JP2003135539A - Robot device for care - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a robot device for care allowing the free motion of a human body holding device holding a user. SOLUTION: This robot device for care for holding to move a human body is provided with a base member 1; a post member 5 erected on the base member; a base end member 11 provided in a vertically drivable manner at the post member; a plurality of horizontal arms 12, 14, 15 connected to the base end member so as to be rotationally drivable in a horizontal direction one by one; a first rotating arm 19 provided at the horizontal arm at the tip so as to be rotationally drivable around a horizontal axis; a second rotating arm 21 provided at the first rotating arm so as to be rotationally drivable around an axis orthogonal to the rotation axis of the first rotating arm; a fixture 26 at the second rotating arm; and a human body holding device 25 detachably mounted to the fixture, for holding the human body.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a care robot device for holding and moving a physically handicapped user, for example.

[0002]

2. Description of the Related Art For example, when bathing a user who has difficulty getting up and walking by himself / herself, a caregiver first causes the user to get up on a bed. Then, the user is put on a wheelchair, held in an embrace, and moved to the bathroom. In the bathroom, the user holds the body while washing and puts it in a bathtub.

Analyzing the above-mentioned work of the caregiver, it is a work of raising the user on the bed, a work of moving to the bathroom, and a work of bathing in the bathroom, and any work imposes a great burden on the caregiver.

[0004]

Therefore, it has been considered to use a robot apparatus to perform work that places a heavy burden on the caregiver. However, since each work described above requires delicate movements, the current situation is that no specific technique has been proposed for realizing such movements.

The present invention provides a robot robot for care which enables the user to move to a predetermined place or take a bath at the destination without giving a great burden to the caregiver. To do.

[0006]

According to a first aspect of the present invention, there is provided a care robot apparatus for holding and moving a human body, a base member, a support member erected on the base member, and the support member. A base member that is vertically drivable, a plurality of horizontal arms that are sequentially connected to the base member so as to be rotatable in the horizontal direction, and a horizontal arm at the tip can be driven to rotate about a horizontal axis. A first rotating arm provided on the first rotating arm, a second rotating arm provided on the first rotating arm so as to be rotatable about an axis perpendicular to the rotation axis of the first rotating arm, and A nursing robot apparatus comprising: a fixture provided on the second rotating arm; and a human body holding device detachably attached to the fixture for holding a human body.

According to a second aspect of the present invention, the human body holding device is provided with a mounting shaft and an abutting member, and the mounting tool includes a pair of supporting members for supporting two positions of the mounting shaft and the abutting member. The nursing robot apparatus according to claim 1, further comprising an abutting member that abuts and prevents the human body holding device from rotating around the mounting shaft as a fulcrum.

According to a third aspect of the present invention, a pair of auxiliary leg members are in a standing state at both ends in the longitudinal direction of the base member, and a collapsed state in which the tip end is grounded by rotating in the width direction of the base member. The care robot apparatus according to claim 1, wherein the care robot apparatus is rotatably provided.

According to a fourth aspect of the present invention, when the horizontal arm is extended in the width direction intersecting the base member on at least one side of the base member, the base member is extended in the extending direction of the horizontal arm. The robot apparatus for care according to claim 1, further comprising a fall prevention device for preventing the robot from tilting.

According to a fifth aspect of the present invention, the fall prevention means comprises:
The robot device for care according to claim 4, wherein the robot member is an engaging member that is engaged with a device used by a user held by the human body holding device.

According to a sixth aspect of the present invention, there is provided the care robot apparatus according to the first aspect, wherein the base member is configured to be able to travel by casters.

According to the present invention, the plurality of horizontal arms, the first rotary arm, and the second rotary arm are sequentially rotatably connected to the vertically driven base end member so as to be rotatable in the predetermined direction. It is possible to freely position the human body holding device capable of holding the human body attached to the rotating arm.

[0013]

BEST MODE FOR CARRYING OUT THE INVENTION An embodiment of the present invention will be described below with reference to the drawings.

FIG. 1 shows a robot robot R for care according to the present invention, and this robot device R comprises a rectangular base member 1. On the lower surface of the base member 1, a pair of first casters 2 are provided at predetermined intervals on the center line in the width direction. One of the two first casters 2 is removable.

A pair of auxiliary leg members 3 are provided on both end surfaces of the base member 1 in the longitudinal direction, respectively, with their base end portions rotatably connected. A second caster 4 is provided at the tip of each auxiliary leg member 3, and these second casters 4 fall the holding leg member 3 substantially horizontally,
It is designed to be grounded. The auxiliary leg member 3 is in a horizontally lying state as shown by a solid line in FIG.
As shown by the chain line, it can be held non-rotatably in a state of standing upright almost vertically.

By providing the two first casters 2 on the center line of the base member 1, it is possible to clear the step even if there is some step on the running surface.
By providing the caster 4 of the above to the rotatable auxiliary member 3,
It can be folded when stored.

A column member 5 is erected on one end of the base member 1 in the longitudinal direction. As shown in FIG.
As shown in (a), a pair of guide rods 6 are provided in parallel at a predetermined interval with their axes being vertical. A screw shaft 7 is rotatably supported between the pair of guide rods 6.

A movable body 8 is slidably supported on the guide rod 6, and the screw shaft 7 is screwed onto the movable body 8. The upper end portion of the screw shaft 7 projects from the upper end surface of the column member 5, and the screw shaft 7 is rotatably driven by the first drive source 9 via the protruding end portion.
As a result, the movable body 8 is driven in the vertical direction along the guide rod 6.

As shown in FIGS. 1 and 2, a base member 11 is fixed to the movable body 8. The base end member 11 has a base end portion of a first horizontal arm 12 rotatably connected in a horizontal direction about a vertical axis as a center of rotation, and a second drive source provided in the base end member 11. It is adapted to be rotationally driven by 13.

A base end portion of the second horizontal arm 14 is connected to the tip end portion of the first horizontal arm 12 so as to be horizontally rotatable about a vertical axis as a rotation center. At the tip of the second horizontal arm 14, the second horizontal arm 1
The base end portion of the third horizontal arm 15 which is shorter than the fourth horizontal arm portion is connected so as to be rotatable in the horizontal direction about the vertical axis.

A third drive source 1 for rotationally driving the second horizontal arm 14 is provided at the tip of the first horizontal arm 12.
6, a fourth drive source 17 for driving the third horizontal arm 15 is provided at the tip of the second horizontal arm 14.
Is provided.

At the tip of the third horizontal arm 15, there is a fifth
Is provided with the drive source 18, and the base end of the first rotating arm 19 is connected to the fifth drive source 18. This first
The rotary arm 19 is rotationally driven by the fifth drive source 18 about the horizontal axis.

A second member is provided at the tip of the first rotating arm 19.
The rotary arm 21 is provided so as to be rotatable around an axis line orthogonal to the rotation axis line of the first rotary arm 19.
The second rotary arm 21 is rotationally driven by a sixth drive source 22 provided at the tip of the rotary arm 19. That is, the second rotating arm 2
1 is rotatably driven with 6 degrees of freedom by the first to sixth driving sources.

As shown in FIG. 1, the support member 5 is provided with a control box 23, and a remote controller 24 is connected to the control box 23. And
The remote controller 24 can remotely operate the first to sixth drive sources.

A mounting tool 26 for removably mounting the human body holding device 25 is provided on the second rotating arm 21. The fixture 26 includes a plate-shaped abutting member 27 fixed to the second rotating arm 21 and a pair of band-plate-shaped support members protruding substantially perpendicularly to the plate surface of the abutting member 27. 28 and. A substantially semicircular recess 29 is formed at the tip of the support member 28.

FIG. 4 shows a schematic structure of the human body holding device 25.
And shown in FIG. As shown in FIG. 5, this human body holding device 25
Has a rectangular base plate 31. A pair of strip-shaped support members 32 are provided at both ends in the width direction of one side surface (front surface) of the base plate 31. A main rotary shaft 33 is rotatably supported at one end of the support member 32 at both ends.

A drive gear 34 and an interlocking member 3 are respectively provided at both ends of the main rotary shaft 33 protruding from the supporting member 32.
5 and one end of each of them are sequentially attached. Further, both ends of an inverted U-shaped main frame 36 are attached and fixed to the main rotating shaft 33. Therefore, this mainframe 3
When 6 is rotated from the fallen state shown by the solid line in FIG. 4 to the standing state shown by the chain line, the main rotation shaft 33 is interlocked with the rotation.

The support member 32 is provided with a pair of mounting shafts 37 in the middle of the supporting member 32 with the middle parts fixed, and a first driven rotary shaft 38 rotatably mounted at the other end. Further, between the main rotary shaft 33 and the first driven rotary shaft 38 at the center of the base plate 31 in the width direction,
A vertical rotation shaft 39 having both ends rotatably supported is provided.

A first bevel gear 41 is provided in the middle of the main rotary shaft 33, and a second bevel gear 42 provided on the vertical rotary shaft 39 is meshed with the first bevel gear 41. Thereby, the rotation of the main rotary shaft 33 is transmitted to the vertical rotary shaft 39.

A differential mechanism 43 in which a total of four bevel gears are meshed with each other is provided at an intermediate portion of the vertical rotation shaft 39 and an end portion of the pair of mounting shafts 37. A bevel gear is rotatably provided at one end of each of the pair of mounting shafts 37, and a lower bevel gear is rotatable and an upper bevel gear is fixed to the vertical rotation shaft 39.

On the vertical rotation shaft 39, the differential mechanism 43 is provided.
The first body pressing member 45 that rotates integrally with the lower bevel gear provided on the vertical rotation shaft 39, and the vertical rotation shaft 39.
A second body pressing member 46 that rotates together with the second body pressing member 46 is provided. Therefore, when the vertical rotation shaft 39 rotates, the first body pressing member 45 rotates about the vertical rotation shaft 39 as a fulcrum by the differential mechanism 43, and the second body pressing member 46 moves together with the vertical rotation shaft 39. The first body pressing member 45 is adapted to rotate in the opposite direction.

That is, the pair of torso pressing members 45 and 46 are rotatable so as to hold the user's torso portion as shown by the solid line in FIG. 4 and open the holding state as shown by the chain line. Has become.

A third bevel gear 47 is provided on the upper end of the vertical rotation shaft 39. This third bevel gear 4
The numeral 7 meshes with a fourth bevel gear 48 fixedly provided on the first driven rotary shaft 38. Therefore, when the vertical rotation shaft 39 rotates, the rotation is transmitted to the first driven rotation shaft 38.

As shown in FIG. 4, a shoulder pressing member 51 having a pair of pressing pieces 51a is attached to the first driven rotary shaft 38. When the first driven rotary shaft 38 is interlocked with the rotation of the vertical rotary shaft 39, the state of holding the shoulder portion of the user as shown by the solid line in FIG. 4 and the holding state as shown by the chain line are released. It can be rotated in and out.

Both ends of the second driven rotary shaft 52 are attached and fixed to the other ends of the pair of interlocking members 35, one end of which is attached to the main rotary shaft 33. A driven gear 53, which meshes with a pair of drive gears 34 provided at both ends of the main rotation shaft 33, is fitted and fixed to the second driven rotation shaft 52. Further, the mounting plate 5 is attached to the second driven rotary shaft 52.
4 is provided, and one end of a U-shaped crotch support member 55 is fixed to the mounting plate 54.

When the main frame 36 is rotated to rotate the main rotary shaft 33, the drive gear 34 provided on the main rotary shaft 33 is rotated. Therefore, the driven gear 53 meshed with the drive gear 34 is The one end of the interlocking member 35 revolves around the drive gear 34 while rotating on its axis. Since the crotch support member 55 is interlocked with the revolution of the driven gear 53 via the second driven rotation shaft 52, the crotch support member 55 is in a holding state in which the crotch of the user is shown in a solid line in FIG. It is possible to rotate the holding state shown by the chain line to the open state.

As shown in FIGS. 2B and 4, an abutting member 58 is provided at the central portion in the width direction of one end of the base plate 31 so as to be perpendicular to the plate surface of the base plate 31, A flat portion 37 is provided at an end of the pair of mounting shafts 37.
a is formed.

In the human body holding device 25 having the above structure, the flat portions 37a of the pair of mounting shafts 37 are engaged with the recesses 29 formed in the pair of supporting members 28 of the mounting tool 26,
As shown in FIG. 2A, a holding plate 59 screwed and fixed to the supporting member 28 holds the holding member 29 so as not to come off the recess 29.

As a result, the tip end surface of the abutting member 58 provided on the human body holding device 25 has the abutting member 2 of the attachment 26.
Since it abuts against the plate surface of 7, the human body holding device 25 is supported by the fixture 26 at three points, that is, a pair of attachment shafts 37 and abutment members 58. Thereby, the human body holding device 25
Will be fixedly attached to the fixture 26 in all directions.

The human body holding device 25 is attached to the forefront second rotary arm 21 of the robot apparatus R via a fixture 26. Therefore, the human body holding device 25 can be accurately moved in all directions according to the 6 degrees of freedom of the robot apparatus R.

When the human body holding device 25 holds a user U having a physical disability, for example, the main frame 36 is rotated in the standing direction as shown by the chain line as shown in FIG. Thereby, the first and second body pressing members 45, 4
6. The shoulder pressing member 51 and the crotch support member 55 rotate from the holding state shown by the solid line to the open state shown by the chain line.

In the open state, the human body holding device 25
To the user U lying on the bed (not shown),
The body pressing members 45 and 46 are opposed to the torso portion of the user U, and the shoulder pressing member 51 is opposed to the shoulder portion,
The crotch support member 55 is positioned opposite to the crotch.

Next, when the main frame 36 is rotated from the standing state shown by the chain line to the collapsed state shown by the solid line, the first and second body pressing members 45, 46, the shoulder pressing member 51 and the crotch supporting member 55. Rotates from the open state shown by the chain line to the holding state shown by the solid line. Therefore, the user U is the first and second
The body part is held by the body holding members 45 and 46 of
Since the shoulder pressing member 51 holds the shoulder and the crotch support member 55 enters the crotch, the body of the user U is held by the human body holding device 25.

After holding the user U on the human body holding device 25 and locking the driven rotary shaft 38 and the main frame 36, the robot device R is operated to raise the human body holding device 25.
At this time, if the user U has a grip force that can hold the main frame 36, the user U can hold the main frame 36, or the caregiver can support the user's body to wake up the user U together with the human body holding device 25 in a stable state. You can

FIG. 3B shows a state in which the human body holding device 25 provided in the robot device R holds the user U. When bathing the user U in this state,
The robot apparatus R is moved by the first and second casters 2 and 4 and moved to the bathroom 61 shown in FIGS. 6 (a) and 6 (b). When moving, there is a step on the floor surface in the room, but since the pair of first casters 2 is provided in the center of the base member 1 in the width direction, the step can be relatively easily overcome by these casters 2. Becomes

When the robot apparatus R is placed in the bathroom 61, its base member 1 is positioned parallel to one side of the bath 62. Then, the fall prevention device 71 provided on the base member 1 prevents the base member 11 of the robot apparatus R from leaning toward the bathtub 62 when the user U is put in the bathtub 62.

That is, when bathing the user U,
Each arm of the robot apparatus R is extended to one side in the width direction of the base member 1. Therefore, the robot device R
Since the center of gravity of the robot moves in the extension direction of the arm, the robot device R
Can easily fall in that direction.

Therefore, the fall of the robot device R is prevented by the fall prevention device 71. This fall prevention means 71
Has a drive source 72 provided on one side surface of the base member 1 as shown in FIGS. A worm 74 is provided on a rotary shaft 73 of the drive source 72. The worm 74 meshes with the worm wheel 75. The worm wheel 75 is fitted to the lower end portion of a crank-shaped turning rod 77 rotatably supported by a bearing 76 on one side surface of the base member 1.

At the upper end of the rotating rod 77, one end of an L-shaped engaging member 78 is provided so as to be slidable in the vertical direction and fixed by a fixing screw 79 at an arbitrary height.

In order to prevent the robot device R from tipping over by the tipping prevention member 71, the drive source 72 is operated to turn the turning rod 77 in the direction shown by the arrow in FIG. 7B. The other end of the engaging member 78 is located above the bath 62. Next, the fixing screw 79 is loosened to bring the other end of the engaging member 78 into contact with the upper surface of the bath 62, and in that state, the fixing screw 79 is tightened to hold the engaging member 78 so that it cannot slide.

Thereby, by extending each arm of the robot apparatus R toward the bathtub 62 side, even if the center of gravity of the robot apparatus R moves in the extension direction, the engaging member 78 causes the bathtub 6 to move.
Since it hits the upper surface of 2, the robot apparatus R is prevented from falling.

Next, after extending each arm in the direction of the bathtub 62, these arms are lowered along the column member 5, so that the user U held by the human body holding device 25 can hold the user U in the bathtub 62. Can be put in.

When the user U takes a bath in such a state, after raising each arm along the support member 5, the human body holding device 25 is positioned above the base member 1.
The extended arm of the robot apparatus R is contracted. Then, the engagement state between the engagement member 78 and the bath 62 is released, the robot apparatus R is carried out of the bathroom 61, and the user U is carried to a predetermined position, for example, a bed.

At that position, if the robot apparatus R is operated so that the user U held by the human body holding apparatus 25 is in the supine state, the main frame 36 is changed from the state shown by the solid line in FIG. 4 to the state shown by the chain line. It is possible to release the holding state of the human body by the body pressing members 45 and 46, the shoulder pressing member 51, and the crotch support member 55 by rotating the body pressing member 45.

That is, since the human body holding device 25 is driven by the robot device R having 6 degrees of freedom, it is possible to give the human body holding device 25 a delicate movement. Therefore, for example, the user U lying on the bed is held by the human body holding device 25, or conversely, the human body holding device 25 is held.
It is possible to perform work such as lying the user U held on the bed on the bed.

Further, the user U held by the human body holding device 25 can be bathed. Conventionally, even if a caregiver performs it, it requires a great deal of skill and attention, and the physical burden is very large. However, using the robot apparatus R of the present invention, it is relatively easy and the caregiver can do it. It is possible to do it with almost no physical burden.

The present invention is not limited to the above-described embodiment, and various modifications can be made without departing from the gist of the invention. For example, the type of care provided to the user held by the human body holding device is not limited to the bathing and the work associated therewith, and may be used for other work such as when the user excretes.

By providing power to the base member,
The care robot device may be self-propelled.

Further, the structure for attaching the human body holding device to the arm at the tip of the robot is not limited to the structure shown in the above-mentioned one embodiment, and various modifications can be made as long as the structure does not deviate from the range described in claim 2. It is possible.

Further, as the arm structure of the robot device, 3
Although the structure is provided with one horizontal arm, the number of arms is not limited, and may be two or four or more, for example. Further, although each arm is driven by the drive source, it may be driven manually instead of by the drive source.

[0061]

As described above, according to the present invention, a plurality of horizontal arms, a first rotary arm, and a second rotary arm are sequentially connected to a base member that is vertically driven so as to be rotatable in a predetermined direction. Then, the human body holding device is attached to the second rotating arm at the tip.

Therefore, since the human body holding device attached to the second rotating arm can be freely positioned by the movement of each arm, various work which has conventionally been a heavy burden on a caregiver can be performed relatively. It can be performed easily and surely.

[Brief description of drawings]

FIG. 1 is a perspective view of a robot apparatus showing an embodiment of the present invention.

2A is a plan view of a state in which an arm of a robot apparatus is extended, and FIG. 2B is a side view.

3A is a side view showing a support member of the robot apparatus, and FIG. 3B is a front view showing a state in which a user is held.

FIG. 4 is a perspective view showing a schematic configuration of a human body holding device.

FIG. 5 is a front view showing details of the human body holding device.

FIG. 6A is a plan view of the robot apparatus in a bathroom, and FIG. 6B is a side view of the same.

7A is a side view of the fall prevention device, and FIG. 7B is a plan view.

[Explanation of symbols]

1 ... Base member 3 ... Support member 11 ... Base member 12 ... First horizontal arm 14 ... Second horizontal arm 19 ... First rotating arm 21 ... Second rotating arm 25. Human body holding device 26 ... Attachment 27 ... Abutting member 28 ... Support member 29 ... Recess

Claims (6)

[Claims] 1. A care robot apparatus for holding and moving a human body, a base member, a support member erected on the base member, and a base end member provided on the support member so as to be vertically movable. A plurality of horizontal arms sequentially connected to the base member so as to be rotatable in the horizontal direction, and a first rotary arm provided to the distal horizontal arm so as to be rotatable about a horizontal axis. A second rotating arm provided on the first rotating arm so as to be rotatable around an axis perpendicular to the axis of rotation of the first rotating arm, and a fixture provided on the second rotating arm. And a human body holding device for holding a human body detachably attached to the attachment, a nursing robot device. 2. The human body holding device is provided with a mounting shaft and an abutting member, and in the mounting tool, a pair of support members supporting the two positions of the mounting shaft and the abutting member come into contact with each other to provide the human body. 2. The nursing care robot apparatus according to claim 1, further comprising an abutment member that prevents the holding device from rotating about the mounting shaft as a fulcrum. 3. The both longitudinal ends of the base member,
2. The care according to claim 1, wherein each of the pair of auxiliary leg members is rotatably provided in an upright state and in a fallen state in which the distal end portion is grounded by rotating in the width direction of the base member. Robot device. 4. At least one side of the base member includes:
A fall prevention device is provided for preventing the base member from tilting in the extending direction of the horizontal arm when the horizontal arm is extended in the width direction intersecting with the base member. 1. The robot device for nursing care according to 1. 5. The care robot apparatus according to claim 4, wherein the fall prevention device is an engagement member that engages with a device used by a user held by the human body holding device. 6. The care robot apparatus according to claim 1, wherein the base member is configured to be able to travel by casters.