JP5609955B2 - Transfer support device and control method of transfer support device - Google Patents

Description

  The present invention relates to a transfer support device that supports a transfer operation when a person who has difficulty in walking independently moves from a bed to a wheelchair or from a wheelchair to a toilet seat or the like, and a control method for the transfer support device. About.

  It is not easy for a cared person who is difficult to walk independently to perform a transfer operation such as transfer from a bed to a wheelchair alone. For this reason, the caregiver's help is usually required. However, the help of the transfer is a physical burden for the caregiver and also a mental burden for the care recipient. For this reason, in recent years, many devices have been developed that support transfer operations of people who are difficult to walk independently.

  As an apparatus for supporting transfer, for example, Patent Document 1 discloses a transfer support apparatus in which a support column is tiltably erected on a rotating disk and a support plate (body holder) is provided at the end of the support column. The cared person can perform the transfer operation by tilting the support column while holding the body holder.

  Patent Document 2 discloses a transfer support device having a function of restraining the free rotation of a wheelchair free caster used by a cared person and a function of fixing a drive wheel, and also a function of assisting the cared person to stand up. Is disclosed. Accordingly, it is possible to assist the care recipient in performing the transfer operation with a stable posture.

  Further, Patent Document 3 includes a belt portion that can move in parallel on a surface on which a care recipient is placed, and the surface on which the care recipient is placed is parallel to the main body by rotating the belt portion. A transfer support device is disclosed that can absorb friction with a cared person when moving and inserting a transfer support plate under the cared person. Thereby, the transfer support board can be smoothly inserted under the cared person, and the burden on the cared person and the cared person can be reduced.

  Patent Document 4 also includes a turntable, a support column that can be tilted upright on the turntable, and a body support. By tilting the support column with an electric motor, the caregiver can lift and lower the human body. A transfer support device that reduces physical burden is disclosed.

  Further, Patent Document 5 discloses a transfer support device in which a backrest member is supported by an electric operation mechanism in an upright state and tilted on a carriage, and a lift belt is attached to the backrest member for lifting and supporting a patient. In this transfer assist device, the user is placed on the lift belt and lifts the cared person clinging to the back member by tilting the back member with an electric operation mechanism so that a stable transfer operation can be performed. .

JP 2006-305092 A JP 2005-279199 A JP 2005-304735 A Japanese Patent Laid-Open No. 10-192346 Japanese Patent Publication No. 7-8287

In these transfer support devices, when the cared person performs the transfer operation, the cared person who holds the body support of the transfer support device is held, but is to be seated on a sitting object such as a wheelchair or a bed. If the body holding part is brought close to the cared person in order to transfer the person, the cared person may be sandwiched between the seated object and pressed by the body holding tool.
However, these transfer support devices are not configured to prevent the cared person from being caught. Therefore, the caregiver is obliged to visually check whether or not the body support device has approached the care receiver to a position where the car support device can hold the body support device, and the operation of the transfer support device becomes cautious. It takes time for the caregiver to sit on the seat.

  The present invention has been made to solve such a problem, and in a transfer operation from a sitting object of a cared person, the cared person is sandwiched between the seated object and pressed by a body holder. It is an object of the present invention to provide a transfer support device and a control method for the transfer support device that can prevent such a situation and can perform the transfer operation easily and quickly.

  A transfer support device according to the present invention is a device that supports transfer of a cared person from a seated object, and includes a support base, a support column having one end tiltably attached to the support table, A body holding tool that is held by the cared person, a driving unit that tilts the support, a measuring unit that measures a distance between the body holding tool and the cared person, and the driving unit; Control means for controlling, in the operation of bringing the body holder closer to the cared person so as to hold the cared person seated on the seated object on the body holder The driving unit is controlled based on the interval measured by the measuring unit. With such a configuration, it is possible to prevent the cared person from being sandwiched between the seated object and being pressed by the body holder in the preparation stage of the transfer operation of the cared person sitting on the seated object. Further, the transfer operation can be performed easily and quickly.

  A transfer support device according to the present invention is a device that supports transfer of a cared person from a seated object, and includes a support base, a support column having one end tiltably attached to the support table, A body holding tool that is held by the care recipient, a drive unit that tilts the column, a rotating member that is rotatably provided at a lower end of the body holding tool, and Measuring means for measuring a rotation angle, and control means for controlling the drive means, wherein the control means is configured to hold the cared person seated on the seated object on the body holder. In the operation of bringing the body holder closer to the cared person, the distance between the body holder and the cared person calculated from the rotation angle of the rotating member measured by the measuring means or the cared person by the rotating member On the acting load Controlling said drive means Zui. With such a configuration, it is possible to prevent the cared person from being sandwiched between the seated object and being pressed by the body holder in the preparation stage of the transfer operation of the cared person sitting on the seated object. Further, the transfer operation can be performed easily and quickly.

  A transfer support device according to the present invention is a device that supports transfer of a cared person from a seated object, and includes a support base, a support column having one end tiltably attached to the support table, A body holding tool that is held by the cared person, a driving means that tilts the support, a sensing means that senses contact of the body holding tool with the cared person, and the driving means; Control means for controlling, in the operation of bringing the body holder closer to the cared person so as to hold the cared person seated on the seated object on the body holder The driving means is controlled based on the sensing signal of the sensing means. With such a configuration, it is possible to prevent the cared person from being sandwiched between the seated object and being pressed by the body holder in the preparation stage of the transfer operation of the cared person sitting on the seated object. Further, the transfer operation can be performed easily and quickly.

The control means determines that the body holding tool has approached the cared person when an interval between the body holding tool and the cared person is equal to or less than a first threshold value set in advance. It is preferable to control the driving means so that the tilting operation is stopped.
When the interval between the body holding device and the care recipient is substantially eliminated, the control means determines that the body holding device has come into contact with the care receiver, and the tilting operation of the support column is reversed. It is preferable to control the driving means.
The control means determines that the body holder has approached the cared person when the load acting on the cared person by the rotating member is equal to or greater than a first threshold value set in advance, and the column tilting operation It is preferable to control the driving means so that is stopped.

Preferably, the control means controls the driving means so that the tilting operation of the support is stopped when the sensing means comes into contact with the care recipient.
Preferably, the control means controls the driving means so that the tilting operation of the support column is reversely rotated to release the contact state when the sensing means comes into contact with the care recipient.

  It is preferable that the control means controls the driving means so that the tilting speed becomes slower as the support column tilts downward.

The drive means selects a speed at which the support column is tilted by manual operation, an operation unit that transmits a command signal that commands the selected speed to the control means, and a control generated by the control means based on the command signal It is preferable to include a torque output unit that transmits a signal and outputs torque that tilts the column based on the control signal.
Preferably, the operation unit includes an operation lever, and transmits a command signal instructing the control unit to output a speed having a magnitude proportional to an operation amount of the operation lever.

  It is preferable that the operation unit includes a transmission unit that transmits attention or operation guidance to an operator who operates the operation unit.

  A method for controlling a transfer support device according to the present invention is a method for controlling a device that supports transfer of a cared person from a sitting object, and the transfer support device has a support base and one end with respect to the support base. A column attached to be freely tiltable, a body holder provided at the other end of the column, and held by the cared person, a driving means for tilting the column, the body holder and the cared person Measuring means for measuring the distance between the two, and a control means for controlling the drive means, the control means to hold the cared person seated on the seated object to the body holder In the operation of bringing the body holder closer to the care recipient, the driving unit is controlled based on the interval measured by the measuring unit. Thereby, in the preparatory stage of the transfer operation of the cared person sitting on the seated object, it is possible to prevent the cared person from being sandwiched between the seated object and being pressed by the body holder. Further, the transfer operation can be performed easily and quickly.

  A method for controlling a transfer support device according to the present invention is a method for controlling a device that supports transfer of a cared person from a sitting object, and the transfer support device has a support base and one end with respect to the support base. A column that can be tilted, a body holder that is provided at the other end of the column and that is held by the care recipient, a drive unit that tilts the column, and a lower end of the body holder that can be rotated. A rotating member provided on the rotating member, a measuring unit for measuring a rotation angle of the rotating member, and a control unit for controlling the driving unit, wherein the control unit sits on the seated object. The body holding tool calculated from the rotation angle of the rotating member measured by the measuring means in the operation of bringing the body holding tool closer to the cared person in order to hold the person on the body holding tool, and the cared person Interval or said rotation Controlling said drive means based on the load acting on the cared person by wood. Thereby, in the preparatory stage of the transfer operation of the cared person sitting on the seated object, it is possible to prevent the cared person from being sandwiched between the seated object and being pressed by the body holder. Further, the transfer operation can be performed easily and quickly.

  A method for controlling a transfer support device according to the present invention is a method for controlling a device that supports transfer of a cared person from a sitting object, and the transfer support device has a support base and one end with respect to the support base. To the care recipient of the body holder, the support column attached to the other end of the support column, the body holder provided by the care receiver, the driving means for tilting the support column, and the body support tool. Sensing means for sensing the contact of the device, and control means for controlling the driving means, the control means for holding the cared person seated on the seated object on the body holding device. In the operation of bringing the body holder closer to the cared person, the driving means is controlled based on the sensing signal of the sensing means. Thereby, in the preparatory stage of the transfer operation of the cared person sitting on the seated object, it is possible to prevent the cared person from being sandwiched between the seated object and being pressed by the body holder. Further, the transfer operation can be performed easily and quickly.

  As described above, according to the present invention, it is possible to prevent a situation in which a cared person is sandwiched between a seated object and pressed by a body holder in a transfer operation of the cared person from the seated object. it can. Moreover, the transfer operation can be performed easily and quickly.

It is a side view which shows roughly a cared person's transfer operation | movement using the transfer assistance apparatus which concerns on the 1st Embodiment of this invention. It is a block diagram of the transfer assistance apparatus which concerns on the 1st Embodiment of this invention. It is a flowchart which shows the control method of the transfer assistance apparatus which concerns on the 1st Embodiment of this invention. It is a different block diagram of the transfer assistance apparatus which concerns on the 1st Embodiment of this invention. It is an enlarged view which shows roughly the rotation member and measurement means of the transfer assistance apparatus which concern on the 2nd Embodiment of this invention. It is a block diagram of the transfer assistance apparatus which concerns on the 2nd Embodiment of this invention. It is a side view which shows roughly the transfer assistance apparatus which concerns on the 3rd Embodiment of this invention. It is a block diagram of the transfer assistance apparatus which concerns on the 3rd Embodiment of this invention.

Embodiment 1 of the Invention
Hereinafter, a transfer support apparatus and a transfer support apparatus control method according to Embodiment 1 of the present invention will be described with reference to the drawings. FIG. 1 schematically shows a side view of the transfer support apparatus 10 according to the first embodiment, and transfer for the care receiver P to move from a bed 60 that is a sitting object to another sitting object. It shows how the operation is supported.

  As shown in FIGS. 1 and 2, the transfer support device 10 includes a pedestal 11, a support pedestal 12 supported with respect to the pedestal, and a column 13 with one end thereof attached to the support pedestal 12 so as to be tiltable. Driving means 20 for tilting the support 13, a body holder 30 provided at the other end of the support 13 with respect to the support base 12, and a distance measuring sensor 40 for measuring the distance between the body holder 30 and the cared person P And a control means 50 for controlling the drive means 20.

  The pedestal 11 includes a plurality of wheels for allowing movement on a substantially horizontal floor surface at the bottom surface. These wheels are configured to be able to switch between a freely rotating state and a fixed state. When the cared person performs the transfer operation, the transfer assist device 10 can be stabilized when the cared person performs the transfer operation with these wheels fixed.

  The support 12 is a substantially plate-like material that extends in a substantially vertical direction from the surface of the pedestal 11, and is provided with a rotation shaft inside thereof, so that it is horizontal with respect to the pedestal 11 due to the torque applied by the torque output unit 22. It is configured to be rotatable, and the relative position of the body holder 30 in the horizontal direction can be changed. However, in the present embodiment, it is not particularly necessary to rotate the support base 12 in the horizontal direction in order to perform the transfer operation of the care recipient P, and the description of the state in which the support base 12 rotates in the horizontal direction is omitted. It shall be.

  The support column 13 is a substantially columnar column material. One end of the support column 13 is rotatably connected to the end portion of the support base 12. Although the other end of the support | pillar 13 may be connected with the body holder 30 so that rotation is possible, it shall be fixed in order to simplify description in this embodiment. For example, a plurality of pipes having different diameters are slidably fitted and held so that the length can be changed according to the size of the body of the care recipient P to be used. Yes. The tilting operation of the support column 13 with respect to the support base 12 is performed by the torque applied by the driving means 20.

  The drive unit 20 includes an operation unit 21 and a torque output unit 22. The operation unit 21 includes a joystick 210. The joystick 210 is provided on the pedestal 11, and when the care receiver P or an external caregiver manually operates the joystick 210, the speed at which the column 13 is tilted is selected, and the selected speed is controlled by the control means 50. Command. More specifically, the operation lever 210a of the joystick 210 has a structure that allows tilting operation only in the vertical direction. By manually operating the operation lever 210a, the operation lever 210a can be operated according to the operation direction and the operation amount. A command signal for instructing the proportional tilting speed of the column 13 is transmitted to the control means 50.

  The torque output unit 22 applies torque for tilting the support column 13 with respect to the support base 12 at a predetermined speed. Although a detailed description of the structure is omitted, the power source and the motor, and a wire, a pulley for winding the wire, a sensor for detecting the winding amount of the wire, and the like are included. The torque output unit 22 performs a process such as winding a wire with a motor based on the control signal transmitted from the control unit 50. As a result, the torque output unit 22 applies a torque having a predetermined magnitude and direction to tilt the column 13. It is given to the support 13.

The body holder 30 is composed of a member having elasticity that is large enough to be held by both arms while the cared person P is in contact with the upper body.
The distance measuring sensor 40 is a measuring means for measuring the distance between the lower end of the body holder 30 and the care receiver P, and for example, a distance measuring sensor using reflection of infrared rays, ultrasonic waves, or the like can be used. The distance measuring sensor 40 is provided at the lower end of the body holder 30. That is, the distance measuring sensor 40 tilts the column 13 downward from the state in which the column 13 is tilted upward in order to hold the care receiver P sitting on the bed 60 on the body holder 30. In the preparatory stage of the movement of the person 30 to the care receiver P, that is, the transfer operation, the distance between the lower end of the body holder 30 and the thigh portion of the care receiver P seated on the bed 60 is measured and the measured value is shown. A signal is transmitted to the control means 50.

  The control means 50 is composed of an arithmetic processing unit and a computer such as an ECU including a predetermined storage area. Based on the command signal obtained by operating the joystick 210 (operation lever 210a), the control unit 50 A control signal for realizing the tilting speed of 13 is generated, and the control signal is transmitted to the torque output unit 22. That is, as shown in FIG. 2, the control unit 50 receives a command signal, determines the magnitude and direction of torque to be output by the torque output unit 22, and determines the magnitude and direction of the determined torque. A signal generator 52 for generating a signal (control signal) for controlling the output torque of the torque output unit 22 based on the transmission unit 53 for transmitting the generated control signal to the torque output unit 22; I have.

  The torque determination unit 51 reads information on the operation amount of the operation lever 210a (tilting speed and direction of the support column 13) included in the command signal, and determines the magnitude of the torque by multiplying the operation amount by a specific gain. At this time, it is preferable that the torque determination unit 51 has a function of changing the magnitude of the gain multiplied by the operation amount of the operation lever 210a according to the operation direction of the operation lever 210a. That is, when the operation lever 210a is operated in a direction in which the support column 13 is tilted downward, a gain G1 that multiplies the operation amount of the operation lever 210a is operated in a direction in which the support column 13 is tilted upward. Is set to be larger than the gain G2 multiplied by the operation amount. Thus, the care receiver P is suddenly compressed by the body holder 30 with a large force by increasing the torque in the direction in which the column 13 is tilted downward (that is, the direction in which the body holder is lowered). It is possible to prevent the situation of being done.

  On the other hand, the torque determination unit 51 intermittently receives the signal from the distance measuring sensor 40 transmitted to the control means 50 as long as the above-described preparation stage of the transfer operation continues. Then, when the interval measured by the distance measuring sensor 40 is equal to or less than a preset first threshold value, the torque determination unit 51 causes the body holder 30 to reach a position where the care receiver P can hold the body holder 30. It is determined that the person to be cared P is approached, and the magnitude of the torque output by the torque output unit 22 is determined to be zero in order to stop the tilting operation of the column 13, and the determination is transmitted to the signal generation unit 52. The signal generation unit 52 generates a control signal that makes the magnitude of the torque output by the torque output unit 22 zero based on the received determination, and transmits the control signal to the torque output unit 22 via the transmission unit 53. To do. That is, when the operation lever 210a of the joystick 210 is further operated after the interval between the body holder 30 and the care recipient P is equal to or less than the first threshold value, the torque determination unit 51 includes the struts among the received command signals. A signal for tilting 13 downward is invalidated. In short, after receiving a signal from the distance measuring sensor 40, when the operation lever 210a of the joystick 210 is further operated and a command signal is transmitted, the operation lever 210a is operated in a direction to tilt the column 13 downward. The gain G1 to be multiplied by the operation amount of the operation lever 210a is changed to zero.

  Here, the first threshold value is determined in advance by experiments, simulations, or the like, so that the care receiver P can hold the body support device 30 well, and the thigh of the care receiver P sitting on the bed 60 and the lower end of the body support device 30. An interval with the portion is derived, and the interval is set in the torque determination unit 51 as the first threshold value. The first threshold value is set as appropriate depending on the physique of the care receiver P. Note that “the care receiver P can hold the body support device 30 satisfactorily” means that the care receiver P sitting on the bed 60 can hold the body support device 30 by holding his hand. Say.

  Accordingly, it is possible to prevent the cared person P from being sandwiched between the bed 60 by the body holder 30 and being pressed in the preparation stage of the transfer operation of the cared person P sitting on the bed 60. Moreover, since the operation of the joystick 210 is automatically disabled when the distance between the body holder 30 and the cared person P can be satisfactorily held by the cared person P, the operation of the joystick 210 is automatically disabled. It is not necessary to operate carefully, and the transfer operation can be performed easily and quickly.

  Incidentally, when the operation lever 210a is operated so as to tilt the support column 13 upward during the transfer operation, a control signal for outputting torque obtained by multiplying the operation amount of the operation lever 210a by the gain G2 is output to the torque output unit. 22 to send.

  In the transfer support apparatus configured as described above, the procedure executed by the control means 50 when performing the preparation stage of the transfer operation of the care receiver P sitting on the bed 60 will be described in detail using the flowchart shown in FIG. explain.

  First, when the support column 13 tilted upward is tilted downward, the transfer assisting device 10 is disposed at a position where the cared person P can hold the body holder 30 well, that is, in the vicinity of the cared person P. To do. Then, when the caregiver starts operating the transfer support device 10 (for example, the caregiver operates the operation lever 210a), the control means 50 moves the column 13 at a speed commanded based on the operation amount of the operation lever 210a. A control signal is generated so as to tilt downward, and the control signal is transmitted to the torque output unit 22 (STEP 101). The support column 13 is tilted at a predetermined speed by the torque output from the torque output unit 22 in response to the control signal from the control means 50.

  On the other hand, when the tilting operation of the support column 13 is started, the control means 50 continues to receive a signal indicating the distance between the body holder 30 and the care receiver P from the distance measuring sensor 40 (STEP 102).

  When the interval between the received body holder 30 and the cared person P is equal to or less than the first threshold, the control unit 50 moves the body holder 30 to a position where the cared person P can hold the body holder 30 well. It is determined that the person to be cared P is approached, and a signal for stopping the tilting motion of the column 13 is transmitted to the torque output unit 22, and the preparation stage of the transfer operation of the cared person P is completed (STEP 103). That is, the gain multiplied by the operation amount of the operation lever 210a is set to zero so as to invalidate the signal that tilts the column 13 downward among the command signals transmitted when the operation lever 210a of the joystick 210 is operated. .

  As described above, according to the transfer support device and the control method of the transfer support device according to the present embodiment, when the interval measured by the distance measuring sensor 40 is equal to or less than the first threshold value, the body holder 30 is removed from the cared person. Since it is determined that the body holder 30 has approached the cared person P to a position where P can be satisfactorily held, and the driving means is controlled so that the tilting motion of the support column 13 is stopped, the cared person P It is possible to prevent a situation in which the holder 30 is sandwiched between the bed 60 and pressed. Moreover, since the operation of the joystick 210 is automatically disabled when the distance between the body holder 30 and the cared person P can be satisfactorily held by the cared person P, the operation of the joystick 210 is automatically disabled. It is not necessary to operate carefully, and the transfer operation can be performed easily and quickly.

  In the present embodiment, the preparation stage of the transfer operation of the care receiver P is performed by the operator operating the joystick 210. However, the transfer operation of the care receiver P is automatically performed by pressing a switch or the like. It is also possible to adopt a configuration in which the preparation stage is implemented. At this time, a torque to be output to the torque output unit 22 is set in the torque determination unit 51 of the control unit 50 in order to tilt the support column 13 at a predetermined speed in advance. When a transfer operation start signal from a switch or the like is transmitted to the torque determination unit 51 of the control means 50, the torque determination unit 51 controls the torque output unit 22 based on the set torque. With such a configuration, the caregiver (operator) can automatically perform the preparation stage of the transfer operation of the cared person P by one operation of the switch, and concentrate on the care of the cared person P. Can do.

  In this embodiment, in the case of manual operation, the support column 13 is tilted at a speed corresponding to the operation amount of the joystick 210. In the case of automatic operation, the support column 13 is tilted at a constant speed after pressing a switch or the like. As the column tilts downward, the tilting speed of the column 13 may be reduced. That is, as the support column 13 is tilted downward, the distance measured by the distance measuring sensor 40 is shortened, but the torque determining unit 51 of the control means 50 is adjusted so that the tilting speed of the support column 13 is reduced in accordance with the shortening. The torque to be output to the output unit 22 is determined. With such a configuration, the care recipient P can be given a sense of security. Incidentally, in the case of manual operation, when the operation amount of the joystick 210 becomes a predetermined amount or more, the torque determination unit 51 of the control means 50 is configured to be a torque output unit so that the tilting speed of the column 13 does not exceed the tilting speed corresponding to the operation amount. It is preferable to determine the torque to be output to 22.

  In the present embodiment, the preparation stage of the transfer operation of the care recipient P is performed using the first threshold value, but this is not restrictive. That is, when the interval measured by the distance measuring sensor 40 is substantially eliminated when the control unit 50 tilts the support column 13 downward (that is, less than or equal to the second threshold value), the body holder 30 moves the care receiver P. The torque output unit 22 is controlled so that the tilting motion of the support column 13 is reversely rotated to the extent that the contact of the body holder 30 with the care receiver P is resolved. With such a configuration, it is possible to prevent a situation in which the cared person P is sandwiched between the body holder 30 and the bed 60 and pressed.

  In the present embodiment, the support column 13 is continuously tilted until the interval measured by the distance measuring sensor 40 is equal to or less than the first or second threshold, but the care receiver P can hold the body holder 30. A third threshold value may be set to temporarily stop the tilting motion of the support column 13 immediately before the body holder 30 approaches the care receiver P to the position. That is, the control unit 50 temporarily stops the tilting operation of the support column 13 when the interval measured by the distance measuring sensor 40 is equal to or smaller than the third threshold value. Then, if the operation of tilting the support column 13 downward from the joystick 210 is continued intermittently, the control unit 50 again until the interval measured by the distance measuring sensor 40 becomes equal to or less than the first or second threshold value. The tilting motion of the is resumed. As described above, the joystick 210 is operated by temporarily stopping the tilting operation of the support column 13 immediately before the body holder 30 approaches the cared person P to a position where the cared person P can hold the body holder 30. The operator can easily recognize that the body holder 30 is approaching the cared person P and can carefully operate the joystick 210 thereafter. In other words, since the support column 13 can be tilted relatively quickly until the support column 13 stops, it contributes to shortening the time required for the transfer operation of the care recipient P. Incidentally, the third threshold value is derived by experiment, simulation, or the like.

  In the present embodiment, the operator who operates the joystick 210 is not provided with means for alerting the care recipient P that he / she is approaching the bed 60 or transmitting the operation content, but as shown in FIG. In addition, the operation unit 21 includes a transmission unit 220 that urges attention that the body holder 30 is approaching the cared person P and transmits the operation content as the interval measured by the distance measuring sensor 40 is shortened. It is good to have. As the transmission unit 220, for example, a speaker mechanism in which the sound volume increases as the measured interval is shortened, a lighting mechanism in which the blinking speed is increased, a vibration mechanism in which a large vibration is introduced into the joystick 210, and a caution and an operation content are transmitted by voice. A sound generation mechanism or the like can be used. With such a configuration, the operator can easily and reliably recognize that the body holder 30 is approaching the care receiver P.

  In the present embodiment, the command signal associated with the operation of the joystick 210 is invalidated when the interval measured by the distance measuring sensor 40 is equal to or less than the first or second threshold value. The means 50 may include a release unit 230 that transmits a signal to the control means 50 in order to validate the operation of the operation lever 210a again.

Embodiment 2 of the Invention
Hereinafter, a transfer support apparatus and a transfer support apparatus control method according to Embodiment 2 of the present invention will be described with reference to the drawings. FIG. 5 is a schematic enlarged view of the periphery of the body holder of the transfer support apparatus according to the second embodiment. The transfer support apparatus has substantially the same configuration as that of the first embodiment, but instead of the distance measuring sensor, a lever (rotating member) 400 provided rotatably at the lower end of the body holder 30; A rotation angle sensor 401 that measures the rotation angle of the lever 400.

  The lever 400 rotates in the vertical direction on the side where the care receiver P in the body holder 30 is hugging. More specifically, when the lever 400 is rotated slightly upward from the vertically lower position, that is, when the body holder 30 approaches the cared person P, the lever 400 is in good contact with the cared person P. The position that rotates upward is the normal state. And when the body holder 30 approaches the care receiver P, the lever 400 rotates upward with the lower end of the lever 400 contacting the thigh portion of the care receiver P. The lever 400 includes a spring 400a that restores the original normal state from the upwardly rotated state. When the transfer operation of the cared person P is completed, the lever 400 is restored to the normal state by the spring 400a. As the spring 400 a, for example, a leaf spring can be used, and one end is connected to the body holder 30 and the other end is connected to the lever 400. However, there is no particular limitation as long as the lever 400 can be restored to the normal state.

  The rotation angle sensor 401 is a measuring unit that measures a rotation angle such as an encoder. The rotation angle sensor 401 is provided, for example, at the rotation shaft portion of the lever 400, measures the rotation angle of the lever 400, and outputs a signal indicating the rotation angle to the control unit 500. However, the rotation angle sensor 401 is not limited to an encoder as long as the rotation angle can be measured.

  As shown in FIG. 6, the control means 500 receives a command signal and determines the magnitude and direction of the torque output by the torque output unit 22, and based on the determined magnitude and direction of the torque. A signal generation unit 502 that generates a signal (control signal) for controlling the output torque of the torque output unit 22, and a transmission unit 503 that transmits the generated control signal to the torque output unit 22. Yes.

  The torque determination unit 501 reads information on the operation amount of the operation lever 210a included in the command signal, and determines the magnitude of the torque by multiplying the operation amount by a specific gain. On the other hand, the torque determination unit 501 intermittently receives the signal from the rotation angle sensor 401 transmitted to the control unit 500 as long as the preparation stage for the transfer operation of the care recipient P continues. Here, the torque determination unit 501 is associated with the rotation angle of the lever 400 measured in advance by the rotation angle sensor 401 and the interval between the body holder 30 and the cared person P. The distance between the body holder 30 and the cared person P is derived from the rotation angle of the lever 400 after contacting. When the distance between the derived body holder 30 and the cared person P is equal to or less than a preset first threshold value, the torque determining unit 501 reaches a position where the cared person P can hold the body holder 30. It is determined that the body holder 30 has approached the care recipient P, and the magnitude of the torque output by the torque output unit 22 is determined to be zero in order to stop the tilting operation of the support column 13, and the determination is made as the signal generation unit 502. Send to. The signal generation unit 502 generates a control signal that makes the magnitude of the torque output by the torque output unit 22 zero based on the received determination, and transmits the control signal to the torque output unit 22 via the transmission unit 503. To do. That is, when the operation lever 210a of the joystick 210 is further operated after the distance between the derived body holder 30 and the care receiver P is equal to or less than the first threshold value, the torque determination unit 501 receives the command signal received Among these, the signal for tilting the column 13 downward is invalidated. In short, when the operation lever 210a of the joystick 210 is further operated and the command signal is transmitted after the distance between the derived body holder 30 and the care recipient P is equal to or less than the first threshold, the operation lever When 210a is operated in a direction in which the support column 13 is tilted downward, the magnitude of the gain G1 multiplied by the operation amount of the operation lever 210a is changed to zero.

  Accordingly, it is possible to prevent the cared person P from being sandwiched between the bed 60 by the body holder 30 and being pressed in the preparation stage of the transfer operation of the cared person P sitting on the bed 60. Moreover, since the operation of the joystick 210 is automatically disabled when the distance between the body holder 30 and the cared person P can be satisfactorily held by the cared person P, the operation of the joystick 210 is automatically disabled. It is not necessary to operate carefully, and the transfer operation can be performed easily and quickly.

  In the present embodiment, the preparation stage of the transfer operation of the care receiver P is performed by the operator operating the joystick 210. However, the transfer operation of the care receiver P is automatically performed by pressing a switch or the like. It is also possible to adopt a configuration in which the preparation stage is implemented. At this time, torque to be output to the torque output unit 22 is set in the torque determination unit 501 of the control unit 500 in order to tilt the support column 13 at a predetermined speed in advance. When a transfer operation start signal from a switch or the like is transmitted to the torque determination unit 501 of the control unit 500, the torque determination unit 501 controls the torque output unit 22 based on the set torque. With such a configuration, the caregiver (operator) can automatically perform the preparation stage of the transfer operation of the cared person P by one operation of the switch, and concentrate on the care of the cared person P. Can do.

  In this embodiment, in the case of manual operation, the support column 13 is tilted at a speed corresponding to the operation amount of the joystick 210. In the case of automatic operation, the support column 13 is tilted at a constant speed after pressing a switch or the like. As the column tilts downward, the tilting speed of the column 13 may be reduced. That is, as the support column 13 tilts downward, the distance between the body holder 30 and the care recipient P is shortened, but the torque of the control means 500 is determined so that the tilting speed of the support column 13 is reduced in accordance with the shortening. The unit 501 determines the torque to be output to the torque output unit 22. With such a configuration, the care recipient P can be given a sense of security. Incidentally, in the case of manual operation, when the operation amount of the joystick 210 exceeds a predetermined amount, the torque determination unit 501 of the control unit 500 is configured to be a torque output unit so that the tilting speed of the support column 13 does not exceed the tilting speed corresponding to the operation amount. It is preferable to determine the torque to be output to 22.

  In the present embodiment, the preparation stage of the transfer operation of the care recipient P is performed using the first threshold value, but this is not restrictive. That is, when the control means 500 tilts the support column 13 downward, the distance between the derived body holder 30 and the care receiver P is substantially eliminated (that is, equal to or less than the second threshold value). It is determined that the holder 30 has come into contact with the cared person P, and the torque output unit is configured so that the tilting operation of the support column 13 is reversed so that the contact of the body holder 30 with the cared person P is eliminated. 22 is controlled. With such a configuration, it is possible to prevent a situation in which the cared person P is sandwiched between the body holder 30 and the bed 60 and pressed. In this case, when the body holder 30 comes into contact with the cared person P, the rotation angle of the lever 400 becomes substantially constant. Therefore, it is easily determined that the distance between the body holder 30 and the cared person P is almost eliminated. be able to.

  In the present embodiment, the column 13 is continuously tilted until the distance between the derived body holder 30 and the care receiver P is equal to or less than the first or second threshold. A third threshold value may be set to temporarily stop the tilting motion of the support column 13 immediately before the body support tool 30 approaches the care receiver P to a position where the care receiver P can hold it. That is, the control unit 500 temporarily stops the tilting operation of the support column 13 when the distance between the derived body holder 30 and the care receiver P is equal to or less than the third threshold value. Then, when the operation of tilting the support column 13 downward from the joystick 210 is continued intermittently, the control unit 500 determines whether the distance between the derived body holder 30 and the care receiver P is first or second. The tilting operation of the support column 13 is resumed until the threshold value becomes equal to or less than the threshold value. As described above, the joystick 210 is operated by temporarily stopping the tilting operation of the support column 13 immediately before the body holder 30 approaches the cared person P to a position where the cared person P can hold the body holder 30. The operator can easily recognize that the body holder 30 is approaching the cared person P and can carefully operate the joystick 210 thereafter. In other words, since the support column 13 can be tilted relatively quickly until the support column 13 stops, it contributes to shortening the time required for the transfer operation of the care recipient P. Incidentally, the third threshold value is derived by experiment, simulation, or the like.

  In this embodiment, the operator who operates the joystick 210 is not provided with a means for alerting the care recipient P that he is approaching the bed 60 or transmitting an operation guide. As the distance between the derived body holder 30 and the cared person P is shortened, a transmission unit that urges attention that the body holder 30 is approaching the cared person P or transmits an operation guide. It is good to have. With such a configuration, the operator can easily and reliably recognize that the body holder 30 is approaching the care receiver P.

  In the present embodiment, the command signal associated with the operation of the joystick 210 is invalidated when the distance between the derived body holder 30 and the care recipient P is equal to or less than the first or second threshold. However, the operation unit 21 may include a release unit that transmits a signal to the control unit 500 so that the control unit 500 validates the operation of the operation lever 210a again.

  In this embodiment, although the space | interval of the body holder 30 and the care receiver P is derived from the rotation angle of the lever 400, this is not restrictive. That is, the control unit 500 may derive a load acting on the care receiver P by the lever 400 based on the rotation angle of the lever 400, and may control the drive unit using the derived load value. Further, the load acting on the cared person P may be derived from the reaction force exerted by the spring 400 a and the distance between the body holder 30 and the bed 60 and the lever 400.

Embodiment 3 of the Invention
Hereinafter, a transfer support apparatus and a transfer support apparatus control method according to Embodiment 3 of the present invention will be described with reference to the drawings. FIG. 7 schematically shows a side view of the transfer support apparatus 101 according to the third embodiment. The transfer support apparatus 101 has a configuration substantially similar to that of the first embodiment, and includes a pressure sensitive sensor 410 instead of the distance measuring sensor.

  The pressure sensor 410 is a sensing means for sensing contact between the body holder 30 and the care recipient P, and for example, a so-called contact sensor can be used. The pressure sensor 410 is provided at the lower end of the body holder 30. That is, as shown in FIG. 8, the pressure-sensitive sensor 410 moves the support column 13 downward from the state in which the support column 13 is tilted upward so as to hold the care receiver P sitting on the bed 60 on the body holder 30. Whether the body holder 30, and thus the pressure-sensitive sensor 410, has contacted the thigh portion of the cared person P in the preparation stage of the movement of moving the body holder 30 closer to the cared person P, that is, the transfer operation. When the contact of the pressure-sensitive sensor 410 to the care receiver P is sensed, a sensing signal is transmitted to the control means 510.

  The control means 510 receives the command signal, determines the magnitude and direction of the torque output by the torque output unit 22, and determines the output torque of the torque output unit 22 based on the determined magnitude and direction of the torque. A signal generation unit 512 that generates a signal for controlling the control (control signal), and a transmission unit 513 that transmits the generated control signal to the torque output unit 22.

  The torque determination unit 511 reads information regarding the operation amount of the operation lever 210a included in the command signal, and determines the magnitude of the torque by multiplying the operation amount by a specific gain. On the other hand, when the sensing signal is transmitted, the torque determination unit 511 determines that the body holder 30 has come into contact with the care receiver P and outputs the torque output unit 22 to stop the tilting operation of the support column 13. The magnitude of the torque to be performed is determined to be zero, and the determination is transmitted to the signal generation unit 512. The signal generation unit 512 generates a control signal that makes the magnitude of the torque output by the torque output unit 22 zero based on the received determination, and transmits the control signal to the torque output unit 22 via the transmission unit 513. To do. That is, after the torque determination unit 511 receives the sensing signal, when the operation lever 210a of the joystick 210 is further operated, the torque determination unit 511 moves the column 13 downward in the command signal received by the torque determination unit 511. Disable the tilt signal. In short, after the torque determination unit 511 receives the sensing signal, when the operation lever 210a of the joystick 210 is further operated and a command signal is transmitted, the operation lever 210a is operated in a direction to tilt the support column 13 downward. In this case, the magnitude of the gain G1 multiplied by the operation amount of the operation lever 210a is changed to zero.

  At this time, the control means 510 not only stops the downward tilting of the support column 13, but the tilting operation of the support column 13 is reversely rotated so that the contact of the body holder 30 with the cared person P is eliminated. Thus, it is preferable to control the torque output unit 22.

  Accordingly, it is possible to prevent the cared person P from being sandwiched between the bed 60 by the body holder 30 and being pressed in the preparation stage of the transfer operation of the cared person P sitting on the bed 60. Moreover, since the operation of the joystick 210 is automatically disabled when the body holder 30 makes a slight contact with the cared person P, there is no need to operate the joystick 210 as in the conventional case, and the transfer operation can be performed easily and quickly. It can be carried out.

  In the present embodiment, the preparation stage of the transfer operation of the care receiver P is performed by the operator operating the joystick 210. However, the transfer operation of the care receiver P is automatically performed by pressing a switch or the like. It is also possible to adopt a configuration in which the preparation stage is implemented. At this time, a torque to be output to the torque output unit 22 is set in the torque determination unit 511 of the control unit 510 in order to tilt the column 13 at a predetermined speed in advance. When a transfer operation start signal from a switch or the like is transmitted to the torque determination unit 511 of the control unit 510, the torque determination unit 511 controls the torque output unit 22 based on the set torque. With such a configuration, the caregiver (operator) can automatically perform the preparation stage of the transfer operation of the cared person P by one operation of the switch, and concentrate on the care of the cared person P. Can do.

  In this embodiment, in the case of manual operation, the support column 13 is tilted at a speed corresponding to the operation amount of the joystick 210. In the case of automatic operation, the support column 13 is tilted at a constant speed after pressing a switch or the like. As the column tilts downward, the tilting speed of the column 13 may be reduced. That is, a rotation angle sensor or the like is provided in advance on the support 13, and the tilt angle of the support 13 is measured and transmitted to the control means 510. The control means 510 determines the torque to be output to the torque output unit 22 so that the tilting speed of the support column 13 decreases as the received tilt angle of the support column 13 increases, that is, as the support column 13 tilts downward. With such a configuration, the care recipient P can be given a sense of security.

  In this embodiment, the support column 13 is continuously tilted until the pressure-sensitive sensor 410 contacts the care receiver P. However, the body support tool 30 is moved to a position where the care receiver P can hold the body support tool 30. Immediately before the person approaches the cared person P, the tilting operation of the column 13 may be stopped. In this case, for example, a rotation angle sensor that measures the tilt angle of the support column 13 is provided in the support column 13, and the control unit 510 determines that the support column 13 has a predetermined tilt angle measured by the rotation angle sensor. The tilting operation is temporarily stopped. When the operation of tilting the support column 13 downward from the joystick 210 continues intermittently, the control unit 510 restarts the tilting operation of the support column 13 until the pressure-sensitive sensor 410 contacts the care receiver P again. As described above, the joystick 210 is operated by temporarily stopping the tilting operation of the support column 13 immediately before the body holder 30 approaches the cared person P to a position where the cared person P can hold the body holder 30. The operator can easily recognize that the body holder 30 is approaching the cared person P and can carefully operate the joystick 210 thereafter. In other words, since the support column 13 can be tilted relatively quickly until the support column 13 stops, it contributes to shortening the time required for the transfer operation of the care recipient P.

  In this embodiment, the operator who operates the joystick 210 is not provided with a means for alerting the care recipient P that he is approaching the bed 60 or a means for transmitting operation guidance. As the tilt angle increases, it is preferable to include a transmission unit that urges attention that the body holder 30 is approaching the care recipient P or transmits operation guidance. With such a configuration, the operator can easily and reliably recognize that the body holder 30 is approaching the care receiver P.

  In the present embodiment, when the pressure-sensitive sensor 410 comes into contact with the body holder 30, the command signal associated with the operation of the joystick 210 is invalidated. However, in the operation unit 21, the control unit 510 again operates the operation lever 210a. In order to make the above operation effective, a release unit that transmits a signal to the control unit 510 may be provided.

  The embodiment of the transfer support device and the control method of the transfer support device according to the present invention has been described above. However, the present invention is not limited to the above configuration, and can be changed without departing from the technical idea of the present invention. .

DESCRIPTION OF SYMBOLS 10 Transfer support apparatus 11 Pedestal 12 Support base 13 Support | pillar 20 Driving means 21 Operation part, 210 Joystick, 210a Operation lever, 220 Transmission part, 230 Release part 22 Torque output part 30 Body holder 40 Distance sensor 50 Control means, 51 Torque Determination unit, 52 signal generation unit, 53 transmission unit 60 bed (sitting object)
400 Lever 400a Spring 401 Rotation angle sensor 500 Control unit, 501 Torque determination unit, 502 Signal generation unit, 503 Transmission unit 101 Transfer assist device 410 Pressure sensor 510 Control unit, 511 Torque determination unit, 512 Signal generation unit, 513 Transmission unit P Caregiver

Claims (7)

A device that supports transfer of a cared person from a sitting object,
A support base, a support column having one end tiltably attached to the support table, a body holder provided at the other end of the support column and held by the care recipient, and a drive unit for tilting the support column And sensing means for sensing contact of the body holding tool with the care recipient, measuring means for measuring a tilt angle of the support column, and control means for controlling the driving means,
The control means is configured to measure the tilt angle of the support column measured by the measuring means in an operation of bringing the body holder closer to the care receiver in order to hold the care receiver seated on the seated object on the body holder. Once the threshold value is equal to or greater than a preset threshold value, once the driving means is controlled to stop the tilting operation of the column, and the operation of tilting the column downward from the operation unit is continued, A transfer assist device for controlling the driving means so that the tilting operation of the support column stops when the tilting operation of the support column is resumed and the sensing means comes into contact with the care recipient.   2. The control unit according to claim 1, wherein when the sensing unit comes into contact with the cared person, the driving unit is controlled so that the tilting operation of the support column is reversely rotated so as to release the contact state. The transfer support device described in 1.   The transfer support device according to claim 1, wherein the control unit controls the driving unit so that the tilting speed becomes slower as the support column tilts downward.   The drive means selects a speed at which the support column is tilted by manual operation, and transmits the command signal for commanding the selected speed to the control means, and is generated by the control means based on the command signal The transfer support apparatus according to claim 1, further comprising: a torque output unit that transmits a control signal and outputs a torque that tilts the column based on the control signal.   The operation unit includes an operation lever, and transmits a command signal instructing the control unit to output a speed having a magnitude proportional to an operation amount of the operation lever. 4. The transfer support device according to 4.   The transfer operation apparatus according to claim 4, wherein the operation unit includes a transmission unit that transmits attention or operation guidance to an operator who operates the operation unit. A method for controlling a device that supports the transfer of a cared person from a sitting object,
The transfer support apparatus includes a support base, a support column attached to one end of the support table so as to be freely tiltable, a body holder provided at the other end of the support column and held by the care recipient, and the support column Driving means for tilting, sensing means for sensing contact of the body holder with the cared person, measuring means for measuring the tilt angle of the column, control means for controlling the driving means, With
The control means is configured to measure the tilt angle of the support column measured by the measuring means in an operation of bringing the body holder closer to the care receiver in order to hold the care receiver seated on the seated object on the body holder. Once the threshold value is equal to or greater than a preset threshold value, once the driving means is controlled to stop the tilting operation of the column, and the operation of tilting the column downward from the operation unit is continued, A control method of a transfer support apparatus for controlling the driving unit so that the tilting operation of the support column is stopped when the tilting operation of the support column is resumed and the sensing unit comes into contact with the care recipient.

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