JPWO2017183670A1 - Reclining bed - Google Patents

Abstract

  A reclining bed that reduces the burden on the body when waking up the upper body of a lying person is disclosed. In this bed (1), the upper body cradle (5) for receiving the upper body of the recumbent, the back cradle (9) that can be tilted and receiving a predetermined part below the shoulder of the upper body of the recumbent, and the recumbent And a tiltable shoulder support (10) for receiving at least the upper portion of the shoulder. When the recumbent's upper body is raised, the shoulder support (10) bends forward with respect to the back support (9), raising the recumbent's shoulder and head.

Description

  The present invention relates to a reclining bed provided with an upper body receiving base for receiving the upper body of a lying person so as to be able to rise and fall with respect to a base.

  Conventionally, reclining beds that can raise the upper body of the lying person have been widely used mainly in hospitals and nursing care.

  In this reclining bed, the upper body receiving base that receives the upper body of the recumbent is provided so that it can be tilted with respect to the base, and the upper body of the recumbent is raised by raising the upper body receiving base with respect to the base. (Back and head) are raised.

  However, in this reclining bed, the upper body cradle supports the lying person's back and head, so when the upper body cradle is raised, the back and head are raised at the same tilt angle. Become.

  Therefore, in the reclining bed, a headrest that supports the lying person's head is provided at the end of the upper body cradle so that the lying person's head can be raised and lowered, and the lying person's head can be raised by the headrest. (For example, refer to Patent Document 1).

JP 2000-83761 A

  However, in the reclining bed provided with the conventional headrest, the headrest supports the back head of the lying person, and when the headrest is raised, the head position of the lying person is bent from the neck.

  As described above, in the reclining bed provided with the conventional headrest, the headrest of the lying person is bent from the neck by the headrest, so that the neck and throat of the lying person are burdened. . In particular, for the recumbent with the bent back, which is often seen in the elderly, the head is forced to bend from the neck, which is more burdensome on the body.

For this reason, the reclining bed provided with the conventional headrest cannot be relaxed in the state where the upper body is raised, causing a reduction in the feeling of use of the reclining bed.
One object of the present invention is to relieve the burden on the body of the lying person when waking up the upper body of the lying person.
Other objects of the present invention will become apparent from the following description.

  According to one embodiment, the reclining bed provided with the upper body receiving the upper body of the lying person so that the upper body can be turned up and down is the shoulder receiving the upper part of the upper body receiving the upper part from the shoulder of the upper body of the lying person And a back cradle that receives the second part below the first part of the upper body, the shoulder cradle can be raised and lowered with respect to the back cradle, and the shoulder cradle can be erected Can raise the shoulder and head of the lying person.

  According to this configuration, when raising the upper body of the lying person, the upper body becomes a relaxed posture. In other words, by raising the shoulder cradle against the back cradle, the shoulder and head of the lying person can be raised, reducing the burden on the neck and throat of the lying person in the state where the upper body of the lying person is raised can do. In addition, the burden on the body can be reduced even for those who are lying on the back.

This bed has a control device connected to a drive mechanism for raising and lowering the back support and the shoulder support, respectively, and after the control device raises the shoulder support from a horizontal state to a predetermined angle, Control may be performed so that the cradle stands up from a horizontal state.
According to this configuration, when starting to wake up the upper body from a horizontal state, it is possible to reduce the burden on the upper body by raising the shoulder cradle up to a certain angle before the back cradle.

In addition, the bed is connected to a driving mechanism for raising and lowering the back support and the shoulder support, respectively, and after the control device raises the back support to a predetermined angle, It may be configured to perform control so that the base is laid down with respect to the back receiving base.
According to this configuration, after raising the back cradle to a certain angle and then further raising it, the head and shoulders are raised to a steep angle by reducing the bending of the shoulder cradle with respect to the back cradle. Prevent too much. Thereby, the burden on the body of the lying person is reduced.

Also, the shoulder cradle can be raised and lowered with respect to the back cradle at a bent portion (for example, a rotating shaft) provided between the back cradle and the shoulder cradle, and the position of the bent portion is It may be adjustable.
According to this configuration, the position of the bent portion of the upper body cradle can be adjusted according to the body size (height etc.) of the lying person, and the adaptability of the bed to the body is high.

The bed also includes a bottom cradle for receiving the butt of the lying person, a thigh cradle receiving the thigh of the lying person, and a lower leg receiving part for receiving the lower leg of the lying person. The thigh cradle can be bent with respect to the thigh cradle, and with the thigh cradle standing up, at least a part of the lower thigh cradle is positioned below the buttocks cradle. It may be configured to be able to.
According to this configuration, when the upper body of the lying person is raised, the legs can be extended to some extent and the legs can be lowered below the waist, so that the burden on the lying person can be eased.

  Further, the bed may include a movable foot cradle that receives the foot of the lying person with the thigh cradle upright. By supporting the toes with the foot rests, it is possible to give the lying person a sense of stability or security.

  Further, the bed can be tilted up and down with respect to the back receiving base at the first bending part provided between the back receiving part and the shoulder receiving part. The position may be adjustable within a predetermined back bending position adjustment range. Further, the bed can be bent with respect to the thigh cradle with respect to the thigh cradle by a second bent portion provided between the thigh cradle and the crus cradle. The position of the second bent portion may be adjustable within a predetermined knee position adjustment range. The back flexion position adjustment range may be configured to be wider than the knee position adjustment range.

  According to this configuration, the flexion position of the upper body and the flexion position of the knee can be adjusted according to the body size (height, etc.) of the recumbent, so the suitability to the body is high. This also improves the feeling of use of the reclining bed.

  In addition, a bent portion provided between the back receiving base and the shoulder receiving base may be located between the second thoracic vertebra and the seventh thoracic vertebra in the lying thoracic vertebrae. According to this configuration, the upper body cradle can be bent in the vicinity of the back bay portion of the recumbent and support the natural back bay shape of the back while raising the upper body, so I can get up with a good posture.

  Alternatively, the bend provided between the back support and the shoulder support may be located between the 8th and 12th thoracic vertebrae of the thoracic vertebrae of the lying person. According to this configuration, the upper body cradle can be raised at the upper body while the upper body can be raised while flexing at the relatively easy to bend part (the lower part from the pigeon). You can get up in an easy posture.

  In addition, the bed may include a mechanism or an actuator that raises and lowers the shoulder support relative to the back support. By using the actuator, the degree of freedom in controlling the bending angle of the shoulder pedestal relative to the back pedestal is greater than using a mechanical link mechanism.

  The bed also includes a first actuator that raises and lowers the back cradle and a second actuator that tilts the shoulder cradle relative to the back cradle, or movement and shoulder cradle of the back cradle. A link mechanism that links the movement of the table may be provided.

  If the first and second actuators are used, the movements of the back cradle and the shoulder cradle can be individually controlled. If the link mechanism is used, it is possible to link both the back and shoulder supports with a single actuator.

  The bed also includes a first actuator for raising and lowering the back cradle, a thigh cradle that can be tilted to receive the thigh of a lying person, and a second actuator for inverting the thigh cradle. And a link mechanism or a third actuator for linking the motion of the shoulder cradle and the motion of the thigh cradle. Since these three actuators can individually control the movements of the three cradles of the shoulder, back and thighs, it is highly adaptable to the requirements of the lying person.

  The bed may include a speed adjusting device that adjusts the driving speed of the actuator described above. The speed adjustment may be performed, for example, according to a user instruction from a remote controller attached to the bed, or a control program for controlling the actuator is automatically performed according to sensing information from a predetermined sensor. You may go to

  According to this configuration, since the rising / lowering speed of each cradle can be adjusted according to the individual differences and preferences of the lying person, the suitability to various requests of the lying person is high.

  Further, the bed may be provided with an expansion / contraction mechanism that changes a distance between the back receiving part and the shoulder receiving part in accordance with the up / down of at least one of the back receiving part and the shoulder receiving part. According to this configuration, when the upper body cradle is bent, a positional shift between the upper body cradle and the mattress placed thereon is suppressed. Moreover, since the adjustment of the distance between the back cradle and the shoulder cradle and the bending shape (curvature) of the upper body of the lying person can be adjusted, the burden on the body can be reduced.

  In addition, when at least one of the back cradle and the shoulder cradle is in a standing state, the bed immediately changes both the back cradle and the shoulder cradle from the standing state to the horizontal state in response to the release command. An upright release mechanism for transition may be provided. According to this configuration, for example, in an emergency such as a sudden change in the physical condition of the lying person, the reclining bed can be instantaneously changed from the standing state to the horizontal state, and the lying person can be placed in the horizontal state to perform emergency treatment.

  The bed may also include a control device that controls the movement of the shoulder cradle and the back cradle. In response to a control pattern that defines the relative relationship between the operating point of the shoulder cradle and the operating point of the back cradle, and a command that requires the upper body to be tilted, the control device follows the control pattern. And means for raising or lowering one or both of the back cradle.

  According to this configuration, it is possible to execute appropriate upper and lower erections with less burden on the body of the lying person along the control pattern.

  In addition, when one or both of the shoulder cradle and the back cradle is tilted, the control device sets the current operating point of the shoulder cradle and the back cradle as the first operating point on the control pattern. When it reaches | attains, it may further have a means to pause raising / lowering of a shoulder part base and a back part base.

  According to this configuration, for example, by selecting the first operating point as a point corresponding to a desirable posture (for example, the most comfortable posture) for the recumbent, the upside-down motion of the upper body becomes a desirable posture for the recumbent Stops at the moment.

  The control device has means for notifying the user of the arrival of the first operating point when the current operating point of the shoulder cradle and the back cradle has reached the first operating point on the control pattern. Good.

  According to this configuration, by selecting the first operating point as a point corresponding to a desirable posture (for example, the most comfortable posture) for the recumbent, for example, the recumbent reaches the desired posture while the upper body is tilted. Knowing that, you can stop the erection.

  Further, the control device may further include means for controlling the raising / lowering of the thigh cradle when raising at least one of the shoulder cradle and the back cradle. According to this configuration, since the thigh cradle can be raised and lowered in conjunction with the shoulder cradle and back cradle, when the upper body is raised, the lower body support is added to further improve the body posture of the lying person. It can be improved to a comfortable one.

  Further, the control device grasps the bending level in each of the first part and the second part of the body of the lying person based on the current operation points of the back part, the shoulder part, and the thigh part. When the at least one of the means, the back cradle, the shoulder cradle, and the thigh cradle is raised, the respective flexion levels of the first part and the second part of the body of the recumbent are set to their respective predetermined upper limits. Means for controlling at least one of the operating points of the back, shoulder and thigh cradle may be included so as not to exceed the value.

  According to this configuration, the degree of bending of the lying person's body can be carefully controlled, and the load on the lying person's body can be appropriately limited.

  In addition, the control device responds to a command to increase / decrease at least one raising / lowering speed of the back receiving part, the shoulder receiving part, and the thigh receiving part, and the back receiving part, the shoulder receiving part, and the thigh receiving part. There may be provided means for increasing or decreasing at least one raising / lowering speed. According to this configuration, it is possible to adapt to the speed request of the lying person.

  In addition, the control device has means for promptly shifting all of the back, shoulder and thigh cradles from the current operating point to the horizontal state in response to a command requesting the standing release. You can do it. According to this configuration, in the event of an emergency such as a sudden change in the physical condition of the lying person, it is easy to take emergency measures by immediately leveling the bed.

  Further, in a reclining bed provided with an upper body cradle that can be turned upside down to receive the upper body of the lying person, the upper body cradle receives three or more portions that are different in the height direction of the upper body, and can be bent 3 The upper body part pedestal is provided, and at least one of the bending portions between the three or more upper body part cradles is arranged at a position corresponding to at least one position between the second thoracic vertebra and the twelfth thoracic vertebra. May be. According to this configuration, since the bent portion of the upper body receiving portion increases, the upper body receiving stand can be bent more finely into a shape that matches the body of the lying person.

  Further, the upper body cradle may be configured by a flexible material or a mechanism that changes its shape flexibly. According to this configuration, the upper body cradle can be bent into a shape that matches the body of the lying person.

  And according to the reclining type bed concerning one embodiment of the present invention, the burden on the body of a lying person when raising the upper body of the lying person can be eased.

The top view which shows the reclining type bed which concerns on 1st Embodiment Plan view (a) and side sectional view (b) showing the back bending position adjusting mechanism Plan view (a) and side sectional view (b) showing the knee position adjustment mechanism Explanatory drawing showing the lying state of the reclining bed Explanatory drawing showing the standing state of the reclining bed Explanatory drawing which shows the reclining type bed which concerns on 2nd Embodiment. Operation explanation diagram Explanatory drawing which shows an example of the raising / lowering mechanism of a back part receiving part and a shoulder part receiving part Explanatory drawing which shows an example of the raising / lowering mechanism of a back part receiving part and a shoulder part receiving part Explanatory drawing which shows an example of the raising / lowering mechanism of a back part receiving part and a shoulder part receiving part Explanatory drawing which shows an example of the raising / lowering mechanism of a back part receiving part and a shoulder part receiving part Explanatory drawing of the raising mechanism of the back receiving part and shoulder receiving part concerning other modifications Explanatory drawing of the raising mechanism of the back receiving part and shoulder receiving part concerning other modifications Explanatory drawing of the link mechanism that linked the shoulder cradle and thigh cradle Explanatory drawing of the link mechanism that linked the shoulder cradle and thigh cradle Explanatory drawing of the link mechanism that linked the thigh cradle and shoulder cradle Explanatory drawing of the link mechanism that linked the thigh cradle and shoulder cradle Explanatory drawing of telescopic mechanism Explanatory drawing of telescopic mechanism Explanatory drawing of telescopic mechanism Explanatory drawing of the expansion-contraction mechanism concerning another modification Explanatory drawing of the expansion-contraction mechanism concerning another modification Explanatory diagram of the position of the body part of the reclining bed and the body of the user lying on the reclining bed Schematic diagram explaining the definition of the angle of each cradle of the reclining bed Flow chart of reclining bed back-up operation control Explanatory drawing of an example of the movement of the back part, shoulder part and thigh part over time The figure which shows the temporal relationship between the angle of the back cradle and the angle of the shoulder cradle Flow chart of operation control of thigh cradle of reclining bed Flow chart of back raising operation control according to another example Explanatory drawing of another example of the movement of the back part, shoulder part and thigh part over time Figure of relationship between the angle of the back cradle, the shoulder cradle and the thigh cradle over time Flowchart control flowchart Schematic diagram explaining the definition of the reclining bed angle for the lying person Flow chart of body load limit control Flow chart of body load restriction control according to another example Flow chart of cradle moving speed adjustment control Flow chart of lift release control It is a figure explaining the base of the reclining type bed concerning other examples. It is a figure explaining the base of the reclining type bed concerning other examples.

  Below, the structure concerning some embodiment of the reclining type bed concerning the present invention is explained, referring to drawings.

[First embodiment]
As shown in FIG. 1, the reclining bed 1 is provided with a cradle 3 that supports the body of a lying person on an upper part of a base 2 that is elongated in the longitudinal direction in a front view. Here, for the sake of convenience, the description will be made with the foot side of the person lying on the reclining bed 1 as the front side and the head side as the rear side.

  The cradle 3 mainly receives the load on the butt of the lying person (supports the butt of the lying person from below) and mainly receives the load on the upper body of the lying person (above the butt). Upper body cradle 5 (supports the upper body of the recumbent from below) and lower body cradle for receiving the load of the lower body of the recumbent (lower side of the buttocks) (supports the lower body of the recumbent from below) 6 and.

  The butt support 4 is fixed to a substantially central portion of the base 2, and a net 8 knitted with metal wires is attached to a frame 7 having a rectangular frame shape.

  The upper body cradle 5 is raised relative to the base 2 and the butt cradle 4 by pivotally attaching the front end to the rear side of the base 2 (the rear side of the butt cradle 4). It is provided so that it can be defeated.

  The upper body cradle 5 receives a load on the back (spine) below the shoulder (shoulder blade) of the lying person (supports the back (backbone) below the shoulder (shoulder blade) of the lying person from below. ) And a shoulder for receiving the upper shoulder and head load from the shoulder (shoulder blade) of the lying person (supporting the upper shoulder and head from the shoulder of the lying person (shoulder blade) from below) A back receiving position adjusting mechanism 11 is interposed between the back receiving base 9 and the shoulder receiving base 10. The shoulder cradle 10 is clearly different from the conventional headrest that receives only the head in that it not only receives the head of the lying person but also the shoulder (scapula).

  The back receiving base 9 has a net 13 knitted with a metal wire attached to a frame 12 having a rectangular frame shape. The back receiving base 9 has a front end portion of the frame 12 attached to the base 2 so as to be rotatable up and down via a pivoting portion 14 having a rotating shaft. A plurality of penetrating mounting holes 15 for mounting the back bending position adjusting mechanism 11 are formed in the left and right rear portions of the frame 12 with a space therebetween in the front-rear direction.

  The shoulder cradle 10 has a net 17 knitted with a metal wire attached to a frame 16 having a rectangular frame shape. The shoulder cradle 10 is provided so that it can be tilted with respect to the back cradle 9 by connecting the front end to the rear end of the back cradle 9 via a back bending position adjusting mechanism 11 so as to be pivotable up and down. It has been. A plurality of penetrating mounting holes 18 for mounting the back bending position adjusting mechanism 11 are formed in the left and right front portions of the frame 16 with an interval in the front-rear direction.

  As shown in FIG. 2, the back bending position adjusting mechanism 11 has a pair of hinges 19, 19 attached to the left and right sides of the back receiving base 9 and the shoulder receiving base 10. Each hinge 19 connects front and rear connecting bodies 20 and 21 with a rotary shaft 22 so as to be rotatable up and down. The connecting bodies 20 and 21 have a U-shaped cross section and extend back and forth, and a connecting pin 23 is mounted in a connecting hole penetrating vertically. Further, two auxiliary bodies 24, 24 extending left and right are attached to the left and right connecting bodies 20, 21. The auxiliary body 24 is connected to the back receiving base 9 and the shoulder receiving base 10 by a connecting belt 25.

  The back bending position adjusting mechanism 11 attaches the front connecting body 20 to the rear part of the back receiving base 9 and attaches the rear connecting body 21 to the front part of the shoulder receiving base 10. The front end portion of the shoulder cradle 10 can be attached to the rear end portion so that it can be tilted about the rotation shaft 22.

  The back bending position adjusting mechanism 11 is attached to the front connecting body 20 and the back receiving base 9 according to the body of the recumbent (especially the position of the shoulder) (the position of the mounting hole 15 connected by the connecting pin 23). Further, the position of the rotary shaft 22 in the front-rear direction is changed within a predetermined range (back bending) by changing the mounting position of the connecting body 21 on the rear side and the shoulder receiving base 10 (the position of the mounting hole 18 connected by the connecting pin 23). The position can be adjusted within the position adjustment range L1).

  As shown in FIG. 1, the lower body cradle 6 has a base 2 and a butt receiving portion that are pivotally attached to the front side of the base 2 (the front side of the butt receiving base 4) so that the rear end can be pivoted up and down. It is provided so that it can be raised and lowered with respect to the table 4.

  The lower body cradle 6 receives a load on the lying person's thigh (supports the lying person's thigh from below) and receives a load on the lying person's lower leg (lower the lying person's lower leg). The knee position adjusting mechanism 28 is interposed between the thigh receiving base 26 and the lower leg receiving base 27. At the front end of the crus support 27, a foot support 29 for receiving the sole (supporting the sole from below) is provided.

  The thigh cradle 26 has a net 31 knitted with a metal wire attached to a rectangular frame 30. The thigh pedestal 26 has a rear end portion of the frame 30 attached to the base 2 so as to be pivotable up and down via a pivoting portion 32 having a rotation shaft. A plurality of penetrating mounting holes 33 for mounting the knee position adjusting mechanism 28 are formed in the left and right front portions of the frame 30 at intervals in the front-rear direction.

  The lower leg support 27 has a net 35 knitted with a metal wire attached to a rectangular frame 34. The crus cradle 27 is bent with respect to the thigh cradle 26 by connecting the rear end thereof to the front end of the thigh cradle 26 via a knee position adjusting mechanism 28 so as to be rotatable up and down. It is provided freely.

  Further, the lower leg support 27 is supported from below by a support 36 provided on the base 2 in the middle of the frame 34 (see FIG. 3). Thereby, the lower leg support 27 is bent downward with respect to the upper leg 26 by raising the upper leg 26, and at that time, the front end of the lower leg 27 The part is positioned below the upper surface of the bottom receiving base 4. A plurality of penetrating mounting holes 37 for mounting the knee position adjusting mechanism 28 are formed in the left and right rear portions of the frame 34 with a space therebetween in the front-rear direction.

  As shown in FIG. 3, the knee position adjusting mechanism 28 has a pair of hinges 38, 38 attached to the left and right sides of the thigh cradle 26 and the crus cradle 27. Each hinge 38 connects the front and rear connecting bodies 39 and 40 with a rotary shaft 41 so as to be rotatable up and down. The connecting bodies 39 and 40 have a U-shaped cross section and extend back and forth, and a connecting pin 42 is attached to a connecting hole penetrating vertically. In addition, one auxiliary body 43 extending to the left and right is attached to the left and right connecting bodies 39 and 40. The auxiliary body 43 is connected to the thigh receiving base 26 and the crus receiving base 27 by a connecting belt 44.

  The knee position adjusting mechanism 28 attaches the rear connecting body 40 to the front part of the thigh cradle 26 and attaches the front connecting body 39 to the rear part of the crus base cradle 27, The rear end of the crus support 27 can be attached to the front end of the support 26 so as to be able to be tilted about the rotation shaft 41.

  Then, the knee position adjusting mechanism 28 is attached to the rear connecting body 40 and the thigh receiving base 26 according to the body of the lying person (particularly the position of the knee) (the mounting hole 33 connected by the connecting pin 42). Position) and the attachment position of the front connection body 39 and the crus support 27 (position of the mounting hole 37 connected by the connection pin 42), the position in the front-rear direction of the rotating shaft 41 is changed within a predetermined range ( It can be adjusted within the knee position adjustment range L2).

  It should be noted that the back flexion position adjustment range L1 and the knee position adjustment range L2 may have the same width (length), and the knee position adjustment range L2 may be wider. The range L1 is made wider than the knee position adjustment range L2. In the reclining bed 1, since the shoulder support 10 for receiving the shoulder of the lying person is provided on the upper body receiving base 5, when the upper body receiving base 5 and the lower half receiving base 6 are raised, While there is a gap (margin) between the knee position adjusting mechanism 28 and the knee position adjusting mechanism 28, there is no gap (margin) between the shoulder of the lying person and the shoulder receiving base 10. Therefore, it is possible to flexibly correspond to the position of the lying person's shoulder by widening the back bending position adjustment range L1.

  As shown in FIG. 1, the foot support 29 has a net 46 knitted with metal wires attached to a rectangular frame 45. The sole support 29 has a rear end portion of the frame 45 attached to a front end portion of the lower leg support 27 via a pivot portion 47 having a rotation shaft so as to be rotatable up and down. The sole support 29 is connected to the crus support 27, but is not limited thereto, and is provided to be movable to the base 2 separately from the crus support 27. It may be done.

  The cradle 3 is configured as described above. As shown in FIG. 4, each of the back cradle 9, the shoulder cradle 10, the thigh cradle 26, and the foot cradle 29 includes Drive mechanisms 48 to 51 for raising or lowering the cradle are connected. These drive mechanisms 48 to 51 are driven and controlled by the control device 52. Here, each of the cradles 9, 10, 26, and 29 is provided with independent drive mechanisms 48 to 51. However, the present invention is not limited to this, and one or a plurality of drive mechanisms and interlocking mechanisms are connected. All of the cradles 9, 10, 26, 29 may be driven in conjunction with one or a plurality of driving mechanisms.

  As shown in FIG. 4, the reclining bed 1 has the cradle 3 in a state where the back cradle 9, the shoulder cradle 10, the thigh cradle 26, and the foot cradle 29 are lying down horizontally. The upper surface of the horizontal surface becomes a horizontal surface, and the lying person is in a lying posture through the mattress 53 in the upper part of the cradle 3.

  Thereafter, as shown in FIG. 5, the reclining bed 1 erects the back receiving base 9 with respect to the base 2 (butt receiving base 4) and also stands the shoulder receiving base 10 with respect to the back receiving base 9. If you do this, the upper body of the recumbent will be awakened, and the head will also be awakened from the shoulder of the recumbent. Thus, in the reclining bed 1, the shoulder cradle 10 that receives the shoulder of the recumbent is provided so that the shoulder cradle 10 can be tilted, so that the shoulder and the head of the recumbent can be raised by raising the shoulder cradle 10. You can wake up together. As a result, the reclining bed 1 can reduce the burden on the neck and throat of the lying person in the state where the upper body of the lying person is raised, and also reduces the burden on the body for the lying person on the back. can do.

  In addition, as shown in FIG. 5, when the thigh cradle 26 is erected with respect to the base 2 (butt base 4), the reclining bed 1 has a lower leg with respect to the thigh cradle 26. The seat 27 is bent downward, the recumbent's thigh is raised upward, the lower leg is tilted downward, and the recumbent's knee is bent. it can. At that time, in the reclining bed 1, the front end portion of the lower leg support 27 is inclined downward from the upper surface of the buttocks support 4, so that the upper body of the lying person is raised In addition, the lower leg part of the lying person can be satisfactorily extended without placing a burden on the knee until the toe (heel) is positioned below the waist.

  Further, as shown in FIG. 5, when the reclining bed 1 raises the sole receiving base 29 with respect to the crus receiving base 27, the sole receiving base 29 moves to the sole of the lying person, The sole of the recumbent can be supported by the cradle 29. As a result, the reclining bed 1 can support the toes by the foot support 29 when the upper body of the recumbent is raised and the toes (heels) are extended downward from the waist. A feeling of feeling and stability can be given.

  As described above, the reclining bed 1 is provided with the upper body receiving base 5 for receiving the upper body of the lying person so that it can be tilted with respect to the base 2, and the upper body receiving base 5 is located below the shoulder of the lying person. It is divided into a back receiving base 9 that receives the side and a shoulder receiving base 10 that receives the upper side from the shoulder of the lying person, and the shoulder receiving base 10 can be tilted with respect to the back receiving base 9. .

  Therefore, in the reclining bed 1 having the above-described configuration, the shoulder cradle 10 can be raised to raise the shoulder and the head of the recumbent, and to the recumbent's neck and throat when the recumbent's upper body is raised. It can reduce the burden on the body and also reduce the burden on the body lying on the back of the circle, so you can raise the upper body of the lying person to a relaxed posture, and the reclining bed 1 feeling of use can be improved.

  Further, the reclining bed 1 allows the shoulder cradle 10 to be tilted with respect to the back cradle 9 around a rotating shaft 22 provided between the back cradle 9 and the shoulder cradle 10. The position of the rotating shaft 22 is configured to be adjustable.

  Therefore, in the reclining bed 1 having the above configuration, the back bending position can be adjusted according to the body (height, etc.) of the lying person, so that the feeling of use of the reclining bed 1 can be further improved.

  In addition, the reclining bed 1 fixes the butt support 4 that receives the butt of the recumbent to the base 2 and also tilts the thigh support 26 that receives the thigh of the recumbent relative to the base 2. In a state where the lower leg support 27 for receiving the lower leg of the recumbent is provided flexibly with respect to the thigh support 26 and the thigh support 26 is erected with respect to the base 2, The lower leg support 27 is configured to bend downward relative to the buttocks receiver 4.

  Therefore, in the reclining bed 1 configured as described above, when the upper body of the lying person is raised, the toes (heels) can be extended to the lower side than the waist, and the burden on the lying person can be further reduced. The feeling of use of the reclining bed 1 can be further improved.

  In addition, the reclining bed 1 can move the sole support 29 for receiving the sole of the lying person with respect to the base 2 in a state where the thigh support 26 is raised with respect to the base 2. The configuration is provided.

  Therefore, in the reclining bed 1 configured as described above, when the upper body of the lying person is raised and the toes are extended downward from the waist, the toes can be supported by the foot support 29 so that a sense of security and stability can be achieved. This can also improve the feeling of use of the reclining bed 1.

  Further, in the reclining bed 1, the shoulder support 10 can be tilted with respect to the back support 9 around the rotation shaft 22 provided between the back support 9 and the shoulder support 10. The position of the rotary shaft 22 can be adjusted within a predetermined range (back bending position adjustment range L1), and the rotary shaft 41 provided between the thigh receiving base 26 and the crus receiving base 27 is centered. The lower leg support 27 can be bent with respect to the thigh support 26, the position of the rotary shaft 41 can be adjusted within a predetermined range (knee position adjustment range L2), and the back flexion position adjustment range L1 is set to the knee position. The configuration is wider than the adjustment range L2.

  Therefore, in the reclining bed 1 having the above-described configuration, the back bending position and the knee position can be adjusted according to the body (extension, etc.) of the lying person, thereby improving the feeling of use of the reclining bed 1. be able to.

[Second Embodiment]
The reclining bed 1 according to the first embodiment includes the sole cradle 29 that receives the sole of the lying person. However, in the present invention, the sole cradle 29 is not an essential component. 7 and the reclining bed 54 shown in FIG. 7, the upper body receiving base 5 including the bottom receiving base 4, the back receiving base 9 and the shoulder receiving base 10, the thigh receiving base 26 and the lower leg. It can also be comprised with the lower body receiving stand 6 comprised with the part receiving stand 27. FIG. Note that in the reclining bed 54 according to the second embodiment, the same components as those of the reclining bed 1 according to the first embodiment are denoted by the same reference numerals, and description thereof is omitted.

  In the reclining bed 54, as will be described below, the cradles 9, 10, 26, and 27 are caused to rise and fall in conjunction with each other by the control device 52. Here, each of the cradles 9, 10, and 26 is provided with independent drive mechanisms 48 to 50. However, the present invention is not limited to this, and one or a plurality of drive mechanisms and one interlocking mechanism are connected. Or you may make it drive all the cradles 9, 10, 26, and 27 in response to a some drive mechanism.

  First, as shown in FIG. 7 (a), the reclining bed 54, as shown in FIG. 7A, has a shoulder cradle 10, a back cradle 9, a buttocks cradle 4, a thigh cradle 26, and a crus base. The table 27 is in a state where it is lying down horizontally.

Thereafter, as shown in FIG. 7B, the reclining bed 54 drives the drive mechanism 48 so that only the shoulder pedestal 10 is raised from the horizontal state to a predetermined inclination angle. Thereby, a shoulder person's shoulder and head can be raised by the shoulder support 10.

  Thereafter, as shown in FIG. 7C, the reclining bed 54 is configured so that the control device 52 drives the driving mechanisms 48 to 50 so that the shoulder receiving base 10 has a predetermined inclination angle with respect to the back receiving base 9. The back support 9 is raised from the horizontal state to a predetermined inclination angle, and the thigh support 26 is also raised from the horizontal state to the predetermined inclination angle. The crus support 27 stands together with the thigh cradle 26. As a result, the upper body and lower body of the recumbent can be raised in conjunction.

  Thereafter, as shown in FIG. 7 (d), the reclining bed 54 is configured so that the control device 52 drives the drive mechanisms 48 to 50 so that the shoulder receiving base 10 has a predetermined inclination angle with respect to the back receiving base 9. The back support 9 is continued to stand up to a predetermined inclination angle with respect to the buttocks support 4, and the thigh support 26 is laid down in a horizontal state. . Thereby, the upper body can be raised without placing a burden (pressure) on the abdomen of the lying person.

  In addition, as shown in FIG.7 (d), the reclining type bed 54 makes the back part base 9 and predetermined | prescribed inclination | tilt angle with respect to the bottom part base 4 because the control apparatus 52 drives the drive mechanisms 48-50. The shoulder pedestal 10 is laid down in a direction that is horizontal with respect to the back pedestal 9, and the thigh cradle 26 is laid down in a direction that becomes horizontal. As a result, the upper body can be raised without placing a burden (pressure) on the neck or abdomen of the lying person.

  Note that the reclining bed 54 can perform an operation opposite to the above operation from the standing state illustrated in FIG. 7E toward the horizontal state illustrated in FIG.

  As described above, the reclining bed 54 has the control device 52 connected to the drive mechanisms 48 and 49 for raising and lowering the back receiving base 9 and the shoulder receiving base 10, respectively. After the stand 10 is raised from the horizontal state to a predetermined angle, the back receiving base 9 is controlled to stand up from the horizontal state.

  Therefore, in the reclining bed 54 having the above-described configuration, the burden on the upper body of the lying person can be reduced when the shoulder cradle 10 is erected, and the feeling of use of the reclining bed 54 can be further improved. it can.

  In addition, the reclining bed is configured to control the shoulder receiving base 10 so as to fall on the back receiving base 9 after the back receiving base 9 stands up to a predetermined angle by the control device 52. .

  Therefore, in the reclining bed 54 having the above-described configuration, it is possible to reduce the burden on the neck and abdomen of the lying person when the shoulder cradle 10 is erected, thereby further improving the feeling of use of the reclining bed 54. be able to.

[Elevating mechanism]
Next, an example of an elevating mechanism for raising and lowering the back receiving base 9 and the shoulder receiving base 10 in the reclining bed 54 according to the second embodiment described above will be described.
In addition, an example of the raising / lowering mechanism demonstrated below is applicable not only to 2nd Embodiment but the reclining type bed 1 concerning 1st Embodiment mentioned above suitably.
8-11 is a figure explaining an example of the raising / lowering mechanism of the back part base 9 and the shoulder part base 10. FIG.

As shown in FIG. 8, a link mechanism 100 (elevating mechanism) is provided on the base 2 side of the back receiving base 9 and the shoulder receiving base 10 of the reclining type bed 54.
The link mechanism 100 includes a first connecting member 101, a rotating bracket 102, and a second connecting member 103.

  One end side of the first connecting member 101 is rotatably connected to the back receiving base 9 via another link mechanism, and the other end side is rotatably connected to the rotating bracket 102.

  The rotating bracket 102 is provided so as to be rotatable about a rotating shaft 102a, and one end side of the second connecting member 103 is rotatably connected to the rotating bracket 102.

  The other end side of the second connecting member 103 is rotatably connected to the shoulder receiving base 10 via an attachment member.

  Accordingly, as the back receiving base 9 is raised by the actuator, the first connecting member 101 is pulled in the arrow A1 direction. Then, the rotary bracket 102 rotates in the arrow A2 direction around the rotation shaft 102a, and the rotation of the rotary bracket 102 pushes the second connecting member 103 in the arrow A3 direction.

  The shoulder cradle 10 is pushed up by the second connecting member 103 and rotates clockwise around the rotation shaft 104 provided between the shoulder cradle 10 and the back cradle 9. As a result, the shoulder cradle 10 rises as the back cradle 9 rises.

  On the other hand, as shown in FIG. 10, when the angle of the back receiving base 9 with respect to the buttocks receiving base 4 (base 2) exceeds a predetermined angle (an angle θ2 described later), the moving direction of the second connecting member 103 is opposite. (Arrow A4), and the shoulder cradle 10 begins to descend in the opposite direction to the ascending direction. When the angle of the back receiving base 9 becomes the upper limit angle θx, the angle φ of the shoulder receiving base 10 with respect to the back receiving base 9 becomes 0 (zero) (see FIG. 11).

  Here, as an example, the predetermined angle θ2 of the back receiving base 9 with respect to the buttocks receiving base 4 is 50 degrees, and the upper limit angle θx of the back receiving base 9 is 70 degrees.

  In the above-described embodiment, the case where the shoulder cradle 10 is raised by linking to the rise of the back cradle 9 using the link mechanism 100 provided between the back cradle 9 and the shoulder cradle 10 is illustrated. However, the present invention is not limited to this.

  For example, as shown in FIGS. 12 to 13, an actuator 110 may be provided between the back receiving base 9 and the shoulder receiving base 10 instead of the link mechanism 100.

FIG.12 and FIG.13 is a figure explaining the raising mechanism of the back part base 9 and the shoulder part base 10 concerning another modification.
As shown in FIG. 12, one end of the actuator 110 is fixed to the back receiving base 9 via the mounting member, and the other end is fixed to the shoulder receiving base 10 via the mounting member.

  Therefore, as shown in FIG. 13, when the actuator 110 extends in the direction of the arrow B <b> 1, the shoulder cradle 10 pushed up by one end of the actuator 110 rotates around the rotation shaft 104 and rises. Therefore, since the raising / lowering of the shoulder cradle 10 can be controlled by the actuator 110, it can be raised / lowered not only in conjunction with the operation of the back cradle 9 but also in a manner not linked to the operation of the back cradle 9.

  Next, a link mechanism 200 (elevating mechanism) in which the movement of the thigh cradle 26 is interlocked with the movement of the shoulder cradle 10 will be described.

  14 and 15 are diagrams for explaining the link mechanism 200 in which the movement of the thigh cradle 26 is interlocked with the movement of the shoulder cradle 10.

  As shown in FIG. 14, the link mechanism 200 (elevating mechanism) includes a third connecting member 201, a rotating arm 202, and a roller 203.

  One end of the third connecting member 201 is connected to the shoulder receiving base 10 via an attachment member, and the other end is connected to one end side of the rotating arm 202.

  A rotation roller 203 is rotatably provided on the other end side of the rotation arm 202.

  As shown in FIG. 15, as described in the above-described modification, an actuator 110 is provided between the back receiving base 9 and the shoulder receiving base 10, and the shoulder receiving base 10 is provided by the actuator 110. To raise. Then, when the third connecting member 201 is pulled in the direction of the arrow C1, the rotating arm 202 rotates counterclockwise (around the arrow C2) of the rotating shaft 202a. As a result, the thigh cradle 26 is pushed up by the roller 203 and rises.

  In this way, by providing the link mechanism 200 in the reclining bed 54, the thigh cradle 26 can be raised in conjunction with the rise of the shoulder cradle 10, and the shoulder cradle can be achieved with a simple link mechanism. 10 and the thigh cradle 26 can be reliably linked.

  Next, a link mechanism 300 (elevating mechanism) in which the movement of the shoulder cradle 10 is interlocked with the movement of the thigh cradle 26 will be described.

  FIGS. 16 and 17 are diagrams illustrating a link mechanism 300 in which the movement of the shoulder support 10 is linked to the movement of the thigh support 26.

  As shown in FIG. 16, the link mechanism 300 includes a rotating bracket 301, a rotating roller 302, a fourth connecting member 303, and an actuator 120.

  The rotation bracket 301 is provided to be rotatable counterclockwise about the rotation shaft 301a, and a roller 302 is rotatably provided on one end side of the rotation bracket 301.

  One end side of the fourth connecting member 303 is connected to the other end side of the rotating bracket 301, and the other end side of the fourth connecting member 303 is connected to the shoulder receiving base 10 via an attachment member.

  One end side of the actuator 120 is fixed to the base 2, and the other end side that is extendable is connected to the rotating bracket 301.

  Accordingly, as shown in FIG. 17, when the actuator 120 is extended in the direction of the arrow D1 and the rotating bracket 301 is rotated counterclockwise (around the arrow D2) of the rotating shaft 301a, a roller 302 provided on the rotating bracket 301 is provided. Pushes up the thigh cradle 26.

  And the 4th connection member 303 connected with the rotation bracket 301 moves to the arrow D3 direction, and pushes up the shoulder part base 10.

  Therefore, the link mechanism 300 can raise the shoulder cradle 10 in conjunction with the rise of the thigh cradle 26, and the interlocked operation of the shoulder cradle 10 and the thigh cradle 26 Recumbent can rise and fall with a more comfortable posture.

Next, the expansion / contraction mechanism 400 that expands / contracts between the back receiving base 9 and the shoulder receiving base 10 will be described.
18-20 is a figure explaining the expansion-contraction mechanism 400. FIG.

  As shown in FIG. 18, the expansion / contraction mechanism 400 includes a connecting member 410, a pin 420, and a pin 421.

  In the connecting member 410, a pair of mounting plates 411 and 412 are connected to each other so as to be rotatable relative to each other by the rotating portions 411a and 412a.

  Each mounting plate 411, 412 is provided with mounting holes 411b, 412b, and pins 420, 421 are inserted into the mounting holes 411b, 412b.

  In a state where the mounting plate 411 is combined with the back receiving base 9, the pin 420 is inserted into the pin hole 9a of the back receiving base 9 and connected to the back receiving base 9, and the mounting plate 412 is connected to the shoulder receiving base. 10, the pin 421 is inserted into the elongated hole 10 a of the shoulder cradle 10 and connected to the shoulder cradle 10.

  Since the long hole 10a into which the pin 421 is inserted is formed to be long in the longitudinal direction (the height direction of the lying person), the pin 421 is movable in the longitudinal direction of the long hole 10a.

  Therefore, as shown in FIG. 19, when the back receiving base 9 is raised by an actuator (not shown) or the like, the fifth connecting member 404 is pulled in the direction of the arrow E <b> 1 and at one end side of the fifth connecting member 404. The connected rotation bracket 405 rotates around the arrow E2.

  As a result, the sixth connecting member 406 connected to the other end of the rotating bracket 405 is pushed up in the direction of arrow E3. Then, by the sixth connecting member 406, the shoulder cradle 10 is raised, and the position of the pin 421 inserted into the long hole 10 a of the shoulder cradle 10 moves within the long hole 10 a, so that the back cradle 9 On the other hand, the shoulder support 10 moves to a position separated in the longitudinal direction (see FIG. 20). In the example shown in FIGS. 18 to 20, the distance of the shoulder cradle 10 relative to the back cradle 9 extends from L3 to L4.

  In this way, the distance between the back receiving base 9 and the shoulder receiving base 10 changes in conjunction with the rising (lowering) of the back receiving base 9 or the shoulder receiving base 10, so that the back receiving base 9 and the shoulder receiving base 10 change. The optimal positional relationship of the platform 10 is appropriately adjusted to the posture change of the upper body (especially in the range from the second thoracic vertebra to the twelfth thoracic vertebra) while the recumbent is in the standing state (or in the standing state to the horizontal state). be able to.

  In addition, the above-described telescopic mechanism 400 is not only between the back cradle 9 and the shoulder cradle 10 but also between other cradles such as between the thigh cradle 26 and the crus cradle 27. Can also be provided.

  By providing such a telescopic mechanism 400 between the cradles, the length of the cradle 3 can be easily changed without changing the base 2. Therefore, it is not necessary to prepare a plurality of reclining beds 1 according to the height of the lying person, and it is possible to save the installation space and reduce the installation / equipment cost.

Next, an expansion / contraction mechanism 500 that expands / contracts between the back receiving base 9 and the shoulder receiving base 10 will be described.
FIG. 21 and FIG. 22 are diagrams for explaining the telescopic mechanism 500.

  As shown in FIG. 21, the telescopic mechanism 500 includes a first link member 501 and a second link member 502.

  One end 501 a side of the first link member 501 is rotatably connected to the back receiving base 9, and the other end 501 b side is rotatably connected to one end side of the shoulder receiving base 10.

  The one end 502 a side of the second link member 502 is also rotatably connected to the back receiving base 9, and the other end 502 b side is also rotatably connected to one end side of the shoulder receiving base 10. ing.

  Here, the first link member 501 and the second link member 502 are provided in parallel to each other, and the first link member 501 is set to have a longer length than the second link member 502. Yes.

  Therefore, as shown in FIG. 22, when the shoulder cradle 10 is lifted by an actuator (for example, the actuator 110 described above) or a link mechanism (for example, the link mechanism 200 described above), the shoulder cradle 10 is lifted. The first link member 501 and the second link member 502 rotate.

  In the embodiment, since the first link member 501 and the second link member 502 rotate counterclockwise, the shoulder cradle 10 corresponds to the length of the first link member 501 and the second link member 502. However, it is separated from the back receiving base 9 by a predetermined distance.

  When the shoulder cradle 10 is not raised, the distance between the back cradle 9 and the shoulder cradle 10 is L5 (see FIG. 21), whereas the shoulder cradle 10 is raised. The distance between the back receiving base 9 and the shoulder receiving base 10 is a distance L6 (see FIG. 22) that is larger than the distance L5.

  Thus, the length between each receiving part can be adjusted with a simple mechanism using two link members having different lengths.

[Control method of reclining bed]
Next, an example of a control method for the reclining bed according to the second embodiment described above will be described.

  Note that the reclining bed control method according to the second embodiment is also suitable for application to the reclining bed control method of the first embodiment described above.

FIG. 23 is a diagram for explaining the positional relationship between a reclining bed and a body part of a user lying on the reclining bed.
FIG. 24 is a schematic diagram illustrating the definition of the angle of each cradle of the reclining bed.

  As shown in FIG. 23, when the lying person 900 lies on the reclining bed 54, the rotation axis 22 (bent part) between the back receiving base 9 and the shoulder receiving base 10 is the second spine row of the lying person. The length and position of the back support 9 and the shoulder support 10 in the reclining bed are set so as to be located between the thoracic vertebra and the seventh thoracic vertebra (the hatched area 910 in the figure).

  Here, when the lying person 900 lies on the reclining bed 54, the rotation axis 22 (bending part) between the back receiving base 9 and the shoulder receiving base 10 is the 12th from the eighth thoracic vertebra of the lying down spine row. It is also preferable that the length and position of the back receiving base 9 and the shoulder receiving base 10 in the reclining bed are set so as to be located between the thoracic vertebrae (the hatched area 920 in the figure).

  As shown in FIG. 24, in the reclining bed 54 according to the second embodiment, the bottom receiving base 4 is provided in parallel to the base 2, and the base 2 is provided in parallel to the horizontal plane. ing. Therefore, the butt support 4 is parallel to the horizontal plane.

  In the second embodiment, the angle of the back receiving base 9 with respect to the bottom receiving base 4 (horizontal plane) is θ, the angle of the shoulder receiving base 10 with respect to the back receiving base 9 is φ, and the angle with respect to the bottom receiving base 4 (horizontal plane) is large. The angle of the thigh cradle 26 is η. Further, the angle of the shoulder cradle 10 with respect to the buttocks cradle 4 is α (α = θ + φ: also referred to as a forward tilt prevention angle).

  In the reclining bed 54 described above, each actuator that drives each cradle (the back cradle 9, the shoulder cradle 10, the thigh cradle 26, or the lower leg cradle 27) is driven by an actuator. A clutch mechanism (not shown) that switches between transmission and non-transmission of force is provided.

  In addition, the operating parts of these clutch mechanisms are connected to a common wire (not shown), and by operating this common wire, all the clutch mechanisms provided in each cradle can be turned off simultaneously. Can be in transmission. Various known clutches can be applied to the clutch mechanism.

[Back-up (lowering) operation control]
First, the back raising (lowering) operation control of the reclining bed 54 by the lying person (user) will be described. The back raising operation control of the reclining type bed 54 is performed by raising the shoulder receiving base 10 and the back receiving base 9 with respect to the buttocks receiving base 4 by a predetermined angle.
FIG. 25 is a flowchart for explaining an example of back-up operation control of the reclining bed 54.

  FIG. 26 is a diagram for explaining an example of the temporal movement of the back cradle 9, the shoulder cradle 10 and the thigh cradle 26, and the upper diagram shows the shoulder cradle 10 relative to the back cradle 9. The movement of the angle φ with time, the middle figure shows the movement of the back part 9 with respect to the buttocks 4 over time, and the lower figure shows the thigh holder 26 with respect to the buttocks 4. The movement of the angle η over time is shown.

  FIG. 27 is a diagram showing a temporal relationship between the angle θ of the back receiving base 9 and the angle φ of the shoulder receiving base 10.

  As shown in FIG. 25, in step S101, the operating device (not shown) causes the recumbent to press the back-up button of the operating device (not shown), so that the control device 52 (see FIG. 6) A raise command is output.

  In step S <b> 102, the control device 52 acquires the current angle θ (operating point) of the back receiving base 9 and the current angle φ (operating point) of the shoulder receiving base 10 using the back raising command as a trigger.

  In step S <b> 103, the control device 52 determines whether the current angle θ (operation point) of the back cradle 9 and the current angle φ (operation point) of the shoulder cradle 10 are stored in the control device 52. It is determined whether it is on the control pattern.

Here, the control pattern of each cradle stored in the control device 52 will be described.
The control device 52 has a control pattern for each of the back cradle 9, the shoulder cradle 10 and the thigh cradle 26 (see FIG. 3). The control device 52 controls the operations of the back receiving base 9, the shoulder receiving base 10, and the thigh receiving base 26 based on this control pattern using a back raising command by a lying person as a trigger.

  As shown in the upper diagram of FIG. 26, in the control pattern of the angle φ of the shoulder cradle 10, the angle φ increases with time and reaches the upper limit angle φx at a predetermined time T <b> 1. The constant angle φx is maintained until the time T2.

  The angle φ decreases with the elapse of time after the predetermined time T2, and reaches the minimum angle 0 (zero) when the time Tx is reached.

  In the embodiment, the upper limit angle φx is 20 degrees, and the shoulder cradle 10 bends in the range of 0 degrees to 20 degrees with respect to the back cradle 9.

  26, in the control pattern of the angle θ of the back cradle 9, the angle θ is 0 (zero) until the time Ta when the angle of the shoulder cradle 10 becomes φ1 (for example, 5 degrees). ), And after a time Ta (time at which the angle φ becomes φ1) is exceeded, it gradually increases as time elapses. Then, the back receiving base 9 stops when the upper limit angle θx is reached.

  In the embodiment, the upper limit angle φx is 70 degrees, and the back receiving base 9 bends in the range of 0 degrees to 70 degrees with respect to the base 2 (horizontal plane).

  26, in the control pattern of the angle η of the thigh cradle 26, the angle η gradually increases with time. The angle η becomes the upper limit angle η1 at a predetermined time T3, and thereafter decreases with the passage of time. Then, the angle η becomes 0 (zero) when the maximum time Tx is reached, and the thigh cradle 20 stops.

  In this embodiment, the upper limit angle ηx is 25 degrees, and the thigh cradle 26 is bent in the range of 0 degrees to 25 degrees with respect to the base 2 (horizontal plane).

  Therefore, as shown in FIG. 27, when the relationship between the angle θ of the back receiving base 9 and the angle φ of the shoulder receiving base 10 is seen, when the angle θ of the back receiving base 9 is 0 (zero), the shoulder receiving The angle φ of the table 10 gradually increases to φ1. As the angle θ of the back cradle 9 increases, the angle φ of the shoulder cradle 10 also gradually increases.

  When the angle θ of the back cradle 9 is between θ1 (for example, 30 degrees) and θ2 (for example, 50 degrees), the angle φ of the shoulder cradle 10 is constant at the upper limit angle φx (for example, 20 degrees). When the angle θ of the cradle 9 exceeds θ2, the angle φ of the shoulder cradle 10 gradually decreases, and when the angle θ reaches the upper limit angle θx (for example, 70 degrees), the angle of the shoulder cradle φ is 0 (zero).

  Therefore, returning to FIG. 25, in step S <b> 103 described above, the control device 52 indicates that the acquired angle θ of the back cradle 9 and the angle φ of the shoulder cradle 10 indicate the relationship between the angle θ and the angle φ. The position in the control pattern (see FIG. 27) is determined.

  When the control device 52 determines that the acquired angle θ and angle φ are on the control pattern shown in FIG. 27 (step S103, YES), the control device 52 follows the control pattern in step S104. Then, the angle θ is increased (moved in the right direction in FIG. 26), and the back support 9 and the shoulder support 10 are operated.

In step S105, the control device 52 reaches the angle θ of the back receiving base 9 operated in step S104 of θ2 (for example, 50 degrees) and the angle φ of the shoulder receiving base reaches the upper limit angle φx (for example, 20 degrees). When it determines with having performed, operation | movement of the back part receiving stand 9 and the shoulder part receiving stand 10 is stopped.
The control device 52 notifies the recumbent that the angle θ of the back cradle 9 has reached θ2 and the angle φ of the shoulder cradle 10 has reached the upper limit angle φx, cancels the back raising command, and proceeds to step S101. Return.

  The angle θ2 (for example, 50 degrees) of the back cradle 9 and the upper limit angle φx (for example, 20 degrees) of the shoulder cradle 10 are also referred to as a first operating point, and the back cradle 9 and the shoulder of the reclining bed 54 By moving the receiving base 10 to this first operating point, the most comfortable standing posture can be made for a general lying person.

In step S106, when the controller 52 determines that the angle θ of the back cradle 9 has reached the upper limit angle θx (for example, 70 degrees) and the angle φ of the shoulder cradle 10 has reached 0 (zero), The operations of the base 9 and the shoulder cradle 10 are stopped.
The control device 52 notifies the recumbent that the operation of each pedestal is finished because the angle θ of the back cradle 9 has reached the upper limit angle θx and the angle φ of the shoulder cradle 10 has reached 0 (zero). Then, the back raising command is canceled and the process returns to step S101.

  Here, in step S103, the control device 52 determines that the acquired angle θ of the back cradle 9 and the angle φ of the shoulder cradle 10 are not on the control pattern shown in FIG. 27 (step S103). In step S107, the control device 52 operates the back receiving base 9 and the shoulder receiving base 10 (changing the angle θ and the angle φ) to change the angle θ (operation point) and the angle φ (operation). Point) on the control pattern.

  Thereafter, the process proceeds to step S104, and the control device 52 increases the angle θ (moves in the right direction in FIG. 27) and operates the back receiving base 9 and the shoulder receiving base 10 along the control pattern.

  Next, when the reclining bed is lowered, the operating device (not shown) outputs a back-lowering command to the control device 52 based on the back-lowering operation by the lying person (step S101).

  The control device 52 uses the back-lowering command as a trigger to acquire the angle θ and the angle φ (Step S102), and determines whether the angle θ and the angle φ are on the control pattern shown in FIG. 27 (Step S102). S103).

  Then, the control device 52 operates the back receiving base 9 and the shoulder receiving base 10 by reducing the angle θ (moving leftward in FIG. 27) along the control pattern (step S104). .

  In Step S105, the control device 52 determines that the angle θ of the back cradle 9 has reached θ2 (for example, 50 degrees) and the angle φ of the shoulder cradle 10 has reached the upper limit angle φx (for example, 20 degrees). The operation of the back cradle 9 and the shoulder cradle 10 is stopped. Then, the control device 52 notifies the recumbent that the angle θ of the back cradle 9 has reached θ2 and the angle φ of the shoulder cradle 10 has reached the upper limit angle φx, and cancels the back lowering command and performs a step. Return to S101.

  The control device 52 stops the operations of the back cradle 9 and the shoulder cradle 10 in step S105, and then a lying person or the like keeps pressing the back raising button of the operating device (not shown) for a certain period of time. In this case, the stop is released and the back raising operation is resumed.

  Alternatively, the control device 52 stops the operation when the lying person or the like presses the back raising button of the operation device (not shown) again after stopping the operation of the back receiving base 9 and the shoulder receiving base 10 in step S105. Is released and the back-up operation is resumed.

  In step S106, when the controller 52 determines that the angle θ of the back cradle 9 has reached the upper limit angle θx (for example, 70 degrees) and the angle φ of the shoulder cradle 10 has reached 0 (zero), The operations of the base 9 and the shoulder cradle 10 are stopped. Then, the control device 52 notifies the recumbent that the operation of each pedestal is finished because the angle θ of the back cradle 9 has reached the upper limit angle θx and the angle φ of the shoulder cradle 10 has reached 0 (zero). At the same time, the back raising command is canceled and the process returns to step S101.

  Here, in step S103, the control device 52 determines that the acquired angle θ of the back cradle 9 and the angle φ of the shoulder cradle 10 are not on the control pattern shown in FIG. 27 (step S103). In step S107, the control device 52 operates the back receiving base 9 and the shoulder receiving base 10 (changing the angle θ and the angle φ) to change the angle θ (operation point) and the angle φ (operation). Point) on the control pattern.

  Thereafter, the process proceeds to step S104, and the control device 52 decreases the angle θ (moves leftward in FIG. 27) and operates the back support 9 and the shoulder support 10 along the control pattern.

[Control of thigh cradle]
Next, a case where a lying person (user) raises (lowers) the thigh cradle 26 of the reclining bed 54 by a predetermined angle with respect to the buttocks cradle 4 will be described.
FIG. 28 is a flowchart for explaining an example of operation control of the thigh cradle 26 of the reclining bed 54.

  In step S <b> 201, the operating device (not shown) outputs a back raising command to the control device 52 based on the back raising operation by the lying person.

  In step S202, the control device 52 acquires the current angle η (operating point) of the thigh cradle 26 using the back raising command as a trigger.

  In step S203, the control device 52 determines whether or not the turn-back flag is ON.

  Here, the turn-back flag is a flag that is set (ON) when the angle η of the thigh cradle 26 exceeds the upper limit angle ηx (for example, 25 degrees) as shown in the lower diagram of FIG. . In other words, in the lower diagram of FIG. 26, the left side of the upper limit angle ηx means that the folding flag is not set (turning flag OFF), and the right side means that the folding flag is set (turning flag ON).

  When the turn-back flag is set (ON), the control device 52 determines that the angle η of the thigh cradle 26 gradually increases and exceeds the upper limit angle ηx (for example, 25 degrees). When determining that the turn-back flag is not set (OFF), the control device 52 determines that the angle η of the thigh cradle 26 does not exceed the upper limit angle ηx.

  When it is determined that the turn-back flag is set (ON) (step S203, YES), the control device 52 proceeds to step S204, and the control device 52 determines whether the angle η is 0 (zero). To do.

  When it is determined that the angle η of the thigh cradle 26 is 0 (zero) (step S204, YES), the control device 52 performs the operation of the thigh cradle 26 in step S205. Stop and return to step S201.

  When it is determined that the angle η of the thigh cradle 26 is not 0 (zero) (step S204, NO), the control device 52 causes the thigh to decrease the angle η in step S206. The cradle 26 is operated to return to step S201.

  Here, in step S203, when the control device 52 determines that the turn-back flag is not ON (OFF) (step S203, NO), in step S207, the control device 52 determines the angle of the thigh cradle 26. It is determined whether or not η is an upper limit angle ηx (for example, 25 degrees).

  When it is determined that the angle η is the upper limit angle ηx (step S207, YES), the control device 52 stops the operation of the thigh cradle 26 (step S208) and proceeds to step S209.

  In step S209, the control device 52 sets a turn-back flag (ON) and returns to step S201.

  On the other hand, if it is determined in step 207 that the angle η is not the upper limit angle ηx (NO in step S207), the control device 52 operates the thigh cradle 26 to increase the angle η (step S210). ), The process returns to step S201.

  Next, when lowering the thigh cradle 26 based on the back-lowering command by the lying person (user) (step S201), the control device 52 uses the back-lowering command as a trigger for the thigh cradle 26. After acquiring the current angle η (operating point) (step S202), it is determined whether or not the turn-back flag is OFF (step S203).

  When it is determined that the turn-back flag is not set (OFF) (step S203, YES), the control device 52 determines whether the angle η is 0 (zero) (step S204).

  When it is determined that the angle η of the thigh cradle 26 is 0 (zero) (step S204, YES), the control device 52 stops the operation of the thigh cradle 26 (step S205). Return to S201.

  When it is determined that the angle η of the thigh cradle 26 is not 0 (zero) (step S204, NO), the control device 52 operates the thigh cradle 26 so as to decrease the angle η (step S204). S206), the process returns to step S201.

  Here, in step S203, when the control device 52 determines that the turn-back flag is not OFF (ON) (NO in step S203), whether or not the angle η of the thigh cradle 26 is the upper limit angle ηx. Is determined (step S207).

  When it is determined that the angle η is the upper limit angle ηx (step S207, YES), the control device 52 stops the operation of the thigh cradle 26 (step S208) and proceeds to step S209.

  In step S209, the control device 52 cancels the setting of the turn-back flag (OFF) and returns to step S201.

  On the other hand, if it is determined in step 207 that the angle η is not the upper limit angle ηx (NO in step S207), the control device 52 operates the thigh cradle 26 to increase the angle η (step S210). ), The process returns to step S201.

Next, another example of back-up operation control of the reclining bed 54 will be described.
In the above-described control, the case where the back receiving base 9 and the shoulder receiving base 10 are operated in conjunction with each other has been described as an example. However, the back receiving base 9, the shoulder receiving base 10, and the thigh receiving base 26 are It may be operated in conjunction.

  FIG. 29 is a flowchart of back-up operation control according to another example.

  FIG. 30 is a diagram for explaining another example of the temporal movement of the back cradle 9, the shoulder cradle 10, and the thigh cradle 26, and the upper diagram is a shoulder cradle with respect to the back cradle 9. 10 shows the movement over time of the angle φ, the middle figure shows the movement over time of the angle θ of the shoulder receiving base 10 with respect to the buttocks receiving stage 4, and the lower figure shows the thigh with respect to the butting base 4 The time-dependent movement of the angle η of the cradle 26 is shown.

  FIG. 31 is a diagram showing the temporal relationship between the angle θ of the back cradle 9, the angle φ of the shoulder cradle 10, and the angle η of the thigh cradle 26. The relationship between the angle θ and the angle φ of the shoulder cradle 10 is shown, the lower figure shows the relationship between the angle θ of the back cradle 9 and the angle η of the thigh cradle 26, and the right figure shows the shoulder cradle. The relationship between the angle φ of the table 10 and the angle η of the thigh receiving table 26 is shown.

  As shown in FIG. 29, in step S301, the operating device (not shown) outputs a back raising command to the control device 52 based on a back raising operation by a lying person (user).

  In step S302, the control device 52 uses the back raising command as a trigger, the current angle θ (operation point) of the back cradle 9, the current angle φ (operation point) of the shoulder cradle 10, and the thigh The current angle η (operating point) of the cradle 26 is acquired.

  In step S303, the control device 52 determines that the acquired angle θ of the back cradle 9 and the angle φ of the shoulder cradle 10 indicate the relationship between the angle θ and the angle φ (see the upper diagram of FIG. 31). A control pattern (the lower diagram of FIG. 31) shows the relationship between the angle θ and the angle η, in which the obtained angle θ of the back cradle 9 and the angle η of the thigh cradle 26 are determined. 31), and the acquired angle φ of the shoulder cradle 10 and the angle η of the thigh cradle 26 are control patterns (in FIG. 31) showing the relationship between the angle φ and the angle η. (See the figure on the right) Determine where it is.

  Here, the control pattern according to another example of the back raising operation control is the same as the above-described control pattern except for the control pattern of the angle η of the thigh cradle 26, and therefore, different portions will be mainly described.

  As shown in the lower diagram of FIG. 30, in the control pattern of the angle η of the thigh cradle 26, the angle η increases with time and reaches an upper limit angle ηx (for example, 25 when the predetermined time T1 is reached). The upper limit angle ηx is maintained until a predetermined time T2.

  The angle η decreases with the passage of time after the predetermined time T2, and becomes 0 (zero) when the time Tx is reached.

  Therefore, as shown in the right diagram of FIG. 31, in the control pattern indicating the relationship between the angle φ of the shoulder cradle 10 and the angle η of the thigh cradle 26, the angle η is proportional to the increase in the angle φ. Will also increase.

  Returning to FIG. 29, the control device 52 has the acquired angle θ of the back cradle 9, angle φ of the shoulder cradle 10, and angle η of the thigh cradle 26 on each control pattern. (Step S303, YES), in step S304, the control device 52 increases the angle θ along the control pattern (moves it to the right in FIG. 31), and The shoulder cradle 10 and the thigh cradle 26 are operated.

  In step S305, the control device 52 determines that the angle θ of the back receiving base 9 operated in step S304 is θ2 (for example, 50 degrees), the angle φ of the shoulder receiving base 10 is the upper limit angle φx (for example, 20 degrees), When it is determined that the angle η of the thigh cradle 26 has reached the upper limit angle ηx (for example, 25 degrees), the operations of the back cradle 9, the shoulder cradle 10 and the thigh cradle 26 are stopped.

  The control device 52 confirms that the angle θ of the back cradle 9 has reached θ2, the angle φ of the shoulder cradle 10 has reached the upper limit angle φx, and the angle η of the thigh cradle 26 has reached the upper limit angle ηx. In addition to notifying the person, the back raising command is canceled and the process returns to step S301.

  The angle θ2 (for example, 50 degrees) of the back cradle 9, the upper limit angle φx (for example, 20 degrees) of the shoulder cradle 10, and the angle ηx (for example, 25 degrees) of the thigh cradle 26 are It is also called an operating point, and by moving the back receiving base 9, shoulder receiving base 10 and thigh receiving base 26 of the reclining bed 54 to the first operating point, it is easy to stand up for a general lying person. You can make a posture.

  In step S306, the controller 52 sets the angle θ of the back cradle 9 to the upper limit angle θx, the angle φ of the shoulder cradle 10 to 0 (zero), and the angle η of the thigh cradle 26 to 0 (zero). When it determines with having arrived, operation | movement of the back part base 9, the shoulder part base 10, and the thigh part base 26 is stopped.

  In the control device 52, the angle θ of the back cradle 9 reaches the upper limit angle θx, the angle φ of the shoulder cradle 10 reaches 0 (zero), and the angle η of the thigh cradle 26 reaches 0 (zero). In addition to notifying the lying person that the operation is finished, the back raising command is canceled and the process returns to step S301.

  Here, in step S303, the control device 52 determines that the acquired angle θ of the back cradle 9, the angle φ of the shoulder cradle 10 and the angle η of the thigh cradle 26 are as shown in FIG. When it is determined that the pattern is not on the pattern (step S303, NO), in step S307, the control device 52 operates the back receiving base 9, the shoulder receiving base 10, and the thigh receiving base 26 (angle θ, Each angle θ, φ, η (operating point) is moved onto the control pattern shown in FIG.

  Thereafter, the process proceeds to step S304, and the control device 52 increases the angle θ along the control pattern (moves in the right direction in FIG. 31), and the back receiving base 9, the shoulder receiving base 10, and the thigh. The reception base 26 is operated.

  Next, when the reclining bed is lowered by the control method according to another example, the operating device (not shown) instructs the control device 52 to lower the back based on the back-lowering operation by the lying person. Is output (step S301).

  The control device 52 uses the back-lowering command as a trigger to acquire the angles θ, φ, and η (step S302), and determines whether the angles θ, φ, and η are on the control pattern shown in FIG. (Step S303).

  If the control device 52 determines that each of the angles θ, φ, and η is on the control pattern (YES in step S303), the control device 52 decreases the angle θ along the control pattern (see FIG. 7). The back part cradle 9, the shoulder part cradle 10 and the thigh cradle 26 are operated by moving to the left (step S304).

  In step S305, the controller 52 determines that the angle θ of the back cradle 9 is θ2 (for example, 50 degrees), the angle φ of the shoulder cradle 10 is an upper limit angle φx (for example, 20 degrees), and the thigh cradle 26 When it is determined that the angle η has reached the upper limit angle ηx (for example, 25 degrees), the operations of the back receiving base 9, the shoulder receiving base 10, and the thigh receiving base 26 are stopped. The control device 52 confirms that the angle θ of the back cradle 9 has reached θ2, the angle φ of the shoulder cradle 10 has reached the upper limit angle φx, and the angle η of the thigh cradle 26 has reached the upper limit angle ηx. In addition to notifying the person, the back-lowering command is canceled and the process returns to step S301.

  In step S305, the control device 52 stops the operations of the back cradle 9, the shoulder cradle 10 and the thigh cradle 26, and then the lying person or the like presses the back raising button of the operating device (not shown). When the button is kept pressed for a certain period of time, the stop is released and the back raising operation is resumed.

  Alternatively, the control device 52 stops the operations of the back cradle 9, the shoulder cradle 10 and the thigh cradle 26 in step S305, and then the recumbent or the like presses the back raising button of the operating device (not shown). When it is pressed again, the stop is released and the back raising operation is resumed.

  In step S306, the controller 52 sets the angle θ of the back cradle 9 to the upper limit angle θx, the angle φ of the shoulder cradle 10 to 0 (zero), and the angle η of the thigh cradle 26 to 0 (zero). When it determines with having arrived, operation | movement of the back part base 9, the shoulder part base 10, and the thigh part base 26 is stopped. In the control device 52, the angle θ of the back cradle 9 reaches the upper limit angle θx, the angle φ of the shoulder cradle 10 reaches 0 (zero), and the angle η of the thigh cradle 26 reaches 0 (zero). In addition to notifying the lying person that the operation of each cradle is to be terminated, the back raising command is canceled and the process returns to step S301.

Here, in step S303, the control device 52 determines that the acquired angle θ of the back cradle 9, the angle φ of the shoulder cradle 10 and the angle η of the thigh cradle 26 are on the control pattern shown in FIG. If it is determined that it is not present (step S303, NO), in step S307, the control device 52 operates the back receiving base 9, the shoulder receiving base 10 and the thigh receiving base 26 (angles θ, φ, η). And changing the angles θ, φ, and η to move them on the control pattern.
Thereafter, the process proceeds to step S304, and the control device 52 controls the back receiving base 9, the shoulder receiving base 10, and the thigh receiving base 26 by decreasing the angle θ (moving leftward in FIG. 31). Operate along the pattern.

[Pre-tilt prevention control]
Next, control for preventing the lying person (user) from falling forward will be described.
In this forward tilt prevention control, the recumbent falls down forward (towards the toes) by controlling the back receiving base 9 and the shoulder receiving base 10 so that the inclination does not increase beyond a predetermined angle. Is to prevent.
FIG. 32 is a flowchart of forward tilt prevention control.

  In step S401, the operating device causes the control device 52 to adjust the angle θ or the angle based on an operation to increase either the angle θ of the back cradle 9 or the angle φ of the shoulder cradle 10 by a lying person (user). Outputs φ increase command.

  In step S402, the control device 52 determines whether or not the forward fall prevention control is valid. In the reclining type bed 54, it is possible to set the validity / invalidity of the forward tilt prevention control by an operation by a lying person (user) or a caregiver.

  Therefore, the control device 52 determines that the forward-fall prevention control is valid by the lying person or the like (step S402, YES), and when the forward-fall prevention control is invalid, It determines with invalid (step S402, NO).

  When determining that the forward tilt prevention control is effective (YES in step S402), the control device 52 acquires the angle θ of the back receiving base 9 and the angle φ of the shoulder receiving base 10, and based on the acquired angles θ and φ. Thus, the forward tilt prevention angle α (α = θ + φ) is calculated (step S403).

  In step S404, the control device 52 determines whether or not the forward tilt prevention angle α is equal to or less than a limit angle αx (for example, 90 degrees).

  When the controller 52 determines that the forward tilt prevention angle α is less than the limit angle αx (for example, 90 degrees) (YES in step S404), the controller 52 determines that the back cradle that has been instructed to increase by the lying person After increasing either the angle θ of 9 or the angle φ of the shoulder cradle 10 (step S405), the process returns to step S401.

  On the other hand, when the control device 52 determines that the forward tilt prevention angle α is equal to or greater than the limit angle αx (for example, 90 degrees) (NO in step S404), the control device 52 determines whether the angle θ of the back cradle 9 or the shoulder While increasing one of the angles φ of the receiving block 10 and decreasing the other, the forward tilt prevention angle α is maintained at the limit angle αx (step S406), and the process returns to step S401.

  This prevents the lying person from leaning forward due to the inclination of the back receiving base 9 or the shoulder receiving base 10 becoming large while fulfilling the hope of raising operation of the back receiving base (or shoulder receiving base) of the lying person. it can.

  Here, in step S402, when the control device 52 determines that the forward tilt prevention control is not valid (invalid) (NO in step S402), the control device 52 determines whether the angle θ of the back support 9 or the shoulder support is received. After performing control to operate the back receiving base 9 or the shoulder receiving base 10 so as to increase either one of the angles φ of the base 10 (step S407), the process returns to step S401.

  If the forward tilt prevention angle α is larger than the limit angle αx in step S404 described above (NO in step S404), control is performed to increase one of the angle θ or the angle φ and decrease the other in step S406. However, even if an increase command (step S401) for the angle θ or the angle φ is received, control may be performed so as not to increase the angle for which the increase command has been issued.

  Further, the maximum values θx and φx of the movable (standing) range of the back receiving base 9 and the shoulder receiving base 10 may be mechanically limited so that the forward tilt prevention angle α does not exceed the limit angle αx.

  As a result, when the forward tilt prevention angle α calculated based on the angles θ and φ exceeds the limit angle αx by an increase command of the angle θ of the back receiving base 9 or the angle φ of the shoulder receiving base 10, While increasing the angle θ or angle φ for which the increase command has been issued, the other angle φ or angle θ is decreased so that the forward tilt prevention angle α does not exceed the limit angle αx.

  Therefore, the back support 9 or the shoulder support 10 instructed by the recumbent (or nurse) can be raised while avoiding the recumbent to fall forward, so the recumbent (or nurse) ) Operation requirements can be satisfied.

[Body load limit control]
Next, control for limiting the body load of the lying person (user) will be described.

If the recumbent (user) lies on the reclining bed 54 and the back and shoulders bend more than a predetermined angle with respect to the thigh, the thigh cradle 26, the back cradle 9 and the shoulder It may be sandwiched between the base 10 and the body may feel a heavy load.
Therefore, in the reclining type bed 54, when a lying person (user) raises the thigh cradle 26, the back cradle 9 and the shoulder cradle 10, the back and shoulders with respect to the thigh. Is controlled so as not to bend more than a predetermined angle, thereby restricting (preventing) that a lying person feels a heavy load on the body by being sandwiched between these cradles.

FIG. 33 is a schematic diagram for explaining the definition of the angle γ and the angle β of the reclining bed 54 with respect to the lying person.
FIG. 34 is a flowchart of body load restriction control.

  As shown in FIG. 33, in the reclining bed 54, the rotation shaft 41 (bending portion) of the thigh receiving base 26 and the lower leg receiving base 27 that hit the knee of the recumbent, and the back of the lower abdomen of the recumbent Γ (also referred to as the first waist flexion angle γ) is the angle formed by the line K1 connecting the rotating shaft 14 (bent portion) of the back receiving base 9 and the buttocks receiving base 4 (bending portion) and the shoulder receiving base 10 which is a lie. An angle formed by a line segment K1 that hits the back of the upper abdomen and the back receiving base 9 is β (also referred to as a second waist bending angle β).

  The first hip flexion angle γ is a value indicating the flexion level (that is, the degree of flexion) near the lower abdomen of the lying person, and the second hip flexion angle β is the flexion level of the part from the upper abdomen to the chest of the lying person. (That is, the degree of bending), and both indicate the degree of burden on the lying person. By controlling the first hip flexion angle γ and the second hip flexion angle β so as not to exceed predetermined upper limit angles, the lying person can receive the thigh support 26, the back support 9, and the shoulder support. It becomes a shape sandwiched between the bases 10 to avoid an extra burden on the body.

  Hereinafter, a specific control method will be described.

  As shown in FIG. 34, in step S501, the operating device (not shown) is operated by the lying person (user) by the angle θ of the back cradle 9, the angle φ of the shoulder cradle 10 or the thigh cradle 26. Based on an operation for increasing any of the angles η, an instruction to increase the angle θ, the angle φ, or the angle η is output to the control device 52.

  In step S502, the control device 52 determines whether or not this physical load restriction control is effective. In the reclining bed, the validity / invalidity of the body load restriction control can be set by an operation by a lying person (user) or a caregiver.

  Therefore, the control device 52 determines that the body load limit control is enabled by the lying person or the like (step S502, YES), and when the body load limit control is set to be invalid, It is determined to be invalid (step S502, NO).

  If it is determined that the body load restriction control is set to be effective (step S502, YES), in step S503, the control device 52 determines the current angle θ of the back cradle 9 and the current angle of the shoulder cradle 10. Based on φ and the current angle η of the thigh cradle 26, the first hip flexion angle γ and the second hip flexion angle β are calculated.

  In step S504, the control device 52 determines whether or not the second hip flexion angle β is greater than or equal to a predetermined upper limit angle βn.

  When it is determined that the second hip flexion angle β is greater than or equal to the predetermined upper limit angle βn (step S504, YES), in step S505, the controller 52 further determines that the first hip flexion angle γ is greater than or equal to the predetermined upper limit angle γn. It is determined whether or not.

  When it is determined that the first hip flexion angle γ is greater than or equal to the predetermined upper limit angle γn (step S505, YES), in step S506, the control device 52 determines that the angle θ, angle φ, or After operating the back cradle 9, the shoulder cradle 10 or the thigh cradle 26 so as to increase any of the angles η, the process returns to step S501.

  On the other hand, when it is determined in step S505 that the first hip flexion angle γ is greater than or equal to the predetermined upper limit angle γn (step S505, NO), the control device 52 determines the angle θ and the angle according to the increase command from the lying person. While either φ or angle η is increased, any one (or both) of angle θ, angle φ, or angle η for which there is no increase command from the lying person is decreased (step S507), and the first hip flexion After operating the back cradle 9, the shoulder cradle 10 or the thigh cradle 26 so that the angle γ is equal to or greater than the predetermined upper limit angle γn, the process returns to step S501.

  Here, when it is determined in step S504 that the second hip flexion angle β is less than the predetermined upper limit angle βn (step S504, NO), in step S508, the control device 52 further controls the first hip flexion angle γ. Is greater than or equal to a predetermined upper limit angle γn.

  In step S508, when it is determined that the first hip flexion angle γ is equal to or greater than the predetermined upper limit angle γn (step S508, YES), the controller 52 determines whether the angle θ, angle φ, or Either one of the angles η is increased, and any one (or both) of the other angles θ, the angle φ, and the angle η without an increase command from the lying person is decreased (step S509), and the second waist bending angle β , The back receiving base 9, the shoulder receiving base 10 or the thigh receiving base 26 is operated so as to be equal to or larger than the predetermined upper limit angle βn, and the process returns to step S501.

  On the other hand, when it is determined in step S508 that the first hip flexion angle γ is less than the predetermined upper limit angle γn (step S508, NO), the control device 52 determines the angle θ and angle according to the increase command from the lying person. While either φ or angle η is increased, any one (or both) of angle θ, angle φ or angle η for which there is no increase command from the lying person is decreased (step S510), and the second hip flexion After operating the back receiving base 9, the shoulder receiving base 10 or the thigh receiving base 26 so that the angle β is equal to or greater than the predetermined upper limit angle βn and the first hip flexion angle γ is equal to or greater than the predetermined upper limit angle γn. Return to step S501.

  Here, when it is determined in step S502 that the physical load restriction control is set to be invalid (NO in step S502), in step S508, the control device 52 determines that the angle θ and the angle corresponding to the increase command from the lying person are After operating the back cradle 9, the shoulder cradle 10 or the thigh cradle 26 so as to increase either φ or the angle η, the process returns to step S501.

As a result, when either one of the first hip flexion angle γ or the second hip flexion angle β exceeds a predetermined upper limit angle γ, β, the angle θ, φ, η for which an increase command has been issued is set. While increasing, other angles θ, φ, η without an increase command can be decreased so that the first hip flexion angle γ or the second hip flexion angle β does not exceed the upper limit angles γ, β.
Therefore, it is avoided that the lying person is sandwiched between the back receiving base 9, the shoulder receiving base 10 and the thigh receiving part 26, and the physical load of the lying person is restricted from being applied. be able to.

  Next, another example of body load restriction control will be described.

  FIG. 35 is a flowchart of physical load restriction control according to another example.

  In the body load restriction control described above, based on an operation by the lying person (user) to increase any of the angle θ of the back receiving base 9, the angle φ of the shoulder receiving base 10, or the angle η of the thigh receiving base 26. The angle θ, the angle φ, or the angle η requested by the lying person is increased, and the other angle θ, the angle φ, or the angle η that is not required is controlled to be decreased. On the other hand, in the body load restriction control according to this other example, it is possible to restrict a large load on the body of the lying person by controlling only the angle φ of the shoulder cradle 10.

  As shown in FIG. 35, in step S601, the operating device (not shown) instructs the control device 52 to increase the angle φ based on the operation of increasing the angle φ of the shoulder cradle 10 by the lying person. Output.

  In step S602, the control device 52 determines whether or not the physical load restriction control according to this other example is valid.

  When it determines with the body load restriction | limiting control concerning another example being set effectively (step S602, YES), the control apparatus 52 acquires the present angle (phi) of the shoulder part base 9 in step S603.

  In step S604, the control device 52 determines whether or not the angle φ of the shoulder cradle 9 is equal to or smaller than the upper limit angle φx (for example, 20 degrees), and determines that the angle φ is equal to or smaller than the upper limit angle φx (step S604). (S604, YES), the shoulder cradle 10 is operated so as to increase the angle φ (step S605).

  In step S604, if the control device 52 determines that the angle φ is equal to or larger than the upper limit angle φx (NO in step S604), the command to increase the angle φ by the lying person is invalidated, and the angle φ exceeds the upper limit angle φ. Control is performed so as not to occur (step S606).

  On the other hand, when it is determined in step S602 that the body load restriction control according to another example is set to be invalid (step S602, NO), in step S607, the control device 52 increases the angle φ of the lying person. Based on the command, the shoulder cradle 10 is operated to increase the angle φ.

  Thereby, by controlling the angle φ of the shoulder receiving part 10, it is possible to prevent the shoulder receiving base 10 from being bent excessively and to avoid applying a large load on the body of the lying person.

  In the above description, the angle φ of the shoulder receiving portion 10 is controlled to prevent the shoulder receiving portion 10 from being bent too much. However, the maximum value of the movable range of the shoulder receiving portion 10 is the upper limit angle. The movable range of the shoulder cradle 10 may be mechanically limited so as not to exceed φx.

[Mounting speed adjustment control]
Next, control for adjusting the moving speed of each cradle will be described.
FIG. 36 is a flowchart of the cradle moving speed adjustment control.

  As shown in FIG. 36, in step S701, the control device 52 determines whether or not each cradle (for example, the back cradle 9, the shoulder cradle 10 or the thigh cradle 26) is moving. If it is determined that it is not in the middle of moving (step S701, NO), the process of step S701 is repeated.

  In step S701, the control device 52 determines that each cradle (for example, the back cradle 9, the shoulder cradle 10 or the thigh cradle 26) is moving (step S701, YES). In step S701, the control device 52 outputs a command to increase (or decrease) the speed of the moving cradle to the driving mechanisms 48 to 50 (see FIG. 6: actuator) that operate the cradle.

  In step S703, the drive mechanisms 48 to 50 increase (or decrease) the power supplied to each cradle to increase (or decrease) the moving speed of each cradle, and then return to step S701.

  Thereby, since the moving speed of each cradle can be adjusted, the bed can be raised and lowered at an appropriate speed that the lying person (or nurse) feels comfortable.

  The cradle moving speed adjustment control (steps S701 to S703) by the control device 52 described above constitutes the speed adjusting device of the present invention.

[Elevation cancellation control]
Next, at least any one or all of the cradles (the back cradle 9, the shoulder cradle 10, the thigh cradle 26, or the thigh cradle 27) are simultaneously leveled from the raised (standing) state. The control for shifting to the state will be described.

  FIG. 37 is a flowchart of the lift cancellation control.

  First, in step S801, the control device 52 determines whether or not a clutch mechanism (not shown) that transmits a driving force of an actuator (not shown) that raises and lowers each cradle is engaged, and is in an engaged state. If it is determined (YES in step S801), the process proceeds to step S802, and if it is determined that it is not fastened (NO in step S801), the process is terminated.

  In step S802, the control device 52 determines whether or not a release button (not shown) is pressed by a nurse or the like, and determines that the release button is pressed (YES in step S802), the process proceeds to step S803. If it is determined that the release button has not been pressed (NO in step S802), the process ends.

  In step S803, the control device 52 determines whether or not the pressing of the release button is a malfunction. When it is determined that the release button is not malfunctioning (YES in step S803), the control device 52 proceeds to step S804 and determines that it is malfunctioning (step S803). Step S803, NO), the process ends.

  In step S804, the control device 52 disconnects the clutch mechanism of each cradle, and proceeds to step S805.

  In step S805, the control device 52 determines whether or not a predetermined time has elapsed. If it is determined that the predetermined time has elapsed (YES in step S805), the control device 52 returns to step S801 and the predetermined time has not elapsed. (Step S805, NO), the process of step S805 is repeated until a predetermined time has elapsed.

  Thereby, the recumbent who stands up in an emergency can be instantly brought into a horizontal state, and treatment for the recumbent can be easily performed.

  In the above-described embodiment, the bent portions of the back receiving base 9 and the shoulder receiving base 10 are arranged around the rotation axis 22 of the predetermined back bending position adjusting mechanism 11 with respect to the back receiving base 9 and the shoulder receiving base 10. However, in order to bend the cradle more precisely into a shape suitable for the lying person's body, the following various methods are conceivable.

  As an example of such a bending mechanism (method) of the cradle, a plurality of rotating shafts 22 of the back bending position adjusting mechanism 11 shown in FIG. 2 may be provided in the same back bending position adjusting mechanism 11. In this case, since the back bending position adjusting mechanism 11 bends at the positions of the plurality of rotating shafts 22, the shape between the back receiving base 9 and the shoulder receiving base 10 is set to the body of the lying person (especially the back thoracic vertebral column). ). Therefore, the recumbent can get up with a more comfortable posture.

  Furthermore, another embodiment for finely bending the cradle will be described with reference to FIG. The reclining bed cradle shown in FIG. 38 is an example in which the upper body cradle is divided into three movable cradles (upper body part receiving parts) so that the bending motion can be performed more finely than in the above embodiment. .

  In the cradle shown in FIG. 38, the back cradle 9 has three or more upper body part receiving parts 9A, 9B, and 9C that can be bent with respect to each other and receive three parts of different positions in the height direction of the upper body of the lying person. doing.

  The upper body part receiving parts 9A, 9B, 9C are provided so as to be able to bend each other at the respective bending parts 9A1, 9B1, 9C1, and the upper body part receiving parts 9A1, 9B, 9C Among them, at least one of them is arranged at a position corresponding to at least one position of the 12th thoracic vertebra from the second thoracic vertebra of the upper body of the lying person.

  In this way, the shape of the back cradle 9 itself can be made to match the shape of the lying person's body (particularly the thoracic vertebrae on the back). Therefore, the recumbent can get up with a more comfortable posture.

  The configuration described above can be suitably applied not only to the back receiving base 9 but also to other receiving bases (for example, the shoulder receiving base 10). Further, by providing three or more partial cradles, a finer bending operation can be performed.

  Alternatively, the cradle should be made of a flexible material or a flexible shape change mechanism to better fit the body shape of the lying person, minimizing the burden on the body and maximizing the comfort of the body as much as possible The upper body cradle may be configured to exercise.

FIG. 39 is a cradle for the reclining bed 1A according to one of such embodiments.
As shown in FIG. 39, the reclining bed 1A includes an upper layer 70 that comes into contact with the lying person and a lower layer that supports the lying person's weight (hereinafter referred to as a supporting layer 71).

  The upper layer 70 is an elastic member having flexibility, and is formed of a relatively soft material that allows a lying person to sleep in a comfortable posture.

  The support layer 71 includes, for example, a first support layer 71A that supports the lower leg of the lying person, a second support layer 71B that supports the thigh, a third support layer 71C that supports the buttocks, and a first that supports the back. 4 support layer 71D, and 5th support layer 71E which supports a shoulder part.

  A predetermined gap is provided between each of the first support layer 71 </ b> A to the fifth support layer 71 </ b> E, and this gap is filled with, for example, a flexible soft material similar to the upper layer 70. For this reason, the first support layer 71A to the fifth support layer 71E are provided to be bendable in the respective gaps.

  The first support layer 71A to the fifth support layer 71E are provided so that they can be tilted by an actuator (not shown), and the first support layer 71A to the fifth support layer 71E are tilted by the actuator. Thus, the reclining bed 1A bends between the first support layer 71A to the fifth support layer 71E and changes into a shape suitable for the lying person's posture. Thereby, the bending position of the reclining bed can be changed more flexibly, and the comfort of the reclining bed can be enhanced.

  In the above description, the case where the five support layers of the first support layer 71A to the fifth support layer 71E are provided is described as an example, but more support layers are provided so that the reclining bed can be bent more. It may be changed flexibly.

  As mentioned above, although several embodiment of this invention was described, this is only the illustration for description and is not the meaning which restrict | limits the scope of the present invention to this embodiment. The present invention can be implemented in various modes other than the above embodiments without departing from the scope of the present invention.

DESCRIPTION OF SYMBOLS 1,54 Reclining type bed 2 base 3 receiving stand 4 bottom part receiving base 5 upper body receiving base 6 lower half receiving base 7 frame 8 net 9 back part receiving base 10 shoulder receiving base 11 back bending position adjusting mechanism 12 frame 13 net 14 pivot Wearing part 15 Mounting hole 16 Frame 17 Net 18 Mounting hole 19 Hinge 20, 211 Connecting body 22 Rotating shaft 23 Connecting pin 24 Auxiliary body 25 Connecting belt 26 Thigh receiving base 27 Thigh receiving base 28 Knee position adjusting mechanism 29 Foot Back base 30 Frame 31 Net 32 Pivoting part 33 Mounting hole 34 Frame 35 Net 36 Support body 37 Mounting hole 38 Hinge 39,400 Connecting body 41 Rotating shaft 42 Connecting pin 43 Auxiliary body 44 Connecting belt 45 Frame 46 Net 47 Pivoting 48 to 51 Drive mechanism 52 Control device 53 Mattress L1 Back flexion position adjustment range L2 Knee Position adjustment range 100 Link mechanism 101 First connecting member 102 Link mechanism 103 Second connecting member 104 Rotating shaft 110 Actuator 120 Actuator 200 Link mechanism 201 Third connecting member 202 Rotating arm 203 Roller 300 Link mechanism 301 Rotating bracket 302 Roller 303 Fourth Connecting member 400 Extending and contracting mechanism 404 Fifth connecting member 405 Rotating bracket 406 Sixth connecting member 410 Rotating bracket 411 Mounting plate 412 Connecting member 420 Pin 421 Pin 500 Extending mechanism 501 First link member 502 Second link member

Claims (23)

In the reclining bed that has an upper body cradle that can be tipped up and down to receive the upper body of the recumbent,
The upper body cradle is
A shoulder cradle for receiving an upper first portion from the upper body shoulder;
A back cradle for receiving a second part below the first part of the upper body;
Have
A reclining bed in which the shoulder cradle can be raised and lowered with respect to the back cradle and the shoulder and the head of the lying person can be raised by raising the shoulder cradle. A drive mechanism for raising and lowering the back cradle and the shoulder cradle;
A control device connected to the drive mechanism;
With
2. The control device according to claim 1, wherein the control device can perform control so that the back support is raised from a horizontal state after the shoulder support is raised from a horizontal state to a predetermined first angle. Reclining bed. A drive mechanism for raising and lowering the back cradle and the shoulder cradle;
A control device connected to the drive mechanism;
With
The control device can perform control so that the shoulder cradle lies down with respect to the back cradle after the back cradle is raised to a predetermined second angle. The reclining bed according to claim 2. The shoulder cradle can be tilted with respect to the back cradle at a bent portion provided between the back cradle and the shoulder cradle;
The reclining bed according to any one of claims 1 to 3, wherein a position of the bent portion is adjustable. A butt cradle that receives the butt of a recumbent,
A thigh cradle that can be raised and lowered to receive the thigh of a lying person,
A crus cradle that receives the lower leg of the lying person,
With
The lower leg support is bendable relative to the thigh support;
5. The device according to claim 1, wherein at least a part of the lower leg support can be positioned below the buttocks support in a state where the thigh support is raised. Reclining bed as described in the section.   The reclining bed according to claim 5, further comprising a movable foot cradle for receiving a foot of a lying person in a state where the thigh cradle is erected. The shoulder cradle can be raised and lowered with respect to the back cradle at a first bent portion provided between the back cradle and the shoulder cradle,
The position of the first bent portion can be adjusted within a predetermined back bent position adjustment range;
The crus base can be bent with respect to the thigh cradle at a second bent portion provided between the thigh cradle and the crus base.
The position of the second bent portion is adjustable within a predetermined knee position adjustment range;
The reclining type bed according to claim 5 or 6, wherein the back flexion position adjustment range is wider than the knee position adjustment range.   The said bending | flexion part provided between the said back part base and the said shoulder part base is located between the 2nd thoracic vertebrae of a thoracic vertebrae column of a lying person between the 7th thoracic vertebrae. A reclining bed according to claim 1.   The said bending part provided between the said back cradle and the said shoulder cradle is located between the 8th thoracic vertebrae of the thoracic vertebrae of a lying person between the thoracic vertebrae of Claims 1-7. Reclining bed. A first actuator for raising and lowering the back cradle;
A second actuator for raising and lowering the shoulder cradle relative to the back cradle, or a link mechanism for linking the motion of the back cradle and the motion of the shoulder cradle;
A reclining bed according to any one of claims 1 to 9, comprising: A first actuator for raising and lowering the back cradle;
The thigh cradle that can be raised and lowered to receive the recumbent thigh,
A second actuator for raising and lowering the thigh cradle;
A link mechanism or a third actuator for linking the movement of the shoulder cradle and the movement of the thigh cradle;
A reclining bed according to any one of claims 1 to 9, comprising:   The reclining bed according to claim 10 or 11, further comprising a speed adjusting device that adjusts a driving speed of the actuator.   The telescopic mechanism of changing the distance between the said back part base and the said shoulder part base according to the raising / lowering of at least one of the said back part base and the said shoulder part base is provided. A reclining bed according to any one of the above.   When at least one of the back cradle and the shoulder cradle is in an upright state, in response to a release command, both the back cradle and the shoulder cradle are immediately shifted from the upright state to the horizontal state at the same time. The reclining type bed according to claim 1, further comprising an upright release mechanism. A control device for controlling movement of the shoulder cradle and the back cradle;
The control device is
A control pattern defining the relative relationship between the operating point of the shoulder cradle and the operating point of the back cradle;
Means for raising or lowering one or both of the shoulder cradle and the back cradle along the control pattern in response to a command requesting the upper body to be tilted;
The reclining bed according to any one of claims 1 to 14, wherein The control device is
When one or both of the shoulder cradle and the back cradle is tilted, the current operating point of the shoulder cradle and the back cradle is the first operating point on the control pattern. When reaching, means for stopping the raising and lowering of the shoulder cradle and the back cradle,
The reclining bed according to claim 15, further comprising: The control device is
Means for notifying the user of the arrival of the first operating point when the current operating point of the shoulder cradle and the back cradle has reached the first operating point on the control pattern; The reclining bed according to claim 15 or 16. Equipped with a thigh cradle that can be tipped to receive the lying thigh,
The control device is
When tilting at least one of the shoulder cradle and the back cradle, means for controlling the tilting of the thigh cradle,
The reclining bed according to any one of claims 14 to 17, further comprising: Equipped with a thigh cradle that can be tipped to receive the lying thigh,
The control device is
Based on the current operating point of the back cradle, the shoulder cradle and the thigh cradle, means for grasping the bending level in each of the first part and the second part of the body of the lying person;
When raising at least one of the back cradle, the shoulder cradle, and the thigh cradle, the respective bending levels of the first part and the second part exceed the respective predetermined upper limit values. Means for controlling at least one of the operating points of the back cradle, the shoulder cradle and the thigh cradle;
The reclining bed according to any one of claims 14 to 18, comprising: Equipped with a thigh cradle that can be tipped to receive the lying thigh,
The control device is
In response to a command to increase or decrease the raising / lowering speed of at least one of the back receiving base, the shoulder receiving base, and the thigh receiving base, the back receiving base, the shoulder receiving base, and the thigh receiving base. Means to increase or decrease the at least one tapping speed of
21. A reclining bed according to any one of claims 14 to 20, comprising: Equipped with a thigh cradle that can be tipped to receive the lying thigh,
The control device is
In response to a command requesting the standing release, a means for immediately transitioning all of the back cradle, the shoulder cradle and the thigh cradle from a current operating point to a horizontal state,
The reclining bed according to any one of claims 14 to 21, further comprising: In the reclining bed that has an upper body cradle that can be tipped up and down to receive the upper body of the recumbent,
The upper body cradle includes three or more upper body part cradles that can be bent with respect to each other and receive three or more parts that are different in position in the height direction of the upper body,
A reclining bed, wherein at least one of the bent portions between the three or more upper body cradles is disposed at a position corresponding to at least one position between the second thoracic vertebra and the twelfth thoracic vertebra of the upper body. The reclining bed according to any one of claims 1 to 22, wherein the upper body cradle is configured of a flexible material or a mechanism that flexibly changes shape.

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