WO2017009946A1 - Patient care robot - Google Patents

Patient care robot Download PDF

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Publication number
WO2017009946A1
WO2017009946A1 PCT/JP2015/070134 JP2015070134W WO2017009946A1 WO 2017009946 A1 WO2017009946 A1 WO 2017009946A1 JP 2015070134 W JP2015070134 W JP 2015070134W WO 2017009946 A1 WO2017009946 A1 WO 2017009946A1
Authority
WO
WIPO (PCT)
Prior art keywords
pair
person
assisted
holding portions
side holding
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/JP2015/070134
Other languages
French (fr)
Japanese (ja)
Inventor
剛裕 野口
丈二 五十棲
英明 野村
邦靖 中根
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Fuji Corp
Original Assignee
Fuji Machine Manufacturing Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Fuji Machine Manufacturing Co Ltd filed Critical Fuji Machine Manufacturing Co Ltd
Priority to PCT/JP2015/070134 priority Critical patent/WO2017009946A1/en
Priority to AU2015401983A priority patent/AU2015401983B2/en
Priority to EP15898259.5A priority patent/EP3323399B1/en
Priority to JP2017528050A priority patent/JP6722668B2/en
Priority to SG11201710209RA priority patent/SG11201710209RA/en
Publication of WO2017009946A1 publication Critical patent/WO2017009946A1/en
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • 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
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
    • A61G5/10—Parts, details or accessories
    • A61G5/14—Standing-up or sitting-down aids
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G7/00—Beds specially adapted for nursing; Devices for lifting patients or disabled persons
    • A61G7/10—Devices for lifting patients or disabled persons, e.g. special adaptations of hoists thereto
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G7/00—Beds specially adapted for nursing; Devices for lifting patients or disabled persons
    • A61G7/10—Devices for lifting patients or disabled persons, e.g. special adaptations of hoists thereto
    • A61G7/1013—Lifting of patients by
    • A61G7/1019—Vertical extending columns or mechanisms
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G7/00—Beds specially adapted for nursing; Devices for lifting patients or disabled persons
    • A61G7/10—Devices for lifting patients or disabled persons, e.g. special adaptations of hoists thereto
    • A61G7/104—Devices carried or supported by
    • A61G7/1046—Mobile bases, e.g. having wheels
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G7/00—Beds specially adapted for nursing; Devices for lifting patients or disabled persons
    • A61G7/10—Devices for lifting patients or disabled persons, e.g. special adaptations of hoists thereto
    • A61G7/1073—Parts, details or accessories
    • A61G7/1082—Rests specially adapted for
    • A61G7/1086—Upper body
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G7/00—Beds specially adapted for nursing; Devices for lifting patients or disabled persons
    • A61G7/10—Devices for lifting patients or disabled persons, e.g. special adaptations of hoists thereto
    • A61G7/1073—Parts, details or accessories
    • A61G7/1082—Rests specially adapted for
    • A61G7/1092—Rests specially adapted for the arms
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H3/00—Appliances for aiding patients or disabled persons to walk about
    • A61H3/008—Appliances for aiding patients or disabled persons to walk about using suspension devices for supporting the body in an upright walking or standing position, e.g. harnesses
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H3/00—Appliances for aiding patients or disabled persons to walk about
    • A61H3/04—Wheeled walking aids for patients or disabled persons
    • A61H2003/043—Wheeled walking aids for patients or disabled persons with a drive mechanism
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H3/00—Appliances for aiding patients or disabled persons to walk about
    • A61H3/04—Wheeled walking aids for patients or disabled persons
    • A61H2003/046—Wheeled walking aids for patients or disabled persons with braking means

Definitions

  • the present invention relates to an assistance robot.
  • the assistance robot described in Patent Document 1 is a robot that assists the person being assisted in standing or sitting, and includes a pair of side holding parts (swinging arms) that hold both sides of the person being assisted. Slide members that are slidable to the left and right are respectively attached to the tips of the pair of armpit holding portions. By adjusting the left and right positions of the slide members, it is possible to match the physique of the person being assisted.
  • the pair of side holding portions are adjusted to the physique of the person being assisted by adjusting the left and right positions of the slide member, but it may be difficult to slide the slide member depending on the condition of the person being assisted.
  • An object of the present invention is to provide an assistance robot in which a pair of side holding portions can be easily adjusted.
  • the assistance robot includes a base and a pair of side holding portions provided on the base and capable of holding both sides of the person being assisted, and assisting the person being assisted in standing up or sitting.
  • the pair of side holding portions are provided so as to be able to turn around a fulcrum provided on the back side with respect to the person being assisted rather than at least a part holding the person being assisted.
  • the armpit holding part is located under the armpit of the person being assisted by the fulcrum provided on the back side. Swiveled to fit. Therefore, the person being assisted can easily match the part holding the side of the side holding part with his / her physique.
  • the right side of the figure is the front in the direction of travel. It is a top view of the assistance robot of FIG. The right side of the figure is the front in the direction of travel. It is the figure which looked at the assistance robot of FIG. 1 from the back of the advancing direction. It is the figure which looked at the assistance robot of FIG. 1 from the front of the advancing direction. It is the figure which looked at the assistance robot of the state which raised the holding part in the assistance robot of FIG. 1 from the advancing direction right side. It is a top view which shows arrangement
  • FIG. 6A It is the perspective view which looked at FIG. 6A from the advancing direction diagonally backward. It is a figure when the side holding part of Drawing 6A is turned outward. It is the perspective view which looked at FIG. 7A from the back in the advancing direction. It is a top view which shows the turning structure of the side holding
  • the assistance robot 1 supports a part of the body (for example, the upper body) of the person being assisted M1 (shown in FIGS. 9 and 10) and assists the standing operation and the sitting operation.
  • the assistance robot 1 includes a base 10, elevating arms 20 and 30, an elevating unit 40, a holding unit 50, an attachment 60, elevating actuators 70 and 80, longitudinal actuators 90 and 100, and a control.
  • a device 120 is provided.
  • front, rear, left and right are front, rear, left and right when the traveling direction of the assisting robot 1 is forward.
  • the base 10 is a part installed on the ground. As shown in FIG. 2, the base 10 is formed in a U shape that opens rearward in a plan view. The base 10 includes four wheels 15-18 and can move forward and backward. The base 10 is covered with a cover 11.
  • the elevating arms 20 and 30 are provided on the left and right sides of the upper surface of the base 10 and are provided so as to be extendable upward. As shown in FIGS. 1 and 5, the elevating arms 20 and 30 extend and contract linearly in a direction in which the upper end is inclined forward with respect to the lower end.
  • the elevating unit 40 is provided at the upper ends of the elevating arms 20 and 30. As the elevating arms 20 and 30 expand and contract in the vertical direction, the elevating unit 40 moves up and down with respect to the base 10. That is, as shown in FIGS. 1 and 5, the elevating unit 40 moves linearly in the direction of moving forward as it rises with respect to the base 10.
  • the elevating arms 20 and 30 are covered with covers 25 and 35, respectively.
  • the holding part 50 is located above the elevating part 40 and is supported by the elevating part 40.
  • the holding unit 50 moves back and forth with respect to the lifting unit 40 and tilts.
  • the holding unit 50 holds a part of the body of the person being assisted M1.
  • maintenance part 50 is provided with the attachment 60 replaceable according to the care receiver M1. Details of the attachment 60 will be described later.
  • the elevating actuators 70 and 80 drive the elevating operation of the elevating unit 40 with respect to the base 10.
  • Each of the lift actuators 70 and 80 drives expansion / contraction of the corresponding lift arms 20 and 30. That is, by driving the elevating actuators 70 and 80, the elevating unit 40 performs the operation from the state shown in FIG. 1 to the ascending position and the advancing position shown in FIG. 5 and vice versa.
  • the lift actuators 70 and 80 are provided across the base 10 and the lift arms 20 and 30.
  • the forward / backward movement actuators 90 and 100 drive the holding portion 50 to move back and forth and tilt with respect to the elevating portion 40. That is, by driving the longitudinal actuators 90 and 100, the holding unit 50 performs the operation from the state shown in FIG. 1 to the forward position and the forward inclined state shown in FIG. Do.
  • the longitudinal actuators 90 and 100 are provided across the elevating unit 40 and the holding unit 50.
  • the control device 120 controls the elevating actuators 70 and 80 and the forward / backward moving actuators 90 and 100 according to the operation by the person being assisted M1.
  • the attachment 60 includes a main body portion 61, a body pad 62, left and right grips 63 a and 63 b, left and right elbow placement portions 64 a and 64 b, left and right side holding portions 65 a and 65 b, and an operation portion 66.
  • the main body 61 is detachably attached to the main body frame 51 of the holding unit 50.
  • the body pad 62 is formed in a substantially plate shape by a cushion material.
  • the body pad 62 is located on the upper surface of the main body 61 at the center in the left-right direction and the center in the front-rear direction of the entire attachment 60.
  • the body pad 62 is provided with the upper surface inclined slightly rearward.
  • the torso pad 62 supports almost the entire body of the person being assisted M1, that is, from the chest to the abdomen, and from the vicinity of the left side to the vicinity of the right side.
  • the lateral width of the torso pad 62 is formed so that the upper side corresponding to the chest is narrower than the lower side corresponding to the abdomen.
  • the person being assisted M1 can position both sides without a sense of incongruity, and can obtain a sense that the vicinity of the abdomen is stably supported.
  • the upper edge of the torso pad 62 is formed in a concave shape so as not to hinder the operation of the head of the person being assisted M1.
  • the lower edge of the torso pad 62 is formed in a concave shape so that the legs can enter and the waist can be stably supported.
  • the grips 63a and 63b are formed in a circular arc shape (inverted U shape) that protrudes upward by a plastic material or a metal material.
  • the grips 63 a and 63 b are disposed in front of the left and right sides of the main body 61.
  • the grips 63a and 63b are arranged so that one end is fixed to the main body 61 and the other end is a free end from the fixed end toward the rear outside of the main body 61.
  • the elbow placement parts 64a and 64b are formed in a rectangular parallelepiped shape by a cushion material.
  • the elbow placement portions 64 a and 64 b are disposed on the left and right sides of the main body portion 61.
  • the side holding portions 65a and 65b are formed in a circular arc shape (U shape) whose surface is recessed downward by a plastic material or a metal material covered with a cushion material. As shown in FIGS. 6A and 6B and FIGS. 7A and 7B, the armpit holding portions 65a and 65b are located above the armpit support portions 651a and 651b and the armpit support portions 651a and 651b. Sites Sa and Sb that hold the side portions including the rising portions 652a and 652b that rise are provided.
  • the side holding portions 65a and 65b are respectively arranged via brackets 67a and 67b that are pivotably provided on the left and right main body portions 61 of the body pad 62.
  • the side holding portions 65a and 65b are provided above the elbow placement portions 64a and 64b so as to be able to turn on the front side of the grips 63a and 63b with respect to the person being assisted M1. Accordingly, the person being assisted M1 can support the self-supporting person M1 when the person being assisted M1 is operating by inserting the side holding portions 65a and 65b on both sides, and can regulate the back-and-forth movement of the person being assisted M1.
  • the side holding parts 65a and 65b are in an expanded state (the state shown in FIGS. 7A and 7B) and a contracted state (the state shown in FIGS. 6A and 6B) via brackets 67a and 67b that are pivotally provided on the main body part 61. Are provided so as to be able to turn around a fulcrum.
  • the expanded state means that the rising portions 652a and 652b are positioned outward from the shoulder width of the person being assisted M1 so that the person being assisted can easily approach the holding position on the body pad 62 between the side holding parts 65a and 65b.
  • the contracted state refers to a state in which the parts Sa and Sb that hold both sides are contracted so as to be positioned under both sides of the person being assisted M1.
  • the person being assisted M1 turns the side holding parts 65a and 65b around the fulcrum in the expanding direction Do (see FIGS. 7A and 7B), so that the rising parts 652a and 652b are wider than the shoulder width of the person being assisted M1.
  • the arm passing area A (see FIGS. 7A and 7B) can be secured between the person being assisted M1 and the grips 63a and 63b. Therefore, the person being assisted M1 is not obstructed by the rising parts 652a and 652b on the front side of the U-shaped side holding parts 65a and 65b, and both sides are set to the side support parts 651a and 651b of the side holding parts 65a and 65b. Can be placed.
  • the grippers 63a and 63b can be easily grasped with both hands. Then, the person being assisted M1 inserts the side holding parts 65a and 65b on both sides, thereby turning the side holding parts 65a and 65b around the fulcrum in the contracting direction Ds (see FIGS. 6A and 6B) and being assisted.
  • the parts Sa and Sb that hold both sides of the person M1 can be easily adjusted to the positions below the both sides of the person being assisted M1.
  • the brackets 67a and 67b for fixing and supporting the side holding portions 65a and 65b are provided on the back side with respect to the person being assisted M1 than the portions Sa and Sb for holding the sides of the person being assisted M1 in the side holding portions 65a and 65b. It is provided so as to be pivotable about a fulcrum C (only the bracket 67b side is shown in FIG. 6B, but the bracket 67a is also the same). Specifically, as shown in FIGS. 8A, 8B, and 8C, the bracket 67b is provided with a turning pin 2 serving as a fulcrum C and a long hole 4 into which the guide pin 3 is inserted to serve as a turning guide. The same applies to the bracket 67a.
  • the side holding portions 65a and 65b can be prevented from turning more than necessary because the turning stroke is limited. Further, the swivel mechanism of the side holding portions 65a and 65b has a simple configuration, and it is possible to suppress an increase in cost.
  • brackets 67a and 67b are provided with elastic members for urging in the contracting and closing direction Ds, respectively, and temporarily locked when the brackets 67a and 67b are swung in the expanding direction Do against the urging force of the elastic members.
  • a locking member is provided. Specifically, as shown in FIGS. 8A, 8B and 8C, as the elastic member, the tension coil spring 5 is attached so as to urge the bracket 67b in the contracting direction Ds.
  • a recess 7 into which a ball of the ball plunger 6 provided in the main body 61 is fitted is provided. The same applies to the bracket 67a.
  • the elastic force of the coil spring 5 is adjusted so that when the person being assisted M1 pushes open the side holding parts 65a and 65b with both hands, the side holding parts 65a and 65b can be easily turned in the expanding direction. Further, the elastic force of the ball plunger 6 is adjusted so that the recessed portion 7 of the brackets 67a and 67b can be easily detached from the ball of the ball plunger 6 when the person M1 holds the side holding portions 65a and 65b under both sides.
  • the side holding parts 65a and 65b are moved in the contracting direction Pc by the urging force of the coil spring 5. It is possible to prevent the ball plunger 6 from turning. Therefore, since the person being assisted M1 can easily pass both arms through the arm passage area A without holding the side holding portions 65a and 65b, the grippers 63a and 63b can be easily grasped with both hands. Then, since the person being assisted M1 inserts the side holding portions 65a and 65b on both sides, the locking of the ball plunger 6 is released, and the urging force of the coil spring 5 assists the turning in the contracting direction Pc. The person being assisted M1 can easily adjust the positions Sa and Sb that hold the both sides of the person being assisted M1 to the positions below the both sides of the person being assisted M1.
  • the operation unit 66 is a button operated by the person being assisted M1 or the assistant, and includes a button for raising and lowering operation.
  • the person being assisted M1 operates the lifting operation button on the operation unit 66
  • the lifting unit 40 performs the lifting operation
  • the holding unit 50 moves back and forth in conjunction with the lifting operation of the lifting unit 40 and tilts.
  • the body pad 62, the left and right grips 63a and 63b, the left and right elbow mounting parts 64a and 64b, the side holding parts 65a and 65b, and the operation part 66 may be individually replaceable. Further, the attachment 60 does not have to include all of the body pad 62, the left and right grips 63a and 63b, the left and right elbow mounting parts 64a and 64b, the side holding parts 65a and 65b, and the operation part 66, as appropriate. It is good also as a structure provided with what was selected.
  • the person being assisted M1 takes a sitting posture and holds the side holding portions 65a and 65b with both hands. Then, the person being assisted M1 turns the side holding parts 65a and 65b to the left and right around the fulcrum C, and widens the side holding parts 65a and 65b. Thereby, the space between the person being assisted M1 and the grips 63a and 63b is widely opened as the arm passage area A. Then, the person being assisted M1 separates both hands from the side holding portions 65a and 65b, extends both arms, and holds the grips 63a and 63b with both hands through the inside of the U-shape of the side holding portions 65a and 65b in the arm passage area A. Hold it.
  • the person being assisted M1 inserts the armpit holding portions 65a and 65b under the armpits, and presses the chest against the body pad 62.
  • the side holding portions 65a and 65b are covered by a portion that holds the side of the person being assisted around the fulcrum C provided on the back side. It is made to turn so that it may correspond to the position of the armpit of helper M1. Therefore, the person being assisted M1 can easily match the part that holds the sides of the side holding parts 65a and 65b with his / her physique. Therefore, the person being assisted M1 does not need to lift and extend both elbows after holding the grips 63a and 63b with both hands.
  • the control device 120 first drives the longitudinal actuators 90 and 100 to move the holding unit 50 back and forth and tilt it. Thereafter, the control device 120 drives the elevating actuators 70 and 80 while driving the longitudinal actuators 90 and 100. That is, as shown in FIG. 10, the holding unit 50 moves up and down while moving back and forth.
  • the rising height of the holding part 50 can be set according to the height of the person being assisted M1.
  • the raising / lowering operation by the raising / lowering actuators 70, 80 and the forward / backward movement and tilting by the longitudinal actuators 90, 100 are coordinated. Done.
  • the person being assisted M1 is a person who has a certain amount of force on his / her legs, so even if both sides of the person being assisted are not supported by the side holding portions 65a and 65b.
  • the person being assisted M1 can be made to stand.
  • the person being assisted M1 is a person who does not put much force on the legs and legs
  • the both sides of the person to be assisted M1 are supported by the side holding portions 65a and 65b so that the person assisted by M1 stands.
  • both sides of the person being assisted M1 are supported from below by the side support parts 651a and 651b, and the person being assisted M1 is prevented from sliding backward by the rising parts 652a and 652b.
  • the side holding portions 65a and 65b are formed in a circular arc shape (U shape) that is concave on the lower side, but may be any shape that can be sandwiched by the side of the person being assisted M1.
  • U shape circular arc shape
  • the inner side surface 69s of the side holding portion 69 may be formed in an arc shape that is concave in the left-right direction with respect to the person being assisted M1, thereby The back side can be held.
  • the side holding portions 65a and 65b are provided with the turning pin 2 serving as the fulcrum C and the elongated hole 4 into which the guide pin 3 is inserted to serve as a turning guide.
  • the side holding portions 65a and 65b may be pivotally guided, and are not limited to the guide pins 3 and the long holes 4.
  • the armature holding portions 65a and 65b are provided with the tension coil spring 5, but any elastic member that urges the pair of armature holding portions 65a and 65b in the contracting direction may be used.
  • Form springs compression coil springs, torsion coil springs, etc.
  • rubber or the like may be used.
  • the brackets 67a and 67b are provided with the recesses 7 and the main body 61 is provided with the ball plunger 6.
  • the brackets 67a and 67b are provided with the ball plungers 6 and the main body 61 is provided with the recesses 7. It is good. Moreover, it should just be able to latch when a pair of side holding
  • the assistance robot 1 of the present embodiment includes a base 10 and a pair of side holding portions 65a and 65b that are provided on the base 10 and can hold both sides of the person being assisted M1, respectively. Assists in standing or sitting.
  • the pair of armpit holding portions 65a and 65b are provided so as to be able to turn around a fulcrum C provided at the back side with respect to the person being assisted M1 rather than at least parts Sa and Sb that hold the side of the person being assisted M1. .
  • the side holding parts 65a and 65b hold the side of the person being assisted M1 around the fulcrum C provided on the back side.
  • the part is turned so as to match the position of the armpit of the person being assisted. Therefore, the person being assisted M1 can easily match the part that holds the sides of the side holding parts 65a and 65b with his / her physique.
  • the parts Sa and Sb that hold the side include side support parts 651a and 651b that support the side of the person M1 from below, and rising parts 652a and 652b that rise upward from the side support parts 651a and 651b,
  • the pair of side holding portions 65a and 65b pivots so that the pair of rising portions 652a and 652b can be expanded until the pair of standing portions 652a and 652b are located outside the shoulder width of the person being assisted M1.
  • the person being assisted M1 is not disturbed by the rising portions 652a and 652b on the front side of the U-shaped side holding portions 65a and 65b, and both sides are supported by the side support portions 651a and 651b of the side holding portions 65a and 65b. It is put on.
  • the base 10 includes a pair of grips 63a and 63b that can be held by both the hands of the person being assisted by M1 and the pair of side holding parts 65a and 65b can be inserted on both sides of the pair.
  • the pair of armpit holding portions 65a and 65b are turned in the direction of expanding around the fulcrum C, the arm passage region A is secured between the person being assisted M1 and the pair of grips 63a and 63b.
  • the person being assisted M1 can extend both arms through the arm passage area A, and can easily grip the grips 63a and 63b with both hands.
  • the person being assisted M1 is a member of the person being assisted by M1.
  • the parts Sa and Sb that hold both sides can be easily adjusted to the positions under both sides of the person being assisted M1.
  • the pair of side holding portions 65a and 65b are temporarily locked when the pair of side holding portions 65a and 65b are swung in the expanding direction against the urging force of the elastic member 5, respectively. Since the stop members 6 and 7 are provided, the person being assisted M1 does not need to press the side holding portions 65a and 65b, and can easily perform the following operation. Further, instead of the elastic member 5 that urges the pair of side holding parts 65a and 65b in the contracting and closing direction, the pair of side holding parts 65a and 65b is attached to the pair of side holding parts 65a and 65b in the direction of expanding the pair of side holding parts, respectively.
  • the state where the side holding portions 65a and 65b are opened becomes the original position, and it is possible to save time and effort to open the side holding portions 65a and 65b when the person being assisted M1 gets into the assistance robot 1. it can.
  • the side holding portions 65a and 65b are provided with the turning pin 2 serving as the fulcrum C and the elongated hole 4 into which the guide pin 3 is inserted to serve as a turning guide, so that it is necessary to limit the turning stroke. It can be prevented from turning more than that.
  • the swivel mechanism of the side holding portions 65a and 65b has a simple configuration, and it is possible to suppress an increase in cost.
  • 1 assistance robot
  • 2 swivel pin
  • 3 guide pin
  • 4 long hole
  • 5 tension coil spring (elastic member)
  • 6 ball plunger (locking member)
  • 7 recess (locking member)
  • 10 Base, 20, 30: Lifting arm
  • 40 Lifting part
  • 50 Holding part
  • 60 Attachment
  • 63a, 63b Grip
  • 65a, 65b Side holding part
  • 70, 80 Lifting actuator
  • 90 100: Front and back Moving actuator
  • 120 control device
  • M1 care recipient
  • C fulcrum
  • A arm passage area

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  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Nursing (AREA)
  • Epidemiology (AREA)
  • Physical Education & Sports Medicine (AREA)
  • Rehabilitation Therapy (AREA)
  • Pain & Pain Management (AREA)
  • Manipulator (AREA)
  • Invalid Beds And Related Equipment (AREA)
  • Rehabilitation Tools (AREA)

Abstract

A patient care robot (1) is provided with a base (10) and a pair of underarm side holding parts (65a, 65b) provided to the base (10) and capable of holding both underarm sides of a care recipient (M1), and the patient care robot (1) assists the care recipient (M1) with standing or sitting. The pair of underarm side holding parts (65a, 65b) is provided so that each underarm side holding part can turn about a support point (C) provided further toward the inside of the care recipient (M1) than at least a region (S) where the underarm sides of the care recipient (M1) are held.

Description

介助ロボットAssistance robot

　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に記載の介助ロボットは、被介助者の起立動作又は着座動作を補助するロボットであり、被介助者の両脇を保持する一対の脇保持部（揺動アーム）を備える。一対の脇保持部の先端には、左右にスライド可能なスライド部材がそれぞれ取り付けられ、スライド部材の左右位置を調節することで、被介助者の体格に合わせることができる。 The assistance robot described in Patent Document 1 is a robot that assists the person being assisted in standing or sitting, and includes a pair of side holding parts (swinging arms) that hold both sides of the person being assisted. Slide members that are slidable to the left and right are respectively attached to the tips of the pair of armpit holding portions. By adjusting the left and right positions of the slide members, it is possible to match the physique of the person being assisted.

特開２００８－３６３９２号公報JP 2008-36392 A

　従来の介助ロボットでは、スライド部材の左右位置の調節により一対の脇保持部を被介助者の体格に合わせるが、被介助者の状態によってはスライド部材をスライドさせることが困難な場合がある。 In conventional assistance robots, the pair of side holding portions are adjusted to the physique of the person being assisted by adjusting the left and right positions of the slide member, but it may be difficult to slide the slide member depending on the condition of the person being assisted.

　本発明は、一対の脇保持部の調節が容易な介助ロボットを提供することを目的とする。 An object of the present invention is to provide an assistance robot in which a pair of side holding portions can be easily adjusted.

　介助ロボットは、基台と、前記基台に備えられ、被介助者の両脇をそれぞれ保持可能な一対の脇保持部と、を備え、前記被介助者の起立動作又は着座動作を介助する介助ロボットであって、前記一対の脇保持部は、少なくとも前記被介助者の脇を保持する部位よりも前記被介助者に対し奥側に設けられる支点を中心にそれぞれ旋回可能に設けられる。 The assistance robot includes a base and a pair of side holding portions provided on the base and capable of holding both sides of the person being assisted, and assisting the person being assisted in standing up or sitting. In the robot, the pair of side holding portions are provided so as to be able to turn around a fulcrum provided on the back side with respect to the person being assisted rather than at least a part holding the person being assisted.

　これにより、被介助者が脇保持部を両脇の下にそれぞれ差し込むと、脇保持部は、奥側に設けられた支点を中心に被介助者の脇を保持する部位が被介助者の脇の下の位置に合うように旋回させられる。よって、被介助者は、脇保持部の脇を保持する部位を自身の体格に容易に合わせることができる。 As a result, when the person being assisted inserts the armpit holding part under both armpits, the armpit holding part is located under the armpit of the person being assisted by the fulcrum provided on the back side. Swiveled to fit. Therefore, the person being assisted can easily match the part holding the side of the side holding part with his / her physique.

本実施形態の介助ロボットを進行方向右側から見た図である。図の右側が進行方向前方である。It is the figure which looked at the assistance robot of this embodiment from the advancing direction right side. The right side of the figure is the front in the direction of travel. 図１の介助ロボットの平面図である。図の右側が進行方向前方である。It is a top view of the assistance robot of FIG. The right side of the figure is the front in the direction of travel. 図１の介助ロボットを進行方向後方から見た図である。It is the figure which looked at the assistance robot of FIG. 1 from the back of the advancing direction. 図１の介助ロボットを進行方向前方から見た図である。It is the figure which looked at the assistance robot of FIG. 1 from the front of the advancing direction. 図１の介助ロボットにおける保持部を上昇させた状態の介助ロボットを進行方向右側から見た図である。It is the figure which looked at the assistance robot of the state which raised the holding part in the assistance robot of FIG. 1 from the advancing direction right side. 図１の介助ロボットの脇保持部、グリップ及び胴体パッドの配置を示す平面図である。図の上側が進行方向前方である。It is a top view which shows arrangement | positioning of the side holding | maintenance part, grip, and trunk pad of the assistance robot of FIG. The upper side of the figure is the forward direction of travel. 図６Ａを進行方向斜め後方から見た斜視図である。It is the perspective view which looked at FIG. 6A from the advancing direction diagonally backward. 図６Ａの脇保持部を外方へ旋回させたときの図である。It is a figure when the side holding part of Drawing 6A is turned outward. 図７Ａを進行方向斜め後方から見た斜視図である。It is the perspective view which looked at FIG. 7A from the back in the advancing direction. 図１の介助ロボットの進行方向右側の脇保持部の旋回構造を示す平面図である。図の上側が進行方向前方である。It is a top view which shows the turning structure of the side holding | maintenance part of the advancing direction right side of the assistance robot of FIG. The upper side of the figure is the forward direction of travel. 図８Ａの脇保持部の旋回構造を外方へ旋回させたときの図である。It is a figure when the turning structure of the side holding | maintenance part of FIG. 8A is turned outward. 図８ＢのＡ－Ａ線断面図である。It is the sectional view on the AA line of FIG. 8B. 被介助者が着座姿勢のときの介助ロボットを進行方向右側から見た図である。It is the figure which looked at the assistance robot when a person being assisted is in a sitting posture from the right side in the traveling direction. 被介助者が起立姿勢のときの介助ロボットを進行方向右側から見た図である。It is the figure which looked at the assistance robot when the person being assisted is in the standing posture from the right side in the traveling direction. 脇保持部の別例を進行方向右側から見た図である。図の右側が進行方向前方である。It is the figure which looked at the other example of the side holding | maintenance part from the advancing direction right side. The right side of the figure is the front in the direction of travel. 脇保持部のさらに別例の平面図である。図の上側が進行方向前方である。It is a top view of another example of a side holding part. The upper side of the figure is the forward direction of travel.

　（１．介助ロボットの全体構成）
　本実施形態の介助ロボットの全体構成について、図１－図５を参照して説明する。介助ロボット１は、被介助者Ｍ１（図９，図１０に示す）の体の一部（例えば、上半身）を支えて起立動作及び着座動作を補助する。介助ロボット１は、図１－図５に示すように、基台１０、昇降アーム２０，３０、昇降部４０、保持部５０、アタッチメント６０、昇降アクチュエータ７０，８０、前後動アクチュエータ９０，１００及び制御装置１２０を備える。以下の説明において、前後左右は、介助ロボット１の進行方向を前方としたときの前後左右とする。 (1. Overall configuration of assistance robot)
The overall configuration of the assistance robot of this embodiment will be described with reference to FIGS. The assistance robot 1 supports a part of the body (for example, the upper body) of the person being assisted M1 (shown in FIGS. 9 and 10) and assists the standing operation and the sitting operation. As shown in FIGS. 1 to 5, the assistance robot 1 includes a base 10, elevating arms 20 and 30, an elevating unit 40, a holding unit 50, an attachment 60, elevating actuators 70 and 80, longitudinal actuators 90 and 100, and a control. A device 120 is provided. 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.

　基台１０は、地面に設置する部位である。基台１０は、図２に示すように、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、４つの車輪１５－１８を備え、前後進可能である。基台１０は、カバー１１で覆われる。 The base 10 is a part installed on the ground. As shown in FIG. 2, the base 10 is formed in a U shape that opens rearward in a plan view. The base 10 includes four wheels 15-18 and can move forward and backward. The base 10 is covered with a cover 11.

　昇降アーム２０，３０は、基台１０の上面のうち左右それぞれに設けられ、上方に向かって伸縮可能に設けられる。昇降アーム２０，３０は、図１及び図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。昇降部４０は、昇降アーム２０，３０の上端に設けられる。昇降アーム２０，３０が上下方向に伸縮することで、昇降部４０は、基台１０に対して昇降する。つまり、図１及び図５に示すように、昇降部４０は、基台１０に対して上昇するにつれて、前方に移動する方向に直動する。昇降アーム２０，３０は、それぞれカバー２５，３５で覆われる。 The elevating arms 20 and 30 are provided on the left and right sides of the upper surface of the base 10 and are provided so as to be extendable upward. As shown in FIGS. 1 and 5, the elevating arms 20 and 30 extend and contract linearly in a direction in which the upper end is inclined forward with respect to the lower end. The elevating unit 40 is provided at the upper ends of the elevating arms 20 and 30. As the elevating arms 20 and 30 expand and contract in the vertical direction, the elevating unit 40 moves up and down with respect to the base 10. That is, as shown in FIGS. 1 and 5, the elevating unit 40 moves linearly in the direction of moving forward as it rises with respect to the base 10. The elevating arms 20 and 30 are covered with covers 25 and 35, respectively.

　保持部５０は、昇降部４０の上側に位置し、昇降部４０に支持される。保持部５０は、昇降部４０に対して前後動し且つ傾動する。保持部５０は、被介助者Ｍ１の体の一部を保持する。保持部５０は、被介助者Ｍ１に応じて交換可能なアタッチメント６０を備える。なお、アタッチメント６０の詳細は後述する。 The holding part 50 is located above the elevating part 40 and is supported by the elevating part 40. The holding unit 50 moves back and forth with respect to the lifting unit 40 and tilts. The holding unit 50 holds a part of the body of the person being assisted M1. The holding | maintenance part 50 is provided with the attachment 60 replaceable according to the care receiver M1. Details of the attachment 60 will be described later.

　昇降アクチュエータ７０，８０は、基台１０に対する昇降部４０の昇降動作の駆動を行う。昇降アクチュエータ７０，８０のそれぞれは、対応する昇降アーム２０，３０の伸縮を駆動する。つまり、昇降アクチュエータ７０，８０の駆動により、昇降部４０が、基台１０に対して図１に示す状態から図５に示す上昇位置且つ前進位置への動作、及び、その逆の動作を行う。昇降アクチュエータ７０，８０は、基台１０及び昇降アーム２０，３０に亘って設けられる。 The elevating actuators 70 and 80 drive the elevating operation of the elevating unit 40 with respect to the base 10. Each of the lift actuators 70 and 80 drives expansion / contraction of the corresponding lift arms 20 and 30. That is, by driving the elevating actuators 70 and 80, the elevating unit 40 performs the operation from the state shown in FIG. 1 to the ascending position and the advancing position shown in FIG. 5 and vice versa. The lift actuators 70 and 80 are provided across the base 10 and the lift arms 20 and 30.

　前後動アクチュエータ９０，１００は、昇降部４０に対する保持部５０の前後動且つ傾動の駆動を行う。つまり、前後動アクチュエータ９０，１００の駆動により、保持部５０が、昇降部４０に対して図１に示す状態から図５に示す前進位置且つ前傾状態への動作、及び、その逆の動作を行う。前後動アクチュエータ９０，１００は、昇降部４０及び保持部５０に亘って設けられる。
　制御装置１２０は、被介助者Ｍ１による操作に応じて、昇降アクチュエータ７０，８０、前後動アクチュエータ９０，１００を制御する。 The forward / backward movement actuators 90 and 100 drive the holding portion 50 to move back and forth and tilt with respect to the elevating portion 40. That is, by driving the longitudinal actuators 90 and 100, the holding unit 50 performs the operation from the state shown in FIG. 1 to the forward position and the forward inclined state shown in FIG. Do. The longitudinal actuators 90 and 100 are provided across the elevating unit 40 and the holding unit 50.
The control device 120 controls the elevating actuators 70 and 80 and the forward / backward moving actuators 90 and 100 according to the operation by the person being assisted M1.

　（２．アタッチメント６０の構造）
　アタッチメント６０について図１－図５を参照して説明する。アタッチメント６０は、本体部６１、胴体パッド６２、左右のグリップ６３ａ，６３ｂ、左右の肘載置部６４ａ，６４ｂ、左右の脇保持部６５ａ，６５ｂ、及び、操作部６６を備える。
　本体部６１は、保持部５０の本体フレーム５１に着脱可能に取り付けられる。 (2. Structure of attachment 60)
The attachment 60 will be described with reference to FIGS. The attachment 60 includes a main body portion 61, a body pad 62, left and right grips 63 a and 63 b, left and right elbow placement portions 64 a and 64 b, left and right side holding portions 65 a and 65 b, and an operation portion 66.
The main body 61 is detachably attached to the main body frame 51 of the holding unit 50.

　胴体パッド６２は、クッション材によりほぼ板状に形成される。胴体パッド６２は、本体部６１の上面において、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、上面をわずかに後方に傾斜して設けられる。胴体パッド６２は、被介助者Ｍ１の胴体のほぼ全体、すなわち、胸部から腹部に亘って、且つ、左脇部近傍から右脇部近傍に亘って支持する。特に、胴体パッド６２の横幅は、胸部に対応する上方を腹部に対応する下方より狭く形成される。これにより、被介助者Ｍ１は、両脇部を違和感なく位置でき、且つ、腹部付近を安定して支持される感覚を得られる。さらに、胴体パッド６２の上縁は、被介助者Ｍ１の頭部の動作を妨げないように、凹状に形成される。胴体パッド６２の下縁は、脚部を進入できるように、且つ、腰部を安定して支持できるように、凹状に形成される。 The body pad 62 is formed in a substantially plate shape by a cushion material. The body pad 62 is located on the upper surface of the main body 61 at the center in the left-right direction and the center in the front-rear direction of the entire attachment 60. The body pad 62 is provided with the upper surface inclined slightly rearward. The torso pad 62 supports almost the entire body of the person being assisted M1, that is, from the chest to the abdomen, and from the vicinity of the left side to the vicinity of the right side. In particular, the lateral width of the torso pad 62 is formed so that the upper side corresponding to the chest is narrower than the lower side corresponding to the abdomen. As a result, the person being assisted M1 can position both sides without a sense of incongruity, and can obtain a sense that the vicinity of the abdomen is stably supported. Furthermore, the upper edge of the torso pad 62 is formed in a concave shape so as not to hinder the operation of the head of the person being assisted M1. The lower edge of the torso pad 62 is formed in a concave shape so that the legs can enter and the waist can be stably supported.

　グリップ６３ａ，６３ｂは、プラスチック材もしくは金属材により上側に凸となる円弧状（逆Ｕ字形状）に形成される。グリップ６３ａ，６３ｂは、本体部６１の左右それぞれにおける前方に配置される。グリップ６３ａ，６３ｂは、一端が本体部６１に固定され、他端が自由端として固定端から本体部６１の後方外側にそれぞれ向かうように配置される。これにより、被介助者Ｍ１は、両腕を伸ばして両手でグリップ６３ａ，６３ｂを把持することで、被介助者Ｍ１が動作するときに自身を支えられる。 The grips 63a and 63b are formed in a circular arc shape (inverted U shape) that protrudes upward by a plastic material or a metal material. The grips 63 a and 63 b are disposed in front of the left and right sides of the main body 61. The grips 63a and 63b are arranged so that one end is fixed to the main body 61 and the other end is a free end from the fixed end toward the rear outside of the main body 61. As a result, the person being assisted M1 can support himself / herself when the person being assisted M1 operates by extending both arms and holding the grips 63a and 63b with both hands.

　肘載置部６４ａ，６４ｂは、クッション材により直方体状に形成される。肘載置部６４ａ，６４ｂは、本体部６１の左右それぞれにおける後方に配置される。これにより、被介助者Ｍ１は、両腕を略直角に折り曲げた状態で両肘を肘載置部６４ａ，６４ｂ上に載置することで、被介助者Ｍ１が動作するときに自身を支えられるとともに被介助者Ｍ１の両腕を休ませられる。 The elbow placement parts 64a and 64b are formed in a rectangular parallelepiped shape by a cushion material. The elbow placement portions 64 a and 64 b are disposed on the left and right sides of the main body portion 61. Thus, the person being assisted M1 can support himself / herself when the person being assisted M1 operates by placing both elbows on the elbow rests 64a and 64b with both arms bent at substantially right angles. At the same time, both arms of the person being assisted M1 are rested.

　脇保持部６５ａ，６５ｂは、表面がクッション材で覆われたプラスチック材もしくは金属材により下側に凹となる円弧状（Ｕ字形状）に形成される。図６Ａ，Ｂ及び図７Ａ，Ｂに示すように、脇保持部６５ａ，６５ｂは、被介助者Ｍ１の脇を下方から支持する脇支持部６５１ａ，６５１ｂと、脇支持部６５１ａ，６５１ｂから上方に立ち上がる立ち上がり部６５２ａ，６５２ｂとを含む脇を保持する部位Ｓａ，Ｓｂを備える。脇保持部６５ａ，６５ｂは、胴体バッド６２の左右の本体部６１に旋回可能に設けられたブラケット６７ａ，６７ｂを介してそれぞれ配置される。すなわち、脇保持部６５ａ，６５ｂは、肘載置部６４ａ，６４ｂの上方であって被介助者Ｍ１に対しグリップ６３ａ，６３ｂよりも手前側にて旋回可能にそれぞれ設けられる。これにより、被介助者Ｍ１は、両脇に脇保持部６５ａ，６５ｂを差し込むことで、被介助者Ｍ１が動作するときに自身を支えられるとともに被介助者Ｍ１の前後動を規制できる。 The side holding portions 65a and 65b are formed in a circular arc shape (U shape) whose surface is recessed downward by a plastic material or a metal material covered with a cushion material. As shown in FIGS. 6A and 6B and FIGS. 7A and 7B, the armpit holding portions 65a and 65b are located above the armpit support portions 651a and 651b and the armpit support portions 651a and 651b. Sites Sa and Sb that hold the side portions including the rising portions 652a and 652b that rise are provided. The side holding portions 65a and 65b are respectively arranged via brackets 67a and 67b that are pivotably provided on the left and right main body portions 61 of the body pad 62. That is, the side holding portions 65a and 65b are provided above the elbow placement portions 64a and 64b so as to be able to turn on the front side of the grips 63a and 63b with respect to the person being assisted M1. Accordingly, the person being assisted M1 can support the self-supporting person M1 when the person being assisted M1 is operating by inserting the side holding portions 65a and 65b on both sides, and can regulate the back-and-forth movement of the person being assisted M1.

　脇保持部６５ａ，６５ｂは、本体部６１に旋回可能に設けられたブラケット６７ａ，６７ｂを介して、拡開状態（図７Ａ，Ｂの状態）と縮閉状態（図６Ａ，Ｂの状態）との間で、それぞれ支点を中心に旋回可能に設けられる。拡開状態とは、被介助者Ｍ１が脇保持部６５ａ，６５ｂ間の胴体パッド６２上の保持位置に接近し易いように立ち上がり部６５２ａ，６５２ｂを被介助者Ｍ１の肩幅よりも外方に位置するまで拡開する状態をいう。縮閉状態とは、両脇を保持する部位Ｓａ，Ｓｂが被介助者Ｍ１の両脇の下に位置するように縮閉する状態をいう。 The side holding parts 65a and 65b are in an expanded state (the state shown in FIGS. 7A and 7B) and a contracted state (the state shown in FIGS. 6A and 6B) via brackets 67a and 67b that are pivotally provided on the main body part 61. Are provided so as to be able to turn around a fulcrum. The expanded state means that the rising portions 652a and 652b are positioned outward from the shoulder width of the person being assisted M1 so that the person being assisted can easily approach the holding position on the body pad 62 between the side holding parts 65a and 65b. The state that expands until it does. The contracted state refers to a state in which the parts Sa and Sb that hold both sides are contracted so as to be positioned under both sides of the person being assisted M1.

　これにより、被介助者Ｍ１は、脇保持部６５ａ，６５ｂを支点を中心に拡開方向Ｄｏ（図７Ａ，Ｂ参照）に旋回させることで、立ち上がり部６５２ａ，６５２ｂを被介助者Ｍ１の肩幅よりも外方に除けておけるとともに、被介助者Ｍ１とグリップ６３ａ，６３ｂとの間に腕通過領域Ａ（図７Ａ，Ｂ参照）を確保できる。よって、被介助者Ｍ１は、Ｕ字形状の脇保持部６５ａ，６５ｂの手前側の立ち上がり部６５２ａ，６５２ｂに邪魔されずに、両脇を脇保持部６５ａ，６５ｂの脇支持部６５１ａ，６５１ｂに載せられる。また、被介助者Ｍ１は、両腕を腕通過領域Ａを通って伸ばせられるので、両手でグリップ６３ａ，６３ｂをそれぞれ容易に把持できる。そして、被介助者Ｍ１は、両脇に脇保持部６５ａ，６５ｂを差し込むことで、脇保持部６５ａ，６５ｂを支点を中心に縮閉方向Ｄｓ（図６Ａ，Ｂ参照）に旋回させて被介助者Ｍ１の両脇を保持する部位Ｓａ，Ｓｂを被介助者Ｍ１の両脇の下の位置に容易に合わせられる。 As a result, the person being assisted M1 turns the side holding parts 65a and 65b around the fulcrum in the expanding direction Do (see FIGS. 7A and 7B), so that the rising parts 652a and 652b are wider than the shoulder width of the person being assisted M1. The arm passing area A (see FIGS. 7A and 7B) can be secured between the person being assisted M1 and the grips 63a and 63b. Therefore, the person being assisted M1 is not obstructed by the rising parts 652a and 652b on the front side of the U-shaped side holding parts 65a and 65b, and both sides are set to the side support parts 651a and 651b of the side holding parts 65a and 65b. Can be placed. Further, since the person being assisted M1 can extend both arms through the arm passage area A, the grippers 63a and 63b can be easily grasped with both hands. Then, the person being assisted M1 inserts the side holding parts 65a and 65b on both sides, thereby turning the side holding parts 65a and 65b around the fulcrum in the contracting direction Ds (see FIGS. 6A and 6B) and being assisted. The parts Sa and Sb that hold both sides of the person M1 can be easily adjusted to the positions below the both sides of the person being assisted M1.

　脇保持部６５ａ，６５ｂを固定支持するブラケット６７ａ，６７ｂは、脇保持部６５ａ，６５ｂにおける被介助者Ｍ１の両脇を保持する部位Ｓａ，Ｓｂよりも被介助者Ｍ１に対し奥側に設けられる支点Ｃ（図６Ｂにブラケット６７ｂ側のみ示すが、ブラケット６７ａも同様である）を中心に旋回可能に設けられる。詳しくは、図８Ａ，Ｂ及びＣに示すように、ブラケット６７ｂには、支点Ｃとなる旋回ピン２と、案内ピン３が挿入されて旋回の案内となる長穴４とが設けられる。ブラケット６７ａも同様である。これにより、脇保持部６５ａ，６５ｂは、旋回のストロークが制限されて必要以上に旋回しないようにできる。また、脇保持部６５ａ，６５ｂの旋回機構が簡易な構成となり、コスト高となることを抑制できる。 The brackets 67a and 67b for fixing and supporting the side holding portions 65a and 65b are provided on the back side with respect to the person being assisted M1 than the portions Sa and Sb for holding the sides of the person being assisted M1 in the side holding portions 65a and 65b. It is provided so as to be pivotable about a fulcrum C (only the bracket 67b side is shown in FIG. 6B, but the bracket 67a is also the same). Specifically, as shown in FIGS. 8A, 8B, and 8C, the bracket 67b is provided with a turning pin 2 serving as a fulcrum C and a long hole 4 into which the guide pin 3 is inserted to serve as a turning guide. The same applies to the bracket 67a. As a result, the side holding portions 65a and 65b can be prevented from turning more than necessary because the turning stroke is limited. Further, the swivel mechanism of the side holding portions 65a and 65b has a simple configuration, and it is possible to suppress an increase in cost.

　さらに、ブラケット６７ａ，６７ｂには、縮閉方向Ｄｓにそれぞれ付勢する弾性部材が設けられるとともに、弾性部材の付勢力に抗して拡開方向Ｄｏへそれぞれ旋回させたときに一時的に係止する係止部材が設けられる。詳しくは、図８Ａ，Ｂ及びＣに示すように、弾性部材としては、引張コイルばね５が、ブラケット６７ｂを縮閉方向Ｄｓに付勢するように取り付けられる。係止部材としては、本体部６１に設けられるボールプランジャ６のボールが嵌る凹部７が設けられる。ブラケット６７ａも同様である。コイルばね５の弾性力は、被介助者Ｍ１が両手で脇保持部６５ａ，６５ｂを押し開いたとき、脇保持部６５ａ，６５ｂを拡開方向に容易に旋回できるように調整される。また、ボールプランジャ６の弾性力は、被介助者Ｍ１が両脇の下に脇保持部６５ａ，６５ｂを挟み込んだとき、ブラケット６７ａ，６７ｂの凹部７がボールプランジャ６のボールから容易に外れるように調整される。 Further, the brackets 67a and 67b are provided with elastic members for urging in the contracting and closing direction Ds, respectively, and temporarily locked when the brackets 67a and 67b are swung in the expanding direction Do against the urging force of the elastic members. A locking member is provided. Specifically, as shown in FIGS. 8A, 8B and 8C, as the elastic member, the tension coil spring 5 is attached so as to urge the bracket 67b in the contracting direction Ds. As the locking member, a recess 7 into which a ball of the ball plunger 6 provided in the main body 61 is fitted is provided. The same applies to the bracket 67a. The elastic force of the coil spring 5 is adjusted so that when the person being assisted M1 pushes open the side holding parts 65a and 65b with both hands, the side holding parts 65a and 65b can be easily turned in the expanding direction. Further, the elastic force of the ball plunger 6 is adjusted so that the recessed portion 7 of the brackets 67a and 67b can be easily detached from the ball of the ball plunger 6 when the person M1 holds the side holding portions 65a and 65b under both sides. The

　これにより、被介助者Ｍ１は、脇保持部６５ａ，６５ｂを支点Ｃを中心に拡開方向Ｐｏに旋回させたとき、脇保持部６５ａ，６５ｂがコイルばね５の付勢力で縮閉方向Ｐｃに旋回することをボールプランジャ６で阻止できる。よって、被介助者Ｍ１は、脇保持部６５ａ，６５ｂを押さえていなくても両腕を腕通過領域Ａに容易に通過させられるので、両手でグリップ６３ａ，６３ｂを容易に把持できる。そして、被介助者Ｍ１が、両脇に脇保持部６５ａ，６５ｂを差し込むことにより、ボールプランジャ６の係止を解放し、コイルばね５の付勢力で縮閉方向Ｐｃの旋回が補助されるので、被介助者Ｍ１は、被介助者Ｍ１の両脇を保持する部位Ｓａ，Ｓｂを被介助者Ｍ１の両脇の下の位置に容易に合わせられる。 Thereby, when the person being assisted M1 turns the side holding parts 65a and 65b around the fulcrum C in the expanding direction Po, the side holding parts 65a and 65b are moved in the contracting direction Pc by the urging force of the coil spring 5. It is possible to prevent the ball plunger 6 from turning. Therefore, since the person being assisted M1 can easily pass both arms through the arm passage area A without holding the side holding portions 65a and 65b, the grippers 63a and 63b can be easily grasped with both hands. Then, since the person being assisted M1 inserts the side holding portions 65a and 65b on both sides, the locking of the ball plunger 6 is released, and the urging force of the coil spring 5 assists the turning in the contracting direction Pc. The person being assisted M1 can easily adjust the positions Sa and Sb that hold the both sides of the person being assisted M1 to the positions below the both sides of the person being assisted M1.

　操作部６６は、被介助者Ｍ１又は介助者が操作するボタンであり、昇降操作用ボタンを備える。被介助者Ｍ１が操作部６６における昇降操作用ボタンを操作すると、昇降部４０が昇降動作を行い、且つ、昇降部４０の昇降動作に連動して保持部５０が前後動し且つ傾動する。 The operation unit 66 is a button operated by the person being assisted M1 or the assistant, and includes a button for raising and lowering operation. When the person being assisted M1 operates the lifting operation button on the operation unit 66, the lifting unit 40 performs the lifting operation, and the holding unit 50 moves back and forth in conjunction with the lifting operation of the lifting unit 40 and tilts.

　なお、アタッチメント６０は、胴体パッド６２、左右のグリップ６３ａ，６３ｂ、左右の肘載置部６４ａ，６４ｂ、脇保持部６５ａ，６５ｂ、及び、操作部６６のそれぞれを個別に交換可能としてもよい。また、アタッチメント６０は、胴体パッド６２、左右のグリップ６３ａ，６３ｂ、左右の肘載置部６４ａ，６４ｂ、脇保持部６５ａ，６５ｂ、及び、操作部６６の全てを備えている必要はなく、適宜選択されたものを備える構成としてもよい。 In the attachment 60, the body pad 62, the left and right grips 63a and 63b, the left and right elbow mounting parts 64a and 64b, the side holding parts 65a and 65b, and the operation part 66 may be individually replaceable. Further, the attachment 60 does not have to include all of the body pad 62, the left and right grips 63a and 63b, the left and right elbow mounting parts 64a and 64b, the side holding parts 65a and 65b, and the operation part 66, as appropriate. It is good also as a structure provided with what was selected.

　（３．被介助者及び介助ロボットの動作）
　被介助者Ｍ１は、座位姿勢をとり、両手で脇保持部６５ａ，６５ｂをそれぞれ把持する。そして、被介助者Ｍ１は、脇保持部６５ａ，６５ｂを支点Ｃを中心に左右にそれぞれ旋回させ、脇保持部６５ａ，６５ｂ間を拡開する。これにより、被介助者Ｍ１とグリップ６３ａ，６３ｂとの間の空間は、腕通過領域Ａとして広く開放される。そして、被介助者Ｍ１は、両手を脇保持部６５ａ，６５ｂから離し、両腕を伸ばして腕通過領域Ａ内における脇保持部６５ａ，６５ｂのＵ字の内側を通して両手でグリップ６３ａ，６３ｂをそれぞれ把持する。 (3. Operations of the person being assisted and the assistance robot)
The person being assisted M1 takes a sitting posture and holds the side holding portions 65a and 65b with both hands. Then, the person being assisted M1 turns the side holding parts 65a and 65b to the left and right around the fulcrum C, and widens the side holding parts 65a and 65b. Thereby, the space between the person being assisted M1 and the grips 63a and 63b is widely opened as the arm passage area A. Then, the person being assisted M1 separates both hands from the side holding portions 65a and 65b, extends both arms, and holds the grips 63a and 63b with both hands through the inside of the U-shape of the side holding portions 65a and 65b in the arm passage area A. Hold it.

　次に、被介助者Ｍ１は、脇保持部６５ａ，６５ｂを両脇の下にそれぞれ差し込み、胸を胴体パッド６２に押し付ける。被介助者Ｍ１が脇保持部６５ａ，６５ｂを両脇の下にそれぞれ差し込むと、脇保持部６５ａ，６５ｂは、奥側に設けられた支点Ｃを中心に被介助者Ｍ１の脇を保持する部位が被介助者Ｍ１の脇の下の位置に合うように旋回させられる。よって、被介助者Ｍ１は、脇保持部６５ａ，６５ｂの脇を保持する部位を自身の体格に容易に合わせることができる。したがって、被介助者Ｍ１は、両手でグリップ６３ａ，６３ｂをそれぞれ把持した後は両肘を持ち上げたり伸び上がったりする動作は必要ない。 Next, the person being assisted M1 inserts the armpit holding portions 65a and 65b under the armpits, and presses the chest against the body pad 62. When the person being assisted M1 inserts the side holding portions 65a and 65b under the both sides, the side holding portions 65a and 65b are covered by a portion that holds the side of the person being assisted around the fulcrum C provided on the back side. It is made to turn so that it may correspond to the position of the armpit of helper M1. Therefore, the person being assisted M1 can easily match the part that holds the sides of the side holding parts 65a and 65b with his / her physique. Therefore, the person being assisted M1 does not need to lift and extend both elbows after holding the grips 63a and 63b with both hands.

　そして、図９に示すように、制御装置１２０は、まず前後動アクチュエータ９０，１００を駆動して、保持部５０を前後動し且つ傾動させる。その後、制御装置１２０は、前後動アクチュエータ９０，１００を駆動しつつ、昇降アクチュエータ７０，８０を駆動する。つまり、図１０に示すように、保持部５０は、前後動し且つ傾動しながら、上昇する。保持部５０の上昇高さは、被介助者Ｍ１の身長に応じて設定可能である。また、被介助者Ｍ１が立位姿勢のときから座位姿勢に移行する場合においても、同様に、昇降アクチュエータ７０，８０による昇降動作と、前後動アクチュエータ９０，１００による前後動且つ傾動とが協調して行われる。図９及び図１０においては、被介助者Ｍ１は、ある程度足腰に力が入る人を想定しているため、当該被介助者Ｍ１の両脇が脇保持部６５ａ，６５ｂで支持されていなくても被介助者Ｍ１を立たせることができる。一方、被介助者Ｍ１が足腰にあまり力が入らない人である場合は、当該被介助者Ｍ１の両脇を脇保持部６５ａ，６５ｂで支持して被介助者Ｍ１を立たせる。その際、脇支持部６５１ａ，６５１ｂによって被介助者Ｍ１の両脇が下方から支持されるとともに、立ち上がり部６５２ａ，６５２ｂによって被介助者Ｍ１が後方へずり落ちることが防止される。 Then, as shown in FIG. 9, the control device 120 first drives the longitudinal actuators 90 and 100 to move the holding unit 50 back and forth and tilt it. Thereafter, the control device 120 drives the elevating actuators 70 and 80 while driving the longitudinal actuators 90 and 100. That is, as shown in FIG. 10, the holding unit 50 moves up and down while moving back and forth. The rising height of the holding part 50 can be set according to the height of the person being assisted M1. Similarly, when the person being assisted M1 shifts from the standing posture to the sitting posture, the raising / lowering operation by the raising / lowering actuators 70, 80 and the forward / backward movement and tilting by the longitudinal actuators 90, 100 are coordinated. Done. 9 and 10, it is assumed that the person being assisted M1 is a person who has a certain amount of force on his / her legs, so even if both sides of the person being assisted are not supported by the side holding portions 65a and 65b. The person being assisted M1 can be made to stand. On the other hand, when the person being assisted M1 is a person who does not put much force on the legs and legs, the both sides of the person to be assisted M1 are supported by the side holding portions 65a and 65b so that the person assisted by M1 stands. At this time, both sides of the person being assisted M1 are supported from below by the side support parts 651a and 651b, and the person being assisted M1 is prevented from sliding backward by the rising parts 652a and 652b.

　（４．その他）
　なお、上述した実施形態では、脇保持部６５ａ，６５ｂは、下側に凹となる円弧状（Ｕ字形状）に形成したが、被介助者Ｍ１の脇に挟み込み可能な形状であればよい。例えば、図１１の側面図に示すように、脇保持部６８の上面６８ｓのみがＵ字形状に形成されていればよい。また、図１２の平面図に示すように、被介助者Ｍ１に対し脇保持部６９の内側面６９ｓが左右方向にそれぞれ凹となる円弧状に形成してもよく、これにより被介助者Ｍ１の背中側を保持可能となる。また、脇保持部６５ａ，６５ｂの形状を後方のみ立ち上がり部を有するＬ字形状としても良い。 (4. Other)
In the above-described embodiment, the side holding portions 65a and 65b are formed in a circular arc shape (U shape) that is concave on the lower side, but may be any shape that can be sandwiched by the side of the person being assisted M1. For example, as shown in the side view of FIG. 11, only the upper surface 68s of the side holding portion 68 needs to be formed in a U shape. In addition, as shown in the plan view of FIG. 12, the inner side surface 69s of the side holding portion 69 may be formed in an arc shape that is concave in the left-right direction with respect to the person being assisted M1, thereby The back side can be held. Moreover, it is good also considering the shape of the side holding | maintenance part 65a, 65b as the L-shape which has a rising part only in back.

　また、上述した実施形態では、脇保持部６５ａ，６５ｂには、支点Ｃとなる旋回ピン２と、案内ピン３が挿入されて旋回の案内となる長穴４と、を設ける構成としたが、脇保持部６５ａ，６５ｂを旋回案内できればよく、案内ピン３及び長穴４に限定されるものではない。
　また、脇保持部６５ａ，６５ｂには、引張コイルばね５を設ける構成としたが、一対の脇保持部６５ａ，６５ｂを縮閉する方向にそれぞれ付勢する弾性部材であればよく、例えば他の形態のばね（圧縮コイルばねやねじりコイルばね等）やゴム等でもよい。また、一対の脇保持部６５ａ，６５ｂを拡開する方向にそれぞれ付勢する弾性部材を設ける構成としてもよい。これにより、脇保持部６５ａ，６５ｂが開いた状態が原位置となるので、被介助者Ｍ１が介助ロボット１に乗り込む際に脇保持部６５ａ，６５ｂを開放する手間を省くことができる。 In the above-described embodiment, the side holding portions 65a and 65b are provided with the turning pin 2 serving as the fulcrum C and the elongated hole 4 into which the guide pin 3 is inserted to serve as a turning guide. The side holding portions 65a and 65b may be pivotally guided, and are not limited to the guide pins 3 and the long holes 4.
In addition, the armature holding portions 65a and 65b are provided with the tension coil spring 5, but any elastic member that urges the pair of armature holding portions 65a and 65b in the contracting direction may be used. Form springs (compression coil springs, torsion coil springs, etc.), rubber or the like may be used. Moreover, it is good also as a structure which provides the elastic member respectively urged | biased in the direction which expands a pair of side holding | maintenance part 65a, 65b. Thereby, since the state where the side holding parts 65a and 65b are opened is the original position, it is possible to save time and effort to open the side holding parts 65a and 65b when the person being assisted M1 gets into the assistance robot 1.

　また、ブラケット６７ａ，６７ｂには、凹部７を設け、本体部６１には、ボールプランジャ６を設ける構成としたが、ブラケット６７ａ，６７ｂにボールプランジャ６を設け、本体部６１に凹部７を設ける構成としてもよい。また、一対の脇保持部６５ａ，６５ｂを拡開したときに係止できればよく、ボールプランジャ６及び凹部７に限定されるものではない。 The brackets 67a and 67b are provided with the recesses 7 and the main body 61 is provided with the ball plunger 6. However, the brackets 67a and 67b are provided with the ball plungers 6 and the main body 61 is provided with the recesses 7. It is good. Moreover, it should just be able to latch when a pair of side holding | maintenance part 65a, 65b is expanded, and is not limited to the ball plunger 6 and the recessed part 7. FIG.

　（５．効果）
　本実施形態の介助ロボット１は、基台１０と、基台１０に備えられ、被介助者Ｍ１の両脇をそれぞれ保持可能な一対の脇保持部６５ａ，６５ｂと、を備え、被介助者Ｍ１の起立動作又は着座動作を介助する。そして、一対の脇保持部６５ａ，６５ｂは、少なくとも被介助者Ｍ１の脇を保持する部位Ｓａ，Ｓｂよりも被介助者Ｍ１に対し奥側に設けられる支点Ｃを中心にそれぞれ旋回可能に設けられる。 (5. Effect)
The assistance robot 1 of the present embodiment includes a base 10 and a pair of side holding portions 65a and 65b that are provided on the base 10 and can hold both sides of the person being assisted M1, respectively. Assists in standing or sitting. The pair of armpit holding portions 65a and 65b are provided so as to be able to turn around a fulcrum C provided at the back side with respect to the person being assisted M1 rather than at least parts Sa and Sb that hold the side of the person being assisted M1. .

　これにより、被介助者Ｍ１が脇保持部６５ａ，６５ｂを両脇の下にそれぞれ差し込むと、脇保持部６５ａ，６５ｂは、奥側に設けられた支点Ｃを中心に被介助者Ｍ１の脇を保持する部位が被介助者Ｍ１の脇の下の位置に合うように旋回させられる。よって、被介助者Ｍ１は、脇保持部６５ａ，６５ｂの脇を保持する部位を自身の体格に容易に合わせることができる。 Accordingly, when the person being assisted M1 inserts the side holding parts 65a and 65b under the both sides, the side holding parts 65a and 65b hold the side of the person being assisted M1 around the fulcrum C provided on the back side. The part is turned so as to match the position of the armpit of the person being assisted. Therefore, the person being assisted M1 can easily match the part that holds the sides of the side holding parts 65a and 65b with his / her physique.

　また、脇を保持する部位Ｓａ，Ｓｂは、被介助者Ｍ１の脇を下方から支持する脇支持部６５１ａ，６５１ｂと、脇支持部６５１ａ，６５１ｂから上方に立ち上がる立ち上がり部６５２ａ，６５２ｂとを含み、一対の脇保持部６５ａ，６５ｂは、一対の立ち上がり部６５２ａ，６５２ｂが被介助者Ｍ１の肩幅よりも外方に位置するまで拡開可能に旋回する。これにより、被介助者Ｍ１は、Ｕ字形状の脇保持部６５ａ，６５ｂの手前側の立ち上がり部６５２ａ，６５２ｂに邪魔されずに、両脇を脇保持部６５ａ，６５ｂの脇支持部６５１ａ，６５１ｂに載せられる。 Further, the parts Sa and Sb that hold the side include side support parts 651a and 651b that support the side of the person M1 from below, and rising parts 652a and 652b that rise upward from the side support parts 651a and 651b, The pair of side holding portions 65a and 65b pivots so that the pair of rising portions 652a and 652b can be expanded until the pair of standing portions 652a and 652b are located outside the shoulder width of the person being assisted M1. As a result, the person being assisted M1 is not disturbed by the rising portions 652a and 652b on the front side of the U-shaped side holding portions 65a and 65b, and both sides are supported by the side support portions 651a and 651b of the side holding portions 65a and 65b. It is put on.

　また、基台１０には、被介助者Ｍ１が両手で把持して両脇に一対の脇保持部６５ａ，６５ｂを差し込み可能な一対のグリップ６３ａ，６３ｂが、被介助者Ｍ１に対し一対の脇保持部６５ａ，６５ｂよりも奥側にそれぞれ設けられる。そして、一対の脇保持部６５ａ，６５ｂを支点Ｃを中心に拡開する方向に旋回させたとき、被介助者Ｍ１と一対のグリップ６３ａ，６３ｂとの間に腕通過領域Ａが確保される。これにより、被介助者Ｍ１は、両腕を腕通過領域Ａを通って伸ばせられるので、両手でグリップ６３ａ，６３ｂをそれぞれ容易に把持できる。
　また、一対の脇保持部６５ａ，６５ｂには、一対の脇保持部６５ａ，６５ｂを縮閉する方向にそれぞれ付勢する弾性部材５が設けられるので、被介助者Ｍ１は、被介助者Ｍ１の両脇を保持する部位Ｓａ，Ｓｂを被介助者Ｍ１の両脇の下の位置に容易に合わせられる。 In addition, the base 10 includes a pair of grips 63a and 63b that can be held by both the hands of the person being assisted by M1 and the pair of side holding parts 65a and 65b can be inserted on both sides of the pair. Provided on the back side of the holding portions 65a and 65b, respectively. When the pair of armpit holding portions 65a and 65b are turned in the direction of expanding around the fulcrum C, the arm passage region A is secured between the person being assisted M1 and the pair of grips 63a and 63b. As a result, the person being assisted M1 can extend both arms through the arm passage area A, and can easily grip the grips 63a and 63b with both hands.
Further, since the elastic members 5 for urging the pair of side holding portions 65a and 65b in the direction of contracting and closing the pair of side holding portions 65a and 65b are provided, the person being assisted M1 is a member of the person being assisted by M1. The parts Sa and Sb that hold both sides can be easily adjusted to the positions under both sides of the person being assisted M1.

　また、一対の脇保持部６５ａ，６５ｂには、弾性部材５の付勢力に抗して一対の脇保持部６５ａ，６５ｂを拡開する方向へそれぞれ旋回させたときに一時的に係止する係止部材６，７が設けられるので、被介助者Ｍ１は、脇保持部６５ａ，６５ｂを押さえる必要がなく、次の動作を容易に行うことができる。
　また、一対の脇保持部６５ａ，６５ｂを縮閉する方向にそれぞれ付勢する弾性部材５に代えて、一対の脇保持部６５ａ，６５ｂに、一対の脇保持部を拡開する方向にそれぞれ付勢する弾性部材を設ければ、脇保持部６５ａ，６５ｂが開いた状態が原位置となり、被介助者Ｍ１が介助ロボット１に乗り込む際に脇保持部６５ａ，６５ｂを開放する手間を省くことができる。
　また、脇保持部６５ａ，６５ｂには、支点Ｃとなる旋回ピン２と、案内ピン３が挿入されて旋回の案内となる長穴４と、が設けられるので、旋回のストロークを制限して必要以上に旋回しないようにできる。また、脇保持部６５ａ，６５ｂの旋回機構が簡易な構成となり、コスト高となることを抑制できる。 In addition, the pair of side holding portions 65a and 65b are temporarily locked when the pair of side holding portions 65a and 65b are swung in the expanding direction against the urging force of the elastic member 5, respectively. Since the stop members 6 and 7 are provided, the person being assisted M1 does not need to press the side holding portions 65a and 65b, and can easily perform the following operation.
Further, instead of the elastic member 5 that urges the pair of side holding parts 65a and 65b in the contracting and closing direction, the pair of side holding parts 65a and 65b is attached to the pair of side holding parts 65a and 65b in the direction of expanding the pair of side holding parts, respectively. If an elastic member is provided, the state where the side holding portions 65a and 65b are opened becomes the original position, and it is possible to save time and effort to open the side holding portions 65a and 65b when the person being assisted M1 gets into the assistance robot 1. it can.
Further, the side holding portions 65a and 65b are provided with the turning pin 2 serving as the fulcrum C and the elongated hole 4 into which the guide pin 3 is inserted to serve as a turning guide, so that it is necessary to limit the turning stroke. It can be prevented from turning more than that. Further, the swivel mechanism of the side holding portions 65a and 65b has a simple configuration, and it is possible to suppress an increase in cost.

１：介助ロボット、　２：旋回ピン、　３：案内ピン、　４：長穴、　５：引張コイルばね（弾性部材）　６：ボールプランジャ（係止部材）、　７：凹部（係止部材）、　１０：基台、　２０，３０：昇降アーム、　４０：昇降部、　５０：保持部、　６０：アタッチメント、　６３ａ，６３ｂ：グリップ、　６５ａ，６５ｂ：脇保持部、　７０，８０：昇降アクチュエータ、　９０，１００：前後動アクチュエータ、　１２０：制御装置、　Ｍ１：被介助者、　Ｃ：支点、　Ａ：腕通過領域 1: assistance robot, 2: swivel pin, 3: guide pin, 4: long hole, 5: tension coil spring (elastic member), 6: ball plunger (locking member), 7: recess (locking member), 10: Base, 20, 30: Lifting arm, 40: Lifting part, 50: Holding part, 60: Attachment, 63a, 63b: Grip, 65a, 65b: Side holding part, 70, 80: Lifting actuator, 90, 100: Front and back Moving actuator, 120: control device, M1: care recipient, C: fulcrum, A: arm passage area

Claims (7)

　基台と、
　前記基台に備えられ、被介助者の両脇をそれぞれ保持可能な一対の脇保持部と、
　を備え、
　前記被介助者の起立動作又は着座動作を介助する介助ロボットであって、
　前記一対の脇保持部は、少なくとも前記被介助者の脇を保持する部位よりも前記被介助者に対し奥側に設けられる支点を中心にそれぞれ旋回可能に設けられる、介助ロボット。 The base,
A pair of side holding portions provided on the base and capable of holding both sides of the person being assisted;
With
An assisting robot for assisting the standing person's standing motion or sitting motion,
The pair of armpit holding portions is an assisting robot provided so as to be able to turn around a fulcrum provided on the back side with respect to the person being assisted rather than at least a part holding the person being assisted. 　前記脇を保持する部位は、前記被介助者の脇を下方から支持する脇支持部と、前記脇支持部から上方に立ち上がる立ち上がり部とを含み、
　前記一対の脇保持部は、一対の前記立ち上がり部が前記被介助者の肩幅よりも外方に位置するまで拡開可能に旋回する、請求項１に記載の介助ロボット。 The part that holds the side includes a side support part that supports the side of the person being assisted from below, and a rising part that rises upward from the side support part,
2. The assistance robot according to claim 1, wherein the pair of armpit holding parts pivots so that the pair of rising parts can be expanded until the pair of rising parts are located outside the shoulder width of the person being assisted. 　前記基台には、前記被介助者が両手で把持して両脇に前記一対の脇保持部を差し込み可能な一対のグリップが、前記被介助者に対し前記一対の脇保持部よりも奥側にそれぞれ設けられ、
　前記一対の脇保持部を前記支点を中心に拡開する方向に旋回させたとき、前記被介助者と前記一対のグリップとの間に腕通過領域が確保される、請求項１又は２に記載の介助ロボット。 The base is provided with a pair of grips that can be held by both of the both hands and inserted into the sides of the pair of side holding parts on the both sides, with respect to the person behind the pair of side holding parts. Provided respectively in
The arm passage region is secured between the person being assisted and the pair of grips when the pair of armpit holding portions are swung in a direction of expanding around the fulcrum. Assistance robot. 　前記一対の脇保持部には、前記一対の脇保持部を縮閉する方向にそれぞれ付勢する弾性部材が設けられる、請求項１－３の何れか一項に記載の介助ロボット。 The assisting robot according to any one of claims 1 to 3, wherein each of the pair of armpit holding portions is provided with an elastic member that urges each of the pair of armpit holding portions in a contracting and closing direction. 　前記一対の脇保持部には、前記弾性部材の付勢力に抗して前記一対の脇保持部を拡開する方向へそれぞれ旋回させたときに一時的に係止する係止部材が設けられる、請求項４に記載の介助ロボット。 The pair of side holding portions is provided with a locking member that temporarily locks when the pair of side holding portions are turned in a direction of expanding against the biasing force of the elastic member. The assistance robot according to claim 4. 　前記一対の脇保持部には、前記一対の脇保持部を拡開する方向にそれぞれ付勢する弾性部材が設けられる、請求項１－３の何れか一項に記載の介助ロボット。 The assisting robot according to any one of claims 1 to 3, wherein each of the pair of armpit holding portions is provided with an elastic member that urges each of the pair of armpit holding portions in a direction of expanding the pair of armpit holding portions. 　前記脇保持部には、前記支点となる旋回ピンと、案内ピンが挿入されて前記旋回の案内となる長穴と、が設けられる、請求項１－６の何れか一項に記載の介助ロボット。 The assisting robot according to any one of claims 1 to 6, wherein the side holding portion is provided with a turning pin serving as the fulcrum and a long hole into which a guide pin is inserted to serve as a guide for the turning.
PCT/JP2015/070134 2015-07-14 2015-07-14 Patient care robot Ceased WO2017009946A1 (en)

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