CN107019624A - 转移辅助设备 - Google Patents
转移辅助设备 Download PDFInfo
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- CN107019624A CN107019624A CN201610821502.XA CN201610821502A CN107019624A CN 107019624 A CN107019624 A CN 107019624A CN 201610821502 A CN201610821502 A CN 201610821502A CN 107019624 A CN107019624 A CN 107019624A
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Abstract
本发明提供了一种转移辅助设备,其包括:转向架;臂,该臂由转向架以可倾斜的方式支承;保持部,该保持部由臂支承,并且该保持部保持受助人的躯体。保持部至少包括低压气囊组和高压气囊组,该低压气囊组和高压气囊组构造成分别面向受助人的躯体的正面的不同部分。转移辅助设备还包括空气压力调节器,该空气压力调节器构造成单独地调节低压气囊组的空气压力和高压气囊组的空气压力。
Description
技术领域
本发明涉及一种转移辅助设备。
背景技术
日本未审查专利申请公报No.2014-61448公开了一种步行辅助设备,该步行辅助设备辅助需要辅助的人行走。该行走辅助设备包括:下肢框架;上肢框架,该上肢框架由下肢框架以可旋转的方式支承;以及保持部,该保持部由上肢框架支承。保持部包括:中央部,该中央部上设置有中央气袋;左翼部,该左翼部上设置有左气袋;以及右翼部,该右翼部上设置有右气袋。中央部、左翼部和右翼部被连接以总体上形成C形。中央部设置成面向需要辅助的人的躯体的正面。同样地,右翼部设置成面向需要辅助的人的躯体的右胁腹,并且左翼部设置成面向需要辅助的人的躯体的左胁腹。
行走辅助设备还包括:中央空气压缩机,该中央空气压缩机调节中央气袋的空气压力;左空气压缩机,该左空气压缩机调节左气袋的空气压力;以及右空气压缩机,该右空气压缩机调节右气袋的空气压力。因此,中央气袋的空气压力、左气袋的空气压力和右气袋的空气压力能够独立地调节,并且能够使空气压力在中央气袋、左气袋和右气袋之间不同。
然而,在日本未审查专利申请公报No.2014-61448中公开的构型中,尽管整个中央气袋的空气压力能够被调节,但中央气袋中的不同区域的空气压力不能够独立地调节。这也适用于侧向(右和左)气袋。因此,需要这样一种改进技术:该改进技术能够减小需要辅助的人的负担。
本发明的目的在于提供这样一种技术:该技术对受助人的躯体的一面(正面、侧面和背面)的不同部分上的压力进行调节,使得上述一面的不同部分上的压力相对地不同以在辅助受助人的转移时减小受助人的负担。
发明内容
本发明的示例性方面是一种转移辅助设备,所述转移辅助设备包括:转向架;臂,所述臂由所述转向架以可倾斜的方式支承;以及保持部,所述保持部由所述臂支承,并且所述保持部包括正面保持部、侧面保持部和背面保持部中的至少一者,所述正面保持部构造成保持受助人的躯体的正面,所述侧面保持部构造成保持所述受助人的躯体的侧面,并且所述背面保持部构造成保持所述受助人的躯体的背面。所述保持部至少包括第一袋和第二袋,所述第一袋和所述第二袋构造成分别面向所述受助人的躯体的所述正面、所述侧面和所述背面中的至少一者的不同部分。所述转移辅助设备还包括空气压力调节器,所述空气压力调节器单独地调节所述第一袋的空气压力和所述第二袋的空气压力。通过这种构型,当转移辅助设备辅助受助人的转移时,可以调节受助人的躯体的正面、侧面和背面中的至少一者的不同部分上的压力,使得压力在受助人的躯体的正面、侧面和背面中的所述一者的不同部分上将相对地不同,从而减轻受助人的负担。
所述第一袋构造成面向所述受助人的躯体的所述正面的腹腔神经丛,所述第二袋构造成面向所述受助人的躯体的所述正面的除所述腹腔神经丛之外的一些或所有部分,并且所述空气压力调节器构造成在所述保持部保持所述受助人时将所述第一袋的空气压力调节成低于所述第二袋的空气压力。通过这种构型,可以在转移辅助设备辅助受助人的转移时有效地减轻受助人的躯体的腹腔神经丛的负担。
所述第一袋可以包括多个第一气囊,所述多个第一气囊通过气流路径部件彼此流体连通,所述第二袋可以包括多个第二气囊,所述多个第二气囊通过气流路径部件彼此流体连通,并且所述第一袋的所述多个第一气囊与所述第二袋的所述多个第二气囊之间无流体连通。通过这种构型,有利于保持部的均匀施压和对保持部的压力分布的调节。
所述空气压力调节器可以包括:空气压力调节机构,所述空气压力调节机构包括正压力供应装置和负压力供应装置;以及空气压力控制单元,通过所述空气压力控制单元控制所述空气压力调节机构,以选择性地使所述正压力供应装置或所述负压力供应装置与所述第一袋和所述第二袋流体连通,从而分别将所述第一袋的空气压力和所述第二袋的空气压力调节至所需的压力值。通过这种构型,与当空气压力调节器不包括负压力供应装置(真空泵和负压力罐)时相比,可以更快地调节第一袋和第二袋的空气压力。
根据本发明,可以减轻受助人的负担。
本发明的以上及其他目的、特征和优点将通过下文所给出的详细描述和附图变得被更加全面地理解,这些详细描述和附图仅作为示例给出并且因此不应该被视为限制本发明。
附图说明
图1是转移辅助设备的立体图;
图2是保持部的平面图;
图3是左胁腹保持部的立体图;
图4是保持部的展开图;
图5是空气压力调节机构的框图;
图6是转移辅助设备的功能性框图;
图7是用于说明受助人的转移的流程图;
图8是示出了保持部的空气压力的压力分布的图;
图9是示出了保持部的空气压力的压力分布的图;以及
图10是示出了保持部的空气压力的压力分布的图。
具体实施方式
图1是转移辅助设备1的立体图。转移辅助设备1是用于将坐在床等上的受助人P转移至轮椅等的设备。转移辅助设备1包括转向架2、臂3和保持部4。
转向架2包括转向架本体5、两个驱动轮6、两个后轮7、搁脚板8和转向架马达9。所述两个驱动轮6通过转向架马达9被旋转地驱动。搁脚板8是放置受助人P的脚底的板。
臂3由转向架2以可倾斜的方式支承。臂3包括:下臂10,该下臂10固定至转向架本体5并且竖向地延伸;上臂11,该上臂11由下臂10的上端部以可倾斜的方式支承;以及臂马达12,该臂马达12使上臂11倾斜并且驱动上臂11。
保持部4由臂3支承,并且保持部4保持受助人P的躯体Q。保持部4包括正面保持部20、左胁腹(flank)保持部21(侧面保持部)、右胁腹保持部22(侧面保持部)和两个背面保持部23。
图2是保持部4的平面图。正面保持部20面向受助人P的躯体Q的正面Q1并且附接至臂3的上臂11的前端。左胁腹保持部21面向受助人P的躯体Q的左胁腹Q2(侧面)。右胁腹保持部22面向受助人P的躯体Q的右胁腹Q3(侧面)。左胁腹保持部21和右胁腹保持部22由正面保持部20支承。左胁腹保持部21与右胁腹保持部22之间的距离构造成能够根据受助人P的体形适当地调节。所述两个背面保持部23面向受助人P的躯体Q的背面Q4。所述两个背面保持部23中的一个背面保持部由左胁腹保持部21支承使得所述两个背面保持部23中的所述一个背面保持部能够自由地打开及关闭,并且所述两个背面保持部23中的另一个背面保持部由右胁腹保持部22支承使得所述两个背面保持部23中的所述另一个背面保持部能够自由地打开及关闭。
图3是左胁腹保持部21的立体图。如图3中所示,左胁腹保持部21构造成包括基板30、衬垫31、多个气囊32和外表皮33(参见图2)。基板30由树脂、碳纤维、金属板或其他硬质材料形成。衬垫31被粘贴到基板30上并且由聚氨酯泡沫或其他软质材料形成。所述多个气囊32(小袋)被粘贴到衬垫31上并且是由片状聚氨酯、聚氯乙烯或橡胶材料形成的盒。气囊32中的每个气囊均根据内部空气压力的量膨胀或收缩。如图2中所示,外表皮33设置成覆盖在所述多个气囊32上。外表皮33由弹性材料形成,使得外表皮33将不会抑制气囊32的膨胀和收缩。如图3中所示,所述多个气囊32通过气流路径部件34连接至彼此,以使空气能够在气囊32之间流动。
由于右胁腹保持部22和所述两个背面保持部23具有与左胁腹保持部21的构型相同的构型,因此将省略右胁腹保持部22和所述两个背面保持部23的描述。
图4是保持部4的展开图。如图4中所示,与左胁腹保持部21相同,正面保持部20也包括基板30、衬垫31、多个气囊32和外表皮33(参见图2)。然而,在正面保持部20中,多个气囊32被分成低压气囊组35和高压气囊组36。属于低压气囊组35的多个气囊32在保持部4保持受助人P的躯体Q时面向受助人P的躯体Q的腹腔神经丛。另一方面,属于高压气囊组36的多个气囊32在保持部4保持受助人P的躯体Q时面向受助人P的躯体Q的除腹腔神经丛以外的部分。属于低压气囊组35的多个气囊32通过气流路径部件34连接至彼此,使得空气能够流过属于低压气囊组35的所述多个气囊32。同样地,属于高压气囊组36的多个气囊32通过气流路径部件34连接至彼此,使得空气能够流过属于高压气囊组36的多个气囊32。另一方面,由于属于低压气囊组35的多个气囊32和属于高压气囊组36的多个气囊32没有连接,因此空气不能够在属于低压气囊组35的多个气囊32与属于高压气囊组36的多个气囊32之间流动。通过这种构型,能够使属于低压气囊组35的相应气囊32的空气压力和属于高压气囊组36的相应气囊32的空气压力不同。
接下来,将参照图5对调节属于正面保持部20、左胁腹保持部21、右胁腹保持部22和所述两个背面保持部23的相应气囊32的空气压力的空气压力调节机构R进行描述。
空气压力调节机构R包括压缩机40、正压力罐41、真空泵42和负压力罐43。压缩机40将正压力罐41内的空气压力调节成高于大气压力的为正压力的预定空气压力。真空泵42将负压力罐43内的空气压力调节成低于大气压力的为负压力的预定空气压力。空气压力调节机构R包括六个正压侧电磁阀50、六个电动-气动调节器51、六个压力计52和六个负压侧电磁阀53。
(低压气囊组35)
属于低压气囊组35的气囊32中的任一气囊利用置于该气囊与正压力罐41之间的其中一个正压侧电磁阀50和其中一个电动-气动调节器51连接至正压力罐41。正压侧电磁阀50和电动-气动调节器51并联设置在以上属于低压气囊组35的气囊32与正压力罐41之间。正压侧电磁阀50根据输入信号控制阀被完全地打开或关闭。电动-气动调节器51根据输入信号通过反馈控制调节待输出的空气压力。因此,尽管电动-气动调节器51能够高度精准地调节属于低压气囊组35的相应气囊32中的空气压力,但电动-气动调节器51的响应性差。属于低压气囊组35的气囊32利用置于该气囊32与负压力罐43之间的其中一个负压侧电磁阀53连接至负压力罐43。压力计52中的一个压力计测量属于低压气囊组35的相应气囊32的空气压力。
(高压气囊组36)
同样地,属于高压气囊组36的气囊32中的任一气囊利用正压侧电磁阀50中的一个正压侧电磁阀和电动-气动调节器51中的一个电动-气动调节器连接至正压力罐41,其中,所述一个正压侧电磁阀50和所述一个电动-气动调节器51置于该任一气囊32与正压力罐41之间。正压侧电磁阀50和电动-气动调节器51并联设置在以上属于高压气囊组36的气囊32与正压力罐41之间。属于高压气囊组36的气囊32利用置于该气囊32与负压力罐43之间的其中一个负压侧电磁阀53连接至负压力罐43。压力计52中的一个压力计测量属于高压气囊组36的相应气囊32的空气压力。
(左胁腹保持部21等)
由于调节左胁腹保持部21、右胁腹保持部22和所述两个背面保持部23的多个气囊32的空气压力的结构与上述调节结构相同,因此将省略对其结构的描述。
通过以上构型,空气压力调节机构R能够单独地调节:属于低压气囊组35的多个气囊32共同的空气压力、属于高压气囊组36的多个气囊32共同的空气压力、左胁腹保持部21的多个气囊32共同的空气压力、右胁腹保持部22的多个气囊32共同的空气压力、背面保持部23中的一个背面保持部的多个气囊32共同的空气压力、以及背面保持部23中的另一个背面保持部的多个气囊32共同的空气压力。
图6是转移辅助设备1的原理框图。如图6中所示,转移辅助设备1还包括控制单元60和输入单元61。输入单元61供协助人操作转移辅助设备1。控制单元60包括:CPU 62(中央处理单元),该CPU 62是中央处理单元;RAM 63(随机存取存储器),该RAM 63是可读且可写的;以及ROM 64(只读存储器),该ROM 64是只读的。当CPU 62读取存储在ROM 64中的控制程序并且执行该控制程序时,该控制程序使诸如CPU 62之类的硬件能够用作转向架控制单元65、臂控制单元66和空气压力控制单元67。
转向架控制单元65根据来自输入单元61的信号而驱动转向架马达9,以控制转向架2的运转。
臂控制单元66根据来自输入单元61的信号而驱动臂马达12,以控制臂3的倾斜。
空气压力控制单元67根据来自输入单元61的信号和来自六个压力计52的信号而控制六个正压侧电磁阀50、六个电动-气动调节器51和六个负压侧电磁阀53。当空气压力控制单元67向正压侧电磁阀50输出HIGH时,正压侧电磁阀50被打开,而当空气压力控制单元67向正压侧电磁阀50输出LOW时,正压侧电磁阀50被关闭。电动-气动调节器51根据从空气压力控制单元67输出至电动-气动调节器51的电压值而对待输出的空气压力执行反馈控制。当空气压力控制单元67向负压侧电磁阀53输出HIGH时,负压侧电磁阀53被打开,而当空气压力控制单元67向负压侧电磁阀53输出LOW时,负压侧电磁阀53被关闭。
接下来,将参照图7至图10对受助人P的利用转移辅助设备1的转移进行描述。
首先,协助人将所述两个背面保持部23向外打开(S300)。接下来,协助人操作输入单元61,如图8中所示,以向所有的气囊32供应负压力使得气囊32将收缩(S310)。接下来,协助人操作输入单元61以使转移辅助设备1运转并使转移辅助设备1移动到受助人P的前方(S320)。接下来,协助人将所述两个背面保持部23向内闭合(S330)。此时,协助人将受助人P的脚底放置在搁脚板8上。
接下来,协助人按下输入单元61的升高按钮(未示出)(S340)。随后,如图9中所示,首先,空气压力控制单元67向相应的气囊32供应正压力使得相应气囊32的空气压力将是第一空气压力(S350)。第一空气压力是:如图9中所示,低压气囊组35的空气压力为20kPa、高压气囊组36的空气压力为40kPa、左胁腹保持部21和右胁腹保持部22的空气压力为60kPa、以及所述两个背面保持部23的空气压力为80kPa。因此,保持部4暂时地保持受助人P的躯体Q。
接下来,如图10中所示,空气压力控制单元67向相应的气囊32供应正压力使得相应气囊32的空气压力将是第二空气压力(S360)。第二空气压力是:如图10中所示,低压气囊组35的空气压力为30kPa、高压气囊组36的空气压力为70kPa、左胁腹保持部21和右胁腹保持部22的空气压力为80kPa、以及所述两个背面保持部23的空气压力为100kPa。因此,保持部4稳固地保持受助人P的躯体Q。
接下来,臂控制单元66控制臂3的倾斜从而在保持受助人P的同时使受助人P升高(S370)。随后,空气压力控制单元67将相应气囊32的空气压力回复至第一空气压力(S380)。
接下来,协助人操作输入单元61以将保持受助人P的转移辅助设备1移动至所需位置(S390)。
接下来,协助人按下输入单元61的降低按钮(未示出)(S400)。随后,首先,空气压力控制单元67将相应气囊32的空气压力再次增大至第二空气压力(S410)。接下来,臂控制单元66控制臂3的倾斜以在保持受助人P的同时使受助人P降低(S420),并且臂控制单元66使受助人P坐在床等上。接下来,空气压力控制单元67向相应的气囊32供应负压力,使得相应的气囊32将收缩(S430)。
接下来,协助人将所述两个背面保持部23向外打开(S440),并且协助人操作输入单元61以将转移辅助设备1移动远离受助人P(S450)。以这种方式,完成了受助人P的转移。
在该示例性的实施方式中,空气压力调节器对应于空气压力调节机构R和空气压力控制单元67。
目前,已经说明了优选的示例性实施方式。以上示例性实施方式具有以下特征。
转移辅助设备1包括:转向架2;臂3,该臂3由转向架2以可倾斜的方式支承;以及保持部4,该保持部4由臂3支承并且该保持部4保持受助人P的躯体Q。保持部4至少包括低压气囊组35(第一袋)和高压气囊组36(第二袋),该低压气囊组35和高压气囊组36设置成面向受助人P的躯体Q的正面Q1的不同部分。转移辅助设备1还包括空气压力调节器(空气压力调节机构R和空气压力控制单元67),该空气压力调节器能够单独地调节低压气囊组35的空气压力和高压气囊组36的空气压力。通过这种构型,当转移辅助设备1辅助受助人P的转移时,可以调节对受助人的躯体的正面的不同部分的压力,使得压力在受助人的躯体的正面的不同部分上将相对地不同,从而减轻受助人P的负担。
低压气囊组35设置成面向受助人P的躯体Q的正面Q1的腹腔神经丛。高压气囊组36设置成面向受助人P的躯体Q的正面Q1的除腹腔神经丛以外的一些或所有部分。空气压力调节器在保持部4保持受助人P时将低压气囊组35的空气压力调节成低于高压气囊组36的空气压力。通过这种构型,可以在转移辅助设备1辅助受助人P的转移时有效地减轻受助人P的躯体Q的腹腔神经丛的负担。
低压气囊组35和高压气囊组36包括多个气囊32(小袋)和气流路径部件34,其中,所述多个气囊32朝向受助人P的躯体Q突出,该气流路径部件34连接在所述多个气囊32之间以使空气能够在所述多个气囊32之间流动。通过这种构型,当所述多个气囊32单独地变形时,低压气囊组35或高压气囊组36能够以均匀的表面压力与受助人P的躯体Q接触。
空气压力调节器包括:正压力供应装置(压缩机40和正压力罐41),该正压力供应装置向低压气囊组35和高压气囊组36供应正压力;以及负压力供应装置(真空泵42和负压力罐43),该负压力供应装置向低压气囊组35和高压气囊组36供应负压力。通过这种构型,与当空气压力调节器不包括负压力供应装置(真空泵42和负压力罐43)时相比,可以更快地调节低压气囊组35和高压气囊组36的空气压力。
以上已经说明的示例性实施方式能够以以下方式修改。
例如,在以上示例性实施方式中,保持部4至少包括低压气囊组35(第一袋)和高压气囊组36(第二袋),该低压气囊组35和高压气囊组36设置成分别面向受助人P的躯体Q的正面Q1的不同部分。然而,替代以上构型或除以上构型以外,保持部4可以至少包括设置成分别面向受助人P的躯体Q的背面Q4的不同部分的低压气囊组(第一袋)和高压气囊组(第二袋)躯体。更具体地,例如,低压气囊组设置成面向不受受助人P的躯体Q的背面Q4的肋骨保护的部分。高压气囊组设置成面向由受助人P的躯体Q的背面Q4的肋骨保护的一些或所有部分。空气压力调节器在保持部4保持受助人P时将低压气囊组35的空气压力调节成低于高压气囊组的空气压力。通过这种构型,可以在转移辅助设备1辅助受助人P的转移时有效地减轻不受受助人P的躯体Q的背面Q4的肋骨保护的部分的负担。
同样,保持部4可以至少包括设置成分别面向受助人P的躯体Q的左胁腹Q2(侧面)的不同部分的低压气囊组(第一袋)和高压气囊组(第二袋)。同样,保持部4可以至少包括设置成分别面向受助人P的躯体Q的右胁腹Q3(侧面)的不同部分的低压气囊组(第一袋)和高压气囊组(第二袋)。更具体地,例如,低压气囊组设置成面向不受受助人P的躯体Q的侧面(左胁腹Q2和右胁腹Q3)的肋骨保护的部分。高压气囊组设置成面向受受助人P的躯体Q的侧面(左胁腹Q2和右胁腹Q3)的肋骨保护的一些或所有部分。空气压力调节器在保持部4保持受助人P时将低压气囊组35的空气压力调节成低于高压气囊组的空气压力。通过这种构型,可以在转移辅助设备1辅助受助人P的转移时有效地减轻不受受助人P的躯体Q的侧面(左胁腹Q2和右胁腹Q3)的肋骨保护的部分的负担。
根据以上修改示例,当转移辅助设备1辅助受助人P的转移时,可以调节受助人的躯体的正面、侧面(右胁腹和左胁腹)和背面中的任一者的不同部分上的压力,使得压力在受助人的躯体的正面、侧面(右胁腹和左胁腹)和背面中的任一者的所述不同部分上将相对地不同,从而减轻受助人P的负担。
根据如此描述的本发明,将明显的是,本发明的实施方式可以以多种方式改变。这些变型不被视为脱离本发明的精神和范围,并且所有这些改型由于对本领域的技术人员是明显的而要包含在所附权利要求的范围内。
Claims (4)
1.一种转移辅助设备,包括:
转向架;
臂,所述臂由所述转向架以可倾斜的方式支承;以及
保持部,所述保持部由所述臂支承,并且所述保持部包括正面保持部、侧面保持部和背面保持部中的至少一者,所述正面保持部构造成保持受助人的躯体的正面,所述侧面保持部构造成保持所述受助人的躯体的侧面,并且所述背面保持部构造成保持所述受助人的躯体的背面,其中,
所述保持部至少包括第一袋和第二袋,所述第一袋和所述第二袋构造成分别面向所述受助人的躯体的所述正面、所述侧面和所述背面中的至少一者的不同部分,并且
所述转移辅助设备还包括空气压力调节器,所述空气压力调节器构造成单独地调节所述第一袋的空气压力和所述第二袋的空气压力。
2.根据权利要求1所述的转移辅助设备,其中,
所述第一袋构造成面向所述受助人的躯体的所述正面的腹腔神经丛,
所述第二袋构造成面向所述受助人的躯体的所述正面的除所述腹腔神经丛之外的一些或所有部分,并且
所述空气压力调节器构造成在所述保持部保持所述受助人时将所述第一袋的空气压力调节成低于所述第二袋的空气压力。
3.根据权利要求1或2所述的转移辅助设备,其中,
所述第一袋包括多个第一气囊,所述多个第一气囊通过气流路径部件彼此流体连通,
所述第二袋包括多个第二气囊,所述多个第二气囊通过气流路径部件彼此流体连通,并且
所述第一袋的所述多个第一气囊与所述第二袋的所述多个第二气囊之间无流体连通。
4.根据权利要求1或2所述的转移辅助设备,其中,所述空气压力调节器包括:
空气压力调节机构,所述空气压力调节机构包括正压力供应装置和负压力供应装置;以及
空气压力控制单元,通过所述空气压力控制单元控制所述空气压力调节机构,以选择性地使所述正压力供应装置或所述负压力供应装置与所述第一袋和所述第二袋流体连通,从而分别将所述第一袋的空气压力和所述第二袋的空气压力调节至所需的压力值。
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