WO2018163307A1

WO2018163307A1 - Assistance device

Info

Publication number: WO2018163307A1
Application number: PCT/JP2017/009096
Authority: WO
Inventors: 丈弘平岡; 一成大野; 丈二五十棲
Original assignee: 株式会社Ｆｕｊｉ
Priority date: 2017-03-07
Filing date: 2017-03-07
Publication date: 2018-09-13
Also published as: JP6767563B2; CN110381908A; JPWO2018163307A1; SG11201908142YA; EP3593779A1; AU2017402430A1; AU2017402430B2; EP3593779B1; CN110381908B; EP3593779A4

Abstract

This assistance device is provided with an input device for receiving execution instructions for assistance-related operations from an operator and a control unit that controls an actuator on the basis of the execution instructions received by the input device. The control unit sets an alarm stop state in which the actuator is stopped when an alarm factor occurs, cancels the alarm stop state when the alarm factor is resolved and input of an execution instruction for an assistance-related operation is received by the input device while in the alarm stop state, and maintains the alarm stop state when the alarm factor is not resolved and input of an execution instruction for an assistance-related operation is received by the input device while in the alarm stop state.

Description

Assistance device

This specification relates to assistance devices.

There are various known assistance devices for assisting the transfer of the person being assisted. One type of assistance device supports the upper body of the person being assisted and assists the person being assisted from the sitting posture to the posture at the time of transfer with the buttocks raised from the seating surface.

Patent Document 1 describes an assistance device including a support portion that supports a forearm portion of a person being assisted. The assisting device includes a base, a lifting part provided on the base so as to be movable up and down, and a support part provided on the lifting part so as to be swingable around a first axis. In this assistance device, the first actuator moves the lifting unit up and down relative to the base, and the second actuator swings the support unit relative to the lifting unit. When the person being assisted is erected, the start of the erection operation is prohibited if the position of the center of gravity is outside the predetermined range at the start of erection.

Further, Patent Document 2 describes an assistance device that can swing forward a support portion that supports the upper body of the person being assisted by one linear motion actuator. In Patent Document 3, an assistance provided with a carriage part, a frame provided on the carriage part so as to be swingable around a first axis, and a support part provided on the frame so as to be swingable around a second axis. An apparatus is described. In this assistance device, the first linear motion actuator swings the frame with respect to the carriage portion, and the second linear motion actuator swings the support portion with respect to the frame.

Patent Document 4 describes an assistance device that includes a carriage part, a frame that is swingable with respect to the carriage part, and a support part that is slidably provided on the frame. In this assistance device, the first linear actuator causes the frame to swing with respect to the carriage, and the second linear actuator causes the support to slide with respect to the frame.

Patent Document 5 discloses a cart unit, a lower leg frame swingably provided on the cart unit, an upper body frame swingably provided on the lower leg frame, and a support provided slidably on the upper body frame. An assistance device comprising a unit is described. In this assistance device, the first linear motion actuator swings the crus frame with respect to the carriage part, and the second linear motion actuator swings and slides the support part with respect to the crus frame. Here, the drive of the second linear actuator causes the support portion to slide relative to the lower leg frame at the same time as it swings.

International Publication No. 2015/145756 JP 2016-165313 A Japanese Patent Laid-Open No. 2017-23298 JP 2017-23299 A Japanese Patent Laid-Open No. 2017-23300

As described in Patent Document 1, for example, when the person being assisted is not on the support unit in an appropriate posture, the operation of the assistance device stops assuming that the position of the center of gravity is outside the predetermined range at the start of standing. In addition to this, the assistance device enters an alarm stop state due to various alarm factors. For example, alarm factors include actuator failure, sensor failure, disconnection, control device abnormality, communication abnormality, abnormal operation detection, power supply voltage shortage, and the like.

For example, if the alarm factor is that the person being assisted is not on the support unit in an appropriate posture, the alarm factor is resolved if the posture of the person being assisted is in an appropriate posture. Even when the alarm factor is a communication abnormality, if it is a temporary abnormality, it is usually recovered immediately. When the power supply voltage becomes insufficient due to insufficient charging of the alarm factor, the alarm factor is recovered by charging. On the other hand, when the cause of alarm is a component failure or disconnection, recovery is not easy.

In this way, there are those that are easy to recover and those that are not easy depending on the cause of the alarm. Once the assistance device enters the alarm stop state, regardless of the cause of the alarm, the assistant performs an operation for canceling the alarm stop state, such as first turning on the power again and pressing the reset button. If the alarm stop state is not canceled by this operation, the engineer of the manufacturer is requested to repair.

However, as described above, even if it is an alarm factor that is easy to recover, in order for the assistant to perform the operation for canceling the alarm stop state as described above, the assistant must stop the assistance operation once, It is necessary to move to a position away from the assistance device. If the cause of alarm is that the caregiver's posture is not appropriate, the alarm stop state can be achieved by simply bringing the caregiver's posture to an appropriate posture without performing the complicated release operation as described above. Is desired to be released.

This specification aims to provide an assistance device that is very easy to operate for canceling the alarm stop state.

The present specification is an assistance device that assists the transfer of a person being assisted, an actuator that performs an assistance operation, an input device that receives an instruction to perform assistance-related operations from an operator, and the input device that the input device has received Disclosed is an assistance device that includes a control unit that controls the actuator based on the execution instruction of assistance-related operations.

The control unit sets an alarm stop state to stop the actuator when an alarm factor occurs, and the alarm factor when the input device receives the execution instruction input of the assistance-related operation in the alarm stop state. When the alarm has been resolved, the alarm stop state is canceled, and the alarm factor is not resolved when the input device receives the execution instruction for the assistance-related operation in the alarm stopped state. In this case, the alarm stop state is maintained.

When the input device accepts an input of execution instruction for assistance related operations in the alarm stop state, if the alarm factor has already been resolved, the control unit cancels the alarm stop state. For example, when an alarm factor that can be easily resolved occurs, the operator can cancel the alarm stop state by operating an input device for operating an instruction related to assistance-related operation. The assistant can cause the assistance device to continuously perform the assistance-related operation again.

On the other hand, when the input device accepts the input of the execution instruction of the assistance related operation in the alarm stop state, the control unit maintains the alarm stop state if the cause of the alarm has not been resolved. That is, when an alarm factor that cannot be easily resolved occurs, the operator cannot cancel the alarm stop state even if the operator operates the input device.

Here, the input device is a device used when an instruction to perform assistance related operations of the assistance device is issued. Therefore, the operator does not perform a special operation for releasing the alarm stop state. Therefore, when an alarm factor that can be easily resolved occurs, the operator can perform an operation for releasing the alarm stop state very easily, and the operability is improved.

It is the perspective view which looked at the assistance apparatus from diagonally backward. It is a side view which shows the assistance apparatus which supports the care receiver in the sitting posture. It is a side view which shows the assistance apparatus which supports the care receiver in the intermediate posture of a sitting posture and the posture at the time of transfer. It is a side view which shows the assistance apparatus which supports the care receiver in the attitude | position at the time of transfer. It is a flowchart which shows the control processing by a control part. It is a flowchart which shows the cancellation process of the alarm stop state in the control processing by a control part.

1. Outline of the assistance device 1 The assistance device 1 assists the transfer of the person M to be assisted. For example, the assistance device 1 is used for assistance of transfer between two different places such as transfer between a bed and a wheelchair, transfer between a wheelchair and a toilet seat. Moreover, the assistance apparatus 1 is applied also when two places to transfer are located far away, and can also move to a target position in the state which supported the person M to be assisted.

The assistance device 1 supports a part of the body of the person being assisted, for example, the upper body, and assists the person who is moving the person M from the sitting posture to the posture at the time of transfer, or from the posture at the time of transfer to the sitting posture. I do. Here, the posture at the time of transfer is a posture in a state where the buttocks floats from the seating surface, and includes a standing posture and a middle waist posture. That is, the transfer posture includes a state in which the upper body stands up and a state of leaning forward.

2. Configuration of Assistance Device 1 The configuration of the assistance device 1 will be described with reference to FIGS. 1 and 2. The assistance device 1 performs an assistance operation by raising and lowering the support portion 60 that supports a part of the upper half of the person being assisted M and swinging it in the front-rear direction.

The assistance device 1 includes a base 10 as shown in FIG. The base 10 is a member located at the lowest part in the assistance device 1. The base 10 includes a frame 11, a foot placing base 12, six wheels 16 to 18, and the like. The frame 11 is provided substantially horizontally near the floor surface F. The footrest 12 is fixed to the rear of the upper surface of the frame 11 and is provided almost horizontally. On the upper surface of the foot mounting table 12, a foot-shaped mark 12a for guiding a position where the person being assisted puts his / her foot is written.

The lower side of the frame 11 is provided with three wheels 16 to 18 on the left and right. Each of the wheels 16 to 18 has a steering function for changing the moving direction. The foremost wheel 16 has a lock function for restricting movement. The assisting device 1 can perform lateral movement and super-reciprocal turning as well as rectilinear movement and turning in the front-rear direction by the turning function of the six wheels 16 to 18.

The assistance device 1 further includes a column portion 20 erected from the base 10. The column portion 20 is provided to extend vertically upward (antigravity direction) from the center in the left-right direction near the front of the frame 11. In the present embodiment, the column portion 20 is provided so as to extend upward in the vertical direction, but may be provided so as to extend in a direction slightly inclined forward or rearward from the vertical direction. The column part 20 has a mechanism which raises / lowers the upper end side. Moreover, in this embodiment, although the assistance apparatus 1 is provided with the one pillar part 20, you may make it provide the several pillar part 20. FIG.

The pillar part 20 includes a pillar body part 21 erected on the frame 11. The column main body 21 is fixed to the frame 11 in a state of extending upward from the center in the left-right direction near the front of the frame 11 of the base 10. Furthermore, the pillar part 20 is provided with the raising / lowering part 22 supported by the pillar main-body part 21 so that reciprocation is possible in the direction where the pillar main-body part 21 is extended. That is, the elevating part 22 reciprocates in the vertical direction (gravity direction and antigravity direction) with respect to the base 10 and the column main body part 21. The elevating part 22 is formed in a long shape that is long in the vertical direction. The elevating part 22 is located on the rear side of the column main body part 21.

The assistance device 1 further includes a crus pad 30. The crus pad part 30 is fixed to a fixed part (part fixed to the frame 11) of the column part 20 by a pair of left and

right support arms

31, 31 having an L shape. The lower thigh pad portion 30 is provided slightly above the front side of the mark 12a. The main body of the lower thigh pad portion 30 is a cushion material that is disposed over the upright portions of the left and right support arms 31 and extends in the left-right direction. The lower leg support part 30 is a part where the lower leg of the person being assisted M contacts. The arrangement height of the crus pad part 30 can be adjusted.

The assistance device 1 further includes a swing arm 40 provided near the upper end of the elevating unit 22 and supported so as to be swingable about a horizontal axis in the left-right direction. When the assistance device 1 performs assistance from the sitting posture to the posture at the time of transfer, the rear end of the swing arm 40 turns forward. On the other hand, when the assistance device 1 performs assistance from the transfer posture to the sitting posture, the rear end of the swing arm 40 turns backward.

The assistance device 1 includes a first handle 50 fixed to the rear end of the swing arm 40 (the end of the portion extending rearward from the swing center of the swing arm 40). The first handle 50 is formed in a substantially rectangular frame shape. The first handle 50 is formed to extend in the front upward direction from the vicinity of the rear end of the swing arm 40. A side portion of the first handle 50 is used as a portion that is gripped by both hands of the person being assisted. Furthermore, the side part and the front part of the first handle 50 are used as a part to be gripped in order to move the assistance device 1 by an assistant.

The assistance device 1 further includes a support portion 60 that supports a part of the upper body of the person being assisted. The support portion 60 is supported by the swing arm 40 and supports a part of the upper half of the person being assisted M. The support portion 60 swings in the front-rear direction with respect to the column portion 20 when the swing arm 40 swings with respect to the column portion 20.

The support part 60 includes a body support part 61, a pair of

side support parts

62, 62, a second handle 63, and the like. The trunk support portion 61 is formed in a surface shape close to the trunk shape of the person being assisted M, and can be flexibly deformed. The support surface of the torso support portion 61 supports the torso by making surface contact with the front surface of the torso among the upper body of the person being assisted. In more detail, the support surface of the trunk | drum support part 61 supports the range ranging from the chest to the abdomen in the care receiver M from below. Further, the body support portion 61 is attached to the swing arm 40.

Furthermore, the body support portion 61 is supported so as to be freely tiltable in the front-rear direction with respect to the swing arm 40. Specifically, the torso support portion 61 is configured to be freely tiltable within a predetermined angle range clockwise when the assisting device 1 is viewed from the right in the state shown in FIG. The above-mentioned “free tilt” means not tilt driven by an actuator or the like but tilt capable of being moved manually.

The pair of

side support parts

62 and 62 are supported by the body support part 61 and support the side of the person being assisted M. Specifically, the pair of

side support parts

62, 62 are provided on the left and right sides of the body support part 61. The side support part 62 is supported by the body support part 61 so as to be swingable. The side support part 62 is formed in an L shape by a rod-shaped member. The surface of the side support part 62 is covered with a material that can be flexibly deformed. The second handle 63 is integrally provided on the front surface of the body support portion 61. The second handle 63 is formed in a horizontally long U shape. The second handle 63 includes a base shaft portion that is fixed to the lower portion of the body support portion 61 and extends in the left-right direction, and a grip portion that extends from both ends of the base shaft portion toward the first handle 50 side.

The assistance device 1 further includes a plurality of

actuators

71 and 72 for driving the support unit 60, as shown in FIG. Specifically, the assistance device 1 includes a lift actuator 71 and a swing actuator 72. The lift actuator 71 and the swing actuator 72 are arranged in the column portion 20. The elevating actuator 71 is constituted by a linear actuator, for example, and elevates the elevating part 22 with respect to the column main body part 21. As the elevating actuator 71, for example, a screw mechanism, a rack and pinion mechanism, a cylinder mechanism, or the like is applied.

The swing actuator 72 is constituted by, for example, a rotary actuator, and swings the swing arm 40 with respect to the elevating unit 22. The oscillating actuator 72 may be composed of a linear actuator and a power conversion mechanism that converts the linear motion into rotation. Accordingly, the elevating actuator 71 and the swing actuator 72 change the height of the support portion 60 and the posture (tilt) of the support portion 60 in the front-rear direction. Here, the elevating actuator 71 and the swinging actuator 72 can perform independent operations, and can also perform coordinated operations.

The assistance device 1 further includes an input device 80 that performs an operation for assistance by an operator such as an assistant. The input device 80 is a wired or wireless remote controller. The input device 80 is a device that receives an instruction to perform assistance-related operations from an operator. The instruction to execute the assistance-related operation includes an instruction in the assistance mode for performing the assistance operation and an instruction in the height adjustment mode for performing the height adjustment operation as preparation for the assistance operation.

Therefore, the input device 80 includes an adjustment up button and an adjustment down button as height adjustment modes. In the height adjustment mode, only the lifting actuator 71 operates independently. Further, the input device 80 includes an assistance up button and an assistance down button as assistance modes. In the assistance mode, the lift actuator 71 and the swing actuator 72 operate in cooperation.

The assistance device 1 further includes a control unit 90. The control unit 90 is provided at the front right side on the upper surface of the frame 11. The control unit 90 includes a control unit 91 that controls the lift actuator 71 and the swing actuator 72. As the assistance-related operation mode, the control unit 91 performs an assistance operation on the person to be assisted M by cooperative control of the plurality of

actuators

71 and 72, and performs an assistance operation by controlling at least one of the plurality of

actuators

71 and 72. As a preparation, a height adjustment mode for performing a height adjustment operation of the support portion 60 is provided.

The control unit 91 controls the elevating actuator 71 and the swinging actuator 72 based on the execution instruction of the assistance related operation input from the operator by the input device 80. The input execution instruction includes an adjustment ascending instruction and an adjustment descending instruction as the height adjustment mode, and an assisting ascending instruction and an assisting descending instruction as the assistance mode.

Here, the control unit 91 sets an alarm stop state when an alarm factor occurs in the assistance device 1. That is, when an alarm factor occurs while the assistance device 1 is operating in the height adjustment mode or the assistance mode, the control unit 91 stops the

actuators

71 and 72 as an alarm stop state.

The control unit 91 can use a computer device that operates with software. As software, an operation program corresponding to the adjustment up instruction, the adjustment down instruction, the assistance up instruction, and the assistance down instruction is stored. Further, a battery power source having a symbol that can be repeatedly charged and discharged is attached below the control unit 91. The battery power supply is also attached to the front left side of the upper surface of the frame 11. The battery power source is shared by the lift actuator 71 and the swing actuator 72.

Further, the control unit 90 includes a display device 92 on the upper surface. When an alarm factor occurs in the assistance device 1 and the assistance device 1 enters an alarm stop state, the display device 92 displays the alarm factor. The displayed alarm factor may be the name of the alarm factor or a symbol associated with the alarm factor. Furthermore, the display device 92 displays whether or not the generated alarm factor is a factor that allows the control unit 91 to continue control. The classification of alarm factors that can be continuously controlled by the control unit 91 and alarm factors that cannot be continuously controlled will be described later.

Further, the assistance device 1 further includes a detector 100 (shown in FIG. 2) that detects whether or not the rider's boarding posture is an abnormal posture. The detector 100 is provided, for example, in the vicinity of the trunk support section 61 of the support section 60, detects a load applied to the trunk support section 61, and determines an abnormal posture based on the detection result. Further, when the lift actuator 71 and the swing actuator 72 have a motor, the detector 100 detects a drive current supplied to the motor, detects a load applied to the body support portion 61 based on the drive current, It is also possible to determine an abnormal posture based on the detection result.

3. Operation by Assistance Device 1 Next, the operation by the assistance device 1 will be described with reference to FIGS. In the following, as an example of the operation of the assistance device 1, a case where the buttock of the person being assisted in the sitting position is raised and the person being assisted in the transfer position is taken as an example. The assistance operation from the posture at the time of transfer to the sitting posture for the person being assisted is the reverse operation of the assistance operation from the posture at the time of transfer to the posture at the time of transfer.

As shown in FIG. 2, the assistant holds the first handle 50 or the second handle 63 of the assistance apparatus 1 and brings the assistance apparatus 1 closer to the person M who is in the sitting position. The caregiver causes the lower half of the person being assisted M to enter the area above the base 10 and below the support portion 60. The assistant places the person M's feet on the mark 12 a of the footrest 12. A part of the lower leg of the person being assisted M comes into contact with the lower leg pad 30 so that the entire lower leg of the person being assisted M becomes stable.

At this time, the assistant checks whether or not the height of the support portion 60 is appropriate. When the height of the support portion 60 is not appropriate, the assistant operates the adjustment up button or the adjustment down button of the input device 80 to adjust the height of the support portion 60 to the person being assisted M. adjust. When the input device 80 receives the adjustment ascending instruction or the adjustment descent instruction, the control unit 91 controls the

actuators

71 and 72 as the height adjustment mode. That is, the control unit 91 executes the height adjustment mode in which the height adjustment operation of the support unit 60 is performed as preparation for the assistance operation. The control unit 91 changes the height of the support unit 60 while maintaining the posture (tilt) of the support unit 60 by operating only the lifting actuator 71 alone in the height adjustment mode. In the height adjustment mode, the swing actuator 72 does not operate.

Subsequently, after adjusting the height of the support portion 60, the assistant brings the body of the person being assisted M into contact with the body support portion 61 and places the side of the person being assisted on the

side support portions

62 and 62. Let me put it. The posture of the person being assisted at this time is the sitting posture at which assistance is started. In the sitting posture, as shown in FIG. 2, the buttocks are in contact with the seating surface, and the trunk is slightly tilted forward.

Subsequently, the assistant operates the assistance ascending button of the input device 80 to start the assistance operation from the sitting position to the posture at the time of transfer for the person being assisted. When the input device 80 receives the assistance ascending instruction, the control unit 91 controls the elevation actuator 71 and the swing actuator 72 as the assistance elevation mode. The control unit 91 performs cooperative control on both the lift actuator 71 and the swing actuator 72 in the assistance lift mode. That is, in the assistance ascending mode, the swing actuator 72 swings forward while the lift actuator 71 moves up and down.

Specifically, when the assistance raising mode is started, as shown in FIG. 3, the control unit 91 controls the lifting actuator 71 so as to lower the lifting unit 22 from the initial state, and the swing arm from the initial state. The swing actuator 72 is controlled to swing 40 forward. Thereby, the support part 60 will be in the state which inclined greatly forward, moving below from an initial state. That is, the upper body tilts greatly forward while maintaining the state where the buttocks of the person being assisted M is in contact with the seating surface.

Subsequently, when the assistance raising mode is continued, as shown in FIG. 4, the control unit 91 swings the swing arm 40 forward while controlling the lift actuator 71 to lift the lift unit 22. Thus, the swing actuator 72 is controlled. Thereby, the support part 60 will be in the state inclined further largely, moving upwards. That is, the buttocks of the person being assisted M are separated from the seating surface, the legs are extended, and the upper body is further tilted forward. In this way, the person being assisted M is in the transfer posture.

When the assistant operates the assistance lowering button of the input device 80, the input device 80 accepts the assistance lowering instruction, and the control unit 91 uses the elevation actuator 71 and the swing actuator 72 to perform the assistance lowering mode. Control as. In the assistance lowering mode, the control unit 91 performs coordinated control on both the lift actuator 71 and the swing actuator 72. That is, in the assistance lowering mode, the swing actuator 72 swings backward while the lift actuator 71 moves up and down.

4). Alarm factor The assistance device 1 enters an alarm stop state due to various alarm factors. The alarm factor is a factor that causes the control by the control unit 91 to be reset, such as a factor that can be eliminated by repair by a manufacturer engineer and a factor that can be eliminated by turning the power off once. There is. In addition, the alarm 91 includes factors that can be automatically resolved by the assistance device 1 itself due to a temporary malfunction of the assistance device 1, factors that are caused by the posture of the person being assisted M, and the like. There is a factor that does not reset the control. That is, the alarm factor is classified into a factor that cannot be continuously controlled by the control unit 91 and a factor that can be continuously controlled by the control unit 91.

Alarm factors that need repair by engineers include

actuators

71 and 72 failure, sensor failure, wire breakage, controller 91 abnormality, power supply voltage shortage, and aging of each component. These factors cannot be recovered by the assistance device 1 itself and the operator. In addition, the failure of the

actuators

71 and 72, the abnormality of the control unit 91, and the like may be resolved once the power is turned off.

Further, among the factors that can be continuously controlled by the control unit 91, the alarm factors that can be automatically resolved by the assistance device 1 itself include a temporary communication abnormality. A temporary communication error may be recovered immediately. In addition, for example, when the person M having a large weight gets into the support unit 60 of the assistance device 1 in an inappropriate posture, the lifting unit 22 may not operate even if the lifting actuator 71 is driven. In such a case, the difference between the command position for the lift actuator 71 and the current position of the lift actuator 71 detected by the detector increases. When the difference between the command position and the current position is equal to or greater than a predetermined value, the assistance device 1 enters an alarm stop state as an alarm factor. In this phenomenon, since the load applied to the lift actuator 71 can be reduced by making the rider's M boarding posture appropriate, the above-mentioned alarm factor is eliminated.

In addition, when the elevating actuator 71 and the swinging actuator 72 are not driven, an external force may act on the support unit 60 and the support unit 60 or the elevating unit 22 may fluctuate. In this case, the assisting device 1 may be in an alarm stop state due to an alarm factor that the control limit of the elevating actuator 71 is exceeded. In this case as well, the alarm factor has been eliminated if no external force is applied. As described above, alarm factors due to the posture of the person being assisted M or the occurrence of an external force can be easily eliminated.

Further, when the abnormal posture of the person being assisted is detected by the detector 100, the assistance device 1 enters an alarm stop state using the abnormal posture detected by the detector as an alarm factor. In this case, the alarm factor is eliminated by the posture of the person being assisted M becoming appropriate.

5). Control Processing by Control Unit 91 Next, control processing related to an alarm factor by the control unit 91 will be described with reference to FIGS. The controller 91 determines whether or not an alarm factor has occurred (S1). If no alarm factor has occurred (S1: N), the control unit 91 confirms the input of an instruction to perform assistance-related operations by the input device 80 (S1: N). S2). If there is no input of execution instruction of assistance related operation in the input device 80 (S2: N), the control unit 91 repeats the processing from step S1.

On the other hand, if an input of execution instruction for assistance-related operation is input to the input device 80 (S2: Y), the control unit 91 performs control according to the execution instruction for assistance-related operation (S3). That is, when the assistant presses the assistance raising button, the input device 80 receives an assistance raising instruction, so the control unit 91 controls the

actuators

71 and 72 in the assistance raising mode. The control unit 91 performs corresponding control if there is an input of a descending instruction for assistance, an ascending instruction for adjustment, and a descending instruction for adjustment as an instruction to execute assistance-related operations.

Subsequently, the control unit 91 determines whether or not the input of the execution instruction for the assistance-related operation is stopped (S4). That is, it is determined whether or not the assistant has released the hand from the button of the input device 80 (S4). If the assistant continues to press the button of the input device 80 (S4: Y), the controller 91 repeats the process from step S1. On the other hand, if the input of the execution instruction of the assistance related operation is stopped (S4: N), the control unit 91 stops the corresponding assistance related operation (S5), and repeats the processing from S1. That is, while the assistant is pressing the button of the input device 80, the corresponding assistance-related operation is executed, and when the assistant releases the button, the assistance-related operation that has been executed is stopped.

Next, when an alarm factor occurs in step S1 (S1: Y), the assistance device 1 immediately enters an alarm stop state (S11). The alarm stop state is caused by all alarm factors. Subsequently, the control unit 91 displays an alarm factor on the display device 92 (S12). The control unit 91 determines whether or not the generated alarm factor is a factor that can be continuously controlled by the control unit 91 (S13). If it is a factor that allows continuous control (S13: Y), the display device 92 displays that continuous control is possible (S14).

On the other hand, when the generated alarm factor is a factor incapable of continuous control by the control unit 91 (S13: N), the control unit 91 does not cause the display device 92 to display that continuous control is possible. When the generated alarm factor is a factor that cannot be continuously controlled (S13: N), the control unit 91 may display on the display device 92 that the continuous control is impossible.

Subsequently, the control unit 91 executes an alarm stop state release process (S15). The canceling process of the alarm stop state is executed without turning off the power of the assistance device 1 after the assistance device 1 enters the alarm stop state. The alarm stop state cancellation process will be described with reference to FIG. The control unit 91 confirms the input of the execution instruction for the assistance-related operation by the input device 80 (S21). The instruction to execute the assistance-related operation here may be any of an adjustment ascending instruction, an adjustment descending instruction, an assisting ascending instruction, and an assisting descending instruction. In other words, the assistance-related operation execution instruction operated here is not an instruction for executing the assistance-related action by the assistance device 1 but an operation aimed at releasing the alarm stop state.

If there is no execution instruction input (S21: N), the control unit 91 ends the release process. On the other hand, if an execution instruction is input (S21: Y), that is, if an operator such as an assistant presses any button of the input device 80, the control unit 91 determines that an alarm factor is present at that time. It is determined whether or not it has been resolved (S22).

For example, when the alarm factor is a temporary communication error, the alarm factor may be eliminated before the assistance device 1 temporarily enters the alarm stop state and inputs an instruction to execute the assistance-related operation. is there. Further, in the case of an alarm factor that the difference between the command position of the lifting / lowering actuator 71 and the current position exceeds a predetermined value when the posture of the person being assisted is not appropriate, the assistance device 1 is temporarily stopped. The alarm factor is eliminated. Further, the alarm factor that the posture of the person being assisted M detected by the detector 100 is an abnormal posture is that the assistance device 1 once stops and the person to be assisted by M is in an appropriate posture. Eliminate. Further, even when the elevating actuator 71 or the swinging actuator 72 exceeds the control limit due to an external force, the assisting device 1 is temporarily stopped, so that the alarm factor is eliminated. On the other hand, alarm factors such as failure of the

actuators

71 and 72 are not eliminated during the above operation.

Therefore, if the alarm factor has not been resolved at the time of the determination (S22: N), the control unit 91 ends the canceling process. On the other hand, if the alarm factor has been eliminated at the time of the determination (S22: Y), the control unit 91 cancels the alarm stop state (S23). That is, when an alarm factor that can be continuously controlled by the control unit 91 occurs, the operator simply releases the assistance-related operation execution instruction to cancel the alarm stop state.

Subsequently, even if the release process in S15 of FIG. 5 is executed, if the alarm stop state is not released (S16: N), the control unit 91 continues to execute the release process (S16: N). S15). On the other hand, when the alarm factor is eliminated in the release processing (S16: Y), the control unit 91 hides the alarm factor displayed on the display device 92 (S17).

Subsequently, the control unit 91 determines whether or not there is a re-input of an execution instruction for assistance related operations in the input device 80 (S18). The re-input of the execution instruction means that the execution instruction for the assistance related operation is input to the input device 80 again. In order to cancel the alarm stop state, an instruction to execute an assistance-related operation should be input for the purpose of releasing the alarm stop state in S21 of FIG. If an instruction to execute assistance-related operations for the purpose of releasing the alarm stop state continues to be input, it is determined in S18 of FIG. 5 that there is no re-input of the instruction to execute assistance-related operations. In other words, after the alarm stop state is released, the input of the instruction related to assistance-related operation for the purpose of releasing the alarm stop state is temporarily stopped, and then the execution instruction of assistance-related operation is input again. It is determined that the execution instruction has been re-input.

If it is determined that the execution instruction is re-input, the control unit 91 performs control according to the re-input assistance-related operation execution instruction (S3). Thereafter, the control unit 91 performs the processing after step S4.

As described above, when the input device 80 receives an input of an execution instruction for assistance-related operation in the alarm stop state, if the alarm factor has already been resolved, the control unit 91 cancels the alarm stop state. When an alarm factor that can be easily eliminated and that can be continuously controlled by the control unit 91 occurs, an operator such as an assistant uses an input device 80 for operating an instruction to execute assistance-related operations. If operated, the alarm stop state can be canceled. Then, the assistant can cause the assistance device 1 to continue the assistance-related operation again without turning off the power of the assistance device 1.

The input device 80 is a device used when an instruction to perform assistance related operations of the assistance device 1 is issued. Therefore, the operator does not perform a special operation for releasing the alarm stop state. Therefore, when an alarm factor that can be continuously controlled by the control unit 91 is generated, the operator can very easily perform an operation for canceling the alarm stop state, and the operability is improved.

For example, when the posture of the person being assisted M is not appropriate, it is assumed that the alarm stopped state is caused by an alarm factor in which the difference between the command position of the

actuators

71 and 72 and the current position is a predetermined value or more. In this case, the assistant stops the alarm stop state by operating the execution instruction for the assistance-related operation of the input device 80. Thereafter, the assistant can perform the assistance operation of the assistant M by adjusting the posture of the assistant M and adjusting the height.

Further, when the detector 100 detects that the caregiver M is in an abnormal posture, it is assumed that the alarm stops due to the abnormal posture as an alarm factor. In this case, the assistant sets the posture of the person being assisted M to an appropriate posture, and operates the instruction to execute the assistance-related operation of the input device 80, thereby releasing the alarm stop state. At this time, since the posture of the person being assisted M is an appropriate posture, the assisted operation of the person being assisted by M can be performed.

However, when the input device 80 receives an input of an instruction to perform assistance related operations in the alarm stop state, the control unit 91 maintains the alarm stop state if the cause of the alarm has not yet been resolved. That is, when an alarm factor that cannot be easily resolved occurs, an operator such as an assistant cannot release the alarm stop state even if the operator operates the input device 80. In such a case, an operator such as an assistant turns the power off once or requests a repair from a manufacturer engineer. Accordingly, continuous control by the control unit 91 is impossible.

Also, when the assisting device 1 is in an alarm stop state, an alarm factor is displayed on the display device 92. For example, when an alarm factor frequently occurs in which the difference between the command position of the

actuators

71 and 72 and the current position is greater than or equal to a predetermined value due to an inappropriate posture of the person being assisted, the assistant displays the display device 92. The alarm factor displayed on the screen can be immediately recognized. Then, the assistant can continuously use the assistance device 1 by changing the posture of the person being assisted M to an appropriate posture.

Further, when the generated alarm factor is a factor that can be continuously controlled by the control unit 91, the display device 92 displays that fact. If the caregiver cannot determine that the alarm factor is a factor that can be continuously controlled by looking at the display of only the alarm factor, the helper is indicated that the alarm factor is a factor that can be continuously controlled. The person can grasp that he can continue to use the assistance device 1. Therefore, the assistant can recognize that the assistance device 1 can be continuously used at the time when the display is made.

6). Others In the above embodiment, the assisting device 1 is configured such that the elevating unit 22 moves up and down with respect to the base 10 and the support unit 60 swings in the front-rear direction with respect to the elevating unit 22. In addition, the assisting device 1 has a configuration in which the support unit 60 performs only one axial movement with respect to the base 10, a configuration in which the support unit 60 performs a plurality of swings with respect to the base 10, A configuration in which a plurality of linear motions are performed with respect to the base 10 and a configuration in which the support portion 60 is supported by a member that swings with respect to the base 10 so as to be linearly movable can be employed.

1: assistance device, 10: base, 20: pillar part, 22: lifting part, 40: swing arm, 60: support part, 61: trunk support part, 62: side support part, 71: lifting actuator, 72: Oscillating actuator, 80: input device, 90: control unit, 91: control unit, 92: display device, 100: detector, M: person being assisted

Claims

An assistance device for assisting the transfer of a person being assisted,
An actuator for performing an assisting action;
An input device that receives an instruction to perform assistance-related operations from an operator;
A control unit that controls the actuator based on the execution instruction of the assistance-related operation received by the input device;
With
The controller is
When an alarm factor occurs, the alarm is stopped so that the actuator stops.
When the input device receives the execution instruction for the assistance-related operation in the alarm stop state, the alarm stop state is canceled if the alarm factor has been resolved,
When the input device receives the input of the execution instruction for the assistance-related operation in the alarm stop state, the assistance device maintains the alarm stop state when the alarm factor is not eliminated.
When the input device receives a re-input of the execution instruction for the assistance-related operation after canceling the alarm stop state, the control unit is based on the re-input instruction for the assistance-related operation. The assistance device according to claim 1, wherein the actuator is controlled.
The assistance device according to claim 1 or 2, further comprising a display device that displays the alarm factor.
4. The assistance device according to claim 3, wherein the display device displays the alarm factor and whether or not the alarm factor is a factor that can be continuously controlled by the control unit.
The alarm factor that can be continuously controlled by the control unit is a case where a difference between a command position for the actuator by the control unit and a current position of the actuator is a predetermined value or more. The assistance device according to claim 1.
The assistance factor according to any one of claims 1 to 4, wherein the alarm factor that can be controlled continuously by the control unit is that the posture of the person being assisted detected by a detector is an abnormal posture. apparatus.
7. The assistance device according to claim 1, further comprising a support unit that supports a part of the body of the person being assisted, and that moves the person being assisted from the sitting position by driving the actuator. The assistance device according to claim 1.