WO2017017803A1 - Care robot - Google Patents
Care robot Download PDFInfo
- Publication number
- WO2017017803A1 WO2017017803A1 PCT/JP2015/071458 JP2015071458W WO2017017803A1 WO 2017017803 A1 WO2017017803 A1 WO 2017017803A1 JP 2015071458 W JP2015071458 W JP 2015071458W WO 2017017803 A1 WO2017017803 A1 WO 2017017803A1
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- WO
- WIPO (PCT)
- Prior art keywords
- pair
- holding device
- support arms
- auxiliary operation
- holding
- Prior art date
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- 230000003028 elevating effect Effects 0.000 claims description 24
- 230000008602 contraction Effects 0.000 claims description 5
- 238000006073 displacement reaction Methods 0.000 claims description 5
- 230000005764 inhibitory process Effects 0.000 abstract 1
- 230000007246 mechanism Effects 0.000 description 36
- 238000012423 maintenance Methods 0.000 description 5
- 230000000694 effects Effects 0.000 description 3
- 210000001015 abdomen Anatomy 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
Images
Classifications
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- 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
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- 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
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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
Definitions
- the present invention relates to an assistance robot.
- Patent Documents 1 and 2 disclose assistance robots that assist a person being assisted in standing and sitting.
- the assistance robot of Patent Document 2 is configured to be movable in a state where the person being assisted is held by a holding member.
- the holding member is supported by a pair of support arms disposed on both sides of the base in the left-right direction. With such a configuration, the assistance robot of Patent Document 2 secures a space around the legs of the person being assisted.
- Assistance robots that assist the person being assisted are required to be able to perform various auxiliary actions such as forward and backward movement and tilting of the holding member that holds the person being assisted.
- the assistance robot is required to have a configuration that is unlikely to cause interference with other assistance devices for the purpose of facilitating getting on and off.
- This invention is made in view of such a situation, and provides the assistance robot which can suppress interference with another assistance apparatus etc., enabling the auxiliary operation of the holding member holding an assistance assistant. With the goal.
- the assisting robot according to claim 1 is a base and a pair of support arms that are respectively disposed on both sides in the left-right direction with the traveling direction of the base in front, and can extend and contract in the vertical direction with respect to the base.
- a lifting actuator that drives the expansion and contraction of the pair of support arms, and a pair of support arms supported directly or indirectly by the pair of support arms and holding a part of the body of the person being assisted
- a holding device capable of auxiliary operation including forward and backward movement or tilting, and the left and right direction of the pair of support arms, provided integrally with the holding device, and driving the auxiliary operation of the holding device.
- An auxiliary operation actuator to perform.
- the assistance robot according to claim 4 is connected to each of the base, the pair of support arms arranged on both sides in the left-right direction with the traveling direction of the base in front, and the pair of support arms, A bracket extending from the connection position to the front side in the traveling direction, and supported by the pair of support arms via the bracket, and with respect to the pair of support arms while holding a part of the body of the person being assisted
- a holding device capable of auxiliary operation including forward and backward movement and tilting is disposed between the pair of support arms in the left-right direction, and is provided integrally with the holding device to drive the auxiliary operation of the holding device.
- An auxiliary operation actuator is located on the front side in the traveling direction with respect to the connection position between the pair of support arms and the bracket.
- the holding device since the holding device is supported by the pair of support arms, a space around the leg portion of the person being assisted can be secured.
- An auxiliary operation actuator that drives the auxiliary operation of the holding device is disposed between the pair of support arms.
- the auxiliary operation actuators can be concentrated in the center, and a space around the holding device can be secured. Therefore, compared with the structure which arrange
- the holding device is supported by the pair of support arms, a space around the leg of the person being assisted can be ensured.
- the auxiliary operation actuator that drives the auxiliary operation of the holding device is disposed between the pair of support arms and in front of the pair of support arms. Thereby, a space can be secured between the pair of support arms while concentrating the auxiliary operation actuators in the center. Therefore, compared with the structure which arrange
- FIG. 5 is an enlarged side view showing the auxiliary operation actuator through and showing the auxiliary operation of the holding device.
- the assistance robot is used to assist the person being assisted in standing up and sitting.
- the assistance robot 1 supports a part of the body (for example, the upper body) of the person being assisted and assists the standing motion and the sitting motion. As shown in FIGS. 1 and 2, the assistance robot 1 includes a base 10, a pair of lifting arms 20, a lifting actuator 30, a holding device 50, an auxiliary operation actuator 80, and a control device 90.
- 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. 3, the base 10 is formed in a U shape that opens rearward in a plan view from above.
- the base 10 includes two front wheels 15 and two rear wheels 16.
- the base 10 is configured to be capable of moving forward and backward in the direction of travel.
- a base cover 11 that covers and protects the inside is attached to the base 10.
- the pair of lifting arms 20 (corresponding to the “supporting arm” of the present invention) are respectively arranged on both sides in the left-right direction with the traveling direction of the base 10 as the front.
- the elevating arm 20 is configured to be able to extend and contract in the vertical direction with respect to the base 10.
- the elevating arm 20 extends and contracts linearly in a direction in which the upper end is inclined forward with respect to the lower end.
- an arm cover 25 that covers and protects the inside is attached to the pair of lifting arms 20.
- the lift actuator 30 drives the expansion and contraction of the pair of lift arms 20 with respect to the base 10.
- the lift actuator 30 is disposed corresponding to each of the pair of lift arms 20.
- the holding device 50 provided on the upper part of the lifting arm 20 is driven to the lower end with respect to the base 10 (see FIG. 4) and in the raised end (see FIG. 5). , And a state at a predetermined position between them is appropriately controlled.
- the bracket 40 is a member for attaching the holding device 50 to the pair of lifting arms 20.
- a pair of brackets 40 are disposed corresponding to each of the pair of lifting arms 20. The bracket 40 moves up and down with respect to the base 10 as the lifting arm 20 extends and contracts.
- the holding device 50 is configured to be capable of auxiliary operation including forward / backward movement or tilting with respect to the pair of lifting arms 20 in a state where the position of the person being assisted is held.
- the “auxiliary operation” includes a back-and-forth movement that moves the body of the person being assisted in the front-rear direction with respect to the base 10, and a predetermined angle with respect to the base 10 of the person being assisted Includes both tilting forward and backward.
- the “auxiliary operation” of the present embodiment is an operation in which tilting is interlocked with the above-described longitudinal movement.
- the holding device 50 is disposed between the pair of lifting arms 20 in a plan view from above.
- the holding device 50 is supported by the pair of lift arms 20 via the bracket 40 as shown in FIGS.
- the assistance robot 1 is good also as a structure by which the holding
- the auxiliary operation actuator 80 drives the auxiliary operation of the holding device 50.
- the auxiliary operation actuator 80 is arranged with the center in the left-right direction aligned with respect to the intermediate position Pm between the pair of lift arms 20 and is provided integrally with the holding device 50.
- the holding device 50 causes the attachment 60 to be raised at the rearmost end as shown by a solid line in FIG. 6, and the attachment 60 is inclined at the frontmost end as shown by a broken line in FIG.
- the state and the state at a predetermined position between them and the corresponding angle are appropriately controlled.
- the control device 90 controls the operations of the elevating actuator 30 and the auxiliary operation actuator 80 according to the operation of the assistant who uses the assistance robot 1 to assist the person being assisted.
- the control device 90 is accommodated in the main frame 14 of the base 10.
- the control device 90 is wired so that electric power can be supplied to the elevating actuator 30 and the auxiliary operation actuator 80.
- the control device 90 controls driving of various operations of the elevating actuator 30 and the auxiliary operation actuator 80 based on the input signal including the above operation.
- the assistance robot 1 is protected by covering the inside with a base cover 11 of the base 10, an arm cover 25 of the lifting arm 20, a bracket 40, and a holding cover 53 of the holding device 50.
- . 2 to 6 show the internal structure of the assistance robot 1 with various covers removed.
- the base 10 includes a side frame 12 and a main frame 14.
- the side frames 12 are arranged at an interval in the left-right direction necessary for the person being assisted to enter the inside of the assistance robot 1.
- the main frame 14 connects the front end portions of the left and right side frames 12.
- the main frame 14 accommodates a control device 90, a battery, and the like necessary for driving the elevating actuator 30 and the auxiliary operation actuator 80.
- a pair of left and right front wheels 15 are provided at the front end of the side frame 12, respectively.
- a pair of left and right rear wheels 16 are provided at the rear end of the side frame 12.
- the pair of front wheels 15 turn according to the traveling direction of the assisting robot 1.
- the front wheel 15 and the rear wheel 16 do not have a function of driving in the present embodiment.
- the assistance robot 1 can employ a configuration in which the front wheels 15 or the rear wheels 16 are driven wheels that can be driven by an electric motor or the like.
- the pair of elevating arms 20 includes a first arm part 21, a second arm part 22, and a third arm part 23, respectively.
- the 1st arm part 21, the 2nd arm part 22, and the 3rd arm part 23 are formed in a linear elongate shape.
- the first arm portion 21 is fixed to the side frame 12 of the base 10.
- the first arm portion 21 is fixed in a state where it is inclined forward by a predetermined angle (for example, 80 degrees) with respect to the base 10.
- the second arm portion 22 slides in the longitudinal direction with respect to the first arm portion 21.
- the second arm part 22 is in a state in which most of the second arm part 22 is accommodated in the first arm part 21 and contracted with respect to the first arm part 21.
- the third arm portion 23 slides in the longitudinal direction with respect to the second arm portion 22.
- a bracket 40 is fixed to the upper end of the third arm portion 23.
- the third arm portion 23 is in a state where most of the third arm portion 23 is accommodated in the second arm portion 22 and contracted with respect to the second arm portion 22.
- most of the third arm portion 23 is accommodated in the second arm portion 22, and most of the second arm portion 22 is accommodated in the first arm portion 21, and the lifting arm 20 is in a state contracted to a minimum in the vertical direction.
- the bracket 40 fixed to the upper end of the raising / lowering arm 20 will be in the state located in the lowest position.
- the third arm portion 23 does not overlap the first arm portion 21 in the vertical direction, and the second arm portion 23 is located at a position away from the first arm portion 21 upward. It is supported by the arm part 22 and the lifting arm 20 is in a state of being extended to the maximum in the vertical direction. At this time, the bracket 40 fixed to the upper end of the raising / lowering arm 20 will be in the state located in the highest position.
- the elevating actuator 30 is provided across the base 10 and the elevating arm 20.
- the lift actuator 30 includes a rotation drive source 31, a first lift mechanism 32, and a second lift mechanism 33.
- the rotational drive source 31 includes an electric motor that is supplied with electric power from the control device 90 and outputs a driving force, and a reduction mechanism that decelerates the driving force.
- the first elevating mechanism 32 has a feed screw mechanism that elevates and lowers the second arm portion 22 with respect to the first arm portion 21 by a driving force output from the rotational drive source 31.
- the second lifting mechanism 33 has a belt mechanism that moves the third arm portion 23 up and down with respect to the second arm portion 22 in conjunction with the driving of the first lifting mechanism 32.
- a pair of brackets 40 are disposed corresponding to each of the pair of lifting arms 20.
- the pair of brackets 40 has a symmetrical shape and includes a first attachment member 41 and a second attachment portion 42, respectively.
- One end of the first attachment member 41 is connected to the upper end of the third arm portion 23 in the lifting arm 20.
- the other end of the first attachment member 41 is connected to one end of the second attachment portion 42.
- the other end of the second attachment portion 42 is connected to the lower surface portion of the holding device 50.
- each of the pair of brackets 40 has a shape extending from the connection position P ⁇ b> 1 with the pair of lifting arms 20 to the front side in the traveling direction. Therefore, as shown in FIGS. 3 and 4, the connection position P ⁇ b> 2 between the holding device 50 and the bracket 40 is located on the front side in the traveling direction from the connection position P ⁇ b> 1 between the pair of lift arms 20 and the bracket 40.
- the holding device 50 capable of assisting operation is arranged with the center in the left-right direction aligned with respect to the intermediate position Pm between the pair of lifting arms 20.
- the holding device 50 is supported by the pair of lift arms 20 via the bracket 40 as shown in FIGS.
- the holding device 50 is supported by the pair of lifting arms 20 with the load distributed.
- the holding device 50 corresponds to the drive main body 51 (corresponding to the “main part” of the present invention), the operation frame 52 (corresponding to the “operation member” of the present invention), and the attachment 60 (corresponding to the “holding member” of the present invention). ) And a pair of rail mechanisms 70.
- the drive main body 51 is formed in a U shape that opens upward in the longitudinal direction.
- the drive main body 51 is fixed to the pair of lift arms 20 via the bracket 40. Further, the drive main body 51 accommodates the main part of the auxiliary operation actuator 80 that drives the auxiliary operation of the holding device 50.
- the operation frame 52 is held by the drive main body 51 via a pair of rail mechanisms 70.
- the operation frame 52 holds a first guided member 73 and a second guided member 74 of a rail mechanism 70 described later, and moves to the drive main body 51 by the movement of the first guided member 73 and the second guided member 74.
- an auxiliary operation of tilting while moving back and forth is performed.
- a holding cover 53 and an attachment 60 are detachably attached to the operation frame 52.
- Attachment 60 is replaced as appropriate according to the person being assisted.
- the attachment 60 includes an attachment portion 61, a body pad 62, a grip 63, and left and right side holding portions 64.
- the attachment portion 61 is detachably attached to the operation frame 52 of the holding device 50.
- the body pad 62 is formed of a cushion material.
- the body pad 62 is located 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 held from the chest to the abdomen of the body of the person being assisted.
- the grip 63 is fixed to the front part of the attachment 60.
- the grip 63 is formed so that a person being assisted by the attachment 60 can grip it.
- the front portion of the grip 63 is a part that is held by an assistant who assists the person being assisted, and is used when the assisting robot 1 is towed.
- the left and right armpit holding portions 64 are formed in an arc shape and are respectively disposed on both sides of the body pad 62 in the left-right direction.
- the side holding part 64 is sandwiched between both sides of the person being assisted, and regulates the back and forth movement of the person being assisted.
- the pair of rail mechanisms 70 are respectively provided between the left and right side surfaces of the drive main body 51 and the inner peripheral surface of the operation frame 52.
- the rail mechanism 70 constitutes a moving path of the operation frame 52 with respect to the drive main body 51.
- the rail mechanism 70 includes a first rail member 71, a second rail member 72, a first guided member 73, a second guided member 74, a first connecting shaft 75, and a second connecting shaft 76.
- the first rail member 71 and the second rail member 72 are guide paths fixed to the side surface of the drive main body 51 and correspond to the “guide member” of the present invention.
- the first rail member 71 and the second rail member 72 are both linearly formed in the present embodiment.
- the first rail member 71 is disposed in parallel with the longitudinal direction of the drive main body 51.
- the second rail member 72 is disposed below the first rail member 71 and inclined with respect to the longitudinal direction of the drive main body 51. Further, the first rail member 71 and the second rail member 72 are disposed such that the front side in the traveling direction is inclined downward with respect to a horizontal plane (a plane including the left-right direction in FIG. 6). In other words, the first rail member 71 and the second rail member 72 are disposed so as to be inclined with respect to the respective rear end portions such that the respective front end portions are lowered.
- the first rail member 71 and the second rail member 72 are arranged so that the distance between them increases toward the front side in the traveling direction. That is, the first rail member 71 and the second rail member 71 are arranged so that the front rail distance Sf is larger than the rear rail distance Sr of the first rail member 71 and the second rail member 72 (Sr ⁇ Sf).
- the two rail members 72 are arranged non-parallel.
- the first guided member 73 is held so as to be relatively movable with respect to the first rail member 71 and moves along the guiding direction of the first rail member 71 (the extending direction of the first rail member 71).
- the second guided member 74 is held so as to be relatively movable with respect to the second rail member 72, and moves along the guiding direction of the second rail member 72 (the extending direction of the second rail member 72).
- the 1st guided member 73 and the 2nd guided member 74 are comprised by the rolling element which can roll, for example, engaging with the rail groove
- the first connecting shaft 75 is provided on the first guided member 73, and the first guided member 73 is rotatable relative to the operating frame 52 around the axis of the first connecting shaft 75.
- the guided member 73 is connected.
- the second connecting shaft 76 is provided on the second guided member 74, and the second guided member 74 can rotate relative to the operating frame 52 around the axis of the second connecting shaft 76.
- the guided member 74 is connected.
- each of the first guided member 73 and the second guided member 74 is provided corresponding to the pair of the first rail member 71 and the second rail member 72. Further, the first guided member 73 and the second guided member 74 rotatably support the operation frame 52 via the first connecting shaft 75 and the second connecting shaft 76. With such a configuration, the first guided member 73 and the second guided member 74 are maintained at a constant interval by the operation frame 52.
- the pair of rail mechanisms 70 are configured symmetrically.
- connection position P2 between the holding device 50 and the bracket 40 is located on the rear side in the traveling direction with respect to the central portion P3 in the traveling direction in the pair of first rail members 71 and the second rail member 72. . That is, the holding device 50 has the bracket 40 on the rear side of the center portion P3 in the movable range of the first guided member 73 and the second guided member 74 with respect to the pair of the first rail member 71 and the second rail member 72. Is supported by the pair of lifting arms 20.
- the auxiliary operation actuator 80 drives auxiliary operations including the forward and backward movement and tilting of the holding device 50 with respect to the pair of lifting arms 20.
- the assistance robot includes a type in which a plurality of auxiliary operation actuators are provided.
- a pair of support arms corresponding to the lifting arm 20 in the present embodiment
- the actuator which drives synchronously in both is provided.
- the assistance robot 1 of the present embodiment employs a configuration in which the auxiliary operation of the holding device 50 supported by the pair of lifting arms 20 is driven by a single auxiliary operation actuator 80 that is integrated.
- the auxiliary operation actuator 80 includes a rotation drive source 81, a screw shaft 82, and a nut member 83.
- Rotational drive source 81 has an electric motor that is supplied with electric power from controller 90 and outputs a driving force, and a speed reduction mechanism that decelerates the driving force.
- the rotational drive source 81 is fixed to the drive main body 51 of the holding device 50.
- the screw shaft 82 is connected to the output shaft of the rotational drive source 81 via a speed reduction mechanism, and is rotationally driven by the rotational drive source 81.
- the screw shaft 82 is supported by the drive body 51 so as to be rotatable about the axis of the screw shaft 82. That is, the rotational drive source 81 and the screw shaft 82 are provided on the drive main body 51 of the holding device 50 so as not to tilt.
- the nut member 83 is fixed to the first guided members 73 of the pair of rail mechanisms 70 and connects the first guided members 73 to each other.
- the nut member 83 is tilted to the operation frame 52 because each first guided member 73 can rotate relative to the operation frame 52 of the holding device 50 via the first connecting shaft 75. It is possible.
- the nut member 83 engages with the screw shaft 82 and moves along the screw shaft 82 as the screw shaft 82 rotates.
- the auxiliary operation actuator 80 is arranged with the center in the left-right direction aligned with respect to the intermediate position Pm between the pair of lift arms 20 and is provided integrally with the holding device 50.
- the auxiliary operation actuator 80 rotates the screw shaft 82 by the rotational drive of the rotational drive source 81, and moves the nut member 83 in the axial direction of the screw shaft 82 with the rotation.
- the distance and the inclination angle between the first rail member 71 and the second rail member 72 are determined.
- the posture of the motion frame 52 is determined. As a result, the operation frame 52 tilts while moving back and forth with respect to the pair of lifting arms 20 and the drive main body 51 by driving the auxiliary operation actuator 80 which is a linear motion mechanism.
- the auxiliary operation of the present embodiment is an operation in which the tilt of the attachment 60 is interlocked with the longitudinal movement of the attachment 60 as described above.
- the attachment 60 moves along the movement path of the operation frame 52 formed by the pair of rail mechanisms 70, and is displaced to some extent in the vertical direction along with the movement. This vertical displacement is not due to expansion / contraction of the lifting arm 20.
- maintenance apparatus 50 is set as the structure by which the displacement amount of the up-down direction of the attachment 60 accompanying an auxiliary
- the attachment 60 is configured such that the holding centers N ⁇ b> 1 and N ⁇ b> 2 that hold the body of the person being assisted gradually descend when moving from the rearmost end to the frontmost end. ing. That is, the amount of downward displacement of the attachment 60 increases monotonously with the auxiliary operation of the attachment 60.
- the control device 90 acquires operation information related to the operation.
- the operation information includes a lifting operation and an auxiliary operation of the holding device 50.
- the control device 90 acquires the current state information (for example, the rotation increment value of the electric motor) of the lift actuator 30 and the auxiliary operation actuator 80.
- the control device 90 synchronously controls the driving of the elevating actuator 30 and the auxiliary operation actuator 80 based on the acquired operation information, the state information of the elevating actuator 30 and the auxiliary operation actuator 80, and the setting information stored in advance.
- the setting information includes, for example, a mode setting that indicates the height of the attachment 60 set according to the extension of the person being assisted and the degree of forward leaning of the person being assisted in the standing posture.
- the assistance robot 1 when assisting the standing person's standing motion, the assistance robot 1 holds the person being in the sitting position by the holding device 50 and moves the attachment 60 forward while moving the attachment 60 forward. Tilt the person's upper body to tilt forward. At the same time, the assistance robot 1 extends the pair of lifting arms 20 and raises the attachment 60 to a predetermined rising height. Thereafter, the assistance robot 1 tilts the attachment 60 while moving the attachment 60 rearward so as to raise the upper body of the person being assisted in accordance with, for example, a preset mode. Further, when assisting the sitting operation of the person being assisted, the assisting robot 1 performs the operation of the attachment 60 when assisting the standing motion in approximately reverse order, so that the pair of lifting arms 20 and the holding device 50 are moved. Make it work.
- the auxiliary operation actuator 80 is arranged with the center in the left-right direction of the holding device 50 aligned with the intermediate position Pm between the pair of lifting arms 20 as described above. According to such a configuration, compared to a configuration having a plurality of actuators corresponding to the pair of lifting arms 20, the number of parts is reduced, and synchronous control for a plurality of actuators is not required, and operation control is simplified. become. Further, since the distance between the auxiliary operation actuator 80 as a drive source and the left and right lifting arms 20 is equal, the center of gravity position is the center in the left-right direction. Thereby, the operation of the assistance robot 1 is stabilized.
- the assistance robot 1 is disposed on both sides of the base 10 and the left and right directions with the advancing direction of the base 10 in the forward direction, and a pair of support arms (elevating arms 20) that can be expanded and contracted in the vertical direction with respect to the base 10.
- a lifting actuator 30 that drives the expansion and contraction of the pair of support arms (lifting arm 20), and a pair of support arms (lifting arm 20) that are directly or indirectly supported, and part of the body of the person being assisted
- a holding device 50 capable of auxiliary operation including back and forth movement or tilting with respect to the pair of support arms (elevating arm 20) in the held state and the left and right directions of the pair of support arms (elevating arm 20) are arranged and held.
- an auxiliary operation actuator 80 that is provided integrally with the device 50 and drives the auxiliary operation of the holding device 50.
- the holding device 50 is supported by the pair of lifting arms 20, a space around the leg of the person being assisted can be ensured.
- the auxiliary operation actuator 80 that drives the auxiliary operation of the holding device 50 is disposed between the pair of lifting arms 20. Thereby, the auxiliary operation actuators 80 can be concentrated at the center, and a space around the holding device 50 can be secured. Therefore, compared with the structure which arrange
- the assistance robot 1 includes a base 10, a pair of support arms (lifting arms 20) disposed on both sides in the left-right direction with the traveling direction of the base 10 being forward, and a pair of support arms (lifting arms 20).
- the bracket 40 is connected to each other and extends forward from the connection position P1 in the traveling direction, and is supported by the pair of support arms (the lifting arms 20) via the bracket 40, and holds a part of the body of the person being assisted
- the holding device 50 capable of auxiliary operation including forward and backward movement and tilting with respect to the pair of support arms (elevating arm 20) in the state where the support arm (elevating arm 20) is moved, and the holding device 50, and an auxiliary operation actuator 80 that drives the auxiliary operation of the holding device 50.
- the connection position P2 between the holding device 50 and the bracket 40 is located on the front side in the traveling direction from the connection position P1 between the pair of support arms (elevating arm 20) and the bracket 40.
- auxiliary operation actuator 80 that drives the auxiliary operation of the holding device 50 is disposed between the pair of lift arms 20 and in front of the pair of lift arms 20. Thereby, a space can be secured between the pair of lifting arms 20 while the auxiliary operation actuators 80 are concentrated in the center. Therefore, compared to a configuration in which an actuator is interposed between the holding device 50 and the pair of lifting arms 20, the configuration is less likely to cause interference with other assisting devices, and the interference can be more reliably suppressed. .
- the connection position P1 between the pair of lifting arms 20 and the bracket 40 becomes a fulcrum of the load. Therefore, the load balance between the auxiliary operation actuator 80 and the person being assisted is improved, and the operation stability of the entire apparatus can be improved.
- the holding device 50 is provided on a main body (drive main body 51) fixed to a pair of support arms (lifting arms 20) directly or indirectly via the bracket 40, and a main body (drive main body 51).
- the guide member (first rail member 71, second rail member 72) for guiding the auxiliary operation and the guide member (first rail member 71, second rail member 72) are held so as to be movable relative to each other.
- a second guided member 74), an operation member (operation frame 52) that performs an auxiliary operation by moving the guided member (first guided member 73, second guided member 74), and the operational member (Operation frame 52 Attached to, includes a holding member for holding the care receiver (Attachment 60), the.
- the load can be received by the pair of first rail member 71 and second rail member 72, the load resistance of the holding device 50 can be improved. Further, since the load transmitted to the auxiliary operation actuator 80 can be reduced, the auxiliary operation actuator 80 can be reduced in size.
- the auxiliary operation includes forward and backward movement and tilting of the holding member (attachment 60) with respect to the pair of support arms (lifting arm 20).
- the holding device 50 includes a pair of guide members (a first rail member 71 and a second rail member 72) that expand as the distance from each other increases toward the front side in the traveling direction, and a pair of guide members (a first rail member 71 and a second rail).
- a plurality of guided members are provided on the operating member (the operating frame 52) corresponding to each of the rail members 72), and the distance between them is kept constant. And).
- an auxiliary operation including forward and backward movement and tilting is performed by the operation of the pair of first guided members 73 and the second guided member 74 along the pair of first rail members 71 and the second rail member 72.
- the pair of first guided members 73 and second guided members 74 are supported by the pair of first rail members 71 and second rail members 72, the load resistance of the holding device 50 can be further improved.
- the pair of guide members (the first rail member 71 and the second rail member 72) are arranged such that the front side in the traveling direction is inclined downward with respect to the horizontal plane.
- the pair of the first rail member 71 and the second rail member 72 are both disposed so as to be lowered forward.
- the first guided member 73 and the second guided member 74 are moved downward. Therefore, the pair of rail mechanisms 70 does not block the path of the person being assisted and moved forward while being held by the holding device 50, the movement is not hindered, and the field of view of the person being assisted can be improved. Further, in the assisting operation in which the upper body of the person being assisted is tilted in conjunction with the longitudinal movement of the upper body of the person being assisted, it is possible to perform control while maintaining a suitable holding height of the person being assisted.
- the pair of guide members are rail members (first rail member 71 and second rail member 72) and are formed in a straight line.
- a general-purpose linear rail member can be applied, the manufacturing cost of the holding device 50 can be reduced. Also, since the pair of first rail member 71 and second rail member 72 arranged in non-parallel can be tilted in conjunction with the back and forth movement, compared to a configuration in which an independent actuator is provided for each operation, The auxiliary operation actuator 80 can also be used. Therefore, a space can be secured around the portion of the holding device 50 that holds the person being assisted.
- the auxiliary operation is an operation in which the tilting of the holding member (attachment 60) is interlocked with the longitudinal movement of the holding member (attachment 60).
- the amount of vertical displacement of the holding member (attachment 60) accompanying the auxiliary operation is monotonously increased.
- the holding height of the person being assisted can be suitably controlled in the assisting operation in which the person's upper body is tilted in conjunction with the longitudinal movement of the person being assisted.
- the auxiliary operation actuator 80 is provided on the main body (drive main body 51) of the holding device 50 so as not to be tilted, and is provided on the main body (drive main body 51) of the holding device 50 so as not to tilt.
- the screw shaft 82 connected to the output shaft of the drive source 81 and driven to rotate by the rotational drive source 81 and the operation member (operation frame 52) of the holding device 50 are provided to be tiltable, and engage with the screw shaft 82.
- a nut member 83 that moves along the screw shaft 82 as the screw shaft 82 rotates.
- the auxiliary operation actuator 80 is configured by a feed screw mechanism. At this time, in the holding device 50, since the attachment 60 is held by the rail mechanism 70, the load applied to the screw shaft 82 of the feed screw mechanism is reduced. Therefore, it is possible to control the driving of the stable auxiliary operation by the feed screw mechanism, and it is possible to improve the durability of the unit composed of the holding device 50 and the auxiliary operation actuator 80.
- the connecting position P2 between the holding device 50 and the bracket 40 is located on the rear side in the traveling direction with respect to the central portion P3 in the traveling direction in the guide member (first rail member 71, second rail member 72).
- the holding device 50 has a central portion with respect to the movable range of the pair of first guided members 73 and the second guided members 74 with respect to the pair of first rail members 71 and the second rail member 72. It is supported by the pair of lifting arms 20 via the bracket 40 on the rear side from P3. Thereby, a space can be reliably ensured around the portion of the holding device 50 that holds the person being assisted.
- the assisting robot 1 includes the back-and-forth movement and tilting of the holding device 50 in the auxiliary operation.
- the present invention is applied on the assumption that the auxiliary operation is only forward and backward movement or tilting. It is possible.
- the pair of support arms is a pair of lift arms 20 that support the holding device 50 so as to be lifted and lowered.
- the present invention can be applied on the assumption that the pair of support arms do not have a lifting function. Even in such a configuration, the same effects as in the embodiment can be obtained.
- the holding device 50 is configured to include the rail mechanism 70.
- the rail mechanism 70 may be composed of at least one set of rail members and guided members. Further, the rail member may be formed in a curved shape or the like other than a linear shape. Moreover, it is good also as a structure which guides the movement path
- the elevating actuator 30 and the auxiliary operation actuator 80 employ a feed screw mechanism as a linear motion mechanism.
- various linear motion mechanisms and drive mechanisms corresponding to the movement trajectory of the attachment 60 can be applied. In any configuration, the same effects as in the embodiment can be obtained.
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Abstract
The purpose of the present invention is to provide a care robot which enables the performance of an auxiliary operation by a retaining member that retains a care receiver, and which can prevent inhibition with respect to other care equipment or the like. The care robot is provided with: a pair of support arms arranged on both sides in the left-right direction when the traveling direction of a base is the front; a retaining device capable of performing an auxiliary operation in a state of retaining part of the body of the care receiver; and an auxiliary operation actuator that drives the auxiliary operation of the retaining device. The auxiliary operation actuator is arranged between the pair of support arms in the left-right direction.
Description
本発明は、介助ロボットに関するものである。
The present invention relates to an assistance robot.
特許文献1,2には、被介助者の起立動作および着座動作を補助する介助ロボットが開示されている。特許文献2の介助ロボットは、保持部材により被介助者を保持した状態で移動可能に構成されている。特許文献2の介助ロボットおいて、基台の左右方向の両側に配置された一対の支持アームにより上記の保持部材が支持される。このような構成により、特許文献2の介助ロボットは、補助された状態にある被介助者の脚部の周囲のスペースを確保している。
Patent Documents 1 and 2 disclose assistance robots that assist a person being assisted in standing and sitting. The assistance robot of Patent Document 2 is configured to be movable in a state where the person being assisted is held by a holding member. In the assistance robot of Patent Document 2, the holding member is supported by a pair of support arms disposed on both sides of the base in the left-right direction. With such a configuration, the assistance robot of Patent Document 2 secures a space around the legs of the person being assisted.
被介助者の動作を補助する介助ロボットには、被介助者を保持する保持部材の前後動や傾動など種々の補助動作を可能とすることが求められる。一方で、介助ロボットには、乗降の容易化などを目的として、他の介助機器等との干渉を起こしにくい構成であることが求められる。
Assistance robots that assist the person being assisted are required to be able to perform various auxiliary actions such as forward and backward movement and tilting of the holding member that holds the person being assisted. On the other hand, the assistance robot is required to have a configuration that is unlikely to cause interference with other assistance devices for the purpose of facilitating getting on and off.
本発明は、このような事情に鑑みてなされたものであり、補介助者を保持する保持部材の補助動作を可能としつつ、他の介助機器等との干渉を抑制できる介助ロボットを提供することを目的とする。
This invention is made in view of such a situation, and provides the assistance robot which can suppress interference with another assistance apparatus etc., enabling the auxiliary operation of the holding member holding an assistance assistant. With the goal.
請求項1に係る介助ロボットは、基台と、前記基台の進行方向を前方とした左右方向の両側にそれぞれ配置され、前記基台に対して上下方向に伸縮可能な一対の支持アームと、前記一対の支持アームの伸縮動作の駆動を行う昇降アクチュエータと、前記一対の支持アームに直接または間接的に支持され、被介助者の体の一部を保持した状態で前記一対の支持アームに対して前後動または傾動を含む補助動作可能な保持装置と、前記一対の支持アームの前記左右方向の間に配置され、前記保持装置に一体的に設けられ、前記保持装置の前記補助動作の駆動を行う補助動作アクチュエータと、を備える。
The assisting robot according to claim 1 is a base and a pair of support arms that are respectively disposed on both sides in the left-right direction with the traveling direction of the base in front, and can extend and contract in the vertical direction with respect to the base. A lifting actuator that drives the expansion and contraction of the pair of support arms, and a pair of support arms supported directly or indirectly by the pair of support arms and holding a part of the body of the person being assisted A holding device capable of auxiliary operation including forward and backward movement or tilting, and the left and right direction of the pair of support arms, provided integrally with the holding device, and driving the auxiliary operation of the holding device. An auxiliary operation actuator to perform.
請求項4に係る介助ロボットは、基台と、前記基台の進行方向を前方とした左右方向の両側にそれぞれ配置された一対の支持アームと、前記一対の支持アームのそれぞれに連結され、当該連結位置から前記進行方向の前方側に延伸するブラケットと、前記ブラケットを介して前記一対の支持アームに支持され、被介助者の体の一部を保持した状態で前記一対の支持アームに対して前後動および傾動を含む補助動作可能な保持装置と、前記一対の支持アームの前記左右方向の間に配置され、前記保持装置に一体的に設けられ、前記保持装置の前記補助動作の駆動を行う補助動作アクチュエータと、を備える。前記保持装置と前記ブラケットとの連結位置は、前記一対の支持アームと前記ブラケットとの連結位置よりも前記進行方向の前方側に位置する。
The assistance robot according to claim 4 is connected to each of the base, the pair of support arms arranged on both sides in the left-right direction with the traveling direction of the base in front, and the pair of support arms, A bracket extending from the connection position to the front side in the traveling direction, and supported by the pair of support arms via the bracket, and with respect to the pair of support arms while holding a part of the body of the person being assisted A holding device capable of auxiliary operation including forward and backward movement and tilting is disposed between the pair of support arms in the left-right direction, and is provided integrally with the holding device to drive the auxiliary operation of the holding device. An auxiliary operation actuator. The connection position between the holding device and the bracket is located on the front side in the traveling direction with respect to the connection position between the pair of support arms and the bracket.
請求項1に係る発明の構成によると、保持装置が一対の支持アームにより支持されるので、補助された状態にある被介助者の脚部の周囲のスペースを確保できる。保持装置の補助動作を駆動する補助動作アクチュエータは、一対の支持アームの間に配置される。これにより、補助動作アクチュエータを中心部に集約でき、また保持装置の周囲のスペースを確保できる。よって、一対の支持アームの上端部にアクチュエータを介在させて保持装置を配置する構成と比較して、他の介助機器等との干渉を抑制できる。
According to the configuration of the invention according to claim 1, since the holding device is supported by the pair of support arms, a space around the leg portion of the person being assisted can be secured. An auxiliary operation actuator that drives the auxiliary operation of the holding device is disposed between the pair of support arms. As a result, the auxiliary operation actuators can be concentrated in the center, and a space around the holding device can be secured. Therefore, compared with the structure which arrange | positions a holding | maintenance apparatus by interposing an actuator in the upper end part of a pair of support arm, interference with another assistance apparatus etc. can be suppressed.
請求項4に係る発明の構成によると、保持装置が一対の支持アームにより支持されるので、補助された状態にある被介助者の脚部の周囲のスペースを確保できる。保持装置の補助動作を駆動する補助動作アクチュエータは、一対の支持アームの間で、且つ一対の支持アームよりも前方に配置される。これにより、補助動作アクチュエータを中心部に集約しつつ、一対の支持アームの間にスペースを確保できる。よって、保持装置と一対の支持アームとの間にアクチュエータを介在させて配置する構成と比較して、他の介助機器等との干渉をより確実に抑制できる。
According to the configuration of the invention according to claim 4, since the holding device is supported by the pair of support arms, a space around the leg of the person being assisted can be ensured. The auxiliary operation actuator that drives the auxiliary operation of the holding device is disposed between the pair of support arms and in front of the pair of support arms. Thereby, a space can be secured between the pair of support arms while concentrating the auxiliary operation actuators in the center. Therefore, compared with the structure which arrange | positions an actuator between the holding | maintenance apparatus and a pair of support arms, interference with another assistance apparatus etc. can be suppressed more reliably.
以下、本発明の介助ロボットを具体化した実施形態について図面を参照して説明する。介助ロボットは、被介助者の起立動作および着座動作の補助に用いられる。
Hereinafter, an embodiment of the assistance robot of the present invention will be described with reference to the drawings. The assistance robot is used to assist the person being assisted in standing up and sitting.
<実施形態>
(1.介助ロボット1の全体構成)
介助ロボット1は、被介助者の体の一部(例えば、上半身)を支えて起立動作および着座動作を補助する。介助ロボット1は、図1および図2に示すように、基台10、一対の昇降アーム20、昇降アクチュエータ30、保持装置50、補助動作アクチュエータ80、および制御装置90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。 <Embodiment>
(1. Overall configuration of assistance robot 1)
The assistance robot 1 supports a part of the body (for example, the upper body) of the person being assisted and assists the standing motion and the sitting motion. As shown in FIGS. 1 and 2, the assistance robot 1 includes abase 10, a pair of lifting arms 20, a lifting actuator 30, a holding device 50, an auxiliary operation actuator 80, and a control device 90. In the following description, front, rear, left and right are front, rear, left and right when the traveling direction of the assisting robot 1 is forward.
(1.介助ロボット1の全体構成)
介助ロボット1は、被介助者の体の一部(例えば、上半身)を支えて起立動作および着座動作を補助する。介助ロボット1は、図1および図2に示すように、基台10、一対の昇降アーム20、昇降アクチュエータ30、保持装置50、補助動作アクチュエータ80、および制御装置90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。 <Embodiment>
(1. Overall configuration of assistance robot 1)
The assistance robot 1 supports a part of the body (for example, the upper body) of the person being assisted and assists the standing motion and the sitting motion. As shown in FIGS. 1 and 2, the assistance robot 1 includes a
基台10は、地面に設置する部位である。基台10は、図3に示すように、上方からの平面視で、後方に開口するU字形状に形成される。基台10は、2つの前輪15および2つの後輪16を備える。基台10は、進行方向に前進および後退可能に構成される。基台10には、図1に示すように、内部を覆って保護する基台用カバー11が装着される。
The base 10 is a part installed on the ground. As shown in FIG. 3, the base 10 is formed in a U shape that opens rearward in a plan view from above. The base 10 includes two front wheels 15 and two rear wheels 16. The base 10 is configured to be capable of moving forward and backward in the direction of travel. As shown in FIG. 1, a base cover 11 that covers and protects the inside is attached to the base 10.
一対の昇降アーム20(本発明の「支持アーム」相当する)は、基台10の進行方向を前方とした左右方向の両側にそれぞれ配置される。昇降アーム20は、本実施形態において、基台10に対して上下方向に伸縮可能に構成される。昇降アーム20は、図4および図5に示すように、上端が下端に対して前方に傾斜する方向に、直線状に伸縮する。一対の昇降アーム20には、図1に示すように、内部を覆って保護するアーム用カバー25が装着される。
The pair of lifting arms 20 (corresponding to the “supporting arm” of the present invention) are respectively arranged on both sides in the left-right direction with the traveling direction of the base 10 as the front. In this embodiment, the elevating arm 20 is configured to be able to extend and contract in the vertical direction with respect to the base 10. As shown in FIGS. 4 and 5, the elevating arm 20 extends and contracts linearly in a direction in which the upper end is inclined forward with respect to the lower end. As shown in FIG. 1, an arm cover 25 that covers and protects the inside is attached to the pair of lifting arms 20.
昇降アクチュエータ30は、基台10に対する一対の昇降アーム20の伸縮動作の駆動を行う。本実施形態において、昇降アクチュエータ30は、一対の昇降アーム20のそれぞれに対応して配置される。昇降アクチュエータ30の駆動により、昇降アーム20の上部に設けられた保持装置50は、基台10に対して下降端にある状態(図4を参照)、上昇端にある状態(図5を参照)、およびこれらの間の所定位置にある状態を適宜制御される。
The lift actuator 30 drives the expansion and contraction of the pair of lift arms 20 with respect to the base 10. In the present embodiment, the lift actuator 30 is disposed corresponding to each of the pair of lift arms 20. The holding device 50 provided on the upper part of the lifting arm 20 is driven to the lower end with respect to the base 10 (see FIG. 4) and in the raised end (see FIG. 5). , And a state at a predetermined position between them is appropriately controlled.
ブラケット40は、一対の昇降アーム20に保持装置50を取り付けるための部材である。ブラケット40は、本実施形態において、一対の昇降アーム20のそれぞれに対応して一対で配置される。ブラケット40は、昇降アーム20の伸縮動作に伴って、基台10に対して上下方向に昇降する。
The bracket 40 is a member for attaching the holding device 50 to the pair of lifting arms 20. In the present embodiment, a pair of brackets 40 are disposed corresponding to each of the pair of lifting arms 20. The bracket 40 moves up and down with respect to the base 10 as the lifting arm 20 extends and contracts.
保持装置50は、被介助者の体の位置を保持した状態で一対の昇降アーム20に対して前後動または傾動を含む補助動作可能に構成される。なお、「補助動作」には、本実施形態において、被介助者の胴体を基台10に対して前後方向に移動させる前後動、および被介助者の胴体を基台10に対して所定の角度まで前傾させる傾動の両方が含まれる。より詳細には、本実施形態の「補助動作」は、上記の前後動に傾動が連動する動作である。
The holding device 50 is configured to be capable of auxiliary operation including forward / backward movement or tilting with respect to the pair of lifting arms 20 in a state where the position of the person being assisted is held. In the present embodiment, the “auxiliary operation” includes a back-and-forth movement that moves the body of the person being assisted in the front-rear direction with respect to the base 10, and a predetermined angle with respect to the base 10 of the person being assisted Includes both tilting forward and backward. More specifically, the “auxiliary operation” of the present embodiment is an operation in which tilting is interlocked with the above-described longitudinal movement.
保持装置50は、図3に示すように、上方からの平面視で、一対の昇降アーム20の間に配置される。また、保持装置50は、図2~図5に示すように、ブラケット40を介して一対の昇降アーム20に支持される。なお、介助ロボット1は、保持装置50がブラケット40を介さずに一対の昇降アーム20に直接的に支持される構成としてもよい。
As shown in FIG. 3, the holding device 50 is disposed between the pair of lifting arms 20 in a plan view from above. The holding device 50 is supported by the pair of lift arms 20 via the bracket 40 as shown in FIGS. In addition, the assistance robot 1 is good also as a structure by which the holding | maintenance apparatus 50 is directly supported by a pair of raising / lowering arm 20 not via the bracket 40. FIG.
補助動作アクチュエータ80は、保持装置50の補助動作の駆動を行う。本実施形態において、補助動作アクチュエータ80は、一対の昇降アーム20の間における中間位置Pmに対して左右方向の中心を揃えて配置され、保持装置50に一体的に設けられる。補助動作アクチュエータ80の駆動により、保持装置50は、図6の実線で示すようにアタッチメント60を最後端で且つ起こした状態、図6の破線で示すようにアタッチメント60を最前端で且つ傾斜させた状態、およびこれらの間の所定位置で且つ対応する角度にある状態を適宜制御される。
The auxiliary operation actuator 80 drives the auxiliary operation of the holding device 50. In the present embodiment, the auxiliary operation actuator 80 is arranged with the center in the left-right direction aligned with respect to the intermediate position Pm between the pair of lift arms 20 and is provided integrally with the holding device 50. By driving the auxiliary operation actuator 80, the holding device 50 causes the attachment 60 to be raised at the rearmost end as shown by a solid line in FIG. 6, and the attachment 60 is inclined at the frontmost end as shown by a broken line in FIG. The state and the state at a predetermined position between them and the corresponding angle are appropriately controlled.
制御装置90は、介助ロボット1を用いて被介助者の介助を行う介助者の操作に応じて、昇降アクチュエータ30および補助動作アクチュエータ80の動作を制御する。制御装置90は、本実施形態において、基台10のメインフレーム14に収容される。制御装置90は、昇降アクチュエータ30および補助動作アクチュエータ80に対して電力を供給可能に配線される。制御装置90は、上記操作を含む入力信号に基づいて、昇降アクチュエータ30および補助動作アクチュエータ80の各種動作の駆動を制御する。
The control device 90 controls the operations of the elevating actuator 30 and the auxiliary operation actuator 80 according to the operation of the assistant who uses the assistance robot 1 to assist the person being assisted. In this embodiment, the control device 90 is accommodated in the main frame 14 of the base 10. The control device 90 is wired so that electric power can be supplied to the elevating actuator 30 and the auxiliary operation actuator 80. The control device 90 controls driving of various operations of the elevating actuator 30 and the auxiliary operation actuator 80 based on the input signal including the above operation.
(2.基台10の構成)
介助ロボット1は、図1に示すように、基台10の基台用カバー11、昇降アーム20のアーム用カバー25、ブラケット40および保持装置50の保持用カバー53により内部を覆って保護される。図2~図6は、各種カバーを取り除いた介助ロボット1の内部構造を示す。 (2. Configuration of base 10)
As shown in FIG. 1, the assistance robot 1 is protected by covering the inside with abase cover 11 of the base 10, an arm cover 25 of the lifting arm 20, a bracket 40, and a holding cover 53 of the holding device 50. . 2 to 6 show the internal structure of the assistance robot 1 with various covers removed.
介助ロボット1は、図1に示すように、基台10の基台用カバー11、昇降アーム20のアーム用カバー25、ブラケット40および保持装置50の保持用カバー53により内部を覆って保護される。図2~図6は、各種カバーを取り除いた介助ロボット1の内部構造を示す。 (2. Configuration of base 10)
As shown in FIG. 1, the assistance robot 1 is protected by covering the inside with a
基台10は、サイドフレーム12およびメインフレーム14を備える。サイドフレーム12は、被介助者が介助ロボット1の内側に入るために必要な左右方向の間隔を開けて配置される。メインフレーム14は、左右のサイドフレーム12の前端部同士を連結する。メインフレーム14は、昇降アクチュエータ30や補助動作アクチュエータ80の駆動に必要な制御装置90やバッテリー等を収容する。
The base 10 includes a side frame 12 and a main frame 14. The side frames 12 are arranged at an interval in the left-right direction necessary for the person being assisted to enter the inside of the assistance robot 1. The main frame 14 connects the front end portions of the left and right side frames 12. The main frame 14 accommodates a control device 90, a battery, and the like necessary for driving the elevating actuator 30 and the auxiliary operation actuator 80.
サイドフレーム12の前端部には、左右一対の前輪15がそれぞれ設けられる。サイドフレーム12の後端部には、左右一対の後輪16がそれぞれ設けられる。一対の前輪15は、介助ロボット1の進行方向に応じて旋回する。ここで、前輪15および後輪16は、本実施形態において、駆動する機能を有しない。介助ロボット1は、前輪15または後輪16を電動モータ等により駆動可能な駆動輪とする構成を採用し得る。
A pair of left and right front wheels 15 are provided at the front end of the side frame 12, respectively. A pair of left and right rear wheels 16 are provided at the rear end of the side frame 12. The pair of front wheels 15 turn according to the traveling direction of the assisting robot 1. Here, the front wheel 15 and the rear wheel 16 do not have a function of driving in the present embodiment. The assistance robot 1 can employ a configuration in which the front wheels 15 or the rear wheels 16 are driven wheels that can be driven by an electric motor or the like.
(3.昇降アーム20および昇降アクチュエータ30の詳細構成)
一対の昇降アーム20は、第一アーム部21、第二アーム部22、および第三アーム部23をそれぞれ備える。第一アーム部21、第二アーム部22および第三アーム部23は、直線の長尺状に形成される。第一アーム部21は、基台10のサイドフレーム12に固定される。第一アーム部21は、基台10に対して前方に所定角度(例えば80度)だけ傾斜した状態で固定される。 (3. Detailed configuration of the liftingarm 20 and the lifting actuator 30)
The pair of elevatingarms 20 includes a first arm part 21, a second arm part 22, and a third arm part 23, respectively. The 1st arm part 21, the 2nd arm part 22, and the 3rd arm part 23 are formed in a linear elongate shape. The first arm portion 21 is fixed to the side frame 12 of the base 10. The first arm portion 21 is fixed in a state where it is inclined forward by a predetermined angle (for example, 80 degrees) with respect to the base 10.
一対の昇降アーム20は、第一アーム部21、第二アーム部22、および第三アーム部23をそれぞれ備える。第一アーム部21、第二アーム部22および第三アーム部23は、直線の長尺状に形成される。第一アーム部21は、基台10のサイドフレーム12に固定される。第一アーム部21は、基台10に対して前方に所定角度(例えば80度)だけ傾斜した状態で固定される。 (3. Detailed configuration of the lifting
The pair of elevating
第二アーム部22は、第一アーム部21に対して長手方向にスライドする。第二アーム部22は、第二アーム部22の大部分が第一アーム部21に収容されて、第一アーム部21に対して収縮した状態とされる。第三アーム部23は、第二アーム部22に対して長手方向にスライドする。第三アーム部23の上端には、ブラケット40が固定される。第三アーム部23は、第三アーム部23の大部分が第二アーム部22に収容されて、第二アーム部22に対して収縮した状態とされる。
The second arm portion 22 slides in the longitudinal direction with respect to the first arm portion 21. The second arm part 22 is in a state in which most of the second arm part 22 is accommodated in the first arm part 21 and contracted with respect to the first arm part 21. The third arm portion 23 slides in the longitudinal direction with respect to the second arm portion 22. A bracket 40 is fixed to the upper end of the third arm portion 23. The third arm portion 23 is in a state where most of the third arm portion 23 is accommodated in the second arm portion 22 and contracted with respect to the second arm portion 22.
従って、図4に示すように、第三アーム部23の大部分が第二アーム部22に収容され、且つこの第二アーム部22の大部分が第一アーム部21に収容されて、昇降アーム20が上下方向に最小に収縮した状態とされる。このとき、昇降アーム20の上端に固定されたブラケット40は、最下位置に位置する状態となる。
Therefore, as shown in FIG. 4, most of the third arm portion 23 is accommodated in the second arm portion 22, and most of the second arm portion 22 is accommodated in the first arm portion 21, and the lifting arm 20 is in a state contracted to a minimum in the vertical direction. At this time, the bracket 40 fixed to the upper end of the raising / lowering arm 20 will be in the state located in the lowest position.
一方で、図5に示すように、第三アーム部23が第一アーム部21に上下方向に重なることなく、第三アーム部23が第一アーム部21から上方に離れた位置にて第二アーム部22に支持され、昇降アーム20が上下方向に最大に伸長した状態とされる。このとき、昇降アーム20の上端に固定されたブラケット40は、最上位置に位置する状態となる。
On the other hand, as shown in FIG. 5, the third arm portion 23 does not overlap the first arm portion 21 in the vertical direction, and the second arm portion 23 is located at a position away from the first arm portion 21 upward. It is supported by the arm part 22 and the lifting arm 20 is in a state of being extended to the maximum in the vertical direction. At this time, the bracket 40 fixed to the upper end of the raising / lowering arm 20 will be in the state located in the highest position.
昇降アクチュエータ30は、基台10および昇降アーム20に亘って設けられる。昇降アクチュエータ30は、回転駆動源31、第一昇降機構32、および第二昇降機構33を備える。回転駆動源31は、制御装置90より電力を供給されて駆動力を出力する電動モータと、駆動力を減速する減速機構とを有する。
The elevating actuator 30 is provided across the base 10 and the elevating arm 20. The lift actuator 30 includes a rotation drive source 31, a first lift mechanism 32, and a second lift mechanism 33. The rotational drive source 31 includes an electric motor that is supplied with electric power from the control device 90 and outputs a driving force, and a reduction mechanism that decelerates the driving force.
第一昇降機構32は、回転駆動源31が出力する駆動力により、第一アーム部21に対して第二アーム部22を昇降させる送りねじ機構を有する。第二昇降機構33は、第一昇降機構32の駆動に連動して、第二アーム部22に対して第三アーム部23を昇降させるベルト機構を有する。このような構成により、回転駆動源31による駆動力の回転方向および回転数に応じて第一昇降機構32および第二昇降機構33が駆動して、昇降アーム20が伸縮される。
The first elevating mechanism 32 has a feed screw mechanism that elevates and lowers the second arm portion 22 with respect to the first arm portion 21 by a driving force output from the rotational drive source 31. The second lifting mechanism 33 has a belt mechanism that moves the third arm portion 23 up and down with respect to the second arm portion 22 in conjunction with the driving of the first lifting mechanism 32. With such a configuration, the first elevating mechanism 32 and the second elevating mechanism 33 are driven according to the rotational direction and the rotational speed of the driving force from the rotational drive source 31, and the elevating arm 20 is expanded and contracted.
(4.ブラケット40の構成)
ブラケット40は、本実施形態において、一対の昇降アーム20のそれぞれに対応して一対で配置される。一対のブラケット40は、左右対称の形状からなり、第一取付部材41および第二取付部42をそれぞれ有する。第一取付部材41の一端は、昇降アーム20における第三アーム部23の上端に接続される。第一取付部材41の他端は、第二取付部42の一端に連結される。第二取付部42の他端は、保持装置50に下面部に連結される。 (4. Configuration of bracket 40)
In the present embodiment, a pair ofbrackets 40 are disposed corresponding to each of the pair of lifting arms 20. The pair of brackets 40 has a symmetrical shape and includes a first attachment member 41 and a second attachment portion 42, respectively. One end of the first attachment member 41 is connected to the upper end of the third arm portion 23 in the lifting arm 20. The other end of the first attachment member 41 is connected to one end of the second attachment portion 42. The other end of the second attachment portion 42 is connected to the lower surface portion of the holding device 50.
ブラケット40は、本実施形態において、一対の昇降アーム20のそれぞれに対応して一対で配置される。一対のブラケット40は、左右対称の形状からなり、第一取付部材41および第二取付部42をそれぞれ有する。第一取付部材41の一端は、昇降アーム20における第三アーム部23の上端に接続される。第一取付部材41の他端は、第二取付部42の一端に連結される。第二取付部42の他端は、保持装置50に下面部に連結される。 (4. Configuration of bracket 40)
In the present embodiment, a pair of
このような構成により、ブラケット40は、昇降アーム20の伸縮動作に伴って、基台10に対して上下方向に昇降する。また、一対のブラケット40それぞれは、図3に示すように、全体形状としては一対の昇降アーム20との連結位置P1から進行方向の前方側に延伸する形状をなしている。よって、図3および図4に示すように、保持装置50とブラケット40との連結位置P2は、一対の昇降アーム20とブラケット40との連結位置P1よりも進行方向の前方側に位置する。
With such a configuration, the bracket 40 moves up and down with respect to the base 10 as the lifting arm 20 extends and contracts. Further, as shown in FIG. 3, each of the pair of brackets 40 has a shape extending from the connection position P <b> 1 with the pair of lifting arms 20 to the front side in the traveling direction. Therefore, as shown in FIGS. 3 and 4, the connection position P <b> 2 between the holding device 50 and the bracket 40 is located on the front side in the traveling direction from the connection position P <b> 1 between the pair of lift arms 20 and the bracket 40.
(5.保持装置50および補助動作アクチュエータ80の構成)
補助動作可能な保持装置50は、図3に示すように、一対の昇降アーム20の間における中間位置Pmに対して左右方向の中心を揃えて配置される。また、保持装置50は、図2~図5に示すように、ブラケット40を介して一対の昇降アーム20に支持される。これにより、保持装置50は、一対の昇降アーム20に荷重を分散して支持される。 (5. Configuration of holdingdevice 50 and auxiliary operation actuator 80)
As shown in FIG. 3, the holdingdevice 50 capable of assisting operation is arranged with the center in the left-right direction aligned with respect to the intermediate position Pm between the pair of lifting arms 20. The holding device 50 is supported by the pair of lift arms 20 via the bracket 40 as shown in FIGS. Thus, the holding device 50 is supported by the pair of lifting arms 20 with the load distributed.
補助動作可能な保持装置50は、図3に示すように、一対の昇降アーム20の間における中間位置Pmに対して左右方向の中心を揃えて配置される。また、保持装置50は、図2~図5に示すように、ブラケット40を介して一対の昇降アーム20に支持される。これにより、保持装置50は、一対の昇降アーム20に荷重を分散して支持される。 (5. Configuration of holding
As shown in FIG. 3, the holding
保持装置50は、駆動本体51(本発明の「本体部」に相当する)、動作フレーム52(本発明の「動作部材」に相当する)、アタッチメント60(本発明の「保持部材」に相当する)、および一対のレール機構70を備える。駆動本体51は、長手方向視で上方に開口するU字状に形成される。駆動本体51は、ブラケット40を介して一対の昇降アーム20に固定される。また、駆動本体51は、保持装置50の補助動作を駆動する補助動作アクチュエータ80の主要部を収容する。
The holding device 50 corresponds to the drive main body 51 (corresponding to the “main part” of the present invention), the operation frame 52 (corresponding to the “operation member” of the present invention), and the attachment 60 (corresponding to the “holding member” of the present invention). ) And a pair of rail mechanisms 70. The drive main body 51 is formed in a U shape that opens upward in the longitudinal direction. The drive main body 51 is fixed to the pair of lift arms 20 via the bracket 40. Further, the drive main body 51 accommodates the main part of the auxiliary operation actuator 80 that drives the auxiliary operation of the holding device 50.
動作フレーム52は、一対のレール機構70を介して駆動本体51に保持される。動作フレーム52は、後述するレール機構70の第一被案内部材73および第二被案内部材74を保持して、当該第一被案内部材73および第二被案内部材74の移動により駆動本体51に対して前後動しながら傾動する補助動作を行う。動作フレーム52には、保持用カバー53およびアタッチメント60が着脱可能に取り付けられる。
The operation frame 52 is held by the drive main body 51 via a pair of rail mechanisms 70. The operation frame 52 holds a first guided member 73 and a second guided member 74 of a rail mechanism 70 described later, and moves to the drive main body 51 by the movement of the first guided member 73 and the second guided member 74. On the other hand, an auxiliary operation of tilting while moving back and forth is performed. A holding cover 53 and an attachment 60 are detachably attached to the operation frame 52.
アタッチメント60は、被介助者に応じて適宜交換される。アタッチメント60は、取付部61と、胴体パッド62、グリップ63、および左右の脇保持部64を備える。取付部61は、保持装置50の動作フレーム52に着脱可能に取り付けられる。胴体パッド62は、クッション材により形成される。胴体パッド62は、アタッチメント60全体の左右方向の中央部且つ前後方向の中央部に位置する。胴体パッド62は、被介助者の胴体における胸部から腹部に亘って保持する。
Attachment 60 is replaced as appropriate according to the person being assisted. The attachment 60 includes an attachment portion 61, a body pad 62, a grip 63, and left and right side holding portions 64. The attachment portion 61 is detachably attached to the operation frame 52 of the holding device 50. The body pad 62 is formed of a cushion material. The body pad 62 is located 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 held from the chest to the abdomen of the body of the person being assisted.
グリップ63は、アタッチメント60における前方部に固定される。グリップ63は、アタッチメント60に保持された被介助者が把持可能に形成される。また、グリップ63の前部は、被介助者の介助を行う介助者が把持する部位であり、介助ロボット1を牽引等する際に用いられる。左右の脇保持部64は、円弧状に形成され、胴体パッド62の左右方向の両側にそれぞれ配置される。脇保持部64は、被介助者の両脇に挟まれて、被介助者の前後動を規制する。
The grip 63 is fixed to the front part of the attachment 60. The grip 63 is formed so that a person being assisted by the attachment 60 can grip it. Further, the front portion of the grip 63 is a part that is held by an assistant who assists the person being assisted, and is used when the assisting robot 1 is towed. The left and right armpit holding portions 64 are formed in an arc shape and are respectively disposed on both sides of the body pad 62 in the left-right direction. The side holding part 64 is sandwiched between both sides of the person being assisted, and regulates the back and forth movement of the person being assisted.
一対のレール機構70は、駆動本体51の左右両側の側面と動作フレーム52の内周面との間にそれぞれ設けられる。レール機構70は、駆動本体51に対する動作フレーム52の移動経路を構成する。レール機構70は、第一レール部材71、第二レール部材72、第一被案内部材73、第二被案内部材74、第一連結軸75、および第二連結軸76を有する。第一レール部材71および第二レール部材72は、駆動本体51の側面に固定される案内路であり、本発明の「ガイド部材」に相当する。
The pair of rail mechanisms 70 are respectively provided between the left and right side surfaces of the drive main body 51 and the inner peripheral surface of the operation frame 52. The rail mechanism 70 constitutes a moving path of the operation frame 52 with respect to the drive main body 51. The rail mechanism 70 includes a first rail member 71, a second rail member 72, a first guided member 73, a second guided member 74, a first connecting shaft 75, and a second connecting shaft 76. The first rail member 71 and the second rail member 72 are guide paths fixed to the side surface of the drive main body 51 and correspond to the “guide member” of the present invention.
第一レール部材71および第二レール部材72は、本実施形態において、ともに直線状に形成される。第一レール部材71は、駆動本体51の長手方向に平行に配置される。第二レール部材72は、第一レール部材71の下方において、駆動本体51の長手方向に対して傾斜して配置される。さらに、第一レール部材71および第二レール部材72は、水平面(図6の左右方向を含む平面)に対して進行方向の前方側が下方に傾斜して配置される。換言すると、第一レール部材71および第二レール部材72は、それぞれの後端部に対してそれぞれの前端部が低くなるように傾斜して配置される。
The first rail member 71 and the second rail member 72 are both linearly formed in the present embodiment. The first rail member 71 is disposed in parallel with the longitudinal direction of the drive main body 51. The second rail member 72 is disposed below the first rail member 71 and inclined with respect to the longitudinal direction of the drive main body 51. Further, the first rail member 71 and the second rail member 72 are disposed such that the front side in the traveling direction is inclined downward with respect to a horizontal plane (a plane including the left-right direction in FIG. 6). In other words, the first rail member 71 and the second rail member 72 are disposed so as to be inclined with respect to the respective rear end portions such that the respective front end portions are lowered.
上記のような位置関係において、第一レール部材71および第二レール部材72は、図6に示すように、互いの間隔が進行方向の前方側に向かうに従って広がるように配置される。つまり、第一レール部材71および第二レール部材72の後方側のレール間距離Srよりも前方側のレール間距離Sfの方が大きくなるように(Sr<Sf)、第一レール部材71および第二レール部材72は、非平行に配置される。
In the positional relationship as described above, as shown in FIG. 6, the first rail member 71 and the second rail member 72 are arranged so that the distance between them increases toward the front side in the traveling direction. That is, the first rail member 71 and the second rail member 71 are arranged so that the front rail distance Sf is larger than the rear rail distance Sr of the first rail member 71 and the second rail member 72 (Sr <Sf). The two rail members 72 are arranged non-parallel.
第一被案内部材73は、第一レール部材71に対して相対移動可能に保持されて、第一レール部材71の案内方向(第一レール部材71の延伸方向)に沿って移動する。第二被案内部材74は、第二レール部材72に対して相対移動可能に保持されて、第二レール部材72の案内方向(第二レール部材72の延伸方向)に沿って移動する。第一被案内部材73および第二被案内部材74は、例えば対応するレール部材のレール溝に係合しつつ転動可能な転動体により構成される。
The first guided member 73 is held so as to be relatively movable with respect to the first rail member 71 and moves along the guiding direction of the first rail member 71 (the extending direction of the first rail member 71). The second guided member 74 is held so as to be relatively movable with respect to the second rail member 72, and moves along the guiding direction of the second rail member 72 (the extending direction of the second rail member 72). The 1st guided member 73 and the 2nd guided member 74 are comprised by the rolling element which can roll, for example, engaging with the rail groove | channel of a corresponding rail member.
第一連結軸75は、第一被案内部材73に設けられ、動作フレーム52に対して第一被案内部材73が当該第一連結軸75の軸線周りに相対回転可能に動作フレーム52と第一被案内部材73とを連結する。第二連結軸76は、第二被案内部材74に設けられ、動作フレーム52に対して第二被案内部材74が当該第二連結軸76の軸線周りに相対回転可能に動作フレーム52と第二被案内部材74とを連結する。
The first connecting shaft 75 is provided on the first guided member 73, and the first guided member 73 is rotatable relative to the operating frame 52 around the axis of the first connecting shaft 75. The guided member 73 is connected. The second connecting shaft 76 is provided on the second guided member 74, and the second guided member 74 can rotate relative to the operating frame 52 around the axis of the second connecting shaft 76. The guided member 74 is connected.
上記のように、第一被案内部材73および第二被案内部材74の各々は、一対の第一レール部材71および第二レール部材72に対応して設けられる。さらに、第一被案内部材73および第二被案内部材74は、第一連結軸75および第二連結軸76を介して、動作フレーム52を回転可能に支持する。このような構成により、第一被案内部材73および第二被案内部材74は、動作フレーム52によって、互いの間隔を一定に維持される。なお、一対のレール機構70は、左右対称に構成される。
As described above, each of the first guided member 73 and the second guided member 74 is provided corresponding to the pair of the first rail member 71 and the second rail member 72. Further, the first guided member 73 and the second guided member 74 rotatably support the operation frame 52 via the first connecting shaft 75 and the second connecting shaft 76. With such a configuration, the first guided member 73 and the second guided member 74 are maintained at a constant interval by the operation frame 52. The pair of rail mechanisms 70 are configured symmetrically.
また、本実施形態において、保持装置50とブラケット40との連結位置P2は、一対の第一レール部材71および第二レール部材72における進行方向の中央部P3よりも進行方向の後方側に位置する。つまり、保持装置50は、一対の第一レール部材71および第二レール部材72に対する第一被案内部材73および第二被案内部材74の可動範囲における中央部P3よりも後方側にて、ブラケット40を介して一対の昇降アーム20に支持される。
In the present embodiment, the connection position P2 between the holding device 50 and the bracket 40 is located on the rear side in the traveling direction with respect to the central portion P3 in the traveling direction in the pair of first rail members 71 and the second rail member 72. . That is, the holding device 50 has the bracket 40 on the rear side of the center portion P3 in the movable range of the first guided member 73 and the second guided member 74 with respect to the pair of the first rail member 71 and the second rail member 72. Is supported by the pair of lifting arms 20.
補助動作アクチュエータ80は、上述したように、一対の昇降アーム20に対する保持装置50の前後動および傾動を含む補助動作の駆動を行う。ここで、介助ロボットには、補助動作アクチュエータが複数設けられるタイプがある。このタイプは、例えば一対の支持アーム(本実施形態における昇降アーム20に相当する)により保持装置を支持する構成において、保持装置と一方の支持アームとの間、および保持装置と他方の支持アームとの間の両方に同期して駆動するアクチュエータを備える。
As described above, the auxiliary operation actuator 80 drives auxiliary operations including the forward and backward movement and tilting of the holding device 50 with respect to the pair of lifting arms 20. Here, the assistance robot includes a type in which a plurality of auxiliary operation actuators are provided. In this type, for example, in a configuration in which the holding device is supported by a pair of support arms (corresponding to the lifting arm 20 in the present embodiment), between the holding device and one support arm, and between the holding device and the other support arm, The actuator which drives synchronously in both is provided.
これに対して、本実施形態の介助ロボット1は、一本化された単数の補助動作アクチュエータ80により一対の昇降アーム20に支持された保持装置50の補助動作を駆動する構成を採用する。補助動作アクチュエータ80は、回転駆動源81、ねじ軸82、およびナット部材83を備える。
In contrast, the assistance robot 1 of the present embodiment employs a configuration in which the auxiliary operation of the holding device 50 supported by the pair of lifting arms 20 is driven by a single auxiliary operation actuator 80 that is integrated. The auxiliary operation actuator 80 includes a rotation drive source 81, a screw shaft 82, and a nut member 83.
回転駆動源81は、制御装置90より電力を供給されて駆動力を出力する電動モータと、駆動力を減速する減速機構とを有する。回転駆動源81は、保持装置50の駆動本体51に固定される。ねじ軸82は、減速機構を介して回転駆動源81の出力軸に連結され、回転駆動源81により回転駆動される。ねじ軸82は、駆動本体51にねじ軸82の軸線周りに回転可能に支持されている。つまり、回転駆動源81およびねじ軸82は、保持装置50の駆動本体51に傾動不能に設けられている。
Rotational drive source 81 has an electric motor that is supplied with electric power from controller 90 and outputs a driving force, and a speed reduction mechanism that decelerates the driving force. The rotational drive source 81 is fixed to the drive main body 51 of the holding device 50. The screw shaft 82 is connected to the output shaft of the rotational drive source 81 via a speed reduction mechanism, and is rotationally driven by the rotational drive source 81. The screw shaft 82 is supported by the drive body 51 so as to be rotatable about the axis of the screw shaft 82. That is, the rotational drive source 81 and the screw shaft 82 are provided on the drive main body 51 of the holding device 50 so as not to tilt.
ナット部材83は、一対のレール機構70の各第一被案内部材73に固定され、各第一被案内部材73同士を連結する。ナット部材83は、本実施形態において、それぞれの第一被案内部材73が第一連結軸75を介して保持装置50の動作フレーム52に対して相対回転可能であることから、動作フレーム52に傾動可能となっている。ナット部材83は、ねじ軸82に係合し、ねじ軸82の回転に伴ってねじ軸82に沿って移動する。補助動作アクチュエータ80は、上述したように、一対の昇降アーム20の間における中間位置Pmに対して左右方向の中心を揃えて配置され、保持装置50に一体的に設けられる。
The nut member 83 is fixed to the first guided members 73 of the pair of rail mechanisms 70 and connects the first guided members 73 to each other. In this embodiment, the nut member 83 is tilted to the operation frame 52 because each first guided member 73 can rotate relative to the operation frame 52 of the holding device 50 via the first connecting shaft 75. It is possible. The nut member 83 engages with the screw shaft 82 and moves along the screw shaft 82 as the screw shaft 82 rotates. As described above, the auxiliary operation actuator 80 is arranged with the center in the left-right direction aligned with respect to the intermediate position Pm between the pair of lift arms 20 and is provided integrally with the holding device 50.
補助動作アクチュエータ80は、回転駆動源81の回転駆動によってねじ軸82を回転させ、当該回転に伴ってナット部材83をねじ軸82の軸線方向に移動させる。このとき、レール機構70の第一被案内部材73および第二被案内部材74が互いの間隔を一定に維持されているため、第一レール部材71および第二レール部材72の間隔および傾斜角度により動作フレーム52の姿勢が決定される。結果として、動作フレーム52は、直動機構である補助動作アクチュエータ80の駆動によって、一対の昇降アーム20および駆動本体51に対して前後動しながら傾動する。
The auxiliary operation actuator 80 rotates the screw shaft 82 by the rotational drive of the rotational drive source 81, and moves the nut member 83 in the axial direction of the screw shaft 82 with the rotation. At this time, since the first guided member 73 and the second guided member 74 of the rail mechanism 70 are maintained at a constant distance from each other, the distance and the inclination angle between the first rail member 71 and the second rail member 72 are determined. The posture of the motion frame 52 is determined. As a result, the operation frame 52 tilts while moving back and forth with respect to the pair of lifting arms 20 and the drive main body 51 by driving the auxiliary operation actuator 80 which is a linear motion mechanism.
また、本実施形態の補助動作は、上述したように、アタッチメント60の前後動にアタッチメント60の傾動が連動する動作である。このような補助動作において、アタッチメント60は、一対のレール機構70により形成される動作フレーム52の移動経路に沿って移動し、当該移動に伴って上下方向にある程度変位する。この上下方向の変位は、昇降アーム20の伸縮によらないものである。
Further, the auxiliary operation of the present embodiment is an operation in which the tilt of the attachment 60 is interlocked with the longitudinal movement of the attachment 60 as described above. In such an auxiliary operation, the attachment 60 moves along the movement path of the operation frame 52 formed by the pair of rail mechanisms 70, and is displaced to some extent in the vertical direction along with the movement. This vertical displacement is not due to expansion / contraction of the lifting arm 20.
これに対して、本実施形態では、第一レール部材71および第二レール部材72の傾斜角度が適宜設定される。これにより、保持装置50は、補助動作に伴うアタッチメント60の上下方向の変位量が単調増加されるような構成としている。具体的には、アタッチメント60は、図6に示すように、最後端から最前端へと移動した場合に、被介助者の胴体を保持する保持中心N1,N2が徐々に下降するように構成されている。即ち、アタッチメント60の補助動作に伴って、アタッチメント60の下方向への変位量が単調増加するように構成されている。
In contrast, in this embodiment, the inclination angles of the first rail member 71 and the second rail member 72 are set as appropriate. Thereby, the holding | maintenance apparatus 50 is set as the structure by which the displacement amount of the up-down direction of the attachment 60 accompanying an auxiliary | assistant operation | movement is increased monotonously. Specifically, as shown in FIG. 6, the attachment 60 is configured such that the holding centers N <b> 1 and N <b> 2 that hold the body of the person being assisted gradually descend when moving from the rearmost end to the frontmost end. ing. That is, the amount of downward displacement of the attachment 60 increases monotonously with the auxiliary operation of the attachment 60.
(6.介助ロボット1の動作)
制御装置90は、例えば介助者による操作を受け付けた場合に、当該操作に関する操作情報を取得する。操作情報には、保持装置50の昇降動作および補助動作が含まれる。制御装置90は、現在の昇降アクチュエータ30と補助動作アクチュエータ80の状態情報(例えば、電動モータの回転インクリメント値など)を取得する。 (6. Operation of assistance robot 1)
For example, when an operation by an assistant is accepted, thecontrol device 90 acquires operation information related to the operation. The operation information includes a lifting operation and an auxiliary operation of the holding device 50. The control device 90 acquires the current state information (for example, the rotation increment value of the electric motor) of the lift actuator 30 and the auxiliary operation actuator 80.
制御装置90は、例えば介助者による操作を受け付けた場合に、当該操作に関する操作情報を取得する。操作情報には、保持装置50の昇降動作および補助動作が含まれる。制御装置90は、現在の昇降アクチュエータ30と補助動作アクチュエータ80の状態情報(例えば、電動モータの回転インクリメント値など)を取得する。 (6. Operation of assistance robot 1)
For example, when an operation by an assistant is accepted, the
制御装置90は、取得した操作情報、昇降アクチュエータ30と補助動作アクチュエータ80の状態情報、および予め記憶されている設定情報に基づいて、昇降アクチュエータ30および補助動作アクチュエータ80の駆動を同期制御する。上記の設定情報には、例えば被介助者の伸長に応じて設定されたアタッチメント60の上昇高さや、立位姿勢における被介助者の上体の前傾度合いを示すモード設定が含まれる。
The control device 90 synchronously controls the driving of the elevating actuator 30 and the auxiliary operation actuator 80 based on the acquired operation information, the state information of the elevating actuator 30 and the auxiliary operation actuator 80, and the setting information stored in advance. The setting information includes, for example, a mode setting that indicates the height of the attachment 60 set according to the extension of the person being assisted and the degree of forward leaning of the person being assisted in the standing posture.
より具体的には、被介助者の起立動作を補助する場合には、介助ロボット1は、保持装置50により座位姿勢にある被介助者を保持して、アタッチメント60を前方に移動させながら被介助者の上体が前傾するように傾動させる。同時に、介助ロボット1は、一対の昇降アーム20を伸長させて、所定の上昇高さまでアタッチメント60を上昇させる。その後に、介助ロボット1は、例えば予め設定されたモードに応じて、被介助者の上体を起こすようにアタッチメント60を後方に移動させながら傾動させる。また、被介助者の着座動作を補助する場合には、介助ロボット1は、起立動作の補助する場合のアタッチメント60の動作を概ね逆順で行うようにして、一対の昇降アーム20および保持装置50を動作させる。
More specifically, when assisting the standing person's standing motion, the assistance robot 1 holds the person being in the sitting position by the holding device 50 and moves the attachment 60 forward while moving the attachment 60 forward. Tilt the person's upper body to tilt forward. At the same time, the assistance robot 1 extends the pair of lifting arms 20 and raises the attachment 60 to a predetermined rising height. Thereafter, the assistance robot 1 tilts the attachment 60 while moving the attachment 60 rearward so as to raise the upper body of the person being assisted in accordance with, for example, a preset mode. Further, when assisting the sitting operation of the person being assisted, the assisting robot 1 performs the operation of the attachment 60 when assisting the standing motion in approximately reverse order, so that the pair of lifting arms 20 and the holding device 50 are moved. Make it work.
ここで、補助動作アクチュエータ80は、上記のように、一対の昇降アーム20の間における中間位置Pmに対して、当該保持装置50の左右方向の中心を揃えて配置される。このような構成によると、一対の昇降アーム20に対応して複数のアクチュエータを有する構成と比較して、部品点数が低減され、また複数のアクチュエータを対象とする同期制御が不要となり動作制御が簡易になる。また、駆動源としての補助動作アクチュエータ80と左右の昇降アーム20までの距離を等しいので重心位置が左右方向の中央となる。これにより、介助ロボット1の動作の安定化が図られている。
Here, the auxiliary operation actuator 80 is arranged with the center in the left-right direction of the holding device 50 aligned with the intermediate position Pm between the pair of lifting arms 20 as described above. According to such a configuration, compared to a configuration having a plurality of actuators corresponding to the pair of lifting arms 20, the number of parts is reduced, and synchronous control for a plurality of actuators is not required, and operation control is simplified. become. Further, since the distance between the auxiliary operation actuator 80 as a drive source and the left and right lifting arms 20 is equal, the center of gravity position is the center in the left-right direction. Thereby, the operation of the assistance robot 1 is stabilized.
(7.実施形態の構成による効果)
介助ロボット1は、基台10と、基台10の進行方向を前方とした左右方向の両側にそれぞれ配置され、基台10に対して上下方向に伸縮可能な一対の支持アーム(昇降アーム20)と、一対の支持アーム(昇降アーム20)の伸縮動作の駆動を行う昇降アクチュエータ30と、一対の支持アーム(昇降アーム20)に直接または間接的に支持され、被介助者の体の一部を保持した状態で一対の支持アーム(昇降アーム20)に対して前後動または傾動を含む補助動作可能な保持装置50と、一対の支持アーム(昇降アーム20)の左右方向の間に配置され、保持装置50に一体的に設けられ、保持装置50の補助動作の駆動を行う補助動作アクチュエータ80と、を備える。 (7. Effects of the configuration of the embodiment)
The assistance robot 1 is disposed on both sides of thebase 10 and the left and right directions with the advancing direction of the base 10 in the forward direction, and a pair of support arms (elevating arms 20) that can be expanded and contracted in the vertical direction with respect to the base 10. A lifting actuator 30 that drives the expansion and contraction of the pair of support arms (lifting arm 20), and a pair of support arms (lifting arm 20) that are directly or indirectly supported, and part of the body of the person being assisted A holding device 50 capable of auxiliary operation including back and forth movement or tilting with respect to the pair of support arms (elevating arm 20) in the held state and the left and right directions of the pair of support arms (elevating arm 20) are arranged and held. And an auxiliary operation actuator 80 that is provided integrally with the device 50 and drives the auxiliary operation of the holding device 50.
介助ロボット1は、基台10と、基台10の進行方向を前方とした左右方向の両側にそれぞれ配置され、基台10に対して上下方向に伸縮可能な一対の支持アーム(昇降アーム20)と、一対の支持アーム(昇降アーム20)の伸縮動作の駆動を行う昇降アクチュエータ30と、一対の支持アーム(昇降アーム20)に直接または間接的に支持され、被介助者の体の一部を保持した状態で一対の支持アーム(昇降アーム20)に対して前後動または傾動を含む補助動作可能な保持装置50と、一対の支持アーム(昇降アーム20)の左右方向の間に配置され、保持装置50に一体的に設けられ、保持装置50の補助動作の駆動を行う補助動作アクチュエータ80と、を備える。 (7. Effects of the configuration of the embodiment)
The assistance robot 1 is disposed on both sides of the
このような構成によると、保持装置50が一対の昇降アーム20により支持されるので、補助された状態にある被介助者の脚部の周囲のスペースを確保できる。また、保持装置50の補助動作を駆動する補助動作アクチュエータ80は、一対の昇降アーム20の間に配置される。これにより、補助動作アクチュエータ80を中心部に集約でき、また保持装置50の周囲のスペースを確保できる。よって、一対の昇降アーム20の上端部にアクチュエータを介在させて保持装置50を配置する構成と比較して、他の介助機器等との干渉を起こしにくい構成となり、当該干渉を抑制できる。
According to such a configuration, since the holding device 50 is supported by the pair of lifting arms 20, a space around the leg of the person being assisted can be ensured. The auxiliary operation actuator 80 that drives the auxiliary operation of the holding device 50 is disposed between the pair of lifting arms 20. Thereby, the auxiliary operation actuators 80 can be concentrated at the center, and a space around the holding device 50 can be secured. Therefore, compared with the structure which arrange | positions the holding | maintenance apparatus 50 by interposing an actuator in the upper end part of a pair of raising / lowering arm 20, it becomes a structure which is hard to raise | generate interference with another assistance apparatus etc., and can suppress the said interference.
介助ロボット1は、基台10と、基台10の進行方向を前方とした左右方向の両側にそれぞれ配置された一対の支持アーム(昇降アーム20)と、一対の支持アーム(昇降アーム20)のそれぞれに連結され、当該連結位置P1から進行方向の前方側に延伸するブラケット40と、ブラケット40を介して一対の支持アーム(昇降アーム20)に支持され、被介助者の体の一部を保持した状態で一対の支持アーム(昇降アーム20)に対して前後動および傾動を含む補助動作可能な保持装置50と、一対の支持アーム(昇降アーム20)の左右方向の間に配置され、保持装置50に一体的に設けられ、保持装置50の補助動作の駆動を行う補助動作アクチュエータ80と、を備える。保持装置50とブラケット40との連結位置P2は、一対の支持アーム(昇降アーム20)とブラケット40との連結位置P1よりも進行方向の前方側に位置する。
The assistance robot 1 includes a base 10, a pair of support arms (lifting arms 20) disposed on both sides in the left-right direction with the traveling direction of the base 10 being forward, and a pair of support arms (lifting arms 20). The bracket 40 is connected to each other and extends forward from the connection position P1 in the traveling direction, and is supported by the pair of support arms (the lifting arms 20) via the bracket 40, and holds a part of the body of the person being assisted The holding device 50 capable of auxiliary operation including forward and backward movement and tilting with respect to the pair of support arms (elevating arm 20) in the state where the support arm (elevating arm 20) is moved, and the holding device 50, and an auxiliary operation actuator 80 that drives the auxiliary operation of the holding device 50. The connection position P2 between the holding device 50 and the bracket 40 is located on the front side in the traveling direction from the connection position P1 between the pair of support arms (elevating arm 20) and the bracket 40.
このような構成によると、保持装置50が一対の昇降アーム20により支持されるので、補助された状態にある被介助者の脚部の周囲のスペースを確保できる。保持装置50の補助動作を駆動する補助動作アクチュエータ80は、一対の昇降アーム20の間で、且つ一対の昇降アーム20よりも前方に配置される。これにより、補助動作アクチュエータ80を中心部に集約しつつ、一対の昇降アーム20の間にスペースを確保できる。よって、保持装置50と一対の昇降アーム20との間にアクチュエータを介在させて配置する構成と比較して、他の介助機器等との干渉を起こしにくい構成となり、当該干渉をより確実に抑制できる。
According to such a configuration, since the holding device 50 is supported by the pair of lifting arms 20, a space around the leg of the person being assisted can be ensured. The auxiliary operation actuator 80 that drives the auxiliary operation of the holding device 50 is disposed between the pair of lift arms 20 and in front of the pair of lift arms 20. Thereby, a space can be secured between the pair of lifting arms 20 while the auxiliary operation actuators 80 are concentrated in the center. Therefore, compared to a configuration in which an actuator is interposed between the holding device 50 and the pair of lifting arms 20, the configuration is less likely to cause interference with other assisting devices, and the interference can be more reliably suppressed. .
さらに、介助ロボット1を左右方向から見て、一対の昇降アーム20とブラケット40との連結位置P1が荷重の支点となる。そのため、補助動作アクチュエータ80と被介助者との荷重バランスがよくなり、装置全体としての動作安定性を向上できる。
Furthermore, when the assisting robot 1 is viewed from the left and right, the connection position P1 between the pair of lifting arms 20 and the bracket 40 becomes a fulcrum of the load. Therefore, the load balance between the auxiliary operation actuator 80 and the person being assisted is improved, and the operation stability of the entire apparatus can be improved.
また、保持装置50は、直接またはブラケット40を介して間接的に一対の支持アーム(昇降アーム20)に固定される本体部(駆動本体51)と、本体部(駆動本体51)に設けられ、補助動作を案内するガイド部材(第一レール部材71、第二レール部材72)と、ガイド部材(第一レール部材71、第二レール部材72)に対して相対移動可能に保持されてガイド部材の案内方向(第一レール部材71、第二レール部材72)に沿って移動する被案内部材(第一被案内部材73、第二被案内部材74)と、被案内部材(第一被案内部材73、第二被案内部材74)を保持して、当該被案内部材(第一被案内部材73、第二被案内部材74)の移動により補助動作を行う動作部材(動作フレーム52)と、動作部材(動作フレーム52)に取り付けられ、被介助者を保持する保持部材(アタッチメント60)と、を備える。
The holding device 50 is provided on a main body (drive main body 51) fixed to a pair of support arms (lifting arms 20) directly or indirectly via the bracket 40, and a main body (drive main body 51). The guide member (first rail member 71, second rail member 72) for guiding the auxiliary operation and the guide member (first rail member 71, second rail member 72) are held so as to be movable relative to each other. Guided members (first guided member 73, second guided member 74) moving along the guiding direction (first rail member 71, second rail member 72) and guided members (first guided member 73). , A second guided member 74), an operation member (operation frame 52) that performs an auxiliary operation by moving the guided member (first guided member 73, second guided member 74), and the operational member (Operation frame 52 Attached to, includes a holding member for holding the care receiver (Attachment 60), the.
このような構成によると、一対の第一レール部材71および第二レール部材72により荷重を受けることができるので、保持装置50の耐荷重を向上できる。また、補助動作アクチュエータ80に伝達される荷重を低減できるので、補助動作アクチュエータ80を小型化することが可能となる。
According to such a configuration, since the load can be received by the pair of first rail member 71 and second rail member 72, the load resistance of the holding device 50 can be improved. Further, since the load transmitted to the auxiliary operation actuator 80 can be reduced, the auxiliary operation actuator 80 can be reduced in size.
また、補助動作には、一対の支持アーム(昇降アーム20)に対する保持部材(アタッチメント60)の前後動および傾動が含まれる。保持装置50は、互いの間隔が進行方向の前方側に向かうに従って広がる一対のガイド部材(第一レール部材71、第二レール部材72)と、一対のガイド部材(第一レール部材71、第二レール部材72)のそれぞれに対応して動作部材(動作フレーム52)に複数設けられ、互いの間隔を一定に維持された複数の被案内部材(第一被案内部材73、第二被案内部材74)と、を備える。
Further, the auxiliary operation includes forward and backward movement and tilting of the holding member (attachment 60) with respect to the pair of support arms (lifting arm 20). The holding device 50 includes a pair of guide members (a first rail member 71 and a second rail member 72) that expand as the distance from each other increases toward the front side in the traveling direction, and a pair of guide members (a first rail member 71 and a second rail). A plurality of guided members (a first guided member 73 and a second guided member 74) are provided on the operating member (the operating frame 52) corresponding to each of the rail members 72), and the distance between them is kept constant. And).
このような構成によると、一対の第一レール部材71および第二レール部材72に沿った一対の第一被案内部材73および第二被案内部材74の動作によって、前後動および傾動を含む補助動作を駆動することが可能となる。また、一対の第一レール部材71および第二レール部材72により一対の第一被案内部材73および第二被案内部材74を支持するため、保持装置50の耐荷重をさらに向上できる。
According to such a configuration, an auxiliary operation including forward and backward movement and tilting is performed by the operation of the pair of first guided members 73 and the second guided member 74 along the pair of first rail members 71 and the second rail member 72. Can be driven. Further, since the pair of first guided members 73 and second guided members 74 are supported by the pair of first rail members 71 and second rail members 72, the load resistance of the holding device 50 can be further improved.
また、一対のガイド部材(第一レール部材71,第二レール部材72)は、水平面に対して進行方向の前方側が下方に傾斜してそれぞれ配置される。
Further, the pair of guide members (the first rail member 71 and the second rail member 72) are arranged such that the front side in the traveling direction is inclined downward with respect to the horizontal plane.
このような構成によると、一対の第一レール部材71および第二レール部材72がともに前下がりになるように配置される。これにより、保持装置50が前方に移動されると、第一被案内部材73および第二被案内部材74が下方に移動する。よって、保持装置50に保持されて前方に移動する被介助者の進路を一対のレール機構70が遮ることがなく、当該移動を妨げず、また被介助者の視界を良好にできる。また、被介助者の上体の前後動に連動して被介助者の上体を傾動させる補助動作において、被介助者の好適な保持高さを維持した制御が可能となる。
According to such a configuration, the pair of the first rail member 71 and the second rail member 72 are both disposed so as to be lowered forward. Thus, when the holding device 50 is moved forward, the first guided member 73 and the second guided member 74 are moved downward. Therefore, the pair of rail mechanisms 70 does not block the path of the person being assisted and moved forward while being held by the holding device 50, the movement is not hindered, and the field of view of the person being assisted can be improved. Further, in the assisting operation in which the upper body of the person being assisted is tilted in conjunction with the longitudinal movement of the upper body of the person being assisted, it is possible to perform control while maintaining a suitable holding height of the person being assisted.
また、一対のガイド部材は、レール部材(第一レール部材71、第二レール部材72)であり、且つ直線状に形成される。
Further, the pair of guide members are rail members (first rail member 71 and second rail member 72) and are formed in a straight line.
このような構成によると、汎用的な直線状のレール部材を適用できるので、保持装置50の製造コストを低減できる。また、非平行に配置された一対の第一レール部材71および第二レール部材72により前後動に連動して傾動させることができるので、それぞれの動作に独立したアクチュエータを設ける構成と比較して、補助動作アクチュエータ80を兼用にできる。よって、保持装置50のうち被介助者を保持する部位の周囲にスペースを確保することができる。
According to such a configuration, since a general-purpose linear rail member can be applied, the manufacturing cost of the holding device 50 can be reduced. Also, since the pair of first rail member 71 and second rail member 72 arranged in non-parallel can be tilted in conjunction with the back and forth movement, compared to a configuration in which an independent actuator is provided for each operation, The auxiliary operation actuator 80 can also be used. Therefore, a space can be secured around the portion of the holding device 50 that holds the person being assisted.
また、補助動作は、保持部材(アタッチメント60)の前後動に保持部材(アタッチメント60)の傾動が連動する動作である。保持装置50は、補助動作に伴う保持部材(アタッチメント60)の上下方向の変位量が単調増加される。
Further, the auxiliary operation is an operation in which the tilting of the holding member (attachment 60) is interlocked with the longitudinal movement of the holding member (attachment 60). In the holding device 50, the amount of vertical displacement of the holding member (attachment 60) accompanying the auxiliary operation is monotonously increased.
このような構成によると、被介助者の上体の前後動に連動して被介助者の上体を傾動させる補助動作において、被介助者の保持高さを好適に制御できる。これにより、被介助者に対する補助動作において、被介助者に不快を感じさせることなく各種動作を補助できる。
According to such a configuration, the holding height of the person being assisted can be suitably controlled in the assisting operation in which the person's upper body is tilted in conjunction with the longitudinal movement of the person being assisted. Thereby, in assistance operation | movement with respect to a person being assisted, various actions can be assisted without causing the person being assisted to feel uncomfortable.
また、補助動作アクチュエータ80は、保持装置50の本体部(駆動本体51)に傾動不能に設けられる回転駆動源81と、保持装置50の本体部(駆動本体51)に傾動不能に設けられ、回転駆動源81の出力軸に連結されて回転駆動源81により回転駆動されるねじ軸82と、保持装置50の動作部材(動作フレーム52)に傾動可能に設けられ、ねじ軸82に係合してねじ軸82の回転に伴ってねじ軸82に沿って移動するナット部材83と、を備える。
Further, the auxiliary operation actuator 80 is provided on the main body (drive main body 51) of the holding device 50 so as not to be tilted, and is provided on the main body (drive main body 51) of the holding device 50 so as not to tilt. The screw shaft 82 connected to the output shaft of the drive source 81 and driven to rotate by the rotational drive source 81 and the operation member (operation frame 52) of the holding device 50 are provided to be tiltable, and engage with the screw shaft 82. A nut member 83 that moves along the screw shaft 82 as the screw shaft 82 rotates.
このような構成によると、補助動作アクチュエータ80は、送りねじ機構により構成される。このとき、保持装置50においては、アタッチメント60がレール機構70により保持されるので、送りねじ機構のねじ軸82に加えられる負荷が軽減される。よって、送りねじ機構による安定した補助動作の駆動を制御できるとともに、保持装置50および補助動作アクチュエータ80からなるユニットの耐久性を向上できる。
According to such a configuration, the auxiliary operation actuator 80 is configured by a feed screw mechanism. At this time, in the holding device 50, since the attachment 60 is held by the rail mechanism 70, the load applied to the screw shaft 82 of the feed screw mechanism is reduced. Therefore, it is possible to control the driving of the stable auxiliary operation by the feed screw mechanism, and it is possible to improve the durability of the unit composed of the holding device 50 and the auxiliary operation actuator 80.
また、保持装置50とブラケット40との連結位置P2は、ガイド部材(第一レール部材71、第二レール部材72)における進行方向の中央部P3よりも進行方向の後方側に位置する。
Further, the connecting position P2 between the holding device 50 and the bracket 40 is located on the rear side in the traveling direction with respect to the central portion P3 in the traveling direction in the guide member (first rail member 71, second rail member 72).
このような構成によると、保持装置50は、一対の第一レール部材71および第二レール部材72に対する一対の第一被案内部材73および第二被案内部材74の可動範囲に対して、中央部P3より後方側でブラケット40を介して一対の昇降アーム20に支持される。これにより、保持装置50のうち被介助者を保持する部位の周囲にスペースを確実に確保することができる。
According to such a configuration, the holding device 50 has a central portion with respect to the movable range of the pair of first guided members 73 and the second guided members 74 with respect to the pair of first rail members 71 and the second rail member 72. It is supported by the pair of lifting arms 20 via the bracket 40 on the rear side from P3. Thereby, a space can be reliably ensured around the portion of the holding device 50 that holds the person being assisted.
<実施形態の変形態様>
実施形態において、介助ロボット1は、補助動作に保持装置50の前後動および傾動を含むものとした。これに対して、保持装置50を昇降可能に支持する一対の支持アーム(実施形態における昇降アーム20)を備える構成においては、補助動作が前後動または傾動のみであるものとして、本発明を適用することが可能である。 <Modification of Embodiment>
In the embodiment, the assisting robot 1 includes the back-and-forth movement and tilting of the holdingdevice 50 in the auxiliary operation. On the other hand, in a configuration including a pair of support arms (the lifting arm 20 in the embodiment) that supports the holding device 50 so as to be able to move up and down, the present invention is applied on the assumption that the auxiliary operation is only forward and backward movement or tilting. It is possible.
実施形態において、介助ロボット1は、補助動作に保持装置50の前後動および傾動を含むものとした。これに対して、保持装置50を昇降可能に支持する一対の支持アーム(実施形態における昇降アーム20)を備える構成においては、補助動作が前後動または傾動のみであるものとして、本発明を適用することが可能である。 <Modification of Embodiment>
In the embodiment, the assisting robot 1 includes the back-and-forth movement and tilting of the holding
また、実施形態において、一対の支持アームは、保持装置50を昇降可能に支持する一対の昇降アーム20であるものとした。これに対して、補助動作に保持装置50の前後動および傾動の両方が含まれる構成においては、一対の支持アームが昇降機能を有しないものとして、本発明を適用することが可能である。このような構成においても、実施形態と同様の効果を奏する。
In the embodiment, the pair of support arms is a pair of lift arms 20 that support the holding device 50 so as to be lifted and lowered. On the other hand, in a configuration in which the auxiliary operation includes both forward and backward movement and tilting of the holding device 50, the present invention can be applied on the assumption that the pair of support arms do not have a lifting function. Even in such a configuration, the same effects as in the embodiment can be obtained.
実施形態において、保持装置50は、レール機構70を備える構成とした。このレール機構70は、少なくとも1組のレール部材および被案内部材から構成されるものとしてもよい。また、レール部材は、直線状の他に、湾曲させた曲線状等に形成されるようにしてもよい。また、レール機構70に換えて、または併用して、カム孔を有するガイド部材によりピンを支持して、アタッチメント60の移動経路を案内する構成としてもよい。
In the embodiment, the holding device 50 is configured to include the rail mechanism 70. The rail mechanism 70 may be composed of at least one set of rail members and guided members. Further, the rail member may be formed in a curved shape or the like other than a linear shape. Moreover, it is good also as a structure which guides the movement path | route of the attachment 60 by supporting a pin with the guide member which has a cam hole instead of or using together with the rail mechanism 70. FIG.
また、昇降アクチュエータ30および補助動作アクチュエータ80には、直動機構として送りねじ機構を採用した。この他に、昇降アクチュエータ30および補助動作アクチュエータ80は、種々の直動機構や、アタッチメント60の移動軌跡に応じた駆動機構を適用することができる。何れの構成においても、実施形態と同様の効果を奏する。
Also, the elevating actuator 30 and the auxiliary operation actuator 80 employ a feed screw mechanism as a linear motion mechanism. In addition to the above, as the elevating actuator 30 and the auxiliary operation actuator 80, various linear motion mechanisms and drive mechanisms corresponding to the movement trajectory of the attachment 60 can be applied. In any configuration, the same effects as in the embodiment can be obtained.
1:介助ロボット
10:基台、 20:昇降アーム(支持アーム)
30:昇降アクチュエータ、 40:ブラケット
50:保持装置
51:駆動本体(本体部)、 52:動作フレーム(動作部材)
60:アタッチメント(保持部材)
70:レール機構
71:第一レール部材(ガイド部材)
72:第二レール部材(ガイド部材)
73:第一被案内部材、 74:第二被案内部材
80:補助動作アクチュエータ、
81:回転駆動源、 82:ねじ軸、 83:ナット部材
90:制御装置
P1:第一連結位置、 P2:第二連結位置
P3:レール中央部、 Pm:中間位置
Sr,Sf:レール間距離 1: assistance robot 10: base, 20: lifting arm (support arm)
30: Lifting actuator, 40: Bracket 50: Holding device 51: Drive body (main body), 52: Motion frame (motion member)
60: Attachment (holding member)
70: Rail mechanism 71: First rail member (guide member)
72: Second rail member (guide member)
73: 1st guided member, 74: 2nd guided member 80: Auxiliary operation actuator,
81: Rotation drive source, 82: Screw shaft, 83: Nut member 90: Control device P1: First connection position, P2: Second connection position P3: Rail center, Pm: Intermediate position Sr, Sf: Distance between rails
10:基台、 20:昇降アーム(支持アーム)
30:昇降アクチュエータ、 40:ブラケット
50:保持装置
51:駆動本体(本体部)、 52:動作フレーム(動作部材)
60:アタッチメント(保持部材)
70:レール機構
71:第一レール部材(ガイド部材)
72:第二レール部材(ガイド部材)
73:第一被案内部材、 74:第二被案内部材
80:補助動作アクチュエータ、
81:回転駆動源、 82:ねじ軸、 83:ナット部材
90:制御装置
P1:第一連結位置、 P2:第二連結位置
P3:レール中央部、 Pm:中間位置
Sr,Sf:レール間距離 1: assistance robot 10: base, 20: lifting arm (support arm)
30: Lifting actuator, 40: Bracket 50: Holding device 51: Drive body (main body), 52: Motion frame (motion member)
60: Attachment (holding member)
70: Rail mechanism 71: First rail member (guide member)
72: Second rail member (guide member)
73: 1st guided member, 74: 2nd guided member 80: Auxiliary operation actuator,
81: Rotation drive source, 82: Screw shaft, 83: Nut member 90: Control device P1: First connection position, P2: Second connection position P3: Rail center, Pm: Intermediate position Sr, Sf: Distance between rails
Claims (11)
- 基台と、
前記基台の進行方向を前方とした左右方向の両側にそれぞれ配置され、前記基台に対して上下方向に伸縮可能な一対の支持アームと、
前記一対の支持アームの伸縮動作の駆動を行う昇降アクチュエータと、
前記一対の支持アームに直接または間接的に支持され、被介助者の体の一部を保持した状態で前記一対の支持アームに対して前後動または傾動を含む補助動作可能な保持装置と、
前記一対の支持アームの前記左右方向の間に配置され、前記保持装置に一体的に設けられ、前記保持装置の前記補助動作の駆動を行う補助動作アクチュエータと、
を備える介助ロボット。 The base,
A pair of support arms that are arranged on both sides in the left-right direction with the advancing direction of the base as the front, and extendable in the vertical direction with respect to the base;
An elevating actuator for driving expansion and contraction of the pair of support arms;
A holding device that is supported directly or indirectly by the pair of support arms and includes a back-and-forth movement or tilting with respect to the pair of support arms while holding a part of the body of the person being assisted;
An auxiliary operation actuator disposed between the pair of support arms in the left-right direction, provided integrally with the holding device, and driving the auxiliary operation of the holding device;
Assistive robot equipped with. - 前記保持装置は、
前記一対の支持アームに固定される本体部と、
前記本体部に設けられ、前記補助動作を案内するガイド部材と、
前記ガイド部材に対して相対移動可能に保持されて前記ガイド部材の案内方向に沿って移動する被案内部材と、
前記被案内部材を保持して、当該被案内部材の移動により前記補助動作を行う動作部材と、
前記動作部材に取り付けられ、前記被介助者を保持する保持部材と、
を備える、請求項1に記載の介助ロボット。 The holding device is
A main body fixed to the pair of support arms;
A guide member provided in the main body for guiding the auxiliary operation;
A guided member that is held so as to be relatively movable with respect to the guide member and moves along a guide direction of the guide member;
An operation member that holds the guided member and performs the auxiliary operation by moving the guided member;
A holding member attached to the operating member and holding the person being assisted;
The assistance robot according to claim 1, comprising: - 前記介助ロボットは、前記一対の支持アームのそれぞれに連結され、当該連結位置から前記進行方向の前方側に延伸するブラケットをさらに備え、
前記保持装置は、前記ブラケットを介して前記一対の支持アームに支持され、
前記保持装置と前記ブラケットとの連結位置は、前記一対の支持アームと前記ブラケットとの連結位置よりも前記進行方向の前方側に位置する、請求項1または2に記載の介助ロボット。 The assistance robot further includes a bracket connected to each of the pair of support arms and extending from the connection position to the front side in the traveling direction,
The holding device is supported by the pair of support arms via the bracket,
3. The assistance robot according to claim 1, wherein a connection position between the holding device and the bracket is located on a more forward side in the traveling direction than a connection position between the pair of support arms and the bracket. - 基台と、
前記基台の進行方向を前方とした左右方向の両側にそれぞれ配置された一対の支持アームと、
前記一対の支持アームのそれぞれに連結され、当該連結位置から前記進行方向の前方側に延伸するブラケットと、
前記ブラケットを介して前記一対の支持アームに支持され、被介助者の体の一部を保持した状態で前記一対の支持アームに対して前後動および傾動を含む補助動作可能な保持装置と、
前記一対の支持アームの前記左右方向の間に配置され、前記保持装置に一体的に設けられ、前記保持装置の前記補助動作の駆動を行う補助動作アクチュエータと、を備え、
前記保持装置と前記ブラケットとの連結位置は、前記一対の支持アームと前記ブラケットとの連結位置よりも前記進行方向の前方側に位置する介助ロボット。 The base,
A pair of support arms respectively disposed on both sides in the left-right direction with the traveling direction of the base as the front;
A bracket connected to each of the pair of support arms and extending forward from the connection position in the traveling direction;
A holding device which is supported by the pair of support arms via the bracket and includes a back and forth movement and tilting with respect to the pair of support arms in a state where a part of the body of the person being assisted is held;
An auxiliary operation actuator disposed between the left and right directions of the pair of support arms, provided integrally with the holding device, and driving the auxiliary operation of the holding device;
The assisting robot is located at the front side in the traveling direction of the connecting position between the holding device and the bracket relative to the connecting position between the pair of support arms and the bracket. - 前記保持装置は、
前記ブラケットを介して前記一対の支持アームに固定される本体部と、
前記本体部に設けられ、前記補助動作を案内するガイド部材と、
前記ガイド部材に対して相対移動可能に保持されて前記ガイド部材の案内方向に沿って移動する被案内部材と、
前記被案内部材を保持して、当該被案内部材の移動により前記補助動作を行う動作部材と、
前記動作部材に取り付けられ、前記被介助者を保持する保持部材と、
を備える、請求項3または4に記載の介助ロボット。 The holding device is
A main body fixed to the pair of support arms via the bracket;
A guide member provided in the main body for guiding the auxiliary operation;
A guided member that is held so as to be relatively movable with respect to the guide member and moves along a guide direction of the guide member;
An operation member that holds the guided member and performs the auxiliary operation by moving the guided member;
A holding member attached to the operating member and holding the person being assisted;
The assistance robot according to claim 3, comprising: - 前記補助動作には、前記一対の支持アームに対する前記保持部材の前後動および傾動が含まれ、
前記保持装置は、
互いの間隔が前記進行方向の前方側に向かうに従って広がる一対の前記ガイド部材と、
一対の前記ガイド部材のそれぞれに対応して前記動作部材に複数設けられ、互いの間隔を一定に維持された複数の前記被案内部材と、
を備える、請求項2または5に記載の介助ロボット。 The auxiliary operation includes the forward and backward movement and tilting of the holding member with respect to the pair of support arms,
The holding device is
A pair of the guide members that spread toward each other toward the front side in the traveling direction;
A plurality of the guided members which are provided in a plurality in the operating member corresponding to each of the pair of the guide members, and are maintained at a constant distance from each other;
The assistance robot according to claim 2, comprising: - 一対の前記ガイド部材は、水平面に対して前記進行方向の前方側が下方に傾斜してそれぞれ配置される、請求項6に記載の介助ロボット。 The assisting robot according to claim 6, wherein the pair of guide members are arranged such that a front side in the traveling direction is inclined downward with respect to a horizontal plane.
- 一対の前記ガイド部材は、レール部材であり、且つ直線状に形成される、請求項6または7に記載の介助ロボット。 The assisting robot according to claim 6 or 7, wherein the pair of guide members are rail members and are linearly formed.
- 前記補助動作は、前記保持部材の前後動に前記保持部材の傾動が連動する動作であり、
前記保持装置は、前記補助動作に伴う前記保持部材の上下方向の変位量が単調増加される、請求項2,5-8の何れか一項に記載の介助ロボット。 The auxiliary operation is an operation in which the tilting of the holding member is interlocked with the longitudinal movement of the holding member,
The assistance robot according to any one of claims 2 and 5-8, wherein the holding device monotonously increases a vertical displacement amount of the holding member accompanying the auxiliary operation. - 前記補助動作アクチュエータは、
前記保持装置の前記本体部に傾動不能に設けられる回転駆動源と、
前記保持装置の前記本体部に傾動不能に設けられ、前記回転駆動源の出力軸に連結されて前記回転駆動源により回転駆動されるねじ軸と、
前記保持装置の前記動作部材に傾動可能に設けられ、前記ねじ軸に係合して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2,5-9の何れか一項に記載の介助ロボット。 The auxiliary operation actuator includes:
A rotational drive source provided in a non-tiltable manner in the main body of the holding device;
A screw shaft that is provided on the main body portion of the holding device so as not to tilt and is connected to an output shaft of the rotational drive source and is rotationally driven by the rotational drive source;
A nut member that is tiltably provided on the operation member of the holding device, and that moves along the screw shaft as the screw shaft rotates by engaging with the screw shaft;
The assistance robot according to any one of claims 2 and 5-9. - 前記保持装置と前記ブラケットとの連結位置は、前記ガイド部材における前記進行方向の中央部よりも前記進行方向の後方側に位置する、請求項5に記載の介助ロボット。 The assisting robot according to claim 5, wherein a connection position between the holding device and the bracket is located on a rear side in the traveling direction with respect to a central portion in the traveling direction of the guide member.
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WO (1) | WO2017017803A1 (en) |
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CN106901927A (en) * | 2017-04-19 | 2017-06-30 | 许建芹 | One kind treats hemiplegia auxiliary robot |
WO2018163308A1 (en) * | 2017-03-07 | 2018-09-13 | 株式会社Fuji | Assistance device |
WO2018179431A1 (en) * | 2017-03-31 | 2018-10-04 | 株式会社Fuji | Assistance device |
CN108635180A (en) * | 2018-05-11 | 2018-10-12 | 中山爱君智能科技有限公司 | A kind of rehabilitation nursing intelligent robot |
CN111328276A (en) * | 2018-03-30 | 2020-06-23 | 株式会社熊谷组 | Walking assisting device |
CN112294603A (en) * | 2019-07-26 | 2021-02-02 | 广东博智林机器人有限公司 | Exoskeleton walking aid system and control method |
JP2022051617A (en) * | 2020-09-22 | 2022-04-01 | 公立大学法人 富山県立大学 | Standing/sitting support device and walker |
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CN112294603A (en) * | 2019-07-26 | 2021-02-02 | 广东博智林机器人有限公司 | Exoskeleton walking aid system and control method |
JP2022051617A (en) * | 2020-09-22 | 2022-04-01 | 公立大学法人 富山県立大学 | Standing/sitting support device and walker |
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JPWO2017017803A1 (en) | 2018-05-24 |
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