WO2015181873A1

WO2015181873A1 - Transfer assistance device

Info

Publication number: WO2015181873A1
Application number: PCT/JP2014/063855
Authority: WO
Inventors: 石川　邦彦; 河野　貴之; 智行鹿又
Original assignee: 株式会社安川電機
Priority date: 2014-05-26
Filing date: 2014-05-26
Publication date: 2015-12-03

Abstract

[Problem] To reduce the workload of a caregiver. [Solution] A transfer assistance device (1) comprises: a main body (3); a central holder (2), which is supported on the main body (3) so as to move up and down; a first pair of arm members (4, 4), which are connected on the front side of the central holder (2) so as to rotate with the central holder (2) as the central axis; a second pair of arm members (5, 5), which are connected on the back side of the central holder (2) so as to rotate with the central holder (2) as the central axis; and a control unit (50) configured so as to control the raising and lowering movements of the central holder (2), the rotational movements of the first arm members (4), and the rotational movement of the second arm members (5) independently of each other.

Description

Transfer assist device

The disclosed embodiment relates to a transfer assist device.

Patent Document 1 describes a care lifting device used when moving a cared person who is difficult to walk on his own. This care lifting device includes a hanger that is suspended from a care lift and a cloth sling sheet that can be hung on the hanger while the care recipient is placed on the hanger.

JP 2010-11892 A

When lifting the cared person, the above-described conventional lifting device for the care needs to be in the sitting position, and in the state where the cared person is lifted, It cannot be changed. For this reason, when it is necessary to change the posture of the cared person according to the shape of the destination or the activities to be carried out after the transfer, the caregiver will carry out after the transfer, which increases the burden on the caregiver. It was.

This invention is made in view of such a problem, and it aims at providing the transfer assistance apparatus which can reduce the burden of a caregiver.

In order to solve the above problems, according to one aspect of the present invention, there is provided a transfer assist device for assisting transfer of a cared person, a main body portion, and a central holder portion supported by the main body portion so as to move up and down And a pair of first arm members connected to one side in the circumferential direction of the central holder part so as to rotate about the central holder part, and the first arm member connected to one side in the circumferential direction of the central holder part A pair of second arm members connected to the other circumferential side of the center holder part, and the center holder part ascending / descending operation, rotating operation of the first arm member, and rotating operation of the second arm member are mutually performed. And a control device configured to independently control the transfer assist device.

Moreover, according to another viewpoint of this invention, it is a transfer assistance apparatus which assists a cared person's transfer, Comprising: In the state which lifted the said cared person, the said cared person's attitude | position is changed into a desired attitude | position. A transfer assist device having means is applied.

According to still another aspect of the present invention, a main body portion, a central holder portion supported by the main body portion so as to move up and down, and the central holder portion so as to rotate about the central holder portion as a central axis. A pair of first arm members coupled to one side in the circumferential direction, and a pair of second arm members coupled to the other circumferential side of the central holder portion so as to rotate about the central holder portion as a central axis; A transfer assist device for assisting transfer of a care recipient, wherein the central holder part is moved up and down, the first arm member is rotated, and the second arm member is rotated. The control method of the transfer assistance apparatus which has the control step which controls each independently is applied.

According to still another aspect of the present invention, in the control step, an elevating motor that generates a driving force for raising and lowering the central holder portion, and a driving force for rotating the first arm member are provided. A control method for the transfer assist device is applied in which the first rotation motor that is generated and the second rotation motor that generates the driving force for rotating the second arm member are controlled independently of each other. The

According to still another aspect of the present invention, the control step includes the raising / lowering motor, the first rotation motor, and the control unit so that the height position of the specific part of the care recipient is fixed. A control method for the transfer assist device including a first drive control step for driving at least one of the second rotation motors is applied.

Further, according to still another aspect of the present invention, the control step includes the step of raising and lowering the motor for raising and lowering, the first step so that the variation aspect of the first load with respect to the grounded part of the care recipient becomes a predetermined aspect. A method for controlling the transfer assisting device, which includes a second drive control step for driving at least one of the moving motor and the second rotating motor, is applied.

According to still another aspect of the present invention, in the second drive control step, based on a second load on at least one of the central holder portion, the first arm member, and the second arm member, There is provided a control method for a transfer assist device in which at least one of the elevating motor, the first rotation motor, and the second rotation motor is driven so that the variation mode of the first load is the predetermined mode. Applied.

Further, according to still another aspect of the present invention, the control step includes the raising / lowering motor, the first rotation motor, and the like so that the posture of the care recipient becomes a posture that matches a shape of a movement destination. And the control method of the transfer assistance apparatus provided with the 3rd drive control step which drives at least 1 of the said 2nd motor for rotation is applied.

Further, according to still another aspect of the present invention, in the third drive control step, based on the shape information of the destination from at least one of a sensor that detects the shape of the destination and an operation input unit, Control of a transfer assist device in which at least one of the elevating motor, the first rotation motor, and the second rotation motor is driven so that the caregiver's posture matches the shape of the destination The method is applied.

According to still another aspect of the present invention, a main body portion, a central holder portion supported by the main body portion so as to move up and down, and the central holder portion so as to rotate about the central holder portion as a central axis. A pair of first arm members coupled to one side in the circumferential direction, and a pair of second arm members coupled to the other circumferential side of the central holder portion so as to rotate about the central holder portion as a central axis; A control device provided in a transfer assisting device for assisting the transfer of the care recipient, wherein the central holder part is moved up and down, the first arm member is rotated, and the second arm member is moved. A control device that controls the rotation operations independently of each other is applied.

According to still another aspect of the present invention, a lifting motor for generating a driving force for lifting and lowering the central holder part, and a first time for generating a driving force for rotating the first arm member. A control device is applied that controls the moving motor and the second rotating motor that generates a driving force for rotating the second arm member independently of each other.

According to still another aspect of the present invention, the elevating motor, the first rotating motor, and the second rotating motor are arranged so that the height position of the specific part of the care recipient is fixed. A control device including a first drive control unit that drives at least one of the above is applied.

Further, according to still another aspect of the present invention, the elevating motor, the first rotating motor, and the first so that the variation mode of the first load with respect to the grounded part of the care recipient becomes a predetermined mode A control device including a second drive control unit that drives at least one of the second rotation motors is applied.

According to still another aspect of the present invention, the load sensor includes a load detection unit that detects a second load on at least one of the center holder unit, the first arm member, and the second arm member. The drive control unit is configured to control the elevating motor, the first rotation motor, so that the variation mode of the first load becomes the predetermined mode based on the second load detected by the load detection unit. And a control device that drives at least one of the second rotation motors is applied.

According to still another aspect of the present invention, the raising / lowering motor, the first rotation motor, and the second rotation are performed so that the posture of the care recipient matches the shape of the movement destination. A control device including a third drive control unit that drives at least one of the kinetic motors is applied.

According to still another aspect of the present invention, the third drive control unit includes an input unit that inputs shape information of the destination from at least one of a sensor that detects the shape of the destination and an operation input unit. Is based on the shape information input by the input unit, so that the posture of the cared person becomes a posture that matches the shape of the movement destination, the lifting motor, the first rotation motor, and A control device for driving at least one of the second rotation motors is applied.

According to still another aspect of the present invention, there is provided a transfer assist device for assisting transfer of a cared person, a main body portion, a central holder portion supported by the main body portion so as to move up and down, and the center A pair of first arm members connected to one side in the circumferential direction of the central holder part so as to rotate about the holder part, and a center of the central holder part to rotate about the central holder part A pair of second arm members connected to the other side in the circumferential direction, and a lifting operation of the central holder part, a rotating operation of the first arm member, and a rotating operation of the second arm member are mutually independent. A transfer assist device having a control device for controlling is applied.

According to the present invention, the burden on the caregiver can be reduced.

It is a perspective view showing the structure of the transfer assistance apparatus of one Embodiment. It is the top view seen from the left side showing the structure of a transfer assistance apparatus. It is the top view seen from the right side showing the structure of a transfer assistance apparatus. It is the top view which looked at the transfer assistance apparatus of the state which the header part raised from the right side. It is the top view which looked at the transfer auxiliary | assistance apparatus of the state which raised the arm part of the front side from the left side. It is the top view which looked at the transfer assistance apparatus of the state which raised the arm part of the back side from the left side. It is the top view which looked at the transfer assistance apparatus of the state which raised the arm part of the front side and the back side from the left side. It is a functional block diagram showing the functional structure of a control apparatus. It is explanatory drawing for demonstrating an example of a care receiver's transfer. It is explanatory drawing for demonstrating an example of a care receiver's transfer. It is explanatory drawing for demonstrating an example of a care receiver's transfer. It is explanatory drawing for demonstrating an example of a care receiver's transfer. It is explanatory drawing for demonstrating an example of a care receiver's transfer. It is explanatory drawing for demonstrating an example of a care receiver's transfer. It is explanatory drawing for demonstrating an example of a care receiver's transfer. It is a flowchart showing the control procedure regarding the control method of a transfer assistance apparatus. It is a flowchart showing the control procedure regarding the control method of a transfer assistance apparatus. It is a flowchart showing the control procedure regarding the control method of a transfer assistance apparatus. It is a block diagram showing the example of a structure of a control apparatus.

Hereinafter, an embodiment will be described with reference to the drawings. In addition, when there are notes “upper”, “lower”, “left”, “right”, “front”, “rear” in the drawings, “upper”, “lower”, “left”, “right” in the description in the specification “Way”, “front” and “back” refer to the noted direction. However, the positional relationship of each component of the transfer assist device is not limited to the concepts of “upper”, “lower”, “left”, “right”, “front”, and “rear”.

<Configuration of transfer assist device>
First, the configuration of the transfer assist device of the present embodiment will be described with reference to FIGS.

As shown in FIG. 1 to FIG. 7, the transfer assist device 1 is a device that assists the transfer (also referred to as “transfer operation”) of the care recipient M (see FIG. 9 and the like described later).

“Transfer” refers to the movement from the current position / posture to another position / posture. As this transfer, for example, a sitting posture (also referred to as a “sitting posture”) from a lying posture (also referred to as a “posture posture”) at a certain position (for example, a bed) to another position (for example, a wheelchair). And the reverse operation. Moreover, the operation | movement which changes a position to another position with the position unchanged, and the operation | movement to which a position moves to another position with the same position are also transfers.

The transfer assist device 1 includes a central holder portion 2, a main body portion 3, a pair of

first arm members

4 and 4, a pair of

second arm members

5 and 5, and a control device 50 (see FIG. 8 described later). And have.

The center holder portion 2 is extended in the horizontal direction and is supported in a cantilevered manner by the main body portion 3 so as to move up and down. In addition, the support aspect by the main-body part 3 of the center holder part 2 is not limited to cantilever shape, Other forms may be sufficient.

The main body 3 includes a housing 16 and an elevating mechanism 12 provided in the housing 16.

The elevating mechanism 12 is a mechanism that elevates and lowers the central holder portion 2. The configuration of the elevating mechanism 12 is not particularly limited as long as the center holder portion 2 can be raised and lowered. However, this embodiment demonstrates the case where the raising / lowering mechanism 12 is comprised as follows.

That is, the elevating mechanism 12 has an elevating motor M1, a connecting portion C1, and an elevating portion 22 (mainly see FIGS. 2 and 3).

The elevating motor M1 generates a driving force for elevating the central holder portion 2. If this raising / lowering motor M1 is a motor that generates a driving force for raising and lowering the central holder portion 2, a rotary motor that generates a rotational force as the driving force and a propulsive force as the driving force are generated. Any of linear motors may be used. However, in this embodiment, the case where the lifting motor M1 is a rotary motor will be described.

That is, the shaft member SH1 to which the nut member N1 is attached is connected to the output shaft (not shown) of the lifting motor M1 (see FIGS. 2 and 3). The shaft member SH1 extends in the extending direction of the output shaft of the lifting motor M1 (in this example, the vertical direction), and rotates with the rotation of the output shaft. The nut member N1 extends in the extending direction of the shaft member SH1 (vertical direction in this example), and linearly moves relative to the shaft member SH1 by the rotation of the shaft member SH1. In addition, the combination of the shaft member SH1 and the nut member N1 can be mounted by, for example, a mechanism having a ball spline, a mechanism having a ball screw, or the like.

The connecting part C1 connects the upper end side of the nut member N1 and the elevating part 22 so that the elevating part 22 moves up and down relative to the housing 16 in synchronization with the linear movement of the nut member N1.

The elevating part 22 is attached to the casing 16 through an opening (not shown) on the upper surface of the casing 16 and moves up and down relative to the casing 16 in synchronization with the linear movement of the nut member N1. The elevating part 22 includes a header part 21 exposed on the upper side (not accommodated in the housing 16), and the header part 21 supports the central holder part 2 in a cantilever shape.

Such an elevating mechanism 12 can elevate the central holder portion 2 by elevating the elevating unit 22 relative to the casing 16 by driving the elevating motor M1. That is, FIGS. 1 to 3 and FIGS. 5 to 7 correspond to the state in which the elevating part 22 (central holder part 2) is in the lower position, and FIG. 4 shows the elevating part 22 (central holder part 2) in the lower position. This corresponds to the state of moving upward (raised) from the position.

The

first arm members

4, 4 are arranged so that the central holder portion 2 is positioned with respect to one side in the circumferential direction of the central holder portion 2 (the front side in this example) so as to rotate synchronously with the central holder portion 2 as the central axis. They are connected while being separated in the extending direction (in this example, the left-right direction). The

first arm members

4 and 4 may be coupled to the front side of the central holder portion 2 so as to rotate independently from each other about the central holder portion 2 as a central axis. Each first arm member 4 is formed in a curved shape so that the distal end portion 4a faces upward when the base end portion 4b extends from the central holder portion 2 in the horizontal direction. In addition, the shape of each 1st arm member 4 is not specifically limited, For example, between the base end part 4b and the front-end | tip part 4a is formed in the shape extended linearly, or the base end part 4b is a center. When the posture extends in the horizontal direction from the holder portion 2, the tip portion 4 a may be formed in a curved shape so as to face downward.

The

second arm members

5 and 5 are spaced apart from each other in the left-right direction with respect to the other circumferential side of the central holder portion 2 (the rear side in this example) so as to rotate synchronously with the central holder portion 2 as the central axis. Connected. The

second arm members

5, 5 may be coupled to the rear side of the central holder portion 2 so as to rotate independently of each other about the central holder portion 2 as a central axis. Each second arm member 5 is curved so that its distal end portion 5a faces upward when its base end portion 5b extends in the horizontal direction from the central holder portion 2 in the same manner as each first arm member 4 described above. It is formed in the shape. In addition, the shape of each 2nd arm member 5 is not specifically limited, For example, between the base end part 5b and the front-end | tip part 5a is formed in the shape extended linearly, or the base end part 5b is a center. When the posture extends in the horizontal direction from the holder portion 2, the tip portion 5 a may be formed in a curved shape so as to face downward.

The

arm members

4 and 5 are provided with a plurality of locking portions 7 to which a sling sheet (not shown) on which the care recipient M is placed can be attached and detached. The configuration of each locking portion 7 is not particularly limited as long as the sling sheet is detachable, but in the present embodiment, each locking portion 7 is configured by a hook-shaped hook. explain. Further, the position and the number of the locking portions 7 are not particularly limited as long as the sling sheet can be attached and detached. However, in this embodiment, the positions and the numbers of the locking portions 7 are as follows. Such a case will be described.

That is, the locking portion 7 is provided at each of the first arm members 4 at two locations near the distal end portion 4a and the intermediate position between the proximal end portion 4b and the distal end portion 4a. It is provided at an intermediate position between the portion 5b and the tip portion 5a and at two locations near the tip portion 5a.

The first arm member 4 and the second arm member 5 are respectively connected to the front side and the rear side of the central holder portion 2 so as to rotate independently of each other.

That is, the main body 3 is provided with a rotation mechanism 23 and a rotation mechanism 24 (see FIGS. 2 and 3).

The rotation mechanism 23 is a mechanism for rotating the first arm member 4 about the central holder portion 2 as a central axis. The configuration of the rotation mechanism 23 is not particularly limited as long as the first arm member 4 can be rotated about the central holder portion 2 as a central axis. However, in this embodiment, the case where the rotation mechanism 23 is configured as follows will be described.

That is, the rotation mechanism 23 includes a first rotation motor M2 and a connecting portion C2 (see FIGS. 2 and 3).

The first rotation motor M2 generates a driving force for rotating the first arm member 4. If the first rotating motor M2 is a motor that generates a driving force for rotating the first arm member 4, the rotating motor that generates a rotating force as the driving force, and a propulsion as the driving force. Any linear motor that generates force may be used. However, in the present embodiment, a case where the first rotation motor M2 is a rotary motor will be described.

That is, the shaft member SH2 to which the nut member N2 is attached is connected to the output shaft (not shown) of the first rotation motor M2 (see FIGS. 2 and 3). The shaft member SH2 extends in the extending direction of the output shaft of the first rotation motor M2 (in this example, the vertical direction), and rotates with the rotation of the output shaft. The nut member N2 extends in the extending direction of the shaft member SH2 (vertical direction in this example), and linearly moves relative to the shaft member SH2 by the rotation of the shaft member SH2. Note that the combination of the shaft member SH2 and the nut member N2 can be mounted by, for example, a mechanism having a ball spline or a mechanism having a ball screw.

The connecting portion C2 connects the upper end side of the nut member N2 and the first arm member 4 so that the first arm member 4 rotates around the central holder portion 2 in synchronization with the linear movement of the nut member N2. To do. In this example, the connecting portion C2 includes a connecting member 16 fitted in a groove 18 provided on the front side of the periphery of the central holder portion 2 on the left side surface of the header portion 21 (see FIG. 1). ). And the connection part C2 is synchronized with the linear movement of the nut member N2, so that the first arm member 4 rotates about the central holder part 2 as the central axis when the connection member 16 slides in the groove 18. The upper end side of the nut member N2 and the first arm member 4 are connected.

Such a rotating mechanism 23 rotates the first arm member 4 about the central holder portion 2 as the central axis by the connecting member 16 of the connecting portion C2 sliding in the groove 18 by driving the first rotating motor M2. It is possible to move.

At this time, the first arm member 4 rotates in a range from an angle at which the distal end portion 4 a is positioned below the horizontal direction of the central holder portion 2 to an angle at which the distal end portion 4 a is positioned above the central holder portion 2. And connected to the front side of the central holder portion 2. Note that the rotation range of the first arm member 4 is not limited to the above range.

The rotation mechanism 24 is a mechanism that rotates the second arm member 5 about the central holder portion 2 as a central axis. The configuration of the rotation mechanism 24 is not particularly limited as long as the second arm member 5 can be rotated about the central holder portion 2 as a central axis. However, in the present embodiment, a case where the rotation mechanism 24 is configured in the same manner as the rotation mechanism 23 will be described.

That is, the rotation mechanism 24 includes a second rotation motor M3 and a connecting portion C3 (see FIGS. 2 and 3).

The second rotation motor M3 generates a driving force for rotating the second arm member 5. If the second rotating motor M3 is a motor that generates a driving force for rotating the second arm member 5, the rotating motor that generates a rotating force as the driving force, and a propulsion as the driving force. Any linear motor that generates force may be used. However, in the present embodiment, a case where the second rotation motor M3 is a rotary motor will be described.

That is, the shaft member SH3 to which the nut member N3 is attached is connected to the output shaft (not shown) of the second rotation motor M3 (see FIGS. 2 and 3). The shaft member SH3 extends in the extending direction of the output shaft of the second rotation motor M3 (in this example, the vertical direction), and rotates with the rotation of the output shaft. The nut member N3 extends in the extending direction of the shaft member SH3 (the vertical direction in this example), and linearly moves relative to the shaft member SH3 by the rotation of the shaft member SH3. Note that the combination of the shaft member SH3 and the nut member N3 can be mounted by, for example, a mechanism having a ball spline or a mechanism having a ball screw.

The connecting portion C3 connects the upper end side of the nut member N3 and the second arm member 5 so that the second arm member 5 rotates about the central holder portion 2 in synchronization with the linear movement of the nut member N3. To do. In this example, the connecting portion C3 includes a connecting member (not shown) fitted in a groove 19 provided on the rear side of the periphery of the center holder portion 2 on the left side surface of the header portion 21. . Then, the connecting portion C3 is synchronized with the linear movement of the nut member N3 so that the connecting member slides in the groove 19 so that the second arm member 5 rotates about the central holder portion 2 as a central axis. The upper end side of the member N3 and the second arm member 5 are connected.

Such a rotating mechanism 24 rotates the second arm member 5 about the central holder portion 2 as the central axis by the connecting member of the connecting portion C3 sliding in the groove 19 by driving the second rotating motor M3. Is possible.

At this time, in the second arm member 5, like the first arm member 4, the distal end portion 5 a is located above the central holder portion 2 from the angle at which the distal end portion 5 a is located below the horizontal direction of the central holder portion 2. It connects with the back side of the center holder part 2 so that it may rotate in the range to an angle. The rotation range of the second arm member 5 is not limited to the above range.

That is, FIGS. 1 to 4 correspond to a state in which both of the

first arm members

4 and 5 are located at positions where the

front end portions

4a and 5a are located below the horizontal direction of the central holder portion 2. Further, FIG. 5 shows that the first arm member 4 rotates (stands up) from the position where the distal end portion 4a is located at the lower position to the position where the distal end portion 4a is located above the central holder portion 2, and The two-arm member 5 corresponds to a state in which the distal end portion 5a is at the position that is the lower position. FIG. 6 shows that the first arm member 4 is located at the position where the distal end portion 4a is at the lower position, and the second arm member 5 is located at the position where the distal end portion 5a is located at the lower position. This corresponds to a state in which the center holder portion 2 is rotated (standing) to a position that is an upper position. FIG. 7 corresponds to a state in which both the

first arm members

4 and 5 are in a position where the

tip portions

4 a and 5 a are positioned above the center holder portion 2 (stand up).

The control device 50 is provided, for example, inside the casing 16. The control device 50 controls the vertical movement of the central holder 2, the rotation of the first arm member 4, and the rotation of the second arm member 5 independently of each other. In the present embodiment, the control device 50 controls the elevation motor M1, the first rotation motor M2, and the second rotation motor M3 independently of each other. Thereby, the control apparatus 50 controls the raising / lowering operation | movement of the center holder part 2, the rotation operation | movement of the 1st arm member 4, and the rotation operation | movement of the 2nd arm member 5 mutually independently. The control device 50 uses the method for raising and lowering the central holder portion 2 and the first arm by a method other than controlling the raising and lowering motor M1, the first turning motor M2 and the second turning motor M3 independently of each other. The rotation operation of the member 4 and the rotation operation of the second arm member 5 may be controlled independently of each other.

Also, the transfer assist device 1 is provided with a moving unit 8 for moving the transfer assist device 1. In addition, when it is not necessary to move the transfer assistance apparatus 1, the moving part 8 may be abbreviate | omitted. Although the structure of this moving part 8 will not be specifically limited if it is the structure which can move the transfer assistance apparatus 1, In this embodiment, the case where it is comprised as follows is demonstrated.

That is, the moving unit 8 includes a frame 9 and a plurality of wheels 10.

The frame 9 is connected to the casing 16 and is formed in a square frame shape opened to one side in the front-rear direction (in this example, the rear side). The frame 9 may be formed in a square frame shape opened to the front side or the left side. Alternatively, the frame 9 may be formed in a square frame shape that is not opened on any of the rear side, the front side, and the left side. The frame shape of the frame 9 is not limited to a square frame shape, and may be other frame shapes such as a circular frame shape.

The plurality of wheels 10 are wheels for moving the transfer assist device 1. Although the structure of each wheel 10 will not be specifically limited if it is a structure which can move a movement assistance apparatus, In this embodiment, the case where each wheel 10 is comprised with a caster is demonstrated. Further, the position and the number of the wheels 10 are not particularly limited as long as the position and the number can move the movement assist device, but in the present embodiment, the position and the number of the wheels 10 are as follows. Will be described.

That is, the wheel 10 is provided at two positions near both ends on the left side of the frame 9 and at two positions located in the casing 16 on the right side of the frame 9.

Note that the moving unit 8 is not limited to the configuration provided with the frame connected to the housing 16, and may be configured without the frame.

As described above, in the transfer assist device 1, the control device 50 drives the lifting motor M 1 while the sling sheet on which the care recipient M is placed is locked by the locking portion 7, and the central holder portion 2. Then, by raising and lowering the first arm member 4 and the second arm member 5 connected thereto, the cared person M can be lifted (lifted) or lowered. Further, in the transfer assist device 1, the control device 50 drives the first rotation motor M 2 and the second rotation motor M 3 with the cared person M lifted, and the first arm member 4 and the second arm member 5. Is rotated about the central holder portion 2 as a central axis, and the posture of the cared person M can be changed to a desired posture. That is, the 1st arm member 4, the 2nd arm member 5, and the control apparatus 50 comprise the means to change a care receiver's attitude | position into a desired attitude | position in the state which lifted the care receiver. In addition, when an operator such as a caregiver urges the transfer assist device 1 in a desired direction and rotates the wheel 10, the movement assist device 1 can be moved in the direction.

<Control device>
Next, the configuration of the control device 50 will be described.

That is, as described above, the control device 50 controls the lifting motor M1, the first rotating motor M2, and the second rotating motor M3 independently of each other. Thereby, the control apparatus 50 controls the raising / lowering operation | movement of the center holder part 2, the rotation operation | movement of the 1st arm member 4, and the rotation operation | movement of the 2nd arm member 5 mutually independently.

Hereinafter, an example in which the configuration of the control device 50 is more specifically implemented with functional blocks will be described with reference to FIG.

As shown in FIG. 8, three

motor control devices

61, 62, 63, a sensor 64, and an operation input unit 65 are connected to the control device 50.

The motor control device 61 is provided, for example, in the housing 16 and receives commands from a drive control unit 52 (described later) of the control device 50 and a position detector PS1 such as an encoder provided in the lifting motor M1. Based on the output (position data of the lifting motor M1, etc.), the driving of the lifting motor M1 is controlled.

The motor control device 62 is provided, for example, in the housing 16 and outputs a command from the drive control unit 52 and an output (first time) from a position detector PS2 such as an encoder provided in the first rotation motor M2. The driving of the first rotation motor M2 is controlled based on the position data of the movement motor M2.

The motor control device 63 is provided, for example, in the housing 16 and outputs a command from the drive control unit 52 and an output from the position detector PS3 such as an encoder provided in the second rotation motor M3 (second time). The driving of the second rotating motor M3 is controlled based on the position data of the moving motor M3 and the like.

The sensor 64 is provided at an appropriate position (for example, the center holder portion 2 and the like), and detects the shape of the moving destination of the care receiver M by the transfer assist device 1. For example, when the cared person M is moved from the wheelchair to the bed, the shape of the placement surface of the bed becomes the shape of the destination. Further, for example, when the care recipient M is moved from the bed to the wheelchair, the shape of the seating surface and the backrest of the wheelchair becomes the shape of the destination. The sensor 64 is not particularly limited as long as it can detect the shape of the movement destination, but for example, a distance sensor or a camera can be used. The shape information of the movement destination detected by the sensor 64 is output to the input unit 54 described later.

The operation input unit 65 is implemented by one or more input devices that can be operated by the operator. The instructions / information and the like that can be input by the operation input unit 65 are not particularly limited, but in this embodiment, the instructions / information that can be input by the operation input unit 65 are the following instructions: -Explain the case of information. That is, the operator can input an operation instruction for at least one of the central holder unit 2, the first arm member 4, and the second arm member 5 via the operation input unit 65. Further, the operator can input a landing instruction via the operation input unit 65. Furthermore, the operator can input the specific part of the care recipient M whose height position is to be fixed via the operation input unit 65. At this time, the operation input of the specific part may be performed by selecting any one of a plurality of predetermined parts such as the head and the waist of the care recipient M. Instructions, information, and the like input through the operation input unit 65 are output to the input unit 54 described later.

In place of or in addition to detecting the shape of the destination by the sensor 64, the operator inputs the shape of the destination via the operation input unit 65 and inputs the operation via the operation input unit 65. The shape information of the movement destination may be output to the input unit 64 described later.

The control device 50 includes an input unit 54, a load detection unit 53, and a drive control unit 52 including a first drive control unit 521, a second drive control unit 522, and a third drive control unit 523.

In the present embodiment, the first drive control unit 521, the second drive control unit 522, the third drive control unit 523, the input unit 54, and the load detection unit 53 are a CPU 901 (see FIG. 19 described later) provided in the control device 50. Are implemented by programs to be executed. The first drive control unit 521, the second drive control unit 522, the third drive control unit 523, the input unit 54, and the load detection unit 53 are partly or entirely for a specific application such as an ASIC or FPGA. It may be mounted by an actual device 907 (see FIG. 19 described later) such as a dedicated integrated circuit constructed in (1) or other electric circuit.

The input unit 54 inputs shape information of the movement destination from the sensor 64. As described above, when the operator inputs the shape of the movement destination via the operation input unit 65, the input unit 54 may input the shape information of the movement destination from the operation input unit 65. . Further, the input unit 54 inputs at least one operation instruction for the central holder unit 2, the first arm member 4, and the second arm member 5 from the operation input unit 65. Further, the input unit 54 inputs a landing instruction from the operation input unit 65. Furthermore, the input unit 54 inputs information on a specific part from the operation input unit 65. In addition, the input part 54 in the case of inputting the shape information of a movement destination from the sensor 64 corresponds to the input part described in the claims.

The first drive control unit 521 outputs a command to at least one of the motor control devices 61 to 63 so that the height position of the specific part is fixed, thereby raising and lowering motor M1, first rotation motor. At least one of M2 and the second rotation motor M3 is driven. Note that “fixed” here is not strictly fixed, but means that “tolerance and error in manufacturing and design are allowed” and “substantially fixed”. Further, the specific part may be determined in advance, but in the present embodiment, a case will be described in which the specific part can be set based on information input through the operation input unit 65 by the operator.

That is, the first drive control unit 521 acquires at least one operation instruction of the central holder unit 2, the first arm member 4, and the second arm member 5 from the input unit 54. And the height of the specific part set based on the information which the input part 54 acquired from the operation input part 65 (for example, more than predetermined threshold value) changes at least of the 1st arm member 4 and the 2nd arm member 5 In the case of one rotation instruction, the first drive control unit 521 uses the at least one of the motor control devices 61 to 63 so as to fix the height position of the specific part, the lifting motor M1, At least one of the first rotation motor M2 and the second rotation motor M3 is driven.

For example, there is a case where there is an instruction to rotate at least one of the first arm member 4 and the second arm member 5 in which the height position of the head, which is a specific part, is increased by 50 [cm]. In this case, the first drive control unit 521 moves the central holder unit 2 to the first arm member 4 and the second arm member 5 in conjunction with the rotation of at least one of the first arm member 4 and the second arm member 5. At the same time, at least one of the lifting motor M1, the first rotating motor M2, and the second rotating motor M3 is driven via at least one of the motor control devices 61 to 63 so as to descend by 50 [cm]. Thereby, it is possible to fix the height position of the head while suppressing an increase in the height position of the head.

For example, there is a case where there is an instruction to turn at least one of the first arm member 4 and the second arm member 5 in which the height position of the head, which is a specific part, is reduced by 50 [cm]. In this case, the first drive control unit 521 moves the central holder unit 2 to the first arm member 4 and the second arm member 5 in conjunction with the rotation of at least one of the first arm member 4 and the second arm member 5. At the same time, at least one of the elevating motor M1, the first rotating motor M2, and the second rotating motor M3 is driven via at least one of the motor control devices 61 to 63 so as to rise by 50 [cm]. Thereby, it is possible to fix the height position of the head while suppressing the lowering of the height position of the head.

The load detection unit 53 detects a second load that is a load on at least one of the central holder unit 2, the first arm member 4, and the second arm member 5. The configuration of the load detection unit 53 is not particularly limited as long as the second load can be detected. In the present embodiment, the load detection unit 53 includes the lifting motor M1 and the first rotation. A case where the torques of the motor M2 and the second rotation motor M3 are detected as the second load will be described.

That is, the load detector 53 determines the torque of each of the elevating motor M1, the first rotating motor M2, and the second rotating motor M3 based on the outputs from the position detectors PS1, PS2, and PS3. Detect as the second load. Then, the load detection unit 53 outputs the detected torque data of the first rotation motor M2 and the second rotation motor M3 to the second drive control unit 522.

The second drive control unit 522 outputs a command to at least one of the motor control devices 61 to 63 so that the variation mode of the first load, which is the load on the grounded part of the care recipient M, is a predetermined mode. Accordingly, at least one of the lifting motor M1, the first rotating motor M2, and the second rotating motor M3 is driven. The predetermined mode includes various modes such as a gentle mode in which the fluctuation amount of the first load does not always exceed the predetermined threshold, and a mode in which the first load varies in an S-curve shape. There is no particular limitation. The predetermined mode may be set by the operator via the operation input unit 65.

In this example, the second drive control unit 522 uses at least the motor control devices 61 to 63 so that the variation mode of the first load becomes a predetermined mode based on the second load detected by the load detection unit 53. At least one of the elevating motor M1, the first rotating motor M2, and the second rotating motor M3 is driven through one. Here, the first load and the second load have a correlation. Therefore, for example, when the care receiver M is lifted or lowered in a state where the sole or the like is grounded, the motor control device 61 is configured so that the variation mode of the second load becomes the predetermined variation mode while monitoring the second load. The variation mode of the first load can be variably controlled by driving at least one of the elevating motor M1, the first rotating motor M2, and the second rotating motor M3 through at least one of. Is possible. Thereby, it is possible to variably control the unloading rate with respect to the ground contact part.

That is, the second drive control unit 522 acquires the torque data of each of the first rotation motor M2 and the second rotation motor M3 from the load detection unit 53, and also receives the center holder unit 2 and the first rotation data from the input unit 54. At least one operation instruction for the arm member 4 and the second arm member 5 is acquired. Then, when it is an instruction for raising or lowering the center holder part 2 and the cared person M is in a grounded state, the second drive control part 522 makes the fluctuation mode of the corresponding torque data a desired mode. As described above, at least one of the lifting motor M1, the first rotating motor M2, and the second rotating motor M3 is driven through at least one of the motor control devices 61 to 63. Thereby, the 2nd drive control part 522 makes the fluctuation mode of the 1st load the predetermined mode.

The third drive control unit 523 outputs a command to at least one of the motor control devices 61 to 63 so that the posture of the cared person M matches the shape of the movement destination, thereby raising and lowering the motor M1. Then, at least one of the first rotation motor M2 and the second rotation motor M3 is driven. Note that the “posture suitable for the shape of the destination” here is not a posture appropriate for the shape of the destination in the strict sense, but tolerances and errors in manufacturing are allowed in design, and “substantially It means “the posture that matches the shape of the destination”.

In this example, the third drive control unit 523 controls the motor control devices 61 to 61 so that the posture of the care receiver M matches the shape of the movement destination based on the shape information input by the input unit 54. At least one of the raising / lowering motor M1, the first rotating motor M2, and the second rotating motor M3 is driven through at least one of 63. Thereby, the posture of the cared person M can be automatically changed to a posture that matches the shape of the destination.

That is, when the third drive control unit 523 acquires a landing instruction from the input unit 54, the third drive control unit 523 acquires shape information of the movement destination from the input unit 54. Then, the third drive control unit 523, when the shape of the movement destination can be specified based on the acquired shape information, the motor control device so that the posture of the cared person M becomes a posture that matches the shape. At least one of the lifting motor M1, the first rotating motor M2, and the second rotating motor M3 is driven through at least one of 61 to 63.

Note that the processing in the input unit 54, the load detection unit 53, the first drive control unit 521, the second drive control unit 522, and the third drive control unit 523 of the control device 50 is limited to an example of sharing these processes. For example, the processing may be performed by one processing unit, or may be processed by six or more processing units further subdivided.

In addition, here, a case has been described in which the control device 50 includes the first drive control unit 521, the second drive control unit 522, and the third drive control unit 523. However, the control device 50 does not necessarily include all of the first drive control unit 521, the second drive control unit 522, and the third drive control unit 523, and may include at least one of them.

<An example of transfer of care recipient>
Next, transfer of the care recipient M performed by the transfer assist device 1 will be described with reference to FIGS. Here, the case where the cared person M sitting on the chair lies on the bed will be described. 9 to 15, the illustration of the configuration other than the central holder portion 2, the first arm member 4, and the second arm member 5 of the transfer assist device 1 is omitted.

In the state shown in FIG. 9, the transfer assist device 1 is arranged in the vicinity of the chair C in a state where the sling seat on which the cared person M sitting on the chair C is placed is locked to the locking portion 7. . In this example, the transfer assisting device 1 is disposed in the vicinity of the chair C so that the first arm member 4 is on the foot side of the cared person M and the second arm member 5 is on the head side of the cared person M. The At this time, the transfer assist device 1 has the center holder portion 2 at a relatively low position in accordance with the position and posture of the cared person M sitting on the chair C, and the first arm member 4 on the lower side. The second arm member 5 is positioned on the upper side.

In this state, if there is an instruction to rotate the first arm member 4 upward and an instruction to rotate the second arm member 5 upward, as shown by the arrow in FIG. The arm member 4 and the second arm member 5 each rotate upward. As a result, the state shown in FIG. 10 is obtained.

In the state shown in FIG. 10, in the transfer assist device 1, the central holder portion 2 is present at the same position as in FIG. 9, the first arm member 4 is located on the upper side, and the second arm member 5 is further on the upper side. Is located. At this time, the cared person M is leaning forward while sitting on the chair C with the soles and buttocks on the ground.

In this state, when there is an instruction to raise the center holder part 2, the center holder part 2 rises together with the first arm member 4 and the second arm member 5 as shown by the arrows in FIG. At this time, the central holder portion 2 is connected to the first arm member 4 and the center holder portion 2 so that the variation mode of the first load with respect to the ground contact part (the sole in this example) of the care recipient M is a predetermined mode (gentle in this example). The first arm member 4 is rotated downward together with the second arm member 5 while being slowly moved upward. Thereby, it will be in the state shown in FIG. 11, and will be in the state shown in FIG.

In the state shown in FIG. 11, in the transfer assist device 1, the center holder portion 2 exists at a position slightly higher than that in FIG. ing. In the state shown in FIG. 12, in the transfer assist device 1, the center holder portion 2 exists at a position higher than that in FIG. 11, and the care receiver M is completely lifted from the chair C.

In the state shown in FIG. 12, the care receiver M is moved to the destination by the operator energizing the movement assisting device 1. Then, as shown in FIG. 13, when the cared person M reaches the upper position of the placement surface of the bed B as the movement destination and there is a landing instruction, the cared person is shown as shown by the arrow in FIG. The first arm member 4 and the second arm member 5 are each rotated downward such that the posture of M is a posture that matches the shape of the placement surface of the bed B. At this time, since the first arm member 4 and the second arm member 5 are turned downward, the height position of the head, which is a specific part, is lowered, so that the height position of the head is fixed. As described above, the central holder portion 2 rises together with the first arm member 4 and the second arm member 5 in conjunction with the rotation. As a result, the state shown in FIG. 14 is obtained. That is, the height h1 of the head shown in FIG. 13 and the height h2 of the head shown in FIG. 14 are substantially the same size.

In the state shown in FIG. 14, in the transfer assist device 1, the center holder portion 2 exists at a position slightly higher than that in FIG. 13, and the care receiver M is in a posture that matches the shape of the placement surface of the bed B. ing.

When the posture of the care recipient M is changed to a posture that matches the shape of the placement surface of the bed B as described above, the center holder portion 2 is attached to the first arm member 4 and the arrow as shown by the arrows in FIG. As shown in FIG. 15, the cared person M lands on the placement surface of the bed C and lies on the bed C.

In addition, it goes without saying that the transfer contents of the care recipient M described above are merely examples, and may be other contents.

<Control method of transfer assist device>
Next, a control procedure related to the control method of the transfer assist device 1 executed by the control device 50 will be described with reference to FIGS. 16 to 18.

First, a control procedure related to a control method of the transfer assist device 1 executed by the first drive control unit 521 and the like will be described with reference to FIG.

As shown in FIG. 16, in step S 10 A, the control device 50, based on at least one operation instruction of the central holder unit 2, the first arm member 4, and the second arm member 5 input by the input unit 54, It is determined whether or not there has been an instruction to turn at least one of the first arm member 4 and the second arm member 5 whose height of the specific portion changes. If there is an instruction to rotate at least one of the first arm member 4 and the second arm member 5 whose height of the specific part changes, the determination in step SS10A is satisfied, and the process proceeds to step S20A.

In step S20A, the control device 50 causes the first drive control unit 521 to move the lifting motor M1 and the first through the at least one of the motor control devices 61 to 63 so that the height position of the specific part is fixed. At least one of the rotation motor M2 and the second rotation motor M3 is driven. Thereby, the process shown in this flow is completed. Note that the processing shown in this flow is repeatedly executed.

On the other hand, in step S10A, when there is no rotation instruction for at least one of the first arm member 4 and the second arm member 5 in which the height of the specific portion changes, the determination in step S10A is not satisfied, and this flow is performed. The process shown is terminated.

Next, a control procedure related to the control method of the transfer assist device 1 executed by the second drive control unit 522 and the like will be described with reference to FIG.

As shown in FIG. 17, in step S 10 B, the control device 50 is based on at least one operation instruction of the central holder unit 2, the first arm member 4, and the second arm member 5 input by the input unit 54. It is determined whether or not there has been an instruction to raise or lower the center holder portion 2. If there is an instruction for raising or lowering the center holder part 2, the determination at step S10B is satisfied, and the routine goes to step S20B.

In step S20B, the control device 50 determines whether or not the cared person M is in a grounded state. When the cared person M is in the grounded state, the determination in step S20B is satisfied, and the process proceeds to step S30B.

In step S30B, the control device 50 causes the second drive control unit 522 to change the corresponding torque data among the torque data of the first rotation motor M2 and the second rotation motor M3 from the load detection unit 53. At least one of the lifting motor M1, the first rotating motor M2, and the second rotating motor M3 is driven via at least one of the motor control devices 61 to 63 so that the mode becomes a desired mode. Thereby, the 2nd drive control part 522 makes the fluctuation mode of the 1st load the predetermined mode. Thereby, the process shown in this flow is completed. Note that the processing shown in this flow is repeatedly executed.

On the other hand, if there is no instruction for raising or lowering the center holder part 2 in step S10B and the determination in step S10B is not satisfied, and in step S20B, the cared person M is not in the grounded state and the determination in step S20B is satisfied. If not, the process shown in this flow is terminated.

Next, a control procedure related to the control method of the transfer assist device 1 executed by the third drive control unit 523 and the like will be described with reference to FIG.

As shown in FIG. 18, in step S 10 C, the control device 50 determines whether or not a landing instruction has been acquired from the input unit 54. When the landing instruction is acquired, the determination in step S10C is satisfied, and the process proceeds to step S20C.

In step S20C, the control device 50 determines whether or not the destination shape has been identified based on the shape information acquired from the input unit 54. If the destination shape can be specified, the determination at step S20C is satisfied, and the routine goes to step S30C.

In step S30C, the control device 50 causes the third drive control unit 523 to pass through at least one of the motor control devices 61 to 63 so that the posture of the care recipient M matches the shape of the movement destination. At least one of the lifting motor M1, the first rotating motor M2, and the second rotating motor M3 is driven. Thereby, the process shown in this flow is completed. Note that the processing shown in this flow is repeatedly executed.

On the other hand, if the landing instruction is not acquired in step S10C and the determination in step S10C is not satisfied, and if the destination shape cannot be specified in step S20C and the determination in step S20C is not satisfied, The processing shown in this flow is finished.

16 to 18, steps S20A, S30B, and S30C correspond to control steps, of which step S20A corresponds to a first drive control step, and step S30B corresponds to a second drive control step. Step S30C corresponds to a third drive control step.

<Configuration example of control device>
Next, a configuration example of the control device 50 that realizes each process related to the control method of the transfer assist device 1 described above will be described with reference to FIG.

As illustrated in FIG. 19, the control device 50 includes, for example, a CPU 901, a ROM 903, a RAM 905, an actual device 907 such as a dedicated integrated circuit or other electrical circuit constructed for a specific application of an ASIC or FPGA, An input device 913, an output device 915, a storage device 917, a drive 919, a connection port 921, and a communication device 923 are included. These components are connected to each other via a bus 909 and an input / output interface 911 so that signals can be transmitted to each other.

The program can be recorded in a recording device such as the ROM 903, the RAM 905, or the storage device 917, for example.

Also, the program can be temporarily or permanently recorded on a magnetic disk such as a flexible disk, an optical disk such as various CD / MO disks / DVDs, or a removable storage medium 925 such as a semiconductor memory. Such a removable storage medium 925 can also be provided as so-called package software. In this case, the program recorded in these removable storage media 925 may be read out by the drive 919 and recorded in the recording device via the input / output interface 911, the bus 909, or the like.

Also, the program can be recorded on, for example, a download site, another computer, another recording device (not shown), or the like. In this case, the program is transferred via a network NW such as a LAN or the Internet, and the communication device 923 receives this program. The program received by the communication device 923 may be recorded in the recording device via the input / output interface 911, the bus 909, or the like.

Also, the program can be recorded in, for example, an appropriate external connection device 927. In this case, the program may be transferred via an appropriate connection port 921 and recorded in the recording device via the input / output interface 911, the bus 909, or the like.

Then, the CPU 901 can execute various processes according to the program recorded in the recording device, thereby realizing each process related to the control method of the transfer assist device 1. At this time, for example, the CPU 901 may directly read and execute the program from the recording apparatus, or may be executed after it is once loaded into the RAM 905. Furthermore, for example, when the program is received via the communication device 923, the drive 919, and the connection port 921, the CPU 901 may directly execute the received program without recording it in the recording device.

Further, the CPU 901 may perform various processes based on signals and information input from the input device 913 such as a mouse, a keyboard, and a microphone (not shown) as necessary.

Then, the CPU 901 may output the result of executing the above processing from an output device 915 such as a display device or an audio output device. Further, the CPU 901 may output the processing result as necessary to the communication device 923 or the like. It may be transmitted via the connection port 921 or recorded in the recording device or the removable storage medium 925.

In addition, although the case where each process regarding the control method of the transfer assist apparatus 1 is implemented by a program executed by the CPU 901 has been described above, part or all of these processes may be executed by the apparatus 907.

<Effects of this embodiment>
As described above, in the transfer assist device 1 of the present embodiment, the central holder portion 2 moves up and down together with the first arm member 4 and the second arm member 5 that are connected to the front side and the rear side, respectively. The first arm member 4 rotates around the central holder portion 2 as a central axis on the front side of the central holder portion 2. The second arm member 5 rotates around the central holder portion 2 as the central axis on the rear side of the central holder portion 2. The raising / lowering operation of the central holder 2, the turning operation of the first arm member 4, and the turning operation of the second arm member 5 are controlled independently by the control device 50.

Thereby, the raising / lowering operation of the central holder portion 2, the rotating operation of the first arm member 4, and the rotating operation of the second arm member 5 can be operated independently of each other.

As a result, the cared person M can be received by the transfer assist device 1 regardless of the attitude of the cared person M. For example, for the cared person M in the lying position, by rotating both the first arm member 4 and the second arm member 5 independently so as to be in a lower position than the center holder portion 2, The care receiver M in the prone posture can be received by the transfer assist device 1. For example, for the care recipient M in a sitting position, one of the first arm member 4 and the second arm member 5 is positioned below the center holder portion 2 and the other is positioned above the center holder portion 2. Thus, the cared person M in the sitting position can be received by the transfer assisting device 1 by rotating independently. Thereby, the posture change of the cared person M before transfer becomes unnecessary, and the burden on the carer can be reduced.

In addition, as a result of the above, in the state where the cared person M is lifted, the cared person M is in a desired posture (for example, a posture matching the shape of the destination, a posture suitable for various activities performed after the transfer, etc.) ) Can be changed. For example, the posture can be a supine posture or a sitting posture, and the hip angle can be finely adjusted in the supine posture, or the forward leaning posture or the backward leaning posture can be set in the sitting posture. Thereby, since the posture change of the cared person M after the transfer becomes unnecessary, the burden on the carer can be greatly reduced.

Furthermore, since it is possible to make the cared person M change to a desired posture and to lie down, daily activities such as meals, changing clothes, movement, excretion, conditioning, bathing, etc. (ADL (Activities of It is also possible to increase social participation level by increasing activities such as work and hobbies. Thereby, independence of a care receiver can be supported.

Further, in this embodiment, in particular, it has a lifting motor M1, a first rotating motor M2, and a second rotating motor M3. The raising / lowering motor M1 generates a driving force for raising and lowering the central holder portion 2, and the first turning motor M2 generates a driving force for turning the first arm member 4, and is used for the second turning. The motor M3 generates a driving force for rotating the second arm member 5. In other words, in the present embodiment, a motor is individually provided for the above-described lifting operation of the central holder portion 2, the rotating operation of the first arm member 4, and the rotating operation of the second arm member 5. The elevating motor M1, the first rotating motor M2, and the second rotating motor M3 are controlled independently from each other by the control device 50. Thereby, the raising / lowering operation of the central holder portion 2 based on the driving force of the raising / lowering motor M1, the turning operation of the first arm member 4 based on the driving force of the first turning motor M2, and the second turning motor M3. The rotating operation of the second arm member 5 based on the driving force can be operated independently of each other. As a result, the burden on the caregiver can be reduced.

In the present embodiment, in particular, the control device 50 causes the elevation motor M1, the first rotation motor M2, and the second rotation motor M3 so that the height position of the specific part of the care recipient M is fixed. A first drive control unit 521 for driving at least one motor of Thereby, for example, the central holder portion 2 is connected to the first arm member 4 and the arm member 4 in conjunction with the upward rotation of the arm member on the side where the specific portion exists (rotation in which the height position of the specific portion rises). By driving the at least one motor so as to move down together with the second arm member 5, it is possible to suppress an increase in the height position of the specific part and fix the height position of the specific part. Further, for example, the central holder portion 2 is connected to the first arm member 4 and the second arm in conjunction with the downward rotation of the arm member on the side where the specific portion is present (rotation in which the height position of the specific portion is lowered). By driving the at least one motor so as to rise together with the arm member 5, it is possible to suppress the lowering of the height position of the specific part and fix the height position of the specific part.
Therefore, it is possible to change the posture of the cared person M while fixing the height position of the specific part. For example, it is possible to change the posture of the cared person M without substantially changing the height of the line of sight. As a result, the caregiver M's anxiety and fear can be reduced.

In the present embodiment, in particular, the control device 50 causes the elevating motor M1, the first rotation motor M2, and the first rotation motor so that the variation mode of the first load with respect to the grounded part of the care recipient M is a predetermined mode. A second drive control unit 522 that drives at least one of the two-turn motor M3 is provided. As a result, for example, when the care receiver M is lifted or lowered in a state where the sole or the like is grounded, it is possible to variably control the variation mode of the first load, and variably control the unloading rate with respect to the grounded part. be able to. At this time, in the state where the sole etc. is grounded by making the variation mode of the first load gentle, that is, by slowly raising and lowering the central holder part 2 together with the first arm member 4 and the second arm member 5, the cared person M can be slowly lifted or lowered, and the cared person M can be moved gently.

In the present embodiment, in particular, the second drive control unit 522 applies the second load to at least one of the central holder unit 2, the first arm member 4, and the second arm member 5 detected by the load detection unit 53. Based on this, at least one of the elevating motor M1, the first rotating motor M2, and the second rotating motor M3 is driven so that the above-described variation mode of the first load becomes a predetermined mode. Here, the first load and the second load have a correlation. Therefore, for example, when the care receiver M is lifted or lowered in a state where the sole or the like is in contact with the ground, the at least one of the at least one and the second load is monitored so that the variation mode of the second load becomes a desired mode. By driving the motor, the variation mode of the first load can be variably controlled. Thereby, it is possible to variably control the unloading rate with respect to the ground contact portion. At this time, by driving at least one motor so that the variation mode of the second load is moderate, the variation mode of the first load is moderated, that is, the central holder portion 2 is connected to the first arm member 4 and the first load member. The two arm members 5 can be moved up and down slowly. Accordingly, the cared person M can be slowly lifted or lowered in a state where the soles or the like are grounded, so that the cared person M can be moved gently.

In the present embodiment, in particular, the control device 50 causes the lifting motor M1, the first rotating motor M2, and the second rotating motor so that the posture of the care recipient M matches the shape of the moving destination. A third drive control unit 523 that drives at least one of the motors M3 is provided. Thereby, it becomes possible to automatically change the posture of the cared person M to a posture that matches the shape of the destination. As a result, it is not necessary for the operator to change the posture of the cared person M to a posture that matches the shape of the movement destination by appropriately giving rotation commands for the first arm member 4 and the second arm member 5. The burden reducing effect of the caregiver can be further enhanced.

In the present embodiment, in particular, the third drive control unit 523 makes the posture of the care recipient M match the shape of the destination based on the shape information of the destination input by the input unit 54. In addition, at least one of a lifting motor M1, a first rotating motor M2, and a second rotating motor M3 is driven. Thus, the shape of the destination can be automatically set based on the shape information detected by the sensor 64, or the caregiver can manually set the shape of the destination via the operation input unit 65. The posture of the person M can be automatically changed to a posture that matches the set shape of the destination.

<Modifications>
The disclosed embodiments are not limited to the above-described embodiments, and various modifications can be made without departing from the spirit and technical idea thereof.

Further, the arrows shown in FIGS. 8 and 19 show an example of the signal flow, and do not limit the signal flow direction.

Further, the steps described in the flowcharts shown in FIGS. 16 to 18 may be performed in parallel or individually even if they are not necessarily processed in time series, as well as processes performed in time series in the described order. Also includes processing executed in Even in the steps processed in time series, the order can be appropriately changed depending on circumstances.

In addition to those already described above, the methods according to the above embodiments may be used in appropriate combination.

In addition, although not illustrated one by one, the above-described embodiments and the like are implemented with various modifications within a range not departing from the gist thereof.

DESCRIPTION OF SYMBOLS 1 Transfer assist device 2 Central holder part 3 Main body part 4 1st arm member 5 2nd arm member 50 Control apparatus 53 Load detection part 54 Input part 64 Sensor 65 Operation input part 521 1st drive control part 522 2nd drive control part 523 Third drive control unit M Cared person M1 Lifting motor M2 First rotation motor M3 Second rotation motor

Claims

A transfer assist device for assisting the transfer of a cared person,
The main body,
A central holder part supported by the main body part to move up and down;
A pair of first arm members coupled to one side in the circumferential direction of the central holder part so as to rotate about the central holder part;
A pair of second arm members coupled to the other circumferential side of the central holder portion so as to rotate about the central holder portion;
A control device configured to control the lifting operation of the central holder part, the rotation operation of the first arm member, and the rotation operation of the second arm member independently of each other;
A transfer assisting device characterized by comprising:
An elevating motor configured to generate a driving force for elevating and lowering the central holder part;
A first rotating motor configured to generate a driving force for rotating the first arm member;
A second rotating motor configured to generate a driving force for rotating the second arm member;
Further comprising
The controller is
The transfer assisting device according to claim 1, wherein the lifting / lowering motor, the first rotation motor, and the second rotation motor are controlled independently of each other.
The controller is
A first motor configured to drive at least one of the elevating motor, the first rotating motor, and the second rotating motor so that a height position of a specific part of the care recipient is fixed; The transfer assisting device according to claim 2, further comprising: 1 drive control unit.
The controller is
At least one of the elevating motor, the first rotating motor, and the second rotating motor is driven so that the variation mode of the first load with respect to the grounded part of the care recipient becomes a predetermined mode. The transfer assisting device according to claim 2, further comprising a second drive control unit configured as described above.
The controller is
A load detection unit configured to detect a second load on at least one of the central holder unit, the first arm member, and the second arm member;
The second drive control unit includes:
Based on the second load detected by the load detection unit, the elevating motor, the first rotation motor, and the second rotation are performed so that the variation mode of the first load becomes the predetermined mode. The transfer assist device according to claim 4, wherein the transfer assist device is configured to drive at least one of the kinetic motors.
The controller is
It is configured to drive at least one of the elevating motor, the first rotating motor, and the second rotating motor so that the care recipient has a posture that matches the shape of the destination. The transfer assist device according to claim 2, further comprising a third drive control unit.
The controller is
An input unit configured to input shape information of the destination from at least one of a sensor and an operation input unit configured to detect the shape of the destination;
The third drive controller is
Based on the shape information input by the input unit, the elevating motor, the first rotation motor, and the first rotation are set so that the care recipient's posture matches the shape of the destination. The transfer assisting device according to claim 6, wherein the transfer assisting device is configured to drive at least one of the two rotation motors.