JP6074654B2 - robot - Google Patents

Description

  The present invention relates to a robot. More specifically, the present invention relates to a robot that can reduce the burden on a caregiver when transferring.

  Conventionally, caregivers such as care helpers have been supporting the lives of elderly people and injured persons (hereinafter referred to as care recipients). In life support by a caregiver such as a care helper of a care recipient, the transfer from the bed to the wheelchair or the transfer from the wheelchair to the bed is performed when the care recipient needs assistance in the toilet or bathing.

  However, such a transfer is usually performed by a caregiver such as a single care helper, and this results in a great burden on the caregiver such as a care helper. For this reason, many caregivers such as care helpers hurt their backs. Low back pain has come to be referred to as an occupational disease of caregivers such as care helpers.

  For this reason, a robot capable of reducing the burden on a caregiver such as a care helper, especially on the transfer, is eagerly desired by a caregiver.

  In addition, although the carrier for nursing care is proposed in Patent Document 1, there is a problem that the operability is difficult because the configuration is complicated.

JP 2002-136549 A

  The present invention has been made in view of the problems of the prior art, and an object of the present invention is to provide a robot that can be simplified and can reduce the burden on a caregiver such as a care helper, especially the burden on transfer.

  The robot according to the present invention includes a base that is allowed to travel, a lifting shaft that is disposed on the base, a pivot that is disposed on the lifting shaft, and a first that is disposed symmetrically about the pivot. A telescopic shaft, a second telescopic shaft, a first arm disposed on the first telescopic shaft, and a second arm disposed on the second telescopic shaft.

  The robot of the present invention includes an operation panel, the operation panel includes a manual operation unit and a control unit, the control unit is a position force control switching unit that switches control between position control and force control, Lift shaft drive control means for controlling the drive of the lift shaft, swivel axis drive control means for controlling the drive of the swing shaft, a first telescopic shaft drive control means for controlling the drive of the first telescopic shaft, and a second telescopic shaft It is preferable to include a second telescopic shaft drive control means for controlling the drive of In that case, the operation panel has a robot operation button added thereto, and the control unit has a position force control switching means for switching control between position control and force control, and a lift axis drive control means for controlling the drive of the lift axis. A swing axis drive control means for controlling the drive of the swing axis, a first extendable axis drive control means for controlling the drive of the first extendable axis, and a second extendable axis drive control means for controlling the drive of the second extendable axis. It is more preferable that the control unit is capable of operating each means in response to a signal from the robot operation button. A head side indicating means for indicating whether the position of the head of the caregiver is on the right side or the left side of the robot is added, and the turning axis drive control means is added with a turning angle limiting unit. The turning angle limiter is a signal from the head side instruction means. It is further preferable to limit the turning angle so that the head of the care recipient is not positioned below the horizontal in response, or the operation panel has manual automatic switching means and operation pattern selection means added. It is further preferable that the control unit includes an operation pattern holding unit.

  In the robot according to the present invention, it is preferable that the first arm and the second arm have a rod shape.

  The robot of the present invention preferably includes a driving power source.

  In the robot of the present invention, it is preferable that a decorative cover is attached.

  Further, in the robot according to the present invention, the base portion has a traveling portion, the traveling portion has a front wheel support member, and the front wheel support member has a front inclined portion that is inclined to the front horizontal portion. Preferably it is.

  Since this invention is comprised as mentioned above, there exists an outstanding effect that the care recipient who is sleeping on the exclusive sheet on the bed can be moved to the side of the bed while lifting from the bed.

It is a skeleton figure of the robot concerning Embodiment 1 of the present invention. It is a perspective view of the robot. It is a top view of the robot. It is a right view of the robot. It is a rear view of the robot. It is a top view of the robot. It is a block diagram of an operation panel. It is a block diagram of an operation lever. It is a schematic diagram of an exclusive sheet. It is a block diagram of the operation panel of the robot which concerns on Embodiment 2 of this invention. It is the schematic of the state which is operating automatically with two robots with a makeup | decoration cover mounted facing each other.

  Hereinafter, although the present invention is explained based on an embodiment, referring to an accompanying drawing, the present invention is not limited only to this embodiment.

Embodiment 1
1 to 6 show a robot R according to an embodiment of the present invention.

  As shown in FIGS. 1 to 6, the robot R includes a base 100 that is allowed to run, a lifting shaft 1 that is erected on the base 100, a swiveling shaft 2 that is attached to the upper end of the lifting shaft 1, A first telescopic shaft 3 and a second telescopic shaft 4 which are mounted axisymmetrically at the tip of the pivot shaft 2, and a rod-shaped first arm which is disposed to project forward from the tip of the first telescopic shaft 3. A right arm) 5, a rod-like second arm (left arm) 6, which is arranged to protrude forward from the tip of the second telescopic shaft 4, a driving power source 7, and an operation panel 10 as main components. It is supposed to be. The robot R travels by pushing and pulling the robot R while holding the manual operation levers 12 and 12.

  The base portion 100 includes a placement portion 110 disposed in the central portion, and a traveling portion 160 disposed on both sides of the placement portion 110. More specifically, the mounting unit 110 includes a mounting member 120 disposed in the central portion and a horizontal support member 130 disposed in the left-right direction that supports the mounting member 120. . The traveling unit 160 includes a front traveling unit 170 and a rear traveling unit 180. The front traveling unit 170 includes a front wheel 171 and a front wheel support member 172 that supports the front wheel 171, and the rear traveling unit 180 includes a rear wheel 181 and a rear wheel support member 182 that supports the rear wheel 181. It is supposed to be. The front wheel support member 172 and the rear wheel support member 182 are joined to the horizontal support member 130 through appropriate means. Further, the diameter of the front wheel 171 is smaller than the diameter of the rear wheel 181.

  The mounting portion 110, more specifically, the mounting member 120, is provided with a lifting shaft 1, a driving power source 7, an operation panel 10, and the like.

  The front wheel support member 172 includes a front horizontal portion 173 and a rear inclined portion 174 having an upward slope, and a front wheel 171 is attached to the tip of the horizontal portion 173. Since the front wheel 171 has a small diameter and the front wheel support member 172 is configured as described above, the front traveling portion 170 can be submerged under the bed. In addition, the other structure of the front wheel support member 172 and the structure of the rear wheel support member 182 can use the well-known structure currently used for support of a wheel suitably.

  The elevating shaft 1 is made of an electric cylinder, for example.

  The turning shaft 2 is made of, for example, an electric servo motor.

The first telescopic shaft 3 and the second telescopic shaft 4 are made of, for example, an electric cylinder.
The driving power source 7 is, for example, a battery.

  As shown in FIG. 7, the operation panel 10 includes a robot operation button 8, a head side indicating lever 9 that indicates whether the position of the head of the care recipient is the right side or the left side of the robot R, a power source A switch 11, a manual operation lever (manual operation means) 12, and a control unit 20 are provided.

  The robot operation button 8 is provided on the top of a manual operation lever 12 provided on each of the right cover CR covering the first telescopic shaft 3 and the left cover CL covering the second telescopic shaft 4. Yes. The robot operation button 8 enables the robot R to operate only while both buttons 8 and 8 are pressed simultaneously from the viewpoint of fail-safe.

  As shown in FIG. 8, the manual operation lever 12 includes a switching function unit 12 a that switches the position force control switching unit 21 that switches between position control and force control, and a lifting shaft operation function unit 12 b that drives the lifting shaft 1. A swing axis operation function unit 12c for driving the swing axis 2, a first extension shaft operation function unit 12d for driving the first extension shaft 3, and a second extension shaft operation function unit 12e for driving the second extension shaft 4. Each functional unit is realized by adjusting the angle and inclination of the lever.

  The control unit 20 includes a position force control switching unit 21 that switches between position control and force control, a lifting shaft drive control unit 22 that controls driving of the lifting shaft 1, and a swing axis drive that controls driving of the swing shaft 2. The control unit 23, the first telescopic shaft drive control unit 24 for controlling the driving of the first telescopic shaft 3, the second telescopic shaft drive control unit 25 for controlling the driving of the second telescopic shaft 4, and the respective units are integrated. It is assumed that it has the supervision part 26 which performs. For example, when the robot operation buttons 8 and 8 are being pressed, the overall unit 26 enables the operation of each of the above-mentioned means in response to the signal, for example, the turning operation of the turning shaft, the extending / contracting operation of the telescopic shaft, and the lifting operation of the lifting shaft. It is supposed to make control.

  The turning shaft drive control means 23 has a turning angle limiting portion 23 a that restricts the turning angle of the turning shaft 2 in response to a signal from the head side instruction lever 9. Here, the turning angle limiting unit 23a limits the turning angle of the turning shaft 2 so that the head of the care recipient is not positioned below the horizontal.

  In addition, the control part 20 which has this function is implement | achieved by storing the program which implements the said function in a computer, for example.

  FIG. 9 shows an example of the dedicated sheet 30.

  As shown in FIG. 9, the dedicated sheet 30 has a cylindrical held portion 31 into which the arm 5 b of the robot R is inserted at both ends.

  The held portion 31 includes a base material 32, a cushion layer 33 made of a cushioning material disposed outside the base material 32, and a surface layer 34 made of a synthetic resin sheet.

  Next, transfer of a care recipient by the robot R having such a configuration will be described.

  Procedure 1: The robot R is moved as appropriate to face the care recipient who is laid down on the dedicated sheet 30.

  Procedure 2: The lifting / lowering axis operation function unit 12b is made to function by lever operation while pressing the robot operation buttons 8 and 8, and the lifting / lowering axis 1 is appropriately driven to set the heights of the right arm 5 and the left arm 6 to the held portion of the dedicated seat 39. 31 is the height position.

  Step 3: The first telescopic shaft 3 and the second telescopic shaft 4 are appropriately operated by causing the first telescopic shaft operation function unit 12d and the second telescopic shaft operation function unit 12e to function by lever operation while pressing the robot operation buttons 8 and 8. The right arm 5 and the left arm 6 are driven to face the held portions 31 and 31, respectively.

  Procedure 4: The robot R is moved forward and the right arm 5 and the left arm 6 are inserted into the held portions 31 and 31 of the dedicated sheet 30, respectively.

  Procedure 5: The head side instruction lever 9 is used to indicate the side of the head of the care recipient. That is, it indicates whether the head of the care recipient is on the right side or the left side of the robot R.

  Procedure 8: While the robot operation buttons 8 and 8 are depressed, the lift axis operation function unit 12b is operated by lever operation to appropriately drive the lift axis 1 to bring the dedicated seat 30 to a predetermined height from the bed. In other words, the care recipient is lifted from the bed.

  Procedure 9: The switch function unit 12a is operated by lever operation while pressing the robot operation buttons 8 and 8, and the robot R is switched from position control to force control.

  Procedure 10: The robot R is moved backward and the care recipient is moved to the bedside.

  Step 11: The switch function unit 12a is operated by lever operation while pressing the robot operation buttons 8 and 8, and the robot R is switched from force control to position control.

  Procedure 12: While the robot operation buttons 8 and 8 are pressed, the turning axis operation function unit 12c is operated by lever operation to drive the turning axis 2 to raise the head of the care recipient and lower the toes.

Procedure 13: The robot R is switched from position control to force control by causing the switching function unit 12a to function by lever operation while pressing the robot operation buttons 8 and 8.
After making the posture of the care recipient in this way, the caregiver transfers the care recipient to a wheelchair or the like.

  Thus, according to the robot R of this embodiment, it is not necessary for the caregiver to lift the care recipient from the bed, and the burden on the caregiver is reduced. For example, low back pain called occupational disease of caregivers can be eliminated.

Embodiment 2
FIG. 10 shows an operation panel 10A for a robot according to Embodiment 2 of the present invention. The second embodiment is a modification of the first embodiment, and is configured so that an operation by manual operation and an operation by automatic control can be performed.

  That is, as shown in FIG. 10, the operation panel 10A includes a manual automatic switching lever (manual automatic switching means) 13, an operation pattern selection button (operation pattern selection means) 14, and a control. The operation pattern holding unit 28 is added to the unit 20.

  Hereinafter, the automatic operation will be described.

  When the manual automatic switching lever 13 is switched to automatic and one of the operation pattern selection buttons 14 is pressed to select an automatic operation pattern, the pattern held in the automatic operation pattern holding unit 28 is called and the pattern is called. The robot R performs the operation according to the above. For example, the first telescopic shaft 3 and the second telescopic shaft 4 are appropriately driven to cause the first telescopic shaft 3 and the second telescopic shaft 4 to expand and contract as appropriate while the swivel shaft 2 is swung.

  By causing the robot R to perform such an operation, it appears as if the robot R is dancing and gives a healing effect to the care recipient. In order to enhance the healing effect, it is preferable to install a decorative cover on the robot. FIG. 11 shows a state in which two robots R having a decorative cover are arranged to face each other and are automatically operated.

  By doing so, it gives the impression that the robots R and R are dressed up, and the healing effect is increased.

  Thus, according to this embodiment, since the robot is automatically operated according to a preset pattern, it is possible to give an impression to the care recipient that the robot is dancing, A healing effect can be obtained for care recipients.

  The present invention can be applied to the robot industry and the nursing care business.

R Robot CR Right side cover CL Left side cover 1 Elevating axis 2 Swivel axis 3 First telescopic axis 4 Second telescopic axis 5 First arm, right arm 6 Second arm, left arm 7 Power supply for driving 8 Robot operation button 9 Head side indication lever DESCRIPTION OF SYMBOLS 10 Operation panel 11 Power switch 12 Manual operation lever 12a Switching function part 12b Elevating axis operation function part 12c Turning axis operation function part 12d First telescopic axis operation function part 12e Second telescopic axis operation function part 13 Manual automatic switching lever 14 Operation pattern Selection button 20 Control part 21 Position force control switching means 22 Lifting axis drive control means 23 Turning axis drive control means 23a Turning angle limiting part 24 First telescopic axis drive control means 25 Second telescopic axis drive control means 26 General part 28 Operation pattern Holding part 30 Dedicated sheet 31 Held part 32 Base material 33 Cushion layer 34 Surface layer 100 Part 110 mounting portion 120 mounting member 130 horizontal supporting member 160 traveling portion 170 front traveling portion 171 front wheel 172 front wheel support member 173 horizontal portion 174 inclined portion 180 rear driving section 181 rear wheel 182 rear wheel support member

Claims (9)

  A base portion that is allowed to travel, a lifting shaft disposed on the base portion, a pivot shaft disposed on the lift shaft, a first telescopic shaft and a second telescopic shaft disposed symmetrically about the pivot shaft A robot comprising: a shaft; a first arm disposed on the first telescopic shaft; and a second arm disposed on the second telescopic shaft. Equipped with an operation panel,
The operation panel has a manual operation means and a control unit,
The control unit includes a position force control switching unit that switches control between position control and force control, a lifting shaft drive control unit that controls driving of the lifting shaft, a swing axis drive control unit that controls driving of the swing shaft, 2. The robot according to claim 1, further comprising: a first telescopic shaft drive control unit that controls driving of the first telescopic shaft; and a second telescopic shaft drive control unit that controls driving of the second telescopic shaft. . The operation panel has a robot operation button added,
The control unit includes a position force control switching unit that switches control between position control and force control, a lifting shaft drive control unit that controls driving of the lifting shaft, a swing axis drive control unit that controls driving of the swing shaft, A first expansion / contraction shaft drive control means for controlling the driving of the first telescopic shaft and a second telescopic shaft drive control means for controlling the driving of the second telescopic shaft;
The robot according to claim 2, wherein the control unit enables the operation of each unit in response to a signal from the robot operation button. The operation panel has a head side instruction means for indicating whether the position of the head of the care recipient is the right side or the left side of the robot,
The turning axis drive control means has a turning angle limiter added thereto,
4. The turning angle restriction unit restricts the turning angle so that the head of the care recipient is not positioned below the horizontal in response to a signal from the head side instruction means. The robot described.   5. The robot according to claim 2, 3 or 4, wherein the operation panel includes a manual automatic switching unit and an operation pattern selection unit, and the control unit includes an operation pattern holding unit.   The robot according to claim 1, 2, 3, 4, or 5, wherein the first arm and the second arm are formed in a bar shape.   7. The robot according to claim 1, further comprising a driving power source.   The robot according to claim 1, further comprising a decorative cover.   The base portion includes a traveling portion, the traveling portion includes a front wheel support member, and the front wheel support member includes a front horizontal portion and a rear inclined portion that is inclined upward. The robot described.

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