JP2022133887A - bed - Google Patents

Abstract

To suppress delay occurring to mobility of a movable part.SOLUTION: In a bed (1) which moves a movable part by advancing/retracting rods (21, 22, 23, 27) of actuators (12, 13, 14, 24), advancing/retracting speed of the rods (21, 22, 23, 27) of the actuators (12, 13, 14, 24) is controlled on the basis of an aimed movable state (an arrival state) of the movable part and a scheduled time (an arrival time) that the movable part is moved until the arrival state is reached. Also, before the arrival state is reached, the advancing/retracting speed of the rods (21, 22, 23, 27) of the actuators (12, 13, 14, 24) is corrected so that an arrival state from the movable state of the current movable part is reached at the arrival time. Moreover, movable states of a plurality of movable parts are interlocked by controlling the advancing/retracting speed of the rods (21, 22, 23, 27) of the respective actuators (12, 13, 14, 24).SELECTED DRAWING: Figure 2

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a bed in which a movable part is moved (rotation of a cradle for receiving the body of a lying person, elevation of a cradle on which the cradle is provided, etc.) by moving a rod of an actuator back and forth.

Conventionally, reclining beds have been widely used as beds mainly used in hospitals and nursing care, in which the back and thighs of the lying person can be raised and the height can be adjusted. .

In a conventional reclining bed, a back receiving base for receiving the back of a person lying down and a thigh receiving base for receiving the thighs of a person lying down are provided so as to be tiltable with respect to a support base. An actuator that advances and retracts the rod with a motor is provided between the table and the thigh support.

Then, by controlling the motors of the respective actuators so that the tilt angles of the back and thigh cradles become predetermined angles, the back and thigh cradles are raised and lowered with respect to the support. (see, for example, Patent Document 1).

Japanese Patent Application Laid-Open No. 2004-141437

However, in the above-mentioned conventional bed, depending on the weight of the person lying down and the angle of inclination of the back and thigh cradles, an excessive load is applied to the motor of the actuator. There is a risk that the movement of the back support and thigh support will be delayed.

In addition, when multiple movable parts such as the back support and the thigh support are interlocked, the motions of the multiple movable parts are delayed in combination, and the body of the person lying on the bed is strained. There is a risk that it will shift and give a feeling of oppression to the abdomen and chest of the person lying down.

Therefore, in the present invention according to claim 1, in a bed in which a movable part is moved by advancing and retracting a rod of an actuator (rotation of a cradle that receives the body of a person lying down, elevating and lowering of a support cradle provided with a cradle, etc.), The advancing/retreating speed of the rod of the actuator is controlled based on the target movable state (arrival state) of the movable portion and the time (arrival time) for which the movable portion is to be moved until reaching the attained state.

Further, in the present invention according to claim 2, in the present invention according to claim 1, before reaching the reaching state, the actuator is moved from the current movable state of the movable portion to the reaching state at the reaching time. I decided to correct the forward/backward speed of the rod.

Further, in the present invention according to claim 3, in the present invention according to claim 1 or claim 2, the movable states of the plurality of movable parts are interlocked by controlling the forward/backward speed of the rod of each actuator. made it

And in this invention, there exists an effect described below.

That is, in the present invention, in a bed in which a movable portion is moved by advancing and retracting a rod of an actuator, a target movable state (reached state) of the movable portion and a scheduled time for moving the movable portion until reaching the reached state are provided. (arrival time), the forward/backward movement speed of the rod of the actuator is controlled based on (arrival time).

In particular, when the forward/backward movement speed of the rod of the actuator is corrected so that the current movable state of the movable portion reaches the reached state at the arrival time before the reached state is reached, the movement of the movable portion is corrected. Delays can be prevented.

Further, when the movable states of the plurality of movable parts are interlocked by controlling the forward/backward speed of the rod of each actuator, the plurality of movable parts can be favorably interlocked with desired operations.

Explanatory drawing which shows the bed which concerns on this invention. Explanatory drawing which shows the movable state of a movable part. FIG. 4 is an explanatory diagram showing movable states of a plurality of movable parts;

A specific configuration of the bed according to the present invention will be described below with reference to the drawings.

As shown in FIG. 1, the bed 1 has a support table 3 provided on the upper part of the base 2 so as to be able to move up and down, and a receiving table 4 for supporting the body of the person lying on the bed. Here, for the sake of convenience, the foot side of the person lying on the bed 1 will be referred to as the front side, and the head side will be referred to as the rear side.

The cradle 4 mainly receives the load of the buttocks of the person lying down (supporting the buttocks of the person lying down from below) and the weight of the upper half of the body of the person lying down (above the buttocks). An upper body cradle 6 for (supporting the upper body of the lying person from below) and a lower body cradle for mainly receiving the load of the lower body (below the buttocks) of the lying person (supporting the lower body of the lying person from below) It consists of 7.

The buttocks receiving base 5 is horizontally fixed to the approximate center of the support base 3 .

The upper body cradle 6 can be raised relative to the support 3 and the buttocks cradle 5 by pivoting the front end thereof to the rear side of the support 3 (the rear side of the buttocks cradle 5) so as to be vertically rotatable. It is designed to be foldable.

The upper body support 6 receives the load mainly from the back (spine) below the shoulders (scapulas) of the person lying down (the back (spine) below the shoulders (scapulas) of the person lying down receives the load). The back support 8 for supporting the upper shoulder and head mainly from the shoulder (scapula) of the lying person (supporting the upper shoulder and head from the shoulder (shoulder blade) of the lying person from below) ) is divided into a shoulder rest 9 for The shoulder support 9 not only receives the head of the recumbent person, but also the shoulders (scapulae) of the recumbent person. may

The upper body receiving base 6 has the front end portion of the back receiving base 8 pivotally mounted on the rear side of the buttocks receiving base 5 of the support base 3 so as to be vertically rotatable. As a result, the back receiving base 8 can be raised and lowered with respect to the support base 3 and the hip receiving base 5. - 特許庁In addition, the upper body support 6 has the front end of the shoulder support 9 pivoted to the rear end of the back support 8 so as to be vertically rotatable. As a result, the shoulder receiving base 9 can be raised and lowered with respect to the support base 3 and the buttocks receiving base 5 together with the back receiving base 8 .

The lower body cradle 7 is tilted with respect to the support 3 and the buttocks cradle 5 by pivoting the rear end thereof to the front side of the support 3 (the front side of the buttocks cradle 5) so as to be vertically rotatable. provided as possible.

The lower body cradle 7 includes a thigh cradle 10 for mainly receiving the load of the lying person's thighs (supporting the lying person's thighs from below), and a thigh bearing 10 for mainly receiving the weight of the lying person's lower legs (the lying person's lower legs). It is divided into a lower leg receiving base 11 for supporting the lower leg from below).

The lower body receiving base 7 has the rear end portion of the thigh receiving base 10 pivotally mounted on the front side of the buttocks receiving base 5 of the support base 3 so as to be vertically rotatable. As a result, the thigh receiving base 10 can be raised and lowered with respect to the support base 3 and the hip receiving base 5 . In addition, the lower body support 7 has a front end of a thigh support 10 and a rear end of a lower leg support 11 pivotally attached to the front end of the support 11 so as to be vertically rotatable. As a result, the crus receiving base 11 can be tilted with respect to the support base 3 and the buttocks receiving base 5 together with the thigh receiving base 10, and can be tilted (freely tilted) with respect to the thigh receiving base 10. bendable). The rear end of the crus receiving base 11 moves together with the front end of the thigh receiving base 10 , and the front end moves along the upper surface of the support base 3 .

Actuators 12, 13, and 14 are provided on the back rest 8, the shoulder rest 9, and the thigh rest 10 to independently raise and lower them with respect to the support base 3. connected through Here, each actuator 12, 13, 14 is composed of motors 18, 19, 20 and rods 21, 22, 23 that can be moved back and forth by the motors 18, 19, 20. The interlocking mechanisms 15, 16, 17 move the back support 8, the shoulder support 9, and the thigh support 10 up and down by moving the rods 21, 22, 23 of the actuators 12, 13, 14 forward and backward. configured to rotate.

An actuator 24 for vertically moving the base 2 is connected through an interlocking mechanism 25 to the support base 3 that supports the back support 8, the shoulder support 9, and the thigh support 10. there is Here, the actuator 24 is composed of a motor 26 and a rod 27 that can be moved back and forth by the motor 26 . Further, the interlocking mechanism 25 is configured such that the support base 3 moves up and down as the rod 27 of the actuator 24 advances and retreats.

Actuators 12 , 13 , 14 and 24 are connected to control section 28 , and motors 18 , 19 , 20 and 26 are driven and controlled according to a program stored in control section 28 .

Sensors 40 to 43 for detecting extension of rods 21, 22, 23, 27 of actuators 12, 13, 14, 24 are connected to control unit 28. As shown in FIG.

Also, the control unit 28 is connected to an operation unit 29 and various sensors (for example, sensors for detecting the standing angle of each of the cradles 8, 9 and 10). The operation unit 29 has an operation switch 30 for raising the support base 3 (cradle 4) and an operation switch 31 for lowering the support base 3 (cradle 4). The operation unit 29 also includes an operation switch 32 for raising the back support 8 alone, an operation switch 33 for lowering the back support 8 alone, and an operation switch 33 for raising the shoulder support 9 alone. , an operation switch 35 for laying down the shoulder support 9 alone, an operation switch 36 for raising the thigh support 10 alone, and the thigh support 10 alone. It has an operation switch 37 for causing it to fall down. Further, the operation unit 29 is provided with a back support 8, a shoulder support 9 and a thigh support 10, which can be raised and lowered to raise and lower the back support 8, the shoulder support 9 and the thigh support. 10 and the operation switch 38 on the standing side for operating (cooperating operation), and by lowering the back support base 8 and raising and lowering the shoulder support base 9 and the thigh support base 10 It has an operation switch 39 on the lying down side for operating the back support 8, the shoulder support 9 and the thigh support 10 together (cooperative operation).

When detecting that each of the operation switches 30 to 37 has been operated, the control unit 28 drives and controls any one of the actuators 12, 13, 14, 24 according to the operated operation switch 30 to 37, The support base 3 is driven to ascend or descend independently, or the back rest 8, shoulder rest 9, and thigh rest 10 are driven to stand up or lie down independently.

Further, when the control unit 28 detects that the operation switch 38 on the standing side that performs the joint action is operated, it drives and controls the actuators 12, 13, 14 to move the back support 8 in the direction to stand up. In addition to driving, the shoulder receiving base 9 and the thigh receiving base 10 are driven in the direction to stand up or lie down, and the back receiving base 8, the shoulder receiving base 9 and the thigh receiving base 10 move together. let it happen On the other hand, when the control unit 28 detects that the operation switch 39 on the lying side that performs the co-acting operation has been operated, it drives and controls the actuators 12, 13, 14 to move the back support 8 in the direction of lying down. In addition to driving, the shoulder receiving base 9 and the thigh receiving base 10 are driven in the direction to stand up or lie down, and the back receiving base 8, the shoulder receiving base 9 and the thigh receiving base 10 move together. let it happen

Then, the control unit 28 moves the movable parts according to the operated operation switches 30 to 39 (lifting and lowering of the support base 3 and rotation of the back support base 8, shoulder support base 9 and thigh support base 10). 2, the target movable state (reached state) of the movable portion is set in advance by the rods 21, 19, 20, 26 of the motors 18, 19, 20, 26 provided to the respective actuators 12, 13, 14, 24. The stroke S1 of 22, 23, and 27 is set, and the scheduled time (reaching time T1) for moving the movable portion until the reaching state is reached is set. Calculate the advance/retreat speed (S1/T1) of 22, 23, 27, and drive each motor 18, 19, 20, 26 so that each rod 21, 22, 23, 27 reaches the advance/retreat speed (S1/T1) Control.

In this manner, the control unit 28 performs control based on the moving speed of the movable parts (the lifting speed of the support base 3 and the rotation speed of the back support base 8, shoulder support base 9, and thigh support base 10). Instead, the actuators 12, 13, 14, and 24 are provided with motors 18, 19, 20, and 26, and the rods 21, 22, 23, and 27 are moved forward and backward.

In addition, the control unit 28 is controlled by the configuration of the interlocking mechanisms 15, 16, 17, 25 and the load received by the movable parts (support base 3, back support base 8, shoulder support base 9, thigh support base 10). As a result, it is conceivable that the arrival state cannot be reached at the arrival time T1. By setting the stroke S2 of the rods 21, 22, 23, 27 of the motors 18, 19, 20, 26 provided in each actuator 12, 13, 14, 24, the current movable Calculate the advance/retreat speed ((S1-S2)/(T1-T2)) of each rod 21, 22, 23, 27 to reach the reached state S1 from the state S2, and Each motor 18, 19, 20, 26 is driven and controlled by correcting it so that the speed becomes ((S1-S2)/(T1-T2)).

The correction of the advance/retreat speed may be performed before reaching the arrival state, may be performed at regular time intervals from the start of the movement, or may be performed at intervals of the arrival time divided by equal intervals. Further, the correction of the advancing/retreating speed may be performed at least once before reaching the reaching state, and may be performed multiple times. Furthermore, if the stroke does not reach the preset stroke amount when correcting the forward/backward speed, it is assumed that there is an overload due to a person or object being caught in the moving part, causing an operation delay. As a countermeasure, the movement of the movable portion may be stopped, or the movement in the opposite direction may be performed for a certain period of time.

The control unit 28 moves each movable part according to the operated operation switches 30 to 37 (lifting and lowering of the support base 3 and rotation of the back support base 8, shoulder support base 9 and thigh support base 10). At the same time, when the operation switches 38 and 39 are operated, as shown in FIG. In the same way as in , drive control is performed at the advancing and retreating speeds of the rods 21, 22, 23 of the respective actuators 12, 13, 14 to interlock a plurality of movable parts.

For example, as shown in FIG. 3, after reaching the first reached state s4 at time t2, the back cradle 8 maintains that state until time t3, after which it reaches the second reached state s5 at time t4. After reaching the first reaching state s1 at time t1, the shoulder support 9 is driven and controlled to maintain that state until time t4, and the thigh support 10 is controlled to reach , after reaching the first reaching state s3 at time t1, it reaches the second reaching state s0 at time t2, maintains that state until time t3, and then reaches the third reaching state s2 at time t4. It is driven and controlled to

Even when a plurality of movable parts are interlocked in this manner, the advance/retreat speed may be corrected before each of the actuators 12, 13, 14, and 24 reaches its set reaching state.

As described above, the bed 1 has a target movable state of the movable portion (arrival state: rotation angle of the cradle 4, elevation position of the support base 3, etc.) and the movable portion until reaching the attained state. is configured to control the advance/retreat speed of the rods 21, 22, 23, and 27 of the actuators 12, 13, 14, and 24 based on the scheduled time (arrival time) for moving .

Therefore, in the bed 1 configured as described above, it is possible to suppress delay in movement of the movable portion.

In addition, before the bed 1 reaches the reached state, the rods 21, 22, 23, 27 of the actuators 12, 13, 14, 24 are moved from the current movable state of the movable parts to the reached state at the reached time. It is configured to correct the forward/backward speed of the

Therefore, in the bed 1 having the above configuration, it is possible to prevent the movement of the movable portion from being delayed.

Further, the bed 1 has a structure in which the movable states of the plurality of movable parts are interlocked by controlling the advancing and retreating speeds of the rods 21, 22, 23, 27 of the respective actuators 12, 13, 14, 24. .

Therefore, in the bed 1 configured as described above, the plurality of movable parts can be satisfactorily interlocked in a desired operation.

REFERENCE SIGNS LIST 1 bed 2 base 3 support 4 cradle 5 hip cradle 6 upper body cradle 7 lower body cradle 8 back cradle 9 shoulder cradle 10 thigh cradle
11 Lower leg support 12,13,14,24 Actuator
15,16,17,25 Interlocking mechanism 18,19,20,26 Motor
21,22,23,27 Rod 28 Controller
29 Operation section 30 to 39 Operation switch
40-43 sensors

Claims (3)

In a bed that moves the movable part by moving the rod of the actuator back and forth (rotation of the cradle that receives the body of the lying person, lifting and lowering of the support cradle provided with the cradle, etc.)
The target movable state of the movable part (the rotation angle of the cradle, the vertical position of the support base, etc., referred to as the "arrival state") and the time to move the movable part until reaching the reached state ("arrival time") A bed characterized by controlling the advancing/retreating speed of a rod of an actuator based on and. 2. The bed according to claim 1, wherein the advancing/retreating speed of the rod of the actuator is corrected before reaching the reaching state so that the reaching state is reached from the current movable state of the movable portion at the reaching time. 3. The bed according to claim 1, wherein the movable states of the plurality of movable parts are interlocked by controlling the advancing/retreating speed of the rod of each actuator.

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