JP6767563B2 - Assistance device - Google Patents

Description

The present specification relates to an assisting device.

Various assisting devices for assisting the transfer of the person being assisted are known. A type of assisting device supports the upper body of the person being assisted and assists the person being assisted in moving from a sitting posture to a transfer posture in which the buttocks are raised from the seating surface.

Patent Document 1 describes an assistance device including a support portion that supports the forearm portion of the person being assisted. This assistance device includes a base, an elevating portion provided on the base so as to be able to move up and down, and a support portion provided on the elevating part so as to be swingable around the first axis. In this assistance device, the first actuator raises and lowers the elevating part with respect to the base, and the second actuator swings the support part with respect to the elevating part. Then, when the person being assisted stands up, if the position of the center of gravity is out of the predetermined range at the start of standing up, the start of the standing up operation is prohibited.

Further, Patent Document 2 describes an assisting device capable of swinging a support portion for supporting the upper body of an assisted person forward by one linear actuator. Patent Document 3 includes an assist portion including a carriage portion, a frame provided on the carriage portion so as to be swingable around the first axis, and a support portion provided on the frame so as to be swingable around the second axis. The device is described. In this assisting device, the first linear acting actuator swings the frame with respect to the carriage portion, and the second linear acting actuator swings the support portion with respect to the frame.

Patent Document 4 describes an assisting device including a carriage portion, a frame provided swingably with respect to the carriage portion, and a support portion slidably provided on the frame. In this assisting device, the first linear acting actuator swings the frame with respect to the carriage portion, and the second linear acting actuator slides the supporting portion with respect to the frame.

Patent Document 5 describes a bogie portion, a lower leg frame swingably provided on the bogie portion, an upper body frame swingably provided on the lower leg frame, and a slidable support provided on the upper body frame. An assistance device including a unit is described. In this assist device, the first linear acting actuator swings the lower leg frame with respect to the bogie portion, and the second linear acting actuator swings and slides the supporting portion with respect to the lower leg frame. Here, by driving the second linear actuator, the support portion slides with respect to the lower leg frame at the same time as swinging.

International Publication No. 2015/145756 Japanese Unexamined Patent Publication No. 2016-165313 JP-A-2017-23298 Japanese Unexamined Patent Publication No. 2017-23299 JP-A-2017-23300

As described in Patent Document 1, for example, when the person being assisted is not riding on the support portion in an appropriate posture, the operation of the assisting device is stopped because the position of the center of gravity is out of the predetermined range at the start of standing up. In addition to this, the assistance device is put into an alarm stop state due to various alarm factors. For example, alarm factors include actuator failure, sensor failure, disconnection, control device abnormality, communication abnormality, detection of abnormal operation, insufficient power supply voltage, and the like.

For example, when the alarm factor is that the person being assisted is not riding on the support portion in an appropriate posture, the alarm factor is eliminated if the person being assisted is in an appropriate posture. Also, even if the alarm factor is a communication error, if it is a temporary error, it usually recovers immediately. If the power supply voltage becomes insufficient due to insufficient charging of the alarm factor, charging will restore the alarm factor. On the other hand, if the alarm factor is a component failure or disconnection, recovery is not easy.

As described above, there are some that are easy to recover and some that are not easy to recover depending on the alarm factor. Once the assist device is in the alarm stop state, the caregiver first turns the power on again and then presses the reset button, regardless of the alarm factor, to perform operations to release the alarm stop state. If the alarm stop state is not released by this operation, the manufacturer's technician will be requested to repair it.

However, as described above, even if the alarm factor is easy to recover, in order for the caregiver to perform the alarm stop state release operation as described above, the caregiver temporarily stops the care operation and the person being assisted. Needs to be moved away from the assist device. If the alarm factor is that the posture of the person being assisted is not appropriate, the alarm is stopped by simply changing the posture of the person being assisted to an appropriate posture without performing the above-mentioned complicated release operation. Is desired to be released.

It is an object of the present specification to provide an assistance device that is very easy to operate for canceling the alarm stop state.

The present specification is an assistance device that assists the transfer of the person being assisted, the actuator that executes the assistance operation, the input device that receives the execution instruction of the assistance-related operation from the operator, and the above-mentioned input device that the input device receives. Disclosed is an assistance device including a control unit that controls the actuator based on the execution instruction of the assistance-related operation.

The control unit sets the alarm stop state to stop the actuator when an alarm factor occurs, and when the input device receives the input of the execution instruction of the assistance-related operation in the alarm stop state, the alarm factor When the alarm stop state is canceled and the input device receives the input of the execution instruction of the assistance-related operation in the alarm stop state, the alarm factor is not resolved. Maintains the alarm stopped state. When the input device receives the re-input of the execution instruction of the assistance-related operation after the alarm stop state is released, the control unit is based on the re-input of the execution instruction of the assistance-related operation. Controls the actuator.

When the input device receives the input of the execution instruction of the assistance-related operation in the alarm stop state, if the alarm factor has already been resolved, the control unit cancels the alarm stop state. For example, when an alarm factor that can be easily resolved occurs, the operator can cancel the alarm stop state by operating an input device for operating an execution instruction of an assistance-related operation. The caregiver can have the caregiver continue to perform the care-related operation again.

On the other hand, when the input device receives the input of the execution instruction of the assistance-related operation in the alarm stopped state, the control unit maintains the alarm stopped state if the alarm factor has not been resolved yet. That is, when an alarm factor that cannot be easily resolved occurs, the operator cannot cancel the alarm stop state even if the input device is operated.

Here, the input device is a device used when instructing the execution of the assistance-related operation of the assistance device. Therefore, the operator does not perform a special operation for canceling the alarm stop state. Therefore, when an alarm factor that can be easily resolved occurs, the operator can very easily perform the operation for canceling the alarm stop state, and the operability is improved.

It is a perspective view which looked at the assistance device diagonally from the rear. It is a side view which shows the assistance device which supports the person to be assisted in a sitting posture. It is a side view which shows the assist device which supports the assisted person in the intermediate posture between the sitting posture and the transfer posture. It is a side view which shows the assist device which supports the assisted person in the posture at the time of transfer. It is a flowchart which shows the control process by a control part. It is a flowchart which shows the release process of the alarm stop state in the control process by a control unit.

1. 1. Outline of Assistance Device 1 The assistance device 1 assists the transfer of the person being assisted M. For example, the assistance device 1 is used for assisting a transfer between two different places such as a transfer between a bed and a wheelchair and a transfer between a wheelchair and a toilet seat. The assist device 1 is also applied when the two transfer points are located far away, and can move to the target position while supporting the person being assisted M.

The assisting device 1 supports a part of the body of the person being assisted M, for example, the upper body, and assists the person being assisted in the movement from the sitting posture to the transfer posture or the movement from the transfer posture to the sitting posture. I do. Here, the transfer posture is a posture in which the buttocks are floating from the seat surface, and includes a standing posture and a mid-waist posture. That is, the transfer posture includes a state in which the upper body stands up and a state in which the upper body is bent forward.

2. Configuration of Assistance Device 1 The configuration of Assistance Device 1 will be described with reference to FIGS. 1 and 2. The assistance device 1 performs an assistance operation by raising and lowering a support portion 60 that supports a part of the upper body of the person being assisted M and swinging it in the front-rear direction.

As shown in FIG. 1, the assistance device 1 includes a base 10. The base 10 is a member located at the lowermost part of the assistance device 1. The base 10 includes a frame 11, a footrest 12, six wheels 16 to 18, and the like. The frame 11 is provided substantially horizontally near the floor surface F. The footrest 12 is fixed to the rear of the upper surface of the frame 11 and is provided substantially horizontally. On the upper surface of the footrest stand 12, a foot-shaped mark 12a for guiding the position where the person being assisted M puts his / her foot is written.

On the lower side of the frame 11, three wheels 16 to 18 are provided on each of the left and right sides. Each of the wheels 16 to 18 has a steering function for changing the direction of movement. The front wheel 16 has a locking function that regulates movement. The assistance device 1 is capable of not only straight-ahead and turning in the front-rear direction but also lateral movement and super-credit turning by the steering function of the six wheels 16 to 18.

The assistance device 1 further includes a pillar portion 20 erected from the base 10. The pillar portion 20 is provided so as to extend upward in the vertical direction (anti-gravity direction) from the center in the left-right direction in the front side of the frame 11. In the present embodiment, the pillar portion 20 is provided so as to extend upward in the vertical direction, but may be provided so as to extend in a direction slightly inclined to the front side or the rear side from the vertical direction. The pillar portion 20 has a mechanism for raising and lowering the upper end side. Further, in the present embodiment, the assistance device 1 includes one pillar portion 20, but may include a plurality of pillar portions 20.

The pillar portion 20 includes a pillar main body portion 21 erected on the frame 11. The pillar body 21 is fixed to the frame 11 in a state of extending upward from the center of the frame 11 of the base 10 in the left-right direction toward the front. Further, the pillar portion 20 includes an elevating portion 22 supported by the pillar body portion 21 so as to be reciprocally movable in the extending direction of the pillar body portion 21. That is, the elevating portion 22 reciprocates in the vertical direction (gravity direction and antigravity direction) with respect to the base 10 and the column body portion 21. The elevating portion 22 is formed in a long shape that is long in the vertical direction. The elevating portion 22 is located on the rear side of the pillar main body portion 21.

The assistance device 1 further includes a lower leg pad 30. The lower leg pad portion 30 is fixed to a fixed portion (a portion fixed to the frame 11) of the pillar portion 20 by a pair of left and right support arms 31 and 31 having an L shape. The lower leg pad 30 is provided slightly above the mark 12a on the front side. The main body of the lower leg pad 30 is a cushioning material that is arranged over the upright portions of the left and right support arms 31 and extends in the left-right direction. The lower leg pad portion 30 is a portion where the lower leg of the person being assisted M comes into contact with the lower leg. The arrangement height of the lower leg pad 30 is adjustable.

The assistance device 1 is further provided with a swing arm 40 provided near the upper end of the elevating portion 22 and supported so as to be swingable around a horizontal axis in the left-right direction. When the assisting device 1 assists from the sitting posture to the transfer posture, the rear end of the swing arm 40 turns forward. On the other hand, when the assisting device 1 assists from the transfer posture to the sitting posture, the rear end of the swing arm 40 turns backward.

The assistance device 1 includes a first handle 50 fixed to the rear end of the swing arm 40 (the end of a portion extending rearward from the swing center of the swing arm 40). The first handle 50 is formed in a substantially quadrangular frame shape. The first handle 50 is formed so as to extend forward and upward from the vicinity of the rear end of the swing arm 40. The lateral portion of the first handle 50 is used as a portion gripped by both hands of the person being assisted M. Further, the side portion and the front portion of the first handle 50 are used as a portion gripped by the caregiver to move the assisting device 1.

The assistance device 1 further includes a support portion 60 that supports a part of the upper body of the person being assisted M. The support portion 60 is supported by the swing arm 40 and supports a part of the upper body of the person being assisted M. The support portion 60 swings in the front-rear direction with respect to the pillar portion 20 by swinging the swing arm 40 with respect to the pillar portion 20.

The support portion 60 includes a body support portion 61, a pair of side support portions 62, 62, a second handle 63, and the like. The body support portion 61 is formed in a surface shape close to the body shape of the person being assisted M, and can be flexibly deformed. The support surface of the body support portion 61 comes into surface contact with the front surface of the body of the upper body of the person being assisted M to support the body. More specifically, the support surface of the torso support portion 61 supports the range from the chest to the abdomen of the person being assisted M from below. Further, the body support portion 61 is attached to the swing arm 40.

Further, the body support portion 61 is supported so as to be able to freely tilt in the front-rear direction with respect to the swing arm 40. Specifically, the body support portion 61 is configured to be able to freely tilt in a predetermined angle range clockwise when the assisting device 1 is viewed from the right from the state shown in FIG. The above-mentioned "free tilt" means a tilt that can be manually moved, not a tilt driven by an actuator or the like.

The pair of side support portions 62, 62 are supported by the body support portion 61, and support the sides of the person being assisted M. Specifically, a pair of side support portions 62, 62 are provided on the left and right sides of the body support portion 61. The side support portion 62 is swingably supported by the body support portion 61. The side support portion 62 is formed in an L shape by a rod-shaped member. The surface of the side support portion 62 is covered with a material capable of flexible deformation. The second handle 63 is integrally provided on the front surface of the body support portion 61. The second handle 63 is formed in a horizontally long U shape. The second handle 63 includes a base shaft portion fixed to the lower portion of the body support portion 61 and extending in the left-right direction, and a grip portion extending from both ends of the base shaft portion toward the first handle 50 side.

As shown in FIG. 2, the assistance device 1 further includes a plurality of actuators 71 and 72 for driving the support portion 60. Specifically, the assistance device 1 includes an elevating actuator 71 and a swing actuator 72. The elevating actuator 71 and the swing actuator 72 are arranged in the pillar portion 20. The elevating actuator 71 is composed of, for example, a linear actuator, and elevates and elevates the elevating portion 22 with respect to the column main body portion 21. For example, a screw mechanism, a rack and pinion mechanism, a cylinder mechanism, and the like are applied to the elevating actuator 71.

The swing actuator 72 is composed of, for example, a rotary actuator, and swings the swing arm 40 with respect to the elevating portion 22. The swing actuator 72 may be composed of a linear actuator and a power conversion mechanism that converts linear motion into rotation. Therefore, the elevating actuator 71 and the swing actuator 72 change the height of the support portion 60 and the posture (tilt) of the support portion 60 in the front-rear direction. Here, the elevating actuator 71 and the swing actuator 72 can be operated independently or in coordination with each other.

The assistance device 1 further includes an input device 80 for performing an operation for assistance by an operator such as an assistant. The input device 80 is a wired or wireless remote controller. The input device 80 is a device that receives an execution instruction of an assistance-related operation from the operator. The execution instruction of the assistance-related operation includes an instruction in the assistance mode for performing the assistance operation and an instruction in the height adjustment mode for performing the height adjustment operation in preparation for the assistance operation.

Therefore, the input device 80 includes an adjustment ascending button and an adjusting descending button as the height adjustment mode. In the height adjustment mode, only the elevating actuator 71 operates independently. Further, the input device 80 includes an assisting ascending button and an assisting descending button as an assisting mode. In the assist mode, the elevating actuator 71 and the swing actuator 72 operate in cooperation with each other.

The assistance device 1 further includes a control unit 90. The control unit 90 is provided on the upper surface of the frame 11 on the front right side. The control unit 90 includes an elevating actuator 71, a control unit 91 that controls the swing actuator 72, and the like. As the assistance-related operation mode, the control unit 91 performs an assistance operation for the person being assisted M by cooperative control of the plurality of actuators 71 and 72, and an assistance operation by controlling at least one of the plurality of actuators 71 and 72. As a preparation, a height adjustment mode for performing a height adjustment operation of the support portion 60 is provided.

The control unit 91 controls the elevating actuator 71 and the swing actuator 72 based on the assistance-related operation execution instruction input from the operator by the input device 80. The input execution instructions include an adjustment ascending instruction and an adjusting descending instruction as a height adjustment mode, and an assisting ascending instruction and an assisting descending instruction as an assisting mode.

Here, the control unit 91 puts the alarm stopped state when an alarm factor occurs in the assist device 1. That is, if an alarm factor occurs while the assist device 1 is operating in the height adjustment mode or the assist mode, the control unit 91 stops the actuators 71 and 72 in the alarm stop state.

The control unit 91 can use a computer device operated by software. As software, an operation program corresponding to the adjustment ascending instruction, the adjusting descending instruction, the assisting ascending instruction, and the assisting descending instruction is stored. Further, on the lower side of the control unit 91, a battery power supply with a code that can be repeatedly charged and discharged is attached. The battery power supply is also attached to the front left side on the upper surface of the frame 11. The battery power supply is also shared by the elevating actuator 71 and the swing actuator 72.

Further, the control unit 90 includes a display device 92 on the upper surface thereof. When an alarm factor occurs in the assisting device 1 and the assisting device 1 enters the alarm stop state, the display device 92 displays the alarm factor. The displayed alarm factor may be the name of the alarm factor or a symbol associated with the alarm factor. Further, the display device 92 displays whether or not the generated alarm factor is a factor capable of continuous control by the control unit 91. The classification of alarm factors that can be continuously controlled and alarm factors that cannot be continuously controlled by the control unit 91 will be described later.

In addition, the assistance device 1 further includes a detector 100 (shown in FIG. 2) that detects whether or not the boarding posture of the person being assisted M is an abnormal posture. The detector 100 is provided in the vicinity of the body support portion 61 of the support portion 60, for example, detects the load applied to the body support portion 61, and determines the abnormal posture based on the detection result. Further, when the elevating actuator 71 and the swing actuator 72 have a motor, the detector 100 detects the drive current supplied to the motor, and detects the load applied to the body support portion 61 based on the drive current. It is also possible to determine the abnormal posture based on the detection result.

3. 3. Operation by the Assistance Device 1 Next, the operation by the assistance device 1 will be described with reference to FIGS. 2 to 4. The following is an example of the operation of the assisting device 1 in which the buttocks of the assisted person M in the sitting posture are raised to put the assisted person M in the transfer posture. The assisting motion from the transfer posture to the sitting posture with respect to the person being assisted M is the reverse of the assisting motion from the sitting posture to the transfer posture.

As shown in FIG. 2, the caregiver grasps the first handle 50 or the second handle 63 of the care device 1 and brings the care device 1 closer to the person being assisted M in the sitting posture. The caregiver allows the lower body of the person being assisted M to enter the area above the base 10 and below the support portion 60. The caregiver places the foot of the person being assisted M on the mark 12a of the footrest stand 12. When a part of the lower leg of the person being assisted M comes into contact with the lower leg pad portion 30, the entire lower leg of the person being assisted M becomes stable.

At this time, the caregiver confirms whether or not the height of the support portion 60 is appropriate. If the height of the support portion 60 is not appropriate, the caregiver operates the adjustment ascending button or the adjusting descending button of the input device 80 so that the height of the support portion 60 is adjusted to the person being assisted M. adjust. When the input device 80 receives the adjustment ascending instruction or the adjusting descending instruction, the control unit 91 controls the actuators 71 and 72 in the height adjustment mode. That is, the control unit 91 executes the height adjustment mode in which the height adjustment operation of the support unit 60 is performed in preparation for the assistance operation. In the height adjustment mode, the control unit 91 changes the height of the support unit 60 while maintaining the posture (tilt) of the support unit 60 by operating only the elevating actuator 71 independently. In the height adjustment mode, the swing actuator 72 does not operate.

Subsequently, after adjusting the height of the support portion 60, the caregiver brings the body of the person being assisted M into surface contact with the body support portion 61, and places the side of the person being assisted M on the side support portions 62 and 62. Let me put it. The posture of the person being assisted M at this time is the sitting posture at which assistance is started. In the sitting posture, as shown in FIG. 2, the buttocks are in contact with the seating surface, and the torso is slightly tilted forward.

Subsequently, the caregiver operates the assisting ascending button of the input device 80 to start the assisting operation from the sitting posture to the transfer posture with respect to the assisted person M. When the input device 80 receives the assist ascending instruction, the control unit 91 controls the elevating actuator 71 and the swing actuator 72 as the assisting ascending mode. The control unit 91 cooperatively controls both the elevating actuator 71 and the swing actuator 72 in the assist ascending mode. That is, in the assisting ascending mode, the swing actuator 72 swings forward while the lifting actuator 71 moves up and down.

Specifically, when the assist ascending mode is started, as shown in FIG. 3, the control unit 91 controls the elevating actuator 71 so as to lower the elevating unit 22 from the initial state, and the swing arm from the initial state. The swing actuator 72 is controlled so as to swing the 40 forward. As a result, the support portion 60 is in a state of being greatly tilted forward while moving downward from the initial state. That is, the upper body leans forward greatly while maintaining the state in which the buttocks of the person being assisted M are in contact with the seat surface.

Subsequently, when the assist raising mode is continued, as shown in FIG. 4, the control unit 91 swings the swing arm 40 forward while controlling the lifting actuator 71 so as to raise the lifting unit 22. The swing actuator 72 is controlled in this way. As a result, the support portion 60 is in a state of being further tilted forward while moving upward. That is, the buttocks of the person being assisted M are separated from the seating surface, the legs are extended, and the upper body is further tilted forward. In this way, the person being assisted M is in the transfer posture.

When the caregiver operates the assisting lowering button of the input device 80, the input device 80 receives the assisting lowering instruction, and the control unit 91 sets the lifting actuator 71 and the swinging actuator 72 in the assisting lowering mode. Control as. In the assisted lowering mode, the control unit 91 cooperatively controls both the lifting actuator 71 and the swinging actuator 72. That is, in the assisting lowering mode, the swing actuator 72 swings backward while the lift actuator 71 moves up and down.

4. Alarm factor The assist device 1 is put into an alarm stop state due to various alarm factors. The alarm factors include factors that can be resolved by repairing by a technician of the manufacturer, factors that can be resolved by turning off the power once, and other factors that cause the control by the control unit 91 to be reset. There is. In addition to this, the alarm factors include factors that can be automatically resolved by the assisting device 1 itself due to a temporary malfunction of the assisting device 1, factors that occur due to the posture of the person being assisted M, and the like. There is a factor that the control by is not reset. That is, the alarm factors are classified into factors that cannot be continuously controlled by the control unit 91 and factors that can be continuously controlled by the control unit 91.

Alarm factors that need to be repaired by a technician include actuator 71 and 72 failures, sensor failures, disconnections, abnormalities in the control unit 91, insufficient power supply voltage, and aged deterioration of each component. These factors cannot be recovered by the assisting device 1 itself and the operator himself. Further, a failure of the actuators 71 and 72, an abnormality of the control unit 91, and the like may be resolved by turning off the power once.

Further, among the factors that can be continuously controlled by the control unit 91, the alarm factor that can be automatically resolved by the assistance device 1 itself is a temporary communication abnormality or the like. Temporary communication abnormalities may be recovered immediately. Further, for example, when the person being assisted M, who has a large weight, gets into the support portion 60 of the assistance device 1 in an inappropriate posture, the elevating portion 22 may not operate even if the elevating actuator 71 is driven. In such a case, the difference between the command position to the elevating actuator 71 and the current position of the elevating actuator 71 detected by the detector becomes large. When the difference between the command position and the current position becomes a predetermined value or more, the assistance device 1 is in the alarm stop state as an alarm factor. In this phenomenon, the load applied to the elevating actuator 71 can be reduced by making the boarding posture of the person being assisted M appropriate, so that the above-mentioned alarm factor is eliminated.

Further, when the lifting actuator 71 and the swinging actuator 72 are not driven, an external force may act on the support portion 60 to cause the support portion 60 or the lifting portion 22 to fluctuate. In this case, the assist device 1 may be in the alarm stop state due to the alarm factor that the control limit of the elevating actuator 71 is exceeded. In this case as well, if no external force acts, the alarm factor is eliminated. As described above, the alarm factor due to the posture of the person being assisted M or the generation of an external force can be easily eliminated.

Further, when the abnormal posture of the person being assisted M is detected by the detector 100, the assisting device 1 enters the alarm stop state with the abnormal posture detected by the detector as an alarm factor. In this case, the alarm factor is eliminated by making the posture of the person being assisted M appropriate.

5. Control processing by the control unit 91 Next, the control processing related to the alarm factor by the control unit 91 will be described with reference to FIGS. 5 and 6. The control unit 91 determines whether or not an alarm factor has occurred (S1), and if no alarm factor has occurred (S1: N), confirms the input of the assistance-related operation execution instruction by the input device 80 (S1). S2). If the input device 80 does not input the execution instruction of the assistance-related operation (S2: N), the control unit 91 repeats the process from step S1.

On the other hand, if the input device 80 receives an input of an execution instruction for the assistance-related operation (S2: Y), the control unit 91 performs control according to the execution instruction for the assistance-related operation (S3). That is, when the caregiver presses the assist ascending button, the input device 80 receives the assist ascending instruction, so that the control unit 91 controls the actuators 71 and 72 in the assist ascending mode. If there is an input of an assistance lowering instruction, an adjustment ascending instruction, and an adjusting lowering instruction as an execution instruction of an assistance-related operation, the control unit 91 performs the corresponding control.

Subsequently, the control unit 91 determines whether or not the input of the execution instruction of the assistance-related operation is stopped (S4). That is, it is determined whether or not the caregiver has released the button of the input device 80 (S4). If the caregiver continuously presses the button of the input device 80 (S4: Y), the control unit 91 repeats the process from step S1. On the other hand, if the input of the execution instruction of the assistance-related operation is stopped (S4: N), the control unit 91 stops the corresponding assistance-related operation (S5), and repeats the process from S1. That is, while the caregiver presses the button of the input device 80, the corresponding care-related operation is executed, and when the caregiver releases the button, the care-related operation that has been executed up to that point is stopped.

Next, in step S1, when an alarm factor occurs (S1: Y), the assistance device 1 immediately enters the alarm stop state (S11). The alarm stopped state is the case of all alarm factors. Subsequently, the control unit 91 causes the display device 92 to display the alarm factor (S12). The control unit 91 determines whether or not the generated alarm factor is a factor that can be continuously controlled by the control unit 91 (S13). If it is a factor that can be continuously controlled (S13: Y), the display device 92 indicates that continuous control is possible (S14).

On the other hand, when the generated alarm factor is a factor that cannot be continuously controlled by the control unit 91 (S13: N), the control unit 91 does not cause the display device 92 to display that continuous control is possible. When the generated alarm factor is a factor that cannot be continuously controlled (S13: N), the control unit 91 may cause the display device 92 to display that continuous control is not possible.

Subsequently, the control unit 91 executes the alarm stop state release process (S15). The process of canceling the alarm stop state is executed after the assist device 1 is in the alarm stop state without turning off the power of the assist device 1. The process of canceling the alarm stop state will be described with reference to FIG. The control unit 91 confirms the input of the execution instruction of the assistance-related operation by the input device 80 (S21). The execution instruction of the assistance-related operation here may be any of an adjustment ascending instruction, an adjustment ascending instruction, an assisting ascending instruction, and an assisting ascending instruction. That is, the assistance-related operation execution instruction operated here is not an instruction for executing the assistance-related operation by the assistance device 1, but an operation for the purpose of canceling the alarm stop state.

If there is no input of the execution instruction (S21: N), the control unit 91 ends the release process. On the other hand, if there is an input of an execution instruction (S21: Y), that is, when an operator such as an assistant presses any button of the input device 80, the control unit 91 causes an alarm factor at that time. It is determined whether or not the problem has been resolved (S22).

For example, when the alarm factor is a temporary communication abnormality or the like, the alarm factor may be resolved by the time the assist device 1 temporarily stops the alarm and inputs the execution instruction of the assist-related operation. is there. Further, in the case of an alarm factor that the difference between the command position of the elevating actuator 71 and the current position becomes a predetermined value or more when the posture of the person being assisted M is not appropriate, the assisting device 1 is temporarily stopped. , The alarm factor is eliminated. Further, the alarm factor that the posture of the person being assisted M detected by the detector 100 is an abnormal posture is that the assisting device 1 is temporarily stopped and the person being assisted M is in an appropriate posture. Eliminate. Further, even when the elevating actuator 71 or the swing actuator 72 exceeds the control limit due to an external force, the alarm factor is eliminated by temporarily stopping the assist device 1. On the other hand, alarm factors such as failures of the actuators 71 and 72 are not eliminated during the above operation.

Therefore, if the alarm factor has not been resolved at the time of the above determination (S22: N), the control unit 91 ends the release process. On the other hand, if the alarm factor is resolved at the time of the above determination (S22: Y), the control unit 91 cancels the alarm stop state (S23). That is, when an alarm factor that can be continuously controlled by the control unit 91 occurs, the operator simply operates the execution instruction of the assistance-related operation to release the alarm stop state.

Subsequently, even when the release process in S15 of FIG. 5 is executed, if the alarm stop state is not released (S16: N), the control unit 91 continuously executes the release process (S16: N). S15). On the other hand, when the alarm factor is eliminated by the release process (S16: Y), the control unit 91 hides the alarm factor displayed on the display device 92 (S17).

Subsequently, the control unit 91 determines whether or not the input device 80 has re-input of the execution instruction of the assistance-related operation (S18). The re-input of the execution instruction means that the execution instruction of the assistance-related operation is input to the input device 80 again. In order to cancel the alarm stop state, an instruction to execute an assistance-related operation should be input for the purpose of canceling the alarm stop state in S21 of FIG. If the execution instruction of the assistance-related operation for the purpose of canceling the alarm stop state is continuously input, it is determined in S18 of FIG. 5 that the execution instruction of the assistance-related operation is not re-input. That is, when the input of the assistance-related operation execution instruction for the purpose of canceling the alarm stop state is temporarily stopped after the alarm stop state is released, and then the input of the assistance-related operation execution instruction is input again. It is determined that the execution instruction has been re-entered.

Then, when it is determined that the execution instruction has been re-input, the control unit 91 performs control according to the re-input of the assistance-related operation execution instruction (S3). After that, the control unit 91 performs the processes after step S4.

As described above, when the input device 80 receives the input of the execution instruction of the assistance-related operation in the alarm stop state, if the alarm factor has already been resolved, the control unit 91 cancels the alarm stop state. When an alarm factor that can be easily resolved and can be continuously controlled by the control unit 91 occurs, an operator such as an assistant uses an input device 80 for operating an execution instruction of an assistance-related operation. By operating, the alarm stopped state can be canceled. Then, the caregiver can make the care device 1 continue to perform the care-related operation again without turning off the power of the care device 1.

Then, the input device 80 is a device used when instructing the execution of the assistance-related operation of the assistance device 1. Therefore, the operator does not perform a special operation for canceling the alarm stop state. Therefore, when an alarm factor that can be continuously controlled by the control unit 91 occurs, the operator becomes very easy to operate for canceling the alarm stop state, and the operability is improved.

For example, it is assumed that when the posture of the person being assisted M is not appropriate, the alarm is stopped due to an alarm factor in which the difference between the command position of the actuators 71 and 72 and the current position is equal to or greater than a predetermined value. In this case, the alarm stop state is released when the caregiver operates the execution instruction of the care-related operation of the input device 80. After that, the caregiver can perform the assisting operation of the person being assisted M by adjusting the posture of the person being assisted M to an appropriate state or adjusting the height.

Further, when the detector 100 detects that the posture of the person being assisted M is an abnormal posture, it is assumed that the alarm is stopped due to the abnormal posture as an alarm factor. In this case, the caregiver releases the alarm stop state by setting the posture of the person being assisted M to an appropriate posture and operating the execution instruction of the assistance-related operation of the input device 80. At this point, since the posture of the person being assisted M is in an appropriate posture, the person being assisted M can perform the assisting operation.

However, when the input device 80 receives the input of the execution instruction of the assistance-related operation in the alarm stopped state, the control unit 91 maintains the alarm stopped state if the alarm factor is not yet resolved. That is, when an alarm factor that cannot be easily resolved occurs, an operator such as an assistant cannot cancel the alarm stop state even if the input device 80 is operated. In such a case, an operator such as an assistant turns off the power once or asks a technician of the manufacturer for repair. Therefore, continuous control by the control unit 91 becomes impossible.

Further, when the assistance device 1 is in the alarm stop state, the alarm factor is displayed on the display device 92. For example, when an alarm factor in which the difference between the command position of the actuators 71 and 72 and the current position frequently occurs due to an improper posture of the person being assisted M, the caregiver can display the display device 92. You will be able to immediately recognize the alarm factor displayed in. Then, the caregiver can continue to use the caregiver 1 by changing the posture of the person being assisted M to an appropriate posture.

Further, when the generated alarm factor is a factor that can be continuously controlled by the control unit 91, the display device 92 displays to that effect. If the caregiver cannot determine that the alarm factor is a continuously controllable factor by looking at the display of only the alarm factor, the caregiver is displayed by displaying that the alarm factor is a continuously controllable factor. The person can grasp that the assistance device 1 can continue to be used. Therefore, the caregiver can recognize that the caregiver 1 can continue to be used at the time when the above display is displayed.

6. Others In the above embodiment, the assistance device 1 has a configuration in which the elevating portion 22 moves up and down with respect to the base 10 and the support portion 60 swings in the front-rear direction with respect to the elevating portion 22. In addition to this, the assistance device 1 has a configuration in which the support portion 60 performs only one axial operation with respect to the base 10, a configuration in which the support portion 60 makes a plurality of swings with respect to the base 10, and a support portion 60. It is also possible to have a configuration in which a plurality of linear motions are performed with respect to the base 10, or a configuration in which the support portion 60 is supported by a member swinging with respect to the base 10 so as to be linearly movable.

1: Assistance device, 10: Base, 20: Pillar, 22: Elevating part, 40: Swing arm, 60: Support part, 61: Body support part, 62: Side support part, 71: Elevating actuator, 72: Swing actuator, 80: Input device, 90: Control unit, 91: Control unit, 92: Display device, 100: Detector, M: Assisted person

Claims (6)

It is an assistance device that assists the transfer of the person being assisted.
Actuators that perform assistive movements and
An input device that accepts assistance-related operation execution instructions from the operator,
A control unit that controls the actuator based on the execution instruction of the assistance-related operation received by the input device.
With
The control unit
The alarm is stopped to stop the actuator when an alarm factor occurs.
When the input device receives the input of the execution instruction of the assistance-related operation in the alarm stop state, and the alarm factor is resolved, the alarm stop state is released.
When the input device receives the input of the execution instruction of the assistance-related operation in the alarm stop state, the alarm stop state is maintained if the alarm factor is not resolved .
When the input device receives the re-input of the execution instruction of the assistance-related operation after the alarm stop state is released, the control unit is based on the re-input of the execution instruction of the assistance-related operation. An assistance device that controls the actuator . It is an assistance device that assists the transfer of the person being assisted.
Actuators that perform assistive movements and
An input device that accepts assistance-related operation execution instructions from the operator,
A control unit that controls the actuator based on the execution instruction of the assistance-related operation received by the input device.
With
The control unit
The alarm is stopped to stop the actuator when an alarm factor occurs.
When the input device receives the input of the execution instruction of the assistance-related operation in the alarm stop state, and the alarm factor is resolved, the alarm stop state is released.
When the input device receives the input of the execution instruction of the assistance-related operation in the alarm stop state, the alarm stop state is maintained if the alarm factor is not resolved .
The alarm factor that can be continuously controlled by the control unit is an assistance device in which the difference between the command position with respect to the actuator by the control unit and the current position of the actuator is equal to or greater than a predetermined value . The assist device according to claim 1 or 2, further comprising a display device for displaying the alarm factor. The assistance device according to claim 3, wherein the display device displays the alarm factor and displays whether or not the alarm factor is a factor that can be continuously controlled by the control unit. The assistance according to any one of claims 1-4, wherein the alarm factor that can be continuously controlled by the control unit is that the posture of the person being assisted detected by the detector is an abnormal posture. apparatus. The assisting device further comprises a support portion that supports a part of the body of the assisted person and changes the assisted person from a sitting posture to a transfer posture by driving the actuator, according to any one of claims 1-5 . The assistance device according to item 1.

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