JP2015077312A - Robot - Google Patents

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JP2015077312A
JP2015077312A JP2013216861A JP2013216861A JP2015077312A JP 2015077312 A JP2015077312 A JP 2015077312A JP 2013216861 A JP2013216861 A JP 2013216861A JP 2013216861 A JP2013216861 A JP 2013216861A JP 2015077312 A JP2015077312 A JP 2015077312A
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tilting
main
auxiliary
robot
shaft
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JP6340709B2 (en
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玉井　博文
Hirobumi Tamai
博文 玉井
智 玉井
Satoshi Tamai
智 玉井
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Muscle Corp
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Muscle Corp
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Priority to JP2013216861A priority Critical patent/JP6340709B2/en
Application filed by Muscle Corp filed Critical Muscle Corp
Priority to CN201480056908.2A priority patent/CN105636567B/en
Priority to EP14854784.7A priority patent/EP3058921B1/en
Priority to DK14854784.7T priority patent/DK3058921T3/en
Priority to US15/021,721 priority patent/US10045898B2/en
Priority to CA2920283A priority patent/CA2920283C/en
Priority to PCT/JP2014/057950 priority patent/WO2015056460A1/en
Priority to AU2014335557A priority patent/AU2014335557B2/en
Priority to KR1020167007684A priority patent/KR102197894B1/en
Publication of JP2015077312A publication Critical patent/JP2015077312A/en
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Publication of JP6340709B2 publication Critical patent/JP6340709B2/en
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Abstract

PROBLEM TO BE SOLVED: To provide a robot that enables one caregiver to perform transfer work.SOLUTION: A robot R comprises a base part 100 that can run freely, a tilting part 10 that is arranged on the base part 100, and a pair of arms 21 and 22. The tilting part 10 includes a main tilting part 30 and auxiliary tilting parts 40 that are arranged on the main tilting part 30. The auxiliary tilting parts 40 include auxiliary tilting members 44 and 48 that are arranged at both ends of a main tilting member 31 of the main tilting part 30, hold the arms 21 and 22, and can rotate freely.

Description

本発明は、ロボットに関する。さらに詳しくは、主として移乗の際における介護者の負担を軽減できるロボットに関する。   The present invention relates to a robot. More specifically, the present invention relates to a robot that can reduce the burden on a caregiver when transferring.

従来より、介護ヘルパーなどの介護者による高齢者や障害者(以下、要介護者という)の生活支援がなされている。要介護者の介護ヘルパーなどの介護者による生活支援においては、要介護者のトイレ介助や入浴介助の際に、ベッドから車椅子への移乗、あるいは車椅子からベッドへの移乗がなされている。   Conventionally, life support for elderly people and disabled persons (hereinafter referred to as care recipients) by caregivers such as care helpers has been provided. In life support by a caregiver such as a care helper of a care recipient, the transfer from the bed to the wheelchair or the transfer from the wheelchair to the bed is performed when the care recipient needs assistance in the toilet or bathing.

しかるに、かかる移乗は、一人の介護ヘルパーなどの介護者によりなされていたところから、介護ヘルパーなどの介護者に多大の負担を強いる結果となっていた。そのため、介護ヘルパーなどの介護者には、腰を痛める者が多数に上っている。腰痛は、介護ヘルパーなどの介護者の職業病とまでいわれるようになってきている。   However, since this transfer was made by a caregiver such as a single care helper, it resulted in a great burden on the caregiver such as a care helper. For this reason, many caregivers such as care helpers hurt their backs. Low back pain has come to be referred to as an occupational disease of caregivers such as care helpers.

かかる状況に鑑み、移乗は二人によりなすようなってきているが、急激な高齢化社会の到来により、介護ヘルパーなどの介護者の確保が困難となってきている。そのため、介護関係者から移乗の際の人員削減がなし得るロボットが熱望されている。   In view of this situation, the transfer has been done by two people, but with the arrival of a rapidly aging society, it is difficult to secure caregivers such as care helpers. For this reason, a robot that can reduce the number of personnel when transferring from a caregiver is eagerly desired.

なお、特許文献１には、介護用キャリアの提案がなされているが、構成が複雑であるため、操作性に難点があるという問題がある。   In addition, although the carrier for nursing care is proposed in Patent Document 1, there is a problem that the operability is difficult because the configuration is complicated.

特開２００２−１３６５４９号公報JP 2002-136549 A

本発明はかかる従来技術の課題に鑑みなされたものであって、移乗が介護者一人でなし得るロボットを提供することを目的としている。   The present invention has been made in view of the problems of the prior art, and an object thereof is to provide a robot that can be transferred by a caregiver alone.

本発明のロボットは、走行自在とされた基部と、前記基部に配設された傾動部と、一対の腕とを備えるロボットであって、前記傾動部は、主傾動部と、該主傾動部に配設された補助傾動部とを有し、前記補助傾動部は、前記主傾動部の主傾動部材の両端部に配設されて前記腕を保持する回動自在とされた補助傾動部材を有することを特徴とする。   The robot according to the present invention is a robot including a base portion that can freely run, a tilting portion disposed on the base portion, and a pair of arms, the tilting portion including a main tilting portion and the main tilting portion. An auxiliary tilting portion disposed on both ends of the main tilting member of the main tilting portion, and the auxiliary tilting member configured to be rotatable to hold the arm. It is characterized by having.

本発明のロボットにおいては、主傾動部は遊星歯車機構を有し、前記遊星歯車機構は、太陽歯車と、該太陽歯車に点対称に配設された一対の遊星歯車とを含み、前記太陽歯車は、基部に配設された中央昇降軸の上端部および主傾動部の主傾動部材に回転不自在に支持され、前記遊星歯車の一方は、前記中央昇降軸の一側において基部に搖動自在に配設された一側側昇降軸の上端部および主傾動部の主傾動部材の一側側において回転自在に支持され、前記遊星歯車の他方は、前記中央昇降軸の他側において基部に搖動自在に配設された他側側昇降軸の上端部および主傾動部の主傾動部材の他側側において回転自在に支持されてなるのが好ましい。   In the robot of the present invention, the main tilting portion has a planetary gear mechanism, and the planetary gear mechanism includes a sun gear and a pair of planetary gears arranged symmetrically with respect to the sun gear, Is rotatably supported by the upper end portion of the central lifting shaft and the main tilting member of the main tilting portion disposed on the base, and one of the planetary gears can swing on the base on one side of the central lifting shaft. The upper end of the arranged one side lifting shaft and the one side of the main tilting member of the main tilting portion are rotatably supported, and the other of the planetary gears can swing on the base on the other side of the central lifting shaft. It is preferable that the upper end portion of the other side lifting shaft disposed on the other side and the other side of the main tilting member of the main tilting portion are rotatably supported.

また、本発明のロボットにおいては、補助傾動部の補助傾動部材は、主傾動部材に配設された動力伝達機構を介して遊星歯車の回転力により傾動されてなるのが好ましい。   In the robot according to the present invention, it is preferable that the auxiliary tilting member of the auxiliary tilting portion is tilted by the rotational force of the planetary gear via a power transmission mechanism disposed on the main tilting member.

また、本発明のロボットにおいては、補助傾動部材は、主傾動部材の傾動方向と同一方向に回動されてなるのが好ましい。   In the robot of the present invention, it is preferable that the auxiliary tilting member is rotated in the same direction as the tilting direction of the main tilting member.

また、本発明のロボットにおいては、腕が円柱状または円筒状とされてなるのが好ましい。   In the robot according to the present invention, it is preferable that the arm has a columnar shape or a cylindrical shape.

また、本発明のロボットにおいては、腕が進退自在に補助傾動部材に保持されてなるのが好ましい。   In the robot of the present invention, it is preferable that the arm is held by the auxiliary tilting member so that the arm can advance and retreat.

また、本発明のロボットにおいては、補助傾動部材が、腕を所定位置で固定するロック機構を有してなるのが好ましい。   In the robot of the present invention, it is preferable that the auxiliary tilting member has a lock mechanism for fixing the arm at a predetermined position.

また、本発明のロボットにおいては、化粧カバーが装着されてなるのが好ましい。   In the robot of the present invention, it is preferable that a decorative cover is attached.

本発明のロボットは、前記の如く構成されているので、主傾動部材を傾動させる昇降軸の昇降量を小さくしながら、つまり昇降軸の搖動を少なくしながら、腕に専用シートを介して保持されている要介護者を車椅子に移乗させることができる姿勢とすることができるという優れた効果を奏する。そのため、要介護者の移乗が介護者一人でなし得る。   Since the robot according to the present invention is configured as described above, the robot is held on the arm via a dedicated sheet while reducing the lifting amount of the lifting shaft that tilts the main tilting member, that is, while reducing the swing of the lifting shaft. It has an excellent effect of being able to take a posture in which a carer requiring care can be transferred to a wheelchair. Therefore, a care recipient can be transferred by one caregiver.

本発明の一実施形態に係るロボットの概略図である。It is the schematic of the robot which concerns on one Embodiment of this invention. 同実施形態の斜視図である。It is a perspective view of the embodiment. 同正面図である。It is the same front view. 同平面図である。It is the same top view. 同側面図である。It is the same side view. 同ロボットの傾動部を傾動させた状態の正面図である。It is a front view of the state which tilted the tilting part of the robot. 同ロボットに化粧カバーを付けた状態の斜視図である。It is a perspective view in the state where a makeup cover was attached to the robot. 同ロボットの主傾動部の要部概略図である。It is a principal part schematic of the main tilting part of the robot. 専用シートの概略図である。It is a schematic diagram of an exclusive sheet.

以下、添付図面を参照しながら本発明を実施形態に基づいて説明するが、本発明はかかる実施形態のみに限定されるものではない。   Hereinafter, although the present invention is explained based on an embodiment, referring to an accompanying drawing, the present invention is not limited only to this embodiment.

図１〜図７に、本発明の一実施形態に係るロボットＲを示す。なお、以下の説明において、左右とは、ロボットＲの背面より見た場合の左右を意味する。   1 to 7 show a robot R according to an embodiment of the present invention. In the following description, left and right mean left and right when viewed from the back of the robot R.

ロボットＲは、走行自在とされた基部１００と、基部１００に配設された傾動部１０と、一対の腕部材２０つまり右腕部材２１および左腕部材２２とを含むものとされる。   The robot R includes a base 100 that can run, a tilting unit 10 disposed on the base 100, and a pair of arm members 20, that is, a right arm member 21 and a left arm member 22.

基部１００は、中央部に配設された載置部１１０と、載置部１１０の両脇に配設された走行部１６０とを含むものとされ、載置部１１０は、中央部に配設された載置部材１２０と、載置部材１２０を支持する左右方向に配設された水平支持部材１３０とを含むものとされる。   The base portion 100 includes a placement portion 110 disposed in the center portion and a traveling portion 160 disposed on both sides of the placement portion 110. The placement portion 110 is disposed in the center portion. The mounting member 120 and a horizontal support member 130 disposed in the left-right direction for supporting the mounting member 120 are included.

載置部１１０、より具体的には載置部材１２０には、傾動部１０、駆動用電源Ｂなどが配設されている。
走行部１６０は、前部走行部１７０と中間部走行部１８０と後部走行部１９０とを含むものとされる。前部走行部１７０は、前輪１７１と前輪１７１を支持する前輪支持部材１７２とを含むものとされる。前輪支持部材１７２は、前部の水平部１７３と、後部の上り勾配とされた傾斜部１７４とを含むものとされ、水平部１７３の先端に前輪１７１が装着されている。 The mounting unit 110, more specifically, the mounting member 120, is provided with a tilting unit 10, a driving power source B, and the like.
The traveling unit 160 includes a front traveling unit 170, an intermediate traveling unit 180, and a rear traveling unit 190. The front traveling unit 170 includes a front wheel 171 and a front wheel support member 172 that supports the front wheel 171. The front wheel support member 172 includes a front horizontal portion 173 and a rear inclined portion 174 having an upward slope, and a front wheel 171 is attached to the tip of the horizontal portion 173.

中間部走行部１８０は、中間輪１８１と中間輪１８１を支持する中間輪支持部材１８２とを含むものとされる。後部走行部１９０は、後輪１９１と後輪１９１を支持する後輪支持部材１９２とを含むものとされる。   The intermediate traveling unit 180 includes an intermediate wheel 181 and an intermediate wheel support member 182 that supports the intermediate wheel 181. The rear traveling unit 190 includes a rear wheel 191 and a rear wheel support member 192 that supports the rear wheel 191.

そして、前輪支持部材１７２、中間輪支持部材１８２および後輪支持部材１９２は、それぞれ適宜手段を介して水平支持部材１３０と接合されている。また、前輪１７１および中間輪１８１の各径は後輪１８１の径より小さくされている。また、前輪１７１の径は中間輪１８１の径より小さくされている。   The front wheel support member 172, the intermediate wheel support member 182 and the rear wheel support member 192 are joined to the horizontal support member 130 through appropriate means. Further, the diameters of the front wheel 171 and the intermediate wheel 181 are smaller than the diameter of the rear wheel 181. The diameter of the front wheel 171 is smaller than the diameter of the intermediate wheel 181.

前輪１７１の径が小径とされ、かつ、前輪支持部材１７２が前記構成とされていることから、前部走行部１７０をベッドの下に潜り込ませることができる。   Since the diameter of the front wheel 171 is a small diameter and the front wheel support member 172 is configured as described above, the front traveling portion 170 can be submerged under the bed.

傾動部１０は、図１に示すように、主傾動部３０と補助傾動部４０とを含むものとされる。主傾動部３０は、遊星歯車機構５０を中心的構成要素としてなるものとされる。遊星歯車機構５０は、不動とされた太陽歯車５１と、太陽歯車５１に点対称に配設された右遊星歯車５２および左遊星歯車５３と、主傾動部材３１とを含むものとされる。補助傾動部４０は、右遊星歯車５２に駆動される右タイミングベルト機構４２を有する右補助傾動部４１および左遊星歯車５３に駆動される左タイミングベルト機構４６を有する左補助傾動部４５を含むものとされる。   As shown in FIG. 1, the tilting unit 10 includes a main tilting unit 30 and an auxiliary tilting unit 40. The main tilting portion 30 is configured with the planetary gear mechanism 50 as a central component. The planetary gear mechanism 50 includes a sun gear 51 that is stationary, a right planetary gear 52 and a left planetary gear 53 that are arranged point-symmetrically with the sun gear 51, and a main tilting member 31. The auxiliary tilting portion 40 includes a right auxiliary tilting portion 41 having a right timing belt mechanism 42 driven by the right planetary gear 52 and a left auxiliary tilting portion 45 having a left timing belt mechanism 46 driven by the left planetary gear 53. It is said.

太陽歯車５１は、図８に示すように、基部１００に中央に立設された中央昇降軸５５の上端前面に配設される。より具体的には、太陽歯車５１の後方に突出している後軸５１ａは中央昇降軸５５に配設された軸受(図示省略)に装着される一方、太陽歯車５１の前方に突出している前軸５１ｂは主傾動部材３１に固着され、それにより主傾動部材３１は前軸５１ｂを中心に傾動可能とされる。   As shown in FIG. 8, the sun gear 51 is disposed on the front surface of the upper end of the central lifting shaft 55 that is erected in the center of the base 100. More specifically, the rear shaft 51 a protruding rearward of the sun gear 51 is mounted on a bearing (not shown) disposed on the central lifting shaft 55, while the front shaft protruding forward of the sun gear 51. 51b is fixed to the main tilting member 31, so that the main tilting member 31 can tilt about the front shaft 51b.

中央昇降軸５５は、基端部に載置部材１２０との係合部材を有し、上端部に前述した主傾動部３０の太陽歯車５１の後軸５１ａとの係合部を有するものとされる。中央昇降軸５５はロボットＲの重量軽減を図る観点から、中空材とされるのが好ましい。なお、中央昇降軸５５の基端部の前面適宜位置には、負荷がかかったときに中央昇降軸５５の前傾を防ぐ補強リブ５５ａが設けられている。   The central elevating shaft 55 has an engagement member with the mounting member 120 at the base end portion, and has an engagement portion with the rear shaft 51a of the sun gear 51 of the main tilting portion 30 described above at the upper end portion. The The central lifting shaft 55 is preferably a hollow material from the viewpoint of reducing the weight of the robot R. Reinforcing ribs 55a are provided at appropriate positions on the front surface of the base end of the central lifting shaft 55 to prevent the central lifting shaft 55 from tilting forward when a load is applied.

右遊星歯車５２は、図８に示すように、基部１００に配設された中央昇降軸５５の右側に配設された右側昇降軸５６の上端に配設される。より具体的には、右遊星歯車５２の後方に突出している後軸５２ａは右側昇降軸５６の上端に回転自在に装着される一方、右遊星歯車５２の前方に突出している前軸５２ｂの基部は主傾動部材３１に回転自在に係合される。また、前軸５２ｂの先端部は、後述する右タイミングベルト機構４２の駆動プーリー４３に同駆動プーリー４３と一体的に回転するよう係合される。   As shown in FIG. 8, the right planetary gear 52 is disposed on the upper end of the right lifting shaft 56 disposed on the right side of the central lifting shaft 55 disposed on the base 100. More specifically, the rear shaft 52 a protruding rearward of the right planetary gear 52 is rotatably mounted on the upper end of the right lifting shaft 56, while the base portion of the front shaft 52 b protruding forward of the right planetary gear 52. Is rotatably engaged with the main tilting member 31. Further, the front end portion of the front shaft 52b is engaged with a driving pulley 43 of a right timing belt mechanism 42 described later so as to rotate integrally with the driving pulley 43.

右側昇降軸５６は、例えば電動シリンダーとされ、右側昇降軸本体５６ａと右側昇降軸５６を昇降させる右側アクチュエータ５６ｂとを含むものとされる。右側昇降軸本体５６ａの外装部材の基端は、載置部材１２０に設けられた係合部材１２１と搖動自在に係合されている。例えば、ピンジョイントにより係合されている。また、右側昇降軸５６を昇降させる右側アクチュエータ５６ｂは、右側昇降軸本体５６ａと右側昇降軸本体５６ａが搖動できるようにして係合されている。   The right elevating shaft 56 is an electric cylinder, for example, and includes a right elevating shaft main body 56a and a right actuator 56b that elevates and lowers the right elevating shaft 56. The base end of the exterior member of the right elevating shaft main body 56a is slidably engaged with an engagement member 121 provided on the mounting member 120. For example, it is engaged by a pin joint. Further, the right actuator 56b that raises and lowers the right elevator shaft 56 is engaged so that the right elevator shaft body 56a and the right elevator shaft body 56a can swing.

左遊星歯車５３は、図８に示すように、基部１００に配設された中央昇降軸５５の左側に配設された左側昇降軸５７の上端に配設される。より具体的には、左遊星歯車５３の後方に突出している後軸５３ａは左側昇降軸５７の上端に回転自在に装着される一方、左遊星歯車５３の前方に突出している前軸５３ｂの基部は主傾動部材３１に回転自在に係合される。前軸５３ｂの先端部は、後述する左タイミングベルト機構４６の駆動プーリー４７に同駆動プーリー４７と一体的に回転するよう係合される。   As shown in FIG. 8, the left planetary gear 53 is disposed at the upper end of the left lift shaft 57 disposed on the left side of the central lift shaft 55 disposed on the base 100. More specifically, the rear shaft 53 a protruding rearward of the left planetary gear 53 is rotatably mounted on the upper end of the left elevating shaft 57, while the base portion of the front shaft 53 b protruding forward of the left planetary gear 53. Is rotatably engaged with the main tilting member 31. The front end portion of the front shaft 53b is engaged with a drive pulley 47 of a left timing belt mechanism 46 described later so as to rotate integrally with the drive pulley 47.

左側昇降軸５７は、右側昇降軸５６と同様とされ、左側昇降軸本体５７ａと左側昇降軸５７を昇降させる左側アクチュエータ５７ｂとを含むものとされる。左側昇降軸本体５７ａの外装部材の基端は、載置部材１２０に設けられた係合部材１２１と搖動自在に係合されている。例えば、ピンジョイントにより係合されている。また、左側昇降軸５７を昇降させる左側アクチュエータ５７ｂは、左側昇降軸本体５７ａと同左側昇降軸本体５７ａが搖動可能に係合されている。   The left elevating shaft 57 is similar to the right elevating shaft 56, and includes a left elevating shaft main body 57a and a left actuator 57b that elevates and lowers the left elevating shaft 57. The base end of the exterior member of the left elevating shaft main body 57a is slidably engaged with the engagement member 121 provided on the mounting member 120. For example, it is engaged by a pin joint. The left actuator 57b for raising and lowering the left elevating shaft 57 is engaged with the left elevating shaft main body 57a and the left elevating shaft main body 57a so as to be swingable.

前述したように、中央昇降軸５５はアクチュエータを有していないので、中央昇降軸５５の昇降は、右側昇降軸５６および左側昇降軸５７を同期させて昇降させることによりなされる。つまり、右側昇降軸５６および左側昇降軸５７は駆動軸とされ、中央昇降軸５５は従動軸とされる。   As described above, since the central lifting shaft 55 does not have an actuator, the central lifting shaft 55 is lifted and lowered by synchronizing the right lifting shaft 56 and the left lifting shaft 57 with each other. That is, the right lifting shaft 56 and the left lifting shaft 57 are drive shafts, and the central lifting shaft 55 is a driven shaft.

主傾動部材３１は長方形状の箱体３２とされ、内部右側に右タイミングベルト機構４２を収納し、内部左側に左タイミングベルト機構４６を収納してなるものとされる。箱体３２の後面３２ａには、前述したように、太陽歯車５１、右遊星歯車５２および左遊星歯車５３の前軸が係合されている。箱体３２の右側端部には右補助傾動部４１の右側補助傾動部材４４が配設される一方、箱体３２の左側端部には左補助傾動部４５の左側補助傾動部材４８が配設される。   The main tilting member 31 is a rectangular box 32, which houses a right timing belt mechanism 42 on the inner right side and a left timing belt mechanism 46 on the inner left side. As described above, the front shafts of the sun gear 51, the right planetary gear 52, and the left planetary gear 53 are engaged with the rear surface 32a of the box 32. A right auxiliary tilting member 44 of the right auxiliary tilting portion 41 is disposed at the right end portion of the box body 32, while a left auxiliary tilting member 48 of the left auxiliary tilting portion 45 is disposed at the left end portion of the box body 32. Is done.

右側補助傾動部材４４と左側補助傾動部材４８とは、左右対称とされている他は同一の構成とされているので、以下、右側補助傾動部材４４を説明し、左側補助傾動部材４８の説明は省略する。   The right side auxiliary tilting member 44 and the left side auxiliary tilting member 48 have the same configuration except that they are bilaterally symmetric. Therefore, the right side auxiliary tilting member 44 will be described below, and the left side auxiliary tilting member 48 will be described. Omitted.

右側補助傾動部材４４は、駆動プーリー４３によりタイミングベルト４３ａを介して駆動される従動プーリー４３ｂと、従動プーリー４３ｂの前軸および後軸にそれぞれ係合される後側係合片４４ａおよび前側係合片４４ｂと、後側係合片４４ａおよび前側係合片４４ｂに支持される右腕保持部４４ｃとを含むものとされる。ここで、後側係合片４４ａおよび前側係合片４４ｂは、従動プーリー４３ｂの前軸および後軸にそれぞれ同従動プーリー４３ｂと一体的に回転するように係合されている。また、従動プーリー４３ｂの前軸および後軸は、箱体３２の前面３２ｂおよび後面３２ａの端部にそれぞれ回転自在に支持されている。例えば、軸受を介して回転自在に支持されている。なお、タイミングベルト４３ａにはその緩みを防止するためにテンション調節具が設けられるのが好ましい。テンション調節具としては、公知の各種構造のものを好適に用いることができ、その構成に特に限定はない。   The right auxiliary tilting member 44 includes a driven pulley 43b driven by a driving pulley 43 via a timing belt 43a, a rear engagement piece 44a and a front engagement engaged with a front shaft and a rear shaft of the driven pulley 43b, respectively. It includes a piece 44b and a right arm holding portion 44c supported by the rear engagement piece 44a and the front engagement piece 44b. Here, the rear engagement piece 44a and the front engagement piece 44b are engaged with the front shaft and the rear shaft of the driven pulley 43b so as to rotate integrally with the driven pulley 43b, respectively. Further, the front shaft and the rear shaft of the driven pulley 43b are rotatably supported by the end portions of the front surface 32b and the rear surface 32a of the box body 32, respectively. For example, it is rotatably supported via a bearing. The timing belt 43a is preferably provided with a tension adjuster in order to prevent its loosening. As the tension adjuster, those having various known structures can be suitably used, and the configuration is not particularly limited.

右腕保持部４４ｃは、右腕部材２１が装着される透孔を前後方向に有してなるものとされる。   The right arm holding portion 44c has a through-hole in which the right arm member 21 is mounted in the front-rear direction.

右腕部材２１はロボットＲの前方に所定長さ突出するようその長さが調整された円筒状部材とされ、かつ、後端に抜け防止用の鍔が形成されてなるものとされる。なお、左腕部材２２も同様な構成とされて後端に抜け防止用の鍔が形成されている。   The right arm member 21 is a cylindrical member whose length is adjusted so as to protrude in front of the robot R by a predetermined length, and a hook for preventing the right arm member 21 is formed at the rear end. The left arm member 22 has the same configuration, and a hook for preventing it from coming off is formed at the rear end.

右腕部材２１および左腕部材２２は前記構成とされてもよいが、図に示すように、スライド自在とされるとともにほぼ中央に係止溝２１ａがリング状に形成され、その溝２１ａが右補助傾動部材４４の右腕保持部４４ｃに設けられたロック機構、例えばラッチロック機構Ｆの係止部材が係止されてロックされるようにされてなるのが好ましい。こうすることにより、後述する専用シート６０の被保持部６１への挿入が容易となる。   The right arm member 21 and the left arm member 22 may be configured as described above. However, as shown in the figure, the right arm member 21 and the left arm member 22 are slidable, and a locking groove 21a is formed in a ring shape substantially at the center. It is preferable that a lock mechanism provided on the right arm holding portion 44c of the member 44, for example, a latch member of the latch lock mechanism F is locked and locked. By doing so, it becomes easy to insert a dedicated sheet 60 described later into the held portion 61.

傾動部１０がかかる構成とされているところから、例えば、右側昇降軸５６の上昇と左側昇降軸５７の降下とを同期させて行うと、主傾動部３０が右側を上にして傾動する。つまり、主傾動部材３１が右側を上にして傾斜する。この場合、右遊星歯車５２および左遊星歯車５３が回転し、しかも右遊星歯車５２および左遊星歯車５３が主傾動部材３１を構成している箱体３２の後面３２ａにより保持されているので、右遊星歯車５２および左遊星歯車５３はその回転方向が同一となる。そのため、右補助傾動部４１の右側補助傾動部材４４が起き上がるとともに、左補助傾動部４５の左側補助傾動部材４８が下がる(図６参照)。つまり、主傾動部３０の傾斜を小さくしながら、つまり右側昇降軸５６および左側昇降軸５７の搖動を少なくしながら、後述する右腕部材２１および左腕部材２２に保持されている専用シート６０の傾斜を大きくすることができる。   When the tilting unit 10 is configured as described above, for example, when the raising of the right lifting shaft 56 and the lowering of the left lifting shaft 57 are performed in synchronization, the main tilting unit 30 tilts with the right side up. That is, the main tilting member 31 tilts with the right side facing up. In this case, the right planetary gear 52 and the left planetary gear 53 rotate, and the right planetary gear 52 and the left planetary gear 53 are held by the rear surface 32a of the box body 32 constituting the main tilting member 31, so The planetary gear 52 and the left planetary gear 53 have the same rotation direction. Therefore, the right auxiliary tilting member 44 of the right auxiliary tilting portion 41 rises and the left auxiliary tilting member 48 of the left auxiliary tilting portion 45 is lowered (see FIG. 6). That is, while the inclination of the main tilting portion 30 is reduced, that is, while the swinging of the right lifting shaft 56 and the left lifting shaft 57 is reduced, the dedicated seat 60 held by the right arm member 21 and the left arm member 22 described later is tilted. Can be bigger.

図９、専用シート６０の一例を示す。   FIG. 9 shows an example of the dedicated sheet 60.

専用シート６０は、図９に示すように、両端にロボットＲの右腕部材２１および左腕部材２２が挿入される円筒状の被保持部６１を有するものとされる。   As shown in FIG. 9, the dedicated sheet 60 has cylindrical held portions 61 into which the right arm member 21 and the left arm member 22 of the robot R are inserted at both ends.

被保持部６１は、基材６２と基材６２の外側に配設されたクッション性を有する素材からなるクッション層６３と、合成樹脂シートからなる表層６４とからなるものとされる。   The held portion 61 includes a base material 62, a cushion layer 63 made of a cushioning material disposed outside the base material 62, and a surface layer 64 made of a synthetic resin sheet.

化粧カバーＣは、基部１００をカバーする基部カバーＣ１と、中央昇降軸５５、右側昇降軸５６および左側昇降軸５７をカバーする胴カバーＣ２と、主傾動部材３１をカバーする主傾動部材カバーＣ３と、右補傾動部４１をカバーする右補助傾動部カバーＣ４と、左補傾動部４５をカバーする左補助傾動部カバーＣ６とを含むものとされる。   The decorative cover C includes a base cover C1 that covers the base 100, a body cover C2 that covers the central lifting shaft 55, the right lifting shaft 56, and the left lifting shaft 57, and a main tilting member cover C3 that covers the main tilting member 31. The right auxiliary tilting portion cover C4 that covers the right auxiliary tilting portion 41 and the left auxiliary tilting portion cover C6 that covers the left auxiliary tilting portion 45 are included.

しかして、かかる構成とされたロボットＲによれば、要介護者が寝かされている専用シート６０の被保持部６１のそれぞれにロボットＲの右腕部材２１および左腕部材２２を挿通した後、右側昇降軸５６および左側昇降軸５７を同時に上昇させて要介護者をベッドから浮かせた状態でロボットＲを後退させ、しかる後、要介護者の頭部が上になるように主傾動部材３１を傾動させる。要介護者をこのようにした状態で介護者により車椅子に移乗させる。なお、かかるロボットＲの動作は、図示しないロボット制御装置によりなされる。   Thus, according to the robot R configured as described above, after the right arm member 21 and the left arm member 22 of the robot R are inserted into the held portions 61 of the dedicated sheet 60 where the care recipient is laid, The robot R is moved backward while the elevator shaft 56 and the left elevator shaft 57 are simultaneously lifted to float the care recipient from the bed, and then the main tilting member 31 is tilted so that the head of the care recipient is up. Let In such a state, the care recipient is transferred to the wheelchair by the caregiver. The operation of the robot R is performed by a robot control device (not shown).

このように、本実施形態のロボットＲによれば、介護者が要介護者をベッドから持ち上げる必用がなくなり、介護者の負担が軽減される。例えば、介護者の職業病と称される腰痛の解消が図られる。   Thus, according to the robot R of this embodiment, it is not necessary for the caregiver to lift the care recipient from the bed, and the burden on the caregiver is reduced. For example, low back pain called occupational disease of caregivers can be eliminated.

以上、本発明を実施形態に基づいて説明してきたが、本発明はかかる実施形態のみに限定されるものではなく、種々改変が可能である。   As mentioned above, although this invention has been demonstrated based on embodiment, this invention is not limited only to this embodiment, A various change is possible.

例えば、本実施形態では、補助傾動部材４４，４８はタイミングベルト機構４２，４６により傾動されるようにされているが、チェーン機構により傾動されるようにされてもよい。   For example, in the present embodiment, the auxiliary tilting members 44 and 48 are tilted by the timing belt mechanisms 42 and 46, but may be tilted by the chain mechanism.

本発明は介護産業およびロボット産業に適用できる。   The present invention is applicable to the care industry and the robot industry.

Ｒ ロボット
Ｂ 駆動用電源
Ｃ 化粧カバー
Ｆ ラッチロック機構
１０ 傾動部
２０ 腕部材
２１ 右腕部材
２１ａ 係止溝
２２ 左腕部材
３０ 主傾動部
３１ 主傾動部材
３２ 箱体
３２ａ 後面
３２ｂ 前面
４０ 補助傾動部
４１ 右補助傾動部
４２ 右タイミングベルト機構
４３ 駆動プーリー
４３ａ タイミングベルト
４３ｂ 従動プーリー
４４ 右側補助傾動部材
４４ａ 後側係合片
４４ｂ 前側係合片
４４ｃ 右腕保持部
４５ 左補助傾動部
４６ 左タイミングベルト機構
４７ 駆動プーリー
４８ 左側補助傾動部材
５０ 遊星歯車機構
５１ 太陽歯車
５１ａ 後軸
５１ｂ 前軸
５２ 右遊星歯車
５２ａ 後軸
５２ｂ 前軸
５３ 左遊星歯車
５３ａ 後軸
５３ｂ 前軸
５５ 中央昇降軸
５５ａ 補強リブ
５６ 右側昇降軸
５６ａ 右側昇降軸本体
５６ｂ 右側アクチュエータ
５７ 左側昇降軸
６０ 専用シート
１００ 基部
１１０ 載置部
１２０ 載置部材
１２１ 係合部材
１３０ 水平支持部材
１６０ 走行部
１７０ 前部走行部
１７１ 前輪
１７２ 前輪支持部材
１７３ 水平部
１７４ 傾斜部
１８０ 中間部走行部
１８１ 中間輪
１８２ 中間輪支持部材
１９０ 後部走行部
１９１ 後輪
１９２ 後輪支持部材 R Robot B Drive power supply C Cosmetic cover F Latch lock mechanism 10 Tilt part 20 Arm member 21 Right arm member 21a Locking groove 22 Left arm member 30 Main tilt part 31 Main tilt member 32 Box 32a Rear surface 32b Front face 40 Auxiliary tilt part 41 Right Auxiliary tilting part 42 Right timing belt mechanism 43 Driving pulley 43a Timing belt 43b Driven pulley 44 Right auxiliary tilting member 44a Rear engagement piece 44b Front engagement piece 44c Right arm holding part 45 Left auxiliary tilting part 46 Left timing belt mechanism 47 Drive pulley 48 Left auxiliary tilting member 50 Planetary gear mechanism 51 Sun gear 51a Rear shaft 51b Front shaft 52 Right planetary gear 52a Rear shaft 52b Front shaft 53 Left planetary gear 53a Rear shaft 53b Front shaft 55 Central lifting shaft 55a Reinforcement rib 56 Right lifting shaft 56a Right lifting shaft body 56b Right actuator 57 Left lifting shaft 0 Dedicated seat 100 Base 110 Placement portion 120 Placement member 121 Engagement member 130 Horizontal support member 160 Traveling portion 170 Front travel portion 171 Front wheel 172 Front wheel support member 173 Horizontal portion 174 Inclined portion 180 Intermediate portion travel portion 181 Intermediate wheel 182 Intermediate wheel support member 190 Rear traveling unit 191 Rear wheel 192 Rear wheel support member

Claims (8)

走行自在とされた基部と、前記基部に配設された傾動部と、一対の腕とを備えるロボットであって、
前記傾動部は、主傾動部と、該主傾動部に配設された補助傾動部とを有し、
前記補助傾動部は、前記主傾動部の主傾動部材の両端部に配設されて前記腕を保持する回動自在とされた補助傾動部材を有する
ことを特徴とするロボット。 A robot comprising a base portion that is allowed to run, a tilting portion disposed on the base portion, and a pair of arms,
The tilting part has a main tilting part and an auxiliary tilting part disposed on the main tilting part,
The robot according to claim 1, wherein the auxiliary tilting portion includes an auxiliary tilting member disposed at both ends of the main tilting member of the main tilting portion and configured to be rotatable to hold the arm. 主傾動部は遊星歯車機構を有し、
前記遊星歯車機構は、太陽歯車と、該太陽歯車に点対称に配設された一対の遊星歯車とを含み、
前記太陽歯車は、基部に配設された中央昇降軸の上端部および主傾動部の主傾動部材に回転不自在に支持され、
前記遊星歯車の一方は、前記中央昇降軸の一側において基部に搖動自在に配設された一側側昇降軸の上端部および主傾動部の主傾動部材の一側側において回転自在に支持され、
前記遊星歯車の他方は、前記中央昇降軸の他側において基部に搖動自在に配設された他側側昇降軸の上端部および主傾動部の主傾動部材の他側側において回転自在に支持されてなる
ことを特徴とする請求項１記載のロボット。 The main tilting part has a planetary gear mechanism,
The planetary gear mechanism includes a sun gear and a pair of planetary gears arranged point-symmetrically with the sun gear,
The sun gear is non-rotatably supported by the upper end portion of the central lifting shaft and the main tilting member of the main tilting portion disposed at the base,
One of the planetary gears is rotatably supported on one side of the main tilting member of the main tilting portion and the upper end of the one side lifting shaft that is slidably disposed on the base on one side of the central lifting shaft. ,
The other of the planetary gears is rotatably supported on the other side of the main tilting member of the main tilting portion and the upper end of the other side lifting shaft and the main tilting portion that is slidably disposed on the base on the other side of the central lifting shaft. The robot according to claim 1, wherein 補助傾動部の補助傾動部材は、主傾動部材に配設された動力伝達機構を介して遊星歯車の回転力により傾動されてなることを特徴とする請求項１または２記載のロボット。   The robot according to claim 1 or 2, wherein the auxiliary tilting member of the auxiliary tilting portion is tilted by the rotational force of the planetary gear through a power transmission mechanism disposed on the main tilting member. 補助傾動部材は、主傾動部材の傾動方向と同一方向に回動されてなることを特徴とする請求項２または３記載のロボット。   The robot according to claim 2 or 3, wherein the auxiliary tilting member is rotated in the same direction as the tilting direction of the main tilting member. 腕が円柱状または円筒状とされてなることを特徴とする請求項１記載のロボット。   The robot according to claim 1, wherein the arm has a columnar shape or a cylindrical shape. 腕が進退自在に補助傾動部材に保持されてなることを特徴とする請求項１記載のロボット。   2. The robot according to claim 1, wherein the arm is held by an auxiliary tilting member so as to be able to advance and retreat. 補助傾動部材が、腕を所定位置で固定するロック機構を有してなることを特徴とする請求項６記載のロボット。   The robot according to claim 6, wherein the auxiliary tilting member has a lock mechanism for fixing the arm at a predetermined position. 化粧カバーが装着されてなることを特徴とする請求項１記載のロボット。   The robot according to claim 1, further comprising a decorative cover.
JP2013216861A 2013-10-18 2013-10-18 robot Active JP6340709B2 (en)

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JP2013216861A JP6340709B2 (en) 2013-10-18 2013-10-18 robot
EP14854784.7A EP3058921B1 (en) 2013-10-18 2014-03-14 Robot for transferring a care receiver
DK14854784.7T DK3058921T3 (en) 2013-10-18 2014-03-14 Robot for transferring a care recipient
US15/021,721 US10045898B2 (en) 2013-10-18 2014-03-14 Robot
CN201480056908.2A CN105636567B (en) 2013-10-18 2014-03-14 Robot
CA2920283A CA2920283C (en) 2013-10-18 2014-03-14 Robot for transferring a patient
PCT/JP2014/057950 WO2015056460A1 (en) 2013-10-18 2014-03-14 Robot
AU2014335557A AU2014335557B2 (en) 2013-10-18 2014-03-14 Robot
KR1020167007684A KR102197894B1 (en) 2013-10-18 2014-03-14 Robot

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KR20200105076A (en) * 2019-02-28 2020-09-07 주식회사 휠라인 MOBILE and TRANSFERRING ROBOT FOR HANDICAPED PERSON

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CN117120397A (en) 2021-03-25 2023-11-24 电化株式会社 Silicon nitride powder and method for producing same, and silicon nitride sintered body and method for producing same

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JP2002136549A (en) * 2000-11-06 2002-05-14 Okuma Seisakusho:Kk Nursing care carrier
JP2010536417A (en) * 2007-08-13 2010-12-02 コンメディシス・インコーポレイテッド Tables and slide assemblies for patient transfer devices
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Publication number Priority date Publication date Assignee Title
JP2019080720A (en) * 2017-10-30 2019-05-30 株式会社ファインテクノス Nursing care assist device
KR20200105076A (en) * 2019-02-28 2020-09-07 주식회사 휠라인 MOBILE and TRANSFERRING ROBOT FOR HANDICAPED PERSON
KR102209833B1 (en) 2019-02-28 2021-01-29 주식회사 휠라인 MOBILE and TRANSFERRING ROBOT FOR HANDICAPED PERSON

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