JP3274231B2 - 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 (7) by operating an operation mechanism (8). The transfer mechanism (7) 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 (8) has an operating lever (81) to be operated by a caregiver, and operates the operating lever (81) back and forth to switch the contact of a changeover switch (82). Then, a drive control signal for moving the transfer plate (11) of the transfer mechanism (7) forward or backward is created.

For example, when the operating lever (81) is tilted forward as shown by the arrow A in the figure, the transfer plate (11) moves forward 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 (81) 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 (81)
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 transfer assisting device that enables a caregiver who is not accustomed to operation to transfer a patient without causing discomfort to the patient.

[0008]

In the transfer assisting device according to the present invention, a master arm (10) to be operated by a caregiver (51) is provided on a transfer plate (11). Also, transfer plate
At the tip of (11), a first force detector (3) and a master arm (1
At 0), a second force detector (31) for detecting the operating force of the arm is attached. Then, the control circuit (4) includes a first force detector
Based on the first force information from (3) and the second force information from the second force detector (31), an increasing component corresponding to the size of the second force information and a size of the first force information The third force information including the reduced component is calculated, a control signal for moving the transfer plate (11) by a distance corresponding to the magnitude of the third force information is created, and the transfer mechanism (1) is generated. Supply to

The transfer plate (11) is composed of three members: a back transfer plate (22), a seat transfer plate (23), and a foot transfer plate (24) arranged in the longitudinal direction of the bed. In this case, the master arm (10) is mounted on the main transfer arm (20) on the seat transfer plate (23), and on the back transfer plate (22) and the foot transfer plate (24). And the auxiliary master arms (21) and (21). The control circuit (4)
When the three transfer plates (22), (23), (24) are advanced toward the bed (6), the first force information and the first force information for each of the transfer plates (22), (23), (24) are required. 2 Based on the force information, each transfer plate (2
2) The movement of (23) and (24) is controlled independently, and three transfer plates
(22) When retracting (23) (24), use the main master arm (2
The movement of the three transfer plates (22), (23), (24) is simultaneously controlled based on the second force information from the second force detector (31) attached to (0).

[0010]

When the transfer plate (11) is not in contact with the patient (5), the first force information from the first force detector (3) is zero. Is operated, the operation force is detected by the second force detector (31), and the transfer plate (11) moves forward or backward by a distance corresponding to the operation force based on the second force information.

When the tip of the transfer plate (11) comes into contact with the patient (5) on the bed (6) while the transfer plate (11) is moving forward, the first force detector (3) is turned on by the patient. The force acting on (5) is detected, and the control based on only the second force information up to that point is shifted to the control taking into account the first force information from the first force detector (3). As a result, the third force information increases as the operation force on the master arm (10) increases, and the third information decreases as the force acting on the patient (5) increases.

Therefore, when the acting force on the patient (5) increases, a large resistance force acts on the operation of the master arm (10), and unless the operating force is further increased, the moving speed of the transfer plate (11) is increased. And the acting force on the patient (5) is weakened.

Further, the transfer plate (11) is replaced with a back transfer plate (22), a seat transfer plate (23) and a foot transfer plate (2).
In the case of 3), these three transfer plates
(22) When the (23) and (24) are advanced toward the bed (6), the movement of each transfer plate (22), (23) and (24) is independently performed by operating each master arm. Because you can control
No excessive force acts locally on the patient (5). Of course, three transfer plates (22) carrying the patient (5)
(23) When retreating (24), the three transfer plates (22), (23), and (24) can be moved at the same time by operating only the main master arm (20). Easy.

[0014]

According to the transfer assisting device of the present invention, the increase in the force acting on the patient can be directly recognized as the operation resistance, and not only the operation force can be adjusted accordingly, but also
The movement speed of the transfer plate automatically decreases as the force acting on the patient increases, so even a beginner who is not accustomed to the operation of the caregiver can easily transfer the patient from the bed to the transfer plate It is possible to

[0015]

DESCRIPTION OF THE PREFERRED EMBODIMENTS Embodiments of the present invention will be described below in detail with reference to the drawings. As shown in FIG. 1, a lifting mechanism (9)
An installation table (92) is provided via 1), and the transfer mechanism (1) is mounted on a frame (17) on the installation table (92).

The transfer mechanism (1) includes a bed (6) as in the prior art.
And a transfer plate (11) reciprocally movable along the upper surface of the transfer plate. The transfer plate (11) is connected to a transfer plate drive motor (12) via a timing belt (16). A transfer belt (13) is wound around the transfer plate (11), and the transfer belt (13) is wound by the first winding motor (14) or the second winding motor (15). Then, the transfer plate (11) is moved back and forth by driving the transfer plate drive motor (12), and the patient (5) on the bed (6) is transferred onto the transfer plate (11).

A plurality of strain gauges (not shown) are attached to the tip of the transfer plate (11), and constitute a first force detector (3) for detecting a force receiving the patient (5). ing.
The transfer plate drive motor (12) has a transfer plate (1
A position detector (32) comprising a concoder for detecting the position of 1) is attached.

A master arm (10) to be operated by the caregiver protrudes from the transfer plate (11), and a second force comprising a strain gauge for detecting an operation force is provided at the base end of the arm. A detector (31) is attached.

The first force detector (3) and the second force detector (3)
1) is connected to a control circuit (4) composed of a microcomputer as shown in FIG. 2, and the transfer plate drive motor (12) is driven by a control signal output from the control circuit (4).

FIGS. 3 (a), 3 (b), 3 (c) and 4 (a), 4 (b) show a transfer plate (11) for transferring a patient (5) on a bed (6) using the transfer assisting device. The process of transferring above is shown. FIG. 3 (a)
In this state, when the operator puts his hand on the master arm (10) and applies an operating force to advance the transfer plate (11) toward the bed (6), the operating force is detected by the second force detector (31). Figure 2
As described above, the transfer plate drive motor (12) is driven based on the second force information A from the second force detector (31). As a result, the transfer plate (11) moves forward at a speed proportional to the second force information A.

Thereafter, as shown in FIG. 3B, the transfer plate (1)
When the tip of (1) comes into contact with the patient (5), the force acting on the patient (5) is detected by the first force detector (3), and the force from the second force detector (31) is detected as shown in FIG. Second force information A and first force detector
The transfer plate drive motor (12) is driven based on the first force information B from (3). At this time, the control circuit (4)
From the value obtained by multiplying the force information A by the proportional constant K1 (K1 × A), the value obtained by multiplying the first force information B by the proportional constant K2 (K2 ×
The third force information C is created by subtracting A),
The transfer plate driving motor (12) is instructed to transfer plate moving amount ΔP proportional to the third force information. Thereby, the moving speed of the transfer plate (11) is reduced according to the force received by the patient (5), and the acting force on the patient (5) is reduced.

FIG. 10 shows the change of the transfer plate moving amount ΔP when the value of (K1 × A) increases linearly while the value of (K2 × B) increases linearly from the middle. An example is shown. As shown in the drawing, when the second force information A from the second force detector (31) of the master arm (10) exceeds a certain value, the transfer plate (11) starts to move, and thereafter, the transfer plate ( In the period until the first force information B is generated from the first force detector (3) in (11), the transfer plate movement amount ΔP is (K1
× A) increases in proportion to the value. And the first force information B
Occurs, the transfer plate movement amount ΔP becomes (K1 × A
−K2 × B).

When a large force acts on the patient (5) in the state shown in FIG. 3 (b), a large resistance force is generated in the operation of the master arm (10), and the caregiver directly applies this force. Since the detection can be performed, the movement of the transfer plate (11) is stopped by weakening the operation force of the master arm (10).
If the resistance of the master arm (10) is small,
Since it can be determined that no excessive force is acting on (5), the operation of the master arm (10) is continued, and the transfer plate (11) is further advanced.

As a result, as shown in FIG.
1) sneaks into the back of the patient (5), and the patient (5) is transferred onto the transfer plate (11). When the transfer plate (11) reaches the final arrival position, this is detected by the position detector (32), and the transfer plate drive motor (12) stops. Therefore, even if the master arm (10) is further operated in the forward direction, the transfer plate (11) no longer moves.

Thereafter, when the master arm (10) is operated in the backward direction, the operation force is detected by the second force detector (31). At this time, since the first force information from the first force detector (3) is zero, the second force information A from the second force detector (31) is obtained.
The transfer plate drive motor (12) is driven based on only this. As a result, the transfer plate (1) with the patient (5)
In (1), the robot moves backward as shown in FIG. 4A at a speed proportional to the second force information A, and finally returns to the original position shown in FIG. 4B.

FIG. 5 shows a control procedure of the transfer plate drive motor (12) by the control circuit (4). First, it is determined in step S1 whether the transfer plate (11) can be moved. If YES, it is determined in step S2 whether a force is acting on the master arm (10). Y
In the case of ES, the absolute value A of the second force information is fetched from the second force detector (31) of the master arm (10) in step S3, and the first force of the transfer plate (11) is further processed in step S4. The absolute value B of the first force information is fetched from the detector (3).

Subsequently, in step S5, the third force information C
(= K1 × A−K2 × B), and in step S6, it is determined whether or not the third force information C exceeds zero.
In the case of ES, in step S7, the transfer plate moving amount ΔP proportional to the third force information C is set to the transfer plate drive motor.
Command to (12).

Thereafter, returning to step S1, it is determined whether or not the transfer plate (11) can be moved.
When 1) reaches the final arrival position and is determined as NO, the procedure ends.

According to the transfer assistance device, the caregiver (51)
Can directly recognize the force acting on the patient (5) as the operation resistance of the master arm (10),
Since the moving speed of the transfer plate (11) decreases according to the acting force on (5), the transfer can be performed without giving the patient (5) an uncomfortable feeling.

FIGS. 6 to 9 show three transfer plates, a back transfer plate (22), a seat transfer plate (23), and a foot transfer plate (24) arranged in the longitudinal direction of the bed (6). )
The transfer mechanism (2) for supporting the patient (5) is shown.

As shown in FIG. 6, a bed is placed on the mounting table (92).
Three frames (25), (26), (27) are arranged in the longitudinal direction of (6), and three transfer plates (22), (23), (24) are provided on each frame so as to be able to reciprocate, Transfer plate drive motor respectively
(Not shown).

Two main master arms (20) (20) are attached to the center seat transfer plate (23), and the back transfer plate (22) and the foot transfer plate (24) on both sides. Each one
A book auxiliary master arm (21) is attached. A second force detector (31) similar to the above is attached to the base end of each master arm (20) (21). Also, each transfer plate
(22) At the tip of (23) and (24), the same first force detector as described above
(3) is attached.

Each of the force detectors (3) and (31) is connected to a control circuit (4) as in FIG. 2, and the control circuit (4) independently controls three transfer plate drive motors.

FIGS. 7 (a), (b) and 8 (a), (b) show that the patient (5) on the bed (6) is transferred onto the transfer plate (11) using the transfer assisting device. It shows the loading process. First, FIG.
By operating the auxiliary master arm (21) on the back transfer plate (22) as shown in (a), the back transfer plate (22) is sunk under the head and back of the patient (5). Control circuit in this case
The control operation of (4) is the same as that of FIG.

Next, as shown in FIG. 7 (b), the foot transfer plate (24)
By operating the upper auxiliary master arm (21), the foot transfer plate (24) is sunk under the foot of the patient (5). The control operation of the control circuit (4) at this time is the same as that of FIG.

Thereafter, as shown in FIG.
(23) Operate the upper master arm (20) to lower the seat transfer plate (23) under the waist and buttocks of the patient (5). The control operation of the control circuit (4) at this time is the same as that of FIG. Thus, the body of the patient (5) has three transfer plates
(22) (23) (24) will be completely transferred.

Finally, only the main master arm (20) on the seat transfer plate (23) is operated as shown in FIG.
The three transfer plates (22), (23) and (24) are simultaneously moved backward.

FIG. 9 shows a control procedure of the control circuit (4) for realizing the above series of operations. First, the forward movement control of the back transfer plate (22) in step S8, the forward movement control of the foot transfer plate (24) in step S9, and the movement of the seat transfer plate (23) in step S10. The forward movement control is executed in the same manner as in FIG.

Thereafter, the three transfer plates (22), (23) and (24)
In step S11 of FIG. 9, it is determined whether or not the three transfer plates (22), (23), and (24) have completely returned to the installation table. In S12, it is determined whether an operating force is acting on the main master arm (20) on the seat transfer plate (23). In the case of YES, in step S13, the transfer plate moving amount ΔP corresponding to the operation force is instructed to each transfer plate drive motor, and 3
The transfer plates (22), (23), (24) are simultaneously moved backward.

Thereafter, returning to step S11, when it is determined that the three transfer plates have completely returned to the installation table, the procedure is terminated. As a result, the transfer of the patient (5) is completed as shown in FIG.

As described above, the three transfer plates (22), (23), (2)
According to the transfer assisting device provided with 4), during forward drive, each transfer plate can be controlled independently, so that the local force acting on the patient (5) is reduced as much as possible. It is possible to Further, at the time of the backward drive, since the three transfer plates (22), (23), and (24) can be simultaneously moved by operating only the main master arm, there is no need to separately move each transfer plate. .

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.

[Brief description of the drawings]

FIG. 1 is a partially broken front view showing a configuration of a transfer assistance device.

FIG. 2 is a block diagram showing a control system of a transfer plate drive motor.

FIG. 3 is a series of partially cutaway front views showing a process of transferring a patient onto a transfer plate.

FIG. 4 is a series of partially broken front views showing a process of returning a transfer plate on which a patient is mounted to an original position.

FIG. 5 is a flowchart showing a transfer control procedure by the control circuit.

FIG. 6 is a perspective view showing a transfer assistance device including three transfer plates.

FIG. 7 is a series of perspective views showing a process of moving a back transfer plate and a foot transfer plate forward.

FIG. 8 is a perspective view showing a process in which three transfer plates are moved backward after the seat transfer plate is moved forward.

FIG. 9 is a flowchart illustrating a transfer control procedure of a control circuit in the transfer assistance device of FIG. 6;

FIG. 10 is an explanatory diagram showing a relationship between two pieces of force information and a transfer plate moving amount.

FIG. 11 is a cross-sectional view showing a conventional transfer assistance device.

[Explanation of symbols]

 (1) Transfer mechanism (11) Transfer plate (12) Transfer plate drive motor (3) First force detector (31) Second force detector (4) Control circuit (5) Patient (51) Caregiver (6) Bed

Continuation of the front page (56) References JP-A-1-230357 (JP, A) JP-A-61-2519 (JP, U) JP-B-3-65984 (JP, B2) JP-B-3-30372 (JP) , B2) Jiko 3-983 (JP, Y2) (58) Fields surveyed (Int. Cl. ⁷ , DB name) A61G 1/00-7/16

Claims (2)

(57) [Claims] A patient on a bed (6) comprising a transfer plate (11) reciprocally driven back and forth along the upper surface of the bed (6).
(5) A transfer assisting device for transferring the transfer plate (11) onto the transfer plate (11), wherein the transfer mechanism (1) for driving the transfer plate (11) back and forth, and mounted on the transfer plate (11). , Transfer plate (11)
Arm to be operated by a caregiver (51) in order to move the master arm (51) back and forth, a first force detector (3) attached to the tip of a transfer plate (11), and a master arm (10). ), A second force detector (31) for detecting an operation force acting on the first force information from the first force detector (3), and a second force detector (31).
The third force information including an increasing component corresponding to the magnitude of the second force information and a decreasing component corresponding to the magnitude of the first force information is calculated based on the second force information from ) To the third
A control circuit (4) for generating a control signal for moving by a distance corresponding to the magnitude of the force information and supplying the control signal to the transfer mechanism (1)
A transfer assistance device, comprising: 2. The transfer plate (11) is composed of a back transfer plate (22), a seat transfer plate (23), and a foot transfer plate (24) arranged in the longitudinal direction of the bed. The master arm (10) is composed of the main master arm (20) on the seat transfer plate (23), the back transfer plate (22) and the foot transfer plate.
(24) is composed of an auxiliary master arm (21) and (21),
When the control circuit (4) advances the three transfer plates (22), (23), and (24) toward the bed (6), the control circuit (4) controls each transfer plate.
(22) Based on the first force information and the second force information for each of (23) and (24),
The movement of each transfer plate (22) (23) (24) is controlled independently,
When the transfer plates (22), (23), and (24) are retracted, the second force detector (31) attached to the main master arm (20) is used.
3 transfer plates (22) based on the second force information from
(23) The transfer assistance device according to claim 1, wherein the movement of (24) is simultaneously controlled.