JP5609956B2 - 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

  However, in such a transfer support device, when the cared person performs the transfer operation, the cared person holds the body holding tool of the transfer support device. There is a risk that the support column tilts while being held, and the cared person is pressed by the body holding tool. For example, when the cared person holds the body holding tool and the body holding tool is further tilted in the downward direction, the cared person may be sandwiched between the bed and the body holding tool.

  Moreover, in such a transfer assistance apparatus, it is not the structure which can judge whether a cared person was able to sit down on the seated object. Therefore, the caregiver has to visually confirm whether or not the cared person can be seated on the seated object, the operation of the transfer support device becomes cautious, and it takes time to seat the cared person on the seated object. .

  The present invention has been made in order to solve such problems, and in a transfer operation in which a care receiver is seated on a seat while holding the body holder, the care receiver is seated by the body holder. The purpose of the present invention is to provide a transfer support device and a control method for the transfer support device that can prevent the situation of being sandwiched between and being pressed and that can easily and quickly perform the transfer operation. It is.

  A transfer support device according to the present invention is a device that supports transfer of a cared person to a seated object, and includes a support base, a support column having one end tiltably attached to the support table, A body holding tool provided at the other end, and held by the cared person, a driving means for tilting the support; and a measuring means for measuring torque generated when the cared person holds the body holding tool; Control means for controlling the driving means, the control means measured by the measuring means in a transfer operation in which the care recipient is seated on a seated object while holding the body holding device. The drive means is controlled based on the torque. With such a configuration, in a transfer operation in which the cared person is seated on the seated object while holding the body holder, the cared person is sandwiched between the seated object and pressed by the body holder. In addition, 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 to a seated object, and includes a support base, a support column having one end tiltably attached to the support table, A body holding tool provided at the other end and held by the cared person, a drive means for tilting the support column, and a measuring means for measuring a load generated when the cared person holds the body holding tool; Control means for controlling the driving means, the control means measured by the measuring means in a transfer operation in which the care recipient is seated on a seated object while holding the body holding device. The drive means is controlled based on the load. With such a configuration, in a transfer operation in which the cared person is seated on the seated object while holding the body holder, the cared person is sandwiched between the seated object and pressed by the body holder. In addition, 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 to 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 provided by the care receiver, a drive unit that tilts the column, a measuring unit that measures a distance between the body holding unit and the sitting object, and a driving unit that is provided at the other end. Control means for controlling, wherein the control means is based on the interval measured by the measuring means in a transfer operation in which the care recipient is seated on a seated object while holding the body holding device. Control the driving means. With such a configuration, in a transfer operation in which the cared person is seated on the seated object while holding the body holder, the cared person is sandwiched between the seated object and pressed by the body holder. In addition, 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 to a seated object, and includes a support base, a support column having one end tiltably attached to the support table, When the distance between the body holder provided by the other end and held by the care recipient, the driving means for tilting the support column, and the body holder and the seated object is equal to or less than a preset distance. And a control means for controlling the driving means, wherein the control means is in an operation in which the care recipient is seated on a seated object while holding the body holding device. The driving means is controlled based on a signal transmitted when the tip of the sensing means contacts the seat. With such a configuration, in a transfer operation in which the cared person is seated on the seated object while holding the body holder, the cared person is sandwiched between the seated object and pressed by the body holder. In addition, 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 to a seated object, and includes a support base, a support column having one end tiltably attached to the support table, A body holding tool provided at the other end and held by the cared person; a drive means for tilting the support; and a control means for controlling the drive means, wherein the control means comprises the body The drive means is controlled so that the distance between the holder and the seated object is a preset distance. With such a configuration, in a transfer operation in which the cared person is seated on the seated object while holding the body holder, the cared person is sandwiched between the seated object and pressed by the body holder. In addition, the transfer operation can be performed easily and quickly.

  The control means determines that the cared person is seated on the sitting object when the measurement value of the measuring means is equal to or less than a first threshold value set in advance, and the tilting operation of the column is stopped so as to stop. It is preferable to control the driving means.

  The control means determines that the cared person has been sandwiched between the body holder and the sitting object when the measurement value of the measurement means is equal to or less than a second threshold value set in advance, It is preferable to control the driving means so that the tilting operation rotates in the reverse direction.

  The control means determines that the cared person is seated on the seat when the tip of the sensing means contacts the seat, and controls the drive means to stop the tilting operation of the support column. It is preferable.

  The sensing means is configured to be extendable, and the control means is configured such that when the sensing means is pushed in a predetermined length, the control means causes the care recipient to move between the body holder and the seated object. It is preferable to control the driving means so that the tilting operation of the support column rotates in the reverse direction after determining that it has been sandwiched between them.

  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 driving means selects a torque for tilting the column by manual operation, sends an instruction signal for instructing the control means to output the selected torque, and an instruction signal sent by the operation part It is preferable to include a torque output unit that outputs torque that tilts the column based on a control signal for controlling torque transmitted from the control unit.

  Preferably, the operation unit includes an operation lever, and transmits a command signal instructing the control means to output a torque having a magnitude proportional to an operation amount of the operation lever.

  It is preferable that the operation unit includes a load introduction unit that applies a load to the operation of the operation lever, and the load introduction unit is controlled based on a measurement value of the measurement unit.

  It is preferable that the operation unit further includes a transmission unit that alerts an operator who operates the operation unit, and the transmission unit is controlled based on a measurement value of the measurement unit.

  A control method for a transfer support apparatus according to the present invention is a control method for an apparatus that supports transfer of a cared person to a seated object, and the transfer support apparatus is tilted at one end with respect to a support base and the support base. Freely attached struts, a body holder provided at the other end of the struts and held by the cared person, drive means for tilting the struts, and the cared person holding the body holders Measuring means for measuring the torque generated by this, and control means for controlling the drive means, the control means to the seated object while the cared person holds the body holding device In the seating transfer operation, the driving unit is controlled based on the torque measured by the measuring unit. This prevents a situation where the cared person is sandwiched between the seated object by the body holding tool and pressed in the transfer operation in which the cared person is seated on the seated object while holding the body holding tool. In addition, the transfer operation can be performed easily and quickly.

  A control method for a transfer support apparatus according to the present invention is a control method for an apparatus that supports transfer of a cared person to a seated object, and the transfer support apparatus is tilted at one end with respect to a support base and the support base. Freely attached struts, a body holder provided at the other end of the struts and held by the cared person, drive means for tilting the struts, and the cared person holding the body holders Measuring means for measuring the load generated by the control, and control means for controlling the driving means, the control means to the seated object while the cared person holds the body holding device In the seating transfer operation, the driving means is controlled based on the load measured by the measuring means. This prevents a situation where the cared person is sandwiched between the seated object by the body holding tool and pressed in the transfer operation in which the cared person is seated on the seated object while holding the body holding tool. In addition, the transfer operation can be performed easily and quickly.

  A control method for a transfer support apparatus according to the present invention is a control method for an apparatus that supports transfer of a cared person to a seated object, and the transfer support apparatus is tilted at one end with respect to a support base and the support base. Freely attached struts, body holders provided at the other end of the struts and held by the cared person, drive means for tilting the struts, and spacing between the body holders and the seated object Measuring means for measuring the movement, and control means for controlling the driving means, the control means is a transfer operation in which the care recipient is seated on a seated object while holding the body holding device The driving means is controlled based on the interval measured by the measuring means. This prevents a situation where the cared person is sandwiched between the seated object by the body holding tool and pressed in the transfer operation in which the cared person is seated on the seated object while holding the body holding tool. In addition, the transfer operation can be performed easily and quickly.

  A control method for a transfer support apparatus according to the present invention is a control method for an apparatus that supports transfer of a cared person to a seated object, and the transfer support apparatus is tilted at one end with respect to a support base and the support base. Freely attached struts, body holders provided at the other end of the struts and held by the care recipient, drive means for tilting the struts, and between the body holders and the seated object Sensing means that comes into contact with the tip when the distance becomes equal to or less than a preset distance, and control means for controlling the driving means. In the transfer operation of sitting on the seated object while holding the tool, the driving means is controlled based on a signal transmitted when the tip of the sensing means contacts the seated object. This prevents a situation where the cared person is sandwiched between the seated object by the body holding tool and pressed in the transfer operation in which the cared person is seated on the seated object while holding the body holding tool. In addition, the transfer operation can be performed easily and quickly.

  A control method for a transfer support apparatus according to the present invention is a control method for an apparatus that supports transfer of a cared person to a seated object, and the transfer support apparatus is tilted at one end with respect to a support base and the support base. Freely attached struts, body holders provided at the other end of the struts and held by the care recipient, drive means for tilting the struts, and control means for controlling the drive means The control means controls the driving means so that a distance between the body holder and the seated object is a predetermined distance. This prevents a situation where the cared person is sandwiched between the seated object by the body holding tool and pressed in the transfer operation in which the cared person is seated on the seated object while holding the body holding tool. In addition, the transfer operation can be performed easily and quickly.

  As described above, according to the present invention, in the transfer operation in which the cared person is seated on the seated object while holding the body holding tool, the cared person is sandwiched between the seated object and the body holding tool. You can prevent the situation of being pressed. Moreover, the transfer operation can be performed easily and quickly.

It is a side view which shows roughly the care receiver'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 figure which shows the relationship between the torque which a torque sensor measures, the load which a load sensor measures, and the 1st and 2nd threshold value. 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 a side view which shows roughly the transfer assistance apparatus which concerns 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. It is a side view which shows roughly the transfer assistance apparatus which concerns on the 4th Embodiment of this invention. It is a block diagram of the transfer assistance apparatus which concerns on the 4th 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 device 10 according to the first embodiment, and transfer for sitting on a bed 60 that is a seated object from a state where a cared person P stands up. 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 12, a torque sensor 40 for measuring the torque τ acting on the end of the support 13, and driving Control means 50 for controlling the 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 so as to be able to switch between a freely rotating state and a fixed state.When the cared person performs a transfer operation, these wheels are assumed to be in a fixed state. When the caregiver performs the transfer operation, the transfer support apparatus 10 can be stabilized.

  The support 12 is a substantially plate-like material that extends in a substantially vertical direction from the surface of the pedestal 11, and has a rotation shaft inside thereof, so that the torque applied by a torque output unit described later is applied to the pedestal 11. It is comprised so that horizontal rotation is possible, and the relative position about the horizontal direction of the body holder 30 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. When the care receiver P or an external caregiver manually operates the joystick 210, the torque for tilting the column 13 is selected and the selected torque is output. The control unit 50 is instructed to do so. 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 to output a torque having a proportional magnitude is transmitted to the control means 50. Although details will be described later, the control means 50 transmits a control signal for performing control to output the torque of the magnitude to the torque output unit 22 based on the command signal.

  The torque output unit 22 applies torque for tilting the support column 13 with respect to the support base 12. 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 torque sensor 40 is a measuring unit that measures the torque τ acting on the end portion of the column 13 when the care receiver P holds the body holder 30. The torque sensor 40 is provided at the end of the support 13, that is, at the connection between the support 13 and the support 12 and at the connection between the support 13 and the body holder 30. That is, as shown in FIG. 1 (a), the support 13 is tilted upward and the care receiver P holds the body holder 30, and the support 13 is moved downward as shown in FIG. 1 (b). The torque sensor 40 measures the torque τ acting on the column 13 until the care receiver P is seated on the bed 60 and completes the transfer operation, and transmits a signal indicating the measured value to the control means 50. .

  The torque sensor 40 is a torque sensor using a usual strain gauge or the like. When the torque sensor 40 includes a motor that applies a driving force to the support 13, the torque sensor 40 measures the torque τ based on the current value of the motor. Things can be used. In short, the torque sensor 40 only needs to be configured so that the care receiver P can measure the torque τ acting on the end portion of the support column 13 by holding the body holder 30.

  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 a command signal obtained by operating the joystick 210 (operation lever 210a), torque is controlled. A signal for performing control to output torque is transmitted to the output unit 22. As shown in FIG. 2, the control means 50 receives a command signal, 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 52 that generates a signal (control signal) for controlling the output torque of the torque output unit 22; and a transmission unit 53 that transmits the generated control signal to the torque output unit 22. Yes.

  The torque determination unit 51 reads information related to 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. 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 torque sensor 40 transmitted to the control means 50 as long as the transfer operation of the transfer support device continues. Then, when the torque τ measured by the torque sensor 40 is equal to or less than the first threshold value set in advance, the torque determination unit 51 determines that the care receiver P is seated on the bed 60 and performs the tilting operation of the support column 13. In order to stop the torque output unit 22, the torque output unit 22 determines that the magnitude of the torque is zero, and transmits the determination to the signal generation unit 52. The signal creation unit 52 creates 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 operating lever 210a of the joystick 210 is further operated after the torque τ acting on the end portion of the column 13 becomes equal to or less than the first threshold value, the torque determination unit 51 selects the column 13 among the received command signals. Invalidate the signal to tilt downward. In short, after receiving a signal from the torque 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 support column 13 downward. The magnitude of the gain G1 multiplied by the operation amount of the operation lever 210a is changed to zero.

  Here, as shown by the solid line in FIG. 3, the torque τ measured by the torque sensor 40 is increased by a relatively large torque τ at the end of the column 13 until immediately before the cared person P is seated on the bed 60. Although acting in a tendency, when the cared person P sits on the bed 60, the load of the cared person P escapes to the bed 60, and the torque τ acting on the end of the column 13 decreases. After starting to decrease in this way, a torque value that is expected to be completely seated on the bed 60 by the care recipient P is derived in advance through experiments, simulations, etc., and the torque value thus derived is used as a first threshold value. Set in the determination unit 51. As a result, in the transfer operation in which the cared person P is seated on the bed 60 while holding the body holder 30, the cared person P is sandwiched between the bed 60 and pressed by the body holder 30. Can be prevented. In addition, when it is determined that the cared person P is seated on the bed 60, the operation of the joystick 210 is automatically invalidated, so that it is not necessary 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.

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

  The procedure executed by the control means 50 when the care receiver P performs the transfer operation in the transfer support apparatus configured as described above will be described in detail with reference to the flowchart shown in FIG.

  First, when the care receiver P moves to a place where the transfer operation is performed and starts the operation of the transfer support device (for example, the caregiver operates the operation lever 210a), the control unit 50 sets the operation amount of the operation lever 210a. A control signal is transmitted to the torque output unit 22 so as to tilt the support column 13 with the torque commanded based on it (STEP 101). The support column 13 is tilted at a predetermined constant speed in the direction of lowering the care receiver P 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 column 13 is started, the control unit 50 continues to receive a signal indicating a measured value of the torque τ acting on the end of the column 13 from the torque sensor 40 (STEP 102).

  The control means 50 determines that the cared person P is seated on the bed 60 when the received torque τ acting on the end portion of the support column 13 is equal to or less than the first threshold value, and outputs a signal to stop the tilting operation of the support column 13. It transmits to the torque output part 22, and a transfer assistance operation | movement is complete | finished (STEP103). 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 torque τ measured by the torque sensor 40 is equal to or less than the first threshold value, the care receiver P moves to the bed 60. Since it is determined that the user is seated and the driving means is controlled so that the tilting motion of the support column 13 is stopped, a situation in which the cared person P is sandwiched between the bed 60 by the body holder 30 and is pressed in advance. Can be prevented. In addition, when it is determined that the cared person P is seated on the bed 60, the operation of the joystick 210 is automatically invalidated, so that it is not necessary 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 this embodiment, 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 may be configured. 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 transfer the cared person with one switch operation, and can concentrate on the care of the cared person.

  In this embodiment, the support column 13 is tilted at a constant speed. However, as the support column 13 tilts downward, the tilting speed of the support column 13 may be reduced. That is, as the support column 13 tilts downward, the torque τ measured by the torque sensor 40 increases, but the torque determining unit 51 of the control means 50 increases the torque so that the tilting speed of the support column 13 decreases with the increase. 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.

  In the present embodiment, the transfer operation of the care receiver P is performed using the first threshold value, but the transfer operation of the care receiver P may be performed using the second threshold value. Here, in FIG. 3, the dotted line indicates the relationship between the torque τ acting on the end of the support column 13 and the tilt angle of the support column 13 when the care receiver P does not hold the body holder 30, and the solid line indicates The relationship between the torque τ acting on the end of the support column 13 and the tilt angle of the support column 13 when the care receiver P holds the body holder 30 is shown. As shown in FIG. 3, when the first threshold value for confirming the sitting of the cared person P is passed, the load of the cared person P gradually escapes to the bed 60, and finally the end of the column 13 Torque τ resulting from the load of only the body holder 30 supported by the support 13 is generated, and the solid line overlaps the dotted line. When the support column 13 is further tilted downward, the body holder 30 comes into contact with the thigh portion of the cared person P, the load of the body holder 30 escapes to the cared person P, and the torque acting on the end of the support column 13 is Decrease significantly. The torque value that starts to decrease greatly is set as the second threshold value. At this time, when the torque acting on the end portion of the column 13 when the column 13 is tilted downward becomes less than or equal to the second threshold, the care receiver P moves the body holder 30 and the bed 60 to The torque output unit 22 is controlled so that the tilting operation of the support column 13 is reversely rotated. 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 embodiment, the support column 13 is continuously tilted until the torque acting on the end portion of the support column 13 becomes equal to or less than the first or second threshold, but immediately before the cared person P sits on the bed 60. In order to stop the tilting operation of the support column 13 once, a third threshold value may be set. That is, the control means 50 temporarily stops the tilting operation of the support column 13 when the torque τ acting on the end portion of the support column 13 becomes 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 means 50 again supports the support column until the torque acting on the end of the support column 13 becomes equal to or less than the first or second threshold value. 13 tilting operation is resumed. Thus, the operator operating the joystick 210 confirms that the cared person P is approaching the bed 60 by temporarily stopping the tilting motion of the column 13 immediately before the cared person P is seated on the bed 60. It can be easily recognized, and the subsequent operation of the joystick 210 can be performed carefully. 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 means for alerting the care recipient P that he is approaching the bed 60. However, as shown in FIG. It is preferable that a load introduction unit 220 for applying a load to the operation lever 210a is provided, and the load applied to the operation lever 210a increases as the torque τ measured by the torque sensor 40 increases. Furthermore, the operation unit 21 may include a transmission unit 230 that prompts the operator to note that the care receiver P is approaching the bed 60 as the torque τ measured by the torque sensor 40 increases. As the transmission unit 230, for example, a speaker mechanism in which the volume increases as the measurement torque increases, a lighting mechanism in which the blinking speed increases, a vibration mechanism that introduces a large vibration into the operation lever 210a of the joystick 210, or the like can be used. . With such a configuration, the operator can easily and reliably recognize that the cared person P is approaching the bed 60.

  In the present embodiment, when the torque τ acting on the end portion of the column 13 becomes equal to or less than the first threshold value, the command signal accompanying the operation of the joystick 210 is invalidated. 50 may include a release unit 240 that transmits a signal to the control means 50 so that the operation of the operation lever 210a is enabled 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. 6 schematically shows a side view of the transfer supporting apparatus 100 according to the second embodiment. The transfer support apparatus 100 has substantially the same configuration as that of the first embodiment, and includes a load sensor 400 instead of the torque sensor.

  The load sensor 400 is a measuring unit that measures a load generated when the cared person P holds the body holder 30. For example, a load sensor using a usual strain gauge can be used. The load sensor 400 is provided at a connection portion between the support column 13 and the body holder 30 and a connection portion between the base 11 and the support base 12. However, the installation location of the load sensor 400 is not particularly limited as long as the load that is generated when the care receiver P holds the body holder 30 can be measured.

  The load sensor 400 measures the load F acting on the end portion of the column 13 when the care receiver P holds the body holder 30. That is, as shown in FIG. 7, the load sensor 400 tilts the support column 13 upward and tilts the support column 13 downward from the state where the care receiver P holds the body holder 30. Until the transfer operation is completed after sitting on the bed 60, the load F acting on the end of the column 13 is measured, and a signal indicating the measured value is transmitted to the control means 500.

  The control means 500 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 502 for generating a signal (control signal) for controlling the torque and a transmission unit 503 for transmitting the generated control signal to the torque output unit 22.

  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 load sensor 400 transmitted to the control unit 500 as long as the cared person P's transfer operation continues. Then, when the load F measured by the load sensor 400 is equal to or less than the first threshold value set in advance, the torque determination unit 501 determines that the care receiver P is seated on the bed 60 and performs the tilting operation of the column 13. In order to stop, the magnitude of the torque output by the torque output unit 22 is determined to be zero, and the determination is transmitted to the signal generation unit 502. The signal creation unit 502 creates 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 load F acting on the end portion of the column 13 becomes equal to or less than the first threshold value, the torque determination unit 501 receives the command signal received by the torque determination unit 501. Among these, the signal for tilting the column 13 downward is invalidated. In short, after receiving a signal from the load sensor 400, when the operation lever 210a is further operated and a command signal is transmitted, the operation lever 210a is operated when the operation lever 210a is operated in a direction of tilting the column 13 downward. The magnitude of the gain G1 multiplied by the operation amount is changed to zero.

  Here, the load F measured by the load sensor 400 can also be shown in substantially the same manner as the solid line in FIG. 3, and a relatively large load is applied to the body holder 30 until immediately before the cared person P sits on the bed 60. However, when the cared person P sits on the bed 60, the load of the cared person P escapes to the bed 60, and the load acting on the body holder 30 decreases. After starting to decrease in this way, a load value that is expected to be completely seated on the bed 60 by the care recipient P is derived in advance by experiments, simulations, etc., and torque is determined using the derived load value as a first threshold value. Set in the determination unit 501. As a result, in the transfer operation in which the cared person P is seated on the bed 60 while holding the body holder 30, the cared person P is sandwiched between the bed 60 and pressed by the body holder 30. Can be prevented. In addition, when it is determined that the cared person P is seated on the bed 60, the operation of the joystick 210 is automatically invalidated, so that it is not necessary 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 this embodiment, 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 may be configured. 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 can automatically transfer the cared person P by one operation of the switch, and can concentrate on the care of the cared person P.

  In this embodiment, the support column 13 is tilted at a constant speed. However, as the support column 13 tilts downward, the tilting speed of the support column 13 may be reduced. That is, as the support column 13 tilts downward, the load measured by the load sensor 400 increases, but the torque determining unit 501 of the control unit 500 outputs a torque output so that the tilting speed of the support column 13 decreases with the increase. The torque to be output to the unit 22 is determined. With such a configuration, the care recipient P can be given a sense of security.

  In the present embodiment, the transfer operation of the care receiver P is performed using the first threshold value, but the transfer operation of the care receiver P may be performed using the second threshold value. When the first threshold value at which the care receiver P can be seated is exceeded, the load of the care receiver P gradually escapes to the bed 60, and as a result, only the weight of the body holder 30 is obtained. When the support 13 is further tilted downward, the body holder 30 comes into contact with the thigh portion of the cared person P, the load of the body holder 30 escapes to the cared person P, and the load measured by the load sensor 400 is greatly reduced. To do. The load value that greatly decreases in this way is set as the second threshold value. At this time, when the load applied to the end portion of the support column 13 when the control unit 500 tilts the support column 13 is equal to or less than the second threshold value, the care receiver P moves the body holder 30, the bed 60, and the like. The torque output unit 22 is controlled so that the tilting operation of the support column 13 is reversely rotated. 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 embodiment, the support column 13 is continuously tilted until the load F acting on the end portion of the support column 13 is equal to or less than the first or second threshold, but the care receiver P is seated on the bed 60. A third threshold value may be set to stop the tilting operation of the support column 13 just before. That is, the control means 500 temporarily stops the tilting operation of the support column 13 when the load F acting on the end portion of the support column 13 becomes equal to or less than the third threshold value. Then, when the operation of tilting the support column 13 downward from the joystick 210 continues intermittently, the control unit 500 again causes the load F acting on the end of the support column 13 to become the first or second threshold value or less. The tilting motion of the column 13 is resumed. Thus, the operator operating the joystick 210 confirms that the cared person P is approaching the bed 60 by temporarily stopping the tilting motion of the column 13 immediately before the cared person P is seated on the bed 60. It can be easily recognized, and the subsequent operation of the joystick 210 can be performed carefully. 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, there is no means for notifying the operator who operates the joystick 210 that the cared person P is approaching the bed 60, but in this embodiment, the operation unit 21 also has the operation lever 210 a of the joystick 210. It is preferable that a load introduction unit that applies a load to the operation is provided, and the load applied to the operation lever 210a increases as the load F measured by the load sensor 400 increases. Furthermore, the operation unit 21 may include a transmission unit that prompts the operator to note that the care receiver P is approaching the bed 60 as the load F measured by the load sensor 400 increases. With such a configuration, the operator can easily and reliably recognize that the cared person P is approaching the bed 60.

  In the present embodiment, when the load F acting on the end of the support column 13 is equal to or less than the first threshold value, the command signal accompanying the operation of the joystick 210 is invalidated. 500 may include a release unit that transmits a signal to the control unit 500 so that the operation of the operation lever 210a is enabled again.

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. 8 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 distance measuring sensor 410 instead of the torque sensor.

  The distance measuring sensor 410 is a measuring means for measuring the distance T between the lower end portion of the body holder 30 and the bed 60, and a distance measuring sensor using reflection of infrared rays, ultrasonic waves, or the like can be used. The distance measuring sensor 410 is provided at the lower end portion of the body holder 30, for example. That is, as shown in FIG. 9, the distance measuring sensor 410 tilts the support column 13 upward and tilts the support column 13 downward from the state where the care receiver P holds the body holder 30. Until P is seated on the bed 60 and the transfer operation is completed, the distance T between the lower end of the body holder 30 and the bed 60 is measured, and a signal indicating the measured value 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 for generating a signal (control signal) for controlling the torque and a transmission unit 513 for transmitting 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, the torque determination unit 511 intermittently receives the signal from the distance measuring sensor 410 transmitted to the control unit 510 as long as the transfer operation of the transfer support device continues. Then, the torque determination unit 511 determines that the care receiver P is seated on the bed 60 when the interval T measured by the distance measuring sensor 410 is equal to or less than the first threshold value set in advance. The torque output unit 22 determines that the torque output by the torque output unit 22 is zero, and transmits the determination to the signal creation unit 512. The signal creation unit 512 creates 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, when the operation lever 210a of the joystick 210 is further operated after the interval T between the lower end portion of the body holding tool 30 and the bed 60 becomes equal to or less than the first threshold value, the torque determination unit 511 Among the received command signals, the signal that tilts the column 13 downward is invalidated. In short, after receiving the signal from the distance measuring sensor 410, when the operation lever 210a is further operated and a command signal is transmitted, the operation lever 210a is operated in the direction in which the support column 13 is tilted downward. The magnitude of the gain G1 multiplied by the operation amount 210a is changed to zero.

  By the way, the first threshold value is derived in advance by the experiment, simulation or the like so that the care receiver P can sat satisfactorily on the bed 60 by deriving the distance between the lower end of the body holder 30 and the bed 60. 1 is set in the torque determination unit 511 as a threshold value. As a result, in the transfer operation in which the cared person P is seated on the bed 60 while holding the body holder 30, the cared person P is sandwiched between the bed 60 and pressed by the body holder 30. Can be prevented. In addition, when it is determined that the cared person P is seated on the bed 60, the operation of the joystick 210 is automatically invalidated, so that it is not necessary 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. The first threshold is appropriately changed by the care receiver P.

  In this embodiment, 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 may be configured. 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 constant speed in advance. When an operation start signal from a switch or the like is transmitted to the torque determining unit 511 of the control unit 510, the torque determining unit 511 controls the torque output unit 22 based on the set torque. With such a configuration, the caregiver can automatically transfer the cared person with one switch operation, and can concentrate on the care of the cared person P.

  In this embodiment, the support column 13 is tilted at a constant speed. However, as the support column 13 tilts downward, the tilting speed of the support column 13 may be reduced. That is, as the support column 13 tilts downward, the interval T measured by the distance measuring sensor 410 is shortened, but the torque determining unit 511 of the control unit 510 reduces the tilting speed of the support column 13 in accordance with the shortening. The torque to be output to the torque output unit 22 is determined. With such a configuration, the care recipient P can be given a sense of security.

  In the present embodiment, the transfer operation of the care receiver P is performed using the first threshold value, but the transfer operation of the care receiver P may be performed using the second threshold value. That is, the cared person P holding the body holder 30 sits on the bed 60, and the support 13 tilts downward so that the body holder 30 contacts the thigh portion of the cared person P. An interval between the lower end portion and the bed 60 is derived in advance by experiments, simulations, or the like, and the interval is set as the second threshold value. At this time, when the distance T between the lower end portion of the body holding tool 30 and the bed 60 becomes equal to or smaller than the second threshold when the control unit 510 tilts the support column 13 downward, the care receiver P moves the body holding tool 30. And the torque output unit 22 is controlled so that the tilting operation of the support column 13 is reversely rotated. 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 T between the lower end portion of the body holder 30 and the bed 60 becomes equal to or less than the first or second threshold. A third threshold value may be set to stop the tilting motion of the support column 13 once immediately before sitting on the seat 60. That is, the control unit 510 temporarily stops the tilting operation of the support column 13 when the interval T between the lower end portion of the body holder 30 and the bed 60 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 510 again sets the interval T between the lower end portion of the body holder 30 and the bed 60 to the first or second threshold value. The tilting motion of the column 13 is resumed until the following is reached. Thus, the operator operating the joystick 210 confirms that the cared person P is approaching the bed 60 by temporarily stopping the tilting motion of the column 13 immediately before the cared person P is seated on the bed 60. It can be easily recognized, and the subsequent operation of the joystick 210 can be performed carefully. 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 is approaching the bed 60. However, in the present embodiment, the operation unit 21 is the operation lever of the joystick 210. It is preferable that a load introduction unit that applies a load to the operation of 210a is provided, and the load applied to the operation lever 210a increases as the distance T between the lower end of the body holder 30 and the bed 60 is shortened. Furthermore, the operation unit 21 may include a transmission unit that prompts the operator to notice that the care receiver P is approaching the bed 60 as the interval T measured by the distance measuring sensor 410 is shortened. With such a configuration, the operator can easily and reliably recognize that the cared person P is approaching the bed 60.

  In the present embodiment, the command signal associated with the operation of the joystick 210 is invalidated when the interval T between the lower end portion of the body holder 30 and the bed 60 is equal to or smaller than the first threshold value. The control unit 510 may include a release unit that transmits a signal to the control unit 510 so that the operation of the operation lever 210a is enabled again.

Embodiment 4 of the Invention
Hereinafter, a transfer support apparatus and a transfer support apparatus control method according to Embodiment 4 of the present invention will be described with reference to the drawings. FIG. 10 schematically shows a side view of the transfer support apparatus 102 according to the fourth embodiment. This transfer support apparatus 102 is also configured substantially the same as in the first embodiment, and includes a limit sensor 420 instead of the torque sensor.

  The limit sensor 420 is provided at the lower end portion of the body holder 30, for example. This limit sensor 420 derives the distance between the lower end of the body holder 30 and the bed 60 so that the care receiver P can sat on the bed 60 in advance by experiments, simulations, and the like, and has a length substantially equal to the distance. The length L protrudes from the lower end of the body holder 30. As shown in FIGS. 10 and 11, the limit sensor 420 is configured to be expandable and contractable. When the tip of the limit sensor 420 comes into contact with the bed 60, the limit sensor 420 is a sensing unit that transmits a signal indicating the contact to the control unit 520. is there.

  The control means 520 receives a command signal, determines the magnitude and direction of torque output by the torque output unit 22, and outputs torque from the torque output unit 22 based on the determined magnitude and direction of torque. A signal generation unit 522 that generates a signal (control signal) for controlling the torque, and a transmission unit 523 that transmits the generated control signal to the torque output unit 22.

  The torque determination unit 521 reads information related to 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 receiving the signal from the limit sensor 420 transmitted to the control means 520, the torque determination unit 521 determines that the care receiver P is seated on the bed 60, and stops the tilting operation of the column 13. Accordingly, the magnitude of the torque output by the torque output unit 22 is determined to be zero, and the determination is transmitted to the signal creation unit 522. The signal creation unit 522 creates 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 523. To do. That is, when the operation lever 210a of the joystick 210 is further operated after the tip of the limit sensor 420 contacts the bed 60, the torque determination unit 521 moves the support column 13 downward among the command signals received by the torque determination unit 521. The signal to tilt is invalidated. In short, after receiving the signal from the limit sensor 420, when the operation lever 210a is further operated and a command signal is transmitted, the operation lever 210a is operated when the operation lever 210a is operated in the direction of tilting the column 13 downward. The magnitude of the gain G1 multiplied by the operation amount is changed to zero. As a result, in the transfer operation in which the cared person P is seated on the bed 60 while holding the body holder 30, the cared person P is sandwiched between the bed 60 and pressed by the body holder 30. Can be prevented. In addition, when it is determined that the cared person P is seated on the bed 60, the operation of the joystick 210 is automatically invalidated, so that it is not necessary 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. Note that the protruding length L of the limit sensor 420 is appropriately changed by the care receiver P.

  In this embodiment, 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 may be configured. At this time, torque to be output to the torque output unit 22 is set in the torque determination unit 521 of the control unit 520 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 determining unit 521 of the control unit 520, the torque determining unit 521 controls the torque output unit 22 based on the set torque. With such a configuration, the caregiver can automatically transfer the cared person P by one operation of the switch, and can concentrate on the care of the cared person P.

  In this embodiment, the support column 13 is tilted at a constant speed. However, as the support column 13 tilts downward, the tilting speed of the support column 13 may be reduced. 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 tilt speed of the support column 13 decreases as the tilt angle of the support column 13 measured by the rotation angle sensor increases. As described above, the torque determination unit 521 of the control unit 520 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.

  In the present embodiment, the distance between the lower end of the body holder 30 and the bed 60 that allows the cared person P to sat well on the bed 60 can be derived in advance through experiments, simulations, and the like, and the limit sensor 420 is set to the distance. Although the substantially equal length L is provided so that it may protrude from the lower end part of the body holder 30, it is not this limitation. That is, the distance between the lower end of the body holder 30 and the bed 60 when the lower end of the body holder 30 contacts the thigh portion of the cared person P is derived, and the limit sensor 420 has a length substantially equal to the distance. May be provided so as to protrude from the lower end of the body holder 30. At this time, when the tip of the limit sensor 420 comes into contact with the bed 60, the control unit 520 determines that the care receiver P is sandwiched between the body holder 30 and the bed 60, and the tilting motion of the support column 13 is reversed. The torque output unit 22 is controlled so as to rotate. 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 embodiment, the support column 13 is continuously tilted until the tip of the limit sensor 420 contacts the bed 60. However, the tilting operation of the support column 13 is temporarily performed immediately before the cared person P sits on the bed 60. May be stopped. That is, 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 520 tilts the support column 13 when the tilt angle of the support column 13 measured by the rotation angle sensor reaches a predetermined angle. Stop operation. When the operation of tilting the support column 13 downward from the joystick 210 continues intermittently, the control unit 520 restarts the tilting operation of the support column 13 until the tip of the limit sensor 420 contacts the bed 60 again. Thus, the operator operating the joystick 210 confirms that the cared person P is approaching the bed 60 by temporarily stopping the tilting motion of the column 13 immediately before the cared person P is seated on the bed 60. It can be easily recognized, and the subsequent operation of the joystick 210 can be performed carefully. 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 the present embodiment, the operator who operates the joystick 210 is not provided with means for alerting the care recipient P that he is approaching the bed 60. However, in the present embodiment, the operation unit 21 is the operation lever of the joystick 210. It is preferable that a load introducing portion that applies a load to the operation of 210a is provided, and the load applied to the operation lever 210a increases as the tilt angle of the column 13 increases. Furthermore, the operation unit 21 may include a transmission unit that prompts the operator to note that the care receiver P is approaching the bed 60 as the tilt angle of the support column 13 increases. With such a configuration, the operator can easily and reliably recognize that the cared person P is approaching the bed 60.

  In the present embodiment, when the tip of the limit sensor 420 comes into contact with the bed 60, the instruction signal associated with the operation of the joystick 210 is invalidated. However, in the operation unit 21, the control means 520 is again operated by the operation lever 210a. In order to validate the operation, a release unit that transmits a signal to the control unit 520 may be provided.

Embodiment 5 of the Invention
Hereinafter, although not shown, a transfer support apparatus and a control method for the transfer support apparatus according to Embodiment 5 of the present invention will be described. In the transfer support device according to the fifth embodiment, the torque sensor in the transfer support device of the first embodiment is omitted, and the control means outputs torque so that the interval between the body holder and the bed becomes a preset interval. It is set as the structure which controls a part. In other words, the tilt angle of the support column, which allows the care recipient to satisfactorily sit on the bed, is derived in advance through experiments and simulations. The torque determining unit determines that the cared person is seated on the bed when the tilt angle of the support column is reached, and determines that the magnitude of the torque output by the torque output unit is zero in order to stop the support column tilting operation, The determination is transmitted to the signal creation unit. The signal creation unit creates a control signal for setting the magnitude of the torque output by the torque output unit to zero based on the received determination, and transmits the control signal to the torque output unit via the transmission unit. Thereby, in the transfer operation in which the cared person is seated on the bed while holding the body holding tool, it is possible to prevent the cared person from being sandwiched and pressed by the body holding tool. Moreover, when it is determined that the cared person is seated in the bed, the operation of the joystick is automatically invalidated, so that it is not necessary to operate with special care unlike the conventional case, and the transfer operation can be performed easily and quickly. it can.

  By the way, as a means to measure the tilt angle of the support column, a rotation angle sensor may be provided at the connecting part of the support column and the support base, and the tilt angle of the support column from the rotation direction and the rotation speed of the motor for driving the support column. In other words, there is no particular limitation as long as the tilt angle of the column can be measured.

  The present embodiment may also be configured to automatically perform a cared person's transfer operation by pressing a switch or the like. With such a configuration, the caregiver can automatically transfer the cared person with one switch operation, and can concentrate on the care of the cared person.

  The present embodiment may also have a configuration in which the tilting speed of the column becomes slower as the column tilts downward. With such a configuration, a caregiver can be given a sense of security.

  In this embodiment as well, the tilt angle of the support column when the lower end of the body holder contacts the cared person's thigh is derived, and when the tilt angle of the support column is reached, the torque determination unit is The torque output unit may be controlled so that it is determined that the tool is sandwiched between the tool and the bed, and the tilting operation of the column is reversed. With such a configuration, it is possible to prevent a situation in which a cared person is sandwiched and pressed between a bed by a body holder.

  Also in this embodiment, the tilting operation of the support column may be temporarily stopped immediately before the cared person sits on the bed. The operator who operates the joystick can easily recognize that the care recipient is approaching the bed, and can carefully operate the joystick thereafter. In other words, the column can be tilted relatively quickly until the column is temporarily stopped, which contributes to shortening the time required for the cared person's transfer operation.

  In this embodiment, the operation unit may include a load introduction unit that applies a load to the operation of the operation lever of the joystick, and the load applied to the operation lever may increase as the tilt angle of the column increases. Furthermore, the operation unit may include a transmission unit that prompts the operator to note that the care receiver is approaching the bed as the tilt angle of the column increases. With such a configuration, the operator can easily and reliably recognize that the care receiver is approaching the bed.

  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 Base 12 Support stand 13 Support | pillar 20 Drive means, 21 Operation part, 22 Torque output part, 210 Joystick, 210a Operation lever, 220 Load introduction part, 230 Transmission part, 240 Release part 30 Body holder 40 Torque sensor 50 control means, 51 torque determination unit, 52 signal creation unit, 53 transmission unit 60 bed (sitting object)
DESCRIPTION OF SYMBOLS 100 Transfer assistance apparatus 400 Load sensor 500 Control means, 501 Torque determination part, 502 Signal preparation part, 503 Transmission part 101 Transfer support apparatus 410 Distance sensor 510 Control part, 511 Torque determination part, 512 Signal preparation part, 513 Transmission part 102 Transfer support device 420 Limit sensor 520 Control means 521 Torque determination unit 522 Signal creation unit 523 Transmitter P Care receiver T interval τ Torque

Claims (8)

A device that supports transfer of a cared person to 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 measuring means for measuring an interval between the body holder and the seated object, and a control means for controlling the driving means,
In the transfer operation in which the care receiver is seated on the seated object while holding the body holder, the control means once the interval measured by the measuring means is equal to or less than a preset third threshold. When the driving means is controlled to stop the tilting operation of the support column, and the operation of tilting the support column downward from the operation unit is continued intermittently, the tilting operation of the support column is resumed, and the measuring unit is When the measured interval is equal to or smaller than the first threshold value that is smaller than the third threshold value, it is determined that the care recipient is seated on the seated object, and the driving unit is controlled so that the tilting operation of the support column is stopped. Transfer support device. The control means determines that the cared person is sandwiched between the body holding tool and the sitting object when the measurement value of the measurement means is equal to or less than a second threshold value that is smaller than the first threshold value, The transfer support apparatus according to claim 1, wherein the driving unit is controlled so that the tilting operation of the support column is reversely rotated.   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 torque for tilting the column by manual operation, transmits the command signal for instructing the control means to output the selected torque, and the command transmitted by the operation section. The torque output part which outputs the torque which tilts a support | pillar based on the control signal which was transmitted from the control means based on the signal and controls torque is provided, The any one of Claim 1 thru | or 3 characterized by the above-mentioned. The transfer support device described in 1.   The operation unit includes an operation lever, and transmits a command signal instructing the control unit to output a torque having a magnitude proportional to an operation amount of the operation lever. 4. The transfer support device according to 4.   The transfer according to claim 5, wherein the operation unit includes a load introduction unit that applies a load to the operation of the operation lever, and the load introduction unit is controlled based on a measurement value of the measurement unit. Support device.   The said operation part is further provided with the transmission part which alerts the operator who operates the said operation part, and the said transmission part is controlled based on the measured value of the said measurement means, The 4 thru | or 6 characterized by the above-mentioned. The transfer support device according to any one of the above. A method of controlling a device that supports transfer of a caregiver to 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, measuring means for measuring the distance between the body holder and the seated object, and control means for controlling the driving means,
In the transfer operation in which the care receiver is seated on the seated object while holding the body holder, the control means once the interval measured by the measuring means is equal to or less than a preset third threshold. When the driving means is controlled to stop the tilting operation of the support column, and the operation of tilting the support column downward from the operation unit is continued intermittently, the tilting operation of the support column is resumed, and the measuring unit is When the measured interval is equal to or smaller than the first threshold value that is smaller than the third threshold value, it is determined that the care recipient is seated on the seated object, and the driving unit is controlled so that the tilting operation of the support column is stopped. Control method of transfer support device.

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