JP2021019963A - Care bed - Google Patents

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JP2021019963A
JP2021019963A JP2019139312A JP2019139312A JP2021019963A JP 2021019963 A JP2021019963 A JP 2021019963A JP 2019139312 A JP2019139312 A JP 2019139312A JP 2019139312 A JP2019139312 A JP 2019139312A JP 2021019963 A JP2021019963 A JP 2021019963A
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support portion
care recipient
pads
joint
care
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純生 倉田
Sumio Kurata
純生 倉田
吉男 服部
Yoshio Hattori
吉男 服部
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Krkb Co Ltd
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Krkb Co Ltd
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Abstract

【課題】被介護者の動作を細やかに支えて介護者の介在を低減し、被介護者が自律的に快適な生活を送ることが可能な介護ベッドを提供することにある。
【解決手段】本発明の介護ベッド１は、被介護者を所望の姿勢に支持する支持部２と、支持部の形態を変化させるアクチュエータと、アクチュエータを制御する制御部を備える。支持部２は、複数のパッド２１と、パッド２１を軸支する複数の関節２２から構成され、支持部２の長手方向および短手方向に複数個ずつパッド２１を配置する。
【選択図】図１PROBLEM TO BE SOLVED: To provide a care bed capable of finely supporting the movement of a care recipient, reducing the intervention of the caregiver, and allowing the care recipient to lead an autonomous and comfortable life.
A nursing bed 1 of the present invention includes a support portion 2 that supports a care recipient in a desired posture, an actuator that changes the form of the support portion, and a control unit that controls the actuator. The support portion 2 is composed of a plurality of pads 21 and a plurality of joints 22 that pivotally support the pads 21, and a plurality of pads 21 are arranged in the longitudinal direction and the lateral direction of the support portion 2.
[Selection diagram] Fig. 1

Description

本発明は、介護ロボットとして機能する介護ベッドに関し、特に、被介護者の生活に合わせて快適な空間を形成できる介護ベッドに関する。 The present invention relates to a nursing bed that functions as a nursing robot, and more particularly to a nursing bed that can form a comfortable space according to the life of a care recipient.

近年、介護者の負担を軽減するため、寝床の一部を傾動させ、被介護者の寝返りや移乗を補助する介護ベッドや、介護ベッドに浴槽やトイレを併設し、被介護者の移動負担を軽減する介護ベッドなどが提案されている。例えば、特許文献１には、ベッド本体を昇降させる昇降手段を備え、ベッド本体の下方に貯水槽を配置し、被介護者がベッドに横たわったまま入浴できる介護ベッドが提案されている。 In recent years, in order to reduce the burden on the caregiver, a part of the bed is tilted to assist the care recipient in turning over and transferring, and a bathtub and toilet are installed in the care bed to reduce the burden of moving the care recipient. Nursing beds to reduce the number of care beds have been proposed. For example, Patent Document 1 proposes a nursing bed that includes a means for raising and lowering the bed body, arranges a water tank below the bed body, and allows a care recipient to take a bath while lying on the bed.

特開２０１８−１２６５４０号公報JP-A-2018-126540

しかし、従来の介護ベッドによれば、介護ベッドの形態が限定されているため、全体の動作の中に被介護者自身でとれる姿勢が含まれていても、その前後の姿勢がとれないために、結局、全体の動作を介護者に頼ってしまうという問題があった。また、全体の動作を介護者に頼った結果、被介護者の筋力が低下してゆき、ますます自律的に生活を送ることが困難になってしまうという問題もあった。 However, according to the conventional long-term care bed, the form of the long-term care bed is limited, and even if the whole movement includes the posture that the care recipient can take by himself / herself, the posture before and after that cannot be taken. After all, there was a problem of relying on the caregiver for the overall operation. In addition, as a result of relying on the caregiver for the overall movement, the muscle strength of the care recipient is weakened, and it becomes more difficult to lead an autonomous life.

そこで、本発明の目的は、被介護者の動作を細やかに支え、介護者の介在を低減させて、被介護者が快適な自律的生活を送ることが可能な介護ベッドを提供することにある。 Therefore, an object of the present invention is to provide a care bed capable of finely supporting the movement of the care recipient, reducing the intervention of the care recipient, and allowing the care recipient to lead a comfortable and autonomous life. ..

上記課題を解決するために、本発明の介護ベッドは、被介護者を所望の姿勢に支持する支持部と、支持部の形態を変化させるアクチュエータと、アクチュエータを制御する制御手段と、を備え、支持部が、複数のパッドと、パッドを軸支する複数の関節と、を含み、複数のパッドが、支持部の長手方向および短手方向に複数個ずつ設けられたことを特徴とする。 In order to solve the above problems, the nursing care bed of the present invention includes a support portion that supports the care recipient in a desired posture, an actuator that changes the form of the support portion, and a control means that controls the actuator. The support portion includes a plurality of pads and a plurality of joints that pivotally support the pads, and a plurality of pads are provided in the longitudinal direction and the lateral direction of the support portion.

複数の関節は、長手方向へのパッドの回動を許容する第一関節と、短手方向へのパッドの回動を許容する第二関節と、を含む。 The plurality of joints include a first joint that allows the pad to rotate in the longitudinal direction and a second joint that allows the pad to rotate in the lateral direction.

さらに、介護ベッドは、支持部全体を軸支する主関節と、主関節に接続された脚部と、を備え、脚部をスライド自在に連結するスライド機構を備える。 Further, the nursing bed includes a main joint that pivotally supports the entire support portion, a leg portion connected to the main joint portion, and a slide mechanism that slidably connects the leg portions.

その他、介護ベッドは、トイレ設備および／または入浴設備と、スライド機構を搭載し、スライド機構の下方にトイレ設備および／または入浴設備を配置するフレームを備え、制御手段は、支持部の形態に応じてトイレ設備または入浴設備の位置を調整する。 In addition, the nursing bed is equipped with toilet equipment and / or bathing equipment and a slide mechanism, and is provided with a frame for arranging toilet equipment and / or bathing equipment below the slide mechanism, and the control means depends on the form of the support portion. Adjust the location of the toilet or bathing facilities.

また、介護ベッドは、被介護者を運ぶ車両を備え、該車両は、フレームにより形成される空間に収容される。 The long-term care bed also includes a vehicle that carries the care recipient, and the vehicle is housed in a space formed by the frame.

本発明の介護ベッドによれば、複数のパッドが支持部の長手方向および短手方向に複数個ずつ設け、複数の関節の周りにパッドを回動させることとしたため、被介護者の動作を補完して、被介護者自身で様々な動作を完了できるという優れた効果を有する。また、被介護者が自律的に生活を送ることによって、体力の低下を防止できるという効果も有する。 According to the nursing bed of the present invention, a plurality of pads are provided in the longitudinal direction and the lateral direction of the support portion, and the pads are rotated around the plurality of joints, thereby complementing the movement of the care recipient. Therefore, it has an excellent effect that the care recipient can complete various movements by himself / herself. In addition, it also has the effect of preventing a decrease in physical strength by allowing the long-term care recipient to lead an autonomous life.

本発明の一実施形態を示す介護ベッドを側方から透視した概略図である。It is the schematic which saw through from the side the care bed which shows one Embodiment of this invention. 図１の介護ベッドを正面から透視した概略図である。It is the schematic which saw through the care bed of FIG. 1 from the front. 支持部の（ａ）関節および主関節の接続状態を示すために一部のパッドを透過させた平面図、（ｂ）Ａ−Ａ断面図である。It is a top view (b) AA cross-sectional view through which a part of a pad is permeated to show the connection state of (a) joint and main joint of a support part. 支持部の（ａ）側面図、（ｂ）Ｂ−Ｂ断面図、（ｃ）Ｃ−Ｃ断面図である。It is (a) side view, (b) BB sectional view, (c) CC sectional view of the support part. 支持部の（ａ）正面図、（ｂ）および（ｃ）支持部の短手方向へのパッドの回動を示す説明図である。It is explanatory drawing which shows (a) the front view of the support part, (b) and (c) the rotation of the pad in the lateral direction of the support part. 支持部の形態変化（ベッドから椅子および立位補助１）を示す説明図である。It is explanatory drawing which shows the morphological change (from a bed to a chair and a standing assist 1) of a support part. 支持部の形態変化（ベッドから立位補助２）を示す説明図である。It is explanatory drawing which shows the morphological change of the support part (the standing assist 2 from a bed). 支持部の形態変化（シート担架挿入補助）を示す説明図である。It is explanatory drawing which shows the form change of the support part (seat stretcher insertion assistance). 支持部の形態変化（褥瘡防止マッサージ）を示す説明図である。It is explanatory drawing which shows the morphological change (decubitus prevention massage) of a support part. 支持部の形態変化（体型の個人差を吸収）を示す説明図である。It is explanatory drawing which shows the morphological change of the support part (absorbing the individual difference of a body shape). 介護ベッドの使用状態（ベッド昇降、車両移動）を示す説明図である。It is explanatory drawing which shows the use state (bed elevating, vehicle movement) of a care bed. 介護ベッドの使用状態（トイレ使用、入浴）を示す説明図である。It is explanatory drawing which shows the use state (toilet use, bathing) of a care bed.

以下、本発明を介護ベッドに具体化した一実施形態を図面に基づいて説明する。図１，２に示すように、介護ベッド１は、広さ２．６ｍ２（四畳半）程度の立体空間５に収容され、被介護者Ｐを所望の姿勢に支持する支持部２と、支持部２の下方に配置されたトイレ設備６および入浴設備７と、被介護者Ｐを運ぶ車両９を有する。なお、立体空間５は、六畳以上の部屋に設置することを想定し、足側から出入りすることを想定している。 Hereinafter, an embodiment in which the present invention is embodied in a nursing bed will be described with reference to the drawings. As shown in FIGS. 1 and 2, the nursing bed 1 is housed in a three-dimensional space 5 having an area of about 2.6 m 2 (four and a half tatami mats), and a support portion 2 for supporting the care recipient P in a desired posture and a support portion. It has a toilet facility 6 and a bathing facility 7 arranged below the number 2, and a vehicle 9 for carrying the care recipient P. The three-dimensional space 5 is assumed to be installed in a room of 6 tatami mats or more, and is assumed to enter and exit from the foot side.

支持部２、トイレ設備６、入浴設備７は、フレーム４によって立体空間５の異なる垂直位置に配置される。フレーム４は、支持部２、トイレ設備６、入浴設備７を、前後方向に水平スライドできるように支持している。また、これらの設備の下方に、車両９が移動可能に収容されている。なお、入浴設備７の補助設備として、シャンプーやボディーソープなどのアメニティ８を配置しても良い。 The support portion 2, the toilet facility 6, and the bathing facility 7 are arranged at different vertical positions in the three-dimensional space 5 by the frame 4. The frame 4 supports the support portion 2, the toilet facility 6, and the bathing facility 7 so that they can slide horizontally in the front-rear direction. Further, the vehicle 9 is movably housed below these facilities. In addition, amenity 8 such as shampoo and body soap may be arranged as auxiliary equipment of bathing equipment 7.

介護ベッド１は、さらに、支持部２の形態を変化させるアクチュエータ（図示なし）と、アクチュエータを制御する制御部（図示なし）を有する。制御部は、有線または無線によりアクチュエータと接続されている。また、制御部は、支持部２の形態に応じてトイレ設備６または入浴設備７の位置を調整する。その他、制御部は、被介護者Ｐの操作に応じて、車両９を所望の位置に移動することも可能である。 The nursing bed 1 further includes an actuator (not shown) that changes the form of the support portion 2 and a control unit (not shown) that controls the actuator. The control unit is connected to the actuator by wire or wirelessly. Further, the control unit adjusts the position of the toilet facility 6 or the bathing facility 7 according to the form of the support unit 2. In addition, the control unit can also move the vehicle 9 to a desired position in response to the operation of the care recipient P.

図３，４に示すように、支持部２は、支持部２の長手方向および短手方向に複数個ずつ設けられたパッド２１を有する。各パッド２１はアーム２５を介して各々の関節２２に取り付けられ、隣接するアーム２５は、関節２２を介して接続されている。また、全てのアーム２５および関節２２は、独立して動かすことが可能に設けられている。なお、パッド２１の個数は、適宜変更可能である。 As shown in FIGS. 3 and 4, the support portion 2 has a plurality of pads 21 provided in the longitudinal direction and the lateral direction of the support portion 2. Each pad 21 is attached to each joint 22 via an arm 25, and adjacent arms 25 are connected via a joint 22. Further, all the arms 25 and the joints 22 are provided so as to be able to move independently. The number of pads 21 can be changed as appropriate.

介護ベッド１では、複数の関節２２のうち、一の関節２２の同軸上に主関節２４が設けられている。このとき、主関節２４は、被介護者Ｐの腰部付近の関節２２と同軸上に配置されることが望ましい。腰部は、身体の重心に位置するため、腰部を支点として支持部２の形状を変化させることによって、被介護者Ｐをより安定に支持することができる。 In the nursing bed 1, the main joint 24 is provided on the same axis as one of the plurality of joints 22. At this time, it is desirable that the main joint 24 is arranged coaxially with the joint 22 near the lumbar region of the care recipient P. Since the lumbar region is located at the center of gravity of the body, the care recipient P can be supported more stably by changing the shape of the support portion 2 with the lumbar region as a fulcrum.

主関節２４は、支持部２全体を軸支するとともに、水平方向に均等に開脚する脚部２６に接続されている。また、脚部２６は、スライド機構３に水平スライド自在に連結されている。脚部２６は、支持部２全体を昇降可能な昇降機構１０に接続され（図９（ａ）参照）、脚部２６の水平スライド移動により支持部全体が水平移動する（図９（ｂ）参照）。 The main joint 24 pivotally supports the entire support portion 2 and is connected to the leg portion 26 that evenly opens the legs in the horizontal direction. Further, the leg portion 26 is connected to the slide mechanism 3 so as to be horizontally slidable. The leg portion 26 is connected to an elevating mechanism 10 capable of raising and lowering the entire support portion 2 (see FIG. 9A), and the entire support portion is horizontally moved by the horizontal sliding movement of the leg portion 26 (see FIG. 9B). ).

図５に示すように、支持部２は、長手方向へのパッド２１の回動を許容する第一関節として機能する関節２２の他、短手方向へのパッド２１の回動を許容する第二関節として機能する関節２３を有する。関節２３の軸周りにパッド２１が回動すると、支持部２の一部が下方に向けて開かれ、支持部２の下方に配置されたトイレ設備６または入浴設備７を利用することができる。 As shown in FIG. 5, the support portion 2 has a joint 22 that functions as a first joint that allows the pad 21 to rotate in the longitudinal direction, and a second joint that allows the pad 21 to rotate in the lateral direction. It has a joint 23 that functions as a joint. When the pad 21 rotates around the axis of the joint 23, a part of the support portion 2 is opened downward, and the toilet facility 6 or the bathing facility 7 arranged below the support portion 2 can be used.

次に、支持部２の形態変化について図６〜１０に基づいて説明する。図６（ａ）に示すように、ベッド形態の支持部２に横たわった被介護者Ｐが所定の操作を実施すると、制御部が該操作に応じて制御信号を出力し、アクチュエータを駆動させる。アクチュエータは、制御信号に基づいて各関節２２の配置や各アーム２５の開度を調整し、支持部２を椅子形態に変化させる。その結果、被介護者Ｐは、図６（ｂ）に示すように、所望の姿勢で座ったり、図６（ｃ）に示すように、体全体でもたれかかるように立位をとったりすることができる。 Next, the morphological change of the support portion 2 will be described with reference to FIGS. 6 to 10. As shown in FIG. 6A, when the care recipient P lying on the support portion 2 in the bed form performs a predetermined operation, the control unit outputs a control signal in response to the operation to drive the actuator. The actuator adjusts the arrangement of each joint 22 and the opening degree of each arm 25 based on the control signal, and changes the support portion 2 into a chair form. As a result, the care recipient P may sit in a desired posture as shown in FIG. 6 (b) or stand so as to lean on the entire body as shown in FIG. 6 (c). it can.

また、図７に示すように、立位補助形態をとる前に、まず足置き部５１を形成し、その後、主関節２４の軸周りに支持部２全体を回転させることにより、安全に立位姿勢をとることが可能である。 Further, as shown in FIG. 7, the foot rest portion 51 is first formed before taking the standing assist form, and then the entire support portion 2 is rotated around the axis of the main joint 24 to safely stand. It is possible to take a posture.

さらに、図８（ａ）に示すように、背中に空間をつくってシート担架５２を挿入して固定し、その後、図８（ｂ）に示すように、体を介護者に預ける形態まで支持部２を変化させることも可能である。 Further, as shown in FIG. 8 (a), a space is created on the back and the seat stretcher 52 is inserted and fixed, and then, as shown in FIG. 8 (b), the support portion is provided until the body is left to the caregiver. It is also possible to change 2.

図９に示すように、継続的に各パッド２１を揺動し、褥瘡防止マッサージやストレッチを実施することも可能である。このとき、全てのアーム２５および関節２２は、独立して動かすことが可能であるため、図９（ｃ）に示すように、左列のパッド２１と右列のパッド２１’を互い違いに波打たせ、より褥瘡防止効果をあげることも可能である。 As shown in FIG. 9, it is also possible to continuously swing each pad 21 to perform a pressure ulcer prevention massage or stretch. At this time, since all the arms 25 and the joints 22 can be moved independently, the pads 21 in the left row and the pads 21'in the right row are alternately wavy as shown in FIG. 9C. It is also possible to increase the effect of preventing pressure ulcers.

図１０に示すように、アーム２５の角度や関節２２の位置を微調整することにより、例えば、背もたれの撓みや起立状態を細やかに調整したり、足置き部５１の高さを昇降させ、膝部から足置き部５２までの距離を調整したりすることができる。この調整によって、被介護者Ｐの体型（胴体や足の長さの違いなど）の個人差を吸収することができる。 As shown in FIG. 10, by finely adjusting the angle of the arm 25 and the position of the joint 22, for example, the bending and standing state of the backrest can be finely adjusted, and the height of the footrest 51 can be raised and lowered to raise and lower the knee. The distance from the portion to the footrest portion 52 can be adjusted. By this adjustment, individual differences in the body shape (difference in torso and leg length, etc.) of the care recipient P can be absorbed.

続いて、介護ベッドの使用例について図１１，１２に基づいて説明する。図１１（ａ）に示すように、被介護者Ｐが「上昇」操作を実施すると、アクチュエータとして機能する昇降機構１０が、支持部２を上昇させる。また、図１１（ｂ）に示すように、被介護者Ｐが「乗車」操作を実施すると、アクチュエータは、支持部２を立位補助形態に変形させ、車両９を支持部２の足置き部５１まで移動させる。その後、被介護者Ｐが、「前進」「後退」操作を実施すると、アクチュエータは、車両９を前進または後退させる。このとき、脚部２６は、スライド機構３に沿って水平スライド移動し、支持部２の転倒を防ぐ。なお、被介護者Ｐは、車両９を操作して、立体空間５から入退室することも可能である。 Subsequently, an example of using the nursing bed will be described with reference to FIGS. 11 and 12. As shown in FIG. 11A, when the care recipient P performs the “elevation” operation, the elevating mechanism 10 functioning as an actuator raises the support portion 2. Further, as shown in FIG. 11B, when the care recipient P performs the "ride" operation, the actuator deforms the support portion 2 into the standing assist form, and the vehicle 9 is the footrest portion of the support portion 2. Move to 51. After that, when the care recipient P performs the "forward" and "backward" operations, the actuator moves the vehicle 9 forward or backward. At this time, the leg portion 26 slides horizontally along the slide mechanism 3 to prevent the support portion 2 from tipping over. The care recipient P can also operate the vehicle 9 to enter and leave the three-dimensional space 5.

図１２（ａ）に示すように、被介護者Ｐが「トイレ」操作を実施すると、アクチュエータは、支持部２を椅子形態に変化させ、トイレ設備６を着座位置まで移動させる。図１２（ｂ）に示すように、「入浴」操作の場合は、トイレ設備６の代わりに入浴設備７を所望の位置まで移動させる。 As shown in FIG. 12A, when the care recipient P performs the "toilet" operation, the actuator changes the support portion 2 into a chair form and moves the toilet equipment 6 to the seating position. As shown in FIG. 12B, in the case of the "bathing" operation, the bathing equipment 7 is moved to a desired position instead of the toilet equipment 6.

以上の構成の介護ベッドによれば、アーム２５や関節２２を調整して、複数のパッド２１の位置や角度を独立に変化させるため、支持部２の形態を細やかに調整し、被介護者Ｐの動作をより確実に補助できるという効果を有する。また、被介護者Ｐの腰部近傍に主関節２２を配置して支持部全体を軸支するため、形態変化と連動して、支持状態のバリエーションを拡張できるという効果も有する。さらに、立体空間５の内部に、トイレ設備６や入浴設備７などの生活に必要な設備を収容することにより、被介護者Ｐの生活に合わせて快適な空間を形成できるという効果も有する。 According to the nursing bed having the above configuration, in order to adjust the arm 25 and the joint 22 to independently change the positions and angles of the plurality of pads 21, the form of the support portion 2 is finely adjusted, and the care recipient P It has the effect of being able to more reliably assist the operation of. Further, since the main joint 22 is arranged near the lumbar portion of the care recipient P and the entire support portion is pivotally supported, there is also an effect that the variation of the support state can be expanded in conjunction with the morphological change. Further, by accommodating the facilities necessary for daily life such as the toilet facility 6 and the bathing facility 7 inside the three-dimensional space 5, it is possible to form a comfortable space according to the life of the care recipient P.

なお、本発明は、上記実施形態に限定されるものではなく、本発明の趣旨を逸脱しない範囲で各部の形状や構成を適宜に変更して実施することも可能である。 The present invention is not limited to the above embodiment, and the shape and configuration of each part can be appropriately changed and implemented without departing from the spirit of the present invention.

１ 介護ベッド
２ 支持部
３ スライド機構
４ フレーム
５ 立体空間
６ トイレ設備
７ 入浴設備
８ アメニティ
９ 車両
１０ 昇降機構
２１ パッド
２２ 第一関節
２３ 第二関節
２４ 主関節
２５ アーム
２６ 脚部
５１ 足置き部
Ｐ 被介護者 1 Nursing bed 2 Support 3 Slide mechanism 4 Frame 5 Three-dimensional space 6 Toilet equipment 7 Bathing equipment 8 Amenity 9 Vehicle 10 Lifting mechanism 21 Pad 22 First joint 23 Second joint 24 Main joint 25 Arm 26 Leg 51 Foot rest P Care recipient

Claims (6)

被介護者を所望の姿勢に支持する支持部と、前記支持部の形態を変化させるアクチュエータと、前記アクチュエータを制御する制御手段と、を備え、
前記支持部が、複数のパッドと、前記パッドを軸支する複数の関節と、を含み、
前記複数のパッドが、前記支持部の長手方向および短手方向に複数個ずつ設けられたことを特徴とする介護ベッド。 A support portion that supports the care recipient in a desired posture, an actuator that changes the form of the support portion, and a control means that controls the actuator are provided.
The support includes a plurality of pads and a plurality of joints that pivotally support the pads.
A nursing bed characterized in that a plurality of the plurality of pads are provided in the longitudinal direction and the lateral direction of the support portion. 前記複数の関節が、前記長手方向へのパッドの回動を許容する第一関節と、前記短手方向へのパッドの回動を許容する第二関節と、を含む請求項１に記載の介護ベッド。 The nursing care according to claim 1, wherein the plurality of joints include a first joint that allows the pad to rotate in the longitudinal direction and a second joint that allows the pad to rotate in the lateral direction. bed. 前記支持部全体を軸支する主関節と、前記主関節に接続された脚部と、を備えた請求項１または２に記載の介護ベッド。 The nursing bed according to claim 1 or 2, further comprising a main joint that pivotally supports the entire support portion and a leg portion connected to the main joint. 前記脚部をスライド自在に連結するスライド機構を備えた請求項１〜３のいずれか一項に記載の介護ベッド。 The nursing bed according to any one of claims 1 to 3, further comprising a sliding mechanism for slidably connecting the legs. トイレ設備および／または入浴設備と、前記スライド機構を搭載し、スライド機構の下方に前記トイレ設備および／または入浴設備を配置するフレームと、を備え、
前記制御手段は、前記支持部の形態に応じて前記トイレ設備または前記入浴設備の位置を調整する請求項１〜４に記載の介護ベッド。 Toilet equipment and / or bathing equipment and a frame equipped with the slide mechanism and arranging the toilet equipment and / or bathing equipment below the slide mechanism are provided.
The nursing bed according to claim 1 to 4, wherein the control means adjusts the position of the toilet facility or the bathing facility according to the form of the support portion. 被介護者を運ぶ車両を備え、
前記車両は、前記フレームにより形成される空間に収容された請求項１〜５のいずれか一項に記載の介護ベッド。 Equipped with a vehicle to carry the care recipient
The nursing bed according to any one of claims 1 to 5, wherein the vehicle is housed in a space formed by the frame.
JP2019139312A 2019-07-30 2019-07-30 Care bed Pending JP2021019963A (en)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPWO2023012941A1 (en) * 2021-08-04 2023-02-09

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPWO2023012941A1 (en) * 2021-08-04 2023-02-09
JP7619465B2 (en) 2021-08-04 2025-01-22 日本電信電話株式会社 Auditory attention state estimation device, learning device, their methods, and programs

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