JP5195569B2 - Transfer device, transfer method, and holder - Google Patents

Description

  The present invention relates to a transfer device, a transfer method, and a holder for holding and transferring a person, and more particularly, to a transfer device, a transfer method, and a holder that reduce the burden on the person during transfer.

  It is difficult for elderly people with disabilities such as walking and disabled persons (hereinafter referred to as “caregivers”) to move by themselves. On the other hand, when a caregiver tries to move a cared person, the effort is great and an excessive burden is imposed on the caregiver. In order to reduce such a burden, a transfer device for transferring between a bed and a wheelchair, or for nursing care for transferring and transferring a cared person to a toilet or an examination table is known. For example, a mobile care lift is known in which a cared person or the like is carried on a back member and held by a side holder and a lift belt (see Patent Document 1).

Japanese Patent Publication No. 7-8287

  In the mobile care lift shown in Patent Document 1, for example, the lower limbs of a care receiver are generally held only by a lift belt. Therefore, the cared person receives loads from the lift belt in a concentrated manner, and there is a possibility that the burden on the cared person's body during transfer is increased.

  The present invention has been made to solve such problems, and a main object of the present invention is to provide a transfer device, a transfer method, and a holder that reduce the burden on a person during transfer.

  One aspect of the present invention for achieving the above object is a movable carriage part, an arm part whose one end is rotatably connected to the carriage part, and the other end of the arm part, A transfer device comprising: a holder that holds the person so as to hold the person, wherein the holder has a hip joint support mechanism that supports a human hip joint. According to this aspect, it is possible to reduce the burden on the person at the time of transfer.

  Further, in this aspect, the hip joint support mechanism may have a pair of support portions whose tip portions are in contact with and support both hip joints of a person. Thereby, a person's leg part can be held appropriately.

  Furthermore, this one aspect | mode WHEREIN: The front-end | tip part of the said support part may be formed in the substantially C shape along the hip joint. Thereby, the hip joint of a person's leg part can be held appropriately.

  Furthermore, in this one aspect, the holding tool abuts on a person's chest and abdomen, and extends from both sides of the chest and abdomen support part, holding the chest and abdomen, respectively. You may have a pair of side surface support part which hold | maintains a part, and the head support part which hold | maintains a person's head. Thereby, a person's upper body can be hold | maintained appropriately.

  Furthermore, in this one aspect, the side support portion may be formed of an elastic body that can be deformed along the side surface of the person. Thereby, a person's side can be held appropriately. In this embodiment, a connecting member that connects the two end portions to each other may be attached to both the end portions of the side surface support portion. Moreover, in this one aspect, a lifting belt that lifts the lower limbs of a person may be attached to the holder. Furthermore, in this one aspect, the lifting belt may be attached to a lower portion of the thoracoabdominal support portion. Furthermore, in this one aspect, the pair of lifting belts are respectively attached to the tip portions of the pair of side support portions, and a tipping mechanism capable of being sandwiched is provided at the tip portions of the lifting belts. It may be.

  On the other hand, according to one aspect of the present invention for achieving the above object, there is provided a movable carriage part, an arm part having one end pivotably connected to the carriage part, and an attachment to the other end of the arm part. A transfer device comprising: a holding device that holds the person so as to hold the person, and includes a hip joint support step for supporting a human hip joint, Also good. In this aspect, in the hip joint supporting step, the tip portions of the pair of support portions may be brought into contact with and supported by the human hip joints, respectively. Moreover, in this one aspect | mode, the lifting process which lifts a person's leg part with a lifting belt may be included.

  Furthermore, one aspect of the present invention for achieving the above object is a holder for holding and transferring a person, wherein the holder has a hip joint support mechanism for supporting a human hip joint. The holding tool may be a feature. Further, in this aspect, the hip joint support mechanism may have a pair of support portions whose tip portions are in contact with and support both hip joints of a person. Further, in this one aspect, the holder may be characterized in that the tip portion of the support portion is formed in a substantially C shape along the hip joint. Furthermore, in this one aspect, a lifting belt that lifts the lower limbs of a person may be attached.

  ADVANTAGE OF THE INVENTION According to this invention, the transfer apparatus, the transfer method, and the holder which reduced the burden to the person at the time of transfer can be provided.

It is a figure which shows the outline of the transfer apparatus which concerns on 1st Embodiment of this invention, and is a figure which shows an example of the state which hold | maintained the care receiver by the holder. It is a figure which shows schematic structure of the robot arm part of the transfer apparatus which concerns on 1st Embodiment of this invention. It is a block diagram which shows an example of the system configuration | structure of the transfer apparatus which concerns on 1st Embodiment of this invention. It is sectional drawing at the time of cut | disconnecting the hip joint support mechanism shown in FIG. 1 by the straight line AA ', and is the figure which looked at the hip joint support mechanism from the upper direction. It is a figure which shows the outline of the transfer apparatus which concerns on 2nd Embodiment of this invention, and is a figure which shows an example of the state which hold | maintained the care receiver by the holder. (A) It is a figure which shows an example of the state which suspended the clamping mechanism of the lifting belt of a holder, and clamped the lower-limb part of the care receiver in that state. (B) It is a figure which shows an example of the state which clamped the lower-limb part of the care receiver in the state which suspended and crossed the clamping mechanism of the lifting belt of a holder. (A) It is a figure which shows an example of the state into which a caregiver with wide width enters between a pair of side surface support parts narrower than it. (B) It is a figure which shows an example of the state in which the care receiver entered between a pair of side surface support parts, and was deform | transformed so that between a pair of side surface support parts might spread. It is a figure which shows an example of the connection member which connects both the front-end | tip parts of a side surface support part mutually.

(First embodiment)
Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is a diagram illustrating an outline of a transfer apparatus according to the first embodiment of the present invention, and is a diagram illustrating an example of a state where a care receiver is held by a holder.

  For example, the caregiver can operate the transfer device 10 to easily transfer the care receiver between the bed and the wheelchair, or to transfer to a toilet, an examination table, or the like. Thereby, the caregiver's load at the time of transfer can be reduced. A transfer device 10 according to the first embodiment includes a carriage unit 1, a robot arm unit 2 connected to the carriage unit 1, and a holder 3 attached to the robot arm unit 2.

  The carriage unit 1 includes a carriage body 11, a pair of left and right front auxiliary wheels 12 attached to the front of the carriage body 11, and a pair of left and right drive wheels 13 attached to the rear of the carriage body 11 and driving the carriage part 1. ,have.

  The front auxiliary wheel 12 is attached so as to be rotatable with respect to the carriage main body 11 so that the direction of the carriage main body 11 can be changed. In addition, although the pair of front auxiliary wheels 12 are respectively attached to the cart main body 11, the number of auxiliary wheels to be attached may be arbitrary, and the configuration of the cart main body 11 may be arbitrary.

  A pair of left and right sixth motors (sixth drive units) 66 for driving each drive wheel 13 are connected to the pair of left and right drive wheels 13, respectively. Each sixth motor 66 can independently drive the left and right drive wheels 13 to rotate.

  Therefore, for example, the sixth motor 66 causes a difference in rotation between the left and right drive wheels 13 to turn the carriage unit 1 in an arbitrary direction and forward or reverse, thereby moving the carriage unit 1 forward or backward. Can be made. In this way, the transfer device 10 can be moved forward, backward, or turned to an arbitrary position.

  The robot arm section (arm section) 2 is an articulated arm having a first arm section 21, a second arm section 22, a third arm section 23, and an attachment section 24 (FIG. 2). The first arm portion 21 is connected to the base portion 11a of the carriage main body 11 via the first joint portion 51 so as to be able to rotate around the yaw axis and the pitch axis. The second arm portion 22 is connected to the first arm portion 21 via the second joint portion 52 so as to be able to rotate around the pitch axis.

  One end of the third arm portion 23 is connected to the second arm portion 22 via the third joint portion 53 so as to be rotatable around the pitch axis. In addition, an attachment portion 24 for attaching the holder 3 is connected to the other end of the third arm portion 23 via a fourth joint portion 54 so as to enable rotation around the roll axis.

  The attachment portion 24 has a known attachment structure (for example, a fastening structure using a bolt and a nut, a fitting structure) that allows the holder 3 to be attached / detached. With the attachment structure of the attachment portion 24, the caregiver can easily attach, remove, and change the holder 10.

  The yaw axis is a rotation axis of the first arm portion 21 and is a vertical axis. The pitch axis is a rotation axis when the first to third arm portions 21, 22, and 23 are rotated in the vertical direction. Furthermore, the roll axis is a rotation axis when the attachment portion 24 and the holder 3 are rotated with respect to the third arm portion 23, and corresponds to the axis of the third arm portion 23. In this embodiment, the robot arm unit 2 is an articulated arm having a first arm unit 21, a second arm unit 22, a third arm unit 23, and an attachment unit 24. Not limited to this, any arm configuration can be applied.

  The base portion 11 a of the carriage body 11 is provided with a first motor (first drive portion) 61 that rotationally drives the first arm portion 21 around the yaw axis. Further, the first joint portion 51 is provided with a second motor (second drive portion) 62 that rotationally drives the first arm portion 21 around the pitch axis. Further, the second joint portion 52 is provided with a third motor (third drive portion) 63 that rotationally drives the second arm portion 22 around the pitch axis. The third joint portion 53 is provided with a fourth motor (fourth drive portion) 64 that rotationally drives the third arm portion 23 around the pitch axis. The fourth joint portion 54 is provided with a fifth motor (fifth drive portion) 65 that rotationally drives the attachment portion 24 and the holder 3 around the roll axis.

  The first to sixth motors 61, 62, 63, 64, 65, 66 are connected to a control device 14 described later via a drive circuit 15, and are driven to rotate based on a control signal from the control device 14. .

  Further, in the base portion 11a and the first to fourth joint portions 51, 52, 53, 54, the rotation of a potentiometer or the like for detecting the rotational drive amount of the first to fifth motors 61, 62, 63, 64, 65 is detected. Sensors 71, 72, 73, 74, and 75 are provided, respectively. The rotation sensors 71, 72, 73, 74, 75 are connected to the control device 14 and output the detected rotational drive amount to the control device 14.

  FIG. 3 is a block diagram showing an example of the system configuration of the transfer apparatus according to the first embodiment of the present invention.

  The cart unit 1 is provided with a control device 14 that controls the rotational drive of the first to sixth motors 61, 62, 63, 64, 65, 66. The control device 14 includes a CPU (Central Processing Unit) 14a that performs control processing, arithmetic processing, and the like, a ROM (Read Only Memory) 14b that stores control programs, arithmetic programs, and the like executed by the CPU 14a, and processing data. And the like, and a RAM (Random Access Memory) 14c for temporarily storing the hardware, etc.

  The attachment part 24 of the robot arm part 2 is provided with an operation part 25 for a caregiver to operate the transfer device 10. The operation unit 25 detects an operation signal corresponding to the magnitude, direction, moment, etc. of the operation force by the caregiver, and outputs the detected operation signal to the control device 14.

  Based on the operation signal from the operation unit 25 and the rotational drive amount from the rotation sensors 71, 72, 73, 74, 75, the control device 14 includes the first to fifth motors 61, 62, 63, 64, 65 feedback control is performed. Thereby, the caregiver can move the robot arm unit 2 of the transfer device 10 to a desired position easily and accurately. The operation unit 25 is attached to the attachment unit 24 of the robot arm unit 2. However, the operation unit 25 is not limited thereto, and can be attached to any position as long as the caregiver can operate.

  The holder 3 is attached to the attachment portion 24 of the robot arm portion 2 and can be held so as to hold a care receiver. The holder 3 includes a thoracoabdominal support part 31, a pair of side support parts 32, a head support part 33, a hip joint support mechanism 34, and a lifting belt 35.

  The thoracoabdominal support part 31 can be in contact with the cared person's chest and abdomen and can hold the chest and abdomen. The pair of left and right side support parts 32 extend from both side edges of the thoracoabdominal support part 31 in a substantially horizontal direction so as to face each other, and can hold both side parts of the cared person. The head support part 33 is formed in a convex shape on the upper part of the thoracoabdominal support part 31 and can hold the jaw of the cared person's head. In this way, the upper body of the care recipient is held in a distributed manner by the chest / abdominal support part 31, the side support part 32, and the head support part 33. For this reason, it is possible to effectively reduce the burden by distributing the load on the upper body of the cared person during transfer and suppressing the concentrated load.

  4 is a cross-sectional view of the hip joint support mechanism shown in FIG. 1 taken along a line AA ′, and is a view of the hip joint support mechanism as viewed from above. The hip joint support mechanism 34 is provided below the thoracoabdominal support portion 31 and can support the hip joint of the care recipient. Further, the hip joint support mechanism 34 has a pair of support portions 34a for supporting the both hip joints, with the tip end portions 34b abutting both the hip joints of the cared person, respectively (FIG. 4). It is preferable that the front end portion 34b of each support portion 34a is formed in a substantially C shape along the care receiver's hip joint. As described above, for example, when the care receiver is lifted while the support portions 34a of the hip joint support mechanism 34 are brought into contact with both hip joints of the care receiver, the load concentration on the care receiver is effectively reduced. Can be suppressed.

  The hip joint support mechanism 34 may have any structure as long as it can support the cared person's hip joint without imposing a burden. In addition, the thoracoabdominal support part 31, the side support part 32, the head support part 33, and the hip joint support mechanism 34 are configured separately, but may be configured integrally.

  Of the thoracoabdominal support part 31, the side face support part 32, the head support part 33, and the hip joint support mechanism 34, a part to be cared for is provided with an elastic cushion member. With this cushion member, the burden on the cared person when the cared person is held by the holder 3 can be further reduced.

  The lifting belt 35 is hung from the lower part of the thoracoabdominal support part 31 and can lift the lower limb part of the care recipient. In this case, since the distance between the attachment position of the lifting belt 35 and the lower limb of the care recipient is reduced, the length of the lifting belt 35 can be shortened. Therefore, it is not necessary to adjust the length of the lifting belt 35 according to the physique difference of the care recipient, which is convenient.

  In the state where the cared person sits on the lifting belt 35, the hip joint of the cared person is supported by the support portion 34a of the hip joint support mechanism 34 from the substantially horizontal direction. In this manner, the lower limbs of the care recipient are held in a distributed manner by the hip joint support mechanism 34 and the lifting belt 35. For this reason, it is possible to effectively reduce the burden by dispersing the load on the lower limbs of the cared person during transfer and suppressing the concentrated load.

As described above, in the transfer apparatus 10 according to the first embodiment, the upper body of the care receiver is held in a distributed manner by the chest / abdominal support part 31, the side support part 32, and the head support part 33 of the holder 3. Thereby, at the time of transfer, the load applied to the cared person's upper body from the holder 3 can be dispersed, and the burden can be effectively reduced. On the other hand, the lower limbs of the cared person are dispersed and held by the hip joint support mechanism 34 and the lifting belt 35. Thereby, at the time of transfer, the load applied to the lower limbs of the cared person from the holder 3 can be dispersed, and the burden can be effectively reduced. That is, the body of the cared person is dispersedly held by the thoracoabdominal support portion 31, the side support portion 32, the head support portion 33, the hip joint support mechanism 34, and the lifting belt 35 of the holder 3. It is possible to suppress the intensive load from 3 to the care recipient and to effectively reduce the burden.
(Second Embodiment)

  FIG. 5 is a diagram illustrating an outline of a transfer apparatus according to the second embodiment of the present invention, and is a diagram illustrating an example of a state where a care receiver is held by a holder. In the holder 4 of the transfer device 20 according to the second embodiment, the pair of lifting belts 41 are respectively attached to the distal end portions of the pair of side support portions 32. Further, a sandwiching mechanism 42 such as a clip is provided at the tip of each lifting belt 41. The pinching mechanism 42 can pinch clothes or the like of the lower limbs of the care recipient and lift and hold the lower limbs.

  The lifting belt 41 is made of a stretchable material and can be adjusted in length according to the physique of the cared person. Note that the pinching mechanism 42 of the lifting belt 41 may be hung and the clothes or the like of the lower part of the cared person may be pinched in that state (FIG. 6A). Clothes or the like may be sandwiched (FIG. 6B). By making the lifting belt 41 cross, the cared person can be held more stably.

  In the transfer apparatus 20 according to the second embodiment, other configurations are substantially the same as those of the transfer apparatus 10 according to the first embodiment. Therefore, the same parts are denoted by the same reference numerals and detailed description thereof is omitted.

  As described above, in the transfer device 20 according to the second embodiment, the cared person's body is supported by the chest / abdomen support part 31, the side support part 32, the head support part 33, the hip joint support mechanism 34, and the lifting belt 41 of the holder 4. By dispersing and holding, the intensive load from the holder 4 to the cared person can be suppressed, and the burden can be effectively 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.

  For example, in the said embodiment, a pair of side surface support part 43 of the holders 3 and 4 may be comprised with elastic bodies, such as resin, which can deform | transform along the side of a care receiver. In this case, for example, when a cared person with a wide width enters between the pair of side support parts 43 that are narrower than that (FIG. 7 (a)), between the pair of side support parts 43, for example, It is deformed (FIG. 7B).

  Thereby, the cared person can easily enter between the side support parts 43. Further, since the side support part 43 and the side of the cared person are brought into contact with each other at an appropriate surface pressure, the side of the cared person is appropriately held by the side support part 43 while keeping the burden on the cared person low. can do. In addition, the space | interval adjustment of a pair of side surface support part 43 is easily realizable only by comprising the side surface support part 43 with an elastic body, without using a mechanical adjustment mechanism. Therefore, a significant cost reduction effect can be expected.

  Furthermore, a connecting member 44 that can be attached / removed by connecting both ends to each other may be attached to both ends of the side support portion 43 (FIG. 8). Thereby, it can prevent reliably that a cared person falls back from between the side surface support parts 43. FIG. Moreover, the contact surface pressure can be decreased by increasing the contact area between the cared person and the holders 3 and 4. Therefore, the burden on the cared person at the time of transfer can be reduced, and for example, discomfort or the like given to the cared person can be reduced.

DESCRIPTION OF SYMBOLS 1 Carriage part 2 Robot arm part 3, 4 Holder 10, 20 Transfer apparatus 14 Control apparatus 31 Thoracic abdominal support part 32 Side support part 33 Head support part 34 Hip joint support mechanism 34a Support part 34b Tip part 35, 41 Lifting belt 42 Clamping mechanism 44 Connecting member

Claims (16)

A movable carriage section;
An arm part having one end rotatably connected to the carriage part;
A transfer device that is attached to the other end of the arm portion and holds the person so as to hold a person,
The transfer device according to claim 1, wherein the holder has a hip joint support mechanism for supporting a human hip joint. The transfer device according to claim 1,
The hip joint support mechanism has a pair of support portions whose tip portions abut against and support both hip joints of a person, respectively. The transfer device according to claim 2,
The transfer device according to claim 1, wherein a tip portion of the support portion is formed in a substantially C shape along the hip joint. The transfer device according to any one of claims 1 to 3,
The holder is in contact with a person's chest and abdomen and holds the chest and abdomen, and a pair of side supports that extend from both sides of the chest and abdomen and hold both sides of the person. And a head support portion for holding a human head. The transfer device according to claim 4,
The said side surface support part is comprised with the elastic body which can deform | transform along a person's side surface, The transfer apparatus characterized by the above-mentioned. The transfer device according to claim 4 or 5, wherein
The transfer device according to claim 1, wherein a connecting member for connecting the two end portions to each other is attached to both the end portions of the side support portion. The transfer device according to any one of claims 1 to 6,
A transfer device, wherein a lifting belt for lifting a lower limb of a person is attached to the holder. The transfer device according to claim 7,
The transfer device according to claim 1, wherein the lifting belt is attached to a lower portion of the thoracoabdominal support portion. The transfer device according to claim 7,
The pair of lifting belts are respectively attached to the tip portions of the pair of side support portions, and the tip portions of the lifting belts are provided with a pinching mechanism that can be pinched. Transfer device. A movable carriage part, an arm part having one end pivotably connected to the carriage part, and a holder attached to the other end of the arm part to hold a person. A transfer method for a transfer device,
A transfer method for a transfer device, comprising a hip joint support step for supporting a human hip joint. It is a transfer method of the transfer device according to claim 10,
In the hip joint supporting step, the transfer device transferring method, wherein the tip portions of the pair of support portions are brought into contact with and supported by both human hip joints, respectively. It is a transfer method of the transfer device according to claim 10 or 11,
The transfer method of the transfer apparatus characterized by including the lifting process which lifts a leg part of a person with a lifting belt. A holding tool for holding and transferring a person,
The holder has a hip joint support mechanism for supporting a human hip joint. A holder according to claim 13,
The hip joint support mechanism has a pair of support portions whose tip portions are in contact with and support both hip joints of a person. The holder according to claim 14,
The support tool is characterized in that a tip portion of the support portion is formed in a substantially C shape along the hip joint. The holder according to any one of claims 13 to 15,
A holding tool, wherein a lifting belt for lifting a lower limb of a person is attached.

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