WO2015181874A1 - Transfer assistance device - Google Patents

Transfer assistance device Download PDF

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Publication number
WO2015181874A1
WO2015181874A1 PCT/JP2014/063856 JP2014063856W WO2015181874A1 WO 2015181874 A1 WO2015181874 A1 WO 2015181874A1 JP 2014063856 W JP2014063856 W JP 2014063856W WO 2015181874 A1 WO2015181874 A1 WO 2015181874A1
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WO
WIPO (PCT)
Prior art keywords
motor
rotation
control unit
arm member
unit
Prior art date
Application number
PCT/JP2014/063856
Other languages
French (fr)
Japanese (ja)
Inventor
智行 鹿又
河野　貴之
石川　邦彦
Original Assignee
株式会社安川電機
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Publication date
Application filed by 株式会社安川電機 filed Critical 株式会社安川電機
Priority to PCT/JP2014/063856 priority Critical patent/WO2015181874A1/en
Publication of WO2015181874A1 publication Critical patent/WO2015181874A1/en

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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G7/00—Beds specially adapted for nursing; Devices for lifting patients or disabled persons
    • A61G7/10—Devices for lifting patients or disabled persons, e.g. special adaptations of hoists thereto

Definitions

  • 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.
  • Such transfer assisting devices such as care lifting devices are desired to reduce the burden on the operator.
  • This invention is made in view of such a problem, and it aims at providing the transfer assistance apparatus which can reduce an operator's burden.
  • 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 coupled to the other circumferential side of the central holder portion, a lifting motor configured to generate a driving force for lifting and lowering the central holder portion, and the first arm member; A first rotating motor configured to generate a driving force for rotating; a second rotating motor configured to generate a driving force for rotating the second arm member; Detect operator actions Based on the operation detection unit configured as described above and the detection result of the operation detection unit, it is configured to control at least one of the lifting motor, the first rotation motor, and the second rotation motor.
  • a transfer assisting device having
  • a transfer assist device for assisting transfer of a care recipient, 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.
  • a pair of first arm members connected to one side in the circumferential direction of the central holder portion so as to rotate about the central portion, and a periphery of the central holder portion so as to rotate about the central holder portion
  • a pair of second arm members coupled to the other side of the direction and the operation of the central holder portion, the rotation operation of the first arm member, and the rotation of the second arm member based on the operation of the operator Means for controlling at least one of the movements is applied.
  • 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 method for a transfer assist device that includes a second rotation motor that generates a driving force to move, and an operation detection unit that detects an operation of an operator, and assists the transfer of a care receiver. Based on the detection result of the operation detector Te, the elevating motor, said first rotating motor, and a control method for ERROR assist device having a first motor control step of controlling at least one of the second rotating motor is applied.
  • the first motor control step is installed on one side of the rotation direction of at least one of the first arm member and the second arm member, and the operator
  • the pair of first arm members or the pair of second arm members on the side where the contact operation is detected is at least based on the detection result of the first contact sensor as the operation detection unit that detects the contact operation.
  • the pair of first arm members or the pair of second arm members on the side where the contact operation is detected, and the contact operation in the first rotation control step, the pair of first arm members or the pair of second arm members on the side where the contact operation is detected, and the contact operation.
  • the first rotation motor and the second rotation motor so that the pair of first arm members or the pair of second arm members on the side where no movement is detected rotate to the other side in the rotation direction.
  • the second rotation control step the pair of first arm members or the pair of second arm members on the side where the contact operation is detected, and the pair on the side where the contact operation is not detected. Control of the transfer assist device that drives the first rotation motor and the second rotation motor so that the first arm member or the pair of second arm members rotate to one side in the rotation direction. The method is applied.
  • the first motor control step includes a step in which the pair of first arm members or the pair of second arm members on the side where the contact operation is detected is the other in the rotation direction.
  • a third rotation control step for controlling driving of at least one of the first rotation motor and the second rotation motor; and a pair of first arm members or a pair of second elements on the side where the at least contact operation is detected.
  • the first motor control step includes the first motor control step when the operator performs a switching operation for enabling the first contact sensor and the second contact sensor.
  • the first rotation motor is activated when a switching operation for enabling the operation of the first rotation motor and the second rotation motor and invalidating the first contact sensor and the second contact sensor is performed by the operator.
  • the control method of the transfer assistance apparatus provided with the switching control step which invalidates the action
  • the lifting motor is based on at least one of the torque of the lifting motor, the torque of the first rotating motor, and the torque of the second rotating motor.
  • a control method for a transfer assist device further including a second motor control step for controlling at least one of the first rotation motor and the second rotation motor is applied.
  • the transfer assist is based on at least one of the torque of the lifting motor, the torque of the first rotation motor, and the torque of the second rotation motor.
  • a determination step for determining at least one of landing of the cared person placed on the sling sheet locked by the locking part of the device and lifting, and whether or not there is an abnormality related to the cared person.
  • the second motor control step on the basis of the determination result in the determination step, the lifting / lowering operation of the central holder portion, the rotation operation of the first arm member, and the rotation operation of the second arm member are performed.
  • a transfer assist device in which at least one of the elevating motor, the first rotation motor, and the second rotation motor is controlled so that at least one is stopped or decelerated. Your method is applied.
  • the determination step when the center holder part is lowered, a lowering amount of the at least one torque, and a first threshold set with respect to the lowering amount
  • the second motor control step when it is determined in the determination step that the landing has occurred because the descent amount exceeds the first threshold value.
  • the magnitude of the at least one torque and a second threshold value set for the magnitude are: By comparing, the presence / absence of the abnormality is determined, and in the second motor control step, it is determined that the abnormality is present in the determination step because the magnitude exceeds the second threshold value.
  • the lifting / lowering motor, the first turning motor, and the lifting / lowering movement of the central holder part, the turning action of the first arm member, and the turning action of the second arm member are stopped, A control method of the transfer assist device in which the second rotation motor is controlled is applied.
  • the abnormality amount is determined by comparing the fluctuation amount of the at least one torque with a third threshold value set for the fluctuation amount.
  • the second motor control step when it is determined in the determination step that the variation exceeds the third threshold value, the abnormality of the center holder portion is determined.
  • the elevating motor, the first rotating motor, and the second rotating motor are stopped so that the elevating operation, the rotating operation of the first arm member, and the rotating operation of the second arm member are stopped.
  • the control method of the transfer assistance apparatus to be controlled is applied.
  • the determination step at least one of the central holder part and the at least one of the first arm member and the second arm member is rotated.
  • the second motor control step When it is determined that the abnormality is present due to the rise amount exceeding the fourth threshold value, the center holder portion is moved up and down, the first arm member is rotated, and the second arm member is rotated.
  • a control method for a transfer assist device is applied in which the elevating motor, the first rotating motor, and the second rotating motor are controlled so that the moving operation is stopped.
  • the degree of bias of the balance between the torque of the first rotation motor and the torque of the second rotation motor is The presence or absence of the abnormality is determined by comparing with a fifth threshold value set with respect to the degree of bias.
  • the degree of bias is the fifth in the determination step.
  • Transfer assistance further comprising a third motor control step for driving a plurality of movement motors for generating a driving force for rotating each of the plurality of wheels based on a detection result of an urging operation detection unit for detecting an operation.
  • a device control method is applied.
  • the method further includes a direction determining step for determining a moving direction of the main body corresponding to the biasing operation based on a detection result of the biasing operation detection unit,
  • a transfer assist device in which the plurality of movement motors are driven such that the plurality of wheels rotate so that the main body moves in the movement direction determined in the direction determination step. The control method is applied.
  • the third motor control step based on a detection result of a strain sensor as the urging operation detection unit that detects distortion of the grip portion due to the urging operation.
  • a method for controlling a transfer assist device in which the plurality of movement motors are driven is applied.
  • a fourth motor control step for controlling a plurality of movement motors related to a plurality of wheels based on a detection result of a position detection unit that detects a position of the main body unit. Furthermore, the control method of the transfer assistance apparatus which has is applied.
  • the method further includes a speed calculation step of calculating a moving speed of the main body based on a detection result of the position detection unit, and in the fourth motor control step, Based on the calculation result in the speed calculation step, a control method for a transfer assist device in which the plurality of movement motors are driven so that the plurality of wheels rotate so that the movement speed becomes a predetermined speed mode is applied. Is done.
  • the two movement motors related to the two mecanum wheels installed as the plurality of wheels are driven, or
  • a control method for the transfer assist device is applied in which the two moving motors related to the two Mecanum wheels installed as the plurality of wheels are controlled.
  • the center holder portion is moved up and down, the first arm member is rotated, the second arm member is rotated, and a plurality of wheels are rotated.
  • At least one acceleration of the moving operation of the main body is smaller than a sixth threshold value set for the acceleration, and the center holder is moved up and down, the first arm member is rotated, and the second arm
  • a method for controlling the transfer assist device further including a fifth motor control step for controlling at least one of the moving motors is applied.
  • the center holder portion is moved up and down, the first arm member is rotated, the second arm member is rotated, and At least one of the elevating motor, the first rotating motor, the second rotating motor, and the plurality of moving motors so that at least one speed of the moving operation of the main body portion varies in an S-curve shape.
  • the control method of the transfer assistance apparatus in which one is controlled is applied.
  • 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 assist device that includes a second rotation motor that generates a driving force for movement and an operation detection unit that detects an operation of an operator and assists the transfer of the care recipient. Detection of the operation detection unit Based on the result, the elevating motor, said first rotating motor, and a controller having a first motor control unit for controlling at least one of the second rotating motor is applied.
  • the first motor control unit is installed on one side of the rotation direction of at least one of the first arm member and the second arm member, and the operator
  • the pair of first arm members or the pair of second arm members on the side where the contact operation is detected is at least based on the detection result of the first contact sensor as the operation detection unit that detects the contact operation.
  • a second rotation control unit that drives at least one of the first rotation motor and the second rotation motor so that the pair of second arm members rotate to one side in the rotation direction.
  • the first rotation control unit includes a pair of first arm members or a pair of second arm members on the side where the contact operation is detected, and the contact operation.
  • the first rotation motor and the second rotation motor so that the pair of first arm members or the pair of second arm members on the side where no movement is detected rotate to the other side in the rotation direction.
  • the second rotation control unit includes a pair of first arm members or a pair of second arm members on the side where the contact operation is detected, and the pair on the side where the contact operation is not detected.
  • a control device that drives the first rotation motor and the second rotation motor is applied so that the first arm member or the pair of second arm members rotate to one side in the rotation direction. .
  • the first motor control unit includes a pair of first arm members or a pair of pairs on the side where the at least contact operation is detected by the control of the first rotation control unit.
  • the contact operation is detected by the second contact sensor while the second arm member is rotating to the other side in the rotation direction
  • the rotation to the other side in the rotation direction is performed.
  • a third rotation control unit that controls driving by the first rotation control unit and a side on which at least the contact operation is detected by the control of the second rotation control unit so that the operation is stopped or decelerated.
  • the control device comprising a applies.
  • the first motor control unit is configured to switch the first motor control unit when a switching operation for enabling the first contact sensor and the second contact sensor is performed by the operator.
  • the first rotation control unit and the second rotation control unit enable driving and the operator performs a switching operation to disable the first contact sensor and the second contact sensor, the first time
  • a control device including a switching control unit that disables driving by the motion control unit and the second rotation control unit is applied.
  • a torque detector that detects at least one of the torque of the lifting motor, the torque of the first rotation motor, and the torque of the second rotation motor;
  • a second motor control unit that controls at least one of the elevating motor, the first rotating motor, and the second rotating motor based on the at least one torque detected by the torque detecting unit; The control apparatus which has these further is applied.
  • the lift on the basis of the at least one torque detected by the torque detector, the lift is placed on the sling seat locked by the locking portion of the transfer assist device.
  • a determination unit that determines at least one of landing of the cared person and presence / absence of abnormality related to the cared person, and the second motor control unit includes a determination result of the determination unit Based on the lifting / lowering motor, the first arm member, and the second arm member so that at least one of the lifting / lowering operation, the first arm member rotating operation, and the second arm member rotating operation is stopped or decelerated.
  • a control device that controls at least one of the first rotation motor and the second rotation motor is applied.
  • the determination unit when the central holder portion is lowered, includes a lowering amount of the at least one torque, and a first threshold set with respect to the lowering amount, The second motor control unit determines that the landing has occurred by the determination unit exceeding the first threshold value when the landing amount is determined by the determination unit.
  • a control device for controlling the elevating motor is applied so that the lowering operation of the central holder portion is stopped or decelerated.
  • the determination unit when the central holder unit is raised, has a magnitude of the at least one torque and a second threshold set for the magnitude.
  • the second motor control unit determines that the abnormality is present due to the magnitude exceeding the second threshold by the determination unit.
  • the lifting / lowering motor, the first turning motor, and the turning operation of the central holder part, the turning action of the first arm member, and the turning action of the second arm member are stopped.
  • a control device for controlling the second rotation motor is applied.
  • the determination unit compares the variation amount of the at least one torque with a third threshold value set for the variation amount, thereby determining the abnormality.
  • the second motor control unit raises / lowers the central holder unit when the determination unit determines that the abnormality is present due to the fluctuation amount exceeding the third threshold value.
  • the lifting motor, the first rotating motor, and the second rotating motor are controlled so that the operation, the rotating operation of the first arm member, and the rotating operation of the second arm member are stopped. A control device is applied.
  • the determination unit includes at least the first holder when the central holder is raised or lowered, or at least one of the first arm member and the second arm member is rotated.
  • the amount of increase in the two torques is compared with a fourth threshold value set with respect to the amount of increase, and the presence / absence of the abnormality is determined.
  • the center holder portion is moved up and down, the first arm member is rotated, and the second arm member is rotated.
  • a control device that controls the lifting motor, the first rotation motor, and the second rotation motor is applied so that the operation is stopped.
  • a balance detection unit that detects a balance between the torque of the first rotation motor detected by the torque detection unit and the torque of the second rotation motor.
  • the determination unit compares the degree of bias of the balance detected by the balance detection unit with the fifth threshold value set for the degree of bias when the center holder part is raised,
  • the second motor control unit determines whether there is an abnormality when the determination unit determines that there is the abnormality because the degree of bias exceeds the fifth threshold value.
  • the raising / lowering motor, the first turning motor, and the second turning mode are stopped so that the raising / lowering action, the turning action of the first arm member, and the turning action of the second arm member are stopped. Controlling the control device is applied.
  • the operator when the main body is moved by a plurality of wheels for moving the main body, the operator performs desired movement while holding the grip portion of the operation member.
  • a third motor that drives a plurality of moving motors that generate a driving force for rotating each of the plurality of wheels based on a detection result of an urging operation detection unit that detects an urging operation that urges in a direction.
  • a control device further including a control unit is applied.
  • the apparatus further includes a direction determining unit that determines a moving direction of the main body corresponding to the biasing operation based on a detection result of the biasing operation detecting unit,
  • the third motor control unit is applied with a control device that drives the plurality of movement motors such that the plurality of wheels rotate so that the main body unit moves in the movement direction determined by the direction determination unit.
  • the third motor control unit is based on a detection result of a strain sensor as the urging operation detection unit that detects distortion of the grip unit due to the urging operation.
  • a control device for driving the plurality of movement motors is applied.
  • a fourth motor control unit that controls a plurality of movement motors related to a plurality of wheels based on a detection result of a position detection unit that detects the position of the main body unit. Furthermore, the control apparatus which has is applied.
  • the apparatus further includes a speed calculation unit that calculates a moving speed of the main body unit based on a detection result of the position detection unit, and the fourth motor control unit includes: Based on the calculation result of the speed calculation unit, a control device that drives the plurality of movement motors is applied so that the plurality of wheels rotate so that the movement speed becomes a predetermined speed mode.
  • the third motor control unit drives the two moving motors related to the two mecanum wheels installed as the plurality of wheels, or the fourth A control device is used in which the motor control unit controls the two motors for movement related to the two Mecanum wheels installed as the plurality of wheels.
  • the center holder portion is moved up and down, the first arm member is rotated, the second arm member is rotated, and a plurality of wheels are rotated.
  • At least one acceleration of the moving operation of the main body is smaller than a sixth threshold value set for the acceleration, and the center holder is moved up and down, the first arm member is rotated, and the second arm
  • a control device including a fifth motor control unit that controls at least one of the moving motors is applied.
  • the fifth motor control unit is configured to raise and lower the center holder, rotate the first arm member, rotate the second arm member, and At least one of the elevating motor, the first rotating motor, the second rotating motor, and the plurality of moving motors so that at least one speed of the moving operation of the main body portion varies in an S-curve shape.
  • a control device for controlling one is applied.
  • 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, a lifting motor for generating a driving force for raising and lowering the central holder portion, and a driving force for rotating the first arm member are generated.
  • the burden on the operator can be reduced.
  • 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. 8).
  • Transfer refers to the movement from the current position / posture to another position / posture.
  • 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).
  • a lying posture also referred to as a “posture posture”
  • a lying posture also referred to as a “posture posture”
  • the transfer assisting 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. 9 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.
  • 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 unit 2 can be raised and lowered. However, this embodiment demonstrates the case where the raising / lowering mechanism 12 is comprised as follows.
  • 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 the motor M1 for raising and lowering is a motor that generates a driving force for raising and lowering the central holder portion 2, a rotary motor that generates a rotating force as the driving force and a propulsive force as the driving force are generated. Any linear motor may be used. However, in this embodiment, the case where the lifting motor M1 is a rotary motor will be described.
  • 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.
  • 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 part 2 by elevating the elevating part 22 with respect 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. Corresponds to the state of rising 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.
  • the rotation direction that turns clockwise (clockwise) when viewed from the left side of the first arm member 4 is defined as “one side of the rotation direction”, and the left side of the first arm member 4 A rotation direction that turns counterclockwise (counterclockwise) when viewed from the side is defined as “the other direction of the rotation direction”.
  • 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 is in a posture extending in the horizontal direction from the central holder portion 2.
  • the shape of the 1st arm member 4 is not limited to the said shape.
  • the first arm member 4 is formed in a shape extending linearly between the base end portion 4b and the tip end portion 4a, or when the base end portion 4b extends in the horizontal direction from the center holder portion 2.
  • the tip 4a 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.
  • a rotation direction that turns counterclockwise (counterclockwise) when viewed from the left side of the second arm member 5 is defined as “one direction of rotation direction”.
  • a rotation direction that turns clockwise (clockwise) when viewed from the right side is defined as “the other side of the rotation direction”.
  • 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.
  • the shape of the 2nd arm member 5 is not limited to the said shape.
  • the second arm member 5 is formed in a shape that linearly extends between the base end portion 5b and the tip end portion 5a, or when the base end portion 5b extends in the horizontal direction from the central holder portion 2.
  • the tip portion 5a 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 for locking and releasing the sling sheet 6 (see FIG. 10 described later) on which the care recipient M is placed.
  • the configuration, the installation position, and the number of installation of the locking portion 7 are not particularly limited as long as the configuration, the position, and the number of the sling sheets 6 can be attached and detached.
  • this embodiment demonstrates the case where each latching
  • 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.
  • 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.
  • 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 is disposed, for example, inside the housing 16, and 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.
  • 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.
  • 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.
  • the connecting portion C2 includes a connecting member 25 fitted in a groove 18 provided on the front side of the periphery of the center holder portion 2 on the left side surface of the header portion 21 (see FIG. 1). ). Then, the connecting portion C2 is synchronized with the linear movement of the nut member N2, so that the first arm member 4 rotates about the central holder portion 2 as the central axis when the connecting member 25 slides in the groove 18.
  • the upper end side of the nut member N2 and the first arm member 4 are connected.
  • Such a rotation mechanism 23 rotates the first arm member 4 about the central holder portion 2 as the central axis when the connection member 25 of the connection portion C2 slides in the groove 18 by driving the first rotation motor M2. It is possible to move.
  • 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.
  • 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 is disposed, for example, inside the casing 16 and 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.
  • 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.
  • 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.
  • 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. It is possible to make it.
  • 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.
  • FIGS. 1 to 4 correspond to a state in which both of the arm members 4 and 5 are located at positions where the front end portions 4a and 5a are positioned below the horizontal direction of the central holder portion 2.
  • 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 arm members 4 and 5 are in a position where the tip end portions 4 a and 5 a are positioned above the central holder portion 2 (standing up).
  • the control device 50 is disposed, for example, inside the casing 16. The configuration of the control device 50 will be described later in detail.
  • the transfer assist device 1 is provided with an operation detection unit 30 (see FIG. 9 described later) for detecting an operation of an operator (for example, a caregiver, not shown). Based on the detection result (operator's operation) of the operation detection unit 30, at least one drive of the elevating motor M1, the first rotating motor M2, and the second rotating motor M3, that is, the central holder. At least one operation of the unit 2, the first arm member 4, and the second arm member 5 is controlled by the control device 50.
  • the control device 50 and the operation detection unit 30 are at least one of an ascending / descending operation of the central holder unit, a rotating operation of the first arm member, and a rotating operation of the second arm member based on the operation of the operator.
  • the means for controlling is configured.
  • the drive of only the lifting motor M1 is controlled by the control device 50
  • the drive of only the first rotation motor M2 is controlled by the control device 50, or the second time.
  • the driving of only the moving motor M3 may be controlled by the control device 50.
  • the driving of the lifting motor M1 and the first rotation motor M2 is controlled by the control device 50, or the driving of the lifting motor M1 and the second rotation motor M3 is controlled. It may be controlled by the device 50, or the driving of the first rotation motor M2 and the second rotation motor M3 may be controlled by the control device 50.
  • the raising / lowering motor M1, the first rotation motor M2, and the second rotation motor M3 are driven, that is, the central holder portion 2 and the first arm member. 4 and the case where the operation of the second arm member 5 is controlled by the control device 50 will be described.
  • the configuration of the operation detection unit 30 is such that the control device 50 drives the lifting motor M1, the first rotation motor M2, and the second rotation motor M3 based on the detection result of the operation detection unit 30 (the center holder unit 2,
  • the operation of the first arm member 4 and the second arm member 5 is not particularly limited as long as the operation of the operator can be detected so as to be controllable.
  • the operation detection unit 30 is configured as follows will be described.
  • the operation detection unit 30 includes an operation input unit 31 (see FIG. 9 described later), a first contact sensor 32, and a second contact sensor 33.
  • the operation input unit 31 is disposed at an appropriate position (for example, the upper surface of the header unit 21) where the operator can perform an operation input, and performs a predetermined operation (hereinafter referred to as “the operation of the lifting motor M1”). Also referred to as “elevating control operation”). And based on the detection result of this operation input part 31, the drive of the raising / lowering motor M1, ie, the raising / lowering operation
  • the operation input unit 31 is not particularly limited as long as the operation input / output control operation can be detected by the operator, but can be implemented by, for example, a push button or a lever.
  • the first contact sensor 32 is on one side in the rotational direction of at least one of the first arm member 4 and the second arm member 5 (the upper side when the base end portion extends in the horizontal direction from the central holder portion 2). Side), that is, on the side opposite to the traveling direction of the rotational movement toward the other side, and detects the contact operation of the operator.
  • the first contact sensor 32 may be installed only on the first arm member 4 or only on the second arm member 5. However, in the present embodiment, a case where the first contact sensor 32 is installed on both the first arm member 4 and the second arm member 5 will be described. At this time, the first contact sensor 32 on the first arm member 4 side may be installed on both of the pair of first arm members 4 and 4, but in the present embodiment, the first contact sensor 32 is one (this The case where it is installed only on the first arm member 4 on the right side in the example will be described.
  • first contact sensor 32 on the second arm member 5 side may be installed on both of the pair of second arm members 5 and 5, but in the present embodiment, the first contact sensor 32 is one (this The case where it is installed only on the second arm member 5 on the right side in the example will be described.
  • the first contact sensor 32 is installed on the opposite side of the direction of rotation of the first arm member 4 on the right side and the second arm member 5 on the right side in the rotation direction toward the other side. Detecting an operator's contact operation. Based on the detection results of the first contact sensors 32, at least one of the first rotation motor M2 and the second rotation motor M3 is driven, that is, at least one of the first arm member 4 and the second arm member 5. A rotation operation to the other side in the rotation direction is controlled by the control device 50 (details will be described later).
  • the second contact sensor 33 is on the other side in the rotational direction of at least one of the first arm member 4 and the second arm member 5 (on the lower side when the base end portion extends in the horizontal direction from the central holder portion 2). Side), that is, on the opposite side of the direction of rotation of the rotation direction to one side, and detects the contact operation of the operator.
  • the second contact sensor 33 may be installed only on the first arm member 4 or only on the second arm member 5. However, in this embodiment, the case where the second contact sensor 33 is installed on both the first arm member 4 and the second arm member 5 will be described. At this time, the second contact sensor 33 on the first arm member 4 side may be installed on only one of the pair of first arm members 4 and 4, but in the present embodiment, the second contact sensor 33 is The case where it installs in both of a pair of 1st arm members 4 and 4 is demonstrated. Similarly, the second contact sensor 33 on the second arm member 5 side may be installed on only one of the pair of second arm members 5 and 5, but in the present embodiment, the second contact sensor 33 is The case where it installs in both of a pair of 2nd arm members 5 and 5 is demonstrated.
  • the second contact sensor 33 is installed on the side opposite to the traveling direction of the rotational movement of the first arm members 4 and 4 and the second arm members 5 and 5 to one side, Detects touch operation. Based on the detection results of the second contact sensor 33, at least one of the first rotation motor M2 and the second rotation motor M3 is driven, that is, at least one of the first arm member 4 and the second arm member 5. A rotation operation to one side of the rotation direction is controlled by the control device 50 (details will be described later).
  • the contact sensors 32 and 33 are not particularly limited as long as they can detect the operator's contact operation. For example, a sensor that detects the presence or absence of contact, a sensor that detects contact pressure, or the like. Can be implemented. However, this embodiment demonstrates the case where the contact sensors 32 and 33 are mounted by the sensor which detects the presence or absence of a contact.
  • a switch 14 for accepting an operation for switching between valid and invalid of the contact sensors 32 and 33 by the operator is disposed on the upper surface of the header portion 21, a switch 14 for accepting an operation for switching between valid and invalid of the contact sensors 32 and 33 by the operator is disposed.
  • the switch 14 may be disposed at a position other than the top surface of the header portion 21.
  • the control device 50 switches and controls whether the drive control of at least one of the rotation motors M2 and M3 due to the contact with the contact sensors 32 and 33 is valid (details). Later).
  • the switch 14 is not always necessary and may be omitted.
  • the main body 3 is provided with a moving mechanism 8 for moving the main body 3.
  • the configuration of the moving mechanism 8 is not particularly limited as long as the main body 3 can be moved. In the present embodiment, a case where the moving mechanism 8 is configured as follows will be described.
  • the moving mechanism 8 includes a frame 9, a plurality of wheels 10 and 20, and a plurality of moving motors M4 (see FIGS. 2 and 3).
  • 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.
  • 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. Further, the frame 9 is not necessarily required and may be omitted.
  • the wheel 10 is installed at two locations near both ends on the left side of the frame 9.
  • the installation position and installation number of the wheel 10 are not limited to the above position and number, and may be other positions and numbers.
  • Each wheel 10 is configured as a non-driving wheel by a caster, for example.
  • the wheel 10 may be configured as a drive wheel driven by a motor.
  • the wheels 20 are installed at two appropriate locations on the lower end of the main body 3.
  • the installation number of the wheels 20 is not limited to two, and may be one or three or more.
  • Each wheel 20 is configured as a drive wheel by a Mecanum wheel that rotatably supports a small-diameter wheel by an axis inclined by 45 ° with respect to the axis of the main wheel.
  • the wheel 20 may be configured as a drive wheel by other types of wheels such as an omni wheel.
  • the wheel 20 may be configured as a non-driving wheel.
  • the two moving motors M4 are arranged, for example, inside the housing 16 corresponding to the two wheels 20, and generate a driving force for rotating the corresponding wheels 20.
  • Each moving motor M4 is configured by a rotary motor that generates a rotational force as a driving force for rotating the wheel 20.
  • the moving motor M4 is not necessary when the wheel 20 is configured as a non-driving wheel.
  • the main body 3 can be moved by the wheels 10, 20 by rotating the wheels 20, 20 by driving the moving motors M 4, M 4.
  • the moving mechanism 8 is not always necessary, and may be omitted when the main body 3 does not need to be moved.
  • an operating member 34 having a grip portion 35 is installed on the header portion 21.
  • the operation member 34 may be installed at a position other than the header portion 21 of the main body portion 3.
  • the grip part 35 is a part for performing an urging operation for urging in a desired moving direction while the operator grips the main body part 3 by the wheels 10 and 20.
  • the operation member 34 includes a strain sensor 36 (described later) that detects distortion of the grip portion 35 due to the biasing operation as a biasing operation detection portion that detects a biasing operation of the operator with the grip portion 35. 9) is installed.
  • the urging operation detection unit is not limited to the strain sensor 36 and is not particularly limited as long as it can detect the urging operation of the operator.
  • a position detection unit 37 that detects the position of the main body 3 is installed in the main body 3.
  • the configuration of the position detection unit 37 is not particularly limited as long as the position of the main body unit 3 can be detected.
  • the position detection unit 37 is configured as follows. The case will be described. That is, the position detection unit 37 includes a ball that is exposed from the lower end surface of the main body 3 and rotates with the movement of the main body 3 while contacting the ground, and the position of the main body 3 is determined based on the rotation amount of the ball. Detect position.
  • the movement of the main body 3 by the driving of the movement motors M4 and M4, that is, the rotation of the wheels 20 and 20, is performed as described above. It is controlled by the control device 50 (details will be described later).
  • the urging operation detection unit and the position detection unit 37 are not necessarily required, and may be omitted when the wheel 20 is configured as a non-driven wheel or in other cases.
  • the operation member 34 may also be omitted.
  • the control device 50 drives the elevating motor M1 to raise and lower the central holder portion 2 and the arm members 4 and 5 connected thereto, whereby the cared person M can be lifted (lifted) or lowered. is there. Further, in the transfer assist device 1, when the operator appropriately performs a contact operation on the contact sensors 32 and 33 with the cared person M lifted, the control device 50 drives the rotation motors M2 and M3, By rotating the arm members 4 and 5 about the central holder portion 2 as the central axis, the care receiver M can change the posture of the care recipient M to a desired posture. When the operator performs an urging operation while holding the grip portion 35, the control device 50 drives the movement motors M 4 and M 4 to rotate the wheels 20 and 20, thereby rotating the main body portion by the wheels 10 and 20. 3 can be moved.
  • the control device 50 includes the operation detection unit 30 including the operation input unit 31, the first contact sensor 32, and the second contact sensor 33, the switch 14, and the distortion.
  • the sensor 36, the position detection unit 37, and five motor control devices SA1, SA2, SA3, SA4, and SA4 are connected.
  • the control device 50 is configured to control the motor control devices SA1 to SA4 based on outputs from the operation input unit 31, the first contact sensor 32, the second contact sensor 33, the switch 14, the strain sensor 36, and the position detection unit 37.
  • a command is output to the corresponding motor control device.
  • the control device 50 controls driving of the corresponding motor among the motors M1 to M4.
  • the control device 50 outputs a command to the motor control devices SA1 to SA3 based on the detection result of the operation detection unit 30, thereby raising and lowering the motor M1, the first rotation motor M2, and the second rotation motor. Control at least one of M3.
  • the motor control device SA1 is disposed, for example, inside the casing 16, and outputs a command from the control device 50 and an output from the position detector PS1 such as an encoder provided in the lifting motor M1 (the position of the lifting motor M1).
  • the driving of the lifting motor M1 is controlled based on the data and the like.
  • the motor control device SA2 is disposed, for example, inside the casing 16, and outputs a command from the control device 50 and an output from the position detector PS2 such as an encoder provided in the first rotation motor M2 (first rotation use).
  • the driving of the first rotating motor M2 is controlled based on the position data of the motor M2 and the like.
  • the motor control device SA3 is disposed, for example, inside the casing 16, and outputs a command from the control device 50 and an output from the position detector PS3 such as an encoder provided in the second rotation motor M3 (second rotation use).
  • the driving of the second rotating motor M3 is controlled based on the position data of the motor M3).
  • Each motor control device SA4 is disposed, for example, inside the casing 16, and outputs a command from the control device 50 and an output (corresponding movement) from a position detector PS4 such as an encoder provided in the corresponding movement motor M4.
  • the driving of the corresponding moving motor M4 is controlled on the basis of the position data of the motor M4.
  • the control device 50 includes a first motor control unit 510, a torque detection unit 521, a balance detection unit 522, a determination unit 523, a second motor control unit 520, and a direction determination unit 531. , A third motor control unit 530, a speed calculation unit 541, a fourth motor control unit 540, and a fifth motor control unit 550.
  • the fourth motor control unit 540 and the fifth motor control unit 550 are each implemented by a program executed by a CPU 901 (see FIG. 12 described later) provided in the control device 50.
  • the motor control unit 540 and the fifth motor control unit 550 are partly or entirely part of an actual device 907 (described later) such as a dedicated integrated circuit or other electric circuit constructed for a specific application such as an ASIC or FPGA. (See FIG. 12).
  • the first motor control unit 510 outputs a command to at least one of the motor control devices SA1 to SA3 based on the detection result of the operation detection unit 30, whereby the elevating motor M1 and the first rotation motor M2 are output. And at least one drive of the second rotation motor M3 is controlled.
  • the first motor control unit 510 outputs a command to the motor control devices SA1 to SA3 based on the detection result of the operation detection unit 30, thereby raising and lowering the motor M1, the first rotation motor M2, And the drive of the motor M3 for 2nd rotation is controlled.
  • the first motor control unit 510 includes a lift control unit 511, a first rotation control unit 512, a second rotation control unit 513, a switching control unit 514, a third rotation control unit 515, 4 rotation control unit 516.
  • the elevating control unit 511 controls the driving of the elevating motor M1 by outputting a command to the motor control device SA1 based on the detection result of the operation input unit 31.
  • the lift control unit 511 acquires the ascending instruction signal from the operation input unit 31, and in response to the ascending instruction signal, issues a command for driving the ascending / descending motor M1 so that the central holder unit 2 ascends. Output to the controller SA1.
  • the raising / lowering control part 511 drives the raising / lowering motor M1 via motor control apparatus SA1 so that the center holder part 2 may raise.
  • the lifting control unit 511 acquires a lowering instruction signal from the operation input unit 31, and in response to the lowering instruction signal, issues a command for driving the lifting motor M1 so that the central holder unit 2 is lowered. Output to the controller SA1.
  • the raising / lowering control part 511 drives the raising / lowering motor M1 via motor control apparatus SA1 so that the center holder part 2 may descend
  • the first rotation control unit 512 is configured such that at least the arm member on which the contact operation is detected among the arm members 4 and 5 is the other side in the rotation direction (first side).
  • the first rotation control unit 512 is configured such that, of the arm members 4 and 5, the arm member on which the contact operation is detected and the arm member on which the contact operation is not detected are in the other rotation direction.
  • the motors for rotation M2 and M3 are driven by outputting a command to the motor control devices SM2 and SM3 so as to rotate to the side.
  • the first rotation control unit 512 acquires the first contact signal from the first contact sensor 32, and the arm members 4 and 5 rotate to the other side in the respective rotation directions according to the first contact signal.
  • a command for driving the rotation motors M2 and M3 so as to move is output to the motor control devices SA2 and SA3.
  • the first rotation control unit 512 drives the rotation motors M2 and M3 via the motor control devices SA2 and SA3 so that the arm members 4 and 5 rotate to the other side in the respective rotation directions. .
  • the first rotation control unit 512 is configured so that the arm members 4 and 5 rotate in the same manner as described above.
  • the rotation motors M2 and M3 are driven via the motor control devices SA2 and SA3 so as to rotate in the other direction.
  • the second rotation control unit 513 is configured such that at least one of the arm members 4 and 5 on which the contact operation is detected is on one side in the rotation direction (second side).
  • the second rotation control unit 513 By outputting a command to at least one of the motor control devices SM2 and SM3 so as to rotate to the side opposite to the installation side of the contact sensor 33, at least one of the rotation motors M2 and M3 is driven.
  • the second rotation control unit 513 is configured such that, of the arm members 4 and 5, the arm member on the side where the contact operation is detected and the arm member on the side where the contact operation is not detected
  • the motors for rotation M2 and M3 are driven by outputting a command to the motor control devices SM2 and SM3 so as to rotate to the side.
  • the second rotation control unit 513 acquires the second contact signal from the second contact sensor 33, and the arm members 4 and 5 rotate to one side in the respective rotation directions according to the second contact signal.
  • a command for driving the rotation motors M2 and M3 so as to move is output to the motor control devices SA2 and SA3. Accordingly, the second rotation control unit 513 drives the rotation motors M2 and M3 via the motor control devices SA2 and SA3 so that the arm members 4 and 5 rotate to one side in the respective rotation directions. .
  • the second rotation control unit 513 causes the arm members 4 and 5 to rotate.
  • the rotation motors M2 and M3 are driven via the motor control devices SA2 and SA3 so as to rotate in one direction.
  • the switching control unit 514 Based on the switching state of the switch 14, the switching control unit 514 performs switching control of whether the first rotation control unit 512 and the second rotation control unit 513 drive the rotation motors M2 and M3. That is, when the switching control unit 54 acquires a signal corresponding to the switching operation for enabling the contact sensors 32 and 33 of the operator from the switch 14, the first rotation control unit 512 and the second rotation control unit 513. The driving by (operation of the rotating motors M2 and M3) is made effective. On the other hand, when the switching control unit 54 acquires a signal corresponding to the switching operation that invalidates the operator's contact sensors 32 and 33 from the switch 14, the first rotation control unit 512 and the second rotation control unit 513. The driving by (the operation of the rotating motors M2 and M3) is invalidated.
  • the third rotation control unit 515 is a second contact sensor during the rotation of the arm members 4 and 5 to the other side in the respective rotation directions under the control of the first rotation control unit 512.
  • the driving of the rotation motors M2 and M3 by the first rotation control unit 512 is controlled so that the rotation operation is stopped (or may be decelerated).
  • the fourth rotation control unit 516 includes a first contact sensor while the arm members 4 and 5 are rotating in one of the respective rotation directions under the control of the second rotation control unit 513.
  • the second rotation control unit 513 controls the driving of the rotation motors M2 and M3 so that the rotation operation is stopped (or may be decelerated).
  • the processing in 516 is not limited to the example of sharing of these processing, and may be processed by, for example, one processing unit or a plurality of further subdivided processing units.
  • the first motor control unit 510 includes the elevation control unit 511, the first rotation control unit 512, the second rotation control unit 513, the switching control unit 514, the third rotation control unit 515, and the fourth time.
  • the case where the dynamic control unit 516 is provided has been described.
  • the elevation control unit 511, the first rotation control unit 512, the second rotation control unit 513, the switching control unit 514, the third rotation control unit 515, and the fourth time It is not necessary to provide all of the dynamic control units 516, and one or more of them may be omitted.
  • the torque detection unit 521 calculates the torque of the lifting motor M1, the torque of the first rotation motor M2, and the torque of the second rotation motor M3. At least one is detected. In the present embodiment, the torque detection unit 521 calculates the torque of the lifting motor M1, the torque of the first rotation motor M2, and the torque of the second rotation motor M3 based on the outputs from the position detection units PS1 to PS3. To detect.
  • the balance detection unit 522 acquires torque data of each of the rotation motors M2 and M3 from the torque detection unit 521, and based on these torque data, the first rotation motor M2, the torque, and the second rotation motor M3. Detects balance with torque.
  • the determination unit 523 Based on the detection result of the torque detection unit 521, the determination unit 523 includes the landing of the cared person M placed on the sling sheet 6 locked by the locking part 7, and the cared person. At least one of the presence / absence of abnormality relating to M is determined. In the present embodiment, the determination unit 523 determines whether the landing and the abnormality are present.
  • the second motor control unit 520 drives at least one of the lifting motor M1, the first rotating motor M2, the third rotating motor M3, and the moving motor M4 based on the detection result of the torque detecting unit 521. Control. More specifically, the second motor control unit 520 is configured to move the center holder unit 2 up and down, rotate the first arm member 4, and rotate the second arm member 5 based on the determination result of the determination unit 523.
  • the raising / lowering motor M1, the first turning motor M2, and the third turning motor so that at least one of the moving action and the moving action of the main body 3 due to the turning action of the wheel 20 is stopped (or may be decelerated). It controls at least one drive of M3 and moving motors M4 and M4.
  • the determination unit 523 determines the torque of the lifting motor M1 detected by the torque detection unit 521, the torque of the first rotation motor M2, and the second rotation motor M3 when the center holder unit 2 is lowered. By comparing at least one descending amount of the torque (in this example, a descending amount of the combined torque obtained by combining these three torques) with the first threshold value set for the descending amount, Make a decision. At this time, the determination unit 523 determines that there is no landing while the amount of decrease in the combined torque is equal to or less than the first threshold, and the amount of decrease in the combined torque exceeds the first threshold (the device load is small). It is determined that there was a landing.
  • the second motor control unit 520 stops the lowering operation of the center holder unit 2 when the determination unit 523 determines that the landing has occurred due to the decrease amount of the combined torque exceeding the first threshold value ( Alternatively, the driving of the elevating motor M1 is controlled so that the motor may be decelerated). In the present embodiment, the second motor control unit 520 controls driving of the lifting motor M1 by the lifting control unit 511 so that the lowering operation of the central holder unit 2 is stopped.
  • the determination unit 523 detects the torque of the elevating motor M1, the torque of the first rotation motor M2, and the torque of the second rotation motor M3 detected by the torque detection unit 521 when the center holder unit 2 is raised.
  • the presence / absence of the abnormality is determined by comparing at least one magnitude (in this example, the magnitude of the synthesized torque obtained by synthesizing these three torques) with the second threshold value set for the magnitude. I do. That is, the determination unit 523 performs the determination to determine whether the weight of the cared person M lifted as described above is within the specification weight range predetermined as the specification of the transfer assist device 1. It is possible to determine.
  • the determination unit 523 determines that there is no abnormality when the magnitude of the combined torque is equal to or less than the second threshold (the weight of the cared person M is within the specified weight range), and the combined torque Is larger than the second threshold value (the device load is too large), it is determined that there is an abnormality (the weight of the cared person M exceeds the specified weight range).
  • the second motor control unit 520 has an abnormality when the magnitude of the combined torque exceeds the second threshold value by the determination unit 523 (the weight of the cared person M exceeds the specified weight range).
  • the motor M ⁇ b> 1 is stopped so that the lifting operation of the central holder portion 2, the turning operation of the first arm member 4, the turning operation of the second arm member 5, and the moving operation of the main body portion 3 are stopped. Controls driving of M4.
  • the second motor control unit 520 stops the lifting operation of the central holder unit 2, the rotation operation of the first arm member 4, the rotation operation of the second arm member 5, and the movement operation of the main body unit 3.
  • the motor control unit 530 controls driving of the moving motors M4 and M4.
  • the determination unit 523 also includes at least one variation amount of the torque of the lifting motor M1, the torque of the first rotation motor M2, and the torque of the second rotation motor M3 detected by the torque detection unit 521 (this example) Then, the presence / absence of the abnormality is determined by comparing a fluctuation amount of the combined torque obtained by combining these three torques) with a third threshold value set for the fluctuation amount. That is, the determination unit 523 can determine whether or not the cared person M lifted as described above is rampant by performing the determination.
  • the determination unit 523 determines that there is no abnormality (the cared person M is not violated) when the fluctuation amount of the combined torque is equal to or less than the third threshold value, and the fluctuation amount of the combined torque is the first fluctuation amount. 3. If the threshold value is exceeded (the device load varies), it is determined that there is an abnormality (the cared person M is rampant).
  • the second motor control unit 520 determines that the determination unit 523 determines that there is an abnormality (the care receiver M is rampant) due to the fluctuation amount of the combined torque exceeding the third threshold value.
  • Lifting / lowering motor by the lifting / lowering control unit 511 so that the lifting / lowering operation of the central holder 2, the rotating operation of the first arm member 4, the rotating operation of the second arm member 5, and the moving operation of the main body unit 3 are stopped. It controls the driving of M1, the driving of the rotating motors M2 and M3 by the first rotating control unit 512 or the second rotating control unit 513, and the driving of the moving motors M4 and M4 by the third motor control unit 530.
  • the determination unit 523 is configured to detect the torque of the lifting motor M1 detected by the torque detection unit 521 when the central holder unit 2 is moved up and down or when at least one of the arm members 4 and 5 is rotated. At least one increase amount of the torque of the motor M2 and the torque of the second rotation motor M3 (in this example, the increase amount of the combined torque obtained by synthesizing these three torques) and the fourth value set for the increase amount. The presence or absence of the abnormality is determined by comparing with a threshold value. That is, the determination unit 523 can determine whether or not the cared person M is sandwiched between the central holder unit 2 and the arm members 4 and 5 by performing the determination.
  • the determination unit 523 determines that there is no abnormality (the care receiver M is not sandwiched) while the increase amount of the combined torque is equal to or less than the fourth threshold value, and the increase amount of the combined torque is the fourth increase amount.
  • the threshold value is exceeded (the device load increases), it is determined that there is an abnormality (the care receiver M is sandwiched).
  • the second motor control unit 520 determines that there is an abnormality (the care receiver M is sandwiched). Lifting / lowering motor by the lifting / lowering control unit 511 so that the lifting / lowering operation of the central holder 2, the rotating operation of the first arm member 4, the rotating operation of the second arm member 5, and the moving operation of the main body unit 3 are stopped. It controls the driving of M1, the driving of the rotating motors M2 and M3 by the first rotating control unit 512 or the second rotating control unit 513, and the driving of the moving motors M4 and M4 by the third motor control unit 530.
  • the determination unit 523 compares the degree of balance deviation detected by the balance detection unit 522 with the fifth threshold value set for the degree of deviation when the center holder part 2 is raised, The presence / absence of the abnormality is determined. That is, the determination unit 523 performs the determination to determine whether or not all the locked portions of the sling sheet 6 are locked to the locking portion 7, and whether the care receiver M is lifted as described above. It is possible to determine whether or not the mounting position on the sling sheet 6 is appropriate. At this time, the determination unit 523 has no abnormality when the degree of bias of the balance is equal to or less than the fifth threshold value (a cared person in which all the locked portions are locked to the locking portions 7).
  • the position of M on the sling sheet 6 is determined to be appropriate), and if the degree of bias of the balance exceeds the fifth threshold value (the balance of the device load is strange), there is an abnormality. It is determined that there is a locked portion that is not locked to the locking portion 7 and the placement position of the care receiver M on the sling sheet 6 is not appropriate.
  • the second motor control unit 520 has an abnormality when the determination unit 523 causes the balance deviation to exceed the fifth threshold value (there is a locked part that is not locked to the locking part 7).
  • the center holder portion 2 is moved up and down, the first arm member 4 is rotated, and the second arm member 5 is moved.
  • the raising / lowering motor M1 is driven by the raising / lowering control unit 511, and the turning motor M2 by the first rotation control unit 512 or the second rotation control unit 513 so that the rotation operation and the movement operation of the main body 3 are stopped.
  • M3, and driving of the moving motors M4, M4 by the third motor control unit 530 are controlled.
  • the determination unit 523 performs the plurality of determinations.
  • the determination unit 523 does not necessarily need to perform all of the plurality of determinations.
  • One or more of the plurality of determinations may be omitted, or determinations other than the above may be performed.
  • the balance detection unit 522 is not necessary.
  • control by the second motor control unit 520 described above can be omitted.
  • the torque detection unit 521, the balance detection unit 522, the determination unit 523, and the second motor control unit 520 are not necessary.
  • the direction determining unit 531 is a main body corresponding to an urging operation by the operator using the grip unit 35 by using a known appropriate technique based on the detection result of the strain sensor 36 (distortion data of the grip unit 35). The moving direction of the part 3 is determined.
  • the third motor control unit 530 drives the moving motors M4 and M4 by outputting a command to the motor control devices SM4 and SM4 based on the detection result of the strain sensor 36.
  • the third motor control unit 530 instructs the motor control devices SM4 and SM4 to rotate the wheels 20 and 20 so that the main body unit 3 moves in the moving direction determined by the direction determining unit 531. Is output to drive the moving motors M4 and M4.
  • the control by the third motor control unit 530 described above can be omitted.
  • the strain sensor 36, the direction determination unit 531 and the third motor control unit 530 are not necessary.
  • the speed calculation unit 541 calculates the moving speed of the main body 3 based on the detection result of the position detection unit 37 (position data of the main body 3) using a known appropriate technique.
  • the fourth motor control unit 540 drives the moving motors M4 and M4 based on the detection result of the position detection unit 37.
  • the fourth motor control unit 540 determines the wheel 20, the moving speed of the main body unit 3 to be a predetermined speed mode based on the calculation result of the speed calculating unit 541 (the moving speed of the main body unit 3).
  • the driving of the moving motors M4 and M4 by the third motor control unit 530 is controlled so that 20 rotates.
  • the predetermined speed mode is not particularly limited, and examples thereof include a speed mode that varies in an S-shaped curve, a constant speed, and a predetermined speed or less.
  • control by the fourth motor control unit 540 described above may be omitted. In this case, the position detection unit 37, the speed calculation unit 541, and the fourth motor control unit 540 are not necessary.
  • the fifth motor control unit 550 moves the center holder unit 2 up and down, rotates the first arm member 4, rotates the second arm member 5,
  • the motor M1 is configured so that the acceleration of at least one operation of the moving operation of the main body 3 is smaller than a sixth threshold set for the acceleration, and the speed of the at least one operation is in a predetermined speed mode. Control at least one of ⁇ M4.
  • the fifth motor control unit 550 has accelerations of the lifting operation of the central holder unit 2, the rotation operation of the first arm member 4, the rotation operation of the second arm member 5, and the movement operation of the main body unit 3.
  • At least one of the motors M1 to M4 is controlled so that the speed of these operations becomes a predetermined speed mode while being smaller than the sixth threshold value.
  • the predetermined speed mode include a speed mode that varies in an S-curve shape, a constant speed, a predetermined speed or less, and the like. In the present embodiment, the predetermined speed mode varies in an S-curve shape. A case where the speed mode is set will be described.
  • the fifth motor control unit 550 has the sixth acceleration and lowering acceleration of the central holder unit 2, the rotation operation of the first arm member 4, the rotation operation of the second arm member 5, and the movement operation of the main body unit 3.
  • the elevation control unit 511 drives the elevation motor M1, the first rotation control unit 512, or the second rotation control unit so that the speed of these operations fluctuates in an S-shaped curve while being smaller than the threshold value.
  • the driving of the rotation motors M2 and M3 by 513 and the driving of the movement motors M4 and M4 by the third motor control unit 530 are controlled.
  • the control by the fifth motor control unit 550 described above can be omitted.
  • the processing in the fourth motor control unit 540 and the fifth motor control unit 550 is not limited to the example of sharing of these processes, and is processed by one processing unit or further subdivided, for example. It may be processed by a plurality of processing units.
  • step S ⁇ b> 10 ⁇ / b> A the control device 50 determines whether or not the switching operation for enabling the contact sensors 32 and 33 has been performed by the operator via the switch 14, that is, the switching control unit 514 performs the switch 14. It is determined whether or not a signal corresponding to the switching operation for enabling the contact sensors 32 and 33 has been acquired.
  • the switching control unit 514 acquires a signal corresponding to the switching operation for enabling the contact sensors 32 and 33 from the switch 14, the determination in step S10A is satisfied, and the process proceeds to step S20A.
  • step S20A the control device 50 enables the switching control unit 514 to drive the first rotation control unit 512 and the second rotation control unit 513 (operation of the rotation motors M2 and M3). Thereby, the process shown in this flow is completed. Note that the processing shown in this flow is repeatedly executed.
  • step S10A when the switching control unit 514 acquires a signal corresponding to the switching operation for invalidating the contact sensors 32 and 33 from the switch 14 in step S10A, the determination in step S10A is not satisfied, and the process proceeds to step S30A.
  • step S30A the control device 50 invalidates the drive (operation of the rotation motors M2 and M3) by the first rotation control unit 512 and the second rotation control unit 513 in the switching control unit 514. Thereby, the process shown in this flow is completed.
  • step S ⁇ b> 10 ⁇ / b> B the control device 50 obtains a signal corresponding to the operation from the operation input unit 31 as to whether or not the operation input unit 31 has been operated by the operator. Determine whether or not.
  • the raising / lowering control part 511 acquires the signal corresponding to operation from the operation input part 31, the determination of step S10B is satisfy
  • step S20B the control device 50 controls the drive of the lifting motor M1 by outputting a command to the motor control device SA1 based on the detection result of the operation input unit 31 in the lifting control unit 511. Thereafter, the process proceeds to step S30B.
  • step S10B determines whether the lift control unit 511 has acquired a signal corresponding to the operation from the operation input unit 31 in step S10B.
  • step S30B the control device 50 determines whether or not the driving by the first rotation control unit 512 and the second rotation control unit 513 is valid. When the driving by the first rotation control unit 512 and the second rotation control unit 513 is valid, the determination at Step S30B is satisfied, and the routine goes to Step S40B.
  • step S ⁇ b> 40 ⁇ / b> B the control device 50 determines whether or not the contact operation of the first contact sensor 32 has been performed by the operator, that is, the first rotation control unit 512 acquires a signal corresponding to the contact operation from the first contact sensor 32. Determine whether or not.
  • the 1st rotation control part 512 acquires the signal corresponding to contact operation from the 1st contact sensor 32, determination of step S40B is satisfy
  • step S50B in the first rotation control unit 512, the control device 50 includes the arm member 4 and the arm member on the side where the contact operation is detected and the arm member on the side where the contact operation is not detected.
  • the rotation motors M2 and M3 are driven by outputting a command to the motor control devices SM2 and SM3 so as to rotate to the other side in the rotation direction.
  • step S60B the control device 50 performs the second operation while the arm members 4 and 5 are rotating in the respective rotation directions to the other side under the control of the first rotation control unit 512. It is determined whether or not a contact operation is detected by the contact sensor 33. When the contact operation is detected by the second contact sensor 33 while the arm members 4 and 5 are being rotated to the other side in the respective rotation directions under the control of the first rotation control unit 512. Is satisfied in step S60B, and the process proceeds to step S70B.
  • step S ⁇ b> 70 ⁇ / b> B the controller 50 causes the third rotation control unit 512 to rotate the first rotation control unit 512 so that the third rotation control unit 515 stops the rotation operation of the arm members 4 and 5 to the other side. Controls driving of the motors M2 and M3. Thereafter, the process proceeds to step S80B.
  • step S40B the first rotation control unit 512 does not acquire a signal corresponding to the contact operation from the first contact sensor 32 in step S40B and the determination in step S40B is not satisfied, and the first rotation control in step S60B.
  • the contact operation is not detected by the second contact sensor 33 while the arm members 4 and 5 are pivoting to the other side in the respective rotational directions under the control of the part 512, and the determination in step S60B is not satisfied. If YES, the process moves to step S80B.
  • step S ⁇ b> 80 ⁇ / b> B the control device 50 determines whether or not the contact operation of the second contact sensor 33 has been performed by the operator, that is, the second rotation control unit 513 acquires a signal corresponding to the contact operation from the second contact sensor 33. Determine whether or not.
  • the 3rd rotation control part 513 acquires the signal corresponding to contact operation from the 2nd contact sensor 33, determination of step S80B is satisfy
  • step S90B in the second rotation control unit 513, the control device 50 includes the arm member 4 and the arm member on the side where the contact operation is detected and the arm member on the side where the contact operation is not detected.
  • the rotation motors M2 and M3 are driven by outputting a command to the motor control devices SM2 and SM3 so as to rotate to one side in the rotation direction.
  • step S100B the control device 50 performs the first operation while the arm members 4 and 5 are rotating in one of the respective rotation directions under the control of the second rotation control unit 513. It is determined whether or not a contact operation is detected by the contact sensor 32. When the contact operation is detected by the first contact sensor 32 while the arm members 4 and 5 are rotating in one of the respective rotation directions under the control of the second rotation control unit 513. Is satisfied in step S100B, and the process proceeds to step S110B.
  • step S110B the control device 50 rotates the second rotation control unit 513 so that the fourth rotation control unit 516 stops the rotation operation of the arm members 4 and 5 to one side in the rotation direction. Controls driving of the motors M2 and M3. Thereafter, the process proceeds to step S80B. Thereby, the process shown in this flow is completed. Note that the processing shown in this flow is repeatedly executed.
  • step S100B the second rotation control unit 513 does not acquire a signal corresponding to the contact operation from the second contact sensor 33 in step S80B and the determination in step S80B is not satisfied, and the second rotation control is performed in step S100B.
  • the contact operation is not detected by the first contact sensor 32 while the arm members 4 and 5 are rotating in one direction in the respective rotation directions under the control of the portion 513, and the determination in step S100B is not satisfied. In the case where it is found, the processing shown in this flow is terminated.
  • step S30B when the driving by the first rotation control unit 512 and the second rotation control unit 513 is invalid, the determination in step S30B is not satisfied, and the processing shown in this flow is ended.
  • step S ⁇ b> 10 ⁇ / b> C the control device 50 determines whether or not the center holder portion 2 is being lowered. If it is during the lowering of the central holder part 2, the determination in step S10C is satisfied, and the routine goes to step S20C.
  • step S20C the control device 50 combines the torque of the lifting motor M1 detected by the torque detection unit 521, the torque of the first rotation motor M2, and the torque of the second rotation motor M3 in the determination unit 523.
  • the landing is determined by comparing the amount of decrease in the combined torque with the first threshold value. At this time, if the amount of decrease in the combined torque exceeds the first threshold value, the determination unit 523 assumes that the landing has occurred, satisfies the determination in step S20C, and proceeds to step S30C.
  • step S30C the control device 50 controls the driving of the lifting motor M1 by the lifting control unit 511 so that the lowering operation of the central holder unit 2 is stopped in the second motor control unit 520. Thereafter, the process proceeds to step S40C.
  • step S10C determines whether the center holder part 2 is lowered in step S10C, and the amount of decrease in the combined torque does not exceed the first threshold value in step S20C. If the determination in step S20C is not satisfied, the process moves to step S40C.
  • step S40C the control device 50 determines whether or not the central holder portion 2 is being raised. If it is when the center holder part 2 is raised, the determination at Step S40C is satisfied, and the routine goes to Step S50C.
  • step S50C the control device 50 combines the torque of the lifting motor M1 detected by the torque detection unit 521, the torque of the first rotation motor M2, and the torque of the second rotation motor M3 in the determination unit 523.
  • the presence / absence of the abnormality is determined by comparing the magnitude of the combined torque with the second threshold value.
  • the determination unit 523 assumes that there is an abnormality (the weight of the cared person M exceeds the specified weight range), and in step S50C The determination is satisfied and the routine goes to Step S60C.
  • step S ⁇ b> 60 ⁇ / b> C the control device 50 causes the second motor control unit 520 to move the center holder unit 2 up and down, rotate the first arm member 4, rotate the second arm member 5, and rotate the main body unit 3.
  • the lifting control unit 511 drives the lifting motor M1
  • the first turning control unit 512 or the second turning control unit 513 drives the turning motors M2 and M3
  • the third The motor control unit 530 controls driving of the moving motors M4 and M4. Thereafter, the process proceeds to step S70C.
  • step S40C determines whether the center holder part 2 is raised in step S40C, and because the magnitude of the combined torque does not exceed the second threshold value in step S50C, the determination part 523 is abnormal. If the determination in step S50C is not satisfied, the process proceeds to step S70C.
  • step S70C the control device 50 combines the torque of the lifting motor M1 detected by the torque detection unit 521, the torque of the first rotation motor M2, and the torque of the second rotation motor M3 in the determination unit 523.
  • the presence / absence of the abnormality is determined by comparing the fluctuation amount of the combined torque with the third threshold value.
  • the determination unit 523 assumes that there is an abnormality (the cared person M is rampant), and the determination in step S70C is satisfied, The process moves to step S80C.
  • step S ⁇ b> 80 ⁇ / b> C the control device 50 causes the second motor control unit 520 to move the central holder unit 2 up and down, the first arm member 4, the second arm member 5, and the main body unit 3.
  • the controller 530 controls the driving of the moving motors M4 and M4. Thereafter, the process proceeds to step S90C.
  • step S70 when the fluctuation amount of the composite torque does not exceed the third threshold value in step S70, the determination unit 523 assumes that there is no abnormality (the weight of the cared person M is within the specified weight range), and the step The determination at S70C is not satisfied, and the routine goes to Step S90C.
  • step S90C the control device 50 determines whether or not the central holder portion 2 is raised or lowered or at least one of the arm members 4 and 5 is rotated.
  • the determination at Step S90C is satisfied, and the routine goes to Step S100C.
  • step S100C the control device 50 combines the torque of the lifting motor M1 detected by the torque detection unit 521, the torque of the first rotation motor M2, and the torque of the second rotation motor M3 in the determination unit 523.
  • the presence / absence of the abnormality is determined by comparing the amount of increase in the combined torque with the fourth threshold value. At this time, if the amount of increase in the combined torque exceeds the fourth threshold value, the determination unit 523 assumes that there is an abnormality (the person being cared for M is sandwiched), and the determination in step S100C is satisfied, The process moves to step S110C.
  • step S ⁇ b> 110 ⁇ / b> C the control device 50 causes the second motor control unit 520 to move the center holder unit 2 up and down, rotate the first arm member 4, rotate the second arm member 5, and rotate the main body unit 3.
  • the controller 530 controls the driving of the moving motors M4 and M4. Thereafter, the process proceeds to step S120C.
  • step S90C determines whether the central holder portion 2 is not raised or lowered or at least one of the arm members 4 and 5 is not rotated in step S90C. If the threshold value is not exceeded, the determination unit 523 determines that there is no abnormality, and if the determination in step S100C is not satisfied, the process proceeds to step S120C.
  • step S120C the control device 50 determines whether or not the central holder portion 2 is being raised. If it is when the center holder part 2 is raised, the determination at step S120C is satisfied, and the routine goes to step S130C.
  • step S130C the control device 50 determines the presence / absence of the abnormality in the determination unit 523 by comparing the degree of balance deviation detected by the balance detection unit 522 with the fifth threshold value. At this time, when the degree of bias of the balance exceeds the fifth threshold value, the determination unit 523 is abnormal (the care receiver M has a locked portion that is not locked to the locking portion 7). The mounting position on the sling sheet 6 is not appropriate), the determination in step S130C is satisfied, and the process proceeds to step S140C.
  • step S ⁇ b> 140 ⁇ / b> C the control device 50 causes the second motor control unit 520 to move the central holder unit 2 up and down, rotate the first arm member 4, rotate the second arm member 5, and rotate the main body unit 3.
  • the controller 530 controls the driving of the moving motors M4 and M4. Thereby, the process shown in this flow is completed. Note that the processing shown in this flow is repeatedly executed.
  • step S120C determines whether the center holder part 2 is raised in step S120C. If the determination in step S130C is more abnormal than the determination part 523 because the degree of balance deviation does not exceed the fifth threshold value. If the determination in step S130C is not satisfied, the processing shown in this flow is terminated.
  • step S ⁇ b> 10 ⁇ / b> D the control device 50 causes the direction determining unit 531 to respond to an urging operation performed by the operator on the grip portion 35 based on the detection result of the strain sensor 36. 3 moving direction is determined.
  • step S20D the control device 50 causes the third motor control unit 530 to rotate the motor control device SM4 so that the wheels 20 and 20 rotate so that the main body 3 moves in the moving direction determined in step S10D. , SM4 are driven to drive the moving motors M4, M4. Thereby, the process shown in this flow is completed. Note that the processing shown in this flow is repeatedly executed.
  • step S ⁇ b> 10 ⁇ / b> E the control device 50 calculates the movement speed of the main body 3 based on the detection result of the position detection unit 37 in the speed calculation unit 541.
  • step S20E the control device 50 causes the fourth motor control unit 540 to rotate the wheels 20 and 20 so that the moving speed of the main body unit 3 becomes a predetermined speed mode based on the calculation result in step S10E.
  • the driving of the moving motors M4 and M4 by the third motor control unit 530 is controlled.
  • the process shown in this flow is completed. Note that the processing shown in this flow is repeatedly executed.
  • step S ⁇ b> 10 ⁇ / b> F in the fifth motor control unit 550, the control device 50 moves the central holder unit 2 up and down, rotates the first arm member 4, and rotates the second arm member 5.
  • the movement control unit 511 drives the lifting motor M1 so that the acceleration of the movement and the movement movement of the main body 3 becomes smaller than the sixth threshold value, and the speed of the movement fluctuates in an S-shaped curve.
  • the driving of the rotation motors M2 and M3 by the first rotation control unit 512 or the second rotation control unit 513 and the driving of the movement motors M4 and M4 by the third motor control unit 530 are controlled. Thereby, the process shown in this flow is completed. Note that the processing shown in this flow is repeatedly executed.
  • steps S20A, 30A, 20B, 50B, 70B, 90B, and 110B correspond to the first motor control step, of which steps S20A and 30A correspond to the switching control step.
  • S50B corresponds to the first rotation control step
  • step S70B corresponds to the second rotation control step
  • step S90B corresponds to the third rotation control step
  • step S110B corresponds to the fourth rotation control step.
  • Steps S20C, 50C, 70C, 100C, and 130C correspond to determination steps.
  • Steps S30C, 60C, 80C, 110C, and 140C correspond to a second motor control step.
  • Step S10D corresponds to a direction determination step
  • step S20D corresponds to a third motor control step.
  • Step S10E corresponds to a speed calculation step
  • step S20E corresponds to a fourth motor control step.
  • Step S10F corresponds to a fifth motor control step.
  • 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.
  • the control device 50 includes, for example, an actual device 907 such as a CPU 901, a ROM 903, a RAM 905, a dedicated integrated circuit constructed for a specific use of an ASIC or FPGA, other electrical circuits, 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.
  • an actual device 907 such as a CPU 901, a ROM 903, a RAM 905, a dedicated integrated circuit constructed for a specific use of an ASIC or FPGA, other electrical circuits.
  • 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.
  • 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.
  • a removable storage medium 925 can also be provided as so-called package software.
  • 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.
  • the program can be recorded on, for example, a download site, another computer, another recording device (not shown), or the like.
  • 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.
  • the program can be recorded in, for example, an appropriate external connection device 927.
  • 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.
  • 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.
  • 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.
  • the CPU 901 may directly execute the received program without recording it in the recording device.
  • 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.
  • the input device 913 such as a mouse, a keyboard, and a microphone (not shown) as necessary.
  • 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.
  • the center holder portion 2 is connected to the front arm and the rear arm by the driving force from the lifting motor M1, and the first arm member 4 and the second arm member 4 respectively connected thereto.
  • the two arm members 5 are moved up and down.
  • the first arm member 4 is rotated about the central holder portion 2 as the central axis on the front side of the central holder portion 2 by the driving force from the first rotation motor M2.
  • the second arm member 5 rotates about the central holder portion 2 as the central axis on the rear side of the central holder portion 2 by the driving force from the second rotation motor M3.
  • the transfer assist device 1 is provided with an operation detection unit 30 that detects the operation of the operator. At least one of the lifting motor M1, the first rotation motor M2, and the second rotation motor M3 is controlled by the first motor control unit 510 of the control device 50 based on the detection result of the operation detection unit 30.
  • the operator can operate the center holder portion 2, the first arm member 4, and the second arm member 5 by the driving force of the motor only by performing a predetermined operation (for example, a contact operation). Therefore, the operator can easily operate the central holder portion 2, the first arm member 4, and the second arm member 5 without performing complicated operations, and these operations can be performed by the driving force of the motor. It can be executed automatically. As a result, the burden on the operator can be reduced.
  • a predetermined operation for example, a contact operation
  • the operation detection unit 30 is installed on one side of the first arm member 4 and the second arm member 5 in the rotation direction, and detects a contact operation of the operator
  • a second contact sensor 33 is provided on the other side in the rotational direction of the first arm member 4 and the second arm member 5 and detects the contact operation of the operator.
  • the first rotation control unit 512 of the first motor control unit 510 causes at least the pair of arm members on the side where the contact operation is detected to move to the other side in the rotation direction.
  • At least one of the first rotation motor M2 and the second rotation motor M2 is driven so as to rotate.
  • the second rotation control unit 513 of the first motor control unit 510 causes the pair of arm members on the side where at least the contact operation is detected to move to one side in the rotation direction based on the detection result of the second contact sensor 33. At least one of the first rotation motor M2 and the second rotation motor M2 is driven so as to rotate.
  • the operator can rotate at least the pair of arm members on the contact side to the opposite side to the contact side only by contacting the contact sensor on the side of the arm member to be rotated. Therefore, the operator can rotate the first arm member 4 and the second arm member 5 in a desired direction by a very simple and intuitive operation. As a result, the burden on the operator can be greatly reduced.
  • the first rotation control unit 512 includes a pair of arm members on the side where the contact operation is detected and a pair of arm members on the side where the contact operation is not detected.
  • the first rotation motor M2 and the second rotation motor M2 are driven so as to rotate to the other side.
  • the second rotation control unit 513 rotates the pair of arm members on the side where the contact operation is detected and the pair of arm members on the side where the contact operation is not detected to one side in the rotation direction.
  • the first rotation motor M2 and the second rotation motor M2 are driven.
  • the operator can rotate both the first arm member 4 and the second arm member 5 only by contacting the contact sensor of one arm member (for example, the first arm member 4). Therefore, the operator can rotate both the first arm member 4 and the second arm member 5 together in a desired direction by a very simple and intuitive operation. As a result, the effect of reducing the burden on the operator can be further enhanced.
  • the third rotation control unit 515 of the first motor control unit 510 rotates the pair of arm members on the side where at least the contact operation is detected by the control of the first rotation control unit 512.
  • the first operation is performed so that the rotation operation in the other direction is stopped.
  • the drive by the rotation control unit 512 is controlled.
  • the fourth rotation control unit 516 of the first motor control unit 510 causes the pair of arm members on which at least the contact operation is detected by the control of the second rotation control unit 513 to rotate to the one side in the rotation direction.
  • the second rotation control unit 513 causes the rotation operation to one side of the rotation direction to be stopped. Control the drive.
  • the operator can stop the rotation of the arm member only by contacting the contact sensor on the rotation direction side of the rotating arm member (for example, the first arm member 4). Therefore, the operator can stop the rotating arm member by a very simple and intuitive operation.
  • the cared person M is likely to be sandwiched between the first arm member 4 and the second arm member 5, the operator can stop the rotation of the arm member. Therefore, the safety when using the device can be improved.
  • a switch 14 is provided for accepting an operation for switching between valid and invalid of the first contact sensor 32 and the second contact sensor 33 by the operator. Then, the switching control unit 514 of the first motor control unit 510 enables the driving by the first rotation control unit 512 and the second rotation control unit 513 when it is enabled, and the first rotation control unit 512 and The driving by the second rotation control unit 513 is invalidated. Accordingly, the switch 14 can be used to switch the arm member rotation control by contact with the contact sensor, and the malfunction of the arm member due to contact of the care receiver M with the contact sensor can be prevented. . As a result, safety when using the apparatus can be improved.
  • the control device 50 detects a torque of at least one of the torque of the lifting motor M1, the torque of the first rotation motor M2, and the torque of the second rotation motor M3. Is provided. At least one of the lifting motor M1, the first rotation motor M2, and the second rotation motor M3 is based on the at least one torque detected by the torque detection unit 521, and the second motor of the control device 50. It is controlled by the control unit 520.
  • the cared person M lifted by the device or various abnormalities related to the cared person M for example, the cared person M whose weight exceeds the specified weight range
  • the determination unit 523 of the control device 50 is placed on the sling sheet 6 locked by the locking unit 7 based on the at least one torque detected by the torque detection unit 521. At least one of the landing of the lifted cared person M and the presence / absence of abnormality related to the cared person M is determined. Then, based on the determination result of the determination unit 523, the second motor control unit 520 performs at least the raising / lowering operation of the central holder unit 2, the rotation operation of the first arm member 4, and the rotation operation of the second arm member 5. At least one of the elevating motor M1, the first rotating motor M2, and the second rotating motor M3 is controlled so that one is stopped.
  • the determination unit 523 determines the landing by comparing the amount of decrease in the at least one torque with the first threshold value when the center holder unit 2 is lowered.
  • the second motor control unit 520 determines that the determination unit 523 has landed when the decrease amount of the at least one torque exceeds the first threshold value
  • the lowering operation of the center holder unit 2 is performed.
  • the lifting motor M1 is controlled so as to be stopped.
  • the lowering operation of the central holder portion 2 can be automatically stopped.
  • the care recipient M can be prevented from being sandwiched between the center holder portion 2 and the landing destination due to the operator forgetting the stop operation or the like, thus improving safety when using the device. be able to.
  • the determination unit 523 determines the presence or absence of the abnormality by comparing the magnitude of the at least one torque with a second threshold value when the center holder unit 2 is raised.
  • the center holder unit 2 moves up and down.
  • the lifting motor M1, the first rotating motor M2, and the second rotating motor M3 are controlled so that the rotating operation of the first arm member 4 and the rotating operation of the second arm member 5 are stopped. .
  • the device operation can be stopped. As a result, it is possible to reduce the risk that the apparatus operation is continued in such a state.
  • the determination unit 523 determines the presence or absence of the abnormality by comparing the amount of fluctuation of the at least one torque with a third threshold value.
  • the second motor control unit 520 determines that the determination unit 523 has an abnormality due to the fluctuation amount of the at least one torque exceeding the third threshold value, the lifting operation of the central holder unit 2, The elevating motor M1, the first rotating motor M2, and the second rotating motor M3 are controlled so that the rotating operation of the first arm member 4 and the rotating operation of the second arm member 5 are stopped.
  • the apparatus operation can be stopped.
  • the apparatus operation is continued in such a state, and the danger that the cared person M falls from the sling sheet 6 can be reduced.
  • the determination unit 523 determines whether the at least one torque increase amount and the first increase amount when the central holder unit 2 is raised or lowered or at least one of the first arm member 4 and the second arm member 5 is rotated. The presence or absence of the abnormality is determined by comparing with 4 threshold values.
  • the second motor control unit 520 determines that the determination unit 523 has an abnormality because the increase amount of the at least one torque exceeds the fourth threshold value, the lifting operation of the central holder unit 2,
  • the elevating motor M1, the first rotating motor M2, and the second rotating motor M3 are controlled so that the rotating operation of the first arm member 4 and the rotating operation of the second arm member 5 are stopped.
  • the operation of the apparatus can be stopped immediately thereafter. As a result, it is possible to reduce the risk that the apparatus operation is continued in such a state.
  • the control device 50 includes a balance detection unit 522 that detects the balance between the torque of the first rotation motor M2 and the torque of the second rotation motor M2 detected by the torque detection unit 521. . Then, the determination unit 523 determines whether or not there is an abnormality by comparing the degree of balance deviation detected by the balance detection unit 522 with the fifth threshold value when the center holder unit 2 is raised.
  • the lifting / lowering operation of the central holder unit 2 the first arm
  • the elevating motor M1, the first rotating motor M2, and the second rotating motor M3 are controlled so that the rotating operation of the member 4 and the rotating operation of the second arm member 5 are stopped.
  • the operation of the apparatus can be stopped. As a result, it is possible to reduce the risk that the apparatus operation is continued in such a state.
  • the transfer assisting device 1 is provided with an urging operation detection unit (a strain sensor 36 in the above example) that detects an urging operation of the operator by the grip portion 35 of the operation member 34. It is done.
  • the moving motors M4 and M4 that generate the driving force for driving the wheels 20 and 20 are driven by the third motor control unit 530 of the control device 50 based on the detection result of the urging operation detection unit. Is done. Thereby, the operator can rotate the wheels 20 and 20 with the driving force of a motor only by urging the grip part 35 in the direction which wants to move the main-body part 3.
  • the operator can rotate the wheels 20 and 20 to move the main body 3 in a desired direction by a very simple and intuitive operation, and the movement of the main body 3 can be driven by a motor. It can be automatically executed by force. As a result, the burden on the operator can be reduced.
  • the control device 50 determines the moving direction of the main body 3 corresponding to the urging operation based on the detection result of the urging operation detection unit (the strain sensor 36 in the above example).
  • a determination unit 531 is provided.
  • the 3rd motor control part 530 drives the motors M4 and M4 for a movement so that the wheels 20 and 20 may rotate so that the main-body part 3 may move to the moving direction determined by the direction determination part 531.
  • the operator can rotate the wheels 20 and 20 so that the main body 3 moves in the direction only by urging the grip 35 in the direction in which the main body 3 is desired to move. Therefore, the operator can move the main body 3 in a desired direction by rotating the wheels 20 and 20 by a very simple and intuitive operation.
  • the urging operation detection unit is a distortion sensor 36 that is installed on the operation member 34 and detects distortion of the grip unit 35 due to the urging operation. By detecting the distortion of the grip part 35, it is possible to ensure the detection accuracy of the urging direction corresponding to the urging operation performed by the grip part 35.
  • a position detection unit 37 that detects the position of the main body 3 is installed in the main body 3.
  • the movement motors M4 and M4 are controlled by the fourth motor control unit 540 based on the detection result of the position detection unit 37.
  • the speed of the main-body part 3 can be calculated
  • control device 50 includes a speed calculation unit 541 that calculates the moving speed of the main body 3 based on the detection result of the position detection unit 37, and the fourth motor control unit 540 includes the speed calculation unit 540.
  • the moving motors M4 and M4 are driven so that the wheels 20 and 20 rotate so that the moving speed becomes a predetermined speed mode.
  • a predetermined speed mode for example, a speed changing in an S-shaped curve, a constant speed, or the like.
  • two Mecanum wheels are installed as the plurality of wheels 20. Thereby, the multi-directional movement by the two wheels 20 is realizable.
  • the fifth motor control unit 550 of the control device 50 is configured to move the central holder unit 2 up and down, rotate the first arm member 4, rotate the second arm member 5, and the main body.
  • the at least one acceleration of the moving operation of the portion 3 is smaller than the sixth threshold value, the lifting operation of the central holder portion 2, the rotating operation of the first arm member 4, the rotating operation of the second arm member 5, And at least one of the elevating motor M1, the first rotating motor M2, the second rotating motor M3, and the moving motors M4 and M4 so that at least one speed of the moving operation of the main body 3 becomes a predetermined speed mode. Control one.
  • the central holder portion 2, the first arm member 4, and the second arm member 5 have a reduced acceleration and an operating speed in a predetermined speed mode (for example, a speed that varies in an S-shaped curve or a constant speed). Can be operated as follows. As a result, it is possible to smoothly start and stop the center holder portion 2, the first arm member 4, and the second arm member 5.
  • a predetermined speed mode for example, a speed that varies in an S-shaped curve or a constant speed.
  • the fifth motor control unit 550 causes the center holder unit 2 to move up and down, the first arm member 4 to rotate, the second arm member 5 to rotate, and the main body 3 to move.
  • At least one of the elevating motor M1, the first rotating motor M2, the second rotating motor M3, and the moving motors M4 and M4 is controlled so that at least one speed of operation fluctuates in an S-shaped curve.
  • the center holder part 2, the 1st arm member 4, and the 2nd arm member 5 can be operated so that an operation speed may fluctuate in the shape of an S character. As a result, it is possible to smoothly start and stop the central holder portion 2, the first arm member 4, and the second arm member 5.
  • FIGS. 9, 10, and 17 show an example of the signal flow, and do not limit the signal flow direction.
  • steps described in the flowcharts shown in FIGS. 11 to 16 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.

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Abstract

[Problem] To reduce the workload of an operator. [Solution] A transfer assistance device (1) comprising: 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; a raising and lowering motor (M1) for generating a drive force for raising and lowering the central holder (2); a first rotational motor (M2) for generating a drive force for rotating the first arm members (4); a second rotational motor (M3) for generating a drive force for rotating the second arm members (5); an operation-detecting unit (30) for detecting the operations of an operator; and a control unit (50) equipped with a first motor control section (510) for controlling at least one of the raising and lowering motor (M1), the first rotational motor (M2) and the second rotational motor (M3) on the basis of the detection results of the operation-detecting unit (30).

Description

移乗補助装置Transfer assist device
　開示の実施形態は、移乗補助装置に関する。 The disclosed embodiment relates to a transfer assist device.
　特許文献１には、自力歩行が困難な被介護者を移動させるときに用いられる介護用吊り装置が記載されている。この介護用吊り装置は、介護用リフトに吊支されるハンガーと、被介護者を載せた状態でハンガーに吊下げ可能な布製のスリングシートと、を備える。 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.
特開２０１０－１１８９２号公報JP 2010-11892 A
　このような介護用吊り装置等の移乗補助装置では、操作者の負担を軽減することが希求されている。 Such transfer assisting devices such as care lifting devices are desired to reduce the burden on the operator.
　本発明はこのような問題点に鑑みてなされたものであり、操作者の負担を軽減することができる移乗補助装置を提供することを目的とする。 This invention is made in view of such a problem, and it aims at providing the transfer assistance apparatus which can reduce an operator's burden.
　上記課題を解決するため、本発明の一の観点によれば、被介護者の移乗を補助する移乗補助装置であって、本体部と、昇降するように前記本体部に支持された中央ホルダー部と、前記中央ホルダー部を中心軸として回動するように前記中央ホルダー部の周方向一方側に連結された一対の第１アーム部材と、前記中央ホルダー部を中心軸として回動するように前記中央ホルダー部の周方向他方側に連結された一対の第２アーム部材と、前記中央ホルダー部を昇降するための駆動力を発生するように構成された昇降用モータと、前記第１アーム部材を回動するための駆動力を発生するように構成された第１回動用モータと、前記第２アーム部材を回動するための駆動力を発生するように構成された第２回動用モータと、操作者の操作を検出するように構成された操作検出部と、前記操作検出部の検出結果に基づいて、前記昇降用モータ、前記第１回動用モータ、及び前記第２回動用モータの少なくとも１つを制御するように構成された第１モータ制御部を備えた制御装置と、を有する移乗補助装置が適用される。 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 coupled to the other circumferential side of the central holder portion, a lifting motor configured to generate a driving force for lifting and lowering the central holder portion, and the first arm member; A first rotating motor configured to generate a driving force for rotating; a second rotating motor configured to generate a driving force for rotating the second arm member; Detect operator actions Based on the operation detection unit configured as described above and the detection result of the operation detection unit, it is configured to control at least one of the lifting motor, the first rotation motor, and the second rotation motor. A transfer assisting device having a control device including a first motor control unit is applied.
　また、本発明の別の観点によれば、被介護者の移乗を補助する移乗補助装置であって、本体部と、昇降するように前記本体部に支持された中央ホルダー部と、前記中央ホルダー部を中心軸として回動するように前記中央ホルダー部の周方向一方側に連結された一対の第１アーム部材と、前記中央ホルダー部を中心軸として回動するように前記中央ホルダー部の周方向他方側に連結された一対の第２アーム部材と、操作者の操作に基づいて、前記中央ホルダー部の昇降動作、前記第１アーム部材の回動動作、及び前記第２アーム部材の回動動作の少なくとも１つの動作を制御する手段と、を有する移乗補助装置が適用される。 According to another aspect of the present invention, there is provided a transfer assist device for assisting transfer of a care recipient, 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. A pair of first arm members connected to one side in the circumferential direction of the central holder portion so as to rotate about the central portion, and a periphery of the central holder portion so as to rotate about the central holder portion A pair of second arm members coupled to the other side of the direction and the operation of the central holder portion, the rotation operation of the first arm member, and the rotation of the second arm member based on the operation of the operator Means for controlling at least one of the movements is applied.
　また、本発明のさらに別の観点によれば、本体部と、昇降するように前記本体部に支持された中央ホルダー部と、前記中央ホルダー部を中心軸として回動するように前記中央ホルダー部の周方向一方側に連結された一対の第１アーム部材と、前記中央ホルダー部を中心軸として回動するように前記中央ホルダー部の周方向他方側に連結された一対の第２アーム部材と、前記中央ホルダー部を昇降するための駆動力を発生する昇降用モータと、前記第１アーム部材を回動するための駆動力を発生する第１回動用モータと、前記第２アーム部材を回動するための駆動力を発生する第２回動用モータと、操作者の操作を検出する操作検出部と、を有し被介護者の移乗を補助する移乗補助装置の制御方法であって、前記操作検出部の検出結果に基づいて、前記昇降用モータ、前記第１回動用モータ、及び前記第２回動用モータの少なくとも１つを制御する第１モータ制御ステップを有する移乗補助装置の制御方法が適用される。 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; An elevating motor for generating a driving force for elevating the central holder, a first rotating motor for generating a driving force for rotating the first arm member, and the second arm member. A control method for a transfer assist device that includes a second rotation motor that generates a driving force to move, and an operation detection unit that detects an operation of an operator, and assists the transfer of a care receiver. Based on the detection result of the operation detector Te, the elevating motor, said first rotating motor, and a control method for ERROR assist device having a first motor control step of controlling at least one of the second rotating motor is applied.
　また、本発明のさらに別の観点によれば、前記第１モータ制御ステップは、前記第１アーム部材及び前記第２アーム部材の少なくとも一方のアーム部材の回動方向一方側に設置され前記操作者の接触操作を検出する前記操作検出部としての第１接触センサの検出結果に基づいて、少なくとも前記接触操作が検出された側の前記一対の第１アーム部材又は前記一対の第２アーム部材が前記回動方向他方側に回動するように、前記第１回動用モータ及び前記第２回動用モータの少なくとも一方を駆動する第１回動制御ステップと、前記少なくとも一方のアーム部材の回動方向他方側に設置され前記操作者の接触操作を検出する前記操作検出部としての第２接触センサの検出結果に基づいて、少なくとも前記接触操作が検出された側の前記一対の第１アーム部材又は前記一対の第２アーム部材が前記回動方向一方側に回動するように、前記第１回動用モータ及び前記第２回動用モータの少なくとも一方を駆動する第２回動制御ステップと、を備える移乗補助装置の制御方法が適用される。 According to still another aspect of the present invention, the first motor control step is installed on one side of the rotation direction of at least one of the first arm member and the second arm member, and the operator The pair of first arm members or the pair of second arm members on the side where the contact operation is detected is at least based on the detection result of the first contact sensor as the operation detection unit that detects the contact operation. A first rotation control step for driving at least one of the first rotation motor and the second rotation motor so as to rotate to the other side in the rotation direction; and the other rotation direction of the at least one arm member. Based on the detection result of the second contact sensor as the operation detection unit that is installed on the side and detects the contact operation of the operator, at least the pair of the side on which the contact operation is detected A second rotation control step for driving at least one of the first rotation motor and the second rotation motor so that one arm member or the pair of second arm members rotate to one side in the rotation direction; A method for controlling the transfer assisting device is applied.
　また、本発明のさらに別の観点によれば、前記第１回動制御ステップでは、前記接触操作が検出された側の一対の第１アーム部材又は一対の第２アーム部材、及び、前記接触操作が検出されなかった側の前記一対の第１アーム部材又は前記一対の第２アーム部材が、前記回動方向他方側に回動するように、前記第１回動用モータ及び前記第２回動用モータが駆動され、前記第２回動制御ステップでは、前記接触操作が検出された側の一対の第１アーム部材又は一対の第２アーム部材、及び、前記接触操作が検出されなかった側の前記一対の第１アーム部材又は前記一対の第２アーム部材が、前記回動方向一方側に回動するように、前記第１回動用モータ及び前記第２回動用モータが駆動される移乗補助装置の制御方法が適用される。 According to still another aspect of the present invention, in the first rotation control step, the pair of first arm members or the pair of second arm members on the side where the contact operation is detected, and the contact operation. The first rotation motor and the second rotation motor so that the pair of first arm members or the pair of second arm members on the side where no movement is detected rotate to the other side in the rotation direction. In the second rotation control step, the pair of first arm members or the pair of second arm members on the side where the contact operation is detected, and the pair on the side where the contact operation is not detected. Control of the transfer assist device that drives the first rotation motor and the second rotation motor so that the first arm member or the pair of second arm members rotate to one side in the rotation direction. The method is applied.
　また、本発明のさらに別の観点によれば、前記第１モータ制御ステップは、前記少なくとも接触操作が検出された側の一対の第１アーム部材又は一対の第２アーム部材が前記回動方向他方側への回動動作を行っている最中に、前記第２接触センサにより前記接触操作が検出された場合に、前記回動方向他方側への回動動作が停止又は減速されるように、前記第１回動用モータ及び前記第２回動用モータの少なくとも一方の駆動を制御する第３回動制御ステップと、前記少なくとも接触操作が検出された側の一対の第１アーム部材又は一対の第２アーム部材が前記回動方向一方側への回動動作を行っている最中に、前記第１接触センサにより前記接触操作が検出された場合に、前記回動方向一方側への回動動作が停止又は減速されるように、前記第１回動用モータ及び前記第２回動用モータの少なくとも一方の駆動を制御する第４回動制御ステップと、を備える移乗補助装置の制御方法が適用される。 Further, according to still another aspect of the present invention, the first motor control step includes a step in which the pair of first arm members or the pair of second arm members on the side where the contact operation is detected is the other in the rotation direction. During the rotation to the side, when the contact operation is detected by the second contact sensor, the rotation to the other side in the rotation direction is stopped or decelerated. A third rotation control step for controlling driving of at least one of the first rotation motor and the second rotation motor; and a pair of first arm members or a pair of second elements on the side where the at least contact operation is detected. When the contact operation is detected by the first contact sensor while the arm member is rotating to one side in the rotation direction, the rotation operation to the one side in the rotation direction is performed. To stop or slow down, The method of ERROR assisting device comprising: a fourth rotation control step, the controlling at least one drive of the serial first rotation motor and the second rotating motor is applied.
　また、本発明のさらに別の観点によれば、前記第１モータ制御ステップは、前記操作者により前記第１接触センサ及び前記第２接触センサを有効とする切替操作が行われたときに前記第１回動用モータ及び前記第２回動用モータの作動を有効とし、前記操作者により前記第１接触センサ及び前記第２接触センサを無効とする切替操作が行われたときに前記第１回動用モータ及び前記第２回動用モータの作動を無効とする切替制御ステップを備える移乗補助装置の制御方法が適用される。 According to still another aspect of the present invention, the first motor control step includes the first motor control step when the operator performs a switching operation for enabling the first contact sensor and the second contact sensor. The first rotation motor is activated when a switching operation for enabling the operation of the first rotation motor and the second rotation motor and invalidating the first contact sensor and the second contact sensor is performed by the operator. And the control method of the transfer assistance apparatus provided with the switching control step which invalidates the action | operation of the said 2nd motor for rotation is applied.
　また、本発明のさらに別の観点によれば、前記昇降用モータのトルク、前記第１回動用モータのトルク、及び前記第２回動用モータのトルクの少なくとも１つに基づいて、前記昇降用モータ、前記第１回動用モータ、及び前記第２回動用モータの少なくとも１つを制御する第２モータ制御ステップをさらに有する移乗補助装置の制御方法が適用される。 According to still another aspect of the present invention, the lifting motor is based on at least one of the torque of the lifting motor, the torque of the first rotating motor, and the torque of the second rotating motor. A control method for a transfer assist device further including a second motor control step for controlling at least one of the first rotation motor and the second rotation motor is applied.
　また、本発明のさらに別の観点によれば、前記昇降用モータのトルク、前記第１回動用モータのトルク、及び前記第２回動用モータのトルクの少なくとも１つのトルクに基づいて、前記移乗補助装置の係止部により係止されたスリングシートに載置され持ち上げられた前記被介護者の着地、及び、当該被介護者に係る異常の有無、の少なくとも一方の判定を行う判定ステップをさらに有し、前記第２モータ制御ステップでは、前記判定ステップでの判定結果に基づいて、前記中央ホルダー部の昇降動作、前記第１アーム部材の回動動作、及び前記第２アーム部材の回動動作の少なくとも１つが停止又は減速されるように、前記昇降用モータ、前記第１回動用モータ、及び前記第２回動用モータの少なくとも１つが制御される移乗補助装置の制御方法が適用される。 According to still another aspect of the present invention, the transfer assist is based on at least one of the torque of the lifting motor, the torque of the first rotation motor, and the torque of the second rotation motor. And a determination step for determining at least one of landing of the cared person placed on the sling sheet locked by the locking part of the device and lifting, and whether or not there is an abnormality related to the cared person. In the second motor control step, on the basis of the determination result in the determination step, the lifting / lowering operation of the central holder portion, the rotation operation of the first arm member, and the rotation operation of the second arm member are performed. A transfer assist device in which at least one of the elevating motor, the first rotation motor, and the second rotation motor is controlled so that at least one is stopped or decelerated. Your method is applied.
　また、本発明のさらに別の観点によれば、前記判定ステップでは、前記中央ホルダー部の下降時に、前記少なくとも１つのトルクの下降量と、当該下降量に関し設定された第１しきい値と、を比較することにより、前記着地の判定が行われ、前記第２モータ制御ステップでは、前記判定ステップで前記降下量が前記第１しきい値を超えることにより前記着地があったと判定された場合に、前記中央ホルダー部の下降動作が停止又は減速されるように、前記昇降用モータが制御される移乗補助装置の制御方法が適用される。 According to still another aspect of the present invention, in the determination step, when the center holder part is lowered, a lowering amount of the at least one torque, and a first threshold set with respect to the lowering amount, In the second motor control step, when it is determined in the determination step that the landing has occurred because the descent amount exceeds the first threshold value. The control method of the transfer assist device in which the lifting motor is controlled so that the lowering operation of the central holder part is stopped or decelerated is applied.
　また、本発明のさらに別の観点によれば、前記判定ステップでは、前記中央ホルダー部の上昇時に、前記少なくとも１つのトルクの大きさと、当該大きさに関し設定された第２しきい値と、を比較することにより、前記異常の有無の判定が行われ、前記第２モータ制御ステップでは、前記判定ステップで前記大きさが前記第２しきい値を超えることにより前記異常があると判定された場合に、前記中央ホルダー部の昇降動作、前記第１アーム部材の回動動作、及び前記第２アーム部材の回動動作が停止されるように、前記昇降用モータ、前記第１回動用モータ、及び前記第２回動用モータが制御される移乗補助装置の制御方法が適用される。 According to still another aspect of the present invention, in the determination step, when the central holder portion is raised, the magnitude of the at least one torque and a second threshold value set for the magnitude are: By comparing, the presence / absence of the abnormality is determined, and in the second motor control step, it is determined that the abnormality is present in the determination step because the magnitude exceeds the second threshold value. The lifting / lowering motor, the first turning motor, and the lifting / lowering movement of the central holder part, the turning action of the first arm member, and the turning action of the second arm member are stopped, A control method of the transfer assist device in which the second rotation motor is controlled is applied.
　また、本発明のさらに別の観点によれば、前記判定ステップでは、前記少なくとも１つのトルクの変動量と、当該変動量に関し設定された第３しきい値と、を比較することにより、前記異常の有無の判定が行われ、前記第２モータ制御ステップでは、前記判定ステップで前記変動量が前記第３しきい値を超えることにより前記異常があると判定された場合に、前記中央ホルダー部の昇降動作、前記第１アーム部材の回動動作、及び前記第２アーム部材の回動動作が停止されるように、前記昇降用モータ、前記第１回動用モータ、及び前記第２回動用モータが制御される移乗補助装置の制御方法が適用される。 According to still another aspect of the present invention, in the determination step, the abnormality amount is determined by comparing the fluctuation amount of the at least one torque with a third threshold value set for the fluctuation amount. In the second motor control step, when it is determined in the determination step that the variation exceeds the third threshold value, the abnormality of the center holder portion is determined. The elevating motor, the first rotating motor, and the second rotating motor are stopped so that the elevating operation, the rotating operation of the first arm member, and the rotating operation of the second arm member are stopped. The control method of the transfer assistance apparatus to be controlled is applied.
　また、本発明のさらに別の観点によれば、前記判定ステップでは、前記中央ホルダー部の昇降時、又は、前記第１アーム部材及び前記第２アーム部材の少なくとも一方の回動時に、前記少なくとも１つのトルクの上昇量と、当該上昇量に関し設定された第４しきい値と、を比較することにより、前記異常の有無の判定が行われ、前記第２モータ制御ステップでは、前記判定ステップで前記上昇量が前記第４しきい値を超えることにより前記異常があると判定された場合に、前記中央ホルダー部の昇降動作、前記第１アーム部材の回動動作、及び前記第２アーム部材の回動動作が停止されるように、前記昇降用モータ、前記第１回動用モータ、及び前記第２回動用モータが制御される移乗補助装置の制御方法が適用される。 According to still another aspect of the present invention, in the determination step, at least one of the central holder part and the at least one of the first arm member and the second arm member is rotated. By comparing the amount of increase in the two torques with the fourth threshold value set for the amount of increase, the presence / absence of the abnormality is determined. In the second motor control step, When it is determined that the abnormality is present due to the rise amount exceeding the fourth threshold value, the center holder portion is moved up and down, the first arm member is rotated, and the second arm member is rotated. A control method for a transfer assist device is applied in which the elevating motor, the first rotating motor, and the second rotating motor are controlled so that the moving operation is stopped.
　また、本発明のさらに別の観点によれば、前記判定ステップでは、前記中央ホルダー部の上昇時に、前記第１回動用モータのトルクと前記第２回動用モータのトルクとのバランスの偏り度と、当該偏り度に関し設定された第５しきい値と、を比較することにより、前記異常の有無の判定が行われ、前記第２モータ制御ステップでは、前記判定ステップで前記偏り度が前記第５しきい値を超えることにより前記異常があると判定された場合に、前記中央ホルダー部の昇降動作、前記第１アーム部材の回動動作、及び前記第２アーム部材の回動動作が停止されるように、前記昇降用モータ、前記第１回動用モータ、及び前記第２回動用モータが制御される移乗補助装置の制御方法が適用される。 According to still another aspect of the present invention, in the determination step, when the center holder part is raised, the degree of bias of the balance between the torque of the first rotation motor and the torque of the second rotation motor is The presence or absence of the abnormality is determined by comparing with a fifth threshold value set with respect to the degree of bias. In the second motor control step, the degree of bias is the fifth in the determination step. When it is determined that there is the abnormality by exceeding the threshold value, the lifting operation of the central holder part, the rotating operation of the first arm member, and the rotating operation of the second arm member are stopped. As described above, the control method of the transfer assist device in which the elevating motor, the first rotating motor, and the second rotating motor are controlled is applied.
　また、本発明のさらに別の観点によれば、複数の車輪により前記本体部の移動を行う際に前記操作者が操作部材のグリップ部を把持しつつ行う所望の移動方向に付勢する付勢操作を検出する付勢操作検出部の検出結果に基づいて、前記複数の車輪の各々を回転させるための駆動力を発生する複数の移動用モータを駆動する第３モータ制御ステップをさらに有する移乗補助装置の制御方法が適用される。 According to still another aspect of the present invention, when the main body is moved by a plurality of wheels, the operator is urged in a desired movement direction while holding the grip portion of the operation member. Transfer assistance further comprising a third motor control step for driving a plurality of movement motors for generating a driving force for rotating each of the plurality of wheels based on a detection result of an urging operation detection unit for detecting an operation. A device control method is applied.
　また、本発明のさらに別の観点によれば、前記付勢操作検出部の検出結果に基づいて、前記付勢操作に対応する前記本体部の移動方向を決定する方向決定ステップをさらに有し、前記第３モータ制御ステップでは、前記本体部が前記方向決定ステップで決定された移動方向に移動するよう前記複数の車輪が回転するように、前記複数の移動用モータが駆動される移乗補助装置の制御方法が適用される。 According to still another aspect of the present invention, the method further includes a direction determining step for determining a moving direction of the main body corresponding to the biasing operation based on a detection result of the biasing operation detection unit, In the third motor control step, a transfer assist device in which the plurality of movement motors are driven such that the plurality of wheels rotate so that the main body moves in the movement direction determined in the direction determination step. The control method is applied.
　また、本発明のさらに別の観点によれば、前記第３モータ制御ステップでは、前記付勢操作による前記グリップ部の歪みを検出する前記付勢操作検出部としての歪みセンサの検出結果に基づいて、前記複数の移動用モータが駆動される移乗補助装置の制御方法が適用される。 According to still another aspect of the present invention, in the third motor control step, based on a detection result of a strain sensor as the urging operation detection unit that detects distortion of the grip portion due to the urging operation. A method for controlling a transfer assist device in which the plurality of movement motors are driven is applied.
　また、本発明のさらに別の観点によれば、前記本体部の位置を検出する位置検出部の検出結果に基づいて、複数の車輪に係る複数の移動用モータを制御する第４モータ制御ステップをさらに有する移乗補助装置の制御方法が適用される。 According to still another aspect of the present invention, a fourth motor control step for controlling a plurality of movement motors related to a plurality of wheels based on a detection result of a position detection unit that detects a position of the main body unit. Furthermore, the control method of the transfer assistance apparatus which has is applied.
　また、本発明のさらに別の観点によれば、前記位置検出部の検出結果に基づいて、前記本体部の移動速度を算出する速度算出ステップをさらに有し、前記第４モータ制御ステップでは、前記速度算出ステップでの算出結果に基づいて、前記移動速度が所定の速度態様となるよう前記複数の車輪が回転するように、前記複数の移動用モータが駆動される移乗補助装置の制御方法が適用される。 According to still another aspect of the present invention, the method further includes a speed calculation step of calculating a moving speed of the main body based on a detection result of the position detection unit, and in the fourth motor control step, Based on the calculation result in the speed calculation step, a control method for a transfer assist device in which the plurality of movement motors are driven so that the plurality of wheels rotate so that the movement speed becomes a predetermined speed mode is applied. Is done.
　また、本発明のさらに別の観点によれば、第３モータ制御ステップで、前記複数の車輪として設置された２つのメカナムホイールに係る２つの前記移動用モータが駆動されるか、若しくは、第４モータ制御ステップで、前記複数の車輪として設置された２つのメカナムホイールに係る２つの前記移動用モータが制御される移乗補助装置の制御方法が適用される。 According to still another aspect of the present invention, in the third motor control step, the two movement motors related to the two mecanum wheels installed as the plurality of wheels are driven, or In the 4-motor control step, a control method for the transfer assist device is applied in which the two moving motors related to the two Mecanum wheels installed as the plurality of wheels are controlled.
　また、本発明のさらに別の観点によれば、前記中央ホルダー部の昇降動作、前記第１アーム部材の回動動作、前記第２アーム部材の回動動作、及び複数の車輪の回転動作による前記本体部の移動動作の少なくとも１つの加速度が当該加速度に関し設定された第６しきい値よりも小さくなるとともに、前記中央ホルダー部の昇降動作、前記第１アーム部材の回動動作、前記第２アーム部材の回動動作、及び前記本体部の移動動作の少なくとも１つの速度が所定の速度態様となるように、前記昇降用モータ、前記第１回動用モータ、前記第２回動用モータ、及び複数の移動用モータの少なくとも１つを制御する第５モータ制御ステップをさらに有する移乗補助装置の制御方法が適用される。 According to still another aspect of the present invention, the center holder portion is moved up and down, the first arm member is rotated, the second arm member is rotated, and a plurality of wheels are rotated. At least one acceleration of the moving operation of the main body is smaller than a sixth threshold value set for the acceleration, and the center holder is moved up and down, the first arm member is rotated, and the second arm The elevating motor, the first rotating motor, the second rotating motor, and a plurality of the rotating motor, so that at least one speed of the rotating operation of the member and the moving operation of the main body portion is a predetermined speed mode. A method for controlling the transfer assist device further including a fifth motor control step for controlling at least one of the moving motors is applied.
　また、本発明のさらに別の観点によれば、前記第５モータ制御ステップでは、前記中央ホルダー部の昇降動作、前記第１アーム部材の回動動作、前記第２アーム部材の回動動作、及び前記本体部の移動動作の少なくとも１つの速度がＳ字曲線状に変動するように、前記昇降用モータ、前記第１回動用モータ、前記第２回動用モータ、及び前記複数の移動用モータの少なくとも１つが制御される移乗補助装置の制御方法が適用される。 According to still another aspect of the present invention, in the fifth motor control step, the center holder portion is moved up and down, the first arm member is rotated, the second arm member is rotated, and At least one of the elevating motor, the first rotating motor, the second rotating motor, and the plurality of moving motors so that at least one speed of the moving operation of the main body portion varies in an S-curve shape. The control method of the transfer assistance apparatus in which one is controlled is applied.
　また、本発明のさらに別の観点によれば、本体部と、昇降するように前記本体部に支持された中央ホルダー部と、前記中央ホルダー部を中心軸として回動するように前記中央ホルダー部の周方向一方側に連結された一対の第１アーム部材と、前記中央ホルダー部を中心軸として回動するように前記中央ホルダー部の周方向他方側に連結された一対の第２アーム部材と、前記中央ホルダー部を昇降するための駆動力を発生する昇降用モータと、前記第１アーム部材を回動するための駆動力を発生する第１回動用モータと、前記第２アーム部材を回動するための駆動力を発生する第２回動用モータと、操作者の操作を検出する操作検出部と、を有し被介護者の移乗を補助する移乗補助装置に備えられた制御装置であって、前記操作検出部の検出結果に基づいて、前記昇降用モータ、前記第１回動用モータ、及び前記第２回動用モータの少なくとも１つを制御する第１モータ制御部を有する制御装置が適用される。 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; An elevating motor for generating a driving force for elevating the central holder, a first rotating motor for generating a driving force for rotating the first arm member, and the second arm member. A control device provided in a transfer assist device that includes a second rotation motor that generates a driving force for movement and an operation detection unit that detects an operation of an operator and assists the transfer of the care recipient. Detection of the operation detection unit Based on the result, the elevating motor, said first rotating motor, and a controller having a first motor control unit for controlling at least one of the second rotating motor is applied.
　また、本発明のさらに別の観点によれば、前記第１モータ制御部は、前記第１アーム部材及び前記第２アーム部材の少なくとも一方のアーム部材の回動方向一方側に設置され前記操作者の接触操作を検出する前記操作検出部としての第１接触センサの検出結果に基づいて、少なくとも前記接触操作が検出された側の前記一対の第１アーム部材又は前記一対の第２アーム部材が前記回動方向他方側に回動するように、前記第１回動用モータ及び前記第２回動用モータの少なくとも一方を駆動する第１回動制御部と、前記少なくとも一方のアーム部材の回動方向他方側に設置され前記操作者の接触操作を検出する前記操作検出部としての第２接触センサの検出結果に基づいて、少なくとも前記接触操作が検出された側の前記一対の第１アーム部材又は前記一対の第２アーム部材が前記回動方向一方側に回動するように、前記第１回動用モータ及び前記第２回動用モータの少なくとも一方を駆動する第２回動制御部と、を備える制御装置が適用される。 According to still another aspect of the present invention, the first motor control unit is installed on one side of the rotation direction of at least one of the first arm member and the second arm member, and the operator The pair of first arm members or the pair of second arm members on the side where the contact operation is detected is at least based on the detection result of the first contact sensor as the operation detection unit that detects the contact operation. A first rotation control unit for driving at least one of the first rotation motor and the second rotation motor so as to rotate to the other side in the rotation direction; and the other rotation direction of the at least one arm member. The pair of first arm units on the side where at least the contact operation is detected based on the detection result of the second contact sensor as the operation detection unit that is installed on the side and detects the contact operation of the operator Alternatively, a second rotation control unit that drives at least one of the first rotation motor and the second rotation motor so that the pair of second arm members rotate to one side in the rotation direction. A control device is provided.
　また、本発明のさらに別の観点によれば、前記第１回動制御部は、前記接触操作が検出された側の一対の第１アーム部材又は一対の第２アーム部材、及び、前記接触操作が検出されなかった側の前記一対の第１アーム部材又は前記一対の第２アーム部材が、前記回動方向他方側に回動するように、前記第１回動用モータ及び前記第２回動用モータを駆動し、前記第２回動制御部は、前記接触操作が検出された側の一対の第１アーム部材又は一対の第２アーム部材、及び、前記接触操作が検出されなかった側の前記一対の第１アーム部材又は前記一対の第２アーム部材が、前記回動方向一方側に回動するように、前記第１回動用モータ及び前記第２回動用モータを駆動する制御装置が適用される。 According to still another aspect of the present invention, the first rotation control unit includes a pair of first arm members or a pair of second arm members on the side where the contact operation is detected, and the contact operation. The first rotation motor and the second rotation motor so that the pair of first arm members or the pair of second arm members on the side where no movement is detected rotate to the other side in the rotation direction. And the second rotation control unit includes a pair of first arm members or a pair of second arm members on the side where the contact operation is detected, and the pair on the side where the contact operation is not detected. A control device that drives the first rotation motor and the second rotation motor is applied so that the first arm member or the pair of second arm members rotate to one side in the rotation direction. .
　また、本発明のさらに別の観点によれば、前記第１モータ制御部は、前記第１回動制御部の制御により前記少なくとも接触操作が検出された側の一対の第１アーム部材又は一対の第２アーム部材が前記回動方向他方側への回動動作を行っている最中に、前記第２接触センサにより前記接触操作が検出された場合に、前記回動方向他方側への回動動作が停止又は減速されるように、前記第１回動制御部による駆動を制御する第３回動制御部と、前記第２回動制御部の制御により前記少なくとも接触操作が検出された側の一対の第１アーム部材又は一対の第２アーム部材が前記回動方向一方側への回動動作を行っている最中に、前記第１接触センサにより前記接触操作が検出された場合に、前記回動方向一方側への回動動作が停止又は減速されるように、前記第２回動制御部による駆動を制御する第４回動制御部と、を備える制御装置が適用される。 According to still another aspect of the present invention, the first motor control unit includes a pair of first arm members or a pair of pairs on the side where the at least contact operation is detected by the control of the first rotation control unit. When the contact operation is detected by the second contact sensor while the second arm member is rotating to the other side in the rotation direction, the rotation to the other side in the rotation direction is performed. A third rotation control unit that controls driving by the first rotation control unit and a side on which at least the contact operation is detected by the control of the second rotation control unit so that the operation is stopped or decelerated. When the contact operation is detected by the first contact sensor while the pair of first arm members or the pair of second arm members are rotating in one direction of the rotation direction, The rotation to one side of the rotation direction is stopped or decelerated. As a fourth rotation control unit for controlling the driving by the second rotation control unit, the control device comprising a applies.
　また、本発明のさらに別の観点によれば、前記第１モータ制御部は、前記操作者により前記第１接触センサ及び前記第２接触センサを有効とする切替操作が行われたときに前記第１回動制御部及び前記第２回動制御部による駆動を有効とし、前記操作者により前記第１接触センサ及び前記第２接触センサを無効とする切替操作が行われたときに前記第１回動制御部及び前記第２回動制御部による駆動を無効とする切替制御部を備える制御装置が適用される。 According to still another aspect of the present invention, the first motor control unit is configured to switch the first motor control unit when a switching operation for enabling the first contact sensor and the second contact sensor is performed by the operator. When the first rotation control unit and the second rotation control unit enable driving and the operator performs a switching operation to disable the first contact sensor and the second contact sensor, the first time A control device including a switching control unit that disables driving by the motion control unit and the second rotation control unit is applied.
　また、本発明のさらに別の観点によれば、前記昇降用モータのトルク、前記第１回動用モータのトルク、及び前記第２回動用モータのトルクの少なくとも１つのトルクを検出するトルク検出部と、前記トルク検出部により検出される前記少なくとも１つのトルクに基づいて、前記昇降用モータ、前記第１回動用モータ、及び前記第２回動用モータの少なくとも１つを制御する第２モータ制御部と、をさらに有する制御装置が適用される。 According to still another aspect of the present invention, a torque detector that detects at least one of the torque of the lifting motor, the torque of the first rotation motor, and the torque of the second rotation motor; A second motor control unit that controls at least one of the elevating motor, the first rotating motor, and the second rotating motor based on the at least one torque detected by the torque detecting unit; The control apparatus which has these further is applied.
　また、本発明のさらに別の観点によれば、前記トルク検出部により検出される前記少なくとも１つのトルクに基づいて、前記移乗補助装置の係止部により係止されたスリングシートに載置され持ち上げられた前記被介護者の着地、及び、当該被介護者に係る異常の有無、の少なくとも一方の判定を行う判定部をさらに有し、前記第２モータ制御部は、前記判定部の判定結果に基づいて、前記中央ホルダー部の昇降動作、前記第１アーム部材の回動動作、及び前記第２アーム部材の回動動作の少なくとも１つが停止又は減速されるように、前記昇降用モータ、前記第１回動用モータ、及び前記第２回動用モータの少なくとも１つを制御する制御装置が適用される。 According to still another aspect of the present invention, on the basis of the at least one torque detected by the torque detector, the lift is placed on the sling seat locked by the locking portion of the transfer assist device. A determination unit that determines at least one of landing of the cared person and presence / absence of abnormality related to the cared person, and the second motor control unit includes a determination result of the determination unit Based on the lifting / lowering motor, the first arm member, and the second arm member so that at least one of the lifting / lowering operation, the first arm member rotating operation, and the second arm member rotating operation is stopped or decelerated. A control device that controls at least one of the first rotation motor and the second rotation motor is applied.
　また、本発明のさらに別の観点によれば、前記判定部は、前記中央ホルダー部の下降時に、前記少なくとも１つのトルクの下降量と、当該下降量に関し設定された第１しきい値と、を比較することにより、前記着地の判定を行い、前記第２モータ制御部は、前記判定部によって前記降下量が前記第１しきい値を超えることにより前記着地があったと判定された場合に、前記中央ホルダー部の下降動作が停止又は減速されるように、前記昇降用モータを制御する制御装置が適用される。 Further, according to still another aspect of the present invention, when the central holder portion is lowered, the determination unit includes a lowering amount of the at least one torque, and a first threshold set with respect to the lowering amount, The second motor control unit determines that the landing has occurred by the determination unit exceeding the first threshold value when the landing amount is determined by the determination unit. A control device for controlling the elevating motor is applied so that the lowering operation of the central holder portion is stopped or decelerated.
　また、本発明のさらに別の観点によれば、前記判定部は、前記中央ホルダー部の上昇時に、前記少なくとも１つのトルクの大きさと、当該大きさに関し設定された第２しきい値と、を比較することにより、前記異常の有無の判定を行い、前記第２モータ制御部は、前記判定部によって前記大きさが前記第２しきい値を超えることにより前記異常があると判定された場合に、前記中央ホルダー部の昇降動作、前記第１アーム部材の回動動作、及び前記第２アーム部材の回動動作が停止されるように、前記昇降用モータ、前記第１回動用モータ、及び前記第２回動用モータを制御する制御装置が適用される。 Further, according to still another aspect of the present invention, the determination unit, when the central holder unit is raised, has a magnitude of the at least one torque and a second threshold set for the magnitude. By comparing, the presence or absence of the abnormality is determined, and the second motor control unit determines that the abnormality is present due to the magnitude exceeding the second threshold by the determination unit. The lifting / lowering motor, the first turning motor, and the turning operation of the central holder part, the turning action of the first arm member, and the turning action of the second arm member are stopped. A control device for controlling the second rotation motor is applied.
　また、本発明のさらに別の観点によれば、前記判定部は、前記少なくとも１つのトルクの変動量と、当該変動量に関し設定された第３しきい値と、を比較することにより、前記異常の有無の判定を行い、前記第２モータ制御部は、前記判定部によって前記変動量が前記第３しきい値を超えることにより前記異常があると判定された場合に、前記中央ホルダー部の昇降動作、前記第１アーム部材の回動動作、及び前記第２アーム部材の回動動作が停止されるように、前記昇降用モータ、前記第１回動用モータ、及び前記第２回動用モータを制御する制御装置が適用される。 According to still another aspect of the present invention, the determination unit compares the variation amount of the at least one torque with a third threshold value set for the variation amount, thereby determining the abnormality. The second motor control unit raises / lowers the central holder unit when the determination unit determines that the abnormality is present due to the fluctuation amount exceeding the third threshold value. The lifting motor, the first rotating motor, and the second rotating motor are controlled so that the operation, the rotating operation of the first arm member, and the rotating operation of the second arm member are stopped. A control device is applied.
　また、本発明のさらに別の観点によれば、前記判定部は、前記中央ホルダー部の昇降時、又は、前記第１アーム部材及び前記第２アーム部材の少なくとも一方の回動時に、前記少なくとも１つのトルクの上昇量と、当該上昇量に関し設定された第４しきい値と、を比較することにより、前記異常の有無の判定を行い、前記第２モータ制御部は、前記判定部によって前記上昇量が前記第４しきい値を超えることにより前記異常があると判定された場合に、前記中央ホルダー部の昇降動作、前記第１アーム部材の回動動作、及び前記第２アーム部材の回動動作が停止されるように、前記昇降用モータ、前記第１回動用モータ、及び前記第２回動用モータを制御する制御装置が適用される。 According to still another aspect of the present invention, the determination unit includes at least the first holder when the central holder is raised or lowered, or at least one of the first arm member and the second arm member is rotated. The amount of increase in the two torques is compared with a fourth threshold value set with respect to the amount of increase, and the presence / absence of the abnormality is determined. When it is determined that the abnormality is present due to the amount exceeding the fourth threshold value, the center holder portion is moved up and down, the first arm member is rotated, and the second arm member is rotated. A control device that controls the lifting motor, the first rotation motor, and the second rotation motor is applied so that the operation is stopped.
　また、本発明のさらに別の観点によれば、前記トルク検出部により検出される前記第１回動用モータのトルクと前記第２回動用モータのトルクとのバランスを検出するバランス検出部をさらに有し、前記判定部は、前記中央ホルダー部の上昇時に、前記バランス検出部により検出されるバランスの偏り度と、当該偏り度に関し設定された第５しきい値と、を比較することにより、前記異常の有無の判定を行い、前記第２モータ制御部は、前記判定部によって前記偏り度が前記第５しきい値を超えることにより前記異常があると判定された場合に、前記中央ホルダー部の昇降動作、前記第１アーム部材の回動動作、及び前記第２アーム部材の回動動作が停止されるように、前記昇降用モータ、前記第１回動用モータ、及び前記第２回動用モータを制御する制御装置が適用される。 According to still another aspect of the present invention, there is further provided a balance detection unit that detects a balance between the torque of the first rotation motor detected by the torque detection unit and the torque of the second rotation motor. The determination unit compares the degree of bias of the balance detected by the balance detection unit with the fifth threshold value set for the degree of bias when the center holder part is raised, The second motor control unit determines whether there is an abnormality when the determination unit determines that there is the abnormality because the degree of bias exceeds the fifth threshold value. The raising / lowering motor, the first turning motor, and the second turning mode are stopped so that the raising / lowering action, the turning action of the first arm member, and the turning action of the second arm member are stopped. Controlling the control device is applied.
　また、本発明のさらに別の観点によれば、前記本体部の移動用の複数の車輪により前記本体部の移動を行う際に前記操作者が操作部材のグリップ部を把持しつつ行う所望の移動方向に付勢する付勢操作を検出する付勢操作検出部の検出結果に基づいて、前記複数の車輪の各々を回転させるための駆動力を発生する複数の移動用モータを駆動する第３モータ制御部をさらに有する制御装置が適用される。 According to still another aspect of the present invention, when the main body is moved by a plurality of wheels for moving the main body, the operator performs desired movement while holding the grip portion of the operation member. A third motor that drives a plurality of moving motors that generate a driving force for rotating each of the plurality of wheels based on a detection result of an urging operation detection unit that detects an urging operation that urges in a direction. A control device further including a control unit is applied.
　また、本発明のさらに別の観点によれば、前記付勢操作検出部の検出結果に基づいて、前記付勢操作に対応する前記本体部の移動方向を決定する方向決定部をさらに有し、前記第３モータ制御部は、前記本体部が前記方向決定部により決定された移動方向に移動するよう前記複数の車輪が回転するように、前記複数の移動用モータを駆動する制御装置が適用される。 According to yet another aspect of the present invention, the apparatus further includes a direction determining unit that determines a moving direction of the main body corresponding to the biasing operation based on a detection result of the biasing operation detecting unit, The third motor control unit is applied with a control device that drives the plurality of movement motors such that the plurality of wheels rotate so that the main body unit moves in the movement direction determined by the direction determination unit. The
　また、本発明のさらに別の観点によれば、前記第３モータ制御部は、前記付勢操作による前記グリップ部の歪みを検出する前記付勢操作検出部としての歪みセンサの検出結果に基づいて、前記複数の移動用モータを駆動する制御装置が適用される。 According to still another aspect of the present invention, the third motor control unit is based on a detection result of a strain sensor as the urging operation detection unit that detects distortion of the grip unit due to the urging operation. A control device for driving the plurality of movement motors is applied.
　また、本発明のさらに別の観点によれば、前記本体部の位置を検出する位置検出部の検出結果に基づいて、複数の車輪に係る複数の移動用モータを制御する第４モータ制御部をさらに有する制御装置が適用される。 According to still another aspect of the present invention, a fourth motor control unit that controls a plurality of movement motors related to a plurality of wheels based on a detection result of a position detection unit that detects the position of the main body unit. Furthermore, the control apparatus which has is applied.
　また、本発明のさらに別の観点によれば、前記位置検出部の検出結果に基づいて、前記本体部の移動速度を算出する速度算出部をさらに有し、前記第４モータ制御部は、前記速度算出部の算出結果に基づいて、前記移動速度が所定の速度態様となるよう前記複数の車輪が回転するように、前記複数の移動用モータを駆動する制御装置が適用される。 According to still another aspect of the present invention, the apparatus further includes a speed calculation unit that calculates a moving speed of the main body unit based on a detection result of the position detection unit, and the fourth motor control unit includes: Based on the calculation result of the speed calculation unit, a control device that drives the plurality of movement motors is applied so that the plurality of wheels rotate so that the movement speed becomes a predetermined speed mode.
　また、本発明のさらに別の観点によれば、第３モータ制御部が、前記複数の車輪として設置された２つのメカナムホイールに係る２つの前記移動用モータを駆動するか、若しくは、第４モータ制御部が、前記複数の車輪として設置された２つのメカナムホイールに係る２つの前記移動用モータを制御する制御装置が適用される。 According to still another aspect of the present invention, the third motor control unit drives the two moving motors related to the two mecanum wheels installed as the plurality of wheels, or the fourth A control device is used in which the motor control unit controls the two motors for movement related to the two Mecanum wheels installed as the plurality of wheels.
　また、本発明のさらに別の観点によれば、前記中央ホルダー部の昇降動作、前記第１アーム部材の回動動作、前記第２アーム部材の回動動作、及び複数の車輪の回転動作による前記本体部の移動動作の少なくとも１つの加速度が当該加速度に関し設定された第６しきい値よりも小さくなるとともに、前記中央ホルダー部の昇降動作、前記第１アーム部材の回動動作、前記第２アーム部材の回動動作、及び前記本体部の移動動作の少なくとも１つの速度が所定の速度態様となるように、前記昇降用モータ、前記第１回動用モータ、前記第２回動用モータ、及び複数の移動用モータの少なくとも１つを制御する第５モータ制御部を備える制御装置が適用される。 According to still another aspect of the present invention, the center holder portion is moved up and down, the first arm member is rotated, the second arm member is rotated, and a plurality of wheels are rotated. At least one acceleration of the moving operation of the main body is smaller than a sixth threshold value set for the acceleration, and the center holder is moved up and down, the first arm member is rotated, and the second arm The elevating motor, the first rotating motor, the second rotating motor, and a plurality of the rotating motor, so that at least one speed of the rotating operation of the member and the moving operation of the main body portion is a predetermined speed mode. A control device including a fifth motor control unit that controls at least one of the moving motors is applied.
　また、本発明のさらに別の観点によれば、前記第５モータ制御部は、前記中央ホルダー部の昇降動作、前記第１アーム部材の回動動作、前記第２アーム部材の回動動作、及び前記本体部の移動動作の少なくとも１つの速度がＳ字曲線状に変動するように、前記昇降用モータ、前記第１回動用モータ、前記第２回動用モータ、及び前記複数の移動用モータの少なくとも１つを制御する制御装置が適用される。 According to still another aspect of the present invention, the fifth motor control unit is configured to raise and lower the center holder, rotate the first arm member, rotate the second arm member, and At least one of the elevating motor, the first rotating motor, the second rotating motor, and the plurality of moving motors so that at least one speed of the moving operation of the main body portion varies in an S-curve shape. A control device for controlling one is applied.
　また、本発明のさらに別の観点によれば、被介護者の移乗を補助する移乗補助装置であって、本体部と、昇降するように前記本体部に支持された中央ホルダー部と、前記中央ホルダー部を中心軸として回動するように前記中央ホルダー部の周方向一方側に連結された一対の第１アーム部材と、前記中央ホルダー部を中心軸として回動するように前記中央ホルダー部の周方向他方側に連結された一対の第２アーム部材と、前記中央ホルダー部を昇降するための駆動力を発生する昇降用モータと、前記第１アーム部材を回動するための駆動力を発生する第１回動用モータと、前記第２アーム部材を回動するための駆動力を発生する第２回動用モータと、操作者の操作を検出する操作検出部と、前記操作検出部の検出結果に基づいて、前記昇降用モータ、前記第１回動用モータ、及び前記第２回動用モータの少なくとも１つを制御する制御装置と、を有する移乗補助装置が適用される。 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, a lifting motor for generating a driving force for raising and lowering the central holder portion, and a driving force for rotating the first arm member are generated. A first rotation motor, a second rotation motor that generates a driving force for rotating the second arm member, an operation detection unit that detects an operation of an operator, and a detection result of the operation detection unit Based on the above for lifting Over data, the first rotation motor, and a control device for controlling at least one of the second rotating motor, the ERROR assist device having applied.
　本発明によれば、操作者の負担を軽減することができる。 According to the present invention, the burden on the operator can be reduced.
一実施の形態の移乗補助装置の構成を表す斜視図である。It is a perspective view showing the structure of the transfer assistance apparatus of one Embodiment. 移乗補助装置の構成を表す左方側から見た平面図である。It is the top view seen from the left side showing the structure of a transfer assistance apparatus. 移乗補助装置の構成を表す右方側から見た平面図である。It is the top view seen from the right side showing the structure of a transfer assistance apparatus. ヘッダー部が上昇した状態の移乗補助装置を右方側から見た平面図である。It is the top view which looked at the transfer assistance apparatus of the state which the header part raised from the right side. 第１アーム部材を起立させた状態の移乗補助装置を左方側から見た平面図である。It is the top view which looked at the transfer assistance apparatus of the state which raised the 1st arm member from the left side. 第２アーム部材を起立させた状態の移乗補助装置を左方側から見た平面図である。It is the top view which looked at the transfer auxiliary | assistance apparatus of the state which raised the 2nd arm member from the left side. 第１アーム部材及び第２アーム部材を起立させた状態の移乗補助装置を左方側から見た平面図である。It is the top view which looked at the transfer assistance apparatus of the state which raised the 1st arm member and the 2nd arm member from the left side. 移乗補助装置の使用状態を表す斜視図である。It is a perspective view showing the use condition of a transfer assistance apparatus. 移乗補助装置の制御系の構成を表すブロック図である。It is a block diagram showing the structure of the control system of a transfer assistance apparatus. 制御装置の機能的構成を表す機能ブロック図である。It is a functional block diagram showing the functional structure of a control apparatus. 移乗補助装置の制御方法に関する制御手順を表すフローチャートである。It is a flowchart showing the control procedure regarding the control method of a transfer assistance apparatus. 移乗補助装置の制御方法に関する制御手順を表すフローチャートである。It is a flowchart showing the control procedure regarding the control method of a transfer assistance apparatus. 移乗補助装置の制御方法に関する制御手順を表すフローチャートである。It is a flowchart showing the control procedure regarding the control method of a transfer assistance apparatus. 移乗補助装置の制御方法に関する制御手順を表すフローチャートである。It is a flowchart showing the control procedure regarding the control method of a transfer assistance apparatus. 移乗補助装置の制御方法に関する制御手順を表すフローチャートである。It is a flowchart showing the control procedure regarding the control method of a transfer assistance apparatus. 移乗補助装置の制御方法に関する制御手順を表すフローチャートである。It is a flowchart showing the control procedure regarding the control method of a transfer assistance apparatus. 移乗補助装置の制御方法に関する制御手順を表すフローチャートである。It is a flowchart showing the control procedure regarding the control method of a transfer assistance apparatus.
　以下、一実施の形態について図面を参照しつつ説明する。なお、図面中に「上方」「下方」「左方」「右方」「前方」「後方」の注記がある場合は、明細書中の説明における「上方」「下方」「左方」「右方」「前方」「後方」とは、その注記された方向を指す。但し、移乗補助装置の各構成の位置関係は、「上方」「下方」「左方」「右方」「前方」「後方」の概念に限定されるものではない。 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”.
　＜移乗補助装置の構成＞
　まず、図１～図８を参照しつつ、本実施形態の移乗補助装置の構成について説明する。 <Configuration of transfer assist device>
First, the configuration of the transfer assist device of the present embodiment will be described with reference to FIGS.
　図１～図８に示すように、移乗補助装置１は、被介護者Ｍ（図８参照）の移乗（「移乗動作」ともいう。）を補助する装置である。 As shown in FIG. 1 to FIG. 8, 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. 8).
　「移乗」とは、現在の位置・姿勢から別の位置・姿勢に移る動作をいう。この移乗としては、例えば、ある位置（例えばベット）での横たわった姿勢（「臥位姿勢」ともいう。）から別の位置（例えば車椅子）での座った姿勢（「座位姿勢」ともいう。）に移る動作やその逆の動作等が挙げられる。また、位置はそのままで姿勢が別の姿勢に移る動作や姿勢はそのままで位置が別の位置に移る動作も、移乗の一例である。 “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. In addition, an operation of changing the posture without changing the position and an operation of moving the position to another position without changing the posture are examples of transfer.
　この移乗補助装置１は、中央ホルダー部２と、本体部３と、一対の第１アーム部材４，４と、一対の第２アーム部材５，５と、制御装置５０（後述の図９参照）とを有する。 The transfer assisting 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. 9 described later). And have.
　中央ホルダー部２は、水平方向に延設され、昇降するように本体部３により片持ち梁状に支持される。なお、中央ホルダー部２の本体部３による支持態様は、片持ち梁状に限定されるものではなく、他の態様であってもよい。 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.
　本体部３は、筐体１６と、筐体１６に設けられた昇降機構１２とを有する。 The main body 3 includes a housing 16 and an elevating mechanism 12 provided in the housing 16.
　昇降機構１２は、中央ホルダー部２を昇降させる機構である。この昇降機構１２の構成は、中央ホルダー部２を昇降させることが可能な構成であれば、特に限定されるものではない。但し、本実施形態では、昇降機構１２が以下のように構成される場合について説明する。 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 unit 2 can be raised and lowered. However, this embodiment demonstrates the case where the raising / lowering mechanism 12 is comprised as follows.
　すなわち、昇降機構１２は、昇降用モータＭ１と、連結部Ｃ１と、昇降部２２とを有する（主に図２及び図３参照）。 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).
　昇降用モータＭ１は、中央ホルダー部２を昇降するための駆動力を発生する。この昇降用モータＭ１としては、中央ホルダー部２を昇降するための駆動力を発生するモータであれば、当該駆動力として回転力を発生する回転型モータ、及び、当該駆動力として推進力を発生するリニアモータのいずれでも構わない。但し、本実施形態では、昇降用モータＭ１が回転型モータである場合について説明する。 The elevating motor M1 generates a driving force for elevating the central holder portion 2. If the motor M1 for raising and lowering is a motor that generates a driving force for raising and lowering the central holder portion 2, a rotary motor that generates a rotating force as the driving force and a propulsive force as the driving force are generated. Any linear motor may be used. However, in this embodiment, the case where the lifting motor M1 is a rotary motor will be described.
　この昇降用モータＭ１の出力軸（図示せず）には、ナット部材Ｎ１が装着された軸部材ＳＨ１が連結される（図２及び図３参照）。軸部材ＳＨ１は、昇降用モータＭ１の出力軸の延設方向（この例では上下方向）に延設され、当該出力軸の回転とともに回転する。ナット部材Ｎ１は、軸部材ＳＨ１の延設方向（この例では上下方向）に延設され、軸部材ＳＨ１の回転により、軸部材ＳＨ１に対し直線移動する。なお、上記軸部材ＳＨ１及びナット部材Ｎ１の組み合わせは、例えばボールスプラインを備えた機構やボールねじを備えた機構等により実装可能である。 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.
　連結部Ｃ１は、ナット部材Ｎ１の直線移動と同期して昇降部２２が筐体１６に対し昇降するように、ナット部材Ｎ１の上端側と昇降部２２とを連結する。 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.
　昇降部２２は、筐体１６の上面の開口部（図示せず）を介し当該筐体１６に装着され、ナット部材Ｎ１の直線移動と同期して筐体１６に対し昇降する。この昇降部２２は、その上方側において露出した（筐体１６内に収納されない）ヘッダー部２１を備え、当該ヘッダー部２１により中央ホルダー部２を片持ち梁状に支持する。 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.
　このような昇降機構１２は、昇降用モータＭ１の駆動によって昇降部２２が筐体１６に対し昇降することにより、中央ホルダー部２を昇降させることが可能である。すなわち、図１～図３及び図５～図７は、昇降部２２（中央ホルダー部２）が下方位置にある状態に対応し、図４は、昇降部２２（中央ホルダー部２）が上記下方位置から上昇した状態に対応する。 Such an elevating mechanism 12 can elevate the central holder part 2 by elevating the elevating part 22 with respect 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. Corresponds to the state of rising from the position.
　第１アーム部材４，４は、中央ホルダー部２を中心軸として同期して回動するように、中央ホルダー部２の周方向一方側（この例では前方側）に対し、中央ホルダー部２の延設方向（この例では左右方向）に離間しつつ連結される。なお、第１アーム部材４，４は、中央ホルダー部２を中心軸として相互に独立して回動するように、中央ホルダー部２の前方側に連結されてもよい。本明細書中では、第１アーム部材４の左方側から見た際に時計回り（右回り）となる回動方向を「回動方向一方側」と定義し、第１アーム部材４の左方側から見た際に反時計回り（左回り）となる回動方向を「回動方向他方側」と定義する。 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. In this specification, the rotation direction that turns clockwise (clockwise) when viewed from the left side of the first arm member 4 is defined as “one side of the rotation direction”, and the left side of the first arm member 4 A rotation direction that turns counterclockwise (counterclockwise) when viewed from the side is defined as “the other direction of the rotation direction”.
　各第１アーム部材４は、その基端部４ｂが中央ホルダー部２から水平方向に延びる姿勢にした際に、その先端部４ａが上方に向くように湾曲した形状に形成される。なお、第１アーム部材４の形状は、上記形状に限定されるものではない。例えば、第１アーム部材４は、基端部４ｂと先端部４ａとの間が直線状に延びる形状に形成されたり、基端部４ｂが中央ホルダー部２から水平方向に延びる姿勢にした際に、先端部４ａが下方に向くように湾曲した形状に形成されてもよい。 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 is in a posture extending in the horizontal direction from the central holder portion 2. In addition, the shape of the 1st arm member 4 is not limited to the said shape. For example, the first arm member 4 is formed in a shape extending linearly between the base end portion 4b and the tip end portion 4a, or when the base end portion 4b extends in the horizontal direction from the center holder portion 2. The tip 4a may be formed in a curved shape so as to face downward.
　第２アーム部材５，５は、中央ホルダー部２を中心軸として同期して回動するように、中央ホルダー部２の周方向他方側（この例では後方側）に対し、左右方向に離間しつつ連結される。なお、第２アーム部材５，５は、中央ホルダー部２を中心軸として相互に独立して回動するように、中央ホルダー部２の後方側に連結されてもよい。本明細書中では、第２アーム部材５の左方側から見た際に反時計回り（左回り）となる回動方向を「回動方向一方側」と定義し、第２アーム部材５の右方側から見た際に時計回り（右回り）となる回動方向を「回動方向他方側」と定義する。 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. In the present specification, a rotation direction that turns counterclockwise (counterclockwise) when viewed from the left side of the second arm member 5 is defined as “one direction of rotation direction”. A rotation direction that turns clockwise (clockwise) when viewed from the right side is defined as “the other side of the rotation direction”.
　各第２アーム部材５は、上記各第１アーム部材４と同様、その基端部５ｂが中央ホルダー部２から水平方向に延びる姿勢にした際に、その先端部５ａが上方に向くように湾曲した形状に形成される。なお、第２アーム部材５の形状は、上記形状に限定されるものではない。例えば、第２アーム部材５は、基端部５ｂと先端部５ａとの間が直線状に延びる形状に形成されたり、基端部５ｂが中央ホルダー部２から水平方向に延びる姿勢にした際に、先端部５ａが下方に向くように湾曲した形状に形成されてもよい。 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 the 2nd arm member 5 is not limited to the said shape. For example, the second arm member 5 is formed in a shape that linearly extends between the base end portion 5b and the tip end portion 5a, or when the base end portion 5b extends in the horizontal direction from the central holder portion 2. The tip portion 5a may be formed in a curved shape so as to face downward.
　アーム部材４，５には、被介護者Ｍが載置されるスリングシート６（後述の図１０等参照）の係止及び当該係止の解除を行うための複数の係止部７が設置される。係止部７の構成、設置位置、及び設置個数は、スリングシート６を着脱可能な構成、位置、及び個数であれば、特に限定されるものではない。但し、本実施形態では、各係止部７が鉤状のフックにより構成され、係止部７の設置位置及び設置個数が次のような場合について説明する。すなわち、係止部７は、各第１アーム部材４について、基端部４ｂと先端部４ａとの中間位置及び先端部４ａ近傍の２箇所に設置され、各第２アーム部材５について、基端部５ｂと先端部５ａとの中間位置及び先端部５ａ近傍の２箇所に設置される。 The arm members 4 and 5 are provided with a plurality of locking portions 7 for locking and releasing the sling sheet 6 (see FIG. 10 described later) on which the care recipient M is placed. The The configuration, the installation position, and the number of installation of the locking portion 7 are not particularly limited as long as the configuration, the position, and the number of the sling sheets 6 can be attached and detached. However, this embodiment demonstrates the case where each latching | locking part 7 is comprised by the hook-shaped hook and the installation position and installation number of the latching | locking part 7 are as follows. That is, the locking portions 7 are installed at two positions near each of the first arm members 4 at an intermediate position between the proximal end portion 4b and the distal end portion 4a and in the vicinity of the distal end portion 4a. It is installed at an intermediate position between the portion 5b and the tip portion 5a and at two locations near the tip portion 5a.
　そして、第１アーム部材４と第２アーム部材５とは、相互に独立して回動するように、中央ホルダー部２の前方側と後方側とに各々連結される。 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.
　すなわち、上記本体部３には、回動機構２３と、回動機構２４とが備えられる（図２及び図３参照）。 That is, the main body 3 is provided with a rotation mechanism 23 and a rotation mechanism 24 (see FIGS. 2 and 3).
　回動機構２３は、第１アーム部材４を中央ホルダー部２を中心軸として回動させる機構である。この回動機構２３の構成は、第１アーム部材４を中央ホルダー部２を中心軸として回動させることが可能な構成であれば、特に限定されるものではない。但し、本実施形態では、回動機構２３が以下のように構成される場合について説明する。 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.
　すなわち、回動機構２３は、第１回動用モータＭ２と、連結部Ｃ２とを有する（図２及び図３参照）。 That is, the rotation mechanism 23 includes a first rotation motor M2 and a connecting portion C2 (see FIGS. 2 and 3).
　第１回動用モータＭ２は、例えば上記筐体１６の内部に配置され、第１アーム部材４を回動するための駆動力を発生する。この第１回動用モータＭ２は、第１アーム部材４を回動するための駆動力を発生するモータであれば、当該駆動力として回転力を発生する回転型モータ、及び、当該駆動力として推進力を発生するリニアモータのいずれでも構わない。但し、本実施形態では、第１回動用モータＭ２が回転型モータである場合について説明する。 The first rotation motor M2 is disposed, for example, inside the housing 16, and 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.
　この第１回動用モータＭ２の出力軸（図示せず）には、ナット部材Ｎ２が装着された軸部材ＳＨ２が連結される（図２及び図３参照）。軸部材ＳＨ２は、第１回動用モータＭ２の出力軸の延設方向（この例では上下方向）に延設され、当該出力軸の回転とともに回転する。ナット部材Ｎ２は、軸部材ＳＨ２の延設方向（この例では上下方向）に延設され、軸部材ＳＨ２の回転により、軸部材ＳＨ２に対し直線移動する。なお、上記軸部材ＳＨ２及びナット部材Ｎ２の組み合わせは、例えばボールスプラインを備えた機構やボールねじを備えた機構等により実装可能である。 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.
　連結部Ｃ２は、ナット部材Ｎ２の直線移動と同期して第１アーム部材４が中央ホルダー部２を中心軸として回動するように、ナット部材Ｎ２の上端側と第１アーム部材４とを連結する。この例では、連結部Ｃ２は、上記ヘッダー部２１の左方側の面における中央ホルダー部２の周囲のうち前方側に設けられた溝１８に嵌合した、連結部材２５を備える（図１参照）。そして、連結部Ｃ２は、ナット部材Ｎ２の直線移動と同期して、連結部材２５が溝１８を摺動することにより第１アーム部材４が中央ホルダー部２を中心軸として回動するように、ナット部材Ｎ２の上端側と第１アーム部材４とを連結する。 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 25 fitted in a groove 18 provided on the front side of the periphery of the center holder portion 2 on the left side surface of the header portion 21 (see FIG. 1). ). Then, the connecting portion C2 is synchronized with the linear movement of the nut member N2, so that the first arm member 4 rotates about the central holder portion 2 as the central axis when the connecting member 25 slides in the groove 18. The upper end side of the nut member N2 and the first arm member 4 are connected.
　このような回動機構２３は、第１回動用モータＭ２の駆動によって連結部Ｃ２の連結部材２５が溝１８を摺動することにより、第１アーム部材４を中央ホルダー部２を中心軸として回動させることが可能である。 Such a rotation mechanism 23 rotates the first arm member 4 about the central holder portion 2 as the central axis when the connection member 25 of the connection portion C2 slides in the groove 18 by driving the first rotation motor M2. It is possible to move.
　この際、第１アーム部材４は、先端部４ａが中央ホルダー部２の水平方向より下方位置となる角度から先端部４ａが中央ホルダー部２の上方位置となる角度までの範囲において回動するように、中央ホルダー部２の前方側に連結される。なお、第１アーム部材４の回動範囲は、上記範囲に限定されるものではない。 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.
　回動機構２４は、第２アーム部材５を中央ホルダー部２を中心軸として回動させる機構である。この回動機構２４の構成は、第２アーム部材５を中央ホルダー部２を中心軸として回動させることが可能な構成であれば、特に限定されるものではない。但し、本実施形態では、回動機構２４が上記回動機構２３と同様に構成される場合について説明する。 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.
　すなわち、回動機構２４は、第２回動用モータＭ３と、連結部Ｃ３とを有する（図２及び図３参照）。 That is, the rotation mechanism 24 includes a second rotation motor M3 and a connecting portion C3 (see FIGS. 2 and 3).
　第２回動用モータＭ３は、例えば上記筐体１６の内部に配置され、第２アーム部材５を回動するための駆動力を発生する。この第２回動用モータＭ３は、第２アーム部材５を回動するための駆動力を発生するモータであれば、当該駆動力として回転力を発生する回転型モータ、及び、当該駆動力として推進力を発生するリニアモータのいずれでも構わない。但し、本実施形態では、第２回動用モータＭ３が回転型モータである場合について説明する。 The second rotation motor M3 is disposed, for example, inside the casing 16 and 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.
　この第２回動用モータＭ３の出力軸（図示せず）には、ナット部材Ｎ３が装着された軸部材ＳＨ３が連結される（図２及び図３参照）。軸部材ＳＨ３は、第２回動用モータＭ３の出力軸の延設方向（この例では上下方向）に延設され、当該出力軸の回転とともに回転する。ナット部材Ｎ３は、軸部材ＳＨ３の延設方向（この例では上下方向）に延設され、軸部材ＳＨ３の回転により、軸部材ＳＨ３に対し直線移動する。なお、上記軸部材ＳＨ３及びナット部材Ｎ３の組み合わせは、例えばボールスプラインを備えた機構やボールねじを備えた機構等により実装可能である。 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.
　連結部Ｃ３は、ナット部材Ｎ３の直線移動と同期して第２アーム部材５が中央ホルダー部２を中心軸として回動するように、ナット部材Ｎ３の上端側と第２アーム部材５とを連結する。この例では、連結部Ｃ３は、上記ヘッダー部２１の左方側の面における中央ホルダー部２の周囲のうち後方側に設けられた溝１９に嵌合した、連結部材（図示せず）を備える。そして、連結部Ｃ３は、ナット部材Ｎ３の直線移動と同期して、連結部材が溝１９を摺動することにより第２アーム部材５が中央ホルダー部２を中心軸として回動するように、ナット部材Ｎ３の上端側と第２アーム部材５とを連結する。 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.
　このような回動機構２４は、第２回動用モータＭ３の駆動によって連結部Ｃ３の連結部材が溝１９を摺動することにより、第２アーム部材５を中央ホルダー部２を中心軸として回動させることが可能である。 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. It is possible to make it.
　この際、第２アーム部材５は、上記第１アーム部材４と同様、先端部５ａが中央ホルダー部２の水平方向より下方位置となる角度から先端部５ａが中央ホルダー部２の上方位置となる角度までの範囲において回動するように、中央ホルダー部２の後方側に連結される。なお、第２アーム部材５の回動範囲は、上記範囲に限定されるものではない。 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.
　すなわち、図１～図４は、アーム部材４，５の両方が、先端部４ａ，５ａが中央ホルダー部２の水平方向より下方位置となる位置にある状態に対応する。また、図５は、第１アーム部材４が、先端部４ａが上記下方位置となる位置から先端部４ａが中央ホルダー部２の上方位置となる位置に回動し（起立し）、かつ、第２アーム部材５が、先端部５ａが上記下方位置となる位置にある状態に対応する。また、図６は、第１アーム部材４が、先端部４ａが上記下方位置となる位置にあり、かつ、第２アーム部材５が、先端部５ａが上記下方位置となる位置から先端部５ａが中央ホルダー部２の上方位置となる位置に回動した（起立した）状態に対応する。また、図７は、アーム部材４，５の両方が、先端部４ａ，５ａが中央ホルダー部２の上方位置となる位置にある（起立した）状態に対応する。 That is, FIGS. 1 to 4 correspond to a state in which both of the arm members 4 and 5 are located at positions where the front end portions 4a and 5a are positioned 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. Further, FIG. 7 corresponds to a state in which both the arm members 4 and 5 are in a position where the tip end portions 4 a and 5 a are positioned above the central holder portion 2 (standing up).
　制御装置５０は、例えば上記筐体１６の内部に配置される。この制御装置５０の構成については、後で詳細に説明する。 The control device 50 is disposed, for example, inside the casing 16. The configuration of the control device 50 will be described later in detail.
　また、移乗補助装置１には、操作者（例えば介護者。図示せず）の操作を検出する操作検出部３０（後述の図９参照）が備えられる。そして、この操作検出部３０の検出結果（操作者の操作）に基づいて、上記昇降用モータＭ１、第１回動用モータＭ２、及び第２回動用モータＭ３の少なくとも１つの駆動、つまり上記中央ホルダー部２、第１アーム部材４、及び第２アーム部材５の少なくとも１つの動作が、上記制御装置５０によって制御される。つまり、制御装置５０及び操作検出部３０は、操作者の操作に基づいて、中央ホルダー部の昇降動作、第１アーム部材の回動動作、及び第２アーム部材の回動動作の少なくとも１つの動作を制御する手段を構成する。 Also, the transfer assist device 1 is provided with an operation detection unit 30 (see FIG. 9 described later) for detecting an operation of an operator (for example, a caregiver, not shown). Based on the detection result (operator's operation) of the operation detection unit 30, at least one drive of the elevating motor M1, the first rotating motor M2, and the second rotating motor M3, that is, the central holder. At least one operation of the unit 2, the first arm member 4, and the second arm member 5 is controlled by the control device 50. In other words, the control device 50 and the operation detection unit 30 are at least one of an ascending / descending operation of the central holder unit, a rotating operation of the first arm member, and a rotating operation of the second arm member based on the operation of the operator. The means for controlling is configured.
　なお、操作検出部３０の検出結果に基づいて、昇降用モータＭ１のみの駆動が制御装置５０によって制御されたり、第１回動用モータＭ２のみの駆動が制御装置５０によって制御されたり、第２回動用モータＭ３のみの駆動が制御装置５０によって制御されてもよい。あるいは、操作検出部３０の検出結果に基づいて、昇降用モータＭ１及び第１回動用モータＭ２の駆動が制御装置５０によって制御されたり、昇降用モータＭ１及び第２回動用モータＭ３の駆動が制御装置５０によって制御されたり、第１回動用モータＭ２及び第２回動用モータＭ３の駆動が制御装置５０によって制御されてもよい。但し、本実施形態では、操作検出部３０の検出結果に基づいて、昇降用モータＭ１、第１回動用モータＭ２、及び第２回動用モータＭ３の駆動、つまり中央ホルダー部２、第１アーム部材４、及び第２アーム部材５の動作が、制御装置５０によって制御される場合について説明する。 Note that, based on the detection result of the operation detection unit 30, the drive of only the lifting motor M1 is controlled by the control device 50, the drive of only the first rotation motor M2 is controlled by the control device 50, or the second time. The driving of only the moving motor M3 may be controlled by the control device 50. Alternatively, based on the detection result of the operation detection unit 30, the driving of the lifting motor M1 and the first rotation motor M2 is controlled by the control device 50, or the driving of the lifting motor M1 and the second rotation motor M3 is controlled. It may be controlled by the device 50, or the driving of the first rotation motor M2 and the second rotation motor M3 may be controlled by the control device 50. However, in the present embodiment, based on the detection result of the operation detection unit 30, the raising / lowering motor M1, the first rotation motor M2, and the second rotation motor M3 are driven, that is, the central holder portion 2 and the first arm member. 4 and the case where the operation of the second arm member 5 is controlled by the control device 50 will be described.
　操作検出部３０の構成は、制御装置５０が当該操作検出部３０の検出結果に基づいて昇降用モータＭ１、第１回動用モータＭ２、及び第２回動用モータＭ３の駆動（中央ホルダー部２、第１アーム部材４、及び第２アーム部材５の動作）を制御可能なように、操作者の操作を検出可能な構成であれば、特に限定されるものではない。但し、本実施形態では、操作検出部３０が以下のように構成される場合について説明する。 The configuration of the operation detection unit 30 is such that the control device 50 drives the lifting motor M1, the first rotation motor M2, and the second rotation motor M3 based on the detection result of the operation detection unit 30 (the center holder unit 2, The operation of the first arm member 4 and the second arm member 5 is not particularly limited as long as the operation of the operator can be detected so as to be controllable. However, in this embodiment, a case where the operation detection unit 30 is configured as follows will be described.
　すなわち、操作検出部３０は、操作入力部３１（後述の図９参照）と、第１接触センサ３２と、第２接触センサ３３とを備える。 That is, the operation detection unit 30 includes an operation input unit 31 (see FIG. 9 described later), a first contact sensor 32, and a second contact sensor 33.
　操作入力部３１は、操作者が操作入力可能な適宜の位置（例えばヘッダー部２１の上面等）に配置され、操作者の昇降用モータＭ１の駆動を制御するための所定の操作（以下では「昇降制御操作」ともいう。）を検出する。そして、この操作入力部３１の検出結果に基づいて、昇降用モータＭ１の駆動、つまり中央ホルダー部２の昇降動作が、制御装置５０によって制御される（詳細は後述）。なお、操作入力部３１としては、操作者の昇降制御操作を検出可能なものであれば、特に限定されるものではないが、例えば押しボタンやレバー等により実装可能である。 The operation input unit 31 is disposed at an appropriate position (for example, the upper surface of the header unit 21) where the operator can perform an operation input, and performs a predetermined operation (hereinafter referred to as “the operation of the lifting motor M1”). Also referred to as “elevating control operation”). And based on the detection result of this operation input part 31, the drive of the raising / lowering motor M1, ie, the raising / lowering operation | movement of the center holder part 2, is controlled by the control apparatus 50 (it mentions later for details). The operation input unit 31 is not particularly limited as long as the operation input / output control operation can be detected by the operator, but can be implemented by, for example, a push button or a lever.
　第１接触センサ３２は、第１アーム部材４及び第２アーム部材５の少なくとも一方の回動方向一方側（基端部が中央ホルダー部２から水平方向に延びる姿勢とした際に上方側となる側）、つまり回動方向他方側への回動動作の進行方向とは反対側に設置され、操作者の接触操作を検出する。 The first contact sensor 32 is on one side in the rotational direction of at least one of the first arm member 4 and the second arm member 5 (the upper side when the base end portion extends in the horizontal direction from the central holder portion 2). Side), that is, on the side opposite to the traveling direction of the rotational movement toward the other side, and detects the contact operation of the operator.
　なお、第１接触センサ３２は、第１アーム部材４のみに設置されたり、第２アーム部材５のみに設置されてもよい。但し、本実施形態では、第１接触センサ３２が、第１アーム部材４及び第２アーム部材５の両方に設置される場合について説明する。この際、第１アーム部材４側の第１接触センサ３２は、一対の第１アーム部材４，４の両方に設置されてもよいが、本実施形態では、第１接触センサ３２が一方（この例では右方側）の第１アーム部材４のみに設置される場合について説明する。同様に、第２アーム部材５側の第１接触センサ３２は、一対の第２アーム部材５，５の両方に設置されてもよいが、本実施形態では、第１接触センサ３２が一方（この例では右方側）の第２アーム部材５のみに設置される場合について説明する。 The first contact sensor 32 may be installed only on the first arm member 4 or only on the second arm member 5. However, in the present embodiment, a case where the first contact sensor 32 is installed on both the first arm member 4 and the second arm member 5 will be described. At this time, the first contact sensor 32 on the first arm member 4 side may be installed on both of the pair of first arm members 4 and 4, but in the present embodiment, the first contact sensor 32 is one (this The case where it is installed only on the first arm member 4 on the right side in the example will be described. Similarly, the first contact sensor 32 on the second arm member 5 side may be installed on both of the pair of second arm members 5 and 5, but in the present embodiment, the first contact sensor 32 is one (this The case where it is installed only on the second arm member 5 on the right side in the example will be described.
　すなわち、第１接触センサ３２は、右方側の第１アーム部材４及び右方側の第２アーム部材５の回動方向他方側への回動動作の進行方向とは反対側に各々設置され、操作者の接触操作を検出する。そして、これら第１接触センサ３２の検出結果に基づいて、第１回動用モータＭ２及び第２回動用モータＭ３の少なくとも一方の駆動、つまり第１アーム部材４及び第２アーム部材５の少なくとも一方の回動方向他方側への回動動作等が、制御装置５０によって制御される（詳細は後述）。 In other words, the first contact sensor 32 is installed on the opposite side of the direction of rotation of the first arm member 4 on the right side and the second arm member 5 on the right side in the rotation direction toward the other side. Detecting an operator's contact operation. Based on the detection results of the first contact sensors 32, at least one of the first rotation motor M2 and the second rotation motor M3 is driven, that is, at least one of the first arm member 4 and the second arm member 5. A rotation operation to the other side in the rotation direction is controlled by the control device 50 (details will be described later).
　第２接触センサ３３は、第１アーム部材４及び第２アーム部材５の少なくとも一方の回動方向他方側（基端部が中央ホルダー部２から水平方向に延びる姿勢とした際に下方側となる側）、つまり回動方向一方側への回動動作の進行方向とは反対側に設置され、操作者の接触操作を検出する。 The second contact sensor 33 is on the other side in the rotational direction of at least one of the first arm member 4 and the second arm member 5 (on the lower side when the base end portion extends in the horizontal direction from the central holder portion 2). Side), that is, on the opposite side of the direction of rotation of the rotation direction to one side, and detects the contact operation of the operator.
　なお、第２接触センサ３３は、第１アーム部材４のみに設置されたり、第２アーム部材５のみに設置されてもよい。但し、本実施形態では、第２接触センサ３３が、第１アーム部材４及び第２アーム部材５の両方に設置される場合について説明する。この際、第１アーム部材４側の第２接触センサ３３は、一対の第１アーム部材４，４のいずれか一方のみに設置されてもよいが、本実施形態では、第２接触センサ３３が一対の第１アーム部材４，４の両方に設置される場合について説明する。同様に、第２アーム部材５側の第２接触センサ３３は、一対の第２アーム部材５，５のいずれか一方のみに設置されてもよいが、本実施形態では、第２接触センサ３３が一対の第２アーム部材５，５の両方に設置される場合について説明する。 The second contact sensor 33 may be installed only on the first arm member 4 or only on the second arm member 5. However, in this embodiment, the case where the second contact sensor 33 is installed on both the first arm member 4 and the second arm member 5 will be described. At this time, the second contact sensor 33 on the first arm member 4 side may be installed on only one of the pair of first arm members 4 and 4, but in the present embodiment, the second contact sensor 33 is The case where it installs in both of a pair of 1st arm members 4 and 4 is demonstrated. Similarly, the second contact sensor 33 on the second arm member 5 side may be installed on only one of the pair of second arm members 5 and 5, but in the present embodiment, the second contact sensor 33 is The case where it installs in both of a pair of 2nd arm members 5 and 5 is demonstrated.
　すなわち、第２接触センサ３３は、第１アーム部材４，４及び第２アーム部材５，５の回動方向一方側への回動動作の進行方向とは反対側に各々設置され、操作者の接触操作を検出する。そして、これら第２接触センサ３３の検出結果に基づいて、第１回動用モータＭ２及び第２回動用モータＭ３の少なくとも一方の駆動、つまり第１アーム部材４及び第２アーム部材５の少なくとも一方の回動方向一方側への回動動作等が、制御装置５０によって制御される（詳細は後述）。 That is, the second contact sensor 33 is installed on the side opposite to the traveling direction of the rotational movement of the first arm members 4 and 4 and the second arm members 5 and 5 to one side, Detects touch operation. Based on the detection results of the second contact sensor 33, at least one of the first rotation motor M2 and the second rotation motor M3 is driven, that is, at least one of the first arm member 4 and the second arm member 5. A rotation operation to one side of the rotation direction is controlled by the control device 50 (details will be described later).
　なお、接触センサ３２，３３としては、操作者の接触操作を検出可能なものであれば、特に限定されるものではないが、例えば接触の有無を検出するセンサや接触圧力を検出するセンサ等により実装可能である。但し、本実施形態では、接触センサ３２，３３が接触の有無を検出するセンサにより実装される場合について説明する。 The contact sensors 32 and 33 are not particularly limited as long as they can detect the operator's contact operation. For example, a sensor that detects the presence or absence of contact, a sensor that detects contact pressure, or the like. Can be implemented. However, this embodiment demonstrates the case where the contact sensors 32 and 33 are mounted by the sensor which detects the presence or absence of a contact.
　また、上記ヘッダー部２１の上面には、操作者の上記接触センサ３２，３３の有効及び無効の切替操作を受け付けるスイッチ１４が配置される。なお、スイッチ１４は、ヘッダー部２１の上面以外の位置に配置されてもよい。そして、このスイッチ１４の切替状態に基づいて、接触センサ３２，３３への接触による回動用モータＭ２，Ｍ３の少なくとも一方の駆動制御の有効及び無効が、制御装置５０によって切替制御される（詳細は後述）。なお、スイッチ１４は、必ずしも必要ではなく、省略される場合がある。 Further, on the upper surface of the header portion 21, a switch 14 for accepting an operation for switching between valid and invalid of the contact sensors 32 and 33 by the operator is disposed. The switch 14 may be disposed at a position other than the top surface of the header portion 21. Based on the switching state of the switch 14, the control device 50 switches and controls whether the drive control of at least one of the rotation motors M2 and M3 due to the contact with the contact sensors 32 and 33 is valid (details). Later). The switch 14 is not always necessary and may be omitted.
　また、上記本体部３には、当該本体部３の移動用に移動機構８が設けられる。この移動機構８の構成は、本体部３を移動可能な構成であれば、特に限定されるものではないが、本実施形態では、移動機構８が以下のように構成される場合について説明する。 The main body 3 is provided with a moving mechanism 8 for moving the main body 3. The configuration of the moving mechanism 8 is not particularly limited as long as the main body 3 can be moved. In the present embodiment, a case where the moving mechanism 8 is configured as follows will be described.
　すなわち、移動機構８は、フレーム９と、複数の車輪１０，２０と、複数の移動用モータＭ４（図２及び図３参照）とを備える。 That is, the moving mechanism 8 includes a frame 9, a plurality of wheels 10 and 20, and a plurality of moving motors M4 (see FIGS. 2 and 3).
　フレーム９は、上記筐体１６に連結され、前後方向の一方側（この例では後方側）に開放された四角枠状に形成される。なお、フレーム９は、前方側や左方側に開放された四角枠状に形成されてもよい。あるいは、フレーム９は、後方側、前方側、及び左方側のいずれにも開放されない四角枠状に形成されてもよい。また、フレーム９の枠形状は、四角枠状に限定されるものではなく、円枠状等の他の枠形状であってもよい。さらに、フレーム９は、必ずしも必要ではなく、省略される場合がある。 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. Further, the frame 9 is not necessarily required and may be omitted.
　車輪１０は、フレーム９の左方側の辺における両端部近傍の２箇所に設置される。なお、車輪１０の設置位置及び設置個数は、上記位置及び個数に限定されるものではなく、他の位置及び個数であってもよい。各車輪１０は、例えばキャスターにより非駆動輪として構成される。なお、車輪１０は、モータにより駆動される駆動輪として構成されてもよい。 The wheel 10 is installed at two locations near both ends on the left side of the frame 9. In addition, the installation position and installation number of the wheel 10 are not limited to the above position and number, and may be other positions and numbers. Each wheel 10 is configured as a non-driving wheel by a caster, for example. The wheel 10 may be configured as a drive wheel driven by a motor.
　車輪２０は、本体部３の下端部における適宜の２箇所に設置される。なお、車輪２０の設置個数は、２つに限定されるものではなく、１つ又は３つ以上であってもよい。各車輪２０は、主輪の軸に対して４５°傾斜した軸により小径輪を回転自在に支持するメカナムホイールにより駆動輪として構成される。なお、車輪２０は、オムニホイール等の他の種類の車輪により駆動輪として構成されてもよい。あるいは、車輪２０は、非駆動輪として構成されてもよい。 The wheels 20 are installed at two appropriate locations on the lower end of the main body 3. In addition, the installation number of the wheels 20 is not limited to two, and may be one or three or more. Each wheel 20 is configured as a drive wheel by a Mecanum wheel that rotatably supports a small-diameter wheel by an axis inclined by 45 ° with respect to the axis of the main wheel. The wheel 20 may be configured as a drive wheel by other types of wheels such as an omni wheel. Alternatively, the wheel 20 may be configured as a non-driving wheel.
　移動用モータＭ４は、上記２つの車輪２０に対応して例えば上記筐体１６の内部に２つ配置され、対応する車輪２０を回転させるための駆動力を発生する。各移動用モータＭ４は、車輪２０を回転させるための駆動力として回転力を発生する回転型モータにより構成される。なお、移動用モータＭ４は、車輪２０を非駆動輪として構成する場合には不要である。 The two moving motors M4 are arranged, for example, inside the housing 16 corresponding to the two wheels 20, and generate a driving force for rotating the corresponding wheels 20. Each moving motor M4 is configured by a rotary motor that generates a rotational force as a driving force for rotating the wheel 20. The moving motor M4 is not necessary when the wheel 20 is configured as a non-driving wheel.
　このような移動機構８では、移動用モータＭ４，Ｍ４の駆動によって車輪２０，２０を回転させることにより、車輪１０，２０により本体部３を移動させることが可能である。なお、移動機構８は、必ずしも必要ではなく、本体部３を移動する必要がない場合等には省略される場合がある。 In such a moving mechanism 8, the main body 3 can be moved by the wheels 10, 20 by rotating the wheels 20, 20 by driving the moving motors M 4, M 4. The moving mechanism 8 is not always necessary, and may be omitted when the main body 3 does not need to be moved.
　また、上記ヘッダー部２１には、グリップ部３５を備えた操作部材３４が設置される。なお、操作部材３４は、本体部３のヘッダー部２１以外の位置に設置されてもよい。グリップ部３５は、上記車輪１０，２０により本体部３の移動を行う際に、操作者が把持しつつ所望の移動方向に付勢する付勢操作を行うための部分である。また、操作部材３４には、操作者の上記グリップ部３５での付勢操作を検出する付勢操作検出部として、当該付勢操作によるグリップ部３５の歪みを検出する歪みセンサ３６（後述の図９参照）が設置される。なお、付勢操作検出部としては、歪みセンサ３６に限定されるものではなく、操作者の付勢操作を検出可能なものであれば、特に限定されるものではない。 Further, an operating member 34 having a grip portion 35 is installed on the header portion 21. The operation member 34 may be installed at a position other than the header portion 21 of the main body portion 3. The grip part 35 is a part for performing an urging operation for urging in a desired moving direction while the operator grips the main body part 3 by the wheels 10 and 20. The operation member 34 includes a strain sensor 36 (described later) that detects distortion of the grip portion 35 due to the biasing operation as a biasing operation detection portion that detects a biasing operation of the operator with the grip portion 35. 9) is installed. Note that the urging operation detection unit is not limited to the strain sensor 36 and is not particularly limited as long as it can detect the urging operation of the operator.
　また、上記本体部３には、当該本体部３の位置を検出する位置検出部３７が設置される。なお、位置検出部３７の構成は、本体部３の位置を検出可能な構成であれば、特に限定されるものではないが、本実施形態では、位置検出部３７が次のように構成される場合について説明する。すなわち、位置検出部３７は、本体部３の下端面から露出して地面に接触しつつ本体部３の移動に伴って回転するボールを備え、当該ボールの回転量に基づいて、本体部３の位置を検出する。 Also, a position detection unit 37 that detects the position of the main body 3 is installed in the main body 3. The configuration of the position detection unit 37 is not particularly limited as long as the position of the main body unit 3 can be detected. In the present embodiment, the position detection unit 37 is configured as follows. The case will be described. That is, the position detection unit 37 includes a ball that is exposed from the lower end surface of the main body 3 and rotates with the movement of the main body 3 while contacting the ground, and the position of the main body 3 is determined based on the rotation amount of the ball. Detect position.
　そして、上記歪みセンサ３６の検出結果及び上記位置検出部３７の検出結果に基づいて、上記移動用モータＭ４，Ｍ４の駆動、つまり車輪２０，２０の回転動作による本体部３の移動動作が、上記制御装置５０によって制御される（詳細は後述）。 Based on the detection result of the strain sensor 36 and the detection result of the position detection unit 37, the movement of the main body 3 by the driving of the movement motors M4 and M4, that is, the rotation of the wheels 20 and 20, is performed as described above. It is controlled by the control device 50 (details will be described later).
　なお、上記付勢操作検出部や位置検出部３７は、必ずしも必要ではなく、車輪２０を非駆動輪として構成する場合やこれ以外の場合にも省略される場合がある。また、上記操作部材３４も、省略される場合がある。 The urging operation detection unit and the position detection unit 37 are not necessarily required, and may be omitted when the wheel 20 is configured as a non-driven wheel or in other cases. The operation member 34 may also be omitted.
　以上のように、移乗補助装置１では、被介護者Ｍが載置されたスリングシート６を係止部７で係止した状態で、操作者が操作入力部３１に対し適宜に操作を行うと、制御装置５０が昇降用モータＭ１を駆動し、中央ホルダー部２と、それに連結されたアーム部材４，５とを昇降させることにより、被介護者Ｍを持ち上げ（吊り上げ）たり降ろすことが可能である。また、移乗補助装置１では、被介護者Ｍを持ち上げた状態で、操作者が接触センサ３２，３３に対し適宜に接触操作を行うと、制御装置５０が回動用モータＭ２，Ｍ３を駆動し、アーム部材４，５を中央ホルダー部２を中心軸として回動させることにより、被介護者Ｍの姿勢を所望の姿勢に変更することが可能である。また、操作者がグリップ部３５を把持しつつ付勢操作を行うと、制御装置５０が移動用モータＭ４，Ｍ４を駆動し、車輪２０，２０を回転させることにより、車輪１０，２０により本体部３を移動することが可能である。 As described above, in the transfer assist device 1, when the operator appropriately operates the operation input unit 31 while the sling sheet 6 on which the care recipient M is placed is locked by the locking unit 7. The control device 50 drives the elevating motor M1 to raise and lower the central holder portion 2 and the arm members 4 and 5 connected thereto, whereby the cared person M can be lifted (lifted) or lowered. is there. Further, in the transfer assist device 1, when the operator appropriately performs a contact operation on the contact sensors 32 and 33 with the cared person M lifted, the control device 50 drives the rotation motors M2 and M3, By rotating the arm members 4 and 5 about the central holder portion 2 as the central axis, the care receiver M can change the posture of the care recipient M to a desired posture. When the operator performs an urging operation while holding the grip portion 35, the control device 50 drives the movement motors M 4 and M 4 to rotate the wheels 20 and 20, thereby rotating the main body portion by the wheels 10 and 20. 3 can be moved.
　＜制御装置の構成＞
　次に、図９を参照しつつ、上記制御装置５０の構成について説明する。 <Configuration of control device>
Next, the configuration of the control device 50 will be described with reference to FIG.
　図９に示すように、制御装置５０には、上記操作入力部３１、上記第１接触センサ３２、及び上記第２接触センサ３３を備えた上記操作検出部３０と、上記スイッチ１４と、上記歪みセンサ３６と、上記位置検出部３７と、５つのモータ制御装置ＳＡ１，ＳＡ２，ＳＡ３，ＳＡ４，ＳＡ４とが接続される。 As shown in FIG. 9, the control device 50 includes the operation detection unit 30 including the operation input unit 31, the first contact sensor 32, and the second contact sensor 33, the switch 14, and the distortion. The sensor 36, the position detection unit 37, and five motor control devices SA1, SA2, SA3, SA4, and SA4 are connected.
　制御装置５０は、操作入力部３１、第１接触センサ３２、第２接触センサ３３、スイッチ１４、歪みセンサ３６、及び位置検出部３７の各々からの出力に基づいて、モータ制御装置ＳＡ１～ＳＡ４のうち対応するモータ制御装置に指令を出力する。これにより、制御装置５０は、モータＭ１～Ｍ４のうち対応するモータの駆動を制御する。例えば、制御装置５０は、操作検出部３０の検出結果に基づいて、モータ制御装置ＳＡ１～ＳＡ３に指令を出力することにより、昇降用モータＭ１、第１回動用モータＭ２、及び第２回動用モータＭ３の少なくとも１つを制御する。 The control device 50 is configured to control the motor control devices SA1 to SA4 based on outputs from the operation input unit 31, the first contact sensor 32, the second contact sensor 33, the switch 14, the strain sensor 36, and the position detection unit 37. A command is output to the corresponding motor control device. Thereby, the control device 50 controls driving of the corresponding motor among the motors M1 to M4. For example, the control device 50 outputs a command to the motor control devices SA1 to SA3 based on the detection result of the operation detection unit 30, thereby raising and lowering the motor M1, the first rotation motor M2, and the second rotation motor. Control at least one of M3.
　モータ制御装置ＳＡ１は、例えば上記筐体１６の内部に配置され、制御装置５０からの指令と、昇降用モータＭ１に設けられたエンコーダ等の位置検出器ＰＳ１からの出力（昇降用モータＭ１の位置データ等）とに基づいて、昇降用モータＭ１の駆動を制御する。 The motor control device SA1 is disposed, for example, inside the casing 16, and outputs a command from the control device 50 and an output from the position detector PS1 such as an encoder provided in the lifting motor M1 (the position of the lifting motor M1). The driving of the lifting motor M1 is controlled based on the data and the like.
　モータ制御装置ＳＡ２は、例えば上記筐体１６の内部に配置され、制御装置５０からの指令と、第１回動用モータＭ２に設けられたエンコーダ等の位置検出器ＰＳ２からの出力（第１回動用モータＭ２の位置データ等）とに基づいて、第１回動用モータＭ２の駆動を制御する。 The motor control device SA2 is disposed, for example, inside the casing 16, and outputs a command from the control device 50 and an output from the position detector PS2 such as an encoder provided in the first rotation motor M2 (first rotation use). The driving of the first rotating motor M2 is controlled based on the position data of the motor M2 and the like.
　モータ制御装置ＳＡ３は、例えば上記筐体１６の内部に配置され、制御装置５０からの指令と、第２回動用モータＭ３に設けられたエンコーダ等の位置検出器ＰＳ３からの出力（第２回動用モータＭ３の位置データ等）とに基づいて、第２回動用モータＭ３の駆動を制御する。 The motor control device SA3 is disposed, for example, inside the casing 16, and outputs a command from the control device 50 and an output from the position detector PS3 such as an encoder provided in the second rotation motor M3 (second rotation use). The driving of the second rotating motor M3 is controlled based on the position data of the motor M3).
　各モータ制御装置ＳＡ４は、例えば上記筐体１６の内部に配置され、制御装置５０からの指令と、対応する移動用モータＭ４に設けられたエンコーダ等の位置検出器ＰＳ４からの出力（対応する移動用モータＭ４の位置データ等）とに基づいて、対応する移動用モータＭ４の駆動を制御する。 Each motor control device SA4 is disposed, for example, inside the casing 16, and outputs a command from the control device 50 and an output (corresponding movement) from a position detector PS4 such as an encoder provided in the corresponding movement motor M4. The driving of the corresponding moving motor M4 is controlled on the basis of the position data of the motor M4.
　以下、図１０を参照しつつ、制御装置５０の構成について、より具体的に機能ブロックで実装した例を説明する。 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.
　図１０に示すように、制御装置５０は、第１モータ制御部５１０と、トルク検出部５２１と、バランス検出部５２２と、判定部５２３と、第２モータ制御部５２０と、方向決定部５３１と、第３モータ制御部５３０と、速度算出部５４１と、第４モータ制御部５４０と、第５モータ制御部５５０とを備える。 As shown in FIG. 10, the control device 50 includes a first motor control unit 510, a torque detection unit 521, a balance detection unit 522, a determination unit 523, a second motor control unit 520, and a direction determination unit 531. , A third motor control unit 530, a speed calculation unit 541, a fourth motor control unit 540, and a fifth motor control unit 550.
　本実施形態では、上記第１モータ制御部５１０、トルク検出部５２１、バランス検出部５２２、判定部５２３、第２モータ制御部５２０、方向決定部５３１、第３モータ制御部５３０、速度算出部５４１、第４モータ制御部５４０、及び第５モータ制御部５５０は、制御装置５０に備えられたＣＰＵ９０１（後述の図１２参照）が実行するプログラムにより各々実装される。なお、上記第１モータ制御部５１０、トルク検出部５２１、バランス検出部５２２、判定部５２３、第２モータ制御部５２０、方向決定部５３１、第３モータ制御部５３０、速度算出部５４１、第４モータ制御部５４０、及び第５モータ制御部５５０は、その一部又は全部が、ＡＳＩＣやＦＰＧＡ等の特定の用途向けに構築された専用集積回路、その他の電気回路等の実際の装置９０７（後述の図１２参照）により実装されてもよい。 In the present embodiment, the first motor control unit 510, the torque detection unit 521, the balance detection unit 522, the determination unit 523, the second motor control unit 520, the direction determination unit 531, the third motor control unit 530, and the speed calculation unit 541. The fourth motor control unit 540 and the fifth motor control unit 550 are each implemented by a program executed by a CPU 901 (see FIG. 12 described later) provided in the control device 50. The first motor control unit 510, torque detection unit 521, balance detection unit 522, determination unit 523, second motor control unit 520, direction determination unit 531, third motor control unit 530, speed calculation unit 541, fourth The motor control unit 540 and the fifth motor control unit 550 are partly or entirely part of an actual device 907 (described later) such as a dedicated integrated circuit or other electric circuit constructed for a specific application such as an ASIC or FPGA. (See FIG. 12).
　第１モータ制御部５１０は、上記操作検出部３０の検出結果に基づいて、モータ制御装置ＳＡ１～ＳＡ３の少なくとも１つに指令を出力することにより、上記昇降用モータＭ１、第１回動用モータＭ２、及び第２回動用モータＭ３の少なくとも１つの駆動を制御する。本実施形態では、第１モータ制御部５１０は、操作検出部３０の検出結果に基づいて、モータ制御装置ＳＡ１～ＳＡ３に指令を出力することにより、昇降用モータＭ１、第１回動用モータＭ２、及び第２回動用モータＭ３の駆動を制御する。 The first motor control unit 510 outputs a command to at least one of the motor control devices SA1 to SA3 based on the detection result of the operation detection unit 30, whereby the elevating motor M1 and the first rotation motor M2 are output. And at least one drive of the second rotation motor M3 is controlled. In the present embodiment, the first motor control unit 510 outputs a command to the motor control devices SA1 to SA3 based on the detection result of the operation detection unit 30, thereby raising and lowering the motor M1, the first rotation motor M2, And the drive of the motor M3 for 2nd rotation is controlled.
　すなわち、第１モータ制御部５１０は、昇降制御部５１１と、第１回動制御部５１２と、第２回動制御部５１３と、切替制御部５１４と、第３回動制御部５１５と、第４回動制御部５１６とを備える。 That is, the first motor control unit 510 includes a lift control unit 511, a first rotation control unit 512, a second rotation control unit 513, a switching control unit 514, a third rotation control unit 515, 4 rotation control unit 516.
　昇降制御部５１１は、上記操作入力部３１の検出結果に基づいて、モータ制御装置ＳＡ１に指令を出力することにより、昇降用モータＭ１の駆動を制御する。 The elevating control unit 511 controls the driving of the elevating motor M1 by outputting a command to the motor control device SA1 based on the detection result of the operation input unit 31.
　例えば、操作者が中央ホルダー部２を上昇させるための昇降制御操作を行った場合、当該操作が操作入力部３１により検出され、操作入力部３１から当該操作に対応する信号（以下では「上昇指示信号」ともいう。）が出力される。この場合、昇降制御部５１１は、操作入力部３１から上昇指示信号を取得し、当該上昇指示信号に応じて、中央ホルダー部２が上昇するように昇降用モータＭ１を駆動させるための指令をモータ制御装置ＳＡ１に出力する。これにより、昇降制御部５１１は、中央ホルダー部２が上昇するように、モータ制御装置ＳＡ１を介して昇降用モータＭ１を駆動する。 For example, when the operator performs an elevation control operation for raising the central holder unit 2, the operation is detected by the operation input unit 31, and a signal corresponding to the operation from the operation input unit 31 (hereinafter referred to as “lift instruction”). Signal ") is output. In this case, the lift control unit 511 acquires the ascending instruction signal from the operation input unit 31, and in response to the ascending instruction signal, issues a command for driving the ascending / descending motor M1 so that the central holder unit 2 ascends. Output to the controller SA1. Thereby, the raising / lowering control part 511 drives the raising / lowering motor M1 via motor control apparatus SA1 so that the center holder part 2 may raise.
　一方、操作者が中央ホルダー部２を下降させるための昇降制御操作を行った場合、当該操作が操作入力部３１により検出され、操作入力部３１から当該操作に対応する信号（以下では「下降指示信号」ともいう。）が出力される。この場合、昇降制御部５１１は、操作入力部３１から下降指示信号を取得し、当該下降指示信号に応じて、中央ホルダー部２が下降するように昇降用モータＭ１を駆動させるための指令をモータ制御装置ＳＡ１に出力する。これにより、昇降制御部５１１は、中央ホルダー部２が下降するように、モータ制御装置ＳＡ１を介して昇降用モータＭ１を駆動する。 On the other hand, when the operator performs an elevation control operation for lowering the central holder unit 2, the operation is detected by the operation input unit 31, and a signal corresponding to the operation from the operation input unit 31 (hereinafter referred to as “down instruction”). Signal ") is output. In this case, the lifting control unit 511 acquires a lowering instruction signal from the operation input unit 31, and in response to the lowering instruction signal, issues a command for driving the lifting motor M1 so that the central holder unit 2 is lowered. Output to the controller SA1. Thereby, the raising / lowering control part 511 drives the raising / lowering motor M1 via motor control apparatus SA1 so that the center holder part 2 may descend | fall.
　第１回動制御部５１２は、上記第１接触センサ３２の検出結果に基づいて、アーム部材４，５のうち、少なくとも接触操作が検出された側のアーム部材が回動方向他方側（第１接触センサ３２の設置側とは反対側）に回動するように、モータ制御装置ＳＭ２，ＳＭ３の少なくとも一方に指令を出力することにより、回動用モータＭ２，Ｍ３の少なくとも一方を駆動する。本実施形態では、第１回動制御部５１２は、アーム部材４，５のうち、接触操作が検出された側のアーム部材及び接触操作が検出されなかった側のアーム部材が、回動方向他方側に回動するように、モータ制御装置ＳＭ２，ＳＭ３に指令を出力することにより、回動用モータＭ２，Ｍ３を駆動する。 Based on the detection result of the first contact sensor 32, the first rotation control unit 512 is configured such that at least the arm member on which the contact operation is detected among the arm members 4 and 5 is the other side in the rotation direction (first side). By outputting a command to at least one of the motor control devices SM2 and SM3 so as to rotate to the side opposite to the installation side of the contact sensor 32, at least one of the rotation motors M2 and M3 is driven. In the present embodiment, the first rotation control unit 512 is configured such that, of the arm members 4 and 5, the arm member on which the contact operation is detected and the arm member on which the contact operation is not detected are in the other rotation direction. The motors for rotation M2 and M3 are driven by outputting a command to the motor control devices SM2 and SM3 so as to rotate to the side.
　例えば、操作者が第１アーム部材４側の第１接触センサ３２に対し接触操作を行った場合、当該接触操作が当該第１接触センサ３２により検出され、当該第１接触センサ３２から当該接触操作に対応する信号（以下では「第１接触信号」ともいう。）が出力される。この場合、第１回動制御部５１２は、第１接触センサ３２から第１接触信号を取得し、当該第１接触信号に応じて、アーム部材４，５が各々の回動方向他方側に回動するように回動用モータＭ２，Ｍ３を駆動させるための指令をモータ制御装置ＳＡ２，ＳＡ３に出力する。これにより、第１回動制御部５１２は、アーム部材４，５が各々の回動方向他方側に回動するように、モータ制御装置ＳＡ２，ＳＡ３を介して回動用モータＭ２，Ｍ３を駆動する。 For example, when the operator performs a contact operation on the first contact sensor 32 on the first arm member 4 side, the contact operation is detected by the first contact sensor 32, and the contact operation is performed from the first contact sensor 32. Is output (hereinafter also referred to as “first contact signal”). In this case, the first rotation control unit 512 acquires the first contact signal from the first contact sensor 32, and the arm members 4 and 5 rotate to the other side in the respective rotation directions according to the first contact signal. A command for driving the rotation motors M2 and M3 so as to move is output to the motor control devices SA2 and SA3. As a result, the first rotation control unit 512 drives the rotation motors M2 and M3 via the motor control devices SA2 and SA3 so that the arm members 4 and 5 rotate to the other side in the respective rotation directions. .
　なお、操作者が第２アーム部材５側の第１接触センサ３２に対し接触操作を行った場合も、上記と同様、第１回動制御部５１２は、アーム部材４，５が各々の回動方向他方側に回動するように、モータ制御装置ＳＡ２，ＳＡ３を介して回動用モータＭ２，Ｍ３を駆動する。 Even when the operator performs a contact operation on the first contact sensor 32 on the second arm member 5 side, the first rotation control unit 512 is configured so that the arm members 4 and 5 rotate in the same manner as described above. The rotation motors M2 and M3 are driven via the motor control devices SA2 and SA3 so as to rotate in the other direction.
　第２回動制御部５１３は、上記第２接触センサ３３の検出結果に基づいて、アーム部材４，５のうち、少なくとも接触操作が検出された側のアーム部材が回動方向一方側（第２接触センサ３３の設置側とは反対側）に回動するように、モータ制御装置ＳＭ２，ＳＭ３の少なくとも一方に指令を出力することにより、回動用モータＭ２，Ｍ３の少なくとも一方を駆動する。本実施形態では、第２回動制御部５１３は、アーム部材４，５のうち、接触操作が検出された側のアーム部材及び接触操作が検出されなかった側のアーム部材が、回動方向一方側に回動するように、モータ制御装置ＳＭ２，ＳＭ３に指令を出力することにより、回動用モータＭ２，Ｍ３を駆動する。 Based on the detection result of the second contact sensor 33, the second rotation control unit 513 is configured such that at least one of the arm members 4 and 5 on which the contact operation is detected is on one side in the rotation direction (second side). By outputting a command to at least one of the motor control devices SM2 and SM3 so as to rotate to the side opposite to the installation side of the contact sensor 33, at least one of the rotation motors M2 and M3 is driven. In the present embodiment, the second rotation control unit 513 is configured such that, of the arm members 4 and 5, the arm member on the side where the contact operation is detected and the arm member on the side where the contact operation is not detected The motors for rotation M2 and M3 are driven by outputting a command to the motor control devices SM2 and SM3 so as to rotate to the side.
　例えば、操作者が第１アーム部材４側の第２接触センサ３３に対し接触操作を行った場合、当該接触操作が当該第２接触センサ３３により検出され、当該第２接触センサ３３から当該接触操作に対応する信号（以下では「第２接触信号」ともいう。）が出力される。この場合、第２回動制御部５１３は、第２接触センサ３３から第２接触信号を取得し、当該第２接触信号に応じて、アーム部材４，５が各々の回動方向一方側に回動するように回動用モータＭ２，Ｍ３を駆動させるための指令をモータ制御装置ＳＡ２，ＳＡ３に出力する。これにより、第２回動制御部５１３は、アーム部材４，５が各々の回動方向一方側に回動するように、モータ制御装置ＳＡ２，ＳＡ３を介して回動用モータＭ２，Ｍ３を駆動する。 For example, when the operator performs a contact operation on the second contact sensor 33 on the first arm member 4 side, the contact operation is detected by the second contact sensor 33, and the contact operation is performed from the second contact sensor 33. Is output (hereinafter also referred to as “second contact signal”). In this case, the second rotation control unit 513 acquires the second contact signal from the second contact sensor 33, and the arm members 4 and 5 rotate to one side in the respective rotation directions according to the second contact signal. A command for driving the rotation motors M2 and M3 so as to move is output to the motor control devices SA2 and SA3. Accordingly, the second rotation control unit 513 drives the rotation motors M2 and M3 via the motor control devices SA2 and SA3 so that the arm members 4 and 5 rotate to one side in the respective rotation directions. .
　なお、操作者が第２アーム部材５側の第２接触センサ３３に対し接触操作を行った場合も、上記と同様、第２回動制御部５１３は、アーム部材４，５が各々の回動方向一方側に回動するように、モータ制御装置ＳＡ２，ＳＡ３を介して回動用モータＭ２，Ｍ３を駆動する。 Even when the operator performs a contact operation on the second contact sensor 33 on the second arm member 5 side, the second rotation control unit 513 causes the arm members 4 and 5 to rotate. The rotation motors M2 and M3 are driven via the motor control devices SA2 and SA3 so as to rotate in one direction.
　切替制御部５１４は、上記スイッチ１４の切替状態に基づいて、上記第１回動制御部５１２及び第２回動制御部５１３による回動用モータＭ２，Ｍ３の駆動の有効及び無効を切替制御する。すなわち、切替制御部５４は、スイッチ１４から操作者の接触センサ３２，３３を有効とする切替操作に対応する信号を取得したときに、第１回動制御部５１２及び第２回動制御部５１３による駆動（回動用モータＭ２，Ｍ３の作動）を有効とする。一方、切替制御部５４は、スイッチ１４から操作者の接触センサ３２，３３を無効とする切替操作に対応する信号を取得したときに、第１回動制御部５１２及び第２回動制御部５１３による駆動（回動用モータＭ２，Ｍ３の作動）を無効とする。 Based on the switching state of the switch 14, the switching control unit 514 performs switching control of whether the first rotation control unit 512 and the second rotation control unit 513 drive the rotation motors M2 and M3. That is, when the switching control unit 54 acquires a signal corresponding to the switching operation for enabling the contact sensors 32 and 33 of the operator from the switch 14, the first rotation control unit 512 and the second rotation control unit 513. The driving by (operation of the rotating motors M2 and M3) is made effective. On the other hand, when the switching control unit 54 acquires a signal corresponding to the switching operation that invalidates the operator's contact sensors 32 and 33 from the switch 14, the first rotation control unit 512 and the second rotation control unit 513. The driving by (the operation of the rotating motors M2 and M3) is invalidated.
　第３回動制御部５１５は、上記第１回動制御部５１２の制御によりアーム部材４，５が各々の回動方向他方側への回動動作を行っている最中に、第２接触センサ３３により接触操作が検出された場合に、当該回動動作が停止（又は減速でもよい）されるように、第１回動制御部５１２による回動用モータＭ２，Ｍ３の駆動を制御する。 The third rotation control unit 515 is a second contact sensor during the rotation of the arm members 4 and 5 to the other side in the respective rotation directions under the control of the first rotation control unit 512. When the contact operation is detected by 33, the driving of the rotation motors M2 and M3 by the first rotation control unit 512 is controlled so that the rotation operation is stopped (or may be decelerated).
　第４回動制御部５１６は、上記第２回動制御部５１３の制御によりアーム部材４，５が各々の回動方向一方側への回動動作を行っている最中に、第１接触センサ３２により接触操作が検出された場合に、当該回動動作が停止（又は減速でもよい）されるように、第２回動制御部５１３による回動用モータＭ２，Ｍ３の駆動を制御する。 The fourth rotation control unit 516 includes a first contact sensor while the arm members 4 and 5 are rotating in one of the respective rotation directions under the control of the second rotation control unit 513. When the contact operation is detected by the control unit 32, the second rotation control unit 513 controls the driving of the rotation motors M2 and M3 so that the rotation operation is stopped (or may be decelerated).
　なお、第１モータ制御部５１０の昇降制御部５１１、第１回動制御部５１２、第２回動制御部５１３、切替制御部５１４、第３回動制御部５１５、及び第４回動制御部５１６における処理等は、これらの処理の分担の例に限定されるものではなく、例えば、１つの処理部で処理されたり、更に細分化された複数の処理部により処理されてもよい。 In addition, the raising / lowering control part 511 of the 1st motor control part 510, the 1st rotation control part 512, the 2nd rotation control part 513, the switching control part 514, the 3rd rotation control part 515, and the 4th rotation control part The processing in 516 is not limited to the example of sharing of these processing, and may be processed by, for example, one processing unit or a plurality of further subdivided processing units.
　また、ここでは、第１モータ制御部５１０が昇降制御部５１１、第１回動制御部５１２、第２回動制御部５１３、切替制御部５１４、第３回動制御部５１５、及び第４回動制御部５１６を備える場合について説明した。しかしながら、第１モータ制御部５１０としては、必ずしも昇降制御部５１１、第１回動制御部５１２、第２回動制御部５１３、切替制御部５１４、第３回動制御部５１５、及び第４回動制御部５１６のすべてを備える必要はなく、これらのうち１以上を省略してもよい。 In addition, here, the first motor control unit 510 includes the elevation control unit 511, the first rotation control unit 512, the second rotation control unit 513, the switching control unit 514, the third rotation control unit 515, and the fourth time. The case where the dynamic control unit 516 is provided has been described. However, as the first motor control unit 510, the elevation control unit 511, the first rotation control unit 512, the second rotation control unit 513, the switching control unit 514, the third rotation control unit 515, and the fourth time It is not necessary to provide all of the dynamic control units 516, and one or more of them may be omitted.
　トルク検出部５２１は、上記位置検出部ＰＳ１～ＰＳ３の少なくとも１つからの出力に基づいて、昇降用モータＭ１のトルク、第１回動用モータＭ２のトルク、及び第２回動用モータＭ３のトルクの少なくとも１つを検出する。本実施形態では、トルク検出部５２１は、位置検出部ＰＳ１～ＰＳ３からの出力に基づいて、昇降用モータＭ１のトルク、第１回動用モータＭ２のトルク、及び第２回動用モータＭ３のトルクを検出する。 Based on the output from at least one of the position detection units PS1 to PS3, the torque detection unit 521 calculates the torque of the lifting motor M1, the torque of the first rotation motor M2, and the torque of the second rotation motor M3. At least one is detected. In the present embodiment, the torque detection unit 521 calculates the torque of the lifting motor M1, the torque of the first rotation motor M2, and the torque of the second rotation motor M3 based on the outputs from the position detection units PS1 to PS3. To detect.
　バランス検出部５２２は、上記トルク検出部５２１から回動用モータＭ２，Ｍ３の各々のトルクデータを取得し、これらトルクデータに基づいて、第１回動用モータＭ２とトルクと第２回動用モータＭ３のトルクとのバランスを検出する。 The balance detection unit 522 acquires torque data of each of the rotation motors M2 and M3 from the torque detection unit 521, and based on these torque data, the first rotation motor M2, the torque, and the second rotation motor M3. Detects balance with torque.
　判定部５２３は、上記トルク検出部５２１の検出結果に基づいて、上記係止部７により係止されたスリングシート６に載置され持ち上げられた被介護者Ｍの着地、及び、当該被介護者Ｍに係る異常の有無の少なくとも一方の判定を行う。本実施形態では、判定部５２３は、上記着地及び上記異常の有無の判定を行う。 Based on the detection result of the torque detection unit 521, the determination unit 523 includes the landing of the cared person M placed on the sling sheet 6 locked by the locking part 7, and the cared person. At least one of the presence / absence of abnormality relating to M is determined. In the present embodiment, the determination unit 523 determines whether the landing and the abnormality are present.
　第２モータ制御部５２０は、上記トルク検出部５２１の検出結果に基づいて、昇降用モータＭ１、第１回動用モータＭ２、第３回動用モータＭ３、及び移動用モータＭ４の少なくとも１つの駆動を制御する。より具体的には、第２モータ制御部５２０は、上記判定部５２３の判定結果に基づいて、中央ホルダー部２の昇降動作、第１アーム部材４の回動動作、第２アーム部材５の回動動作、及び、車輪２０の回転動作による本体部３の移動動作の少なくとも１つが停止（又は減速でもよい）されるように、昇降用モータＭ１、第１回動用モータＭ２、第３回動用モータＭ３、及び移動用モータＭ４，Ｍ４の少なくとも１つの駆動を制御する。 The second motor control unit 520 drives at least one of the lifting motor M1, the first rotating motor M2, the third rotating motor M3, and the moving motor M4 based on the detection result of the torque detecting unit 521. Control. More specifically, the second motor control unit 520 is configured to move the center holder unit 2 up and down, rotate the first arm member 4, and rotate the second arm member 5 based on the determination result of the determination unit 523. The raising / lowering motor M1, the first turning motor M2, and the third turning motor so that at least one of the moving action and the moving action of the main body 3 due to the turning action of the wheel 20 is stopped (or may be decelerated). It controls at least one drive of M3 and moving motors M4 and M4.
　具体的には、上記判定部５２３は、中央ホルダー部２の下降時に、トルク検出部５２１により検出された昇降用モータＭ１のトルク、第１回動用モータＭ２のトルク、及び第２回動用モータＭ３のトルクの少なくとも１つの下降量（この例では、これら３つのトルクを合成した合成トルクの下降量）と、当該下降量に関し設定された第１しきい値とを比較することにより、上記着地の判定を行う。この際、判定部５２３は、合成トルクの下降量が第１しきい値以下である間は着地がないと判定し、合成トルクの下降量が第１しきい値を超えた（装置負荷が小さくなった）場合に着地があったと判定する。 Specifically, the determination unit 523 determines the torque of the lifting motor M1 detected by the torque detection unit 521, the torque of the first rotation motor M2, and the second rotation motor M3 when the center holder unit 2 is lowered. By comparing at least one descending amount of the torque (in this example, a descending amount of the combined torque obtained by combining these three torques) with the first threshold value set for the descending amount, Make a decision. At this time, the determination unit 523 determines that there is no landing while the amount of decrease in the combined torque is equal to or less than the first threshold, and the amount of decrease in the combined torque exceeds the first threshold (the device load is small). It is determined that there was a landing.
　そして、第２モータ制御部５２０は、上記判定部５２３によって合成トルクの下降量が第１しきい値を超えることにより着地があったと判定された場合に、中央ホルダー部２の下降動作が停止（又は減速でもよい）されるように、昇降用モータＭ１の駆動を制御する。本実施形態では、第２モータ制御部５２０は、中央ホルダー部２の下降動作が停止されるように、上記昇降制御部５１１による昇降用モータＭ１の駆動を制御する。 The second motor control unit 520 stops the lowering operation of the center holder unit 2 when the determination unit 523 determines that the landing has occurred due to the decrease amount of the combined torque exceeding the first threshold value ( Alternatively, the driving of the elevating motor M1 is controlled so that the motor may be decelerated). In the present embodiment, the second motor control unit 520 controls driving of the lifting motor M1 by the lifting control unit 511 so that the lowering operation of the central holder unit 2 is stopped.
　また、上記判定部５２３は、中央ホルダー部２の上昇時に、トルク検出部５２１により検出された昇降用モータＭ１のトルク、第１回動用モータＭ２のトルク、及び第２回動用モータＭ３のトルクの少なくとも１つの大きさ（この例では、これら３つのトルクを合成した合成トルクの大きさ）と、当該大きさに関し設定された第２しきい値とを比較することにより、上記異常の有無の判定を行う。つまり、判定部５２３は、当該判定を行うことにより、上述のように持ち上げられた被介護者Ｍの体重が移乗補助装置１の仕様内として予め定められた仕様体重範囲内であるか否かを判定することが可能である。この際、判定部５２３は、合成トルクの大きさが第２しきい値以下であった場合には異常がない（被介護者Ｍの体重が仕様体重範囲内である）と判定し、合成トルクの大きさが第２しきい値を超えた（装置負荷が大きすぎる）場合には異常がある（被介護者Ｍの体重が仕様体重範囲を超えている）と判定する。 Further, the determination unit 523 detects the torque of the elevating motor M1, the torque of the first rotation motor M2, and the torque of the second rotation motor M3 detected by the torque detection unit 521 when the center holder unit 2 is raised. The presence / absence of the abnormality is determined by comparing at least one magnitude (in this example, the magnitude of the synthesized torque obtained by synthesizing these three torques) with the second threshold value set for the magnitude. I do. That is, the determination unit 523 performs the determination to determine whether the weight of the cared person M lifted as described above is within the specification weight range predetermined as the specification of the transfer assist device 1. It is possible to determine. At this time, the determination unit 523 determines that there is no abnormality when the magnitude of the combined torque is equal to or less than the second threshold (the weight of the cared person M is within the specified weight range), and the combined torque Is larger than the second threshold value (the device load is too large), it is determined that there is an abnormality (the weight of the cared person M exceeds the specified weight range).
　そして、第２モータ制御部５２０は、上記判定部５２３によって合成トルクの大きさが第２しきい値を超えることにより異常がある（被介護者Ｍの体重が仕様体重範囲を超えている）と判定された場合に、中央ホルダー部２の昇降動作、第１アーム部材４の回動動作、第２アーム部材５の回動動作、及び本体部３の移動動作が停止されるように、モータＭ１～Ｍ４の駆動を制御する。本実施形態では、第２モータ制御部５２０は、中央ホルダー部２の昇降動作、第１アーム部材４の回動動作、第２アーム部材５の回動動作、及び本体部３の移動動作が停止されるように、上記昇降制御部５１１による昇降用モータＭ１の駆動、上記第１回動制御部５１２又は第２回動制御部５１３による回動用モータＭ２，Ｍ３の駆動、及び、後述の第３モータ制御部５３０による移動用モータＭ４，Ｍ４の駆動を制御する。 Then, the second motor control unit 520 has an abnormality when the magnitude of the combined torque exceeds the second threshold value by the determination unit 523 (the weight of the cared person M exceeds the specified weight range). When the determination is made, the motor M <b> 1 is stopped so that the lifting operation of the central holder portion 2, the turning operation of the first arm member 4, the turning operation of the second arm member 5, and the moving operation of the main body portion 3 are stopped. Controls driving of M4. In the present embodiment, the second motor control unit 520 stops the lifting operation of the central holder unit 2, the rotation operation of the first arm member 4, the rotation operation of the second arm member 5, and the movement operation of the main body unit 3. As described above, driving of the lifting motor M1 by the lifting control unit 511, driving of the rotating motors M2 and M3 by the first rotation control unit 512 or the second rotation control unit 513, and a third described later. The motor control unit 530 controls driving of the moving motors M4 and M4.
　また、上記判定部５２３は、トルク検出部５２１により検出された昇降用モータＭ１のトルク、第１回動用モータＭ２のトルク、及び第２回動用モータＭ３のトルクの少なくとも１つの変動量（この例では、これら３つのトルクを合成した合成トルクの変動量）と、当該変動量に関し設定された第３しきい値とを比較することにより、上記異常の有無の判定を行う。つまり、判定部５２３は、当該判定を行うことにより、上述のように持ち上げられた被介護者Ｍが暴れているか否かを判定することが可能である。この際、判定部５２３は、合成トルクの変動量が第３しきい値以下であった場合には異常がない（被介護者Ｍは暴れていない）と判定し、合成トルクの変動量が第３しきい値を超えた（装置負荷の大きさがばらつく）場合には異常がある（被介護者Ｍが暴れている）と判定する。 The determination unit 523 also includes at least one variation amount of the torque of the lifting motor M1, the torque of the first rotation motor M2, and the torque of the second rotation motor M3 detected by the torque detection unit 521 (this example) Then, the presence / absence of the abnormality is determined by comparing a fluctuation amount of the combined torque obtained by combining these three torques) with a third threshold value set for the fluctuation amount. That is, the determination unit 523 can determine whether or not the cared person M lifted as described above is rampant by performing the determination. At this time, the determination unit 523 determines that there is no abnormality (the cared person M is not violated) when the fluctuation amount of the combined torque is equal to or less than the third threshold value, and the fluctuation amount of the combined torque is the first fluctuation amount. 3. If the threshold value is exceeded (the device load varies), it is determined that there is an abnormality (the cared person M is rampant).
　そして、第２モータ制御部５２０は、上記判定部５２３によって合成トルクの変動量が第３しきい値を超えることにより異常がある（被介護者Ｍが暴れている）と判定された場合に、中央ホルダー部２の昇降動作、第１アーム部材４の回動動作、第２アーム部材５の回動動作、及び本体部３の移動動作が停止されるように、昇降制御部５１１による昇降用モータＭ１の駆動、第１回動制御部５１２又は第２回動制御部５１３による回動用モータＭ２，Ｍ３の駆動、及び第３モータ制御部５３０による移動用モータＭ４，Ｍ４の駆動を制御する。 Then, the second motor control unit 520 determines that the determination unit 523 determines that there is an abnormality (the care receiver M is rampant) due to the fluctuation amount of the combined torque exceeding the third threshold value. Lifting / lowering motor by the lifting / lowering control unit 511 so that the lifting / lowering operation of the central holder 2, the rotating operation of the first arm member 4, the rotating operation of the second arm member 5, and the moving operation of the main body unit 3 are stopped. It controls the driving of M1, the driving of the rotating motors M2 and M3 by the first rotating control unit 512 or the second rotating control unit 513, and the driving of the moving motors M4 and M4 by the third motor control unit 530.
　また、上記判定部５２３は、中央ホルダー部２の昇降時、又は、アーム部材４，５の少なくとも一方の回動時に、トルク検出部５２１により検出された昇降用モータＭ１のトルク、第１回動用モータＭ２のトルク、及び第２回動用モータＭ３のトルクの少なくとも１つの上昇量（この例では、これら３つのトルクを合成した合成トルクの上昇量）と、当該上昇量に関し設定された第４しきい値とを比較することにより、上記異常の有無の判定を行う。つまり、判定部５２３は、当該判定を行うことにより、中央ホルダー部２やアーム部材４，５により被介護者Ｍを挟み込んでいるか否かを判定することが可能である。この際、判定部５２３は、合成トルクの上昇量が第４しきい値以下である間は異常がない（被介護者Ｍを挟み込んでいない）と判定し、合成トルクの上昇量が第４しきい値を超えた（装置負荷の大きくなった）場合には異常がある（被介護者Ｍを挟み込んでいる）と判定する。 Further, the determination unit 523 is configured to detect the torque of the lifting motor M1 detected by the torque detection unit 521 when the central holder unit 2 is moved up and down or when at least one of the arm members 4 and 5 is rotated. At least one increase amount of the torque of the motor M2 and the torque of the second rotation motor M3 (in this example, the increase amount of the combined torque obtained by synthesizing these three torques) and the fourth value set for the increase amount. The presence or absence of the abnormality is determined by comparing with a threshold value. That is, the determination unit 523 can determine whether or not the cared person M is sandwiched between the central holder unit 2 and the arm members 4 and 5 by performing the determination. At this time, the determination unit 523 determines that there is no abnormality (the care receiver M is not sandwiched) while the increase amount of the combined torque is equal to or less than the fourth threshold value, and the increase amount of the combined torque is the fourth increase amount. When the threshold value is exceeded (the device load increases), it is determined that there is an abnormality (the care receiver M is sandwiched).
　そして、第２モータ制御部５２０は、上記判定部５２３によって合成トルクの上昇量が第４しきい値を超えることにより異常がある（被介護者Ｍを挟み込んでいる）と判定された場合に、中央ホルダー部２の昇降動作、第１アーム部材４の回動動作、第２アーム部材５の回動動作、及び本体部３の移動動作が停止されるように、昇降制御部５１１による昇降用モータＭ１の駆動、第１回動制御部５１２又は第２回動制御部５１３による回動用モータＭ２，Ｍ３の駆動、及び第３モータ制御部５３０による移動用モータＭ４，Ｍ４の駆動を制御する。 When the determination unit 523 determines that the increase amount of the combined torque exceeds the fourth threshold value, the second motor control unit 520 determines that there is an abnormality (the care receiver M is sandwiched). Lifting / lowering motor by the lifting / lowering control unit 511 so that the lifting / lowering operation of the central holder 2, the rotating operation of the first arm member 4, the rotating operation of the second arm member 5, and the moving operation of the main body unit 3 are stopped. It controls the driving of M1, the driving of the rotating motors M2 and M3 by the first rotating control unit 512 or the second rotating control unit 513, and the driving of the moving motors M4 and M4 by the third motor control unit 530.
　また、上記判定部５２３は、中央ホルダー部２の上昇時に、上記バランス検出部５２２により検出されるバランスの偏り度と、当該偏り度に関し設定された第５しきい値とを比較することにより、上記異常の有無の判定を行う。つまり、判定部５２３は、当該判定を行うことにより、スリングシート６のすべての被係止部が上記係止部７に係止されているか否か、上述のように持ち上げられた被介護者Ｍのスリングシート６上での載置位置が適正であるか否かを判定することが可能である。この際、判定部５２３は、上記バランスの偏り度が第５しきい値以下である場合には異常がない（すべての被係止部が係止部７に係止されている、被介護者Ｍのスリングシート６上での載置位置は適正である）と判定し、上記バランスの偏り度が第５しきい値を超えた（装置負荷のバランスがおかしい）場合には異常がある（係止部７に係止されていない被係止部がある、被介護者Ｍのスリングシート６上での載置位置が適正でない）と判定する。 The determination unit 523 compares the degree of balance deviation detected by the balance detection unit 522 with the fifth threshold value set for the degree of deviation when the center holder part 2 is raised, The presence / absence of the abnormality is determined. That is, the determination unit 523 performs the determination to determine whether or not all the locked portions of the sling sheet 6 are locked to the locking portion 7, and whether the care receiver M is lifted as described above. It is possible to determine whether or not the mounting position on the sling sheet 6 is appropriate. At this time, the determination unit 523 has no abnormality when the degree of bias of the balance is equal to or less than the fifth threshold value (a cared person in which all the locked portions are locked to the locking portions 7). The position of M on the sling sheet 6 is determined to be appropriate), and if the degree of bias of the balance exceeds the fifth threshold value (the balance of the device load is strange), there is an abnormality. It is determined that there is a locked portion that is not locked to the locking portion 7 and the placement position of the care receiver M on the sling sheet 6 is not appropriate.
　そして、第２モータ制御部５２０は、上記判定部５２３によって上記バランスの偏り度が第５しきい値を超えることにより異常がある（係止部７に係止されていない被係止部がある、被介護者Ｍのスリングシート６上での載置位置が適正でない）と判定された場合に、中央ホルダー部２の昇降動作、第１アーム部材４の回動動作、第２アーム部材５の回動動作、及び本体部３の移動動作が停止されるように、昇降制御部５１１による昇降用モータＭ１の駆動、第１回動制御部５１２又は第２回動制御部５１３による回動用モータＭ２，Ｍ３の駆動、及び第３モータ制御部５３０による移動用モータＭ４，Ｍ４の駆動を制御する。 The second motor control unit 520 has an abnormality when the determination unit 523 causes the balance deviation to exceed the fifth threshold value (there is a locked part that is not locked to the locking part 7). When the position of the care receiver M on the sling sheet 6 is determined to be inappropriate, the center holder portion 2 is moved up and down, the first arm member 4 is rotated, and the second arm member 5 is moved. The raising / lowering motor M1 is driven by the raising / lowering control unit 511, and the turning motor M2 by the first rotation control unit 512 or the second rotation control unit 513 so that the rotation operation and the movement operation of the main body 3 are stopped. , M3, and driving of the moving motors M4, M4 by the third motor control unit 530 are controlled.
　なお、ここでは、判定部５２３が上記複数の判定を行う場合について説明した。しかしながら、判定部５２３としては、必ずしも上記複数の判定のすべてを行う必要はなく、上記複数の判定のうち１以上を省略してもよく、また上記以外の判定を行ってもよい。このとき、例えば、判定部５２３による上記バランスの偏り度と第５しきい値とを比較することによる異常の有無の判定を省略する場合には、上記バランス検出部５２２は不要となる。 In addition, here, the case where the determination unit 523 performs the plurality of determinations has been described. However, the determination unit 523 does not necessarily need to perform all of the plurality of determinations. One or more of the plurality of determinations may be omitted, or determinations other than the above may be performed. At this time, for example, when the determination of the presence / absence of abnormality by comparing the degree of bias of the balance with the fifth threshold value by the determination unit 523 is omitted, the balance detection unit 522 is not necessary.
　また、上記で説明した第２モータ制御部５２０による制御を省略することも可能である。この場合には、上記トルク検出部５２１、バランス検出部５２２、判定部５２３、第２モータ制御部５２０は不要となる。 Also, the control by the second motor control unit 520 described above can be omitted. In this case, the torque detection unit 521, the balance detection unit 522, the determination unit 523, and the second motor control unit 520 are not necessary.
　方向決定部５３１は、上記歪みセンサ３６の検出結果（グリップ部３５の歪みデータ）に基づいて、公知の適宜の手法を用いて、操作者の上記グリップ部３５での付勢操作に対応する本体部３の移動方向を決定する。 The direction determining unit 531 is a main body corresponding to an urging operation by the operator using the grip unit 35 by using a known appropriate technique based on the detection result of the strain sensor 36 (distortion data of the grip unit 35). The moving direction of the part 3 is determined.
　第３モータ制御部５３０は、上記歪みセンサ３６の検出結果に基づいて、モータ制御装置ＳＭ４，ＳＭ４に指令を出力することにより、移動用モータＭ４，Ｍ４を駆動する。本実施形態では、第３モータ制御部５３０は、上記方向決定部５３１により決定された移動方向に本体部３が移動するよう車輪２０，２０が回転するように、モータ制御装置ＳＭ４，ＳＭ４に指令を出力することにより、移動用モータＭ４，Ｍ４を駆動する。 The third motor control unit 530 drives the moving motors M4 and M4 by outputting a command to the motor control devices SM4 and SM4 based on the detection result of the strain sensor 36. In the present embodiment, the third motor control unit 530 instructs the motor control devices SM4 and SM4 to rotate the wheels 20 and 20 so that the main body unit 3 moves in the moving direction determined by the direction determining unit 531. Is output to drive the moving motors M4 and M4.
　なお、上記で説明した第３モータ制御部５３０による制御を省略することも可能である。この場合には、上記歪みセンサ３６や、上記方向決定部５３１、第３モータ制御部５３０は不要となる。 The control by the third motor control unit 530 described above can be omitted. In this case, the strain sensor 36, the direction determination unit 531 and the third motor control unit 530 are not necessary.
　速度算出部５４１は、上記位置検出部３７の検出結果（本体部３の位置データ）に基づいて、公知の適宜の手法を用いて、本体部３の移動速度を算出する。 The speed calculation unit 541 calculates the moving speed of the main body 3 based on the detection result of the position detection unit 37 (position data of the main body 3) using a known appropriate technique.
　第４モータ制御部５４０は、上記位置検出部３７の検出結果に基づいて、移動用モータＭ４，Ｍ４を駆動する。本実施形態では、第４モータ制御部５４０は、上記速度算出部５４１の算出結果（本体部３の移動速度）に基づいて、本体部３の移動速度が所定の速度態様となるよう車輪２０，２０が回転するように、上記第３モータ制御部５３０による移動用モータＭ４，Ｍ４の駆動を制御する。なお、上記所定の速度態様としては、特に限定されるものでないが、例えばＳ字曲線状に変動する速度態様や一定速度、所定の速度以下等が挙げられる。 The fourth motor control unit 540 drives the moving motors M4 and M4 based on the detection result of the position detection unit 37. In the present embodiment, the fourth motor control unit 540 determines the wheel 20, the moving speed of the main body unit 3 to be a predetermined speed mode based on the calculation result of the speed calculating unit 541 (the moving speed of the main body unit 3). The driving of the moving motors M4 and M4 by the third motor control unit 530 is controlled so that 20 rotates. The predetermined speed mode is not particularly limited, and examples thereof include a speed mode that varies in an S-shaped curve, a constant speed, and a predetermined speed or less.
　なお、上記で説明した第４モータ制御部５４０による制御を省略することも可能である。この場合には、上記位置検出部３７や、上記速度算出部５４１、第４モータ制御部５４０は不要となる。 Note that the control by the fourth motor control unit 540 described above may be omitted. In this case, the position detection unit 37, the speed calculation unit 541, and the fourth motor control unit 540 are not necessary.
　第５モータ制御部５５０は、上記位置検出器ＰＳ１～ＰＳ４からの出力に基づいて、中央ホルダー部２の昇降動作、第１アーム部材４の回動動作、第２アーム部材５の回動動作、本体部３の移動動作の少なくとも１つの動作の加速度が当該加速度に関し設定された第６しきい値よりも小さくなるとともに、当該少なくとも１つの動作の速度が所定の速度態様となるように、モータＭ１～Ｍ４の少なくとも１つを制御する。本実施形態では、第５モータ制御部５５０は、中央ホルダー部２の昇降動作、第１アーム部材４の回動動作、第２アーム部材５の回動動作、本体部３の移動動作の加速度が第６しきい値よりも小さくなるとともに、これら動作の速度が所定の速度態様となるように、モータＭ１～Ｍ４の少なくとも１つを制御する。なお、上記所定の速度態様としては、例えばＳ字曲線状に変動する速度態様や一定速度、所定の速度以下等が挙げられるが、本実施形態では、所定の速度態様がＳ字曲線状に変動する速度態様である場合について説明する。 Based on the outputs from the position detectors PS1 to PS4, the fifth motor control unit 550 moves the center holder unit 2 up and down, rotates the first arm member 4, rotates the second arm member 5, The motor M1 is configured so that the acceleration of at least one operation of the moving operation of the main body 3 is smaller than a sixth threshold set for the acceleration, and the speed of the at least one operation is in a predetermined speed mode. Control at least one of ˜M4. In the present embodiment, the fifth motor control unit 550 has accelerations of the lifting operation of the central holder unit 2, the rotation operation of the first arm member 4, the rotation operation of the second arm member 5, and the movement operation of the main body unit 3. At least one of the motors M1 to M4 is controlled so that the speed of these operations becomes a predetermined speed mode while being smaller than the sixth threshold value. Note that examples of the predetermined speed mode include a speed mode that varies in an S-curve shape, a constant speed, a predetermined speed or less, and the like. In the present embodiment, the predetermined speed mode varies in an S-curve shape. A case where the speed mode is set will be described.
　すなわち、第５モータ制御部５５０は、中央ホルダー部２の昇降動作、第１アーム部材４の回動動作、第２アーム部材５の回動動作、本体部３の移動動作の加速度が第６しきい値よりも小さくなるとともに、これら動作の速度がＳ字曲線状に変動するように、上記昇降制御部５１１による昇降用モータＭ１の駆動、第１回動制御部５１２又は第２回動制御部５１３による回動用モータＭ２，Ｍ３の駆動、及び第３モータ制御部５３０による移動用モータＭ４，Ｍ４の駆動を制御する。 That is, the fifth motor control unit 550 has the sixth acceleration and lowering acceleration of the central holder unit 2, the rotation operation of the first arm member 4, the rotation operation of the second arm member 5, and the movement operation of the main body unit 3. The elevation control unit 511 drives the elevation motor M1, the first rotation control unit 512, or the second rotation control unit so that the speed of these operations fluctuates in an S-shaped curve while being smaller than the threshold value. The driving of the rotation motors M2 and M3 by 513 and the driving of the movement motors M4 and M4 by the third motor control unit 530 are controlled.
　なお、上記で説明した第５モータ制御部５５０による制御を省略することも可能である。 The control by the fifth motor control unit 550 described above can be omitted.
　なお、制御装置５０の第１モータ制御部５１０、トルク検出部５２１、バランス検出部５２２、判定部５２３、第２モータ制御部５２０、方向決定部５３１、第３モータ制御部５３０、速度算出部５４１、第４モータ制御部５４０、及び第５モータ制御部５５０における処理等は、これらの処理の分担の例に限定されるものではなく、例えば、１つの処理部で処理されたり、更に細分化された複数の処理部により処理されてもよい。 The first motor control unit 510, the torque detection unit 521, the balance detection unit 522, the determination unit 523, the second motor control unit 520, the direction determination unit 531, the third motor control unit 530, and the speed calculation unit 541 of the control device 50. The processing in the fourth motor control unit 540 and the fifth motor control unit 550 is not limited to the example of sharing of these processes, and is processed by one processing unit or further subdivided, for example. It may be processed by a plurality of processing units.
　＜移乗補助装置の制御方法＞
　次に、図１１～図１６を参照しつつ、制御装置５０が実行する移乗補助装置１の制御方法に関する制御手順について説明する。 <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.
　まず、図１１を参照しつつ、主に上記切替制御部５１４等において実行する移乗補助装置１の制御方法に関する制御手順について説明する。 First, with reference to FIG. 11, a control procedure related to the control method of the transfer assist device 1 that is mainly executed in the switching control unit 514 and the like will be described.
　図１１に示すように、ステップＳ１０Ａで、制御装置５０は、操作者によりスイッチ１４を介して接触センサ３２，３３を有効とする切替操作が行われたか否か、つまり切替制御部５１４がスイッチ１４から接触センサ３２，３３を有効とする切替操作に対応する信号を取得したか否かを判定する。切替制御部５１４がスイッチ１４から接触センサ３２，３３を有効とする切替操作に対応する信号を取得した場合には、ステップＳ１０Ａの判定が満たされて、ステップＳ２０Ａに移る。 As shown in FIG. 11, in step S <b> 10 </ b> A, the control device 50 determines whether or not the switching operation for enabling the contact sensors 32 and 33 has been performed by the operator via the switch 14, that is, the switching control unit 514 performs the switch 14. It is determined whether or not a signal corresponding to the switching operation for enabling the contact sensors 32 and 33 has been acquired. When the switching control unit 514 acquires a signal corresponding to the switching operation for enabling the contact sensors 32 and 33 from the switch 14, the determination in step S10A is satisfied, and the process proceeds to step S20A.
　ステップＳ２０Ａでは、制御装置５０は、切替制御部５１４において、第１回動制御部５１２及び第２回動制御部５１３による駆動（回動用モータＭ２，Ｍ３の作動）を有効とする。これにより、このフローに示す処理が終了される。なお、このフローに示す処理は、繰り返し実行される。 In step S20A, the control device 50 enables the switching control unit 514 to drive the first rotation control unit 512 and the second rotation control unit 513 (operation of the rotation motors M2 and M3). Thereby, the process shown in this flow is completed. Note that the processing shown in this flow is repeatedly executed.
　一方、ステップＳ１０Ａで、切替制御部５１４がスイッチ１４から接触センサ３２，３３を無効とする切替操作に対応する信号を取得した場合には、ステップＳ１０Ａの判定は満たされず、ステップＳ３０Ａに移る。 On the other hand, when the switching control unit 514 acquires a signal corresponding to the switching operation for invalidating the contact sensors 32 and 33 from the switch 14 in step S10A, the determination in step S10A is not satisfied, and the process proceeds to step S30A.
　ステップＳ３０Ａでは、制御装置５０は、切替制御部５１４において、第１回動制御部５１２及び第２回動制御部５１３による駆動（回動用モータＭ２，Ｍ３の作動）を無効とする。これにより、このフローに示す処理が終了される。 In step S30A, the control device 50 invalidates the drive (operation of the rotation motors M2 and M3) by the first rotation control unit 512 and the second rotation control unit 513 in the switching control unit 514. Thereby, the process shown in this flow is completed.
　次に、図１２を参照しつつ、主に上記第１～第４回動制御部５１２，５１３，５１５，５１６等において実行する移乗補助装置１の制御方法に関する制御手順について説明する。 Next, a control procedure related to the control method of the transfer assisting apparatus 1 executed mainly in the first to fourth rotation control units 512, 513, 515, 516 and the like will be described with reference to FIG.
　図１２に示すように、ステップＳ１０Ｂで、制御装置５０は、操作者により操作入力部３１の操作が行われたか否か、つまり昇降制御部５１１が操作入力部３１から操作に対応する信号を取得したか否かを判定する。昇降制御部５１１が操作入力部３１から操作に対応する信号を取得した場合には、ステップＳ１０Ｂの判定が満たされて、ステップＳ２０Ｂに移る。 As illustrated in FIG. 12, in step S <b> 10 </ b> B, the control device 50 obtains a signal corresponding to the operation from the operation input unit 31 as to whether or not the operation input unit 31 has been operated by the operator. Determine whether or not. When the raising / lowering control part 511 acquires the signal corresponding to operation from the operation input part 31, the determination of step S10B is satisfy | filled and it moves to step S20B.
　ステップＳ２０Ｂでは、制御装置５０は、昇降制御部５１１において、操作入力部３１の検出結果に基づいて、モータ制御装置ＳＡ１に指令を出力することにより、昇降用モータＭ１の駆動を制御する。その後、ステップＳ３０Ｂに移る。 In step S20B, the control device 50 controls the drive of the lifting motor M1 by outputting a command to the motor control device SA1 based on the detection result of the operation input unit 31 in the lifting control unit 511. Thereafter, the process proceeds to step S30B.
　一方、ステップＳ１０Ｂで、昇降制御部５１１が操作入力部３１から操作に対応する信号を取得しない場合には、ステップＳ１０Ｂの判定は満たされず、ステップＳ３０Ｂに移る。 On the other hand, if the lift control unit 511 does not acquire a signal corresponding to the operation from the operation input unit 31 in step S10B, the determination in step S10B is not satisfied, and the process proceeds to step S30B.
　ステップＳ３０Ｂでは、制御装置５０は、第１回動制御部５１２及び第２回動制御部５１３による駆動が有効か否かを判定する。第１回動制御部５１２及び第２回動制御部５１３による駆動が有効の場合には、ステップＳ３０Ｂの判定が満たされて、ステップＳ４０Ｂに移る。 In step S30B, the control device 50 determines whether or not the driving by the first rotation control unit 512 and the second rotation control unit 513 is valid. When the driving by the first rotation control unit 512 and the second rotation control unit 513 is valid, the determination at Step S30B is satisfied, and the routine goes to Step S40B.
　ステップＳ４０Ｂでは、制御装置５０は、操作者により第１接触センサ３２の接触操作が行われたか否か、つまり第１回動制御部５１２が第１接触センサ３２から接触操作に対応する信号を取得したか否かを判定する。第１回動制御部５１２が第１接触センサ３２から接触操作に対応する信号を取得した場合には、ステップＳ４０Ｂの判定が満たされて、ステップＳ５０Ｂに移る。 In step S <b> 40 </ b> B, the control device 50 determines whether or not the contact operation of the first contact sensor 32 has been performed by the operator, that is, the first rotation control unit 512 acquires a signal corresponding to the contact operation from the first contact sensor 32. Determine whether or not. When the 1st rotation control part 512 acquires the signal corresponding to contact operation from the 1st contact sensor 32, determination of step S40B is satisfy | filled and it moves to step S50B.
　ステップＳ５０Ｂでは、制御装置５０は、第１回動制御部５１２において、アーム部材４，５のうち、接触操作が検出された側のアーム部材及び接触操作が検出されなかった側のアーム部材が、回動方向他方側に回動するように、モータ制御装置ＳＭ２，ＳＭ３に指令を出力することにより、回動用モータＭ２，Ｍ３を駆動する。 In step S50B, in the first rotation control unit 512, the control device 50 includes the arm member 4 and the arm member on the side where the contact operation is detected and the arm member on the side where the contact operation is not detected. The rotation motors M2 and M3 are driven by outputting a command to the motor control devices SM2 and SM3 so as to rotate to the other side in the rotation direction.
　その後、ステップＳ６０Ｂで、制御装置５０は、上記第１回動制御部５１２の制御によりアーム部材４，５が各々の回動方向他方側への回動動作を行っている最中に、第２接触センサ３３により接触操作が検出されたか否かを判定する。第１回動制御部５１２の制御によりアーム部材４，５が各々の回動方向他方側への回動動作を行っている最中に、第２接触センサ３３により接触操作が検出された場合には、ステップＳ６０Ｂの判定が満たされて、ステップＳ７０Ｂに移る。 Thereafter, in step S60B, the control device 50 performs the second operation while the arm members 4 and 5 are rotating in the respective rotation directions to the other side under the control of the first rotation control unit 512. It is determined whether or not a contact operation is detected by the contact sensor 33. When the contact operation is detected by the second contact sensor 33 while the arm members 4 and 5 are being rotated to the other side in the respective rotation directions under the control of the first rotation control unit 512. Is satisfied in step S60B, and the process proceeds to step S70B.
　ステップＳ７０Ｂでは、制御装置５０は、第３回動制御部５１５において、アーム部材４，５の回動方向他方側への回動動作が停止されるように、第１回動制御部５１２による回動用モータＭ２，Ｍ３の駆動を制御する。その後、ステップＳ８０Ｂに移る。 In step S <b> 70 </ b> B, the controller 50 causes the third rotation control unit 512 to rotate the first rotation control unit 512 so that the third rotation control unit 515 stops the rotation operation of the arm members 4 and 5 to the other side. Controls driving of the motors M2 and M3. Thereafter, the process proceeds to step S80B.
　一方、ステップＳ４０Ｂにおいて第１回動制御部５１２が第１接触センサ３２から接触操作に対応する信号を取得せずステップＳ４０Ｂの判定が満たされなかった場合、及び、ステップＳ６０Ｂにおいて第１回動制御部５１２の制御によりアーム部材４，５が各々の回動方向他方側への回動動作を行っている最中に第２接触センサ３３により接触操作が検出されずステップＳ６０Ｂの判定が満たされなかった場合には、ステップＳ８０Ｂに移る。 On the other hand, if the first rotation control unit 512 does not acquire a signal corresponding to the contact operation from the first contact sensor 32 in step S40B and the determination in step S40B is not satisfied, and the first rotation control in step S60B. The contact operation is not detected by the second contact sensor 33 while the arm members 4 and 5 are pivoting to the other side in the respective rotational directions under the control of the part 512, and the determination in step S60B is not satisfied. If YES, the process moves to step S80B.
　ステップＳ８０Ｂでは、制御装置５０は、操作者により第２接触センサ３３の接触操作が行われたか否か、つまり第２回動制御部５１３が第２接触センサ３３から接触操作に対応する信号を取得したか否かを判定する。第３回動制御部５１３が第２接触センサ３３から接触操作に対応する信号を取得した場合には、ステップＳ８０Ｂの判定が満たされて、ステップＳ９０Ｂに移る。 In step S <b> 80 </ b> B, the control device 50 determines whether or not the contact operation of the second contact sensor 33 has been performed by the operator, that is, the second rotation control unit 513 acquires a signal corresponding to the contact operation from the second contact sensor 33. Determine whether or not. When the 3rd rotation control part 513 acquires the signal corresponding to contact operation from the 2nd contact sensor 33, determination of step S80B is satisfy | filled and it moves to step S90B.
　ステップＳ９０Ｂでは、制御装置５０は、第２回動制御部５１３において、アーム部材４，５のうち、接触操作が検出された側のアーム部材及び接触操作が検出されなかった側のアーム部材が、回動方向一方側に回動するように、モータ制御装置ＳＭ２，ＳＭ３に指令を出力することにより、回動用モータＭ２，Ｍ３を駆動する。 In step S90B, in the second rotation control unit 513, the control device 50 includes the arm member 4 and the arm member on the side where the contact operation is detected and the arm member on the side where the contact operation is not detected. The rotation motors M2 and M3 are driven by outputting a command to the motor control devices SM2 and SM3 so as to rotate to one side in the rotation direction.
　その後、ステップＳ１００Ｂで、制御装置５０は、上記第２回動制御部５１３の制御によりアーム部材４，５が各々の回動方向一方側への回動動作を行っている最中に、第１接触センサ３２により接触操作が検出されたか否かを判定する。第２回動制御部５１３の制御によりアーム部材４，５が各々の回動方向一方側への回動動作を行っている最中に、第１接触センサ３２により接触操作が検出された場合には、ステップＳ１００Ｂの判定が満たされて、ステップＳ１１０Ｂに移る。 Thereafter, in step S100B, the control device 50 performs the first operation while the arm members 4 and 5 are rotating in one of the respective rotation directions under the control of the second rotation control unit 513. It is determined whether or not a contact operation is detected by the contact sensor 32. When the contact operation is detected by the first contact sensor 32 while the arm members 4 and 5 are rotating in one of the respective rotation directions under the control of the second rotation control unit 513. Is satisfied in step S100B, and the process proceeds to step S110B.
　ステップＳ１１０Ｂでは、制御装置５０は、第４回動制御部５１６において、アーム部材４，５の回動方向一方側への回動動作が停止されるように、第２回動制御部５１３による回動用モータＭ２，Ｍ３の駆動を制御する。その後、ステップＳ８０Ｂに移る。これにより、このフローに示す処理が終了される。なお、このフローに示す処理は、繰り返し実行される。 In step S110B, the control device 50 rotates the second rotation control unit 513 so that the fourth rotation control unit 516 stops the rotation operation of the arm members 4 and 5 to one side in the rotation direction. Controls driving of the motors M2 and M3. Thereafter, the process proceeds to step S80B. Thereby, the process shown in this flow is completed. Note that the processing shown in this flow is repeatedly executed.
　一方、ステップＳ８０Ｂにおいて第２回動制御部５１３が第２接触センサ３３から接触操作に対応する信号を取得せずステップＳ８０Ｂの判定が満たされなかった場合、及び、ステップＳ１００Ｂにおいて第２回動制御部５１３の制御によりアーム部材４，５が各々の回動方向一方側への回動動作を行っている最中に第１接触センサ３２により接触操作が検出されずステップＳ１００Ｂの判定が満たされなかった場合には、このフローに示す処理が終了される。 On the other hand, if the second rotation control unit 513 does not acquire a signal corresponding to the contact operation from the second contact sensor 33 in step S80B and the determination in step S80B is not satisfied, and the second rotation control is performed in step S100B. The contact operation is not detected by the first contact sensor 32 while the arm members 4 and 5 are rotating in one direction in the respective rotation directions under the control of the portion 513, and the determination in step S100B is not satisfied. In the case where it is found, the processing shown in this flow is terminated.
　また、ステップＳ３０Ｂにおいて、第１回動制御部５１２及び第２回動制御部５１３による駆動が無効の場合には、ステップＳ３０Ｂの判定は満たされず、このフローに示す処理が終了される。 In step S30B, when the driving by the first rotation control unit 512 and the second rotation control unit 513 is invalid, the determination in step S30B is not satisfied, and the processing shown in this flow is ended.
　次に、図１３を参照しつつ、主に上記判定部５２３及び第２モータ制御部５２０等において実行する移乗補助装置１の制御方法に関する制御手順について説明する。 Next, a control procedure related to the control method of the transfer assisting apparatus 1 that is mainly executed in the determination unit 523 and the second motor control unit 520 will be described with reference to FIG.
　図１３に示すように、ステップＳ１０Ｃで、制御装置５０は、中央ホルダー部２の下降時か否かを判定する。中央ホルダー部２の下降時である場合には、ステップＳ１０Ｃの判定が満たされて、ステップＳ２０Ｃに移る。 As shown in FIG. 13, in step S <b> 10 </ b> C, the control device 50 determines whether or not the center holder portion 2 is being lowered. If it is during the lowering of the central holder part 2, the determination in step S10C is satisfied, and the routine goes to step S20C.
　ステップＳ２０Ｃでは、制御装置５０は、判定部５２３において、トルク検出部５２１により検出された昇降用モータＭ１のトルク、第１回動用モータＭ２のトルク、及び第２回動用モータＭ３のトルクの合成した合成トルクの下降量と、第１しきい値とを比較することにより、上記着地の判定を行う。この際、合成トルクの下降量が第１しきい値を超えた場合には、判定部５２３は着地があったとみなし、ステップＳ２０Ｃの判定が満たされて、ステップＳ３０Ｃに移る。 In step S20C, the control device 50 combines the torque of the lifting motor M1 detected by the torque detection unit 521, the torque of the first rotation motor M2, and the torque of the second rotation motor M3 in the determination unit 523. The landing is determined by comparing the amount of decrease in the combined torque with the first threshold value. At this time, if the amount of decrease in the combined torque exceeds the first threshold value, the determination unit 523 assumes that the landing has occurred, satisfies the determination in step S20C, and proceeds to step S30C.
　ステップＳ３０Ｃでは、制御装置５０は、第２モータ制御部５２０において、中央ホルダー部２の下降動作が停止されるように、昇降制御部５１１による昇降用モータＭ１の駆動を制御する。その後、ステップＳ４０Ｃに移る。 In step S30C, the control device 50 controls the driving of the lifting motor M1 by the lifting control unit 511 so that the lowering operation of the central holder unit 2 is stopped in the second motor control unit 520. Thereafter, the process proceeds to step S40C.
　一方、ステップＳ１０Ｃにおいて中央ホルダー部２の下降時でないためステップＳ１０Ｃの判定が満たされなかった場合、及び、ステップＳ２０Ｃにおいて合成トルクの下降量が第１しきい値を超えないため判定部５２３より着地があったとみなされずステップＳ２０Ｃの判定が満たされなかった場合には、ステップＳ４０Ｃに移る。 On the other hand, if the determination in step S10C is not satisfied because it is not when the center holder part 2 is lowered in step S10C, and the amount of decrease in the combined torque does not exceed the first threshold value in step S20C, the landing is made by the determination part 523. If the determination in step S20C is not satisfied, the process moves to step S40C.
　ステップＳ４０Ｃでは、制御装置５０は、中央ホルダー部２の上昇時か否かを判定する。中央ホルダー部２の上昇時である場合には、ステップＳ４０Ｃの判定が満たされて、ステップＳ５０Ｃに移る。 In step S40C, the control device 50 determines whether or not the central holder portion 2 is being raised. If it is when the center holder part 2 is raised, the determination at Step S40C is satisfied, and the routine goes to Step S50C.
　ステップＳ５０Ｃでは、制御装置５０は、判定部５２３において、トルク検出部５２１により検出された昇降用モータＭ１のトルク、第１回動用モータＭ２のトルク、及び第２回動用モータＭ３のトルクの合成した合成トルクの大きさと、第２しきい値とを比較することにより、上記異常の有無の判定を行う。この際、合成トルクの大きさが第２しきい値を超えた場合には、判定部５２３は異常がある（被介護者Ｍの体重が仕様体重範囲を超えている）とみなし、ステップＳ５０Ｃの判定が満たされて、ステップＳ６０Ｃに移る。 In step S50C, the control device 50 combines the torque of the lifting motor M1 detected by the torque detection unit 521, the torque of the first rotation motor M2, and the torque of the second rotation motor M3 in the determination unit 523. The presence / absence of the abnormality is determined by comparing the magnitude of the combined torque with the second threshold value. At this time, if the magnitude of the combined torque exceeds the second threshold value, the determination unit 523 assumes that there is an abnormality (the weight of the cared person M exceeds the specified weight range), and in step S50C The determination is satisfied and the routine goes to Step S60C.
　ステップＳ６０Ｃでは、制御装置５０は、第２モータ制御部５２０において、中央ホルダー部２の昇降動作、第１アーム部材４の回動動作、第２アーム部材５の回動動作、及び本体部３の移動動作が停止されるように、昇降制御部５１１による昇降用モータＭ１の駆動、第１回動制御部５１２又は第２回動制御部５１３による回動用モータＭ２，Ｍ３の駆動、及び、第３モータ制御部５３０による移動用モータＭ４，Ｍ４の駆動を制御する。その後、ステップＳ７０Ｃに移る。 In step S <b> 60 </ b> C, the control device 50 causes the second motor control unit 520 to move the center holder unit 2 up and down, rotate the first arm member 4, rotate the second arm member 5, and rotate the main body unit 3. In order to stop the moving operation, the lifting control unit 511 drives the lifting motor M1, the first turning control unit 512 or the second turning control unit 513 drives the turning motors M2 and M3, and the third The motor control unit 530 controls driving of the moving motors M4 and M4. Thereafter, the process proceeds to step S70C.
　一方、ステップＳ４０Ｃにおいて中央ホルダー部２の上昇時でないためステップＳ４０Ｃの判定が満たされなかった場合、及び、ステップＳ５０Ｃにおいて合成トルクの大きさが第２しきい値を超えないため判定部５２３より異常があるとみなされずステップＳ５０Ｃの判定が満たされなかった場合には、ステップＳ７０Ｃに移る。 On the other hand, if the determination in step S40C is not satisfied because it is not the time when the center holder part 2 is raised in step S40C, and because the magnitude of the combined torque does not exceed the second threshold value in step S50C, the determination part 523 is abnormal. If the determination in step S50C is not satisfied, the process proceeds to step S70C.
　ステップＳ７０Ｃでは、制御装置５０は、判定部５２３において、トルク検出部５２１により検出された昇降用モータＭ１のトルク、第１回動用モータＭ２のトルク、及び第２回動用モータＭ３のトルクの合成した合成トルクの変動量と、第３しきい値とを比較することにより、上記異常の有無の判定を行う。この際、合成トルクの変動量が第３しきい値を超えた場合には、判定部５２３は異常がある（被介護者Ｍが暴れている）とみなし、ステップＳ７０Ｃの判定が満たされて、ステップＳ８０Ｃに移る。 In step S70C, the control device 50 combines the torque of the lifting motor M1 detected by the torque detection unit 521, the torque of the first rotation motor M2, and the torque of the second rotation motor M3 in the determination unit 523. The presence / absence of the abnormality is determined by comparing the fluctuation amount of the combined torque with the third threshold value. At this time, if the fluctuation amount of the combined torque exceeds the third threshold value, the determination unit 523 assumes that there is an abnormality (the cared person M is rampant), and the determination in step S70C is satisfied, The process moves to step S80C.
　ステップＳ８０Ｃでは、制御装置５０は、第２モータ制御部５２０において、中央ホルダー部２の昇降動作、第１アーム部材４の回動動作、第２アーム部材５の回動動作、及び本体部３の移動動作が停止されるように、昇降制御部５１１による昇降用モータＭ１の駆動、第１回動制御部５１２又は第２回動制御部５１３による回動用モータＭ２，Ｍ３の駆動、及び第３モータ制御部５３０による移動用モータＭ４，Ｍ４の駆動を制御する。その後、ステップＳ９０Ｃに移る。 In step S <b> 80 </ b> C, the control device 50 causes the second motor control unit 520 to move the central holder unit 2 up and down, the first arm member 4, the second arm member 5, and the main body unit 3. Driving of the lifting motor M1 by the lifting control unit 511, driving of the rotating motors M2 and M3 by the first rotation control unit 512 or the second rotation control unit 513, and a third motor so that the moving operation is stopped. The controller 530 controls the driving of the moving motors M4 and M4. Thereafter, the process proceeds to step S90C.
　一方、ステップＳ７０で、合成トルクの変動量が第３しきい値を超えない場合には、判定部５２３は異常がない（被介護者Ｍの体重は仕様体重範囲内である）とみなし、ステップＳ７０Ｃの判定は満たされず、ステップＳ９０Ｃに移る。 On the other hand, when the fluctuation amount of the composite torque does not exceed the third threshold value in step S70, the determination unit 523 assumes that there is no abnormality (the weight of the cared person M is within the specified weight range), and the step The determination at S70C is not satisfied, and the routine goes to Step S90C.
　ステップＳ９０Ｃでは、制御装置５０は、中央ホルダー部２の昇降時、又は、アーム部材４，５の少なくとも一方の回動時か否かを判定する。中央ホルダー部２の昇降時、又は、アーム部材４，５の少なくとも一方の回動時である場合には、ステップＳ９０Ｃの判定が満たされて、ステップＳ１００Ｃに移る。 In step S90C, the control device 50 determines whether or not the central holder portion 2 is raised or lowered or at least one of the arm members 4 and 5 is rotated. When the center holder portion 2 is moved up and down or when at least one of the arm members 4 and 5 is rotated, the determination at Step S90C is satisfied, and the routine goes to Step S100C.
　ステップＳ１００Ｃでは、制御装置５０は、判定部５２３において、トルク検出部５２１により検出された昇降用モータＭ１のトルク、第１回動用モータＭ２のトルク、及び第２回動用モータＭ３のトルクの合成した合成トルクの上昇量と、第４しきい値とを比較することにより、上記異常の有無の判定を行う。この際、合成トルクの上昇量が第４しきい値を超えた場合には、判定部５２３は異常がある（被介護者Ｍを挟み込んでいる）とみなし、ステップＳ１００Ｃの判定が満たされて、ステップＳ１１０Ｃに移る。 In step S100C, the control device 50 combines the torque of the lifting motor M1 detected by the torque detection unit 521, the torque of the first rotation motor M2, and the torque of the second rotation motor M3 in the determination unit 523. The presence / absence of the abnormality is determined by comparing the amount of increase in the combined torque with the fourth threshold value. At this time, if the amount of increase in the combined torque exceeds the fourth threshold value, the determination unit 523 assumes that there is an abnormality (the person being cared for M is sandwiched), and the determination in step S100C is satisfied, The process moves to step S110C.
　ステップＳ１１０Ｃでは、制御装置５０は、第２モータ制御部５２０において、中央ホルダー部２の昇降動作、第１アーム部材４の回動動作、第２アーム部材５の回動動作、及び本体部３の移動動作が停止されるように、昇降制御部５１１による昇降用モータＭ１の駆動、第１回動制御部５１２又は第２回動制御部５１３による回動用モータＭ２，Ｍ３の駆動、及び第３モータ制御部５３０による移動用モータＭ４，Ｍ４の駆動を制御する。その後、ステップＳ１２０Ｃに移る。 In step S <b> 110 </ b> C, the control device 50 causes the second motor control unit 520 to move the center holder unit 2 up and down, rotate the first arm member 4, rotate the second arm member 5, and rotate the main body unit 3. Driving of the lifting motor M1 by the lifting control unit 511, driving of the rotating motors M2 and M3 by the first rotation control unit 512 or the second rotation control unit 513, and a third motor so that the moving operation is stopped. The controller 530 controls the driving of the moving motors M4 and M4. Thereafter, the process proceeds to step S120C.
　一方、ステップＳ９０Ｃにおいて中央ホルダー部２の昇降時又はアーム部材４，５の少なくとも一方の回動時でないためステップＳ９０Ｃの判定が満たされなかった場合、及び、ステップＳ１００Ｃにおいて合成トルクの上昇量が第４しきい値を超えないため判定部５２３より異常があるとみなされずステップＳ１００Ｃの判定が満たされなかった場合には、ステップＳ１２０Ｃに移る。 On the other hand, if the determination in step S90C is not satisfied because the central holder portion 2 is not raised or lowered or at least one of the arm members 4 and 5 is not rotated in step S90C, and the amount of increase in the combined torque is the first in step S100C. If the threshold value is not exceeded, the determination unit 523 determines that there is no abnormality, and if the determination in step S100C is not satisfied, the process proceeds to step S120C.
　ステップＳ１２０Ｃでは、制御装置５０は、中央ホルダー部２の上昇時か否かを判定する。中央ホルダー部２の上昇時である場合には、ステップＳ１２０Ｃの判定が満たされて、ステップＳ１３０Ｃに移る。 In step S120C, the control device 50 determines whether or not the central holder portion 2 is being raised. If it is when the center holder part 2 is raised, the determination at step S120C is satisfied, and the routine goes to step S130C.
　ステップＳ１３０Ｃでは、制御装置５０は、判定部５２３において、上記バランス検出部５２２により検出されるバランスの偏り度と、第５しきい値とを比較することにより、上記異常の有無の判定を行う。この際、上記バランスの偏り度が第５しきい値を超えた場合には、判定部５２３は異常がある（係止部７に係止されていない被係止部がある、被介護者Ｍのスリングシート６上での載置位置が適正でない）とみなし、ステップＳ１３０Ｃの判定が満たされて、ステップＳ１４０Ｃに移る。 In step S130C, the control device 50 determines the presence / absence of the abnormality in the determination unit 523 by comparing the degree of balance deviation detected by the balance detection unit 522 with the fifth threshold value. At this time, when the degree of bias of the balance exceeds the fifth threshold value, the determination unit 523 is abnormal (the care receiver M has a locked portion that is not locked to the locking portion 7). The mounting position on the sling sheet 6 is not appropriate), the determination in step S130C is satisfied, and the process proceeds to step S140C.
　ステップＳ１４０Ｃでは、制御装置５０は、第２モータ制御部５２０において、中央ホルダー部２の昇降動作、第１アーム部材４の回動動作、第２アーム部材５の回動動作、及び本体部３の移動動作が停止されるように、昇降制御部５１１による昇降用モータＭ１の駆動、第１回動制御部５１２又は第２回動制御部５１３による回動用モータＭ２，Ｍ３の駆動、及び第３モータ制御部５３０による移動用モータＭ４，Ｍ４の駆動を制御する。これにより、このフローに示す処理が終了される。なお、このフローに示す処理は、繰り返し実行される。 In step S <b> 140 </ b> C, the control device 50 causes the second motor control unit 520 to move the central holder unit 2 up and down, rotate the first arm member 4, rotate the second arm member 5, and rotate the main body unit 3. Driving of the lifting motor M1 by the lifting control unit 511, driving of the rotating motors M2 and M3 by the first rotation control unit 512 or the second rotation control unit 513, and a third motor so that the moving operation is stopped. The controller 530 controls the driving of the moving motors M4 and M4. Thereby, the process shown in this flow is completed. Note that the processing shown in this flow is repeatedly executed.
　一方、ステップＳ１２０Ｃにおいて中央ホルダー部２の上昇時でないためステップＳ１２０Ｃの判定が満たされなかった場合、及び、ステップＳ１３０Ｃにおいて上記バランスの偏り度が第５しきい値を超えないため判定部５２３より異常があるとみなされずステップＳ１３０Ｃの判定が満たされなかった場合には、このフローに示す処理が終了される。 On the other hand, if the determination in step S120C is not satisfied because it is not when the center holder part 2 is raised in step S120C, and the determination in step S130C is more abnormal than the determination part 523 because the degree of balance deviation does not exceed the fifth threshold value. If the determination in step S130C is not satisfied, the processing shown in this flow is terminated.
　次に、図１４を参照しつつ、主に上記方向決定部５３１及び第３モータ制御部５３０等において実行する移乗補助装置１の制御方法に関する制御手順について説明する。 Next, a control procedure related to the control method of the transfer assisting apparatus 1 that is mainly executed in the direction determining unit 531 and the third motor control unit 530 will be described with reference to FIG.
　図１４に示すように、ステップＳ１０Ｄで、制御装置５０は、方向決定部５３１において、上記歪みセンサ３６の検出結果に基づいて、操作者の上記グリップ部３５での付勢操作に対応する本体部３の移動方向を決定する。 As shown in FIG. 14, in step S <b> 10 </ b> D, the control device 50 causes the direction determining unit 531 to respond to an urging operation performed by the operator on the grip portion 35 based on the detection result of the strain sensor 36. 3 moving direction is determined.
　その後、ステップＳ２０Ｄで、制御装置５０は、第３モータ制御部５３０において、上記ステップＳ１０Ｄで決定された移動方向に本体部３が移動するよう車輪２０，２０が回転するように、モータ制御装置ＳＭ４，ＳＭ４に指令を出力することにより、移動用モータＭ４，Ｍ４を駆動する。これにより、このフローに示す処理が終了される。なお、このフローに示す処理は、繰り返し実行される。 Thereafter, in step S20D, the control device 50 causes the third motor control unit 530 to rotate the motor control device SM4 so that the wheels 20 and 20 rotate so that the main body 3 moves in the moving direction determined in step S10D. , SM4 are driven to drive the moving motors M4, M4. Thereby, the process shown in this flow is completed. Note that the processing shown in this flow is repeatedly executed.
　次に、図１５を参照しつつ、主に上記速度算出部５４１及び第４モータ制御部５４０等において実行する移乗補助装置１の制御方法に関する制御手順について説明する。 Next, a control procedure related to the control method of the transfer assisting apparatus 1 that is mainly executed in the speed calculation unit 541 and the fourth motor control unit 540 will be described with reference to FIG.
　図１５に示すように、ステップＳ１０Ｅで、制御装置５０は、速度算出部５４１において、上記位置検出部３７の検出結果に基づいて、本体部３の移動速度を算出する。 As shown in FIG. 15, in step S <b> 10 </ b> E, the control device 50 calculates the movement speed of the main body 3 based on the detection result of the position detection unit 37 in the speed calculation unit 541.
　その後、ステップＳ２０Ｅで、制御装置５０は、第４モータ制御部５４０において、上記ステップＳ１０Ｅでの算出結果に基づいて、本体部３の移動速度が所定の速度態様となるよう車輪２０，２０が回転するように、第３モータ制御部５３０による移動用モータＭ４，Ｍ４の駆動を制御する。これにより、このフローに示す処理が終了される。なお、このフローに示す処理は、繰り返し実行される。 Thereafter, in step S20E, the control device 50 causes the fourth motor control unit 540 to rotate the wheels 20 and 20 so that the moving speed of the main body unit 3 becomes a predetermined speed mode based on the calculation result in step S10E. Thus, the driving of the moving motors M4 and M4 by the third motor control unit 530 is controlled. Thereby, the process shown in this flow is completed. Note that the processing shown in this flow is repeatedly executed.
　次に、図１６を参照しつつ、主に上記第５モータ制御部５５０等において実行する移乗補助装置１の制御方法に関する制御手順について説明する。 Next, a control procedure related to the control method of the transfer assist device 1 executed mainly in the fifth motor control unit 550 and the like will be described with reference to FIG.
　図１６に示すように、ステップＳ１０Ｆで、制御装置５０は、第５モータ制御部５５０において、中央ホルダー部２の昇降動作、第１アーム部材４の回動動作、第２アーム部材５の回動動作、本体部３の移動動作の加速度が第６しきい値よりも小さくなるとともに、これら動作の速度がＳ字曲線状に変動するように、昇降制御部５１１による昇降用モータＭ１の駆動、第１回動制御部５１２又は第２回動制御部５１３による回動用モータＭ２，Ｍ３の駆動、及び第３モータ制御部５３０による移動用モータＭ４，Ｍ４の駆動を制御する。これにより、このフローに示す処理が終了される。なお、このフローに示す処理は、繰り返し実行される。 As shown in FIG. 16, in step S <b> 10 </ b> F, in the fifth motor control unit 550, the control device 50 moves the central holder unit 2 up and down, rotates the first arm member 4, and rotates the second arm member 5. The movement control unit 511 drives the lifting motor M1 so that the acceleration of the movement and the movement movement of the main body 3 becomes smaller than the sixth threshold value, and the speed of the movement fluctuates in an S-shaped curve. The driving of the rotation motors M2 and M3 by the first rotation control unit 512 or the second rotation control unit 513 and the driving of the movement motors M4 and M4 by the third motor control unit 530 are controlled. Thereby, the process shown in this flow is completed. Note that the processing shown in this flow is repeatedly executed.
　なお、上記図１１～図１６において、ステップＳ２０Ａ，３０Ａ，２０Ｂ，５０Ｂ，７０Ｂ，９０Ｂ，１１０Ｂは、第１モータ制御ステップに相当し、そのうち、ステップＳ２０Ａ，３０Ａは切替制御ステップに相当し、ステップＳ５０Ｂは第１回動制御ステップに相当し、ステップＳ７０Ｂは第２回動制御ステップに相当し、ステップＳ９０Ｂは第３回動制御ステップに相当し、ステップＳ１１０Ｂは第４回動制御ステップに相当する。また、ステップＳ２０Ｃ，５０Ｃ，７０Ｃ，１００Ｃ，１３０Ｃは、判定ステップに相当する。また、ステップＳ３０Ｃ，６０Ｃ，８０Ｃ，１１０Ｃ，１４０Ｃは、第２モータ制御ステップに相当する。また、ステップＳ１０Ｄは、方向決定ステップに相当し、ステップＳ２０Ｄは、第３モータ制御ステップに相当する。また、ステップＳ１０Ｅは、速度算出ステップに相当し、ステップＳ２０Ｅは、第４モータ制御ステップに相当する。また、ステップＳ１０Ｆは、第５モータ制御ステップに相当する。 In FIGS. 11 to 16, steps S20A, 30A, 20B, 50B, 70B, 90B, and 110B correspond to the first motor control step, of which steps S20A and 30A correspond to the switching control step. S50B corresponds to the first rotation control step, step S70B corresponds to the second rotation control step, step S90B corresponds to the third rotation control step, and step S110B corresponds to the fourth rotation control step. . Steps S20C, 50C, 70C, 100C, and 130C correspond to determination steps. Steps S30C, 60C, 80C, 110C, and 140C correspond to a second motor control step. Step S10D corresponds to a direction determination step, and step S20D corresponds to a third motor control step. Step S10E corresponds to a speed calculation step, and step S20E corresponds to a fourth motor control step. Step S10F corresponds to a fifth motor control step.
　＜制御装置の構成例＞
　次に、図１７を参照しつつ、以上説明した移乗補助装置１の制御方法に関する各処理を実現する制御装置５０の構成例について説明する。 <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.
　図１７に示すように、制御装置５０は、例えば、ＣＰＵ９０１と、ＲＯＭ９０３、ＲＡＭ９０５と、ＡＳＩＣやＦＰＧＡの特定の用途向けに構築された専用集積回路、その他の電気回路等の実際の装置９０７と、入力装置９１３と、出力装置９１５と、ストレージ装置９１７と、ドライブ９１９と、接続ポート９２１と、通信装置９２３とを有する。これらの構成は、バス９０９や入出力インターフェース９１１を介して相互に信号を伝達可能に接続されている。 As shown in FIG. 17, the control device 50 includes, for example, an actual device 907 such as a CPU 901, a ROM 903, a RAM 905, a dedicated integrated circuit constructed for a specific use of an ASIC or FPGA, other electrical circuits, 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.
　プログラムは、例えば、ＲＯＭ９０３やＲＡＭ９０５、ストレージ装置９１７等の記録装置に記録しておくことができる。 The program can be recorded in a recording device such as the ROM 903, the RAM 905, or the storage device 917, for example.
　また、プログラムは、例えば、フレキシブルディスク等の磁気ディスク、各種のＣＤ・ＭＯディスク・ＤＶＤ等の光ディスク、半導体メモリ等のリムーバブル記憶媒体９２５に、一時的又は永続的に記録しておくこともできる。このようなリムーバブル記憶媒体９２５は、いわゆるパッケージソフトウエアとして提供することもできる。この場合、これらのリムーバブル記憶媒体９２５に記録されたプログラムは、ドライブ９１９により読み出されて、入出力インターフェース９１１やバス９０９等を介し上記記録装置に記録されてもよい。 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.
　また、プログラムは、例えば、ダウンロードサイト・他のコンピュータ・他の記録装置等（図示せず）に記録しておくこともできる。この場合、プログラムは、ＬＡＮやインターネット等のネットワークＮＷを介し転送され、通信装置９２３がこのプログラムを受信する。そして、通信装置９２３が受信したプログラムは、入出力インターフェース９１１やバス９０９等を介し上記記録装置に記録されてもよい。 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.
　また、プログラムは、例えば、適宜の外部接続機器９２７に記録しておくこともできる。この場合、プログラムは、適宜の接続ポート９２１を介し転送され、入出力インターフェース９１１やバス９０９等を介し上記記録装置に記録されてもよい。 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.
　そして、ＣＰＵ９０１が、上記記録装置に記録されたプログラムに従い各種の処理を実行することにより、上記移乗補助装置１の制御方法に関する各処理を実現可能である。この際、ＣＰＵ９０１は、例えば、上記記録装置からプログラムを、直接読み出して実行してもよく、ＲＡＭ９０５に一旦ロードした上で実行してもよい。更に、ＣＰＵ９０１は、例えば、プログラムを通信装置９２３やドライブ９１９、接続ポート９２１を介し受信する場合、受信したプログラムを記録装置に記録せずに直接実行してもよい。 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.
　また、ＣＰＵ９０１は、必要に応じて、例えばマウス・キーボード・マイク（図示せず）等の入力装置９１３から入力する信号や情報に基づいて各種の処理を行ってもよい。 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.
　そして、ＣＰＵ９０１は、上記の処理を実行した結果を、例えば表示装置や音声出力装置等の出力装置９１５から出力してもよく、更に、ＣＰＵ９０１は、必要に応じてこの処理結果を通信装置９２３や接続ポート９２１を介し送信してもよく、上記記録装置やリムーバブル記憶媒体９２５に記録させてもよい。 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.
　なお、上記では、移乗補助装置１の制御方法に関する各処理が、ＣＰＵ９０１が実行するプログラムにより実装される場合について説明したが、これらの処理の一部又は全部が装置９０７により実行されてもよい。 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.
　＜本実施形態による効果＞
　以上説明したように、本実施形態の移乗補助装置１では、中央ホルダー部２は、昇降用モータＭ１からの駆動力により、その前方側及び後方側に各々連結された第１アーム部材４及び第２アーム部材５と共に昇降する。第１アーム部材４は、第１回動用モータＭ２からの駆動力により、中央ホルダー部２の前方側において中央ホルダー部２を中心軸として回動する。第２アーム部材５は、第２回動用モータＭ３からの駆動力により、中央ホルダー部２の後方側において中央ホルダー部２を中心軸として回動する。また、移乗補助装置１には、操作者の操作を検出する操作検出部３０が設けられる。そして、昇降モータＭ１、第１回動用モータＭ２、及び第２回動用モータＭ３の少なくとも１つは、操作検出部３０の検出結果に基づいて、制御装置５０の第１モータ制御部５１０によって制御される。 <Effects of this embodiment>
As described above, in the transfer assisting device 1 of the present embodiment, the center holder portion 2 is connected to the front arm and the rear arm by the driving force from the lifting motor M1, and the first arm member 4 and the second arm member 4 respectively connected thereto. The two arm members 5 are moved up and down. The first arm member 4 is rotated about the central holder portion 2 as the central axis on the front side of the central holder portion 2 by the driving force from the first rotation motor M2. The second arm member 5 rotates about the central holder portion 2 as the central axis on the rear side of the central holder portion 2 by the driving force from the second rotation motor M3. In addition, the transfer assist device 1 is provided with an operation detection unit 30 that detects the operation of the operator. At least one of the lifting motor M1, the first rotation motor M2, and the second rotation motor M3 is controlled by the first motor control unit 510 of the control device 50 based on the detection result of the operation detection unit 30. The
　これにより、操作者は、所定の操作（例えば接触操作等）を行うだけで、中央ホルダー部２や第１アーム部材４、第２アーム部材５を、モータの駆動力により動作させることができる。したがって、操作者は、複雑な操作を行わなくても容易に中央ホルダー部２や第１アーム部材４、第２アーム部材５を動作させることが可能となり、またこれらの動作をモータの駆動力により自動的に実行させることができる。この結果、操作者の負担を軽減することが可能となる。 Thereby, the operator can operate the center holder portion 2, the first arm member 4, and the second arm member 5 by the driving force of the motor only by performing a predetermined operation (for example, a contact operation). Therefore, the operator can easily operate the central holder portion 2, the first arm member 4, and the second arm member 5 without performing complicated operations, and these operations can be performed by the driving force of the motor. It can be executed automatically. As a result, the burden on the operator can be reduced.
　また、本実施形態では特に、操作検出部３０が、第１アーム部材４及び第２アーム部材５の回動方向一方側に設置され、操作者の接触操作を検出する第１接触センサ３２と、第１アーム部材４及び第２アーム部材５の回動方向他方側に設置され、操作者の接触操作を検出する第２接触センサ３３とを備える。そして、第１モータ制御部５１０の第１回動制御部５１２が、第１接触センサ３２の検出結果に基づいて、少なくとも接触操作が検出された側の一対のアーム部材が回動方向他方側に回動するように、第１回動用モータＭ２及び第２回動用モータＭ２の少なくとも一方を駆動する。また、第１モータ制御部５１０の第２回動制御部５１３が、第２接触センサ３３の検出結果に基づいて、少なくとも接触操作が検出された側の一対のアーム部材が回動方向一方側に回動するように、第１回動用モータＭ２及び第２回動用モータＭ２の少なくとも一方を駆動する。これにより、操作者は、アーム部材の回動させたい側の接触センサに接触するだけで、少なくとも接触した側の一対のアーム部材を接触した側と反対側に回動させることができる。したがって、操作者は、非常に簡単でかつ直観的な操作により、第１アーム部材４や第２アーム部材５を所望の方向に回動させることができる。この結果、操作者の負担を大幅に軽減することができる。 In the present embodiment, in particular, the operation detection unit 30 is installed on one side of the first arm member 4 and the second arm member 5 in the rotation direction, and detects a contact operation of the operator, A second contact sensor 33 is provided on the other side in the rotational direction of the first arm member 4 and the second arm member 5 and detects the contact operation of the operator. Then, based on the detection result of the first contact sensor 32, the first rotation control unit 512 of the first motor control unit 510 causes at least the pair of arm members on the side where the contact operation is detected to move to the other side in the rotation direction. At least one of the first rotation motor M2 and the second rotation motor M2 is driven so as to rotate. In addition, the second rotation control unit 513 of the first motor control unit 510 causes the pair of arm members on the side where at least the contact operation is detected to move to one side in the rotation direction based on the detection result of the second contact sensor 33. At least one of the first rotation motor M2 and the second rotation motor M2 is driven so as to rotate. Thus, the operator can rotate at least the pair of arm members on the contact side to the opposite side to the contact side only by contacting the contact sensor on the side of the arm member to be rotated. Therefore, the operator can rotate the first arm member 4 and the second arm member 5 in a desired direction by a very simple and intuitive operation. As a result, the burden on the operator can be greatly reduced.
　また、本実施形態では特に、第１回動制御部５１２が、接触操作が検出された側の一対のアーム部材、及び、接触操作が検出されなかった側の一対のアーム部材が、回動方向他方側に回動するように、第１回動用モータＭ２及び第２回動用モータＭ２を駆動する。また、第２回動制御部５１３が、接触操作が検出された側の一対のアーム部材、及び、接触操作が検出されなかった側の一対のアーム部材が、回動方向一方側に回動するように、第１回動用モータＭ２及び第２回動用モータＭ２を駆動する。これにより、操作者は、１つのアーム部材（例えば第１アーム部材４）の接触センサに接触するだけで、第１アーム部材４及び第２アーム部材５の両方を回動させることができる。したがって、操作者は、非常に簡単でかつ直観的な操作により、第１アーム部材４及び第２アーム部材５の両方をまとめて所望の方向に回動させることができる。この結果、操作者の負担軽減効果をさらに高めることができる。 In the present embodiment, in particular, the first rotation control unit 512 includes a pair of arm members on the side where the contact operation is detected and a pair of arm members on the side where the contact operation is not detected. The first rotation motor M2 and the second rotation motor M2 are driven so as to rotate to the other side. The second rotation control unit 513 rotates the pair of arm members on the side where the contact operation is detected and the pair of arm members on the side where the contact operation is not detected to one side in the rotation direction. In this manner, the first rotation motor M2 and the second rotation motor M2 are driven. Thereby, the operator can rotate both the first arm member 4 and the second arm member 5 only by contacting the contact sensor of one arm member (for example, the first arm member 4). Therefore, the operator can rotate both the first arm member 4 and the second arm member 5 together in a desired direction by a very simple and intuitive operation. As a result, the effect of reducing the burden on the operator can be further enhanced.
　また、本実施形態では特に、第１モータ制御部５１０の第３回動制御部５１５が、第１回動制御部５１２の制御により少なくとも接触操作が検出された側の一対のアーム部材が回動方向他方側への回動動作を行っている最中に、第２接触センサ３３により接触操作が検出された場合に、回動方向他方側への回動動作が停止されるように、第１回動制御部５１２による駆動を制御する。また、第１モータ制御部５１０の第４回動制御部５１６が、第２回動制御部５１３の制御により少なくとも接触操作が検出された側の一対のアーム部材が回動方向一方側への回動動作を行っている最中に、第１接触センサ３２により接触操作が検出された場合に、回動方向一方側への回動動作が停止されるように、第２回動制御部５１３による駆動を制御する。これにより、操作者は、回動中のアーム部材（例えば第１アーム部材４）の回動方向側の接触センサに接触するだけで、当該アーム部材の回動を停止させることができる。したがって、操作者は、非常に簡単でかつ直観的な操作により、回動中のアーム部材を停止させることができる。この結果、例えば、第１アーム部材４と第２アーム部材５との間に被介護者Ｍが挟み込まれそうになった際に、操作者がアーム部材の回動を停止することが可能であるので、装置使用時の安全性を向上することができる。 In this embodiment, in particular, the third rotation control unit 515 of the first motor control unit 510 rotates the pair of arm members on the side where at least the contact operation is detected by the control of the first rotation control unit 512. When the contact operation is detected by the second contact sensor 33 during the rotation operation in the other direction, the first operation is performed so that the rotation operation in the other direction is stopped. The drive by the rotation control unit 512 is controlled. In addition, the fourth rotation control unit 516 of the first motor control unit 510 causes the pair of arm members on which at least the contact operation is detected by the control of the second rotation control unit 513 to rotate to the one side in the rotation direction. When the contact operation is detected by the first contact sensor 32 during the movement operation, the second rotation control unit 513 causes the rotation operation to one side of the rotation direction to be stopped. Control the drive. Thereby, the operator can stop the rotation of the arm member only by contacting the contact sensor on the rotation direction side of the rotating arm member (for example, the first arm member 4). Therefore, the operator can stop the rotating arm member by a very simple and intuitive operation. As a result, for example, when the cared person M is likely to be sandwiched between the first arm member 4 and the second arm member 5, the operator can stop the rotation of the arm member. Therefore, the safety when using the device can be improved.
　また、本実施形態では特に、操作者の第１接触センサ３２及び第２接触センサ３３の有効及び無効の切替操作を受け付けるスイッチ１４が設けられる。そして、第１モータ制御部５１０の切替制御部５１４が、上記有効時に第１回動制御部５１２及び第２回動制御部５１３による駆動を有効とし、上記無効時に第１回動制御部５１２及び第２回動制御部５１３による駆動を無効とする。これにより、接触センサへの接触によるアーム部材の回動制御の有効・無効をスイッチ１４により切り替えることができ、被介護者Ｍの接触センサへの接触等によるアーム部材の誤動作を防止することができる。この結果、装置使用時の安全性を向上することができる。 Further, in the present embodiment, in particular, a switch 14 is provided for accepting an operation for switching between valid and invalid of the first contact sensor 32 and the second contact sensor 33 by the operator. Then, the switching control unit 514 of the first motor control unit 510 enables the driving by the first rotation control unit 512 and the second rotation control unit 513 when it is enabled, and the first rotation control unit 512 and The driving by the second rotation control unit 513 is invalidated. Accordingly, the switch 14 can be used to switch the arm member rotation control by contact with the contact sensor, and the malfunction of the arm member due to contact of the care receiver M with the contact sensor can be prevented. . As a result, safety when using the apparatus can be improved.
　また、本実施形態では特に、制御装置５０が、昇降用モータＭ１のトルク、第１回動用モータＭ２のトルク、及び第２回動用モータＭ３のトルクの少なくとも１つのトルクを検出するトルク検出部５２１を備える。そして、昇降モータＭ１、第１回動用モータＭ２、及び第２回動用モータＭ３の少なくとも１つは、トルク検出部５２１により検出される上記少なくとも１つのトルクに基づいて、制御装置５０の第２モータ制御部５２０によって制御される。これにより、例えば、装置により持ち上げられた被介護者Ｍの着地時や、当該被介護者Ｍに係る様々な異常（例えば、被介護者Ｍの体重が仕様体重範囲を超えている、被介護者Ｍが暴れている、被介護者Ｍを挟み込んでいる、スリングシート６の複数の被係止部のうちに係止部７に係止されていない被係止部が存在する、被介護者Ｍのスリングシート６上での載置位置が適正でない等）時に、中央ホルダー部２や第１アーム部材４、第２アーム部材５の動作を自動的に停止させることが可能となる。この結果、操作者の負担を軽減したり装置使用時の安全性を向上することが可能となる。 Further, in the present embodiment, in particular, the control device 50 detects a torque of at least one of the torque of the lifting motor M1, the torque of the first rotation motor M2, and the torque of the second rotation motor M3. Is provided. At least one of the lifting motor M1, the first rotation motor M2, and the second rotation motor M3 is based on the at least one torque detected by the torque detection unit 521, and the second motor of the control device 50. It is controlled by the control unit 520. Accordingly, for example, when the cared person M lifted by the device or various abnormalities related to the cared person M (for example, the cared person M whose weight exceeds the specified weight range) The cared person M, in which M is rampant, the cared person M is sandwiched, and there is a locked part that is not locked to the locking part 7 among the plurality of locked parts of the sling sheet 6 It is possible to automatically stop the operation of the central holder portion 2, the first arm member 4, and the second arm member 5 when the mounting position on the sling sheet 6 is not appropriate. As a result, it is possible to reduce the burden on the operator and improve the safety when using the apparatus.
　また、本実施形態では特に、制御装置５０の判定部５２３が、トルク検出部５２１により検出される上記少なくとも１つのトルクに基づいて、係止部７により係止されたスリングシート６に載置され持ち上げられた被介護者Ｍの着地、及び、当該被介護者Ｍに係る異常の有無の少なくとも一方の判定を行う。そして、第２モータ制御部５２０が、判定部５２３の判定結果に基づいて、中央ホルダー部２の昇降動作、第１アーム部材４の回動動作、及び第２アーム部材５の回動動作の少なくとも１つが停止されるように、昇降用モータＭ１、第１回動用モータＭ２、及び第２回動用モータＭ３の少なくとも１つを制御する。これにより、装置により持ち上げられた被介護者Ｍの着地時や、当該被介護者Ｍに係る様々な異常（例えば、被介護者Ｍの体重が仕様体重範囲を超えている、被介護者Ｍが暴れている、被介護者Ｍを挟み込んでいる、スリングシート６の複数の被係止部のうちに係止部７に係止されていない被係止部が存在する、被介護者Ｍのスリングシート６上での載置位置が適正でない等）時に、中央ホルダー部２や第１アーム部材４、第２アーム部材５の動作を自動的に停止させることができる。この結果、操作者の負担を軽減することが可能となる。また、異常がある状態で装置動作が実行される危険性を低減することができ、装置使用時の安全性を向上することができる。 In the present embodiment, in particular, the determination unit 523 of the control device 50 is placed on the sling sheet 6 locked by the locking unit 7 based on the at least one torque detected by the torque detection unit 521. At least one of the landing of the lifted cared person M and the presence / absence of abnormality related to the cared person M is determined. Then, based on the determination result of the determination unit 523, the second motor control unit 520 performs at least the raising / lowering operation of the central holder unit 2, the rotation operation of the first arm member 4, and the rotation operation of the second arm member 5. At least one of the elevating motor M1, the first rotating motor M2, and the second rotating motor M3 is controlled so that one is stopped. Thereby, when the cared person M lifted by the device or various abnormalities related to the cared person M (for example, the cared person M whose weight exceeds the specified weight range) The sling of the cared person M in which there is a locked part that is not locked to the locking part 7 among the plurality of locked parts of the sling sheet 6 that sandwiches the cared person M that is rampant The operation of the central holder portion 2, the first arm member 4, and the second arm member 5 can be automatically stopped when the mounting position on the sheet 6 is not appropriate. As a result, the burden on the operator can be reduced. Further, it is possible to reduce a risk that the apparatus operation is executed in a state where there is an abnormality, and it is possible to improve safety when using the apparatus.
　また、本実施形態では特に、判定部５２３が、中央ホルダー部２の下降時に、上記少なくとも１つのトルクの下降量と第１しきい値とを比較することにより、上記着地の判定を行う。そして、第２モータ制御部５２０が、判定部５２３によって上記少なくとも１つのトルクの降下量が第１しきい値を超えることにより着地があったと判定された場合に、中央ホルダー部２の下降動作が停止されるように、昇降用モータＭ１を制御する。これにより、装置により持ち上げられた被介護者Ｍの着地時に、中央ホルダー部２の下降動作を自動的に停止させることができる。この結果、操作者の中央ホルダー部２の下降動作停止操作が不要となるので、操作者の負担を軽減することができる。また、操作者が上記停止操作を失念した等により、被介護者Ｍが中央ホルダー部２と着地先との間に挟み込まれるのを防止することができるので、装置使用時の安全性を向上することができる。 In this embodiment, in particular, the determination unit 523 determines the landing by comparing the amount of decrease in the at least one torque with the first threshold value when the center holder unit 2 is lowered. When the second motor control unit 520 determines that the determination unit 523 has landed when the decrease amount of the at least one torque exceeds the first threshold value, the lowering operation of the center holder unit 2 is performed. The lifting motor M1 is controlled so as to be stopped. Thereby, at the time of landing of the cared person M lifted by the apparatus, the lowering operation of the central holder portion 2 can be automatically stopped. As a result, since the operator does not need to stop the lowering operation of the center holder portion 2, the burden on the operator can be reduced. In addition, the care recipient M can be prevented from being sandwiched between the center holder portion 2 and the landing destination due to the operator forgetting the stop operation or the like, thus improving safety when using the device. be able to.
　また、本実施形態では特に、判定部５２３が、中央ホルダー部２の上昇時に、上記少なくとも１つのトルクの大きさと第２しきい値とを比較することにより、上記異常の有無の判定を行う。そして、第２モータ制御部５２０が、記判定部５２３によって上記少なくとも１つのトルクの大きさが第２しきい値を超えることにより異常があると判定された場合に、中央ホルダー部２の昇降動作、第１アーム部材４の回動動作、及び第２アーム部材５の回動動作が停止されるように、昇降用モータＭ１、第１回動用モータＭ２、及び第２回動用モータＭ３を制御する。これにより、例えば被介護者Ｍの体重が仕様体重範囲を超えている場合等に、装置動作を停止させることができる。この結果、このような状態で装置動作が続行される危険性を低減することができる。 In the present embodiment, in particular, the determination unit 523 determines the presence or absence of the abnormality by comparing the magnitude of the at least one torque with a second threshold value when the center holder unit 2 is raised. When the second motor control unit 520 determines that there is an abnormality due to the determination unit 523 having the magnitude of the at least one torque exceeding the second threshold value, the center holder unit 2 moves up and down. The lifting motor M1, the first rotating motor M2, and the second rotating motor M3 are controlled so that the rotating operation of the first arm member 4 and the rotating operation of the second arm member 5 are stopped. . Thereby, for example, when the weight of the cared person M exceeds the specified weight range, the device operation can be stopped. As a result, it is possible to reduce the risk that the apparatus operation is continued in such a state.
　また、本実施形態では特に、判定部５２３は、上記少なくとも１つのトルクの変動量と第３しきい値とを比較することにより、上記異常の有無の判定を行う。そして、第２モータ制御部５２０が、判定部５２３によって上記少なくとも１つのトルクの変動量が第３しきい値を超えることにより異常があると判定された場合に、中央ホルダー部２の昇降動作、第１アーム部材４の回動動作、及び第２アーム部材５の回動動作が停止されるように、昇降用モータＭ１、第１回動用モータＭ２、及び第２回動用モータＭ３を制御する。これにより、例えば装置により持ち上げられた被介護者Ｍが暴れている場合等に、装置動作を停止させることができる。この結果、このような状態で装置動作が続行され被介護者Ｍがスリングシート６から落下する危険性を低減することができる。 In the present embodiment, in particular, the determination unit 523 determines the presence or absence of the abnormality by comparing the amount of fluctuation of the at least one torque with a third threshold value. When the second motor control unit 520 determines that the determination unit 523 has an abnormality due to the fluctuation amount of the at least one torque exceeding the third threshold value, the lifting operation of the central holder unit 2, The elevating motor M1, the first rotating motor M2, and the second rotating motor M3 are controlled so that the rotating operation of the first arm member 4 and the rotating operation of the second arm member 5 are stopped. Thereby, for example, when the cared person M lifted by the apparatus is rampant, the apparatus operation can be stopped. As a result, the apparatus operation is continued in such a state, and the danger that the cared person M falls from the sling sheet 6 can be reduced.
　また、本実施形態では特に、判定部５２３が、中央ホルダー部２の昇降時又は第１アーム部材４及び第２アーム部材５の少なくとも一方の回動時に、上記少なくとも１つのトルクの上昇量と第４しきい値とを比較することにより、上記異常の有無の判定を行う。そして、第２モータ制御部５２０が、判定部５２３によって上記少なくとも１つのトルクの上昇量が第４しきい値を超えることにより異常があると判定された場合に、中央ホルダー部２の昇降動作、第１アーム部材４の回動動作、及び第２アーム部材５の回動動作が停止されるように、昇降用モータＭ１、第１回動用モータＭ２、及び第２回動用モータＭ３を制御する。これにより、例えば第１アーム部材４と第２アーム部材５との間に被介護者Ｍが挟み込まれた場合等に、その直後に装置動作を停止させることができる。この結果、このような状態で装置動作が続行される危険性を低減することができる。 In the present embodiment, in particular, the determination unit 523 determines whether the at least one torque increase amount and the first increase amount when the central holder unit 2 is raised or lowered or at least one of the first arm member 4 and the second arm member 5 is rotated. The presence or absence of the abnormality is determined by comparing with 4 threshold values. When the second motor control unit 520 determines that the determination unit 523 has an abnormality because the increase amount of the at least one torque exceeds the fourth threshold value, the lifting operation of the central holder unit 2, The elevating motor M1, the first rotating motor M2, and the second rotating motor M3 are controlled so that the rotating operation of the first arm member 4 and the rotating operation of the second arm member 5 are stopped. Thereby, for example, when the cared person M is sandwiched between the first arm member 4 and the second arm member 5, the operation of the apparatus can be stopped immediately thereafter. As a result, it is possible to reduce the risk that the apparatus operation is continued in such a state.
　また、本実施形態では特に、制御装置５０は、トルク検出部５２１により検出される第１回動用モータＭ２のトルクと第２回動用モータＭ２のトルクとのバランスを検出するバランス検出部５２２を備える。そして、判定部５２３が、中央ホルダー部２の上昇時に、バランス検出部５２２により検出されるバランスの偏り度と第５しきい値とを比較することにより、異常の有無の判定を行う。そして、第２モータ制御部５２０が、判定部５２３によって上記バランスの偏り度が第５しきい値を超えることにより異常があると判定された場合に、中央ホルダー部２の昇降動作、第１アーム部材４の回動動作、及び第２アーム部材５の回動動作が停止されるように、昇降用モータＭ１、第１回動用モータＭ２、及び第２回動用モータＭ３を制御する。これにより、例えば、スリングシート６の複数の被係止部のうちに係止部７に係止されていない被係止部が存在する場合や、被介護者Ｍのスリングシート６上での載置位置が適正でない場合等に、装置動作を停止させることができる。この結果、このような状態で装置動作が続行される危険性を低減することができる。 In the present embodiment, in particular, the control device 50 includes a balance detection unit 522 that detects the balance between the torque of the first rotation motor M2 and the torque of the second rotation motor M2 detected by the torque detection unit 521. . Then, the determination unit 523 determines whether or not there is an abnormality by comparing the degree of balance deviation detected by the balance detection unit 522 with the fifth threshold value when the center holder unit 2 is raised. Then, when the second motor control unit 520 determines that the determination unit 523 has an abnormality because the degree of bias of the balance exceeds the fifth threshold value, the lifting / lowering operation of the central holder unit 2, the first arm The elevating motor M1, the first rotating motor M2, and the second rotating motor M3 are controlled so that the rotating operation of the member 4 and the rotating operation of the second arm member 5 are stopped. Thereby, for example, when there is a locked portion that is not locked to the locking portion 7 among the plurality of locked portions of the sling sheet 6, or when the cared person M is placed on the sling sheet 6. When the installation position is not appropriate, the operation of the apparatus can be stopped. As a result, it is possible to reduce the risk that the apparatus operation is continued in such a state.
　また、本実施形態では特に、移乗補助装置１には、操作者の、操作部材３４のグリップ部３５での付勢操作を検出する付勢操作検出部（上記の例では歪みセンサ３６）が設けられる。そして、車輪２０，２０の各々を駆動させるための駆動力を発生する移動用モータＭ４，Ｍ４は、付勢操作検出部の検出結果に基づいて、制御装置５０の第３モータ制御部５３０によって駆動される。これにより、操作者は、本体部３を移動させたい方向にグリップ部３５を付勢するだけで、車輪２０，２０を、モータの駆動力により回転させることができる。したがって、操作者は、非常に簡単でかつ直観的な操作により、車輪２０，２０を回転させて本体部３を所望の方向に移動させることが可能となり、また本体部３の移動をモータの駆動力により自動的に実行させることができる。この結果、操作者の負担を軽減することができる。 In the present embodiment, in particular, the transfer assisting device 1 is provided with an urging operation detection unit (a strain sensor 36 in the above example) that detects an urging operation of the operator by the grip portion 35 of the operation member 34. It is done. The moving motors M4 and M4 that generate the driving force for driving the wheels 20 and 20 are driven by the third motor control unit 530 of the control device 50 based on the detection result of the urging operation detection unit. Is done. Thereby, the operator can rotate the wheels 20 and 20 with the driving force of a motor only by urging the grip part 35 in the direction which wants to move the main-body part 3. FIG. Accordingly, the operator can rotate the wheels 20 and 20 to move the main body 3 in a desired direction by a very simple and intuitive operation, and the movement of the main body 3 can be driven by a motor. It can be automatically executed by force. As a result, the burden on the operator can be reduced.
　また、本実施形態では特に、制御装置５０は、付勢操作検出部（上記の例では歪みセンサ３６）の検出結果に基づいて、付勢操作に対応する本体部３の移動方向を決定する方向決定部５３１を備える。そして、第３モータ制御部５３０が、本体部３が方向決定部５３１により決定された移動方向に移動するよう車輪２０，２０が回転するように、移動用モータＭ４，Ｍ４を駆動する。これにより、操作者は、本体部３を移動させたい方向にグリップ部３５を付勢するだけで、本体部３が当該方向に移動するように車輪２０，２０を回転させることができる。したがって、操作者は、非常に簡単でかつ直観的な操作により、車輪２０，２０を回転させて本体部３を所望の方向に移動させることができる。 In the present embodiment, in particular, the control device 50 determines the moving direction of the main body 3 corresponding to the urging operation based on the detection result of the urging operation detection unit (the strain sensor 36 in the above example). A determination unit 531 is provided. And the 3rd motor control part 530 drives the motors M4 and M4 for a movement so that the wheels 20 and 20 may rotate so that the main-body part 3 may move to the moving direction determined by the direction determination part 531. Thereby, the operator can rotate the wheels 20 and 20 so that the main body 3 moves in the direction only by urging the grip 35 in the direction in which the main body 3 is desired to move. Therefore, the operator can move the main body 3 in a desired direction by rotating the wheels 20 and 20 by a very simple and intuitive operation.
　また、本実施形態では特に、付勢操作検出部は、操作部材３４に設置され付勢操作によるグリップ部３５の歪みを検出する歪みセンサ３６である。グリップ部３５の歪みを検出することにより、グリップ部３５で行われた付勢操作に対応する付勢方向の検出精度を確保することができる。 In the present embodiment, in particular, the urging operation detection unit is a distortion sensor 36 that is installed on the operation member 34 and detects distortion of the grip unit 35 due to the urging operation. By detecting the distortion of the grip part 35, it is possible to ensure the detection accuracy of the urging direction corresponding to the urging operation performed by the grip part 35.
　また、本実施形態では特に、本体部３に、当該本体部３の位置を検出する位置検出部３７が設置される。そして、移動用モータＭ４，Ｍ４は、位置検出部３７の検出結果に基づいて、第４モータ制御部５４０によって制御される。これにより、移動用モータＭ４の位置検出器ＰＳ４から出力される位置データに基づいて本体部３の速さを求める場合に比べ、本体部３の速さを精度よく求めることができる。この結果、本体部３の加速度や移動速度の調整精度を向上することが可能となるので、被介護者Ｍに対し眩暈や吐き気、心地悪さ等の不快感を与えないような装置移動を実現することができる。 In the present embodiment, in particular, a position detection unit 37 that detects the position of the main body 3 is installed in the main body 3. The movement motors M4 and M4 are controlled by the fourth motor control unit 540 based on the detection result of the position detection unit 37. Thereby, compared with the case where the speed of the main-body part 3 is calculated | required based on the position data output from position detector PS4 of the motor M4 for a movement, the speed of the main-body part 3 can be calculated | required accurately. As a result, it is possible to improve the accuracy of adjustment of the acceleration and movement speed of the main body 3, so that the apparatus can be moved so as not to give discomfort such as dizziness, nausea and uncomfortableness to the cared person M. be able to.
　また、本実施形態では特に、制御装置５０は、位置検出部３７の検出結果に基づいて、本体部３の移動速度を算出する速度算出部５４１を備えるそして、第４モータ制御部５４０が、速度算出部５４１の算出結果に基づいて、移動速度が所定の速度態様となるよう車輪２０，２０が回転するように、移動用モータＭ４，Ｍ４を駆動する。これにより、移動速度が所定の速度態様（例えばＳ字曲線状に変動する速度や一定速度等）となるような装置移動を実現することができる。 Further, particularly in the present embodiment, the control device 50 includes a speed calculation unit 541 that calculates the moving speed of the main body 3 based on the detection result of the position detection unit 37, and the fourth motor control unit 540 includes the speed calculation unit 540. Based on the calculation result of the calculation unit 541, the moving motors M4 and M4 are driven so that the wheels 20 and 20 rotate so that the moving speed becomes a predetermined speed mode. Thereby, it is possible to realize device movement such that the moving speed becomes a predetermined speed mode (for example, a speed changing in an S-shaped curve, a constant speed, or the like).
　また、本実施形態では特に、複数の車輪２０として、２つのメカナムホイールが設置される。これにより、２つの車輪２０による多方向移動を実現することができる。 In the present embodiment, in particular, two Mecanum wheels are installed as the plurality of wheels 20. Thereby, the multi-directional movement by the two wheels 20 is realizable.
　また、本実施形態では特に、制御装置５０の第５モータ制御部５５０が、中央ホルダー部２の昇降動作、第１アーム部材４の回動動作、第２アーム部材５の回動動作、及び本体部３の移動動作の少なくとも１つの加速度が第６しきい値よりも小さくなるとともに、中央ホルダー部２の昇降動作、第１アーム部材４の回動動作、第２アーム部材５の回動動作、及び本体部３の移動動作の少なくとも１つの速度が所定の速度態様となるように、昇降用モータＭ１、第１回動用モータＭ２、第２回動用モータＭ３、及び移動用モータＭ４，Ｍ４の少なくとも１つを制御する。これにより、中央ホルダー部２や第１アーム部材４、第２アーム部材５を、加速度が小さくなるとともに動作速度が所定の速度態様（例えばＳ字曲線状に変動する速度や一定速度等）となるように動作させることができる。この結果、中央ホルダー部２や第１アーム部材４、第２アーム部材５の動き出しや停止を滑らかにすることが可能となる。 In the present embodiment, in particular, the fifth motor control unit 550 of the control device 50 is configured to move the central holder unit 2 up and down, rotate the first arm member 4, rotate the second arm member 5, and the main body. The at least one acceleration of the moving operation of the portion 3 is smaller than the sixth threshold value, the lifting operation of the central holder portion 2, the rotating operation of the first arm member 4, the rotating operation of the second arm member 5, And at least one of the elevating motor M1, the first rotating motor M2, the second rotating motor M3, and the moving motors M4 and M4 so that at least one speed of the moving operation of the main body 3 becomes a predetermined speed mode. Control one. As a result, the central holder portion 2, the first arm member 4, and the second arm member 5 have a reduced acceleration and an operating speed in a predetermined speed mode (for example, a speed that varies in an S-shaped curve or a constant speed). Can be operated as follows. As a result, it is possible to smoothly start and stop the center holder portion 2, the first arm member 4, and the second arm member 5.
　また、本実施形態では特に、第５モータ制御部５５０が、中央ホルダー部２の昇降動作、第１アーム部材４の回動動作、第２アーム部材５の回動動作、及び本体部３の移動動作の少なくとも１つの速度がＳ字曲線状に変動するように、昇降用モータＭ１、第１回動用モータＭ２、第２回動用モータＭ３、及び移動用モータＭ４，Ｍ４の少なくとも１つを制御する。これにより、中央ホルダー部２や第１アーム部材４、第２アーム部材５を、動作速度がＳ字曲線状に変動するように動作させることができる。この結果、中央ホルダー部２や第１アーム部材４、第２アーム部材５の動き出しや停止を滑らかにすることができる。 In the present embodiment, in particular, the fifth motor control unit 550 causes the center holder unit 2 to move up and down, the first arm member 4 to rotate, the second arm member 5 to rotate, and the main body 3 to move. At least one of the elevating motor M1, the first rotating motor M2, the second rotating motor M3, and the moving motors M4 and M4 is controlled so that at least one speed of operation fluctuates in an S-shaped curve. . Thereby, the center holder part 2, the 1st arm member 4, and the 2nd arm member 5 can be operated so that an operation speed may fluctuate in the shape of an S character. As a result, it is possible to smoothly start and stop the central holder portion 2, the first arm member 4, and the second arm member 5.
　＜変形例等＞
　なお、開示の実施形態は、上記実施形態に限られるものではなく、その趣旨及び技術的思想を逸脱しない範囲内で種々の変形が可能である。 <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.
　また、図９、図１０、図１７中に示す矢印は、信号の流れの一例を示すものであり、信号の流れ方向を限定するものではない。 Further, the arrows shown in FIGS. 9, 10, and 17 show an example of the signal flow, and do not limit the signal flow direction.
　また、図１１～図１６に示すフローチャートに記載されたステップは、記載された順序に沿って時系列的に行われる処理はもちろん、必ずしも時系列的に処理されなくとも、並列的に又は個別的に実行される処理をも含む。また時系列的に処理されるステップでも、場合によっては適宜順序を変更することが可能である。 Further, the steps described in the flowcharts shown in FIGS. 11 to 16 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.
　また、以上既に述べた以外にも、上記実施形態等による手法を適宜組み合わせて利用してもよい。 In addition to those already described above, the methods according to the above embodiments may be used in appropriate combination.
　その他、一々例示はしないが、上記実施形態等は、その趣旨を逸脱しない範囲内において、種々の変更が加えられて実施されるものである。 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.
　１　　　　　　移乗補助装置
　２　　　　　　中央ホルダー部
　３　　　　　　本体部
　４　　　　　　第１アーム部材
　５　　　　　　第２アーム部材
　６　　　　　　スリングシート
　７　　　　　　係止部
　１４　　　　　スイッチ
　２０　　　　　車輪（メカナムホイール）
　３０　　　　　操作検出部
　３２　　　　　第１接触センサ
　３３　　　　　第２接触センサ
　３４　　　　　操作部材
　３５　　　　　グリップ部
　３６　　　　　歪みセンサ（付勢操作検出部）
　３７　　　　　位置検出部
　５０　　　　　制御装置
　５１０　　　　第１モータ制御部
　５１２　　　　第１回動制御部
　５１３　　　　第２回動制御部
　５１４　　　　切替制御部
　５１５　　　　第３回動制御部
　５１６　　　　第４回動制御部
　５２０　　　　第２モータ制御部
　５２１　　　　トルク検出部
　５２２　　　　バランス検出部
　５２３　　　　判定部
　５３０　　　　第３モータ制御部
　５３１　　　　方向決定部
　５４０　　　　第４モータ制御部
　５４１　　　　速度算出部
　５５０　　　　第５モータ制御部
　Ｍ１　　　　　昇降用モータ
　Ｍ２　　　　　第１回動用モータ
　Ｍ３　　　　　第２回動用モータ
　Ｍ４　　　　　移動用モータ DESCRIPTION OF SYMBOLS 1 Transfer assist device 2 Center holder part 3 Main-body part 4 1st arm member 5 2nd arm member 6 Sling sheet 7 Locking part 14 Switch 20 Wheel (Mecanum wheel)
30 Operation Detection Unit 32 First Contact Sensor 33 Second Contact Sensor 34 Operation Member 35 Grip Unit 36 Strain Sensor (Biasing Operation Detection Unit)
37 position detection unit 50 control device 510 first motor control unit 512 first rotation control unit 513 second rotation control unit 514 switching control unit 515 third rotation control unit 516 fourth rotation control unit 520 second motor control 521 Torque detection unit 522 Balance detection unit 523 Determination unit 530 Third motor control unit 531 Direction determination unit 540 Fourth motor control unit 541 Speed calculation unit 550 Fifth motor control unit M1 Lifting motor M2 First rotation motor M3 First 2 motor for rotation M4 motor for movement

Claims (20)

  1. 　被介護者の移乗を補助する移乗補助装置であって、
    　本体部と、
    　昇降するように前記本体部に支持された中央ホルダー部と、
    　前記中央ホルダー部を中心軸として回動するように前記中央ホルダー部の周方向一方側に連結された一対の第１アーム部材と、
    　前記中央ホルダー部を中心軸として回動するように前記中央ホルダー部の周方向他方側に連結された一対の第２アーム部材と、
    　前記中央ホルダー部を昇降するための駆動力を発生するように構成された昇降用モータと、
    　前記第１アーム部材を回動するための駆動力を発生するように構成された第１回動用モータと、
    　前記第２アーム部材を回動するための駆動力を発生するように構成された第２回動用モータと、
    　操作者の操作を検出するように構成された操作検出部と、
    　前記操作検出部の検出結果に基づいて、前記昇降用モータ、前記第１回動用モータ、及び前記第２回動用モータの少なくとも１つを制御するように構成された第１モータ制御部を備えた制御装置と、
    を有することを特徴とする移乗補助装置。     A transfer assist device for assisting the transfer of a cared person,
    The main body,
    A central holder part supported by the body part so as 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;
    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;
    An operation detector configured to detect an operator's operation;
    A first motor control unit configured to control at least one of the elevating motor, the first rotation motor, and the second rotation motor based on a detection result of the operation detection unit; A control device;
    A transfer assisting device characterized by comprising:
  2. 　前記操作検出部は、
    　前記第１アーム部材及び前記第２アーム部材の少なくとも一方のアーム部材の回動方向一方側に設置され、前記操作者の接触操作を検出するように構成された第１接触センサと、
    　前記少なくとも一方のアーム部材の回動方向他方側に設置され、前記操作者の接触操作を検出するように構成された第２接触センサと、
    を備え、
    　前記第１モータ制御部は、
    　前記第１接触センサの検出結果に基づいて、少なくとも前記接触操作が検出された側の前記一対の第１アーム部材又は前記一対の第２アーム部材が前記回動方向他方側に回動するように、前記第１回動用モータ及び前記第２回動用モータの少なくとも一方を駆動するように構成された第１回動制御部と、
    　前記第２接触センサの検出結果に基づいて、少なくとも前記接触操作が検出された側の前記一対の第１アーム部材又は前記一対の第２アーム部材が前記回動方向一方側に回動するように、前記第１回動用モータ及び前記第２回動用モータの少なくとも一方を駆動するように構成された第２回動制御部と、
    を備える
    ことを特徴とする請求項１に記載の移乗補助装置。     The operation detection unit is
    A first contact sensor installed on one side in the rotational direction of at least one of the first arm member and the second arm member and configured to detect a contact operation of the operator;
    A second contact sensor installed on the other side in the rotational direction of the at least one arm member and configured to detect a contact operation of the operator;
    With
    The first motor control unit
    Based on the detection result of the first contact sensor, at least the pair of first arm members or the pair of second arm members on the side where the contact operation is detected rotate to the other side in the rotation direction. A first rotation control unit configured to drive at least one of the first rotation motor and the second rotation motor;
    Based on the detection result of the second contact sensor, at least the pair of first arm members or the pair of second arm members on the side where the contact operation is detected rotate to one side in the rotation direction. A second rotation control unit configured to drive at least one of the first rotation motor and the second rotation motor;
    The transfer assisting device according to claim 1, further comprising:
  3. 　前記第１回動制御部は、
    　前記接触操作が検出された側の一対の第１アーム部材又は一対の第２アーム部材、及び、前記接触操作が検出されなかった側の前記一対の第１アーム部材又は前記一対の第２アーム部材が、前記回動方向他方側に回動するように、前記第１回動用モータ及び前記第２回動用モータを駆動するように構成され、
    　前記第２回動制御部は、
    　前記接触操作が検出された側の一対の第１アーム部材又は一対の第２アーム部材、及び、前記接触操作が検出されなかった側の前記一対の第１アーム部材又は前記一対の第２アーム部材が、前記回動方向一方側に回動するように、前記第１回動用モータ及び前記第２回動用モータを駆動するように構成される
    ことを特徴とする請求項２に記載の移乗補助装置。     The first rotation control unit includes:
    The pair of first arm members or the pair of second arm members on the side where the contact operation is detected, and the pair of first arm members or the pair of second arm members on the side where the contact operation is not detected Is configured to drive the first rotation motor and the second rotation motor so as to rotate to the other side in the rotation direction,
    The second rotation control unit includes:
    The pair of first arm members or the pair of second arm members on the side where the contact operation is detected, and the pair of first arm members or the pair of second arm members on the side where the contact operation is not detected The transfer assisting device according to claim 2, wherein the first rotation motor and the second rotation motor are driven so as to rotate to one side in the rotation direction. .
  4. 　前記第１モータ制御部は、
    　前記第１回動制御部の制御により前記少なくとも接触操作が検出された側の一対の第１アーム部材又は一対の第２アーム部材が前記回動方向他方側への回動動作を行っている最中に、前記第２接触センサにより前記接触操作が検出された場合に、前記回動方向他方側への回動動作が停止又は減速されるように、前記第１回動制御部による駆動を制御するように構成された第３回動制御部と、
    　前記第２回動制御部の制御により前記少なくとも接触操作が検出された側の一対の第１アーム部材又は一対の第２アーム部材が前記回動方向一方側への回動動作を行っている最中に、前記第１接触センサにより前記接触操作が検出された場合に、前記回動方向一方側への回動動作が停止又は減速されるように、前記第２回動制御部による駆動を制御するように構成された第４回動制御部と、
    を備える
    ことを特徴とする請求項２又は３に記載の移乗補助装置。     The first motor control unit
    The pair of first arm members or the pair of second arm members on the side where at least the contact operation is detected by the control of the first rotation control unit is performing the rotation operation to the other side in the rotation direction. When the contact operation is detected by the second contact sensor, the drive by the first rotation control unit is controlled so that the rotation operation toward the other side in the rotation direction is stopped or decelerated. A third rotation control unit configured to:
    The pair of first arm members or the pair of second arm members on the side where at least the contact operation is detected by the control of the second rotation control unit is performing the rotation operation to one side in the rotation direction. When the contact operation is detected by the first contact sensor, the drive by the second rotation control unit is controlled so that the rotation operation toward one side of the rotation direction is stopped or decelerated. A fourth rotation control unit configured to:
    The transfer assisting device according to claim 2, further comprising:
  5. 　前記操作者の前記第１接触センサ及び前記第２接触センサの有効及び無効の切替操作を受け付けるように構成されたスイッチをさらに有し、
    　前記第１モータ制御部は、
    　前記有効時に前記第１回動制御部及び前記第２回動制御部による駆動を有効とし、前記無効時に前記第１回動制御部及び前記第２回動制御部による駆動を無効とするように構成された切替制御部を備える
    ことを特徴とする請求項２乃至４のいずれか１項に記載の移乗補助装置。     And further comprising a switch configured to accept an effective and invalid switching operation of the first contact sensor and the second contact sensor of the operator,
    The first motor control unit
    The driving by the first rotation control unit and the second rotation control unit is enabled when the operation is valid, and the driving by the first rotation control unit and the second rotation control unit is disabled when the operation is invalid. The transfer assisting device according to any one of claims 2 to 4, further comprising a configured switching control unit.
  6. 　前記制御装置は、
    　前記昇降用モータのトルク、前記第１回動用モータのトルク、及び前記第２回動用モータのトルクの少なくとも１つのトルクを検出するように構成されたトルク検出部と、
    　前記トルク検出部により検出される前記少なくとも１つのトルクに基づいて、前記昇降用モータ、前記第１回動用モータ、及び前記第２回動用モータの少なくとも１つを制御するように構成された第２モータ制御部と、
    を備える
    ことを特徴とする請求項１乃至５のいずれか１項に記載の移乗補助装置。     The controller is
    A torque detector configured to detect at least one of the torque of the lifting motor, the torque of the first rotation motor, and the torque of the second rotation motor;
    The second motor is configured to control at least one of the elevating motor, the first rotating motor, and the second rotating motor based on the at least one torque detected by the torque detecting unit. A motor controller;
    The transfer assisting device according to any one of claims 1 to 5, further comprising:
  7. 　前記被介護者が載置されるスリングシートの係止及び当該係止の解除を行うように前記第１アーム部材及び前記第２アーム部材の各々に設置された係止部をさらに有し、
    　前記制御装置は、
    　前記トルク検出部により検出される前記少なくとも１つのトルクに基づいて、前記係止部により係止された前記スリングシートに載置され持ち上げられた前記被介護者の着地、及び、当該被介護者に係る異常の有無、の少なくとも一方の判定を行うように構成された判定部を備え、
    　前記第２モータ制御部は、
    　前記判定部の判定結果に基づいて、前記中央ホルダー部の昇降動作、前記第１アーム部材の回動動作、及び前記第２アーム部材の回動動作の少なくとも１つが停止又は減速されるように、前記昇降用モータ、前記第１回動用モータ、及び前記第２回動用モータの少なくとも１つを制御するように構成される
    ことを特徴とする請求項６に記載の移乗補助装置。     A locking portion installed on each of the first arm member and the second arm member so as to lock the sling sheet on which the care recipient is placed and release the locking;
    The controller is
    Based on the at least one torque detected by the torque detector, the care receiver landing on the sling sheet locked by the lock portion and lifted, and the care receiver A determination unit configured to determine at least one of the presence or absence of such an abnormality,
    The second motor controller is
    Based on the determination result of the determination unit, so as to stop or decelerate at least one of the lifting operation of the central holder unit, the rotation operation of the first arm member, and the rotation operation of the second arm member, The transfer assisting device according to claim 6, wherein the transfer assisting device is configured to control at least one of the elevating motor, the first rotating motor, and the second rotating motor.
  8. 　前記判定部は、
    　前記中央ホルダー部の下降時に、前記少なくとも１つのトルクの下降量と、当該下降量に関し設定された第１しきい値と、を比較することにより、前記着地の判定を行うように構成され、
    　前記第２モータ制御部は、
    　前記判定部によって前記降下量が前記第１しきい値を超えることにより前記着地があったと判定された場合に、前記中央ホルダー部の下降動作が停止又は減速されるように、前記昇降用モータを制御するように構成される
    ことを特徴とする請求項７に記載の移乗補助装置。     The determination unit
    When the center holder part is lowered, the landing amount is determined by comparing the amount of decrease in the at least one torque with a first threshold value set with respect to the amount of decrease.
    The second motor controller is
    When the determination unit determines that the landing has occurred because the amount of lowering exceeds the first threshold value, the elevating motor is moved so that the lowering operation of the central holder unit is stopped or decelerated. The transfer assisting device according to claim 7, wherein the transfer assisting device is configured to be controlled.
  9. 　前記判定部は、
    　前記中央ホルダー部の上昇時に、前記少なくとも１つのトルクの大きさと、当該大きさに関し設定された第２しきい値と、を比較することにより、前記異常の有無の判定を行うように構成され、
    　前記第２モータ制御部は、
    　前記判定部によって前記大きさが前記第２しきい値を超えることにより前記異常があると判定された場合に、前記中央ホルダー部の昇降動作、前記第１アーム部材の回動動作、及び前記第２アーム部材の回動動作が停止されるように、前記昇降用モータ、前記第１回動用モータ、及び前記第２回動用モータを制御するように構成される
    ことを特徴とする請求項７又は８に記載の移乗補助装置。     The determination unit
    It is configured to determine whether or not there is an abnormality by comparing the magnitude of the at least one torque with a second threshold value set with respect to the magnitude when the central holder portion is raised,
    The second motor controller is
    When the determination unit determines that the abnormality is present due to the size exceeding the second threshold value, the center holder unit is moved up and down, the first arm member is rotated, and the first The orbiting motor, the first rotating motor, and the second rotating motor are controlled so that the rotating operation of the two-arm member is stopped. 8. The transfer assist device according to 8.
  10. 　前記判定部は、
    　前記少なくとも１つのトルクの変動量と、当該変動量に関し設定された第３しきい値と、を比較することにより、前記異常の有無の判定を行うように構成され、
    　前記第２モータ制御部は、
    　前記判定部によって前記変動量が前記第３しきい値を超えることにより前記異常があると判定された場合に、前記中央ホルダー部の昇降動作、前記第１アーム部材の回動動作、及び前記第２アーム部材の回動動作が停止されるように、前記昇降用モータ、前記第１回動用モータ、及び前記第２回動用モータを制御するように構成される
    ことを特徴とする請求項７乃至９のいずれか１項に記載の移乗補助装置。     The determination unit
    By comparing the amount of fluctuation of the at least one torque with a third threshold value set for the amount of fluctuation, the presence / absence of the abnormality is determined,
    The second motor controller is
    When the determination unit determines that the abnormality is present due to the fluctuation amount exceeding the third threshold value, the center holder unit is moved up and down, the first arm member is rotated, and the first 8. The apparatus according to claim 7, wherein the elevating motor, the first rotating motor, and the second rotating motor are controlled so that the rotating operation of the two-arm member is stopped. 10. The transfer assist device according to any one of 9 above.
  11. 　前記判定部は、
    　前記中央ホルダー部の昇降時、又は、前記第１アーム部材及び前記第２アーム部材の少なくとも一方の回動時に、前記少なくとも１つのトルクの上昇量と、当該上昇量に関し設定された第４しきい値と、を比較することにより、前記異常の有無の判定を行うように構成され、
    　前記第２モータ制御部は、
    　前記判定部によって前記上昇量が前記第４しきい値を超えることにより前記異常があると判定された場合に、前記中央ホルダー部の昇降動作、前記第１アーム部材の回動動作、及び前記第２アーム部材の回動動作が停止されるように、前記昇降用モータ、前記第１回動用モータ、及び前記第２回動用モータを制御するように構成される
    ことを特徴とする請求項７乃至１０のいずれか１項に記載の移乗補助装置。     The determination unit
    The amount of increase of the at least one torque and the fourth threshold set with respect to the amount of increase when the central holder portion is raised or lowered or when at least one of the first arm member and the second arm member is rotated. And determining whether or not there is an abnormality by comparing the value,
    The second motor controller is
    When the determination unit determines that there is the abnormality due to the rising amount exceeding the fourth threshold value, the center holder unit is moved up and down, the first arm member is rotated, and the first 8. The apparatus according to claim 7, wherein the elevating motor, the first rotating motor, and the second rotating motor are controlled so that the rotating operation of the two-arm member is stopped. The transfer assist device according to any one of 10.
  12. 　前記制御装置は、
    　前記トルク検出部により検出される前記第１回動用モータのトルクと前記第２回動用モータのトルクとのバランスを検出するように構成されたバランス検出部を備え、
    　前記判定部は、
    　前記中央ホルダー部の上昇時に、前記バランス検出部により検出されるバランスの偏り度と、当該偏り度に関し設定された第５しきい値と、を比較することにより、前記異常の有無の判定を行うように構成され、
    　前記第２モータ制御部は、
    　前記判定部によって前記偏り度が前記第５しきい値を超えることにより前記異常があると判定された場合に、前記中央ホルダー部の昇降動作、前記第１アーム部材の回動動作、及び前記第２アーム部材の回動動作が停止されるように、前記昇降用モータ、前記第１回動用モータ、及び前記第２回動用モータを制御するように構成される
    ことを特徴とする請求項７乃至１１のいずれか１項に記載の移乗補助装置。     The controller is
    A balance detection unit configured to detect a balance between the torque of the first rotation motor detected by the torque detection unit and the torque of the second rotation motor;
    The determination unit
    The presence or absence of the abnormality is determined by comparing the degree of bias of the balance detected by the balance detector with the fifth threshold value set for the degree of bias when the center holder part is raised. Configured as
    The second motor controller is
    When the determination unit determines that the abnormality is present due to the degree of bias exceeding the fifth threshold value, the lifting operation of the central holder unit, the rotation operation of the first arm member, and the first 8. The apparatus according to claim 7, wherein the elevating motor, the first rotating motor, and the second rotating motor are controlled so that the rotating operation of the two-arm member is stopped. The transfer assist device according to any one of 11.
  13. 　前記本体部の移動用に前記本体部の下端部に設置された複数の車輪と、
    　前記複数の車輪の各々を回転させるための駆動力を発生するように構成された複数の移動用モータと、
    　前記本体部に設置され、前記複数の車輪により前記本体部の移動を行う際に前記操作者が把持しつつ所望の移動方向に付勢する付勢操作を行うためのグリップ部を備えた操作部材と、
    　前記操作者の前記付勢操作を検出するように構成された付勢操作検出部と、
    をさらに有し、
    　前記制御装置は、
    　前記付勢操作検出部の検出結果に基づいて、前記複数の移動用モータを駆動するように構成された第３モータ制御部を備える
    ことを特徴とする請求項１乃至１２のいずれか１項に記載の移乗補助装置。     A plurality of wheels installed at the lower end of the main body for moving the main body,
    A plurality of movement motors configured to generate a driving force for rotating each of the plurality of wheels;
    An operation member provided on the main body portion and provided with a grip portion for performing an urging operation for urging the main body portion in a desired moving direction while being gripped by the operator when the main body portion is moved by the plurality of wheels. When,
    An urging operation detector configured to detect the urging operation of the operator;
    Further comprising
    The controller is
    13. The third motor control unit according to claim 1, further comprising a third motor control unit configured to drive the plurality of movement motors based on a detection result of the urging operation detection unit. The transfer assistance device described.
  14. 　前記制御装置は、
    　前記付勢操作検出部の検出結果に基づいて、前記付勢操作に対応する前記本体部の移動方向を決定するように構成された方向決定部を備え、
    　前記第３モータ制御部は、
    　前記本体部が前記方向決定部により決定された移動方向に移動するよう前記複数の車輪が回転するように、前記複数の移動用モータを駆動するように構成される
    ことを特徴とする請求項１３に記載の移乗補助装置。     The controller is
    A direction determining unit configured to determine a moving direction of the main body corresponding to the biasing operation based on a detection result of the biasing operation detecting unit;
    The third motor controller is
    14. The plurality of movement motors are configured to drive the plurality of wheels so that the plurality of wheels rotate so that the main body moves in a movement direction determined by the direction determination unit. The transfer assist device described in 1.
  15. 　前記付勢操作検出部は、
    　前記操作部材に設置され前記付勢操作による前記グリップ部の歪みを検出するように構成された歪みセンサである
    ことを特徴とする請求項１３又は１４に記載の移乗補助装置。     The urging operation detector is
    The transfer assisting device according to claim 13 or 14, wherein the transfer assisting device is a strain sensor installed on the operation member and configured to detect distortion of the grip portion due to the biasing operation.
  16. 　前記本体部に設置され、前記本体部の位置を検出するように構成された位置検出部をさらに有し、
    　前記制御装置は、
    　前記位置検出部の検出結果に基づいて、複数の車輪に係る複数の移動用モータを制御するように構成された第４モータ制御部を備える
    ことを特徴とする請求項１乃至１５のいずれか１項に記載の移乗補助装置。     Further comprising a position detector configured to detect the position of the main body unit installed on the main body unit;
    The controller is
    16. The motor according to claim 1, further comprising a fourth motor control unit configured to control a plurality of movement motors related to the plurality of wheels based on a detection result of the position detection unit. The transfer assistance device according to item.
  17. 　前記制御装置は、
    　前記位置検出部の検出結果に基づいて、前記本体部の移動速度を算出するように構成された速度算出部を備え、
    　前記第４モータ制御部は、
    　前記速度算出部の算出結果に基づいて、前記移動速度が所定の速度態様となるよう前記複数の車輪が回転するように、前記複数の移動用モータを駆動するように構成される
    ことを特徴とする請求項１６に記載の移乗補助装置。     The controller is
    A speed calculator configured to calculate a moving speed of the main body based on a detection result of the position detector;
    The fourth motor controller is
    Based on the calculation result of the speed calculation unit, the plurality of movement motors are driven so that the plurality of wheels rotate so that the movement speed becomes a predetermined speed mode. The transfer assisting device according to claim 16.
  18. 　前記複数の車輪として、２つのメカナムホイールが設置される
    ことを特徴とする請求項１３乃至１７のいずれか１項に記載の移乗補助装置。     The transfer assist device according to any one of claims 13 to 17, wherein two mecanum wheels are installed as the plurality of wheels.
  19. 　前記制御装置は、
    　前記中央ホルダー部の昇降動作、前記第１アーム部材の回動動作、前記第２アーム部材の回動動作、及び複数の車輪の回転動作による前記本体部の移動動作の少なくとも１つの加速度が当該加速度に関し設定された第６しきい値よりも小さくなるとともに、前記中央ホルダー部の昇降動作、前記第１アーム部材の回動動作、前記第２アーム部材の回動動作、及び前記本体部の移動動作の少なくとも１つの速度が所定の速度態様となるように、前記昇降用モータ、前記第１回動用モータ、前記第２回動用モータ、及び複数の移動用モータの少なくとも１つを制御するように構成された第５モータ制御部を備える
    ことを特徴とする請求項１乃至１８のいずれか１項に記載の移乗補助装置。     The controller is
    The acceleration of at least one of the moving operation of the main body by the raising / lowering operation of the central holder portion, the rotating operation of the first arm member, the rotating operation of the second arm member, and the rotating operation of a plurality of wheels is the acceleration. And a lowering operation of the central holder portion, a rotating operation of the first arm member, a rotating operation of the second arm member, and a moving operation of the main body portion. Configured to control at least one of the elevating motor, the first rotating motor, the second rotating motor, and the plurality of moving motors so that at least one of the speeds is in a predetermined speed mode. The transfer assisting device according to claim 1, further comprising a fifth motor control unit.
  20. 　前記第５モータ制御部は、
    　前記中央ホルダー部の昇降動作、前記第１アーム部材の回動動作、前記第２アーム部材の回動動作、及び前記本体部の移動動作の少なくとも１つの速度がＳ字曲線状に変動するように、前記昇降用モータ、前記第１回動用モータ、前記第２回動用モータ、及び前記複数の移動用モータの少なくとも１つを制御するように構成される
    ことを特徴とする請求項１９に記載の移乗補助装置。     The fifth motor control unit
    At least one speed of the raising / lowering operation of the central holder portion, the turning operation of the first arm member, the turning operation of the second arm member, and the moving operation of the main body portion varies in an S-curve shape. 20. The apparatus according to claim 19, wherein the at least one of the elevating motor, the first rotating motor, the second rotating motor, and the plurality of moving motors is controlled. Transfer assist device.
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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20040148699A1 (en) * 1997-11-05 2004-08-05 Fernie Geoffrey Roy Patient transfer device
WO2008129847A1 (en) * 2007-04-12 2008-10-30 Panasonic Corporation Transfer supporting device
WO2009147832A1 (en) * 2008-06-06 2009-12-10 パナソニック株式会社 Robot, robot control device, control method and control program
JP2011172898A (en) * 2010-01-29 2011-09-08 Nobuo Ueda Lift for care
JP5412004B2 (en) * 2010-03-29 2014-02-12 コリア インスティテュート オブ インダストリアル テクノロジー Lifting device with a ring-shaped operation part
WO2014046292A1 (en) * 2012-09-19 2014-03-27 マッスル株式会社 Care method and care robot used therein

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20040148699A1 (en) * 1997-11-05 2004-08-05 Fernie Geoffrey Roy Patient transfer device
WO2008129847A1 (en) * 2007-04-12 2008-10-30 Panasonic Corporation Transfer supporting device
WO2009147832A1 (en) * 2008-06-06 2009-12-10 パナソニック株式会社 Robot, robot control device, control method and control program
JP2011172898A (en) * 2010-01-29 2011-09-08 Nobuo Ueda Lift for care
JP5412004B2 (en) * 2010-03-29 2014-02-12 コリア インスティテュート オブ インダストリアル テクノロジー Lifting device with a ring-shaped operation part
WO2014046292A1 (en) * 2012-09-19 2014-03-27 マッスル株式会社 Care method and care robot used therein

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