JP2993840B2 - Control device for transfer assistance device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a device for assisting transportation of an elderly person, a physically handicapped person, etc. (hereinafter referred to as a patient) lying on a bed.

[0002]

2. Description of the Related Art Conventionally, in order to transport a patient lying on a bed to another bed or the like, a transfer assisting device called a stretcher (JP-A-60-185552, JP-B-62-30771,
Japanese Patent Publication No. 51-4038) has been proposed.

For example, a transfer assisting device shown in FIG. 11 controls the operation of a transfer mechanism (1) by operating an operation mechanism (17). The transfer mechanism (1) winds a transfer belt (13) around a transfer plate (11) for receiving the patient (5),
The timing belt (16) connected to the transfer plate (11) is driven by the transfer drive motor (12), and the transfer belt
(13) with the first winding motor (14) or the second winding motor (1
By rewinding in step 5), the transfer plate (11) is moved back and forth, and the patient (5) on the bed (6) is transferred onto the transfer plate (11).

On the other hand, the operating mechanism (17) has an operating lever (18) to be operated by a caregiver, and operates the operating lever (18) back and forth to switch the contact of a changeover switch (19). Then, a drive control signal for moving the transfer plate (11) of the transfer mechanism (1) forward or backward is created.

For example, when the operating lever (18) is tilted forward as shown by the arrow A in the figure, the transfer plate (11) advances as shown by the arrow B and moves between the back of the patient (5) and the bed (6). Break into If the operation lever (18) is tilted backward with the patient (5) placed on the transfer plate (11), the transfer plate (11) retreats,
The patient (5) on the transfer plate (11) can be moved from the bed (6) onto the apparatus main body.

[0006]

However, in the conventional transfer assisting device, regardless of the magnitude of the load acting on the transfer plate (11) in the process of moving the transfer plate (11), the operation lever ( Transfer plate (11) by switching of (18)
Is forcibly driven to one of them, so if a caregiver unfamiliar with the operation operates, the transfer plate (11)
In some cases, the patient got into the back of (5) and exerted excessive force on the patient (5).

[0007] It is an object of the present invention to provide a control device for a transfer assistance device that always realizes a suitable transfer operation regardless of the skill level of a caregiver and does not cause discomfort to the patient. is there.

[0008]

A transfer assisting device according to the present invention includes a transfer mechanism (2) for driving a transfer plate back and forth along the upper surface of a bed and a transfer mechanism (2) for operating the transfer mechanism (2). An operation bar to be operated by the caregiver, a force detector (3) for detecting an operation force acting on the operation bar, and force information data f obtained from the force detector (3) according to the control parameter G. And a control circuit (4) for converting the operation command value V and supplying it to the transfer mechanism. The control circuit (4) has a predetermined control cycle, for example, 1
The transfer parameter (G) of the next control cycle is variably set according to the magnitude and / or time change of the force information data f from the start to the end of the first transfer operation, and the transfer mechanism (2) is applied to the patient. Make it work reasonably.

In a more specific configuration, the control circuit (4)
Comprises a main control means for generating an operation command value V to be supplied to a motor (28) for driving the transfer mechanism (2), the main control means comprising a drive current value Inow for the motor (28). Limit value Ilim
When the value exceeds it, a calculating means for decreasing the speed command value V in accordance with the magnitude of the current value Inow is provided.

[0010]

When the caregiver grasps the operation bar and applies a force in the direction in which the transfer plate should be moved, the applied force is detected by the force detector (3), and the applied force is determined according to the magnitude of the applied force. The force information data f is supplied to the control circuit. Control circuit (4)
Generates the operation command value V by multiplying the force information data f by the control parameter G. The operation command value V is transmitted to the transfer mechanism (2).
The transfer plate moves at a speed corresponding to the operation command value V, and the patient is transferred. Therefore, the caregiver adjusts the magnitude of the force acting on the operation bar during the transfer process, thereby changing the moving speed of the transfer plate and smoothly transferring the patient onto the transfer plate. Can be done.

Here, for example, a caregiver who is not used to the operation
If the transfer plate hardly accelerates from a stationary state or a low-speed moving state despite operating the operation bar with a large force, it may be difficult for the operator to operate and the patient may feel uncomfortable. However, the magnitude of the force information data f in this process and its time change with a relatively long cycle are recognized by the learning control means, and the control parameter G is set large at the time of the next transfer operation. As a result,
At the time of the next transfer operation, an operation command value corresponding to the operation force is generated even if the operation bar is not operated with a large force, and the transfer plate is appropriately accelerated.

When another caregiver unfamiliar with the operation operates the operation bar with fear, the operation force is small as a whole, but the size of the operation bar fluctuates drastically. At this time, if the control parameters are too large, the moving speed of the transfer plate fluctuates greatly in a short cycle, giving the patient discomfort. However, the magnitude of the force information data f in this process and the time change of the short period thereof are recognized by the learning control means, and the control parameter G is set small at the time of the next transfer operation. As a result, at the time of the next moving operation, even if the caregiver who is not accustomed to the operation operates the operation bar with fear, the operation command value according to the operation force is set without sudden movement, and the transfer plate is quickly moved. And it moves smoothly.

In the above-described specific configuration including the arithmetic means, for example, when an abnormal situation such as the transfer plate being caught on the sheet of the bed during the transfer operation occurs, and the motor drive current value Inow increases sharply. However, if the operation bar continues to be operated with a large force in spite of this situation, not only will the patient exert excessive force, but the overload current will flow through the motor,
Although the motor may be damaged, in this case, when the motor drive current value Inow exceeds a predetermined limit value Ilimit, the speed command value V is reduced according to the magnitude of the current value Inow. As a result, at the next moment, the motor drive current value Inow decreases, and the moving speed of the transfer plate is reduced. Therefore, there is no fear that an excessive force is applied to the patient or the motor is damaged.

[0014]

According to the control device of the transfer assistance device according to the present invention, a suitable transfer operation is always realized regardless of the skill level of the caregiver or even when the caregiver is replaced. Patients can be transferred in a comfortable state.

[0015]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS First Embodiment An example in which the present invention is applied to a transfer assistance device shown in FIG.
This will be described in detail with reference to the drawings. In FIG. 4, an installation table (92) is provided on a moving vehicle (9) via an elevating mechanism (91), and three frames are provided on the installation table (92) in the longitudinal direction of the bed (6).
(25), (26) and (27) are arranged.

The transfer mechanism (2) includes the three frames (25)
(26) On the (27), a back transfer plate (22), a seat transfer plate (23), and a foot transfer plate (24) are provided so as to be able to move back and forth, and these transfer plates are each timed. belt
Transfer plate drive motor (not shown) via (not shown)
And are independently drivable.

Two main operation bars (20) and (20) are attached to the center seat transfer plate (23) via columns (29), respectively, and the back transfer plates (22) and Foot transfer plate
Each (24) has one auxiliary operation bar (2
1) is installed. Support bar (2) for each operation bar (20) (21)
In 9), a strain gauge (31) is adhered to constitute a force detector.

As shown in FIG. 1, a control circuit (4) for controlling the operation of the transfer mechanism (2) includes a learning control unit (41) and a main control unit (4).
Force detector consisting of 2) and consisting of the above strain gauge (3)
Is input to these control units (41) and (42), and in response to the operation command issued by the main control unit (42), the motor (28) of the transfer mechanism (2) is driven. Controlled.

The learning control section (41) analyzes force information data obtained from the force detector (3) and control information obtained from the main control section (42), and, in accordance with the analysis result, the main control section. The control parameter in (42) is changed, and the changed control parameter G is supplied to the learning control unit (41).

The main control unit (42) uses the following equation 1 based on the force information f obtained from the force detector (3) and the control parameter G (force feedback gain) obtained from the learning control unit (41). To calculate an operation command value (speed command value) V.

When Inow ≦ Ilimit, V = G × f When Inow> Ilimit, V = G × f−Gi × Inow

Here, Inow is a current value fed back from the motor (28), Ilimit is a predetermined limit value for preventing overload of the motor (28), and Gi is a predetermined current feedback gain. The calculated operation command value V is sent out to the motor (28) of the transfer mechanism (2), and the operation command value V
, The rotation speed of the motor (28), that is, the moving speed of the transfer plate is defined.

FIG. 3 shows a learning control operation of the learning control section (41). First, in step S1, force detection by the force detector (3) is started, and in step S2, it is determined whether or not the operation force by the caregiver has been detected.

When a force is detected, a control amount, that is, an operation command value V is calculated based on the above equation (1) in step S3.
Next, in step S4, the force information data f for each predetermined control cycle (for example, one transfer operation cycle) is stored, and the control amount such as the speed command value V is stored.
At 5, it is determined whether the transfer operation has been completed.

If the transfer operation has not been completed, the flow returns to step S3. If the transfer operation has been completed, the flow proceeds to steps S6 and S7, and based on the data accumulated in step S4, it is determined whether or not the control parameter needs to be changed. .

For example, when the caregiver operates the operation bar fearfully, the operation force is increased or decreased, and as a result, FIG.
As shown in (a-1), the force information data f has a low level as a whole, but fluctuates in a relatively short cycle.
In addition, when the caregiver operates the operation bar all at once, the period of the change of the operation force is long as shown in FIG.
The level of the force information data f becomes higher as a whole.

Therefore, in step S6 of FIG. 3, the time derivative (df / dt) of the force information data f is 0 or more than a predetermined number n, and the speed command value V and the force information data It is determined whether or not the ratio (V / f) of f exceeds a predetermined constant a.
It is determined that the case is 2), and the process proceeds to step S8. In step S8, the control parameter is changed by subtracting a predetermined value dG from the current control gain G to make the control response insensitive.

If NO in step S6, the process proceeds to step S7, where the time differential (df / df /
It is determined whether or not the period during which dt) is positive continues for a predetermined time t or more, and whether the ratio (V / f) between the speed command value V and the force information data f is smaller than a predetermined constant b. Is determined to be the case of FIGS. 2 (b-1) and 2 (b-2), and the process proceeds to step S9. In step S9, the control parameter is changed by adding a predetermined value dG to the current control gain G in order to make the control response sensitive. If NO in step S7, it is determined that an appropriate operation has been performed, and the control gain is not changed.

As a result, the speed command value V is set to an appropriate level irrespective of the size and fluctuation of the force information data f, and a transfer operation that is easy for the patient is realized.

The force detector (3) has a structure in which a strain gauge (31) is attached to a support (29) of a main operation bar (20) as shown in FIG. As shown in b), pressure sensors (32) and (33) are attached to both sides of the peripheral surface of the main operation bar (20), and the pressure sensor on the caregiver's palm is applied by the pressure sensor (32) on the near side to the pressure sensor on the opposite side. (33) configuration to sense finger pressure,
Pressure sensors (34) and (35) are attached to the peripheral surface and the end surface of the main operation bar (20) as shown in FIG.
The caregiver's palm pressure is applied by the pressure sensor on the end face.
Various well-known configurations such as a configuration for sensing the pressure of the thumb by (35) can be adopted.

FIGS. 6 (a), (b) and 7 (a), (b) show the transfer of the patient (5) on the bed (6) onto the transfer plate (11) using the transfer assisting device. It shows the loading process. First, FIG.
Auxiliary operation bar (21) on back transfer plate (22) as in (a)
To move the back transfer plate (22) under the head and back of the patient (5). Next, as shown in FIG. 6 (b), the patient operates the auxiliary operation bar (21) on the foot transfer plate (24).
The foot transfer plate (24) is sunk under the foot of (5).

After that, as shown in FIG.
(23) Operate the upper main operation bar (20) to lower the seat transfer plate (23) under the waist and buttocks of the patient (5). As a result, the body of the patient (5) has three transfer plates (22) and (23).
(24) It has been completely transferred above. The above 3
The operation order of the transfer plates (22), (23), (24) can be arbitrarily changed. Finally, as shown in FIG. 7 (b), only the main operation bar (20) on the seat transfer plate (23) is operated to simultaneously move the three transfer plates (22), (23) and (24). Move backward.

In the above transfer process, the force detector shown in FIG.
(3) By the learning control by the control circuit (4), regardless of the skill level of the caregiver, even when the caregiver is replaced, the patient can be placed on the bed without exerting excessive force on the patient. Can be transferred to

When an abnormal situation such as the transfer plate being caught on the sheet of the bed during the transfer operation occurs and the motor drive current value Inow increases rapidly, the speed command value V
Is forcibly reduced, and the motor drive current value I
Since the increase in now is suppressed, there is no problem such as damage to the motor. Furthermore, it is possible to suppress the generation of an unreasonable load on the patient.

Second Embodiment In the embodiment shown in FIGS. 8 to 10, the configurations of the force detector (3) and the control circuit (4) are the same as those of the first embodiment, but the configuration of the transfer mechanism is the same. It has been changed. Transfer mechanism shown in FIG.
In (7), a plate holding member (7
6) is provided so as to be movable back and forth, and the plate holding member (76)
Is connected to a drive motor (84) via timing belt mechanisms (8) and (83).

An upper plate (72) and a lower plate (73), which are connected to each other and can move back and forth as a unit, are horizontally disposed on the movable carriage (71).
3) The rear end is connected to the plate holding member (76). Therefore, by rotating the motor (84) in the forward and reverse directions, the upper plate (72) and the lower plate (73) move back and forth integrally.

Further, the movable carriage (71) has an upper plate (7
The first belt guide (77) is located at the rear position of (2), the second belt guide (78) is located below the belt guide (77), and the third belt guide (79) is located ahead of the belt guide (78). The fourth belt guide (80) is arranged on the plate holding member (76) at a position behind the lower plate (73).

An upper belt (7) is provided around the upper plate (72).
4), and the upper belt (74) extends rearward on the upper surface of the upper plate (72), and thereafter, the first to fourth belt guides (77), (78), (79) ( 80), and further around the upper plate (72) along the lower surface of the upper plate (72). Around the lower plate (73), a lower belt (7
5) is wound, and one end (75a) of the belt is
It is fixed to the end of (71).

The upper plate (72) and the lower plate (73) are made of nylon or Teflon, and the upper belt (74) and the lower belt (75) are made of urethane. The resistance is made as small as possible.

A brake mechanism (85) including a brake pad (86) and a lock pedal (87) is provided below the second belt guide (78). Pad (86) upper belt (74)
, And the upper belt (74) can be braked.

The upper plate (72) is provided with an operation bar (not shown) as in the first embodiment, and the operation bar has a built-in force detector for detecting the operation force. ing. The force information data obtained from the force detector is supplied to the control circuit (4) as shown in FIG.

FIGS. 9A to 9D show a process in which the patient (5) on the bed is transferred onto the upper plate (72) by the transfer mechanism (7). Incidentally, reference numerals A to D in the drawing represent regions in the longitudinal direction of the upper belt (74). FIG. 9 (a)
With the upper plate (72) and the lower plate (73) set at the standby position as described above, and the brake mechanism (85) operated to apply a brake to the upper belt (74), as shown in FIG. As described above, the plate holding member (76) is driven by the motor (84) to advance the upper plate (72) and the lower plate (73) to the bed side, and the patient (5) on the bed is moved to the upper plate (7).
2) Transfer to the top.

In the process from FIG. 9 (a) to FIG. 9 (b), the area B of the upper belt (74) is fed clockwise, moves to the upper surface of the upper plate (72), and accompanying this. Patient (5)
Moves onto the upper belt (74) so that the relative speed between the patient (5) and the upper belt (74) is zero. Therefore, the patient
(5) is smoothly transferred onto the upper plate (72).
Further, the lower belt (75) rotates around the lower plate (73) counterclockwise with the extension of the area B of the upper belt (74), so that the upper belt (74) and the lower belt (75) are rotated. No friction occurs between the two.

Next, as shown in FIG. 9C, the braking of the upper belt (74) by the brake mechanism (85) is released, and in this state, the motor (8) is released.
4) is reversed, and the plate holding member (76) is retracted to the position shown in FIG. In the process from FIG. 9 (c) to FIG. 9 (d), the area B of the upper belt (74) is fixed to the upper plate (72) by the load of the patient (5).
2) and the lower plate (73) retracted, the upper belt (7
The areas D and A of 4) are fed clockwise toward the lower plate (73). Again, the lower belt (75)
Turns around the lower plate (73) clockwise with the movement of the area C of the upper belt (74), so that the upper belt (74)
There is no friction between the belt and the lower belt (75).

FIGS. 10A to 10D show the upper plate.
(72) shows a process of transferring the patient (5) on the bed. In a state where the braking of the upper belt (74) by the brake mechanism (85) is released as shown in FIG. 10 (a), the motor (84) is rotated to move the upper plate (72) and the lower plate (73) to the bed side. Let go forward. In this process, since the area B of the upper belt 74 is fixed to the upper plate 72 by the load of the patient 5, the D and A of the upper belt 74 are fixed as shown in FIG. The region is extended counterclockwise.

Next, as shown in FIG.
With the brake applied to the upper belt (74), the upper plate (72) and the lower plate (73) are retracted as shown in FIG. 11 (d), and the patient (5) is transferred onto the bed. In this process, the area B of the upper belt (74) moves from the upper surface to the lower surface of the upper plate (72), and the patient (5) moves onto the bed. With (74), the relative speed of each other becomes zero. Therefore, the patient (5) is smoothly transferred to the bed.

As described above, according to the transfer mechanism (7) of FIG.
Only the operation of the brake mechanism (85) causes the patient on the bed
(5) can be switched between the operation of transferring the patient (5) on the upper plate (72) to the bed and the operation of transferring the patient (5) on the upper plate (72), which is advantageous in simplifying the structure. It is.

The description of the above embodiments is for the purpose of illustrating the present invention, and should not be construed as limiting the invention described in the claims or reducing the scope thereof. Further, the configuration of each part of the present invention is not limited to the above-described embodiment, and it is needless to say that various modifications can be made within the technical scope described in the claims. For example, if the method of learning control is for the purpose of operating the transfer mechanism comfortably for the patient,
Various well-known methods can be adopted.

[Brief description of the drawings]

FIG. 1 is a block diagram illustrating a configuration of a control device of a transfer assistance device according to the present invention.

FIG. 2 is a diagram illustrating a learning control method.

FIG. 3 is a flowchart showing a control procedure.

FIG. 4 is a perspective view illustrating a configuration of a transfer assistance device.

FIG. 5 is a side view showing a modified example of the force detector.

6 is a perspective view showing a first half of a transfer operation by the transfer assistance device of FIG. 4;

FIG. 7 is a perspective view showing a latter half of the above.

FIG. 8 is a partially cutaway side view showing another configuration example of the transfer assistance device.

FIG. 9 is a series of partially cutaway side views showing an operation of transferring a patient onto a plate by the transfer assistance device of FIG. 8;

FIG. 10 is a series of partially cutaway side views showing the operation of transferring the patient on the plate onto the bed by the above-mentioned mechanism.

FIG. 11 is a partially cutaway side view showing a configuration of a conventional transfer assistance device.

[Explanation of symbols]

 (2) Transfer mechanism (28) Motor (3) Force detector (4) Control circuit (41) Learning control unit (42) Main control unit

Continuation of the front page (58) Field surveyed (Int.Cl. ⁶ , DB name) A61G 7/00 A61G 1/00 509 A61G 5/00 509

Claims (2)

(57) [Claims] 1. A transfer mechanism (2) for driving a transfer plate back and forth along an upper surface of a bed, and an operation bar to be operated by a caregiver when operating the transfer mechanism (2). A force detector (3) for detecting an operation force applied to an operation bar in a transfer assistance device for transferring a patient on a bed onto a transfer plate.
And converting the force information data f obtained from the force detector (3) into an operation command value V in accordance with the control parameter G.
And a control circuit (4) for supplying the control circuit (2) to the control circuit (4).
Sets the control parameter G of the next control cycle variably according to the magnitude and / or the time change of the force information f from the start to the end of the predetermined control cycle, and transfers the transfer mechanism (2) to the patient. A control device for a transfer assistance device characterized by being operated without difficulty. The control circuit (4) includes main control means for creating an operation command value V to be supplied to a motor (28) for driving the transfer mechanism (2). 28. The control according to claim 1, further comprising calculation means for decreasing the operation command value V according to the magnitude of the drive current value Inow when the drive current value Inow of the item 28) exceeds a predetermined limit value Ilimit. apparatus.