JP6711848B2 - Assistance robot - Google Patents

Description

The present invention relates to an assistance robot.

Patent Document 1 discloses an assistance robot that assists a person being assisted to stand up. The assisting robot includes a shaft portion that moves vertically in a vertical direction, and a holding member (table) that is swingably provided on an upper end of the shaft portion. This assistance robot swings (previously swivels) the holding member to move it to the raising preparation position in a state where the elbow of the person being assisted in a sitting position is placed on the holding member, and then raises the holding member. This makes the person being assisted stand up.

JP, 2012-217686, A

In the above-mentioned assistance robot, if an object exists below the holding member while the holding member is descending, the holding member may hit the object.

It is an object of the present invention to provide an assisting robot that can reduce the impact when an object existing below a holding member hits the holding member.

The assistance robot according to the present invention includes a base, a moving member that can move at least vertically with respect to the base, a holding member that is provided on the moving member, and holds a part of the body of the person being assisted, A control device that controls the movement of a moving member to assist the person being assisted held by the holding member to stand up from a sitting posture to a standing posture and to assist the seating from the standing posture to the sitting posture. The holding member is freely tiltable with respect to the moving member by an external force between the lower use position and the upper escape position regardless of the movement control of the moving member by the control device. It is provided on the moving member.

According to this, since the holding member is provided so as to be capable of freely tilting, even if an object is present on the ground plane below the holding member while the holding member is descending, the holding member located in the use position does not At the same time as it hits against, the holding member tilts the holding member upward from the use position. Therefore, the impact when the holding member hits the object is mitigated.

It is a rear perspective view of the appearance of the assistance robot of this embodiment. It is the figure which looked at the state where the holding member of the assistance robot of FIG. 1 was positioned in the use position from the side. It is the figure which looked at the state where the holding member of the assistance robot of Drawing 1 turned to the escape position direction from the side. It is a figure which shows the free rotation mechanism of a holding member, and is the figure which looked at the state positioned in the use position from the side. It is a figure which shows the free rotation mechanism of a holding member, and is the figure which looked at the state rotated to the escape position direction from the side. It is the figure which looked at the state before the person being assisted from pulling in the assistance robot from the side. It is the figure which looked at the state after a person to be assisted pulled the assistance robot from the side. FIG. 6 is a side view of a state in which the person being assisted leans against a holding member of the assistance robot. It is the figure which looked at the initial state when a person being assisted stands up from the side. It is the figure which looked at the state where the person being assisted was standing from the side. It is the figure which looked at the state where it was positioned in the use position by the 1st different form of the holding member from the side. It is the figure which looked at the state where it was positioned in the relief position end by the 1st different form of a holding member from the side. It is the figure which looked at the state where it was positioned in the use position by the 2nd different form of a holding member from the side. It is the figure which looked at the state positioned to the escape position end by the 3rd different form of a holding member from the side. It is the figure which looked at the state where it was positioned in the use position by the 4th different form of a holding member from the side. It is the figure which looked at the state where it was positioned at the escape position end by the 4th different form of a holding member from the side.

(1. Configuration of assistance robot)
The configuration of the assistance robot of this embodiment will be described with reference to the drawings. As shown in FIG. 1, the assistance robot 1 includes a base 10, wheels 20, a lifting unit 30, an arm 40, a holding member 50, a grip 60, a lower leg support unit 70, and a control device 80. The elevating part 30, the arm 40, and the grip 60 function as a moving member. In the following, front, rear, left, right, top and bottom are the front, rear, left, right, top and bottom as seen by the person being assisted M (see FIG. 4).

Here, the assistance robot 1 assists the person being assisted M to stand up from a sitting posture to a standing posture and to assist the person being seated from a standing posture to a sitting posture. In particular, the assistance robot 1 of the present embodiment is mainly intended for the person M to be assisted who is difficult to stand up by himself, and, for example, attaches and detaches the bottoms (clothes to be worn on the lower half) of the person M, and the person M to be assisted. It is effectively used for assisting excretion. The assistance robot 1 supports the upper half of the body of the person to be assisted M in the standing posture, so that one person to be assisted can perform the above treatment of the person to be assisted M.

That is, the standing posture in the present embodiment means a state in which at least the lower half of the person to be assisted M stands, and does not mean a state in which the upper half of the body and the lower half of the body are standing. Although the assistance robot 1 of the present embodiment is described for the purpose of assisting the standing posture in which only the lower half of the person to be assisted M is standing, the assistance robot 1 is to stand in the standing posture in which the lower body and the upper half of the person to be assisted M are standing. It can also be used for assistance.

As shown in FIGS. 1 and 2A, the base 10 includes a frame 11, columns 12, a footrest 13, and a fixed cover 14. The frame 11 is provided at a position slightly apart from the ground contact surface 2 (floor surface, ground surface) and is substantially horizontal to the ground contact surface 2. The support column 12 is fixed to the frame 11, and stands upright from the front upper surface of the frame 11. The column 12 is disposed in the center of the frame 11 in the left-right direction in front of the frame 11. In addition, in this embodiment, the assistance robot 1 has one support column 12, but it may be provided with two or more support columns 12.

The foot rest 13 is fixed to the rear of the upper surface of the frame 11. On the upper surface of the footrest stand 13, the ground contact mark 13a of the foot of the person being assisted M is written. That is, the ground mark 13a has a role of guiding the person being assisted at the position of the foot. The fixed cover 14 is fixed to the frame 11 or the column 12 so as to surround the lower part of the elevating body 31 of the elevating part 30 described later.

The wheels 20 are arranged at the front, rear, left and right four corners of the frame 11. The wheel 20 has a lock function of restricting rotation. The wheel 20 is provided so as to be freely rotatable in the present embodiment, but may be provided so as to be driven by a drive device.
The elevating part 30 includes an elevating body 31, a swing support part 32, and an elevating cover 33. The elevating main body 31 is formed in an elongated shape in the vertical direction, and is provided on the front surface of the column 12 so as to be vertically movable.

The elevating body 31 is guided by a guide (not shown) on the front surface of the support column 12 and driven by a linear motion device (not shown). The lifting body 31 is surrounded by the fixed cover 14. The rocking|fluctuation support part 32 is provided in the raising/lowering main body 31 upper end side, and has the rocking|fluctuation axis 32a parallel to the left-right direction. In detail, the swing support part 32 is formed to project rearward from the upper end of the elevating body 31. That is, the swing axis 32 a is located rearward of the support column 12 and rearward of the elevating main body 31.

The elevating cover 33 is fixed to the elevating part 30 so as to surround the elevating part 30, the column 12, and the fixed cover 14. The elevating cover 33 has an overlap with the fixed cover 14 even at the position where the elevating part 30 is elevated. In the present embodiment, the assistance robot 1 has one elevating part 30 because it has one column 12, but if it has two or more columns 12, the number of columns 12 will be increased. There will be a corresponding number of lifts 30.

The arm 40 is provided so as to be swingable about a swing axis 32a of the swing support 32 of the elevating part 30 as a central axis. The arm 40 is swung by an arm driving device (not shown). The arm 40 swings at a position higher than the swing support portion 32. That is, the swing range of the arm 40 is such that the tip of the arm 40 (the end opposite to the end on the swing axis 32a side) extends rearward of the swing support 32 (the state in FIG. 6). , Between the state where the tip of the arm 40 is located near the upper part of the swing support portion 32 or the elevating body 31 (state of FIG. 8). When the assisting robot 1 assists standing up, the arm 40 turns forward from a state of extending rearward, and when the assisting robot 1 assists sitting, it turns backward so as to extend rearward.

The holding member 50 is provided on the arm 40 so as to be freely tilted, and holds the upper half of the person to be assisted M. The free tilting mechanism of the holding member 50 will be described later. The holding member 50 includes a body receiving portion 51 that comes into contact with the body of the person being assisted M, and a side receiving portion 52 that holds both sides of the person being assisted M. The holding member 50 may include only one of the body receiving portion 51 and the side receiving portion 52.

The body receiving portion 51 supports the body of the person being assisted M from below. The body receiving portion 51 is formed in a planar shape and is formed of a cushion material. The body receiving portion 51 is formed in an initial shape corresponding to a standard body of the person being assisted M, and is flexibly deformed according to the body of each person being assisted M. In the present embodiment, the body receiving portion 51 contacts the person being assisted M from the chest to the abdomen.

The side receiving portions 52 are formed in an arc shape, and are arranged on each of the left and right sides of the body receiving portion 51 so that the arc openings face upward. The armpit receiving portion 52 supports the armpit of the person being assisted from below, thereby supporting the upper half of the person being assisted. Furthermore, the armpit receiving part 52 regulates the back-and-forth movement of the person being assisted M by sandwiching both sides of the person being assisted M from the front-back direction. Therefore, the body receiving portion 51 and the side receiving portion 52 can regulate the position P of the shoulder of the person being assisted M held by the holding member 50.

The center line in the left-right direction of the body receiving portion 51 swings in the range of 20° to 110° with respect to the vertical line when the arm 40 swings with respect to the elevating part 30. When the angle of the center line of the body receiving portion 51 is in the range of 20° to 90°, the body receiving portion 51 is in a state of facing upward and rearward. On the other hand, when the angle of the center line of the body receiving portion 51 is in the range of 90° to 110°, the body receiving portion 51 is directed upward and forward.

The grip 60 is formed in a U shape, and both ends of the U shape of the grip 60 are fixed to the lower surface of the body receiving portion 51. The central portion of the grip 60 is located in front of the body receiving portion 51 and is gripped by the person being assisted M who is held by the holding member 50.
The lower leg rest 70 determines the position and posture of the lower half of the person to be assisted M in the sitting posture by contacting the lower leg front part (shin or knee) of the person to be assisted M in the sitting posture. In particular, the position of the foot is determined to some extent. The lower leg rest 70 is fixed to the column 12 of the base 10. The lower leg rest 70 includes two support members 71 and a lower leg rest main body 72.

The support member 71 is formed in an L shape. One end of the L-shaped support member 71 is fixed to the column 12, and the other end of the L-shaped support member 71 is located behind the column 12. The lower leg support main body 72 is fixed to the other end side of the support member 71, and is located behind the lift cover 33 and below the swing support portion 32. The lower leg support main body 72 is a portion that contacts the front portion of the lower leg of the person to be assisted M, is formed in a planar shape, and is formed of a cushion material.

The control device 80 is fixed to the frame 11 of the base 10 and stands upright from the front upper surface of the frame 11. The control device 80 is arranged beside the column 12. The control device 80 controls the vertical movement of the elevating part 30 and the swing of the arm 40 to assist the person being assisted M in standing and sitting. When the operator (the person M to be assisted or the person to be assisted) performs the adjustment operation of the standing-up start height, the control device 80 controls only the vertical movement of the elevating unit 30, and does not swing the arm 40 at this time. That is, the control device 80 adjusts the standing start height according to the height of the person being assisted.

Further, the control device 80 stores a stand-up assistance program for performing a stand-up assistance operation in advance. The control device 80 executes the stand-up assist program by the operator (assistant M or helper) executing the stand-up assist operation, and controls the vertical movement of the elevating part 30 and the swing of the arm 40. The control device 80 also stores a seating assistance program for performing a seating assistance operation in advance. The control device 80 executes the sitting assistance program by the operator (assistant M or the person being assisted) performing the sitting assistance operation, and controls the vertical movement of the elevating part 30 and the swing of the arm 40. Further, the control device 80 corrects the standing up assistance program and the sitting assistance program according to the standing up height.

(2. Free tilting mechanism of holding member)
As shown in FIGS. 2A and 2B, the holding member 50 is provided so as to be freely rotatable about a rotation axis 53 provided at the tip of the arm 40 as a central axis. That is, the holding member 50 is not controlled by the control device 80, and is rotatably provided by an external force, for example, the person being assisted M or the human power of the person being assisted.

The holding member 50 is freely rotatable in a direction from a use position (a position shown in FIG. 2A) in contact with a rear end of the grip 60 to an escape position (a position shown in FIG. 2B) above the person being assisted M. It is provided. The use position is a position where the lower end portion of the holding member 50 is restricted from rotating downward by a restriction portion provided on the grip 60, and the escape position is such that the lower end portion of the holding member 50 rotates upward from the use position. Any position that is moved. When the assisting robot 1 performs the standing up assisting operation and the sitting assisting operation, the holding member is located at the use position.

In this way, since the holding member 50 is provided so as to be freely rotatable, the person being assisted M or the person being assisted lifts the holding member 50 located in the use position, for example, by hand to move the support member 50 upward from the use position. It can be rotated. Then, the person being assisted M or the helper can hold the holding member 50 at the escape position by manually supporting the holding member 50 after rotating the holding member 50 to the escape position. When the person M to be assisted or the person to be assisted returns the holding member 50 held in the escape position to the use position, by loosening the support by hand, the holding member 50 is moved to the use position by its own weight. Is rotated up to.

Further, since the holding member 50 is provided so as to be freely rotatable, even if an object is present on the ground plane 2 below the holding member 50 while the holding member 50 (elevating unit 30) is descending, the holding member 50 is positioned at the use position. At the same time when the holding member 50 that is hitting an object hits the object, the holding member 50 is rotated upward from the use position by the pushing force. Therefore, the impact when the holding member 50 hits the object is mitigated.

Then, as shown in FIGS. 3A and 3B, for example, an optical, mechanical, or electrostatic capacitance type sensor 54 of the arm 40 is used as a detection unit that detects that the holding member 50 is positioned at the use position. It is provided at the tip and is connected to the control device 80. Further, although it is necessary that the holding member 50 is positioned at the use position, a warning means for warning when the detection signal from the sensor 54 cannot be received, for example, a buzzer or a lamp (not shown). Are connected to the control device 80.

As a result, when the holding member 50 hits the object and rotates upward from the use position, and the object is sandwiched between the holding member 50 and the ground contact surface 2, the control device 80 receives the detection signal from the sensor 54. Since it cannot be done, the descending of the holding member 50 (elevating section 30) can be stopped and the person being assisted M or the person being assisted can be warned by a buzzer, a lamp, or the like. In this case, the person M to be assisted or the person to be assisted performs a treatment such as removing an object sandwiched between the holding member 50 and the ground surface 2.

(3. Standing up assistance and sitting assistance by the assistance robot)
First, the stand-up assistance operation for the person M to be assisted by the assistance robot 1 will be described with reference to FIGS. 4 to 8. Here, in FIGS. 6 to 8, the thick solid line indicates the locus of the position P of the shoulder of the person being assisted M during the standing motion. The controller 80 vertically moves the elevating part 30 and turns the arm 40 forward so that the shoulder position P moves along the locus shown in FIGS. 6 to 8.

Below, the height of the current person being assisted M is higher than the height of the previous person being assisted M used immediately before, and the height h of the lower end portion of the holding member 50 shown by the one-dot chain line in FIG. A case where the current person being assisted M is positioned at a position lower than the height H of the bent knee top from the ground contact surface 2 will be described. In such a case, the current person being assisted M or the person being assisted can adjust the standing-up start height according to the height of the person being currently assisted M by the control device 80. Can be omitted.

As shown in FIG. 4, in the initial state of the stand-up assistance operation, the person being assisted M is in a state of sitting on the seat surface 3 (state of sitting posture), and the assistance robot 1 is stopped in front of the person being assisted M. It is in the state of having done. The person to be assisted M or the person to be assisted needs to move the assistance robot 1 toward the person to be assisted M, but the height h of the lower end of the holding member 50 is the top of the knee of the person to be assisted M as described above. Is positioned at a position lower than the height H.

Therefore, if the assistance robot 1 is moved toward the person M to be assisted as it is, the lower end portion of the holding member 50 comes into contact with the top of the knee of the person M to be assisted. Therefore, the person being assisted M or the assistant puts his/her hand on the lower end portion of the holding member 50 to lift the holding member 50 by hand, and moves the holding member 50 upward from the use position with the rotation axis 53 as the central axis. Rotate in the direction of. Then, as shown in FIG. 5, the person to be assisted M or the person to be assisted moves the assistance robot 1 in the direction of the person to be assisted M with the holding member 50 being rotated.

As a result, the person being assisted M or the person being assisted can pass the lower end of the holding member 50 above the top of the knee of the person being assisted M, so that the holding member 50 smoothly approaches the upper half of the person being assisted. be able to. The person M to be assisted or the person to be assisted rotates the holding member 50 to the use position after stopping the assistance robot 1. At this time, the lower half of the person to be assisted M is arranged in the space below the holding member 50. The foot of the person being assisted M is located on the ground mark 13a. Then, the lower leg of the person to be assisted M contacts the rear surface of the lower leg support main body 72.

Next, as shown in FIG. 6, the assisting robot 1 is set to the initial state of the standing up assisting operation by the operation of the person being assisted M or the assisting person. The initial state of the assistance robot 1 is a state in which the holding member 50 is located at the rearmost position in the standing assistance program. That is, the initial state of the assistance robot 1 is a state in which the arm 40 extends rearward.

In this state, the assisted person M or the assisted person performs the vertical movement operation of only the elevating part 30 according to the height of the upper half of the person to be assisted M who is sitting on the seat surface 3, whereby the control device 80 Moves the elevating part 30 up and down. In this way, the front surface of the body of the person being assisted M contacts the body holding surface of the body receiving portion 51. Furthermore, the person being assisted M places his/her arm on the side receiving portion 52, and the person being assisted M holds the grip 60. In this initial state, the upper half of the person to be assisted M takes a slightly forward leaning posture.

Then, when the person being assisted M or the person who is assisting starts the stand-up assistance operation, the control device 80 causes the person being assisted to sit down by coordinating the lowering of the elevating unit 30 and the forward turning of the arm 40 according to the stand-up assistance program. Change from posture to intermediate posture. In this first shift operation, the holding member 50 is raised with respect to the elevating part 30 by the forward rotation of the arm 40. Move forward horizontally.

Further, in the first shifting operation, the body 40 is swung forward, whereby the body holding surface of the body receiving portion 51 tilts forward and moves forward. Then, the position P of the shoulder of the person being assisted M moves forward and the rear end of the body receiving portion 51 rises by the first transitional movement to be coordinated. Therefore, the upper half of the person to be assisted M leans forward and the vicinity of the abdomen of the person to be assisted M is lifted. By such a first transition operation, the back muscles of the person being assisted M are stretched and the pelvis is raised while maintaining the state in which the buttocks of the person being assisted M are in contact with the seat surface 3. Therefore, the holding member 50 can stably support the person being assisted M having such a posture.

Subsequently, the control device 80 switches the operation of the elevating unit 30 from descending to ascending. In the present embodiment, the control device 80 causes the person being assisted M to transition from the intermediate posture to the standing posture by coordinating the raising of the elevating unit 30 and the forward turning of the arm 40 according to the standing assistance program. By this second transfer operation, the holding member 50 moves up slightly due to the forward turning of the arm 40, and rises mainly due to the elevation of the elevating part 30, so that as shown in FIG. 7 and FIG. The position P of the shoulder rises substantially upward while slightly moving forward from the intermediate position.

By performing this second transition operation, the buttocks of the person being assisted M rise away from the seat surface 3. In the second shift operation, the body holding surface of the body receiving portion 51 further tilts forward due to the forward rotation of the arm 40. The upper half of the person being assisted M leans forward and leans forward. Therefore, when the upper half of the person being assisted is raised by the second transition operation, the back muscles of the person being assisted M are maintained in a stretched state. Therefore, the holding member 50 can stably support the person being assisted M during the second transition operation.

Next, a seating assistance operation for the person M to be assisted by the assistance robot 1 will be described. Here, the operation of the assistance robot 1 from the standing posture to the sitting posture is a reversing operation of the movement of the assistance robot 1 from the sitting posture to the standing posture, that is, the operation in the order of FIG. 8, FIG. 7, and FIG. Therefore, detailed description is omitted.

As shown in FIG. 6, when the person M being assisted is seated on the seat surface 3 (state of sitting posture), the power of the assistance robot 1 is turned off by an operation by the person M or the person being assisted. .. In this state, the lower end of the holding member 50 is in contact with the upper part of the thigh of the person being assisted M. Therefore, as shown in FIG. 5, the person being assisted M or the assistant puts his or her hand on the lower end portion of the holding member 50 and lifts the holding member 50 by hand, and holds the holding member 50 with the rotation axis 53 as the central axis. Rotate from the use position to the upper escape position. Then, as shown in FIG. 4, the person to be assisted M or the person to be assisted moves the assistance robot 1 in the forward direction of the person to be assisted M with the holding member 50 being rotated.

Accordingly, the person being assisted M or the person being assisted can pass the lower end portion of the holding member 50 above the top of the knee of the person being assisted M, so that the holding member 50 can be smoothly separated from the person being assisted M. In addition, the person being assisted M or the assistant does not lift the holding member 50 by hand, and moves the assistance robot 1 in the forward direction of the person being assisted M while the holding member 50 is in contact with the upper part of the thigh of the person being assisted M. It may be allowed to. Even in this case, since the holding member 50 slides on the upper part of the thigh of the person being assisted M while freely rotating, the holding member 50 can be smoothly separated from the person being assisted M.

(4. Other form of holding member)
As a first different form, in the above-described embodiment, the holding member 50 is located at the escape position (on the position shown in FIG. 2A) in which the holding member 50 comes into contact with the rear end of the grip 60 and above the care recipient M side. 2B) (a position shown in FIG. 2B). However, as shown in FIGS. 9A and 9B, the first, second, and third regulating members 55a, 55b, and 55c that regulate the free rotation range to a predetermined range may be provided.

That is, the rotating shaft center 53 is provided with a columnar first restricting member 55a protruding from the peripheral surface of the rotating shaft center 53, and the arm 40 is provided at the tip thereof with a restricting member associated with the rotation of the rotating shaft center 53. Second and third regulating members 55b and 55c are provided at a predetermined angle θ so that they can come into contact with each other when 55a rotates. As a result, the holding member 50 causes the first restricting member 55a and the second restricting member 55b to come into contact with each other, and the first restricting member 55a and the third restricting member 55 are located above the person M to be assisted from the use position (the position shown in FIG. 9A). It becomes possible to freely rotate within the range (range of angle θ) up to the escape position end (position shown in FIG. 9B) with which 55c abuts.

As a second different form, in the first different form described above, as shown in FIG. 10, a tension spring 57a for positioning the holding member 50 at the use position is provided on the first restricting member 55a. As a result, the holding member 50 is always positioned at the use position in the natural state where no external force is applied.

As a third alternative form, in the above-described first alternative form, as shown in FIG. 11, a tension spring 57b for positioning the holding member 50 at the escape position end is provided in the first restricting member 55a. As a result, the holding member 50 is always positioned at the escape position end in the natural state where no external force is applied.

As a fourth alternative form, in the above-described embodiment, the holding member 50 is configured to be freely rotatable about the rotation axis 53 provided at the tip of the arm 40 as the central axis. However, as shown in FIGS. 12A and 12B, a cam mechanism 56 may be provided instead of the rotating shaft center 53 so as to be freely swingable.

That is, the upper end of the arm 40 is provided with two cam pins 561a and 562a (561b and 562b) protruding to the left and right. The holding member 50 is provided with cam plates 563a (563b) on the left and right. The cam plate 563a (563b) is formed with a cam groove 564a (564b) that can be engaged with the cam pins 561a, 562a (561b, 562b).

The cam groove 564a (564b) is linearly formed on the front side and arcuate on the rear side. The holding member 50 is connected to the arm 40 by a cam mechanism 56 so as to be capable of moving back and forth and tilting. That is, the holding member 50 moves to the front side by the linear portion of the cam groove 564a (564b). Further, the cam groove 564a (564b) is inclined forward by the arcuate portion.

(5. Effect)
The assistance robot 1 described above includes a base 10, a moving member (elevating part 30, arm 40, grip 60) that can move at least vertically with respect to the base 10, and a moving member (elevating part 30, arm 40, grip 60). ), which controls the movement of the holding member 50 that holds a part of the body of the person being assisted M and the moving members (the lifting unit 30, the arm 40, and the grip 60) to hold the member to be held by the holding member 50. A control device 80 that assists the caregiver M in standing from a sitting posture to a standing posture and in sitting assistance from a standing posture to a sitting posture. The holding member 50 is provided on the moving member (the elevating part 30, the arm 40, the grip 60) so as to be freely tiltable between the lower use position and the upper escape position.

Since the holding member 50 is provided so as to be capable of freely tilting, even if an object is present on the ground plane 2 below the holding member 50 while the holding member 50 (elevating unit 30) is descending, the holding member 50 is in the use position. At the same time when the holding member 50 strikes an object, the pushing force causes the holding member 50 to rotate upward from the use position. Therefore, the impact when the holding member 50 hits the object is mitigated.

Further, since the holding member 50 is provided so as to be able to freely tilt when an external force of a predetermined amount or more is applied, a drive source for tilting the holding member 50 becomes unnecessary, and an increase in cost can be suppressed.
Further, since the holding member 50 is positioned at the end of the use position or the escape position by the urging force of the urging members (tensile springs 55a and 55b), the fluttering of the holding member 50 when not in use can be suppressed.

The control device 80 also includes a detection unit (sensor 54) that detects that the holding member 50 is positioned at the use position. As a result, when the holding member 50 hits an object and rotates upward from the use position, and then the object is sandwiched between the holding member 50 and the ground contact surface 2, the control device 80 causes the detection unit (sensor 54) to detect the object. Since the detection signal cannot be received, the lowering of the holding member 50 (elevating unit 30) can be stopped and the person being assisted M or the person being assisted can be warned by a buzzer, a lamp, or the like.

(6. Other)
In addition, in the above-described embodiment, the moving member (the elevating part 30, the arm 40, the grip 60) is configured to be vertically movable and swingable, but at least a vertically movable structure may be used. In addition, a configuration having only one axis for vertical movement, a configuration having only one axis for swinging, a configuration for combining a plurality of direct acting shafts, a configuration for combining a plurality of swinging shafts, a combination of a direct acting shaft and a swinging shaft It may be configured.
Further, in the above-described embodiment, the holding member 50 is configured to contact the rear side end of the grip 60 to restrict downward rotation from the use position, but downward rotation is restricted at the use position. Other configurations may be used as long as they are provided.

1: Assistance robot, 10: Base, 30: Lifting part, 40: Arm, 50: Holding member, 54: Sensor, 55a, 55b: Tension spring, 56: Cam mechanism, 60: Grip 80: Control device, M: Person being assisted

Claims (4)

Base
A moving member that can move at least vertically with respect to the base,
A holding member which is provided on the moving member and holds a part of the body of the person being assisted,
Control for controlling the movement of the moving member to assist the person being assisted held by the holding member to stand up from a sitting posture to a standing posture and to assist the person being seated from the standing posture to the sitting posture. A device,
Equipped with
The holding member is provided on the moving member between the lower use position and the upper escape position so as to be freely tiltable with respect to the moving member by an external force regardless of the movement control of the moving member by the control device. , Assistance robot. The assistance robot according to claim 1, wherein the holding member is provided so as to be freely tiltable when an external force of a predetermined amount or more is applied. The assistance robot according to claim 1, wherein the holding member is positioned at the end of the use position or the escape position by the urging force of the urging member. The assistance robot according to claim 1, wherein the control device includes a detection unit that detects that the holding member is positioned at the use position.

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