JP2000070312A - Nursing assistance device - Google Patents

Abstract

(57) [Summary] [Problem] To provide a nursing assisting device in which the weight of the care receiver does not act on the forearm of the caregiver, and can perform another task with assistance. SOLUTION: The upper side of an arm member 23 is a support part for a care receiver, and the lower side is a forearm support part for a care giver. This arm member 23
A load sensor 37 for detecting an operation force is provided below the.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an auxiliary device for nursing care for holding a care receiver such as a caretaker who is called a bedridden elderly.

[0002]

2. Description of the Related Art Conventionally, as an assisting device for reducing the physical burden on a caregiver who performs a care work in which a cared person, such as a bedridden elderly person or a sick person who cannot get out of bed by himself, is transferred to a wheelchair or a moving bed. For example, see JP-A-3-165.
There is one disclosed in Japanese Patent Publication No. 765.

The care assisting device disclosed in this publication is for reducing the burden on the forearm and the body of the caregiver holding the care receiver, and includes an arm member for supporting the forearm of the caregiver from below. The arm member is driven by auxiliary power.

[0004] The arm member is supported by a support positioned behind the back of the caregiver so as to be vertically swingable via a connecting member corresponding to the upper arm of the human body. More specifically, a connecting portion between the rear end portion of the arm member and the front end portion of the connecting member, and a connecting portion between the rear end portion of the connecting member and the strut, each having a left-right direction relative to the other member. Are connected so as to be freely rotatable around the axis of.

The arm members and the connecting members are driven by telescopic actuators. That is,
A structure is employed in which the arm member is vertically swung by an actuator using a connection portion with the connection member as a fulcrum, and the connection member is vertically swung by the actuator using the connection portion with the support column as a fulcrum. A load applied to the arm member is detected by a load sensor, and the output of the actuator is controlled to a value corresponding to the load.

[0006] Further, in this care assisting device, the care supporter is supported by the cart having wheels, and the forearm of the caregiver holding the care receiver is supported by the arm member. The structure that can be moved by is adopted.

[0007] In the conventional care assisting device constructed as described above, the arm member and the connecting member push up the forearm when holding the care receiver lying on the bed with the forearm of the caregiver. Therefore, the burden on the caregiver can be reduced.

[0008]

However, the conventional nursing assist device constructed as described above employs a structure in which the forearm of the caregiver is supported from below by an arm member, and the forearm is connected to the arm member and the care receiver. There was a problem that would be sandwiched between. For this reason, the forearm is pressed by the weight of the care receiver.

[0009] Moreover, since the caregiver cannot remove his arm, he or she must take the place to perform another task involving assistance such as bed making or removing obstacles in the moving passage. I can't leave. It should be noted that even if the care receiver on the forearm can be moved to the arm member and the forearm can be removed, this nursing assistance device has a support behind the caregiver, and the support behind the caregiver is blocked by the support. Therefore, it is difficult for the caregiver to leave the auxiliary device.

Further, in this care assisting device, since the arm member and the connecting member swing around the left-right axis, if the assisting power is lost while holding the care-receiver, the forearm is tilted forward. However, there is a possibility that the care receiver cannot be supported.

The present invention has been made in order to solve such a problem, and the entire weight of the care receiver does not act on the forearm of the caregiver. The first is to provide an assisting device for nursing care
The purpose of. A second object is to be able to support the care receiver even if the auxiliary power is lost.

[0012]

In order to achieve this object, a care assisting device according to the present invention provides a care receiver support at the upper side of an arm member and a caregiver forearm support at a lower side. In addition, an operating force detecting sensor is provided below the arm member. ADVANTAGE OF THE INVENTION According to this invention, a care receiver can be put on an arm member and a caregiver can move an arm freely under an arm member.

According to a second aspect of the present invention, there is provided the nursing assisting device according to the first aspect of the present invention, wherein the arm member is supported by a cart movable on the floor via a support post. Are arranged so as to be separated from each other in the left-right direction of the caregiver, and at least one of the front part and the rear part of the cart is connected to each other near the floor. According to the present invention, the back of the caregiver is widely opened, so that the caregiver can fall backward by removing the arm from the arm member.

According to a third aspect of the present invention, there is provided the nursing assisting device according to the second aspect, wherein an outrigger is provided on the bogie so as to be able to move forward and backward with respect to the front of the bogie, and a balance weight is provided to the auxiliary device. The unit is provided movably between a position near the center of gravity of the unit and a rear position. According to the present invention, the load acting on the auxiliary device unit such that it tilts forward can be supported by advancing the outrigger, and can be offset by moving the balance weight backward.

According to a fourth aspect of the present invention, there is provided the nursing assisting device according to any one of the first to third aspects, wherein the arm member is provided at a distal end of the multi-joint arm. The multi-joint arm has a structure in which the arm member moves in a horizontal state or a state in which the arm member is inclined forward and upward. According to the present invention, the arm member can support the cared person by maintaining the horizontal state or the state of inclining forward when the auxiliary power is lost.

[0016]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS First Embodiment An embodiment of a care assisting device according to the present invention will be described below in detail with reference to FIGS.

FIG. 1 is a side view showing a state in which a care recipient is moved from a bed to a care assistance device according to the present invention, FIG. 2 is a plan view of the same, and FIG. 3 is a side view showing a state in which the care recipient is raised. FIG. 4 is a plan view of the same. FIG. 5 is a front view showing an arm member for the left hand, and FIG. 6 is a block diagram showing a control system of the care assisting device according to the present invention.

In these figures, reference numeral 1 denotes a care assistance device according to this embodiment, reference numeral 2 denotes a caregiver, reference numeral 3 denotes a cared person, and reference numeral 4 denotes a bed. This auxiliary device 1 includes an auxiliary device unit 8 composed of a truck 5 movable on the floor, a column 6 suspended from the column 5 and an articulated arm 7 attached to the upper end of the column 6 as shown in FIG. As shown in (1), a structure is adopted in which the caregiver 2 can be separated in the left-right direction.

The cart 5 has casters 9 mounted on the lower side of two right and left bogie main bodies 5a each composed of a rectangular tube extending in the front-rear direction, and forward and backward two right and left outriggers 10 in the front part of the main body 5a. Mounted freely. In this embodiment, the casters 9 are provided at the front end and the rear end of the bogie main body 5a, respectively. The casters 9 at the front end can change the direction of the cart,
The wheel 9a has a structure in which the wheel 9a also rotates in the left-right direction. Also,
The caster 9 at the rear end does not have a function of turning the wheel 9a in the left-right direction, but instead employs a structure in which the wheel 9a is driven by a motor 9b. For this reason, this cart 5
By driving the rear wheels 9a, the vehicle can travel by itself.

The left and right outriggers 10 project from the bogie main body 5a forward as shown in FIG.
As shown in FIG. 3, it has a structure in which it moves back and forth between a storage position where it is stored inside the bogie main body 5a. Also, casters 10a are provided below the distal ends of the left and right outriggers 10. The outrigger 10 is driven by the bogie main body 5.
This is performed by rotating a screw rod of a ball screw mechanism (not shown) by a motor 11 attached to the rear end of the motor a.

As shown in FIG. 2, the left bogie main body 5a and the right bogie main body 5a have their rear ends connected to each other by a cross member 12. By providing the cross member 12 in this manner, the carriage 5 is formed, and the auxiliary device unit 8 on the left side and the auxiliary device unit 8 on the right side are connected to each other. As shown by a two-dot chain line in FIG. 2, the front ends of the left and right bogie main bodies 5a may be connected to each other by a cross member 12 '. In this case, instead of the stop switch 39 described later,
The stop switch 39 'having the same function is connected to the cross member 1
If it is arranged at the center in the left-right direction of the rear side surface of the 2 ', operation with the foot is easy.

The column 6 supports a supporting member 13 of the articulated arm 7 described later so as to be rotatable around a vertical axis, and a motor 14 for rotating the supporting member 13.
It has. In this embodiment, a balance weight 15 is attached to a lower portion of the column 6. As shown in FIG. 1, the balance weight 15 is located at a position behind the center of gravity G of the auxiliary device unit 8 and, as shown in FIG.
The structure that swings between the position in the vicinity of is adopted. The position of the balance weight 15 is changed by transmitting the power of a motor 16 attached to the rear part of the carriage 5 to a pulley 18 at the base of the balance weight by a belt 17.

The articulated arm 7 includes the support member 13 rotatably supported by the column 5, a rear parallel link 21 extending forward from the support member 13, and a front end of the rear parallel link 21. , And an arm member 23 attached to the front end of the front parallel link 22 so as to be swingable in the horizontal direction.

The front and rear parallel links 21 and 22 have a structure in which plate-like links 21a and 22a are vertically arranged in such a manner that a main surface thereof is directed in the up and down direction. Of the links 21a and 22a, the upper link and the lower link are connected to each other via a support shaft supported by a support plate 24 so as to be vertically swingable. The connecting portion between the rear parallel link 21 and the support member 13 and the connecting portion between the front parallel link 22 and the arm member 23 also have the same connection structure.

The rear side parallel link 21 is provided with a drive link 25 for driving the link in the vertical direction.
a, 21a. This drive link 25
Is a lever 26 connected to the end on the support member side so as to swing integrally, and a wire 27 connected to the lever 26.
And the motor 28 is connected via the. A tension coil spring 29 is interposed in the middle of the wire 27. When the motor 28 winds the wire 27, the multi-joint arm 7 swings upward with the rear end as a fulcrum, and when the wire 27 is extended, the multi-joint arm 7 swings downward.

Actuators 30 and 31 for determining the swing angle of the front parallel link 22 with respect to the rear parallel link 21 are provided at the front end of the rear parallel link 21 and the front end of the front parallel link 22, respectively. Installed. These actuators 30 and 31 apply the power of a motor 33 to a pulley 32 fixed to a driven side member by a belt 34.
It has a structure to communicate by.

Further, an actuator 35 for swinging the arm member 23 in the left-right direction is attached to the front end of the front parallel link 22, as shown in FIG. The actuator 35 pivots one end and the other end to the front end of the front side parallel link 22 and the arm member 23, and a motor (not shown).
The rod 35a advances and retreats with the power of.

By forming the multi-joint arm 7 in this manner, the arm member 23 at the front end is connected to the front and rear parallel links 2.
When the angles 1 and 22 are changed, the parallel movement is performed in the vertical direction.

The arm member 23 is for applying the forearm 2a of the caregiver and supporting the cared person 3 as shown in FIG.
As shown in the figure, a base 23a pivotally attached to the front end of the front side parallel link 22 and a semi-cylindrical body 23 fixed to the base 23a.
b and is attached to the front parallel link 22 so that the upper edge of the semi-cylindrical body 23b is substantially horizontal.

The semi-cylindrical body 23b is fixed to the base 23a so as to protrude upward, and load sensors 36 for detecting the weight of the cared person are provided at two places before and after the highest part on the upper surface. At the same time, the load sensors 37 for detecting the operating force are mounted at two places in the front and rear of the highest part of the inner surface and two places in the front and rear on both right and left sides. That is, the arm member 23 has a structure in which the upper side of the semi-cylindrical body 23b is a support part for the care receiver and the lower side is a support part for the forearm for the care giver.

As shown in FIG. 6, these sensors 36 and 37 are connected to a controller 38 which will be described later. Note that the arm member 23 may be attached to the front parallel link 22 such that the upper edge of the semi-cylindrical body 23b is inclined forward and upward.
In addition, although the example in which the semi-cylindrical body 28b of the arm member 23 is used as it is is shown, the structure is such that the care recipient does not feel uncomfortable by actually covering the front side with a flexible cover.

The controller 38 includes the multi-joint arm 7
Are used to control the operations of the actuators 30, 31, and 35, the rear parallel link driving motor 28, the carriage 5, and the motors provided on the support column 6. In this embodiment, a structure is employed in which all the motors of the two auxiliary device units 8 are controlled by one controller 38.

The clutches and brakes 1 to M shown in FIG.
Is an electromagnetic clutch / brake provided integrally with each motor. In this embodiment, each motor is connected to an electromagnetic clutch and a non-excited operation type electromagnetic brake that are connected to a power transmission system of the motor when energized by the controller 38. The traveling motor 9b of the truck 5 is not provided with the electromagnetic clutch / brake.

The speed reducers 1 to M shown in FIG. 6 include a belt type speed reducer constituted by winding a belt between a motor and a driven pulley, and an outrigger drive motor 11 and an outrigger 10. This is a gear type reduction gear interposed between the gears. In addition, the traveling motor 9b of the truck 5 and the wheels 9
No reduction gear is provided between the supporting member 13 and the supporting member driving motor 14 of the column 6 and the supporting member 13.

Further, the position sensors 1 to N shown in FIG.
Is for detecting the rotation angle of the rear parallel link 21, the front parallel link 22, the arm member 23, the support member 13, and the balance weight 15, and the position of the outrigger 5.

In addition, the controller 38 includes the caregiver 2
Each actuator 3 so that the care receiver 3 can be maintained in a lifted state when it is necessary to temporarily separate from the auxiliary device 1 or the use of the auxiliary device 1 can be stopped.
A function of stopping the motors 0, 31, 35 and other motors and bringing them into a brake operating state to maintain the position of the arm member 23 is provided. The switch for performing the stop in this manner includes a stop switch ON operation when the caregiver 2 separates from the auxiliary device 1 and a stop switch OFF operation when returning to the auxiliary device 1, and the load sensor 37 detects the load. Becomes effective in the state that it is. For this reason, the stop switch is provided on the cart 5 so that the caregiver 2 can operate the arm with his / her arms on the arm member 23 with his / her feet. This stop switch is indicated by reference numeral 39 or 39 'in the figure.

The controller 38 controls each motor based on the output value of each sensor. That is, as shown in FIG. 1, the caregiver 3 is put on the arm member 23 by placing the forearm 2 a of the caregiver 2 on the lower side of the arm member 23, so that the controller 38 The magnitude of the present force is detected by the operation force detection load sensor 37, and the weight of the care receiver 3 is detected by the weight detection load sensor 36 provided on the upper surface of the arm member 23. Rear parallel link 21 and front parallel link 22 such that a force capable of supporting substantially all of
, And the motor 28 on the support member side.

In this state, when the caregiver 2 stands up and lifts the arm member 23 with the forearm 2a, the upward force is detected by the load sensor 37 for detecting the operation force, and the controller 38 controls the actuator 30, 31 and the motor 28 are controlled such that the front and rear parallel links 21 and 22 operate in the same direction as the direction of the force (in this case, upward).
When carrying out this control, almost all of the weight of the care receiver 3 is supported. As a result, the care receiver 2 can be held up as shown in FIG. 3 even if the force applied by the caregiver 2 is small.

The caregiver 2 moves the forearm 2a in either the left or right direction while the care receiver 3 is supported by the arm member 23, and the load sensor 37 on the side of the arm member 23 detects the load transmitted from the forearm 2a. When detected, the controller 38 controls the actuator 35 so that the arm member 23 swings in the same direction with a force corresponding to the load. Arm member 2
If the load sensor 37 detects the load even after the swing angle of the support member 3 reaches the maximum, the controller 38 controls the support member driving motor 14 provided on the support 6 to support the support member 1.
3 is controlled to rotate in the same direction.

When the caregiver 2 starts using the auxiliary device 1, the caregiver 2 applies both arms to the arm member 23 after turning on a main switch (not shown), and the load sensor 3
When the stop switch 39 is pressed in a state where the load is detected by the device 7, the stop switch 39 is turned off, and even if the care receiver 3 is not yet supported by the auxiliary device 1, the load sensor 3
7 can detect the movement of both arms, and can move the arm member 23 in any of up, down, left, right, front and back directions. Further, even after the caregiver 2 removes the care receiver 3 from the assist device 1, the load sensor 37 detects the movement of both arms, and the caregiver 2 moves the arm member 23 in any of the up, down, left, right, front and back directions. Can also be moved. In order to stop using the auxiliary device 1 in this state, the stop switch 39 is pressed with a foot to turn it on, and then the main switch is turned off.

In order to lower the cared person 3 from the state of being lifted as shown in FIG. 3 to the bed 4 or a wheelchair (not shown), the carer 2 only needs to slowly lower the forearm 2a.
That is, at this time, the load applied from the forearm 2a to the load sensor 37 for detecting the operating force of the arm member 23 is reduced. Therefore, the controller 38 operates the actuators 3 so that the rear parallel link 21 and the front parallel link 22 are lowered.
0, 31 and the motor 28 on the support member side are controlled.

Further, when the rear parallel link 21 and the front parallel link 22 take a form extending forward as shown in FIG.
The position of the center of gravity in a state where the weight of the care receiver 3 is added to the arm member 23 is determined, and the outrigger 10 is advanced so that the position of the center of gravity is located within the ground contact surface. When the outrigger 10 hits an obstacle and is prevented from moving forward, the controller 38 swings the balance weight 15 to the rear position. Form of front and rear parallel links 21 and 22 (inclination angle)
Is detected by position sensors provided on these parallel links 21 and 22. The balance may be obtained by operating both the outrigger 10 and the balance weight 15.

The care assisting device 1 thus configured is
The care receiver 3 can be put on the arm member 23,
Can move the forearm 2a freely under the arm member 23, so that the forearm 2a of the caregiver 2 is not pressed by the weight of the care receiver 3 and the burden on the caregiver 2 can be reduced. it can.

The care assisting device 1 includes a caregiver 2
Since only the forearm 2a is applied to the arm member 23, the use can be started without performing any special operation such as fixing the forearm 2a to the arm member 23, and the body shape of the caregiver 2. Is not affected.

Further, in this care assisting device 1, an assisting device unit 8 having an articulated arm 7 is disposed on the left and right sides of the caregiver 2. The lower right and left bogie main bodies 5a are located at the front or rear portions. Alternatively, while the cart 5 is formed by being connected by both, the back of the caregiver 2 is widely opened at the time of use. Therefore, the caregiver 2 turns on the stop switch 39 with the foot when temporarily leaving the auxiliary device 1. After that, the forearm 2a is removed, and it is possible to fall backward without contacting the care receiver 3. When the bogie main bodies 5a are connected to each other at the front part, it is not necessary to straddle the cross member 12 'when descending rearward.

As a result, while the care receiver 3 is supported by the arm member 23, it is possible to perform bed making work or other work accompanied by assistance such as removal of obstacles on the passage. In addition, since the constituent members of the multi-joint arm 7 do not exist behind the caregiver 2, the constituent members do not hit the obstacle behind when the care receiver 3 retreats while holding it. Moreover, the support column 6 supporting the articulated arm 7
Since the moment acting on the articulated arm 7 supporting the cared person 3 is smaller than when the is arranged behind the caregiver 2, the overall size of the device can be reduced.

Further, in the care assisting device 1, the outrigger 10 is moved forward by applying a load acting on the assisting device unit 8 so that the care receiver 3 is supported by the arm member 23 such that the assisting device unit 8 is tilted forward. And the balance weight 15 can be offset by moving the balance weight 15 backward.
Is moved forward, and even if the center of gravity moves forward due to placing the care receiver 3, the balance in the front-rear direction can be maintained. In addition, compared to a structure in which the carriage 5 is formed long in the front-rear direction to increase the stability, the size of the carriage 5 can be reduced, and the occupied area can be reduced.

In addition, since the arm member 23 is provided at the distal end of the articulated arm 7 and the arm member 23 always moves in a horizontal state, the actuators 30 and 31 and the motor 28 on the support member side are used. The arm member 23 keeps the horizontal state even if the driving power is lost. For this reason, the care receiver 3 can be supported reliably.

Second Embodiment Another embodiment of the care assisting device according to the present invention will be described in detail with reference to FIGS.

FIG. 7 is a side view showing a state in which the care receiver is moved from the bed to the care assistance device, FIG. 8 is a plan view of the same, FIG. 9 is a side view illustrating a state in which the care receiver is lifted, and FIG. FIG. In these drawings, the same or equivalent members as those described with reference to FIGS. 1 to 6 are denoted by the same reference numerals, and detailed description is omitted.

The care assisting device 1 shown in FIGS.
The front and rear parallel links 21 and 22 of the articulated arm 7 are formed such that the links 21a and 22a swing on a horizontal plane about the support shaft. The linking portions of the front and rear parallel links 21 and 22 move sideways as shown in FIG. 10 by contracting the swing direction of each link 21a and 22a from the state of extending forward as shown in FIG. Is set to

When this embodiment is adopted, an actuator 41 for driving the rear parallel link 21 is provided between the rear end of the rear parallel link 21 and the support member 13. This actuator 41 also has the same structure as the other front actuators 30 and 31 and is controlled by the controller 38. In this embodiment, these actuators 30, 31, and 41 are used to move the arm member 23 in the front-rear direction.

The support member 13 of the articulated arm 7 is
In this embodiment, the guide rod 4 erected on the support 6
A structure is adopted in which the height can be changed by a ball screw mechanism 43 interposed between the supporting column 6 and the column 6. The ball screw mechanism 43 has a conventionally well-known structure in which a motor (not shown) provided in the column 6 rotates the screw rod 44. This motor is controlled by the controller 38 so as to correspond to the vertical load detected by the operation force detecting load sensor 37 provided on the arm member 23. Even with such a configuration, the same effect as when the first embodiment is adopted can be obtained.

[0054]

As described above, according to the present invention, the care receiver can be placed on the arm member, and the caregiver can move the arm freely under the arm member. The arm is not pressed by the weight of the cared person, and the burden on the cared person can be reduced.

According to the second aspect of the present invention, since the back of the caregiver is widely opened, the caregiver can lower the back by removing the arm from the arm member, and the cared person can move to the arm member. In the state of being supported, other operations involving assistance such as bed making and removal of obstacles on the passage can be performed.

According to the third aspect of the present invention, the load acting on the auxiliary device unit such that it tilts forward can be supported by advancing the outrigger, and offset by moving the balance weight backward. can do.

For this reason, even if the center of gravity moves forward by moving the arm member forward and placing the care receiver thereon, the balance in the front-rear direction can be maintained. Work can be performed in a stable state.

According to the fourth aspect of the present invention, the arm member
Even when the auxiliary power is lost, the cared person can be supported by maintaining the horizontal state or the state of inclining forward.
For this reason, the care receiver can be put on this auxiliary device without causing anxiety.

[Brief description of the drawings]

FIG. 1 is a side view showing a state in which a care receiver is moved from a bed to a care assistance device according to the present invention.

FIG. 2 is a plan view showing a state in which a care receiver is moved from a bed to the care assisting device according to the present invention.

FIG. 3 is a side view showing a state in which the care receiver is raised.

FIG. 4 is a plan view showing a state in which the care receiver is raised.

FIG. 5 is a front view showing an arm member for the left hand.

FIG. 6 is a block diagram showing a control system of the care assistance device according to the present invention.

FIG. 7 is a side view showing a state in which the care receiver is moved from the bed to the care assistance device.

FIG. 8 is a plan view showing a state in which the care receiver is moved from the bed to the care assistance device.

FIG. 9 is a side view showing a state in which the care receiver is raised.

FIG. 10 is a plan view showing a state in which the care receiver is raised.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 ... Auxiliary device for nursing care, 2 ... Carers, 3 ... Carers, 5 ...
Dolly, 6 ... pillar, 7 ... articulated arm, 8 ... auxiliary device unit, 10 ... outrigger, 15 ... balance weight,
21: rear parallel link, 22: front parallel link, 23 ...
Arm members.

Claims (4)

[Claims] 1. A care assisting device having an arm member that responds to a forearm of a caregiver by an auxiliary power, wherein the upper side of the arm member is a support portion for a care receiver, and the lower side is a support portion for a caregiver forearm. And an operating force detecting sensor provided below the arm member. 2. The nursing assisting device according to claim 1, wherein an arm member is supported by a bogie movable on the floor via a column extending upward, and an auxiliary device unit comprising the bogie, the column, and the arm member is provided. An auxiliary device for nursing care, wherein the auxiliary device is arranged so as to be spaced apart in the left-right direction of the caregiver, and at least one of a front portion and a rear portion of the cart is connected to each other near a floor. 3. The nursing assisting device according to claim 2, wherein an outrigger is provided on the bogie so as to be able to advance and retreat with respect to the front of the bogie, and the balance weight is moved between a position near the center of gravity of the auxiliary device unit and a rear position. An auxiliary device for nursing care, which is provided freely. 4. The nursing assisting device according to claim 1, wherein the arm member is provided at a distal end of the multi-joint arm, and the multi-joint arm is placed in a horizontal state or a raised position. An auxiliary device for nursing care, wherein the auxiliary device is configured to move in a state of being inclined.