JP2020075064A - Bed with care robot - Google Patents

Abstract

To provide a bed with a care robot that enables a care-receiver lying on a bed to use a wheel chair, a toilet, and a bathtub on his or her own.SOLUTION: A bed is arranged by separating a mattress into a head part, a neck part, a back part, a lumbar part, a hip part, a thigh part, a knee part, a calf part, and a toe part. A care robot for supporting the neck part, the lumbar part, the thigh part, and the calf part of the care-receiver is provided to the bed. It lifts the care-receiver with arms and moves the care-receiver to the bed side. In starting a care operation, each mattress part of the neck part, the lumbar part, the thigh part, and the calf part is accommodated under the adjacent mattress by an accommodation device, and a space required for a care operation of the care robot is secured. The arm of the care robot supports the care-receiver from below and moves upward. The two arms of the care robot supporting the neck part and the lumbar part are brought into a back rest shape of the chair, raise the care-receiver, extend the care-receiver on a general-purpose instrument or tool for a care-giver such as a wheelchair placed on the bed side, and drop the care-receiver on it. Then, the two arms supporting the thigh part and the calf part move to the toe part of the care-receiver, the care-receiver disengages the foot, and the care robot leaves the care-receiver.SELECTED DRAWING: Figure 3

Description

  BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a bed with a care robot for caring for a care-requiring person to use a general-purpose device for a care-requiring person, such as a wheelchair, or an instrument by himself or herself from a form lying on the bed.

  Provide a bed with a robot that allows care recipients to care for themselves so that they can use general-purpose care equipment and devices necessary for daily life such as wheelchairs placed beside the bed.

  FIG. 1 is a view showing a form in which a care recipient lays on a bed. The head mattress 1, neck mattress 2, back mattress 3, back mattress 4, hip mattress 5, thigh mattress 6, knee mattress. 7, a calf mattress 8, and a toe mattress 9 are arranged side by side, and a head mattress 1, a back mattress 3, a buttocks mattress 5, a knee mattress 7, and a toe mattress 9 are provided as a bed frame. Stick to 10. Each of the neck mattress 2, the waist mattress 4, the thigh mattress 6, and the calf mattress 8 has a mattress storage motor 21, a rotary slide plate 22, and a horizontal vertical movement guide plate shown in FIG. Each mattress storage device (shown in FIG. 5) provided with 23 and a mattress installation plate 24 is attached and arranged on the mattress installation plate 24. FIG. 6 shows a bed structure of the mattress storage device. FIG. 2 shows a structure in which the mattress storage device is arranged and fixed to the bed frame 10.

  The mattress storage operation is that the mattress storage motor 21 rotates, the connected rotary slide plate 22 rotates, and the mattress installation plate 24 descends and moves horizontally according to the rails of the horizontal / vertical movement guide plate 23. It is stored under the adjacent fixed mattress (see FIG. 6). This secures a working space for the care robot.

  FIG. 3 is a view showing a form in which a person requiring care is transported to the side of a bed. The arm of a nursing care robot that serves as a means for supporting the person requiring care is a suspension arm that connects a neck arm 151 and a waist arm 152. 122, a suspension arm electric actuator 123 connected to the suspension arm 122, a thigh electric actuator 155 connected to the thigh arm, and a calf shin electric actuator 156 connected to the calf arm 154, which are connected to the arm base 100. Is.

  As a means for raising and lowering a person requiring care, a column of a care robot is constituted by a column 101 having a slide bush inside, a raising and lowering slide shaft 102, and a raising and lowering electric actuator 103 shown in FIG.

  The suspension arm electric actuator 123 contracts, the suspension arm 122 rotates about the connecting portion of the arm base body 100, and the neck arm 151 and the waist arm 152 become the shape of the chair back.

  As a means for transporting a person requiring care to the side of the bed, a moving bush unit 112, a moving slide shaft 113, and a moving motor 114 shown in FIG. 4 are provided. The rotation of the moving motor 114 is transmitted to the moving bush unit 112 via the moving belt 115, and the care robot moves on the moving slide shaft 113.

  As a means for extending the device onto a general-purpose care device such as a wheelchair, a magic hand structure expansion / contraction device 106 and an expansion / contraction electric actuator 107 are provided between the arm base 100 and the column 101.

  The arm slide motor 132 and the thigh electric actuator 154 are connected to the feed screw so that the care receiver can easily remove the arm of the care robot. Move toward the knees of the care recipient. Further, the thigh electric actuator 154 and the calf electric actuator 156 are extended, and the thigh arm 153 and the calf arm 155 are lowered to the feet of the care recipient. This allows the care recipient to comfortably remove their feet from both arms.

  The care operation of the care robot is performed by the control device according to the procedure shown in the flowchart of FIG.

  The care recipient can live his / her daily life as much as possible without depending on the caregiver, and privacy and dignity are maintained. The caregiver's burden is also reduced.

  FIG. 1 is a diagram showing a form in which a person requiring care lies on a bed. A head mattress 1, a neck mattress 2, a back mattress 3, a waist mattress 4, a hip mattress 5, a thigh mattress 6, a knee mattress 7, a calf mattress 8, and a toe mattress 9 are arranged side by side. Make up the bed. The head mattress 1, the back mattress 3, the hip mattress 5, the knee mattress 7, and the foot mattress 9 are fixed to the bed frame 10. This is shown in FIG.

  As a means for the bed not to hinder the operation of the nursing robot, a mattress storage device including a mattress storage motor 21, a rotary slide plate 22, a horizontal and vertical movement guide plate 23, and a mattress installation plate 24 shown in FIG. 5 is provided. Prepare The neck mattress 2, the waist mattress 4, the thigh mattress 6, and the calf mattress 8 are fixed to each mattress installation plate 24. FIG. 2 shows a structure in which the mattress storage device is arranged and fixed to the bed frame 10. FIG. 6 shows a bed structure of the neck mattress 2. When the mattress storage motor 21 rotates, the connected rotary slide plate 22 rotates, and the mattress installation plate 24 descends and horizontally moves according to the rail of the horizontal / vertical movement guide plate 23 and is stored under the adjacent head mattress 1. (See FIG. 7). Other mattress storage devices also operate at the same time, and a space that does not interfere with the operation of the care robot is secured.

  FIG. 3 is a view showing a form in which a person requiring care is transported to the side of a bed, and a suspension arm 122 that connects a neck arm 151 and a waist arm 152, a suspension arm electric actuator 123, and a thigh that connects a thigh arm 153. The arm base 100 including the partial electric actuator 154, the calf electric actuator 156 connecting the calf arm 155, and the arm slide motor 132 constitutes an arm of the care robot. The neck arm 151, the waist arm 152, the thigh arm 153, and the calf arm 155 are means for supporting the care-requiring person in the form of lying on the bed.

As means for elevating and lowering a person requiring care, a leg of a nursing robot is configured by a column 101 having a slide bush inside, an elevating slide shaft 102, and an elevating electric actuator 103 shown in FIG.
As a means for extending the device onto a general-purpose device such as a wheelchair, a magic hand structure expansion / contraction device 106 for connecting between the arm bases 100 and an expansion / contraction electric actuator 107 are provided.

  As a means for carrying to the side of the bed, a moving bush unit 112 connected to the lower leg of the care robot, a moving slide shaft 113 connected to the bed frame 10, a moving motor 114, and a moving belt 115 are provided. A part of the moving belt 115 is fixed to the moving bush unit 112, and when the moving motor 114 rotates, the care robot moves on the moving bush unit 112.

  The suspension arm electric actuator 123 contracts, the suspension arm 122 rotates about the connecting portion of the arm base body 100, and the neck arm 151 and the waist arm 152 are means for changing the arm into a chair configuration in a lifted form.

  As a means for extending the device onto a general-purpose care device such as a wheelchair, a magic hand structure expansion / contraction device 106 and an expansion / contraction electric actuator 107 are provided between the arm base 100 and the column 101.

  The arm slide motor 132 and the thigh electric actuator 154 are connected to the feed screw so that the care receiver can easily remove the arm of the care robot. Move toward the knees of the care recipient. Further, the thigh electric actuator 154 and the calf electric actuator 156 are extended, and the thigh arm 153 and the calf arm 155 are lowered to the feet of the care recipient. This allows the care recipient to comfortably remove their feet from both arms.

The care operation of the care robot is performed by the control device in the procedure shown in the flowchart of FIG.
First, while the caregiver is lying on the bed, he or she pushes a button for an operation command such as "wheelchair", "toilet", "bath" or utters a voice. When the control device detects a correct command, all the mattress storage motors 21 are activated, the rotary slide plate 22 rotates, and the mattress installation plate 24 connected to the slide portion of the rotary slide plate 22 causes the horizontal and vertical movement guide plate 23 to move. It is configured to descend along the rails and move horizontally to accommodate the mattress. Here, the working space of the care robot is secured. FIG. 6 shows a bed form of the neck mattress 2. FIG. 7 shows a storage form of the neck mattress 2.

  Next, in the care robot, the movement belt 115 is rotated by the rotation of the movement motor 114, and a part of the movement belt 115 is connected to the movement bush unit 112. Move to the desired position.

  Next, the protection robot lifts the care-requiring person from below with the extension of the lifting electric actuator 103 by the neck arm 151, the waist arm 152, the thigh arm 153, and the calf arm 155.

  Next, the neck arm 151 connected to the suspension arm 122 and both the waist arm 152 are rotated by the reduction of the suspension arm electric actuator 123, and the suspension arm 122 is rotated to raise the chair back and raise the care recipient. Then, the movement motor 114 is rotated to move to the side of the bed.

    The image processing of the camera detects the type of the device or instrument waiting on the side of the bed, and the extension / contraction electric actuator 107 causes the extension / contraction device 106 of the magic hand structure to extend to the appropriate position on the detected device or instrument. Give out the person requiring care.

  Here, the calf arm electric actuator 156 connecting the calf arm 155 lowers the calf arm 155 to an appropriate height according to the shape of the care-requiring person and the intended device or instrument.

  Next, the lift electric actuator 103 contracts to an appropriate height, and the care-requiring person is lowered onto the device or instrument.

  Next, the arm slide motor 132 rotates, and the thigh arm 153 connected by the rotation of the directly connected feed screw moves in the direction of the knees of the care recipient. Now the care recipient sits directly on the intended device or equipment. FIG. 10 shows a form directly seated on a toilet seat.

  FIG. 9 shows a form sitting in a wheelchair. The thigh arm 153 is the thigh electric actuator 154, and the calf arm 155 is lowered to the foot of the care receiver by the calf electric actuator 156, and the arm slide motor 132 is further rotated to move toward the foot of the care receiver. .. This allows the care recipient to easily remove their feet from both arms. FIG. 11 shows a figure sitting directly in the bathtub.

  Next, when the person requiring care utters "disengage", the elevating electric actuator 103 expands, the care robot moves up, the telescopic electric actuator 107 contracts, the moving motor 114 rotates, and the care robot moves toward the back of the bed. Moving.

  It is used in the independence life of care recipients in the home and in the care of patients in hospitals and nursing homes.

  It is a perspective view showing a form in which a person requiring care lies on a bed.   It is a perspective view which removes a mattress and shows the composition of a bed.   It is a perspective view which shows the form which conveyed the care recipient to the bed side.   It is a perspective view which shows the form which removed the mattress and carried it to the bed side.   It is a perspective view showing a mattress storage device.   It is a side view which shows the structure of the bed of a neck mattress storage device.   It is a side view which shows the structure which the neck mattress storage device accommodated.   It is a flow figure showing a care operation procedure.   It is a side view which shows the form which sat in the wheelchair.   It is a side view which shows the form which sat down in the toilet.   It is a side view which shows the form which sat down in the bathtub.

1 head mattress 2 neck mattress 3 back mattress 4 lumbar mattress 5 hips mattress 6 thigh mattress 7 knee mattress 8 calf mattress 9 foot tip mattress 10 bed frame 11 leg slide shaft 20 mattress storage device 21 mattress storage motor 22 Rotating Slide Plate 23 Horizontal Vertical Moving Guide Plate 24 Mattress Installation Plate 100 Arm Base 101 Struts 102 Lifting Slide Shaft 103 Lifting Electric Cactuator 106 Magic Hand Structure Expanding / Contracting Device 107 Expanding Electric Actuator 112 Moving Bushing Unit 113 Moving Slide Shaft 114 Moving Motor 115 Belt for movement 122 Suspension arm 123 Suspension arm electric actuator 131 Arm slide rail 132 Arm slide motor 151 Neck arm 152 Waist arm 153 Thigh arm 154 Thigh electric actuator 155 Calf arm 156 Calf tibial electric actuator

Claims (2)

Means for supporting the care recipient in the form of lying on the bed,
A means to raise and lower the care recipient on the bed,
A means to change the supported arm into a chair structure,
A means to transport a care recipient to the side of the bed,
A means for presenting on a general-purpose care device such as a wheelchair,
A nursing robot comprising means for allowing a care-requiring person to easily remove the arm after the robot is dropped onto a general-purpose care device.   A bed comprising a means for holding the care-requiring person by lifting the care-requiring person and transporting the care-requiring person to the side of the bed.

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