower end portion 42 c 1 of the second slide portion 42 c is fixed to one side of the third belt 53. An upper end 42 a 1 of the slide base 42 a is fixed to the other side of the third belt 53.

  The right slide part 42 includes a slide cover 42d (shown in FIG. 1) that covers the first slide part 42b and the second slide part 42c. The slide cover 42d is configured similarly to the slide cover 41d.

  When the drive motor 45 is driven in the forward direction, the second belt 48 is rotated, and the first slide portion 41b extends along the axial direction with respect to the slide base portion 41a. At the same time, the third belt 49 is rotated as the first slide portion 41b is raised, and the second slide portion 41c extends along the axial direction with respect to the first slide portion 41b. The extension operation of the left slide part 41 is the same in the right slide part 42.

  On the other hand, when the drive motor 45 is driven in the opposite direction, the second belt 48 is rotated in the opposite direction to that during extension, and the first slide portion 41b contracts in the axial direction with respect to the slide base portion 41a. At the same time, as the first slide portion 41b is lowered, the third belt 49 is rotated in the opposite direction to the extension, and the second slide portion 41c contracts along the axial direction with respect to the first slide portion 41b. The contraction operation of the left slide part 41 is the same in the right slide part 42. Thereby, the arm parts 43 and 44 and the holding part 13 are moved up and down with respect to the base 21. In addition to the structure using a belt, the slide part 31 can also use a ball screw etc.

  The tilting part 32 includes left and right tilting parts 32a and 32b. The left tilting part 32a includes a driving motor 32a1 (tilting actuator), a conversion mechanism 32a2, and an output rod 32a3. The conversion mechanism 32a2 incorporates, for example, a ball screw, converts the rotational output of the drive motor 32a1 into linear motion, and outputs the linear motion to the output rod 32a3. The output rod 32a3 advances and retreats in the axial direction with respect to the conversion mechanism 32a2. The drive motor 32a1 and the conversion mechanism 32a2 are attached to the lower end portion of the second slide portion 41c. The left tilting part 32a is attached to the second slide part 41c and the arm part 43 so as to be tiltable. The output end of the output rod 32a3 is attached to the front end portion of the holding portion 13 so as to be tiltable.

  The right tilting part 32b includes a drive motor 32b1 (tilting actuator), a conversion mechanism 32b2, and an output rod 32b3, like the left tilting part 32a. The drive motor 32b1 and the conversion mechanism 32b2 are attached to the lower end portion of the second slide portion 42c. The right tilting part 32b is attached to the second slide part 42c and the arm part 44 so as to be tiltable. The output end of the output rod 32b3 is attached to the front end portion of the holding portion 13 so as to be tiltable.

  When the drive motor 32a1 is driven in the forward direction, the output rod 32a3 advances (extends) in the output direction. At the same time, when the drive motor 32b1 is driven in the forward direction, the output rod 32b3 advances (extends) in the output direction. As a result, the holding unit 13 rotates (tilts backward) in the counterclockwise direction (in FIGS. 1 and 2) around the rotation axis A1. On the other hand, when the drive motor 32a1 is driven in the reverse direction, the output rod 32a3 moves backward (shrinks). At the same time, when the drive motor 32b1 is driven in the forward direction, the output rod 32b3 retracts (shrinks). As a result, the holding portion 13 rotates (tilts forward) in the clockwise direction (in FIGS. 1 and 2) around the rotation axis A1. Thereby, the holding part 13 is tilted with respect to the base 21 and the arm parts 43 and 44.

  The holding part 13 can move at least up and down and tilt with respect to the base 21. Further, the holding portion 13 can tilt with respect to the arm portions 43 and 44. Furthermore, the holding part 13 is an attachment that can be attached to and detached from (replaceable with) the arm parts 43 and 44. That is, the holding part 13 is formed according to the physique of the person being assisted M1. A holding portion 13 suitable for the person being assisted M1 who uses the assistance robot 10 is attached to the arm portions 43 and 44.

  The rear end portion of the holding portion 13 is attached to be rotatable about the rotation axis A1 of the arm portions 43 and 44. The front end portion of the holding portion 13 is adjusted to a predetermined angle with respect to the horizontal plane by the tilting portion 32 and is supported at that position. The holding unit 13 holds a part of the body (for example, the upper body) of the person being assisted M1 and assists standing, sitting, and walking (moving).

  For example, the holding unit 13 is a member that supports the upper body when facing the person being assisted M1 in the standing and sitting operations of the person being assisted. As shown in FIG. 4A, the holding portion 13 is formed in a substantially U shape in plan view that opens in the rearward direction (downward in FIG. 4A). The holding part 13 is configured in a state where two plate members 61 and 62 (holding part main body and attachment main body) formed in a substantially U shape in plan view are overlapped. Between the plate member 61 and the plate member 62, as shown in FIG. 5, a detection device 63 for detecting the weight distribution received from the person being assisted M1 is provided.

  The detection device 63 includes a plurality of pressure sensors 63a. In the present embodiment, the pressure sensor 63 a is disposed at the four corners of the holding unit 13. Two pressure sensors 63a are provided on the left and right along the front-rear direction (left-right direction in FIG. 5) of the person being assisted. The pressure sensor 63a provided in the front direction of the person being assisted M1 is the front pressure sensor 63af. The pressure sensor 63a provided in the rear direction of the person being assisted M1 is the rear pressure sensor 63ar. The pressure sensor 63a detects the amount of strain of the strain generating body that changes due to a change in load as a voltage change, or when pressure is applied to the silicon chip, the gauge resistance changes according to the deflection and is converted into an electrical signal. For example, a semiconductor pressure sensor. In addition, you may make it the detection apparatus 63 be comprised with a planar pressure sensor.

  As shown in FIG. 4A, a pair of elbow rest pads 64 and 64 (elbow placement portions) are provided at the rear end portion of the upper surface of the holding portion 13. A pair of handles 14 and 14 (gripping portions) are provided at the front end portion of the upper surface of the holding portion 13. The handles 14 and 14 are respectively held by the left and right hands of the person being assisted M1.

  As shown in FIG. 4B, each of the left and right elbow rest pads 64, 64 is variably provided on the plate member 61 (holding portion main body) in the horizontal direction of the person being assisted M1. Furthermore, each of the left and right elbow rest pads 64, 64 is variably provided in the front-rear direction with respect to the handles 14, 14. For example, the elbow pad 64, 64 may be detachable from the plate member 61, or a mechanism guided so as to be movable in the front-rear direction and the left-right direction may be employed.

  The positions of the left and right elbow pads 64 and 64 are adjusted as appropriate according to the physique of the person being assisted M1. As a result, a comfortable posture of the person being assisted M1 is maintained, and the posture of the person being assisted M1 is likely to be stable when the person being assisted moves from the sitting posture to the standing posture.

  A body detection switch 66 (body detection) is provided at the center in the front-rear direction and the center in the left-right direction of the holding unit 13. The body detection switch 66 protrudes upward from the upper surface of the plate member 61 and detects contact with the body of the person being assisted M1.

  An operating device 15 is provided at the front end of the upper surface of the holding unit 13. The operation device 15 includes a display unit 15a that displays an image and an operation unit 15b that receives an input operation from a user (an assistant or a person being assisted M1). The display unit 15a includes a liquid crystal display, and displays an operation mode selection screen of the assisting robot 10 and the like. The operation unit 15b includes a cursor key for moving the cursor up and down, left and right, a cancel key for canceling input, a determination key for determining selection contents, and the like, and is configured to allow a user to input an instruction.

  The operating device 15 includes at least a function of the up / down motion operating unit 15c for operating the change of the vertical position of the holding unit 13 by the person being assisted M1 or the person being assisted, and a function of the height acquiring part 15d for acquiring the height of the person being assisted M1. And the function of the standing start switch 15e. The vertical movement operation unit 15c, the height acquisition unit 15d, and the standing start switch 15e may be displayed on the display unit 15a. The operation device 15 includes a display function of the display unit 15a and an input function of the operation unit 15b, and may be configured by a touch panel that operates the device by pressing a display on the screen.

  As shown in FIG. 1, a cover 65 is attached to the lower surface of the holding portion 13 downward. The cover 65 is formed in a plate shape and a fan shape, and closes the gap between the holding portion 13 and the arm portion 43 (or the arm portion 44).

(2. Explanation of storage device and control device)
The storage device 16 and the control device 17 will be described with reference to FIGS.
The storage device 16 (storage unit) moves the holding unit 13 from the reference sitting posture to the reference standing posture when the virtual person M1 corresponding to a predetermined standard physique is raised from the sitting state. The operation trajectories of the drive motor 45 as the vertical actuator and the drive motors 32a1 and 32b1 as the tilt actuators are stored.

  As shown in FIG. 7A, the reference seating posture of the holding unit 13 is a state in which the forearm of the person being assisted M1 is supported in a state where the virtual person M1 is seated on a seating part having a predetermined height. This is the posture of the holding unit 13. As shown in FIG. 7B, the reference standing posture is a posture of the holding unit 13 in a state in which the forearm of the person being assisted M1 is supported in a state where the virtual person being assisted is standing.

  When the assistance robot 10 is operated according to the operation locus of the actuators 45, 32a1, and 32b1 stored in the storage device 16, the operation locus Tas1 of the shoulder of the person being assisted M1 is indicated by a broken line in FIG. That is, the person being assisted M1 stands while tilting forward.

  The control device 17 controls the drive motor 45 as a vertical movement actuator and the drive motors 32a1 and 32b1 as tilt actuators based on various information. The control device 17 includes a first control unit 17a, a correction unit 17b, and a second control unit 17c.

  As shown in FIG. 9, the first control unit 17a determines an input of an operation to the vertically moving operation unit 15c by the person being assisted M1 or the assistant (S11). The first control unit 17a controls the drive motor 45 as a vertical movement actuator according to the vertical movement operation when an operation to the vertical movement operation unit 15c is input (S12).

  Specifically, when the person being assisted M1 is in the seated state, if the person being assisted M1 or the assistant moves up and down the up-and-down movement operation unit 15c, the first control unit 17a activates the drive motor 45. The holding unit 13 is moved upward by control. On the other hand, when the person being assisted M1 is in the seated state and the person being assisted M1 or the assistant performs a downward movement operation on the up / down movement operation unit 15c, the first control unit 17a controls the drive motor 45. The holding unit 13 is moved downward.

  That is, the first control unit 17a moves the holding unit 13 so that the height of the holding unit 13 matches the height of the forearm of the person being assisted M1 when the person being assisted M1 is seated. The height of the forearm of the person being assisted M1 in the sitting state varies depending on the height of the seating part and the physique of the person being assisted M1. Therefore, the height of the holding unit 13 easily matches the height of the forearm of the person being assisted M1 when the person being assisted M1 or the person performing the operation of the vertical movement operation part 15c.

  The correction unit 17b corrects the reference operation trajectory stored in the storage device 16 based on the vertical position of the holding unit 13 moved by the first control unit 17a and the height of the person being assisted M1. As shown in FIG. 10, the correction unit 17b acquires the vertical position of the holding unit 13 in the state operated by the first control unit 17a (S21). Next, the correction unit 17b acquires the height of the person being assisted M1 acquired by the height acquisition unit 15d (S22), and acquires the motion trajectory stored in the storage device 16 (S23).

  The correcting unit 17d corrects the motion trajectory stored in the storage device 16 based on the acquired information. For example, as shown in FIG. 12, the person being assisted M1 is sitting on a high seating portion, and the person who is assisted by the standard physique M1 whose height is stored in the storage device 16 is stored in the storage device 16. In the case equivalent to, the movement locus Tas2 of the shoulder portion of the person being assisted by the corrected movement locus of the actuator is the movement locus indicated by the solid line. Here, the broken line in FIG. 12 is the motion locus Tas1 of the shoulder of the person being assisted M1 stored in the storage device 16.

  In addition, when the person being assisted M1 is smaller than the person being assisted with a standard physique, the movement locus Tas3 of the shoulder of the person being assisted by the corrected movement locus of the actuator is shown in FIG. The operation locus is indicated by a solid line. The broken line in FIG. 13 is the movement locus Tas1 of the shoulder of the person being assisted M1 stored in the storage device 16.

  The second control unit 17e controls the driving motor 45 as the vertical movement actuator and the driving motors 32a1 and 32b1 as the tilting actuators based on the operation trajectory of the actuator corrected by the correction unit 17d.

  As shown in FIG. 11, the second control unit 17e determines whether or not the standing start switch 15e is ON (S31). If the standing start switch 15e is ON, the second controller 17e determines whether or not the body detection switch 66 is ON (S32). The state in which the body detection switch 66 is ON is a state in which the person being assisted M1 leans against the body detection switch 66. If any of the above determinations is not satisfied, the second control unit 17e repeats the process from S31 again. That is, since the second control unit 17e performs a standing operation when the body detection switch 66 is ON, a stable standing operation of the person being assisted M1 can be realized.

  When the standing start switch 15e and the body detection switch 66 are ON, the second control unit 17e acquires the operation locus of the actuator corrected by the correction unit 17d (S33). Subsequently, the second control unit 17e acquires each load detected by the pressure sensor 63a (S34), and performs standing-up control according to the corrected operation trajectory and load of the actuator. For example, when the person being assisted M1 tilts greatly forward, the second control unit 17e performs control to restrict the anteversion of the person being assisted M1. In addition, when the person being assisted M1 is greatly inclined backward, the second control unit 17e performs control to restrict the backward inclination of the person being assisted M1. The second control unit 17e repeats the processes of S34 and S35 until it reaches the standing position, and ends the process when it reaches the standing position (S36).

  As described above, when the person being assisted M1 or the person assisted operates the vertical movement operation unit 15c, the position of the holding unit 13 can be moved to an arbitrary position when the person assisted M1 is seated. The movement locus of the actuator for moving to a predetermined standing posture is corrected according to the vertical position of the holding unit 13 that has been moved. That is, the start position to move to the standing posture is freely determined according to the sitting height of the person being assisted M1 and the physique of the person being assisted M1. In particular, since the start position is freely determined at an arbitrary position by the operation of the person being assisted M1 or the assistant, the operability is improved and the standing operation is stably performed. The physique here refers to the length of the trunk of the person being assisted M1, the size of the buttocks, the length of the upper arm, and the like. Further, the operation trajectory of the actuator is corrected according to the height of the person being assisted M1. Therefore, the assistance robot 10 can perform an appropriate standing operation according to the physique of the person being assisted M1.

  Further, the elbow pad 64, 64 is provided with a variable distance in the left-right direction of the person being assisted M1, and a variable distance in the front-rear direction with respect to the handles 14, 14. That is, the holding unit 13 is in accordance with the physique of the person being assisted M1. Therefore, the assistance robot 10 can perform the standing operation of the person being assisted M1 more reliably and stably.

(3. Attachment)
The holding | maintenance part 13 is an attachment which can be attached or detached with respect to the arm parts 43 and 44 as mentioned above. The holding part 13 having the elbow pads 64 and 64 and the handles 14 and 14 can be exchanged according to the person being assisted M1.

  In addition to the holding unit 13 having the above structure, the holding unit 113 shown in FIGS. 14 to 15B can be applied. The holding part 113 is a type sandwiched between the left and right sides of the person being assisted M1. The holding unit 113 is an attachment that can be attached to and detached from the arm units 43 and 44.

  The holding unit 113 includes a holding unit main body 166 on the upper surface of the plate member 61. The holding portion main body 166 includes a center fixing portion 166a that is fixed to the center of the plate member 61, and left and right side holding portions 166b and 166c. The left and right side nipping portions 166b and 166c are slidable with respect to the center fixing portion 166a. That is, the shape of the holding portion main body 166 is appropriately changed according to the physique of the person being assisted M1.

  Thus, by making the holding | maintenance parts 13 and 113 into the attachment which can be attached or detached with respect to the arm parts 43 and 44, according to the physique of the care receiver M1, and according to the medical condition of the care receiver M1, etc. Appropriate holding units 13 and 113 are applied. As a result, a stable standing operation is performed. The physique here refers to the body shape of the person being assisted M1 such as large and small.

(4. Cam mechanism)
In the above, the holding portions 13 and 113 rotate around the rotation axis A1 with respect to the arm portions 43 and 44. Here, when the assistance robot 10 performs the standing-up operation from the sitting state with respect to the person being assisted M1, it is desirable that the assistance robot 10 is raised while the person being assisted is tilted forward. The assistance robot 10 having the above-described configuration can be raised while the person being assisted M1 is tilted forward. The assistance robot 200 that can perform a further forward tilting operation by using a cam mechanism will be described below.

  As shown in FIGS. 16 to 18, the assisting robot 200 includes arm portions 243 and 244 (holding base portions) extending forward from the upper ends of the second slide portions 41 c and 42 c. The arm portions 243 and 244 are connected to the front end side of the arm portions 243 and 244 by a connecting portion 245. Furthermore, each of the arm portions 243 and 244 includes two cam pins 243a, 243a, 244a, and 244a that protrude outward in the left and right directions.

  The holding portion 213 includes cam plates 266 and 267 that are fixed to the left and right of the lower surface of the plate member 62. The cam plates 266 and 267 are connected to the rear end side of the cam plates 266 and 267 by a connecting portion 268. Cam grooves 266a and 267a are formed in the cam plates 266 and 267, respectively. The cam grooves 266a and 267a are formed such that the front side is linear and the rear side is arcuate. Cam pins 243a and 244a are inserted into the cam grooves 266a and 267a so as to be movable along the cam grooves 266a and 267a. That is, the holding portion 213 is connected to the arm portions 243 and 244 so as to be movable back and forth and tiltable by the cam mechanism.

  Furthermore, the assisting robot 200 includes a linear actuator 232 (second actuator). One end of the linear motion actuator 232 is provided to be tiltable to the connecting portion 245, and the other end of the linear motion actuator 232 is provided to be tiltable to the connecting portion 268.

  The linear actuator 232 is controlled by the second control unit 17e. When the linear motion actuator 232 contracts from the state where the linear motion actuator 232 is extended as illustrated in FIGS. 16 and 18, the holding portion 213 is as illustrated in FIGS. 19 and 20. That is, when the linear actuator 232 contracts, the holding portion 213 moves to the front side by the linear portions of the cam grooves 266a and 267a. Further, the holding portion 213 is inclined forward by the arc portions of the cam grooves 266a and 267a. Therefore, the holding portion 213 is moved back and forth and tilted with respect to the arm portions 243 and 244 by one linear motion actuator 232. With the simple configuration, the operation of the holding unit 213 can be performed.

  Further, when the size of the person being assisted M1 is small, as shown in FIG. 21, the second controller 17e does not use the entire range of the cam grooves 266a and 267a, but a part of the cam grooves 266a and 267a. Can also be used. In other words, the correction unit 17b corrects the movement locus of the actuator 232 so that the movement ranges of the cam grooves 266a and 267a are different according to the physique of the person being assisted M1. Thereby, appropriate back-and-forth movement and tilting according to the physique of the person being assisted M1 are realized.

10, 200: Assisting robot, 13, 113, 213: Holding unit, 14: Handle (gripping unit), 15c: Vertical movement operation unit, 15d: Height acquisition unit, 15e: Standing start switch, 16: Storage device (storage unit) ), 17: control device, 17a: first control unit, 17b: correction unit, 17c: second control unit, 17d: correction unit, 17e: second control unit, 21: base, 31: slide unit, 32: Tilt part, 32a1, 32b1: Driving motor (actuator), 43, 44, 243, 244: Arm part (holding base), 45: Driving motor (first actuator), 61, 62: Plate member (attachment body) 64: Elbow rest pad (elbow placement part), 66: Torso detection switch, 232: Direct acting actuator (second actuator), M1: Caregiver

Other assistance robot according to the present invention maintains a base, at least vertically movable holding base relative to the base, set shading to the holding base, a part of the care of the body, and And a holding part which is an attachment formed according to the physique of the person being assisted.
When the holding portion is an attachment that can be attached to and detached from the holding base, an appropriate holding portion corresponding to the physique of the person being assisted is applied. As a result, a stable standing operation is performed.

Claims (9)

The base,
A holding part that holds a part of the body of the person being assisted and is at least vertically movable and tiltable with respect to the base;
An actuator for operating the holding unit with respect to the base;
A vertical movement operation unit operated to change the vertical position of the holding unit by the person being assisted or by an assistant;
A first control unit that controls the actuator in accordance with an operation to the vertical movement operation unit and moves the holding unit up and down;
A storage unit for preliminarily storing an operation trajectory of the actuator for moving the holding unit from a standard sitting posture to a standard standing posture;
A correction unit that corrects an operation trajectory of the actuator based on the vertical position of the holding unit moved by the first control unit and the vertical position of the reference seating posture;
A second control unit that controls the actuator based on the corrected movement locus and moves the holding unit to a predetermined standing posture;
An assisting robot. The assistance robot includes a height acquisition unit that acquires the height of the person being assisted by the person being assisted or by the person being assisted,
The correction unit corrects an operation trajectory of the actuator based on the vertical position and the vertical position of the reference sitting posture, and based on the height and the reference standing posture,
The second control unit moves the holding unit to the predetermined standing posture according to the height,
The assistance robot according to claim 1. The assistance robot includes a torso detector that is provided in the holding unit and detects contact with the torso of the person being assisted.
The second control unit moves the holding unit to the predetermined standing posture when the body detector detects the contact of the body of the person being assisted.
The assistance robot according to claim 1 or 2. The assistance robot includes a holding base that can move at least up and down relative to the base.
The said holding | maintenance part is an attachment provided with the said holding | maintenance base so that attachment or detachment is possible, hold | maintains a part of body of the said care recipient, and is formed according to the physique of the said care receiver. The assistance robot as described in any one of 1-3. The attachment is
The attachment body,
Left and right elbow rests and left and right grips provided in the attachment body;
With
Each of the left and right elbow rests is provided in the attachment main body variably in the left-right direction interval of the person being assisted,
The assistance robot according to claim 4, wherein the left and right elbow placing parts and the left and right gripping parts are relatively variably provided in a front-rear direction interval of the person being assisted. The assistance robot includes a holding base that can move at least up and down relative to the base.
6. The holding unit according to claim 1, wherein the holding unit is connected to the holding base by a cam mechanism so as to be movable back and forth and tilted, and the actuator is moved back and forth and tilted by the actuator. The assistance robot according to one item. The cam mechanism includes a cam groove extending at least in the front-rear direction,
The correction unit corrects an operation locus of the actuator so that an operation range of the cam groove is different according to the physique of the person being assisted,
The assistance robot according to claim 6. The base,
A holding base that is at least vertically movable with respect to the base;
A holding portion that is detachably provided to the holding base, holds a part of the body of the person being assisted, and is an attachment formed according to the physique of the person being assisted;
An assisting robot. The base,
A holding base that is at least vertically movable with respect to the base;
A holding unit that holds a part of the body of the person being assisted and is connected to the holding base by a cam mechanism so as to be able to move back and forth and tilt;
A first actuator for vertically moving the holding base with respect to the base;
A second actuator that performs a back-and-forth movement and a tilting operation of the holding portion with respect to the holding base;
An assisting robot.

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