CN102727356B - Standing-up motion auxiliary robot - Google Patents
Standing-up motion auxiliary robot Download PDFInfo
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- CN102727356B CN102727356B CN201210105419.4A CN201210105419A CN102727356B CN 102727356 B CN102727356 B CN 102727356B CN 201210105419 A CN201210105419 A CN 201210105419A CN 102727356 B CN102727356 B CN 102727356B
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Abstract
The present invention provides a kind of Standing-up motion auxiliary robot (1) being capable of miniaturization, it possesses robot body (2), robot body has base portion (20), can stretch in the vertical direction axle portion (21) and platform (22), platform has the main platform body (220) being capable of longitudinal oscillation, the ancon placement section (221L, 221R) of both sides being configured at oscillation center (210) and handle portion (222L, 222R).In Standing-up motion auxiliary robot (1), in the state of the ancon of auxiliary object person (M) is positioned over ancon placement section and holds handle portion by auxiliary object person, main platform body is made to swing, until reaching the rising ready position close to axle portion for the center of gravity (G) of auxiliary object person, axle portion is made to extend rising ready position, the thus action of standing up to auxiliary object person assists.
Description
Technical field
The present invention relates to old man and by care-giver standing up of being assisted of the action of standing up when chair or bed etc. stand up
Action auxiliary robot.
Background technology
The electronic training aidss of standing up possessing a pair of upper limb holding frame, movable pillar and pillar are had disclosed in patent documentation 1.Can
Dynamic pillar is mounted to can be with respect to pillar longitudinal oscillation.A pair of upper limb holding frame is installed on the leading section (use of movable pillar
The end of person side).Electronic training aidss of standing up according to described in this patent documentation 1, when user stands up, can pass through
A pair of upper limb holding frame (is clipped in two axils in user in the state of keeping the oxter of user from below by a pair of upper limb holding frame
In the state of lower) make movable pillar swing to assist the action of standing up of user.
There is the device of walking aid possessing a pair of user maintaining part, holding arm and pillar disclosed in patent documentation 2.Keep
Arm is mounted to can be with respect to pillar longitudinal oscillation.A pair of user maintaining part is installed on the leading section (user one of holding arm
The end of side).Device of walking aid according to described in this patent documentation 2, when user stands up, can be by making at a pair
A pair of user maintaining part (is clipped in two oxters in user in the state of keeping the oxter of user from below by user's maintaining part
In the state of) make holding arm swing assist the action of standing up of user.
Patent documentation 1：Japanese Unexamined Patent Publication 8-71114 publication
Patent documentation 2：Japanese Unexamined Patent Publication 7-184966 publication
But, the device of walking aid of electronic stand up training aidss and the patent documentation 2 of patent documentation 1 is all by single
Swing mechanism is assisting the action of standing up of user.Accordingly, it would be desirable to according to stand up action when user linear body
Action, makes upper limb holding frame (patent documentation 1), user maintaining part (patent documentation 2) be swung.Accordingly, it would be desirable on reducing
Curvature when limb holding frame, the swing of user maintaining part.In other words, need to increase pendulum radius.
For example, in the case of the electronic training aidss of standing up of patent documentation 1, it is configured with upper limb in the leading section of movable pillar
Holding frame.In addition, the rearward end (upper end of pillar) in movable pillar is configured with the oscillation center of movable pillar.Such one
Come, increase the pendulum radius of upper limb holding frame.But, because pendulum radius is larger, so when standing up of auxiliary user is dynamic
When making, produce larger moment around oscillation center because of the body weight of user.Therefore, swing mechanism easily produce bad
Situation.And, in order to overcome the body weight of user and so that movable pillar is swung, need the actuator using big output.In addition, meeting
Electronic training aidss of standing up are led to be maximized.
Similarly, in the case of the device of walking aid of patent documentation 2, also due to the pendulum radius of user maintaining part
Larger, thus when assist user stand up action when, produce larger around oscillation center because of the body weight of user
Moment.Therefore, swing mechanism easily produces unfavorable condition.And, in order to overcome the body weight of user and so that movable pillar is swung,
Need the actuator using big output.In addition, device of walking aid can be led to maximize.
Content of the invention
The Standing-up motion auxiliary robot of the present invention is to propose in view of the above problems.It is an object of the invention to provide
A kind of Standing-up motion auxiliary robot being capable of miniaturization.
(1) it is to solve the above problems, the Standing-up motion auxiliary robot of the present invention is characterised by, it possesses robot master
Body, above-mentioned robot body has：Base portion；Axle portion, can stretch in the vertical direction with respect to this base portion；And platform, this is put down
Platform has：Main platform body, can swing in the vertical with respect to above-mentioned axle portion；Ancon placement section, than the pendulum of above-mentioned main platform body
The disorder of internal organs heart is configured in above-mentioned main platform body near auxiliary object person；And handle portion, than the oscillation center of above-mentioned main platform body
It is configured in above-mentioned main platform body away from above-mentioned auxiliary object person；It is positioned over above-mentioned ancon in the ancon of above-mentioned auxiliary object person
Placement section and in the state of holding above-mentioned handle portion by above-mentioned auxiliary object person, makes above-mentioned main platform body swing, until it reaches on
The center of gravity of the person that states auxiliary object, close to the rising ready position of above-mentioned axle portion, makes above-mentioned axle portion stretch in above-mentioned rising ready position
Long, thus assist the action of standing up of above-mentioned auxiliary object person.
Standing-up motion auxiliary robot possesses robot body.Robot body possesses base portion, axle portion and platform.Axle portion energy
Enough stretch in the vertical direction with respect to base portion.Platform can swing in the vertical with respect to axle portion.Upper table in main platform body
Face, across the oscillation center of main platform body, configures ancon placement section in auxiliary object person side, and configures handle portion in opposition side.
When the action of standing up to auxiliary object person assists, first, ancon is positioned over ancon and puts by auxiliary object person
Put portion.And, auxiliary object person holds handle portion.Then, automatically or by the strength of auxiliary object person make main platform body
Above swing longitudinally (specifically, being the direction that handle portion declines, ancon placement section rises).When main platform body swings, auxiliary
The front wrist helping object is fascinated also with the swing of main platform body.Therefore, auxiliary object person becomes forward lean.With
The forward lean of the person that auxiliary object deepens, and the center of gravity of auxiliary object person is near axle portion (namely elevating shaft).Herein, rise standard
Standby position is set to, is optimal when the person that makes auxiliary object stands up with the degree of closeness of center of gravity and axle portion.Pendulum when main platform body
When dynamic angle reaches this rising ready position, axle portion is made to extend and the person that lifts auxiliary object.As described above, standing up of the present invention is dynamic
Make auxiliary robot the action of standing up of auxiliary object person is assisted.
As described above, the device of walking aid of electronic stand up training aidss and the patent documentation 2 of patent documentation 1 is all by list
One swing mechanism the action of standing up of auxiliary object person (user) is assisted.Accordingly, it would be desirable to the body according to user
Body action, makes upper limb holding frame (patent documentation 1), user maintaining part (patent documentation 2) swing.Accordingly, it would be desirable to upper limb is protected
Hold frame, the pendulum radius of user maintaining part arranges larger.
In contrast, in the case of the Standing-up motion auxiliary robot of the present invention, to swing mechanism (platform) and rising machine
Structure (axle portion) is combined and the action of standing up to auxiliary object person assists.That is, person becomes to make auxiliary object by platform
Forward lean, and by axle portion, auxiliary object person is lifted.Therefore, there is no need to arrange larger by the pendulum radius of platform.Cause
This, the Standing-up motion auxiliary robot of the present invention being capable of miniaturization.
In addition, when the action of standing up to auxiliary object person assists, the body weight of auxiliary object person is placed via ancon
Portion and handle portion and put on platform.Herein, ancon placement section and handle portion are dividually configured at both sides across oscillation center.
The direction of the moment being applied by ancon placement section is opposite each other with the direction of the moment being applied by handle portion.Therefore, two moment
At least a portion offset each other, be difficult to produce larger moment around oscillation center.Therefore, the oscillating machine of platform
Structure is not likely to produce unfavorable condition.Further, since the oscillatory forces of platform arrange less, so ought automatically make platform swing
When it is not necessary to swing actuator using big output.In addition, when the strength by auxiliary object person makes platform swing, with
Less power can make platform swing.
In addition, when auxiliary object person is lifted by axle portion, the pendulum angle of main platform body reaches and rises ready position.That is,
Axle portion (namely elevating shaft) is close with the center of gravity of auxiliary object person.Therefore, person stands up can to make auxiliary object with less power.
Therefore, there is no need to the rising actuator using big output.
(2) it is preferably formed as following structure, on the basis of the structure of above-mentioned (1), be also equipped with：Multiple load transducers, point
Load puts on the load of above-mentioned robot body and is detected；And control unit, it is transfused to the inspection of above-mentioned multiple load transducer
Measured value；The balance of the above-mentioned detected value based on above-mentioned multiple load transducers for the above-mentioned control unit judges above-mentioned auxiliary object person's
Position of centre of gravity.
Forward lean with auxiliary object person deepens, and the center of gravity of auxiliary object person is close to axle portion.According to this structure, control
Portion can hold the movement of this center of gravity according to the detected value of multiple load transducers.Therefore, it is possible to auxiliary object person with
The swing of main platform body and fascinating carry out really with.
(3) it is preferably formed as following structure, on the basis of the structure of above-mentioned (2), above-mentioned control unit has storage part, and this is deposited
Be stored with storage portion above-mentioned rising ready position corresponding with multiple above-mentioned auxiliary object persons respectively.According to this structure, according to each
Individual auxiliary object person is prepared with rising ready position respectively.Therefore, can share, between multiple auxiliary object persons, action of standing up auxiliary
Help robot.
(4) it is preferably formed as following structure, on the basis of the structure of above-mentioned (1) to any one of (3), be also equipped with arm,
This arm is connected on above-mentioned robot body, and in above-mentioned Standing-up motion auxiliary robot, above-mentioned auxiliary object person is stood up
It is fixed on when action is assisted on adjacent works.
According to this structure, when the action of standing up to auxiliary object person assists, robot body fixes via arm
In works.That is, Standing-up motion auxiliary robot can be provisionally (locking as anchor portion by the works around auxiliary object person
Thing).Therefore, when the action of standing up to auxiliary object person assists, the posture of Standing-up motion auxiliary robot can be suppressed
Become unstable.
(5) it is preferably formed as following structure, on the basis of the structure of above-mentioned (1) to any one of (4), above-mentioned action of standing up
Auxiliary robot is also equipped with guiding seat, and this guiding seat has：Rope band, is connected in above-mentioned main platform body；And seat
Main body, is connected on above-mentioned rope band and place mat is in the buttocks of above-mentioned auxiliary object person；In above-mentioned Standing-up motion auxiliary robot pair
When the action of standing up of above-mentioned auxiliary object person is assisted, the swing with above-mentioned main platform body is linked, above-mentioned guiding seat
The above-mentioned buttocks of above-mentioned auxiliary object person is lifted by chair.
According to this structure, when the action of standing up to auxiliary object person assists, the swing with main platform body is joined
Dynamic, seat main body is stretched and risen by rope band.Buttocks therefore, it is possible to the auxiliary object person by being seated at seat main body lifts.
Auxiliary object person is in order to become forward lean, it is desirable to have can follow the muscle power of degree of the swing of platform (for example
Platform is relatively moved to wrist power of chest side of oneself etc.).For this point, according to this structure, guiding seat can be from
Lower section assists to fascinating of auxiliary object person.Therefore, even the weaker auxiliary object person of muscle power, also can easily become
Forward lean.
Invention effect
According to the present invention, it is possible to provide be capable of the Standing-up motion auxiliary robot of miniaturization.
Brief description
Fig. 1 is the axonometric chart of the Standing-up motion auxiliary robot of first embodiment.
Fig. 2 is the sectional view of the fore-and-aft direction of the Standing-up motion auxiliary robot of first embodiment.
Fig. 3 is the block diagram of the Standing-up motion auxiliary robot of first embodiment.
Fig. 4 is the schematic diagram of the calling step of the Standing-up motion auxiliary robot of first embodiment.
Fig. 5 is the schematic diagram of the fixing step of the Standing-up motion auxiliary robot of first embodiment.
Fig. 6 is the schematic diagram of the step leading portion that fascinates of the Standing-up motion auxiliary robot of first embodiment.
Fig. 7 is the schematic diagram of the step back segment that fascinates of the Standing-up motion auxiliary robot of first embodiment.
Fig. 8 is the schematic diagram of the up step of the Standing-up motion auxiliary robot of first embodiment.
Fig. 9 is the schematic diagram of the step leading portion that fascinates of the Standing-up motion auxiliary robot of second embodiment.
Figure 10 is the schematic diagram of the step back segment that fascinates of the Standing-up motion auxiliary robot of second embodiment.
Label declaration
1：Standing-up motion auxiliary robot 2：Robot body
3Lf：Load transducer 3Lr：Load transducer
3Rf：Load transducer 3Rr：Load transducer
4：Control unit 5：Arm
6：Seat 7Lf is used in guiding：Driving wheel
7Lr：Driving wheel 7Rf：Driving wheel
7Rr：Driving wheel 9：Bed
20：Base portion 21：Axle portion
22：Platform 23：Foot
40：Storage part 41：Operational part
42：Input and output portion 50：Upper wrist
51：Front wrist 52D：Lower finger section
52U：Upper finger section 60D：Rope band
60U：Rope band 61：Seat main body
90：Works 200：Axle portion accepting hole
210：Swinging axle (oscillation center) 220：Main platform body
221L ancon placement section 221R：Ancon placement section
222L：Handle portion 222R：Handle portion
223L bearing portion 223R：Bearing portion
430：Light accepting part 431：Remote control
432：Axle portion load transducer 433：Platform torque sensor
434：CCD camera 435：Proximity transducer
436：Arm torque sensor 437D：Lower finger section torque sensor
437U：Upper finger section torque sensor 440：Axle portion vapour
441：Platform motor 442Lf：Walking motor
442Lr：Motor 442Rf is used in walking：Walking motor
442Rr：Walking motor 443：Arm motor
444D：Lower finger section motor 444U：Upper finger section motor
900：Works A：Elevating shaft
G：Center of gravity M：Auxiliary object person
Specific embodiment
Hereinafter, the embodiment of the Standing-up motion auxiliary robot of the present invention is illustrated.
First embodiment
The frame for movement of Standing-up motion auxiliary robot
First, the machine of the Standing-up motion auxiliary robot to present embodiment (below, suitably referred to as " robot ")
Tool structure illustrates.Fig. 1 represents the axonometric chart of the robot of present embodiment.Fig. 2 represents the fore-and-aft direction of this robot
Sectional view.Fig. 3 represents the block diagram of this robot.
As shown in FIG. 1 to 3, the robot 1 of present embodiment possesses：Robot body 2；Load transducer 3Lf, 3Lr,
3Rf、3Rr；Control unit 4；Arm 5；And driving wheel 7Lf, 7Lr, 7Rf, 7Rr.
(robot body 2)
Robot body 2 possesses：Base portion 20, axle portion 21, platform 22 and foot 23.As shown in Fig. 2 base portion 20 is in open upward
Mouthful have basal edge tubular.That is, on base portion 20, have axle portion accepting hole 200 longer in the vertical direction.In axle portion accepting hole
200 bottom contains axle portion cylinder 440.Axle portion cylinder 440 have drive in the vertical direction axle portion 21 described later,
Function as axle portion actuator.The top of axle portion cylinder 440 is configured with axle portion load transducer 432.As Fig. 1 institute
Show, foot 23 is in X font.Foot 23 is installed on the lower end of base portion 20.
As shown in figure 1, axle portion 21 is in prism-shaped.Axle portion 21 is in longer linear in the vertical direction.As shown in Fig. 2
(the auxiliary object person side before the action that the carries out standing up) bending forward of the upper end of axle portion 21.It is configured with pendulum in the upper end of axle portion 21
Moving axis 210.Swinging axle 210 is contained in the concept of " oscillation center " of the present invention.The lower end of axle portion 21 is contained in base portion 20
In axle portion accepting hole 200.The lower end of axle portion 21 is connected to axle portion load transducer 432.The load putting on axle portion 21 is by axle
Portion is detected with load transducer 432.Axle portion 21 is driven in the vertical direction by axle portion cylinder 440.Therefore, axle portion 21
Elevating shaft A consistent with the above-below direction drive shaft of cylinder 440 with axle portion.With respect to elevating shaft A, swinging axle 210 is forwards inclined
Move apart from L3.
As shown in figure 1, platform 22 possesses：Main platform body 220；Pair of right and left ancon placement section 221L, 221R；Pair of right and left
Handle portion 222L, 222R；And pair of right and left bearing portion 223L, 223R.Main platform body 220 is rectangle tabular.In main platform body
220 edge is configured with light accepting part 430 and CCD (Charge-CoupIed Device) camera 434.Light accepting part 430 can connect
Receive the infrared ray from remote control 431 described later.CCD camera 434 can shoot to the front of robot 1.Pair of right and left
Bearing portion 223L, 223R are configured at the lower surface of main platform body 220.Pair of right and left bearing portion 223L, 223R are mounted to being capable of phase
Swinging axle 210 for axle portion 21 above swings in longitudinal direction (above-below direction).Therefore, platform 22 can be with respect to axle portion 21 in longitudinal direction
Upper swing.As shown in figure 3, putting on the torque of swinging axle 210 by platform torque sensor 433 via main platform body 220
To detect.In addition, main platform body 220 is driven by platform motor 441.Platform motor 441 has makes platform 22 in the vertical
The swing, function as platform actuator.
As shown in figure 1, pair of right and left ancon placement section 221L, 221R are configured at the upper surface of main platform body 220.Ancon is put
Putting portion 221L, 221R is in soft pad form.As shown in the hatching in Fig. 1, the ancon of auxiliary object person is placed on ancon and puts
Put on portion 221L, 221R.As shown in Fig. 2 ancon placement section 221L, 221R are configured to than swinging axle 210 closer to front.
As shown in figure 1, pair of right and left handle portion 222L, 222R are configured at the upper surface of main platform body 220.Handle portion
222L, 222R are in that short axle is bar-shaped.Handle portion 222L, 222R to be held by the handss of auxiliary object person.As shown in Fig. 2 handle portion
222L, 222R are configured to than swinging axle 210 closer to rear.
So, ancon placement section 221L, 221R and handle portion 222L, 222R across swinging axle 210 in front and back
Dividually configure upwards.Herein, as shown in Fig. 2 (specifically, being Fig. 1 from swinging axle 210 to ancon placement section 221L, 221R
In the ancon of auxiliary object person shown in hatching position) apart from L1 than from swinging axle 210 to handle portion 222L, 222R
Short apart from L2.Therefore, anticlockwise from Fig. 2 that ancon placement section 221L, 221R apply to main platform body 220
" arm of force of moment " than from Fig. 2 that handle portion 222L, 222R apply to main platform body 220 clockwise " moment
The arm of force " is short.
(driving wheel 7Lf, 7Lr, 7Rf, 7Rr)
As shown in figure 1, driving wheel 7Lf, 7Lr, 7Rf, 7Rr are configured at the X word front end of the foot 23 of robot body 2.Drive
Driving wheel 7Lf, 7Lr, 7Rf, 7Rr have make robot 1 movement, as moving body function.As shown in figure 3, driving wheel 7Lf,
7Lr, 7Rf, 7Rr can be rotated independently of one another by walking motor 442Lf, 442Lr, 442Rf, 442Rr.Horse is used in walking
Reach 442Lf, 442Lr, 442Rf, 442Rr have make driving wheel 7Lf, 7Lr, 7Rf, 7Rr roll, as driving wheel actuator
Function.
(load transducer 3Lf, 3Lr, 3Rf, 3Rr)
Load transducer 3Lf, 3Lr, 3Rf, 3Rr are each installed on driving wheel 7Lf, 7Lr, 7Rf, 7Rr and robot body 2
The X word front end of foot 23 between.The load of the left front part of robot body 2 inputs to load transducer 3Lf, robot master
The load of the left back portion of body 2 inputs to load transducer 3Lr, and the load that the right front portion of robot body 2 is divided inputs to load
Sensor 3Rf, the load of the right-rearward portion of robot body 2 inputs to load transducer 3Rr.
(arm 5)
As shown in Figure 1 and Figure 2, arm 5 is configured at the antetheca of base portion 20.Arm 5 possesses：Upper wrist 50, front wrist 51, on
Finger section 52U and lower finger section 52D.Upper wrist 50 is arranged to project forward from the antetheca of base portion 20.Front wrist 51 is with can
The mode of longitudinal oscillation is installed on the front end of wrist 50.As shown in figure 3, putting on the torque of front wrist 51 by arm torque
Sensor 436 is detecting.In addition, front wrist 51 is driven with motor 443 by arm.Arm motor 443 has makes front wrist
51 longitudinal oscillations, as arm actuator function.
As shown in Figure 1 and Figure 2, upper finger section 52U, lower finger section 52D are installed in front wrist in the way of being longitudinally opened and closed
The front end in portion 51.Upper finger section 52U, lower finger section 52D have with respect to aftermentioned works stationary machines human agent 2 or releasing machine
The fixation of device human agent 2, the function as sticking department.As shown in figure 3, put on finger section 52U, lower finger section 52D turn
Square is detected with torque sensor 437U, lower finger section torque sensor 437D by upper finger section respectively.In addition, upper finger section
52U, lower finger section 52D are driven with motor 444U, lower finger section motor 444D by upper finger section respectively.Upper finger section uses horse
Reach 444U, lower finger section motor 444D has the function as the sticking department actuator driving sticking department.
The electrical structure of Standing-up motion auxiliary robot
Then, the electrical structure of the Standing-up motion auxiliary robot of present embodiment is illustrated.As shown in figure 3, control
Portion 4 processed possesses：Storage part 40, operational part 41 and input and output portion 42.
Control unit 4 be transfused to from light accepting part 430, axle portion load transducer 432, platform torque sensor 433,
CCD camera 434, proximity transducer 435, arm torque sensor 436, upper finger section torque sensor 437U and lower finger
Portion's signal of torque sensor 437D.Infrared ray is sent in light accepting part 430 from remote control 431.In addition, control unit 4 is right
Axle portion cylinder 440, platform motor 441, walking motor 442Lf, 442Lr, 442Rf, 442Rr, arm motor 443,
Upper finger section motor 444U and lower finger section motor 444D sends driving instruction.
The action of Standing-up motion auxiliary robot
Then, the action to the Standing-up motion auxiliary robot of present embodiment illustrates.Assist when standing up action
The action of robot has：Initial setting procedure, calling step, fixing step, step of fascinating and up step.
(initial setting procedure)
In this step, multiple auxiliary object persons attempt repeatedly being stood up action using robot 1 respectively.Then, right
Should each auxiliary object person, when the person that makes auxiliary object is stood up the degree of closeness of center of gravity and axle portion reach optimal position, on
Rise ready position and be stored respectively in the storage part 40 shown in Fig. 3.In addition, by rise ready position load transducer 3Lf,
The detected value of 3Lr, 3Rf, 3Rr is stored in storage part 40.So, according to this step, can correspond to each auxiliary object person will
The pendulum angle of main platform body 220 rising ready position, the position of centre of gravity rising ready position are stored respectively in storage
Portion 40.
(calling step)
Fig. 4 represents the schematic diagram of the calling step of the Standing-up motion auxiliary robot of present embodiment.As shown in figure 4,
In this step, robot 1 is made to move from optional position to the side of bed 9.That is, the auxiliary object person M being sitting on bed 9 passes through from distant
Call command is sent to the control of robot 1 (the specifically light accepting part 430 shown in Fig. 1) by the infrared ray that control device 431 sends
Portion 4 processed.The robot 1 receiving call command is confirming the same of peripheral situation using proximity transducer 435, CCD camera 434
When, using driving wheel 7Lf, 7Lr, 7Rf, 7Rr automatically walk.Then, robot 1 reaches the side of bed 9.
(fixing step)
Fig. 5 represents the schematic diagram of the fixing step of the Standing-up motion auxiliary robot of present embodiment.As shown in figure 5,
In this step, by the works (bed frame) 90 of the surrounding of the arm 5 person M that is fixed on auxiliary object.
First, the operational part 41 shown in Fig. 3 obtains image from CCD camera 434.In advance by the body of multiple auxiliary object person M
Volume data is stored in storage part 40.Operational part 41 is compared to this body data and image, and from multiple auxiliary object person M it
Whom the middle auxiliary object person M judging this calling robot 1 is.
Then, operational part 41 utilizes CCD camera 434 to search for the works around bed 9.When finding works 90, computing
Portion 41 is shot to the information display section (bar code) of works 90 using CCD camera 43.In addition, depositing in information display section
Contain the tolerance load information of works 90.
Afterwards, the body weight information to this tolerance load information and the auxiliary object person M being stored in storage part 40 for the operational part 41
It is compared.When result of the comparison is to be judged as that works 90 can when the action of standing up to auxiliary object person M assists
During the body weight of the person M that bears auxiliary object, as shown in figure 3, operational part 41 suitably drives arm motor 443, upper finger section to use
Motor 444U, lower finger section motor 444D.Then, as shown in figure 5, knot is held by upper finger section 52U, lower finger section 52D
Structure thing 90.That is, robot 1 is engaging on works 90 via arm 5.
(step of fascinating)
Fig. 6 represents the schematic diagram of the step leading portion that fascinates of the Standing-up motion auxiliary robot of present embodiment.Fig. 7 represents this
The schematic diagram of the step back segment that fascinates of Standing-up motion auxiliary robot.As shown in Figure 6, Figure 7, in this step, make auxiliary object
Person M is in forward lean.
First, ancon is positioned over ancon placement section 221L, 221R by auxiliary object person M as shown in Figure 6.And, it is auxiliary
Object M is helped to hold handle portion 222L, 222R.Therefore, in platform 22, axle portion 21, input has load.As shown in figure 3, from axle
Portion's load transducer 432, platform torque sensor 433 and load transducer 3Lf, 3Lr, 3Rf, 3Rr send to control unit 4
The signal producing with the input of load.Operational part 41 identifies auxiliary object according to this signal, and ancon is placed by person M
In ancon placement section 221L, 221R and hold handle portion 222L, 222R.
Then, shown in Fig. 3, operational part 41 drive platform motor 441, make main platform body 220 ancon placement section 221L,
The side that 221R rises and handle portion 222L, 222R decline is swung up.Now, operational part 41 checks four load transducers
The balance of the detected value of 3Lf, 3Lr, 3Rf, 3Rr.That is, check the movement of center of gravity G of auxiliary object person M.As described above, in storage
In portion 40, corresponding each auxiliary object person M is previously stored with rising ready position.And, it is stored with and rise the weight of ready position
The position of heart G.As shown in fig. 7, operational part 41 makes main platform body 220 swing, until pendulum angle reaches rising ready position being
Only.In addition, the horizontal direction position of center of gravity G to the rising ready position being stored in storage part 40 for the operational part 41 and by four
The horizontal direction position of center of gravity G of the reality that load transducer 3Lf, 3Lr, 3Rf, 3Rr detect is located in permissible range and carries out
Confirm.That is, auxiliary object person M is become by forward lean and confirms with the swing of main platform body 220.In addition,
Rising ready position, the horizontal direction position of center of gravity G of auxiliary object person M and the horizontal direction position of elevating shaft A are substantially
Unanimously.
(up step)
Fig. 8 represents the schematic diagram of the up step of the Standing-up motion auxiliary robot of present embodiment.In this step, such as
Shown in Fig. 3, operational part 41 drives axle portion cylinder 440.Then, as shown in figure 8, making axle portion 21 extend upward from base portion 20.
Auxiliary object person M stretchs out knee with the elongation of axle portion 21.That is, auxiliary object person M stands up.
So, robot 1 is by making platform 22 swing and so that axle portion 21 is extended and dynamic to standing up of auxiliary object person M
Make to be assisted.In addition, according to the detected value of four load transducers 3Lf, 3Lr, 3Rf, 3Rr check auxiliary object person M's
The change of center of gravity G.
Action effect
According to the Standing-up motion auxiliary robot 1 of present embodiment, as shown in Fig. 4～Fig. 8, to swing mechanism (platform 22)
It is combined with lifting mechanism (axle portion 21), and the action of standing up to auxiliary object person M assists.That is, made by platform 22
Auxiliary object person M is in forward lean, and is lifted auxiliary object person M by axle portion 21.Therefore, there is no need to the pendulum of platform 22
Dynamic radius is arranged to larger radius.Therefore, the Standing-up motion auxiliary robot 1 of present embodiment can achieve miniaturization.
In addition, as shown in Fig. 2 when the action of standing up to auxiliary object person M assists, the body weight of auxiliary object person M
Put on platform 22 via ancon placement section 221L, 221R and handle portion 222L, 222R.Herein, ancon placement section 221L,
221R and handle portion 222L, 222R are dividually configured at before and after both sides across swinging axle 210.From ancon placement section 221L,
The direction of moment that 221R applies is opposite each other with the direction of the moment applying from handle portion 222L, 222R.Therefore, two moment
At least a portion offset each other, be difficult to produce larger moment around swinging axle 210.Therefore, the pendulum of platform 22
Motivation structure is not likely to produce unfavorable condition.Further, since the oscillatory forces of platform 22 are less, so, horse used by the platform shown in Fig. 3
Reach 441 output less.
In addition, as shown in Fig. 2 from swinging axle 210 to ancon placement section 221L, 221R apart from L 1 ratio from swinging axle 210
Short apart from L2 to handle portion 222L, 222R.Therefore, the Fig. 2 applying to main platform body 220 from ancon placement section 221L, 221R
In anticlockwise " arm of force of moment " than up time from Fig. 2 that handle portion 222L, 222R apply to main platform body 220
" arm of force of moment " in pin direction is short.Therefore, the easy (side that auxiliary object person M leans forward toward the clockwise direction of main platform body 220
To) swing.With regard to this point, similarly, because the oscillatory forces of platform 22 are less, so, the platform motor shown in Fig. 3
441 output is less.
In addition, as shown in fig. 7, when auxiliary object person M is lifted by axle portion 21, the pendulum angle of main platform body 220 reaches
Rise ready position.That is, center of gravity G of auxiliary object person M is placed in the surface of axle portion 21 (namely elevating shaft A).Therefore, with relatively
Little power can make auxiliary object, and person M stands up.Therefore, the axle portion shown in Fig. 3 is less with the output of cylinder 440.
In addition, according to the Standing-up motion auxiliary robot 1 of present embodiment, as shown in figure 3, control unit 4 can be according to many
The detected value of individual load transducer 3Lf, 3Lr, 3Rf, 3Rr is come the movement of center of gravity G of the person M that to hold auxiliary object.Therefore, it is possible to right
Auxiliary object person M fascinates and is confirmed with the swing of main platform body 220.
In addition, according to the Standing-up motion auxiliary robot 1 of present embodiment, in the storage part 40 shown in Fig. 3, according to each
Individual auxiliary object person M is prepared with rising ready position respectively.Therefore, can share, between multiple auxiliary object person M, action of standing up
Auxiliary robot 1.
In addition, as shown in figure 1, the Standing-up motion auxiliary robot 1 of present embodiment possesses arm 5.Therefore, as Fig. 4～
Shown in Fig. 8, when the action of standing up to auxiliary object person M assists, via arm 5, robot body 2 can be fixed on
Works 90.That is, the works 90 around auxiliary object person M can be provisionally used as anchor portion (locking thing) by robot 1.Cause
This, when the action of standing up to auxiliary object person M assists, can suppress the posture of robot 1 to become unstable.
In addition, it is steady with the posture realizing robot 1 when carrying out standing up action auxiliary by increasing the weight of robot 1
The situation of fixedization is compared, and can make robot 1 lightweight.In addition, with by so that robot 1 is maximized and in the action that carries out standing up
The situation realizing the stable posture of robot 1 during auxiliary is compared, and can make robot 1 miniaturization.
(put down by the posture keeping robot 1 with driving wheel 7Lf, 7Lr, 7Rf, the 7Rr for example passing through to control robot 1
Weighing apparatus) and the situation of the stable posture of realizing robot 1 when carrying out standing up action auxiliary is compared, and can simplify robot 1
Controlling organization.
According to the Standing-up motion auxiliary robot 1 of present embodiment, main platform body 220 is put as shown in Figure 6, Figure 7 like that
Dynamic.Therefore, auxiliary object person M only passes through holding handle portion 222L, 222R and can become forward lean.Therefore, with main platform body
220 non-oscillatory situations are compared, and auxiliary object person M can become forward lean with less muscle power.
In addition, according to the Standing-up motion auxiliary robot 1 of present embodiment, as shown in Fig. 2 swinging axle 210 is configured to compare
Elevating shaft A is closer to front.Therefore, auxiliary object person M easily holds handle portion 222L, 222R.
Second embodiment
The Standing-up motion auxiliary robot of present embodiment is with the Standing-up motion auxiliary robot of first embodiment not
It is to possess guiding seat with putting.Here, only illustrating to difference.
Fig. 9 represents the schematic diagram of the step leading portion that fascinates of the Standing-up motion auxiliary robot of present embodiment.Figure 10 represents
The schematic diagram of the step back segment that fascinates of this Standing-up motion auxiliary robot.In addition, for the position corresponding with Fig. 6, Fig. 7, using
Identical label represents.
As shown in figure 9, guiding seat 6 possesses：Pair of right and left rope band 60U, pair of right and left rope band 60D and seat main body
61.Seat main body 61 is rectangle cloth-like.Seat main body 61 covers the buttocks of auxiliary object person M to waist.
The rear end of pair of right and left rope band 60U is installed on the upper end of handle portion 222L, 222R (with reference to Fig. 1).Pair of right and left rope
Front end with 60U is installed on the left and right two ends of the top edge of seat main body 61.
The rear end of pair of right and left rope band 60D is installed on the lower end of handle portion 222L, 222R (with reference to Fig. 1).Pair of right and left rope
Front end with 60D is installed on the left and right two ends of the lower limb of seat main body 61.
As shown in Figure 10, when making platform 22 be swung by platform with motor 441 (with reference to Fig. 3), four rope bands
60U, 60D are stretched and are swung centered on swinging axle 210, thus seat main body 61 is lifted.Therefore, auxiliary object person M
Buttocks and waist are lifted from below by seat main body 61.
Standing-up motion auxiliary robot with regard to present embodiment and the Standing-up motion auxiliary robot of first embodiment
Structure identical part, there is same action effect.In addition, auxiliary object person M is in order to become forward lean, it is desirable to have energy
Enough follow the muscle power (for example relatively moving platform 22 to wrist power of chest side of oneself etc.) of the degree of the swing of platform 22.Right
In this point, according to the robot 1 of present embodiment, guiding can be carried out to fascinating of auxiliary object person M from below with seat 6
Auxiliary.Therefore, even the weaker auxiliary object person M of muscle power, also easily become forward lean.
Other
More than, the embodiment of the Standing-up motion auxiliary robot of the present invention is illustrated.But, embodiment is not
It is defined in aforesaid way.Can also be carried out with the various modifications mode that those skilled in the art can be carried out, mode of ameliorating.
For example, in the Standing-up motion auxiliary robot 1 of above-mentioned embodiment, as shown in figure 3, by platform motor
441 pairs of main platform body 220 are driven.But, auxiliary object person M can also make main platform body 220 swing using manpower.This
When, in order to suppress main platform body drastically swing it is also possible on swinging axle 210 arrangement brake mechanism and damping.In addition,
There is reversion when auxiliary object person fascinates it is also possible to join on swinging axle 210 in the swaying direction in order to suppress main platform body 220
Put the clutch that swaying direction is limited to a direction.
In addition, in the Standing-up motion auxiliary robot 1 of above-mentioned embodiment, as shown in figure 3, it is configured with totally four load
Sensor 3Lf, 3Lr, 3Rf, 3Rr.The configuration quantity of load transducer 3Lf, 3Lr, 3Rf, 3Rr is two or more, not special
Xian Ding not quantity.As shown in Fig. 2 for the position of load transducer 3Lf, 3Lr, 3Rf, 3Rr, as long as joining across elevating shaft A
It is placed at before and after two, be not particularly limited position.In addition, as shown in fig. 7, rising four load transducers of ready position
The detected value of 3Lf, 3Lr, 3Rf, 3Rr can not also be all consistent.Before optimal when person M stands up as long as being capable of auxiliary object
Incline posture.
Similarly, as shown in fig. 7, the center G rising the auxiliary object person M of ready position can also with elevating shaft A not
Unanimously.Optimal forward lean when person M stands up as long as being capable of auxiliary object.
As shown in Figure 6, Figure 7, when auxiliary object person M fascinates, while main platform body 220 can be made to swing, make axle portion
21 shrink downwards.So, the physique according to auxiliary object person M, is more prone to become forward lean.
In the Standing-up motion auxiliary robot 1 of above-mentioned embodiment, as shown in Fig. 4～8, hold by using arm 5
Works 90 inhibit rocking of the robot 1 when auxiliary stands up action.But it is also possible to by locking the drive shown in Fig. 3
Driving wheel 7Lf, 7Lr, 7Rf, 7Rr are suppressing to assist rocking of the robot 1 when standing up action.
The species of the works 90 shown in Fig. 4～8 is not particularly limited.Can also using pipeline, ground, wall,
Frame and post etc..In addition, not being particularly limited to the species of the information display section of the tolerance load information of the works 90 that are stored with.
In addition to bar code, it is possible to use the Quick Response Code such as word, figure, symbol, QR code (registered trade mark).
CMOS (Complementary Metal-Oxide Semiconductor) camera, infrared phase for example can also be used
Machine etc. replaces the CCD camera 434 shown in Fig. 3.
As the load transducer 432 of the axle portion shown in Fig. 3, load transducer 3Lf, 3Lr, 3Rf, 3Rr, for example, it is possible to
Using askew formula weight rule formula load transducer, electrostatic capacitive load transducer, resistance variations formula load transducer.As Fig. 3 institute
The proximity transducer 435 showing, for example, can use ultrasonic type proximity transducer, laser type proximity transducer.Alternatively, it is also possible to
Replace the various motors shown in Fig. 3 using other actuators such as hydraulic cylinder, air cylinder, artificial-muscle.It is equally possible that making
Replace the cylinder of the axle portion shown in Fig. 3 440 with other actuators such as motor, artificial-muscle.Handle portion 222L shown in Fig. 1,
222R can also be single handle.Alternatively, it is also possible to the hinder marginal part of main platform body 220 is itself served as handle portion to replace handle
Portion 222L, 222R.
In the Standing-up motion auxiliary robot 1 of above-mentioned embodiment, the control unit 4 shown in Fig. 3 to auxiliary object person M is
Who is judged, but auxiliary object person M will oneself can also be who sends to control unit 4 using remote control 431 grade.
In the Standing-up motion auxiliary robot 1 of above-mentioned embodiment, as shown in Fig. 2 making the upper end of axle portion 21 forward
Bending, but axle portion 21 can also be linear.That is, elevating shaft A can also be overlapping with swinging axle 210.
In the Standing-up motion auxiliary robot 1 of above-mentioned embodiment, as shown in Fig. 2 being set to apart from L1 ＜ apart from L2,
But can also be set to apart from L1 ＞ apart from L2, apart from L1=apart from L2.
The configuration quantity of driving wheel 7Lf, 7Lr, 7Rf, 7Rr is not particularly limited.Can also be three, five etc..
Wheel can be not all driving wheel.In addition, driving wheel 7Lf, 7Lr, 7Rf, 7Rr may not be wheel.For example, it is also possible to be
Foot, crawler belt etc..
In addition, rope band 60U, 60D of the Standing-up motion auxiliary robot 1 of second embodiment as shown in Figure 9, Figure 10
Can be configured to：Disconnect when being applied with big load or depart from from handle portion 222L, 222R.So, in seat main body
When 61 when being hooked in neighbors, it is platform motor that the load that can suppress excessive puts on main platform body 220
441.
Claims (6)
1. a kind of Standing-up motion auxiliary robot, it possesses robot body,
Described robot body has：
Base portion；
Axle portion, can stretch in the vertical direction with respect to this base portion；With
Platform, this platform has：Main platform body, can with respect to described axle portion with than described axle portion near auxiliary object person's
Swung in the vertical centered on oscillation center；Ancon placement section, than described main platform body described oscillation center near institute
It is configured in described main platform body to the person that states auxiliary object；And handle portion, than described main platform body described oscillation center away from
It is configured in described main platform body to described auxiliary object person；
It is positioned over described ancon placement section in the ancon of described auxiliary object person and by the described auxiliary object person described handle of holding
In the state of portion, described main platform body is made to swing, until it reaches the center of gravity of described auxiliary object person is close to the rising of described axle portion
Ready position, makes described axle portion elongation in described rising ready position, thus assists the action of standing up of described auxiliary object person.
2. Standing-up motion auxiliary robot according to claim 1, wherein,
Described Standing-up motion auxiliary robot is also equipped with：Multiple load transducers, share the load putting on described robot body
Lotus is simultaneously detected；And control unit, it is transfused to the detected value of the plurality of load transducer；
Described control unit judges described auxiliary object person's based on the balance of the described detected value of the plurality of load transducer
Position of centre of gravity.
3. Standing-up motion auxiliary robot according to claim 2, wherein,
Described control unit has storage part, be stored with this storage part respectively corresponding with multiple described auxiliary object persons described on
Rise ready position.
4. Standing-up motion auxiliary robot according to any one of claim 1 to 3, wherein,
Described Standing-up motion auxiliary robot is also equipped with arm, and this arm is connected on described robot body, and at described
Vertical action auxiliary robot is fixed on adjacent works when the action of standing up of described auxiliary object person is assisted.
5. Standing-up motion auxiliary robot according to any one of claim 1 to 3, wherein, described action auxiliary of standing up
Robot is also equipped with guiding seat, and this guiding seat has：Rope band, is connected in described main platform body；And seat main body,
It is connected on described rope band and place mat is in the buttocks of described auxiliary object person；
When described Standing-up motion auxiliary robot assists to the action of standing up of described auxiliary object person, with described platform master
The swing of body is linked, and the described buttocks of described auxiliary object person is lifted by described guiding seat.
6. Standing-up motion auxiliary robot according to claim 4, wherein, described Standing-up motion auxiliary robot is also equipped with
Guiding seat, this guiding seat has：Rope band, is connected in described main platform body；And seat main body, it is connected to described rope
On band and place mat in the buttocks of described auxiliary object person；
When described Standing-up motion auxiliary robot assists to the action of standing up of described auxiliary object person, with described platform master
The swing of body is linked, and the described buttocks of described auxiliary object person is lifted by described guiding seat.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2011087557A JP5773718B2 (en) | 2011-04-11 | 2011-04-11 | Stand-up motion assist robot |
| JP2011-087557 | 2011-04-11 |
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| Publication Number | Publication Date |
|---|---|
| CN102727356A CN102727356A (en) | 2012-10-17 |
| CN102727356B true CN102727356B (en) | 2017-03-01 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201210105419.4A Active CN102727356B (en) | 2011-04-11 | 2012-04-11 | Standing-up motion auxiliary robot |
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| JP (1) | JP5773718B2 (en) |
| CN (1) | CN102727356B (en) |
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| WO2014118956A1 (en) * | 2013-01-31 | 2014-08-07 | 富士機械製造株式会社 | Image processing system and aid system |
| EP2954882B1 (en) * | 2013-02-07 | 2023-09-06 | FUJI Corporation | Patient-care robot |
| JP6301927B2 (en) * | 2013-07-26 | 2018-03-28 | 富士機械製造株式会社 | Assistance robot |
| JP6291033B2 (en) * | 2014-03-28 | 2018-03-14 | 富士機械製造株式会社 | Assistive robot and object transfer device |
| US9962305B2 (en) * | 2015-01-09 | 2018-05-08 | Panasonic Corporation | Living support system and living support method |
| WO2017009946A1 (en) * | 2015-07-14 | 2017-01-19 | 富士機械製造株式会社 | Patient care robot |
| JP6674321B2 (en) * | 2015-08-25 | 2020-04-01 | パナソニック株式会社 | Life support system, method and automatic lifting chair |
| JP2017070706A (en) * | 2015-10-06 | 2017-04-13 | パナソニックＩｐマネジメント株式会社 | Sit-to-stand motion assist device |
| SG11201802315SA (en) * | 2015-10-06 | 2018-04-27 | Fuji Machine Mfg Co Ltd | Assisting robot |
| JP6934548B2 (en) * | 2015-10-06 | 2021-09-15 | 株式会社Ｆｕｊｉ | Caregiving robot |
| KR101786356B1 (en) | 2016-06-09 | 2017-10-18 | 현대자동차주식회사 | System and method for leg supporting robot |
| JP6792626B2 (en) * | 2016-09-13 | 2020-11-25 | 株式会社Ｆｕｊｉ | Assistance device |
| EP3542969B1 (en) * | 2016-11-17 | 2022-06-01 | Fuji Corporation | Working-position correcting method and working robot |
| WO2018167856A1 (en) * | 2017-03-14 | 2018-09-20 | 株式会社Ｆｕｊｉ | Aid device |
| EP3721849B1 (en) * | 2017-12-06 | 2023-05-10 | Fuji Corporation | Aid device |
| KR102490709B1 (en) * | 2018-10-04 | 2023-01-19 | 가부시키가이샤 후지 | market device |
| JP6504588B1 (en) * | 2018-12-29 | 2019-04-24 | 有限会社工房Ｒｙｏ | Transfer device |
| CN110434866B (en) * | 2019-08-02 | 2023-06-23 | 吕梁学院 | Intelligent nursing device and control method thereof |
| CN112043512A (en) * | 2020-08-26 | 2020-12-08 | 南京汉尔斯生物科技有限公司 | Balance detection assisted standing wheelchair and method |
| CN113101080B (en) * | 2021-04-12 | 2022-04-19 | 张丽萍 | Ware of rising is used in nursing after surgery suitable for old patient |
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| JP2508927Y2 (en) * | 1992-09-11 | 1996-08-28 | 孝明 石井 | Human body transfer device |
| JP2541784B2 (en) * | 1994-09-01 | 1996-10-09 | パラマウントベッド株式会社 | Electric start-up trainer |
| JP2002153521A (en) * | 2000-11-20 | 2002-05-28 | Iwakura Corporation:Kk | Moving caring machine |
| JP2005095231A (en) * | 2003-09-22 | 2005-04-14 | Iura Co Ltd | Standing-up assist |
| JP2007276063A (en) * | 2006-04-07 | 2007-10-25 | Toyota Motor Corp | Fixing device for robot |
| JP5246789B2 (en) * | 2009-03-31 | 2013-07-24 | 独立行政法人産業技術総合研究所 | Weight support equipment |
| JP5460154B2 (en) * | 2009-07-13 | 2014-04-02 | 富士機械製造株式会社 | Walking assistance device |
| JP5359633B2 (en) * | 2009-07-16 | 2013-12-04 | トヨタ自動車株式会社 | Body holder and transfer support device |
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| Publication number | Publication date |
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| CN102727356A (en) | 2012-10-17 |
| JP2012217686A (en) | 2012-11-12 |
| JP5773718B2 (en) | 2015-09-02 |
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