WO2015145915A1 - 介助ロボット - Google Patents
介助ロボット Download PDFInfo
- Publication number
- WO2015145915A1 WO2015145915A1 PCT/JP2014/084660 JP2014084660W WO2015145915A1 WO 2015145915 A1 WO2015145915 A1 WO 2015145915A1 JP 2014084660 W JP2014084660 W JP 2014084660W WO 2015145915 A1 WO2015145915 A1 WO 2015145915A1
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- WO
- WIPO (PCT)
- Prior art keywords
- elevating
- holding
- screw shaft
- unit
- guide path
- Prior art date
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- 230000003028 elevating effect Effects 0.000 claims description 128
- 230000000630 rising effect Effects 0.000 abstract description 3
- 230000007246 mechanism Effects 0.000 description 19
- 238000012423 maintenance Methods 0.000 description 15
- 210000001015 abdomen Anatomy 0.000 description 3
- 230000001174 ascending effect Effects 0.000 description 3
- 230000015572 biosynthetic process Effects 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
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Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H3/04—Wheeled walking aids for patients or disabled persons
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
- A61G5/10—Parts, details or accessories
- A61G5/14—Standing-up or sitting-down aids
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G7/00—Beds specially adapted for nursing; Devices for lifting patients or disabled persons
- A61G7/10—Devices for lifting patients or disabled persons, e.g. special adaptations of hoists thereto
- A61G7/1013—Lifting of patients by
- A61G7/1019—Vertical extending columns or mechanisms
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G7/00—Beds specially adapted for nursing; Devices for lifting patients or disabled persons
- A61G7/10—Devices for lifting patients or disabled persons, e.g. special adaptations of hoists thereto
- A61G7/1073—Parts, details or accessories
- A61G7/1082—Rests specially adapted for
- A61G7/1086—Upper body
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G7/00—Beds specially adapted for nursing; Devices for lifting patients or disabled persons
- A61G7/10—Devices for lifting patients or disabled persons, e.g. special adaptations of hoists thereto
- A61G7/104—Devices carried or supported by
- A61G7/1046—Mobile bases, e.g. having wheels
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G7/00—Beds specially adapted for nursing; Devices for lifting patients or disabled persons
- A61G7/10—Devices for lifting patients or disabled persons, e.g. special adaptations of hoists thereto
- A61G7/1073—Parts, details or accessories
- A61G7/1082—Rests specially adapted for
- A61G7/1092—Rests specially adapted for the arms
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H3/04—Wheeled walking aids for patients or disabled persons
- A61H2003/043—Wheeled walking aids for patients or disabled persons with a drive mechanism
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H3/04—Wheeled walking aids for patients or disabled persons
- A61H2003/046—Wheeled walking aids for patients or disabled persons with braking means
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
- A61H2201/5007—Control means thereof computer controlled
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
- A61H2201/5023—Interfaces to the user
- A61H2201/5025—Activation means
- A61H2201/5028—Contact activation, i.e. activated at contact with a surface of the user to be treated
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
- A61H2201/5023—Interfaces to the user
- A61H2201/5043—Displays
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
- A61H2201/5058—Sensors or detectors
- A61H2201/5061—Force sensors
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
- A61H2201/5058—Sensors or detectors
- A61H2201/5069—Angle sensors
Definitions
- the present invention relates to an assistance robot that assists the standing person in standing up.
- Patent Document 1 describes an assistance robot that assists a person being erected.
- the assistance robot includes an arm unit including a plurality of joints so that the holding unit that holds the person being assisted moves up and down, moves back and forth, and tilts with respect to the base.
- the arm part tilts the holding part relative to the first joint that tilts the first arm part relative to the base, the second joint that slides the second arm part relative to the first arm part, and the second arm part.
- a third joint is provided.
- the actuator for driving the first joint becomes large. That is, the entire assistance robot becomes large.
- An object of the present invention is to provide an assistance robot that can use a small actuator.
- the assistance robot includes a base, a lifting part that moves up and down relative to the base, a holding part that holds a part of the body of the person being assisted, moves back and forth relative to the lifting part, and the base.
- a lifting actuator that drives the lifting operation of the lifting unit with respect to a table
- a longitudinal actuator that drives the holding unit to move back and forth and tilt with respect to the lifting unit.
- One of the elevating part and the holding part is formed to extend in the front-rear direction, and includes a guide path that guides the forward and backward movement and tilting of the holding part with respect to the elevating part, and the other of the elevating part and the holding part is A guided member that moves along the guide path is provided.
- the holding part moves back and forth with respect to the lifting part and tilts.
- the forward / backward movement actuator drives the holding portion to move back and forth and tilt with respect to the elevating portion. Therefore, the person being assisted is moved forward and backward and tilted by driving the longitudinal actuator.
- the longitudinal actuator drives the holding unit with respect to the lifting unit. That is, the longitudinal actuator according to the present invention is smaller than the conventional actuator that momentarily drives the elevating part with respect to the base.
- FIG. 8 is a sectional view taken along the line 8-8 in FIG. It is an enlarged view of the raising / lowering part 40 in the upper part of FIG. However, this corresponds to the 9-9 cross-sectional view of FIG.
- FIG. 10 is a sectional view taken along line 10-10 in FIG. It is a figure which shows the state which the holding
- FIG. 10 is a block diagram of the control apparatus 120 of the assistance robot 1.
- the overall configuration of the assistance robot 1 according to the first embodiment will be described with reference to FIGS.
- the assistance robot 1 supports a part of the body (for example, the upper body) of the person being assisted M1 (shown in FIGS. 13 and 14) and assists the standing operation and the sitting operation.
- the assistance robot 1 includes a base 10, elevating arms 20 and 30, an elevating unit 40, a holding unit 50, elevating actuators 70 and 80, longitudinal actuators 90 and 100, and a control device 120.
- front, rear, left and right are front, rear, left and right when the traveling direction of the assisting robot 1 is forward.
- the base 10 is a part installed on the ground. As shown in FIG. 2, the base 10 is formed in a U shape that opens rearward in a plan view.
- the base 10 includes four wheels 15-18 and can move forward and backward.
- the elevating arms 20 and 30 are provided on the left and right sides of the upper surface of the base 10 and are provided so as to be extendable upward. As shown in FIGS. 1 and 5, the elevating arms 20 and 30 extend and contract linearly in a direction in which the upper end is inclined forward with respect to the lower end.
- the elevating unit 40 is provided at the upper ends of the elevating arms 20 and 30. As the elevating arms 20 and 30 expand and contract in the vertical direction, the elevating unit 40 moves up and down with respect to the base 10. That is, as shown in FIGS. 1 and 5, the elevating unit 40 moves linearly in the direction of moving forward as it rises with respect to the base 10.
- the holding part 50 is located above the elevating part 40 and is supported by the elevating part 40.
- the holding unit 50 moves back and forth with respect to the lifting unit 40 and tilts.
- the holding unit 50 holds a part of the body of the person being assisted M1.
- maintenance part 50 is provided with the attachment 60 replaceable according to the care receiver M1.
- the elevating actuators 70 and 80 drive the elevating operation of the elevating unit 40 with respect to the base 10.
- Each of the lift actuators 70 and 80 drives expansion / contraction of the corresponding lift arms 20 and 30. That is, by driving the elevating actuators 70 and 80, the elevating unit 40 performs the operation from the state shown in FIG. 1 to the ascending position and the advancing position shown in FIG. 5 and vice versa.
- the lift actuators 70 and 80 are provided across the base 10 and the lift arms 20 and 30.
- the forward / backward movement actuators 90 and 100 drive the holding portion 50 to move back and forth and tilt with respect to the elevating portion 40. That is, by driving the longitudinal actuators 90 and 100, the holding unit 50 performs the operation from the state shown in FIG. 1 to the forward position and the forward inclined state shown in FIG. Do.
- the longitudinal actuators 90 and 100 are provided across the elevating unit 40 and the holding unit 50.
- the control device 120 controls the elevating actuators 70 and 80 and the forward / backward moving actuators 90 and 100 according to the operation by the person being assisted M1.
- the assistance robot 1 includes a cover 11 of the base 10, covers 25 and 35 of the lifting arms 20 and 30, a cover 45 of the lifting and lowering unit 40, and an attachment 60 of the holding unit 50. . Therefore, the internal structure of the assistance robot 1 from which these are removed will be described with reference to FIGS. However, the raising / lowering part 40, the holding
- the base 10 includes left and right frames 12 and 13 and a connecting frame 14 that connects the front end portions of the left and right frames 12 and 13.
- the left and right frames 12 and 13 are arranged at an interval necessary for the care recipient M1 to enter.
- Left and right rear wheels 15 and 16 are provided at the rear ends of the left and right frames 12 and 13, respectively.
- Left and right front wheels 17 and 18 are provided at the front end portions of the left and right frames 12 and 13, respectively.
- the left and right front wheels 17 and 18 turn according to the traveling direction of the assistance robot 1.
- the left and right rear wheels 15 and 16 and the left and right front wheels 17 and 18 are wheels having no driving force, but may be driven by a motor or the like.
- the elevating arms 20 and 30 include first arm portions 21 and 31, second arm portions 22 and 32, and third arm portions 23 and 33.
- the 1st arm parts 21 and 31, the 2nd arm parts 22 and 32, and the 3rd arm parts 23 and 33 are formed in the shape of a straight long.
- the first arm portions 21 and 31 are fixed to the left and right frames 12 and 13 of the base 10.
- the first arm portions 21 and 31 are fixed to the base 10 by being tilted forward at a predetermined angle (for example, 80 degrees).
- the second arm portions 22 and 32 slide in the longitudinal direction with respect to the first arm portions 21 and 31.
- the third arm parts 23 and 33 slide in the longitudinal direction with respect to the second arm parts 22 and 32.
- the elevating part 40 is fixed to the upper ends of the third arm parts 23 and 33.
- the second arm portions 22 and 32 and the third arm portions 23 and 33 contract, most of the third arm portions 23 and 33 are moved to the first arm portions 21 and 31 and the third arm portions 23 and 33 as shown in FIG.
- the second arm portions 22 and 32 are accommodated.
- the raising / lowering part 40 is located in the lowest position.
- the third arm portions 23 and 33 are moved to the first arm portions 21 and 31 as shown in FIGS. It is located in the position away from the 1st arm parts 21 and 31 without overlapping in the up-and-down direction.
- the elevating part 40 is located at the uppermost position.
- the elevating actuators 70 and 80 include rotational drive sources 71 and 81, first elevating mechanisms 72 and 82, and second elevating mechanisms 73 and 83.
- the rotational drive sources 71 and 81 include a motor that outputs rotational driving force.
- the rotational drive sources 71 and 81 may include a speed reduction mechanism.
- the first elevating mechanisms 72 and 82 are connected to the rotation drive sources 71 and 81 and are mechanisms for elevating and lowering the second arm portions 22 and 32 with respect to the first arm portions 21 and 31.
- the first elevating mechanisms 72 and 82 are screw mechanisms. Note that a belt mechanism can be applied to the first elevating mechanisms 72 and 82.
- the first elevating mechanisms 72 and 82 include screw shafts 72a and 82a that are rotationally driven by rotational drive sources 71 and 81, and nut members 72b and 82b. In the present embodiment, the screw shafts 72 a and 82 a are fixed to the first arm portions 21 and 31, and the nut members 72 b and 82 b are fixed to the second arm portions 22 and 32.
- the second elevating mechanisms 73 and 83 are mechanisms for elevating and lowering the third arm parts 23 and 33 with respect to the second arm parts 22 and 32.
- the second elevating mechanisms 73 and 83 are belt mechanisms. Note that a screw mechanism can be applied to the second elevating mechanisms 73 and 83.
- the second elevating mechanisms 73 and 83 include lower pulleys 73a and 83a and upper pulleys 73b and 83b that are rotatably provided at both ends of the second arm portions 22 and 32 in the longitudinal direction.
- the second elevating mechanisms 73 and 83 include belts 73c and 83c suspended from the lower pulleys 73a and 83a and the upper pulleys 73b and 83b.
- One of the belts 73c and 83c is fixed to the upper end connecting members 21a and 31a of the first arm portions 21 and 31, and the other of the belts 73c and 83c is fixed to the lower end connecting members 23a and 33a of the third arm portions 23 and 33. . That is, when the second arm portions 22 and 32 are lifted with respect to the first arm portions 21 and 31, the belts 73c and 83c are rotated in conjunction with the lifting operation.
- the third arm parts 23 and 33 are raised with respect to the second arm parts 22 and 32 in conjunction with the rotation operation.
- the operation of lowering the second arm portions 22 and 32 and the third arm portions 23 and 33 is an operation obtained by reversing the above operation.
- the elevating part 40 is fixed to the upper end of the third arm part 23.
- the holding unit 50 moves back and forth and tilts with respect to the lifting unit 40.
- the holding unit 50 includes a guide path 53 that is a rail member
- the elevating unit 40 includes a guided member 43
- the screw shaft 93 of the longitudinal actuators 90 and 100 is held.
- This is a type in which the nut member 94 is provided in the elevating part 40 and provided in the part 50.
- the elevating part 40 includes a base 41, a swing support part 42, and a guided member 43.
- the base portion 41 is formed in a crank shape when viewed from the front-rear direction, and is fixed to the upper ends of the third arm portions 23 and 33.
- the swing support portion 42 of the elevating unit 40 is formed in a U-shape that opens downward when viewed from the front-rear direction, and is fixed to one side surface (right side in FIG. 10) of the base portion 41. Is done.
- the guided member 43 is a member that is movably held in a guide path 53 described later.
- the guided member 43 is formed in a block shape having a groove on the side surface.
- the guided member 43 is fixed to the other side surface of the base portion 41 (left side in FIG. 10). That is, the base 41, the swinging support part 42, and the guided member 43 that constitute the elevating part 40 are integrally formed.
- the holding unit 50 includes a main body frame 51, a swing support unit 52, and a guide path 53.
- the main body frame 51 is formed in a U shape that opens rearward when viewed from above.
- FIG. 9 shows a left extension portion of the main body frame 51
- FIG. 10 shows a left extension portion and a part of the central connection portion of the main body frame 51.
- the swing support portion 52 of the holding portion 50 is formed in a U shape that opens downward when viewed from the front-rear direction.
- the swing support part 52 of the holding part 50 is located at a position overlapping the swing support part 42 of the elevating part 40 in the front-rear direction, and is located in front of the swing support part 42 of the elevating part 40.
- the guide path 53 is a rail member and is fixed to the side surfaces of the left and right extending portions of the main body frame 51.
- the guide path 53 is formed extending in the front-rear direction.
- the guide path 53 is formed in a curved non-linear shape, particularly an arc shape.
- the guide path 53 is fixed to the main body frame 51 so as to be positioned at a lower position toward the front and to have an arc convex shape upward.
- the guide path 53 holds the guided member 43 so as to be sandwiched from above and below by the guided member 43. That is, the guide path 53 moves the guided member 43 along the guide path 53 in an arc shape as shown in FIGS. 9 and 11.
- the body frame 51 of the holding unit 50 moves back and forth with respect to the lifting unit 40 and tilts as shown in FIGS. 9 and 11. .
- the guided member 43 changes from the state where the guided member 43 is positioned at the front end of the guide path 53 as shown in FIG. 9 to the state where the guided member 43 is positioned at the rear end of the guide path 53 as shown in FIG.
- the main body frame 51 of the holding unit 50 moves forward and tilts forward.
- the main body frame 51 of the holding unit 50 moves backward and tilts. Move to a state where the problem disappears.
- the guide path 53 guides the forward and backward movement and tilting of the holding unit 50 with respect to the elevating unit 40 through the guided member 43.
- the forward / backward movement actuators 90 and 100 drive the holding portion 50 to move back and forth and tilt with respect to the lifting / lowering portion 40.
- the two longitudinal actuators 90 and 100 are configured as actuators that operate in synchronization and perform one kind of driving operation. Then, the longitudinal actuators 90 and 100 that perform one type of driving operation drive the holding unit 50 to move back and forth with respect to the elevating unit 40 by one type of driving operation.
- the longitudinal actuator 90 includes a supported member 91, a rotation drive source 92, a screw shaft 93, and a nut member 94.
- the supported member 91 is formed in a block shape with a through hole formed in the center.
- the supported member 91 is supported by the U-shaped opening end of the swing support portion 52 of the holding portion 50 so as to be swingable about the left-right direction as a rotation axis.
- the rotation drive source 92 is, for example, a motor.
- the rotational drive source 92 is fixed to the supported member 91. That is, the rotation drive source 92 can tilt with respect to the swing support part 52 of the holding part 50.
- the screw shaft 93 is connected to the output shaft of the rotational drive source 92 and is rotationally driven by the rotational drive source 92.
- the screw shaft 93 is supported by the supported member 91 so as to be rotatable about the axis of the screw shaft 93. That is, the screw shaft 93 can be tilted with respect to the swing support portion 52 together with the rotation drive source 92.
- the nut member 94 is supported by the U-shaped opening end of the swing support part 42 of the elevating part 40 so as to be tiltable about the left-right direction as a rotation axis.
- the nut member 94 engages with the screw shaft 93 and moves along the screw shaft 93 as the screw shaft 93 rotates.
- the rotational drive source 92 rotates the screw shaft 93 by the rotational drive, and further moves the nut member 94 in the front-rear direction as the screw shaft 93 rotates.
- the rotational drive source 92 rotates, the distance between the supported member 91 that supports one end of the screw shaft 93 and the nut member 94 changes.
- the guided member 43 moves in an arc shape along the guide path 53, whereby the posture of the holding unit 50 with respect to the lifting unit 40 is determined. Therefore, the screw shaft 93 and the nut member 94 are tilted by the holding unit 50 moving back and forth with respect to the lifting unit 40 and tilting.
- the attachment 60 includes a main body portion 61, a body pad 62, left and right grips 63 a and 63 b, left and right elbow placement portions 64 a and 64 b, side holding portions 65 a and 65 b, and an operation portion 66.
- the main body 61 is detachably attached to a main body frame 51 (shown in FIG. 9) of the holding unit 50.
- the body pad 62 is formed in a substantially plate shape by a cushion material.
- the body pad 62 is located on the upper surface of the main body 61 at the center in the left-right direction and the center in the front-rear direction of the entire attachment 60.
- the body pad 62 is provided with the upper surface inclined slightly rearward.
- the torso pad 62 supports almost the entire body of the person being assisted M1, that is, from the chest to the abdomen, and from the vicinity of the left side to the vicinity of the right side.
- the lateral width of the torso pad 62 is formed so that the upper side corresponding to the chest is narrower than the lower side corresponding to the abdomen.
- the person being assisted M1 can position both sides without a sense of incongruity, and can obtain a sense that the vicinity of the abdomen is stably supported.
- the upper edge of the torso pad 62 is formed in a concave shape so as not to hinder the operation of the head of the person being assisted M1.
- the lower edge of the torso pad 62 is formed in a concave shape so that the legs can enter and the waist can be stably supported.
- the grips 63 a and 63 b are fixed to the front of each of the left and right sides of the main body 61.
- the elbow placement portions 64 a and 64 b are disposed on the left and right sides of the main body portion 61.
- the operation unit 66 is a button operated by the person being assisted M1 or the assistant.
- the side holding portions 65 a and 65 b are formed in an arc shape and are disposed on the left and right sides of the body pad 62.
- the side holding portions 65a and 65b are sandwiched between both sides of the person being assisted M1, thereby restricting the back and forth movement of the person being assisted M1.
- the operation unit 66 includes a lift operation button. When the person being assisted M1 operates the lifting operation button on the operation unit 66, the lifting unit 40 performs the lifting operation, and the holding unit 50 moves back and forth in conjunction with the lifting operation of the lifting unit 40 and tilts.
- the body pad 62, the left and right grips 63a and 63b, the left and right elbow mounting parts 64a and 64b, the side holding parts 65a and 65b, and the operation part 66 may be individually replaceable. Further, the attachment 60 does not have to include all of the body pad 62, the left and right grips 63a and 63b, the left and right elbow mounting parts 64a and 64b, the side holding parts 65a and 65b, and the operation part 66, as appropriate. It is good also as a structure provided with what was selected.
- the control device 120 includes a calculation unit 121 such as a CPU and a storage unit 122 such as an HDD or a Flash SSD. Although not shown, the control device 120 includes an interface for communicating with the operation unit 66, the lifting actuators 70 and 80, and the longitudinal actuators 90 and 100 as external devices.
- the calculation unit 121 acquires operation information from the operation unit 66 when the operation unit 66 is operated by the person being assisted M1.
- the operation information is an ascending operation, a descending operation, and a stopping operation for the holding unit 50. Further, the calculation unit 121 acquires the current state information of each actuator 70, 80, 90, 100, for example, the rotation increment value of the motor. Then, the calculation unit 121 determines whether the lift actuators 70 and 80 and the forward / backward movement actuators are based on the acquired operation information, the current state of each actuator 70, 80, 90, 100, and information stored in the storage unit 122. 90 and 100 are synchronously controlled.
- the storage unit 122 stores the relationship between the operation information, the current state of each actuator 70, 80, 90, 100 and the command value for each actuator 70, 80, 90, 100.
- the calculation unit 121 drives the elevating actuators 70 and 80 while driving the longitudinal actuators 90 and 100. That is, as shown in FIG. 14, the holding part 50 moves up and down while moving forward and backward.
- the rising height of the holding part 50 can be set according to the height of the person being assisted M1.
- the holding unit 250 includes a guide path 253 that is a rail member, the elevating unit 240 includes a guided member 243, and the screw shaft 262 of the longitudinal actuator 260 is the elevating unit 240.
- the nut member 263 is provided in the holding portion 250.
- the elevating part 240 is attached to the upper end of the third arm part 23.
- the elevating part 240 includes a base 241, both end support parts 242 and a guided member 243.
- the base 241 is configured similarly to the base 41 of the first embodiment.
- Both end support portions 242 have flanges at both ends of the long portion.
- the central portion of the both-end support portion 242 is supported on one side surface (the front surface of the hand in FIG. 15) of the base portion 241 so as to be tiltable around the axis in the left-right direction of the assisting robot 1.
- the guided member 243 is fixed to the other side surface (the back surface in FIG. 15) of the base portion 241.
- the holding part 250 includes a main body frame 251, a swing support part 252, and a guide path 253.
- the swing support portion 252 is formed in a U-shape that opens downward when viewed from the front-rear direction on the main body frame 251.
- the guide path 253 is a rail member, and is fixed to the side surfaces of the left and right extending portions of the main body frame 251.
- the guide path 253 is formed extending in the front-rear direction.
- the guide path 253 is formed in a curved non-linear shape, particularly an arc shape.
- the guide path 253 holds the guided member 243 so as to be sandwiched by the guided member 243 from above and below. That is, the guide path 253 moves the guided member 243 along the guide path 253 in an arc shape as shown in FIGS. 15 and 16.
- the longitudinal actuator 260 includes a rotation drive source 261, a screw shaft 262, and a nut member 263.
- the rotational drive source 261 is fixed to one of the flanges of the both-end support part 242 of the elevating part 240. That is, the rotation drive source 261 can tilt with respect to the base 241 of the elevating unit 240.
- the screw shaft 262 is connected to the output shaft of the rotational drive source 261 and is rotationally driven by the rotational drive source 261. Both ends of the screw shaft 262 are supported by both flanges of the both-end support portions 242 of the elevating / lowering portion 240 so as to be rotatable around the axis of the screw shaft 262.
- the screw shaft 262 can be tilted with respect to the base 241 of the elevating unit 240 together with the rotational drive source 261.
- the nut member 263 is supported by the U-shaped opening end of the swing support portion 252 of the holding portion 250 so as to be tiltable about the left-right direction as the rotation axis.
- the nut member 263 engages with the screw shaft 262 and moves along the screw shaft 262 as the screw shaft 262 rotates.
- the holding unit 250 performs the same operation as the first embodiment with respect to the lifting unit 240. That is, with the state shown in FIG. 15 as an initial state, the screw shaft 262 rotates when the rotation drive source 261 rotates, and the nut member 263 moves to one side along the screw shaft 262 as the screw shaft 262 rotates. To do. Then, both end support portions 242 of the lifting / lowering portion 240 that supports the screw shaft 262 and the swing support portion 252 of the holding portion 250 that supports the nut member 263 approach each other.
- the holding unit 250 tilts forward while moving forward with respect to the lifting unit 240.
- the rotational drive source 261 is rotationally driven in the reverse direction, the holding unit 250 performs the opposite operation to the lifting unit 240.
- the elevating unit 340 includes guide paths 342 and 343 that are rail members, the holding unit 350 includes guided members 352 and 353, and the screw shaft 262 of the longitudinal actuator 360. Is provided in the elevating part 340, and the nut member 363 is provided in the holding part 250.
- the elevating part 340 is attached to the upper end of the third arm part 23.
- the elevating unit 340 includes a base 341, a first guide path 342, and a second guide path 343.
- the base portion 341 is formed in an elongated shape in the front-rear direction to the extent that the guide paths 342 and 343 that are rail members can be fixed.
- the first guide path 342 is formed in a straight line, and is disposed behind the side surface of the base portion 341 so as to extend in the front-rear direction and horizontally.
- the second guide path 343 is formed in a straight line, and is disposed forward of the side surface of the base portion 341 so as to extend in the front-rear direction and at an angle inclined with respect to the horizontal plane. Specifically, the front end of the second guide path 343 is provided so as to be positioned below the rear end.
- the holding unit 350 includes a main body frame 351, a first guided member 352, and a second guided member 353.
- the first guided member 352 is supported behind the main body frame 351 so as to be tiltable about the left-right direction of the assisting robot 300 as a rotation axis.
- the first guided member 352 is held by the first guide path 342 so as to sandwich the first guide path 342 of the elevating unit 340 from the vertical direction.
- the first guided member 352 moves linearly (in the front-rear direction and horizontally) along the first guide path 342.
- the second guided member 353 is supported in front of the main body frame 351 so as to be tiltable about the left-right direction as a rotation axis.
- the second guided member 353 is held by the second guide path 343 so as to sandwich the second guide path 343 of the elevating unit 340 from the vertical direction.
- the second guided member 353 moves along the second guide path 343 in a straight line (front and rear direction and forward tilt).
- the longitudinal actuator 360 includes a rotational drive source 361, a screw shaft 362, and a nut member 363.
- the rotational drive source 361 is fixed to the base 341 of the elevating unit 340.
- the screw shaft 362 is connected to the output shaft of the rotational drive source 361 and is rotationally driven by the rotational drive source 361. That is, the rotation drive source 361 and the screw shaft 362 are supported so as not to tilt with respect to the elevating unit 340.
- the axis of the screw shaft 362 is disposed horizontally so as to extend in the front-rear direction.
- the nut member 363 engages with the screw shaft 362 and moves along the screw shaft 362 as the screw shaft 362 rotates.
- the nut member 363 is fixed to the first guided member 352 of the holding portion 350. That is, the first guided member 352 of the holding part 350 moves as the nut member 363 moves.
- the holding unit 350 performs the same operation as the first embodiment with respect to the lifting unit 340. That is, with the state shown in FIG. 17 as an initial state, the screw shaft 362 rotates by the rotational drive source 361 being driven to rotate, and the nut member 363 moves forward along the screw shaft 362 as the screw shaft 362 rotates. To do.
- the first guided member 352 moves linearly and horizontally along the first guide path 342.
- the second guided member 353 moves along the second guide path 343 in a straight line and in a forward tilt direction. Therefore, as shown in FIG. 18, the holding unit 350 tilts forward while moving forward with respect to the lifting unit 340.
- the rotational drive source 361 is rotationally driven in the reverse direction, the holding unit 350 performs an operation opposite to that described above with respect to the lifting unit 340.
- the assistance robot 400 of the present embodiment includes a guide path 451a in which the holding unit 450 is a groove, the elevating unit 440 includes guided members 443 and 444, and the main body 461 of the longitudinal actuator 460 is the elevating unit.
- the rod portion 462 of the forward / backward movement actuator 460 is provided on the holding portion 450.
- the elevating part 440 is attached to the upper end of the third arm part 23.
- the elevating part 440 includes a base 441, a swing support part 442, a first guided member 443, and a second guided member 444.
- the swing support portion 442 is provided in front of the side surface of the base portion 441.
- the first guided member 443 and the second guided member 444 are projecting members provided so as to protrude rearward from the side surface of the base portion 441.
- the first guided member 443 and the second guided member 444 are provided substantially side by side in the front-rear direction.
- the holding portion 450 includes a main body frame 451 and a swing support portion 452. On the side surface of the main body frame 451, a guide path 451a that is a groove that opens to the side is formed.
- the guide path 451a is formed in a non-linear shape extending in the front-rear direction.
- the front portion of the guide path 451a is formed in a linear shape extending in the front-rear direction, and the rear portion of the guide path 451a is formed in a shape that is continuously curved into the straight portion.
- the rear end of the guide path 451a is located below the front end. That is, the guide path 451a forms a cam groove.
- a first guided member 443 and a second guided member 444 are inserted into the guide path 451a so as to be movable along the guide path 451a.
- the swing support part 452 is provided at the rear end of the main body frame 451.
- the forward / backward movement actuator 460 is a cylinder mechanism.
- the forward / backward movement actuator 460 includes a main body portion 461 and a rod portion 462.
- the main body 461 is supported by the swing support 442 of the elevating unit 440 so as to be tiltable about the left-right direction of the assisting robot 400 as a rotation axis.
- the rod portion 462 operates so as to change the protruding amount with respect to the main body portion 461.
- the tip of the rod portion 462 is supported by the swing support portion 452 of the holding portion 450 so as to be tiltable about the left-right direction of the assisting robot 400 as the rotation axis.
- the holding unit 450 performs the same operation as the first embodiment with respect to the lifting unit 440. That is, with the state shown in FIG. 19 as an initial state, the rod portion 462 is contracted from the state in which the rod portion 462 extends with respect to the main body portion 461, whereby the swing support portion 452 of the holding portion 450 is swung. The moving support portion 442 is approached. At this time, the first guided member 443 and the second guided member 444 move relatively along the guide path 451a that is a groove. Then, as shown in FIG. 20, the holding unit 450 tilts forward while moving forward with respect to the lifting unit 440. On the other hand, by reversing the operation of the longitudinal actuator 460, the holding unit 450 performs the operation opposite to the above with respect to the elevating unit 440.
- the guide path 451a is formed in the holding part 450 and the guided members 443 and 444 are provided in the elevating part 440, but the guide path 451a is formed in the elevating part 440 and the guided member 443. , 444 may be provided on the holding portion 450.
- the assistance robots 1, 200, 300, and 400 include a base 10, elevating parts 40, 240, 340, and 440 that move up and down relative to the base 10, Holding parts 50, 250, 350, 450 that hold a part of the body of the assistant M1 and move back and forth with respect to the lifting parts 40, 240, 340, 440, and the lifting parts 40, 240 with respect to the base 10 , 340, 440, and lifting actuators 70, 80 that drive the lifting and lowering actuators, 340, 440, and forward / backward movement actuators 90 that drive the holding parts 50, 250, 350, 450 with respect to the lifting parts 40, 240, 340, 440 , 100, 260, 360, 460.
- One of the elevating parts 40, 240, 340, 440 and the holding parts 50, 250, 350, 450 is formed extending in the front-rear direction, and the holding parts 50, 250, 350, 450 for the elevating parts 40, 240, 340, 440 are formed.
- the holding parts 50, 250, 350, 450 for the elevating parts 40, 240, 340, 440 are formed.
- the other of the elevating parts 40, 240, 340, 440 and the holding parts 50, 250, 350, 450 is guided members 43, 243, 352, 353 that move along the guide paths 53, 253, 342, 343, 451a. 443, 444.
- the holding units 50, 250, 350, and 450 move back and forth with respect to the elevating units 40, 240, 340, and 440 and tilt.
- the longitudinal actuators 90, 100, 260, 360, 460 drive the holding units 50, 250, 350, 450 to move forward and backward relative to the elevating units 40, 240, 340, 440. Therefore, the back and forth movement and tilting of the person being assisted M1 is performed by driving the back and forth actuators 90, 100, 260, 360, and 460.
- the longitudinal actuators 90, 100, 260, 360, 460 drive the holding parts 50, 250, 350, 450 with respect to the elevating parts 40, 240, 340, 440. That is, the longitudinal actuators 90, 100, 260, 360, and 460 in the present embodiment are smaller than the actuator that momentarily drives the elevating parts 50, 250, 350, and 450 with respect to the base 10 as in the prior art. Become.
- the longitudinal actuators 90, 100, 260, 360, and 460 are moved forward and backward in addition to tilting the holding portions 50, 250, 350, and 450. That is, the assisting robots 1, 200, 300, and 400 do not need to provide an actuator for driving the tilting of the holding units 50, 250, 350, and 450 and an actuator for driving the forward and backward movement, respectively. Therefore, the number of actuators is reduced. As a result, the assistance robots 1, 200, 300, and 400 are reduced in size.
- the guide paths 53, 253, 342, and 343 are rail members, and the guided members 43, 243, 352, and 353 are These members are held in the guide paths 53, 253, 342, and 343 so as to be relatively movable.
- the rail member By using the rail member, the holding parts 50, 250, 350 are stably guided with respect to the elevating parts 40, 240, 340.
- the sliding resistance between the guide paths 53, 253, 342, and 343, which are rail members, and the guided members 43, 243, 352, and 353 is small, the power of the longitudinal actuators 90, 100, 260, and 360 is reduced. .
- the guide path 451a is a groove formed in one of the elevating part 440 and the holding part 450, and the guided members 443 and 444 are guide paths that can be moved relative to the guide path 451a. It is a protrusion member inserted in 451a.
- the guide path 451a is not a dedicated member, but is formed in one of the elevating part 440 and the holding part 450, so the number of parts is reduced. Furthermore, since the freedom degree of design of a groove shape is high, the freedom degree of operation
- the holding units 50, 250, and 450 include guide paths 53, 253, and 451a
- the elevating units 40, 240, and 440 are Guide members 43, 243, 443, 444 are provided. Since the guide paths 53, 253, 451a have a length in the front-rear direction, the member having the guide paths 53, 253, 451a has a length. On the other hand, the guided members 43, 243, 443, and 444 are relatively short because they are members that move along the guide paths 53, 253, and 451a.
- maintains a part of body of the care receiver M1
- the longitudinal actuators 90 and 100 are connected to the rotation drive source 92 provided in the holding unit 50 and the output shaft of the rotation drive source 92, and are driven to rotate by the rotation drive source 92.
- a nut member 94 that is provided in the elevating unit 40, engages with the screw shaft 93, and moves along the screw shaft 93 as the screw shaft 93 rotates.
- the screw shaft 93 of the longitudinal actuators 90 and 100 moves together with the holding unit 50.
- the screw shaft 93 has a length.
- the holding part 50 has a certain length in order to hold a part of the body of the person being assisted M1.
- the length in the front-rear direction of the member provided in the elevating unit 40 can be shortened by holding the screw shaft 93 in the holding unit 50 having the original length.
- the total length of the assisting robot 1 in the front-rear direction is shortened.
- the rotational drive source 92 and the screw shaft 93 are supported by the holding unit 50 so as to be tiltable, and the nut member 94 is supported by the lifting unit 40 so as to be tiltable.
- the screw shaft 93 tilts according to the tilt angle of the holding unit 50. Therefore, the vertical movement actuators 90 and 100 can be downsized in the vertical direction.
- the longitudinal actuators 260 and 360 are provided on the output shafts of the rotational drive sources 261 and 361 provided in the elevating units 240 and 340 and the rotational drive sources 261 and 361, respectively.
- the screw shafts 262 and 362 that are connected and rotated by the rotation drive sources 261 and 361 and the holding portions 250 and 350 are engaged with the screw shafts 262 and 362, and the screw shafts 262 and 362 are rotated.
- the rotational drive sources 261 and 361 hardly move back and forth with respect to the elevating parts 240 and 340. Therefore, the wiring arrangement for the rotational drive sources 261 and 361 is very good.
- the rotation drive source 261 and the screw shaft 262 are supported by the elevating unit 240 so as to be tiltable, and the nut member 263 is supported by the holding unit 250 so as to be tiltable.
- the screw shaft 262 tilts according to the tilt angle of the holding unit 250. Accordingly, the vertical movement actuator 260 can be downsized in the vertical direction.
- the rotation drive source 361 and the screw shaft 362 are supported by the elevating unit 340 so as not to tilt, and the nut member 363 is supported by the holding unit 350 so as to tilt.
- the rotational drive source 361 and the screw shaft 362 move with the lifting / lowering operation of the lifting / lowering unit 340, but do not follow the back-and-forth movement and tilting of the holding unit 350. Therefore, there is little opportunity for external vibration to be applied to the rotational drive source 361 and the screw shaft 362. Therefore, the lifetimes of the rotational drive source 361 and the screw shaft 362 are extended.
- both ends of the screw shaft 262 are supported by the elevating unit 240. Since the screw shaft 262 is stably held, the engagement state between the screw shaft 262 and the nut member 263 is favorably maintained even when the assisting robot 200 operates. Accordingly, the life of the screw shaft 262 and the nut member 263 is extended.
- the elevating units 40, 240, 340, and 440 move forward as they rise with respect to the base 10. Move in the direction you want to go.
- the holding units 50, 250, 350, and 450 have a predetermined amount of forward movement with respect to the lifting units 40, 240, 340, and 440. Necessary.
- the elevating parts 40, 240, 340, 440 can move forward by the ascending operation of the elevating parts 40, 240, 340, 440 themselves.
- the back-and-forth movement strokes of the holding portions 50, 250, 350, and 450 with respect to the elevating portions 40, 240, 340, and 440 can be shortened. Accordingly, the lengths of the guide paths 53, 253, 342, 343, and 451a are shortened, and the total lengths of the assisting robots 1, 200, 300, and 400 are shortened.
- the guide paths 53, 253, and 451a are formed in a non-linear shape.
- the holding portions 50, 250, 450 can move back and forth and tilt with respect to the elevating portions 40, 240, 440.
- the structure can be formed easily.
- the guide path 343 is linear and inclined. The formation of the guide path 343 itself is simplified.
- the longitudinal actuators 90, 100, 260, 360, and 460 are actuators that perform one type of driving operation.
- the holding units 50, 250, 350, and 450 are driven to move back and forth and tilt with respect to the elevating units 40, 240, 340, and 440.
- an actuator that performs one type of drive operation means that even if there are a plurality of actuators, the actuators for the purpose of performing the same type of operation in synchronization with the plurality of actuators.
- the assisting robots 1, 200, 300, and 400 do not need to provide an actuator dedicated to tilting the holding units 50, 250, 350, and 450 and an actuator dedicated to driving forward and backward movement, respectively.
- the assistance robots 1, 200, 300, and 400 have two types of driving in order to move the holding units 50, 250, 350, and 450 forward and backward with respect to the elevating units 40, 240, 340, and 440.
- the assistance robots 1, 200, 300, and 400 need only a small number of types of actuators. As a result, the assistance robots 1, 200, 300, and 400 are reduced in size.
- 1,200,300,400 assistance robot
- 10 base, 20, 30: lifting arm, 23, 33: third arm part
- 40, 240, 340, 440 lifting part, 41, 241, 341, 441 : Base, 43, 243, 352, 353, 443, 444: Guided member, 50, 250, 350, 450: Holding part, 51, 251, 351, 451: Main body frame, 53, 253, 342, 343, 451a : Guideway, 60: Attachment, 70, 80: Lifting actuator, 90, 100, 260, 360, 460: Longitudinal actuator, 92, 261, 361: Rotation drive source, 93, 262, 362: Screw shaft, 94, 263, 363: nut member, 120: control device, M1: care recipient
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Abstract
Description
(1.介助ロボット1の全体構成)
第一実施形態の介助ロボット1の全体構成について、図1-図5を参照して説明する。介助ロボット1は、被介助者M1(図13,図14に示す)の体の一部(例えば、上半身)を支えて起立動作及び着座動作を補助する。介助ロボット1は、図1-図5に示すように、基台10、昇降アーム20,30、昇降部40、保持部50、昇降アクチュエータ70,80、前後動アクチュエータ90,100及び制御装置120を備える。以下の説明において、前後左右は、介助ロボット1の進行方向を前方としたときの前後左右とする。
制御装置120は、被介助者M1による操作に応じて、昇降アクチュエータ70,80、前後動アクチュエータ90,100を制御する。
介助ロボット1は、図1-図5に示すように、基台10のカバー11、昇降アーム20,30のそれぞれのカバー25,35、昇降部40のカバー45、保持部50のアタッチメント60を備える。そこで、これらを取り除いた介助ロボット1の内部構造について、図6-図8を参照して説明する。ただし、昇降部40、保持部50及び前後動アクチュエータ90,100は、後述する。
第三アーム部23,33は、第二アーム部22,32に対して長手方向にスライドする。第三アーム部23,33の上端には、昇降部40が固定される。第三アーム部23,33が収縮した際には、第三アーム部23,33の大部分が第二アーム部22,32に収容される。
昇降部40、保持部50及び前後動アクチュエータ90,100について、図9-図11を参照して説明する。ここで、以下の説明においては、昇降部40の左側部分と保持部50の左側部分との連結構造について説明する。そのため、右側の前後動アクチュエータ100については説明しない。説明は省略するが、昇降部40の右側部分と保持部50の右側部分との連結構造は、左側の構造を左右対称とした構造となる。
アタッチメント60について図1-図4を参照して説明する。アタッチメント60は、本体部61、胴体パッド62、左右のグリップ63a,63b、左右の肘載置部64a,64b、脇保持部65a,65b、及び、操作部66を備える。本体部61は、保持部50の本体フレーム51(図9に示す)に着脱可能に取り付けられる。
制御装置120の構成について、図12を参照して説明する。同時に、介助ロボット1の動作について、図13及び図14を参照して説明する。制御装置120は、CPUなどの演算部121と、HDDやFlash SSDなどの記憶部122とを備える。図示しないが、制御装置120は、外部機器としての操作部66、昇降アクチュエータ70,80及び前後動アクチュエータ90,100との通信を行うためのインターフェースを備える。
第二実施形態の介助ロボット200における昇降部240、保持部250及び前後動アクチュエータ260について図15及び図16を参照して説明する。図15及び図16は、第一実施形態における図9及び図10と同様に、昇降部240の左側部分と保持部250の左側部分との連結構造について図示する。
第三実施形態の介助ロボット300における昇降部340、保持部350及び前後動アクチュエータ360について図17及び図18を参照して説明する。図17及び図18は、第一実施形態における図9及び図10と同様に、昇降部340の左側部分と保持部350の左側部分との連結構造について図示する。
第四実施形態の介助ロボット400における昇降部440、保持部450及び前後動アクチュエータ460について図19及び図20を参照して説明する。図19及び図20は、第一実施形態における図9及び図10と同様に、昇降部440の左側部分と保持部450の左側部分との連結構造について図示する。
第一、第二、第三、第四実施形態の介助ロボット1,200,300,400は、基台10と、基台10に対して昇降する昇降部40,240,340,440と、被介助者M1の体の一部を保持し、昇降部40,240,340,440に対して前後動し且つ傾動する保持部50,250,350,450と、基台10に対する昇降部40,240,340,440の昇降動作の駆動を行う昇降アクチュエータ70,80と、昇降部40,240,340,440に対する保持部50,250,350,450の前後動且つ傾動の駆動を行う前後動アクチュエータ90,100,260,360,460とを備える。
第三実施形態の介助ロボット300においては、案内路343は、直線状であって傾斜して形成される。案内路343自身の形成が簡易となる。
Claims (13)
- 基台と、
前記基台に対して昇降する昇降部と、
被介助者の体の一部を保持し、前記昇降部に対して前後動し且つ傾動する保持部と、
前記基台に対する前記昇降部の昇降動作の駆動を行う昇降アクチュエータと、
前記昇降部に対する前記保持部の前後動且つ傾動の駆動を行う前後動アクチュエータと、
を備え、
前記昇降部及び前記保持部の一方は、前後方向に延びて形成され、前記昇降部に対する前記保持部の前後動且つ傾動を案内する案内路を備え、
前記昇降部及び前記保持部の他方は、前記案内路に沿って移動する被案内部材を備える、介助ロボット。 - 前記案内路は、レール部材であり、
前記被案内部材は、前記案内路に相対移動可能に保持される部材である、請求項1に記載の介助ロボット。 - 前記案内路は、前記昇降部及び前記保持部の一方に形成される溝であり、
前記被案内部材は、前記案内路に相対移動可能に前記案内路に挿入される突起部材である、請求項1に記載の介助ロボット。 - 前記保持部は、前記案内路を備え、
前記昇降部は、前記被案内部材を備える、請求項1-3の何れか一項に記載の介助ロボット。 - 前記前後動アクチュエータは、
前記保持部に設けられる回転駆動源と、
前記回転駆動源の出力軸に連結され、前記回転駆動源により回転駆動されるねじ軸と、
前記昇降部に設けられ、前記ねじ軸に係合し、前記ねじ軸の回転に伴って前記ねじ軸に沿って移動するナット部材と、
を備える、請求項1-4の何れか一項に記載の介助ロボット。 - 前記回転駆動源及び前記ねじ軸は、前記保持部に傾動可能に支持され、
前記ナット部材は、前記昇降部に傾動可能に支持される、請求項5に記載の介助ロボット。 - 前記前後動アクチュエータは、
前記昇降部に設けられる回転駆動源と、
前記回転駆動源の出力軸に連結され、前記回転駆動源により回転駆動されるねじ軸と、
前記保持部に設けられ、前記ねじ軸に係合し、前記ねじ軸の回転に伴って前記ねじ軸に沿って移動するナット部材と、
を備える、請求項1-4の何れか一項に記載の介助ロボット。 - 前記回転駆動源及び前記ねじ軸は、前記昇降部に傾動可能に支持され、
前記ナット部材は、前記保持部に傾動可能に支持される、請求項7に記載の介助ロボット。 - 前記回転駆動源及び前記ねじ軸は、前記昇降部に傾動不能に支持され、
前記ナット部材は、前記保持部に傾動可能に支持される、請求項7に記載の介助ロボット。 - 前記ねじ軸の両端は、前記昇降部に支持される、請求項7-9の何れか一項に記載の介助ロボット。
- 前記昇降部は、前記基台に対して上昇するにつれて前方に移動する方向に直動する、請求項1-10の何れか一項に記載の介助ロボット。
- 前記案内路は 非直線状に形成される、請求項6又は8に記載の介助ロボット。
- 前記案内路は、直線状であって傾斜して形成される、請求項9に記載の介助ロボット。
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EP14887502.4A EP3124002B8 (en) | 2014-03-28 | 2014-12-26 | Assistance robot |
JP2016509919A JP6534991B2 (ja) | 2014-03-28 | 2014-12-26 | 介助ロボット |
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JPPCT/JP2014/059268 | 2014-03-28 | ||
PCT/JP2014/059268 WO2015145758A1 (ja) | 2014-03-28 | 2014-03-28 | 介助ロボット |
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WO2015145915A1 true WO2015145915A1 (ja) | 2015-10-01 |
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PCT/JP2014/059268 WO2015145758A1 (ja) | 2014-03-28 | 2014-03-28 | 介助ロボット |
PCT/JP2014/084660 WO2015145915A1 (ja) | 2014-03-28 | 2014-12-26 | 介助ロボット |
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PCT/JP2014/059268 WO2015145758A1 (ja) | 2014-03-28 | 2014-03-28 | 介助ロボット |
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EP (2) | EP3123995B1 (ja) |
JP (2) | JP6310060B2 (ja) |
CN (1) | CN106163479B (ja) |
WO (2) | WO2015145758A1 (ja) |
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JP7007912B2 (ja) | 2015-10-06 | 2022-01-25 | 株式会社Fuji | 介助装置 |
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WO2018116473A1 (ja) * | 2016-12-22 | 2018-06-28 | 株式会社Fuji | 介助装置 |
JP7108448B2 (ja) * | 2018-04-06 | 2022-07-28 | 株式会社Fuji | 介助装置 |
WO2020021619A1 (ja) * | 2018-07-24 | 2020-01-30 | 株式会社Fuji | 介助装置の適合判定装置 |
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Also Published As
Publication number | Publication date |
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EP3123995B1 (en) | 2024-07-17 |
JPWO2015145758A1 (ja) | 2017-04-13 |
JP6310060B2 (ja) | 2018-04-11 |
WO2015145758A1 (ja) | 2015-10-01 |
EP3124002A1 (en) | 2017-02-01 |
EP3124002B1 (en) | 2018-09-26 |
EP3124002B8 (en) | 2018-11-28 |
JP6534991B2 (ja) | 2019-06-26 |
JPWO2015145915A1 (ja) | 2017-04-13 |
EP3123995A4 (en) | 2018-03-28 |
EP3123995A1 (en) | 2017-02-01 |
CN106163479B (zh) | 2018-12-07 |
EP3124002A4 (en) | 2017-03-15 |
CN106163479A (zh) | 2016-11-23 |
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