JP4989125B2 - Human body support device - Google Patents

Description

  The present invention relates to a human body support device used for a bed for nursing care or medical use, or a nursing equipment, a medical equipment, or the like.

  Conventionally, an example of a human body support apparatus will be described. Some nursing beds and medical beds have a movable back bottom or the like as a movable part, as in, for example, Patent Document 1, etc. A motor is provided, and the back bottom can be tilted in both the bed width and the longitudinal direction by making a difference in the number of rotations of the left and right motors by operating the hand switch. Moreover, there exists a bed which can operate | move a back bottom and a knee bottom with a separate motor like patent document 2, etc., for example.

  When the back bottom or the like of the bed moves to the restriction position, the operation is stopped by detecting a limit switch that is a position detection sensor, for example.

  However, when the limit switch fails, the back bottom or the like may move beyond the regulation position.

JP 2002-85481 A JP 2004-166987 A

  The problem to be solved is that when the position detection sensor fails, there is a possibility that the movable part may move beyond the restriction position.

The present invention relates to a movable part operable to support a human body or a part thereof by driving a rotary actuator, and an operation for driving the rotary actuator in order to prevent the position detection sensor from malfunctioning. In a human body support device comprising a switch and a drive control unit that drives and controls the rotary actuator by an operation signal of the operation switch, a position detection sensor that detects a restriction position outside a normal range of operation of the movable unit and the rotation a rotation speed detector which detects the rotational speed of the actuator is provided, the drive control unit, normally the driving control when the rotational speed of the detection signal there Rutotomoni the rotary actuator of the position detection sensor is out of the normal range When the position detection sensor is detected and the rotational speed of the rotary actuator is within a normal range, Rotational speed of the rotary actuator with no detection of the position detecting sensor stops the drive control as abnormal when it is outside the normal range, and most important feature that.

The present invention relates to a movable part operable to support a human body or a part thereof by driving a rotary actuator, an operation switch for driving the rotary actuator, and an operation signal of the operation switch. In a human body support device including a drive control unit that controls driving, a position detection sensor that detects a restriction position outside a normal range of operation of the movable unit and a rotation speed detection unit that detects the rotation speed of the rotary actuator are provided. the together with the drive control unit, the stopping position detection sensor of the detection signal there Rutotomoni the drive control when the rotational speed is outside the normal range of the rotary actuator as normal, there is a detection of the position detection sensor When the rotational speed of the rotary actuator is within the normal range or when the position detection sensor does not detect and the rotation Rotational speed of the actuator stops the drive control as abnormal when it is outside the normal range, it is possible to stop the drive control of the position detection sensor has failed as abnormal.

  The purpose of preventing the operation beyond the regulation position even if the position detection sensor fails is realized by the rotation speed detection unit.

[Bed structure]
FIG. 1 is related to Example 1 of the present invention, and FIG. 1 is a skeleton side view showing the operation of the back bottom.

  As shown in FIG. 1, the bed 1 of this embodiment as a human body support device includes a bottom 3 that can be operated by driving a motor that is a rotary actuator.

  The bottom 3 includes, for example, a back bottom 5, a seat bottom (not shown), a knee bottom, and a leg bottom. The back bottom 5, the knee bottom and the leg bottom (not shown) are movably supported as movable parts, and operate by driving a motor which is an independent rotary actuator. By driving the motor, for example, the back bottom 5 can be reclined or tilted in both the bed width and the longitudinal direction so as to be raised between the knee bottom and the leg bottom.

  For example, the back bottom 5 will be described as a representative. The back bottom 5 operates by driving a motor and can be stopped at a limit operating point that is a detection point of a limit switch as a position detection sensor. The limit operating point is a restriction position for the operation of the back bottom 5. For the encoder serving as the rotation speed detection unit for detecting the rotation speed of the motor, the upper limit encoder setting value MAX and the lower limit encoder setting value MIN of the back bottom 5 are set, and between the encoder setting values MAX and MIN. A range within the encoder setpoint is set. When the rotation speed detected by the encoder reaches a set value corresponding to the restriction position of the operation of the back bottom 5, the drive control by the motor can be stopped. When the limit operating point is exceeded on the upper limit side or lower limit side, the encoder setting value will be exceeded or below. Within the encoder set value is the normal operating range of the back bottom 5, and above or below the encoder set value is the abnormal operating range of the back bottom 5.

  The upper limit encoder set value MAX and the lower limit encoder set value MIN correspond to the limit operation point that is the restriction position, and include the limit operation point. The encoder setting value MAX and the encoder setting value MIN are set as a setting range having a certain range in this embodiment. The encoder set value MAX is, for example, in the range of 4900 to 5100 in terms of motor rotation speed, the encoder set value MIN is in the range of −100 to 100, and the encoder set value is in the range of 100 to 4900. Here, “100” or “−100” is a margin for error (mechanical) absorption during operation.

  The encoder set value MAX and the encoder set value MIN do not have a range, and as the set values, for example, the encoder set value MAX is set to the rotation speed at the upper limit side limit operation point, and the encoder set value MIN is set to the lower limit side limit operation. It is also possible to set the rotational speed of the point.

In FIG. 1, the restriction position stop for the reclining operation of the back bottom 5 is shown, but the limit operating point by the limit switch, the encoder set value MAX by the encoder, and the encoder also for the bed width and the longitudinal inclination of the back bottom 5 A set value MIN, an encoder set value or less, and an encoder set value are set. The encoder set value MAX, encoder set value MIN, encoder set value or less, encoder set value or more in the bed width and the longitudinal bi-directional inclination are set by the rotational speed difference between the left and right motors 17 and 19 of the back bottom 5. .
Limit values can be similarly set for the knee bottom and the leg bottom.

  The back bottom 5, the knee bottom, and the leg bottom are driven by drive control of the motor by operating the hand switch 7 that is the operation switch shown in FIG.

  The hand switch 7 includes left and right buttons 9 and 11 on the back bottom 5, a knee button 13 on the knee bottom, and leg buttons 15 on the leg bottom. When the buttons 9, 11, 13, and 15 are operated separately, the hand switch 7 comes into contact with the respective internal contacts, and the back bottom 5, knee bottom, and leg bottom are operated according to the operation.

  The back bottom 5, knee bottom, and leg bottom are driven separately by the motors 17, 19, 21, and 23 shown in FIG.

  The drive control of the motors 17, 19, 21, and 23 is performed by a controller 25 that is a drive control unit. The controller 25 includes a CPU, a ROM, a RAM, and the like, and selectively drives and controls the motors 17, 19, 21, and 23 according to the operation of the hand switch 7.

  Therefore, the controller 25 receives the switch contact signal 27 of the hand switch 7 and the motor operation signal 29 of the motors 17, 19, 21 and 23. As the switch contact signal 27, a contact signal of each contact of the hand switch 7 is inputted. The motor drive signal 29 is a drive current of the motors 17, 19, 21, and 23.

  Further, limit switches 31a, 31b, 31c, and 31d as position detection sensors and encoders 33a, 33b, 33c, and 33d as rotation speed detection units are connected to the input side of the controller 25.

  The limit switch 31 is attached to the motors 17, 19, 21, and 23 so as to detect the operation upper limit position and the operation lower limit position of the back bottom 5 at the limit operation point, and a detection signal is input to the controller 25. The encoders 33a, 33b, 33c, and 33d count the number of rotations of the motors 17, 19, 21, and 23, and a pulse signal is input to the controller 25 and stored as the number of rotations in, for example, a flash memory.

[Bottom action]
For example, the back bottom 5 will be described as a representative. The operation of the back bottom 5 is performed based on the flowchart of FIG.

  In step S1, a process of “reading a motor operation signal” is executed. In this process, the controller 25 reads the motor operation signals 29 of the motors 17, 19, 21, and 23, and the process proceeds to step S2.

  In step S2, a determination process of “Is the motor operating?” Is executed. In this process, it is determined whether or not the motors 17, 19, 21, and 23 are operating. If it is determined that the motor is operating by an operation signal of any of the motors 17, 19, 21, and 23 (YES), The process proceeds to step S3, and if the motor is not operating (NO), the process ends.

  In step S3, processing of “reading of limit switch signal” is executed. In this process, the controller 25 reads the output signal of the limit switch 31 and proceeds to step S4.

  In step S4, a determination process of “Is the limit switch ON?” Is executed. In this process, when the back bottom 5 moves to the limit operating point of FIG. 1 and the limit switch 31 detects this (YES), the process proceeds to step S5, and when not (NO), the process proceeds to step S6. To do.

  In step S5, a process of “reading an encoder signal” is executed. In this process, based on the pulse signal input from the encoder 33, a numerical value stored (for example, a flash memory or the like) as the rotation speed at the previous stop or immediately before the power is turned off is read, and the process proceeds to step S7.

  In step S7, a determination process of “Is the encoder signal outside the set value?” Is executed. In this process, the controller 25 determines, for example, whether or not the reclining or right / left inclination of the back bottom 5 is greater than or less than the encoder set value from the rotational speeds of the motors 17 and 19 that drive the back bottom 5. If it is greater than or less than the encoder set value (YES), the process proceeds to step S8. If not (NO), the process proceeds to step S9.

  In step S8, the process of “stop after motor driving to encoder set value” is executed. In this process, although the limit switch 31 is detected to be at the limit operating point position of the back bottom 5, the rotational speed or the rotational speed difference of the motors 17 and 19 is determined by the encoder set value MAX or the encoder set value MIN. Therefore, it is determined that the limit switch 31 has failed, the back bottom 5 is operated to the encoder set value MAX or the encoder set value MIN, and the motors 17 and 19 are stopped.

  In step S8, the controller 25 can perform drive control only once by the hand switch 7 so as to return the back bottom 5 to the flat state which is the original position after the stop.

  It is also possible to automatically return the back bottom 5 to a flat state after the stop. For example, when the back bottom 5 operates to the encoder set value MAX and stops, a stopper that forcibly stops the back bottom 5 in a flat state is automatically protruded, and the back bottom 5 is gradually lowered. This can be achieved by forcibly stopping with a stopper.

  In step S9, a determination process of “is the encoder signal within the set value?” Is executed. In this process, the controller 25 determines whether the reclining or right / left inclination of the back bottom 5 is within the encoder set value based on the rotational speeds of the motors 17 and 19 that drive the back bottom 5, for example. When it is within the encoder set value (YES), the process proceeds to step S10, and when not (NO), the process proceeds to step S11.

  In step S10, an “error motor stop” process is executed. In this process, the limit switch 31 outputs a detection signal even though the back bottom 5 is within the encoder set value by the encoder signal, so that the motors 17 and 19 are stopped as a failure of the limit switch 31. In this case, similarly to step S8, the back bottom 5 can be operated to the encoder set value MAX or the encoder set value MIN, and the motors 17 and 19 can be stopped.

In step S11, a “normal motor stop” process is executed. In this process, the limit switch 31 detects the limit operating point position of the back bottom 5 and the encoder signal is within the encoder setting value MAX or encoder setting value MIN, so the motors 17 and 19 are stopped normally. The process ends.
In step S6, the process proceeds to step S6, where the limit switch 31 is OFF, and the "motor operation" process is executed. In this process, drive control of the motors 17 and 19 by the hand switch 7 is continued, and the process returns to step S1.

[Effect of Example]
In the embodiment of the present invention, the back bottom 5, knee bottom, and leg bottom that can be operated by driving the motors 17, 19, 21, 23, and the hand switch 7 for driving the motors 17, 19, 21, 23 are operated. And a control position for controlling the motors 17, 19, 21, and 23 according to an operation signal of the hand switch 7, the control positions of the back bottom 5, knee bottom, and leg bottom are detected. A limit switch 31 and an encoder 33 for detecting the rotational speed of the motors 17, 19, 21 and 23, and the controller 25 detects that the limit switch 31 has detected a restriction position or the encoder 33 The drive control can be stopped when the rotation speed to be detected is a set value or a set range set corresponding to the restriction position. In order to stop the drive control at least one of when the limit switch 31 detects the restriction position or when the rotational speed detected by the encoder 33 reaches the set value or enters the set range, Even if the switch 31 fails and the restriction position cannot be detected, the rotational speed detected by the encoder 33 corresponds to the restriction position of the operation of the back bottom 5, the knee bottom, and the leg bottom part, and the drive control is stopped. Even if the limit switch 31 breaks down, the operation beyond the regulation position can be prevented.

  The controller 25 causes the back bottom 5, the knee bottom, and the leg bottom to operate abnormally when the limit switch 31 does not detect the restriction position and the rotation number detected by the encoder 33 is outside the set value or set range. When doing so, the drive control can be stopped, and the back bottom 5, the knee bottom, and the leg bottom can be surely stopped with abnormal operation.

  The controller 25 detects the number of rotations according to the normal operation of the back bottom 5, the knee bottom, and the leg bottom and stops the drive control when the limit switch 31 performs the detection operation. Abnormal operation due to the failure of the switch 31 can be prevented in advance.

  Since the controller 25 performs the drive control until the rotation speed detected by the encoder 33 reaches a set value or a set range, the controller 25 stops the back bottom 5, the knee bottom, and the leg bottom near the restriction position or the restriction position. Can be stopped reliably.

The bottom 3 includes a back bottom 5 which is supported by a plurality of motors 17 and 19 so as to be tiltable in both the bed width and the longitudinal direction, and the hand switch 7 can operate the motors 17 and 19 separately. Since the plurality of buttons 9 and 11 are provided, the back bottom 5 is inclined in both the bed width and the longitudinal direction to facilitate the care-giving person's turning operation, and even if the limit switch 31 breaks down, it is beyond the regulation position. Inclination can be prevented.
[Others]
The division form of the bottom 3 of the bed is arbitrary, and only the back bottom 5 can be made movable.

The rotation speed detection unit only needs to be able to detect the rotation speed of the motor, and can also be configured with a potentiometer or the like.
In this embodiment, the human body support device has been described as a nursing care or medical bed, but the present invention can also be applied to other medical devices.

  In the above embodiment, the controller 25 is configured to return the back bottom 5 to the flat state which is the original position. However, when the movable part is not the back bottom of the bed, but other care devices, medical devices, etc. Then, the movable part of the device is returned to the original position before the operation.

(Example 1) which is a skeleton side view which shows operation | movement of a back bottom. (Example 1) which is a perspective view of a hand switch. FIG. 2 is a functional block diagram (Example 1). It is a flowchart of a bottom operation | movement (Example 1).

Explanation of symbols

1 bed (human body support device)
3 Bottom 5 Back bottom 7 Hand switch (operation switch)
9 Left button (operation unit)
11 Right button (operation unit)
17, 19, 21, 23 Motor (rotary actuator)
25 Controller (drive controller)
31 Limit switch (position detection sensor)
33 Encoder (Rotation speed detector)

Claims (5)

A movable part operable to support a human body or a part thereof by driving a rotary actuator;
An operation switch for driving the rotary actuator;
A drive control unit that drives and controls the rotary actuator according to an operation signal of the operation switch;
In a human body support device comprising:
A position detection sensor for detecting a restriction position outside the normal range of operation of the movable part and a rotational speed detection part for detecting the rotational speed of the rotary actuator;
The drive control unit, the stopping position detection sensor of the detection signal there Rutotomoni the drive control when the rotational speed is outside the normal range of the rotary actuator as normal, the rotating together there is detection of the position detection sensor When the rotational speed of the actuator is within a normal range or when the position detection sensor is not detected and the rotational speed of the rotary actuator is outside the normal range, the drive control is stopped as an abnormality,
A human body support device characterized by that. The human body support device according to claim 1,
The drive control unit performs the drive control when the position detection sensor does not detect a restriction position and the rotation number detected by the rotation number detection unit is out of a set value or a set range and the movable unit operates abnormally. To stop the
A human body support device characterized by that. The human body support device according to claim 2 ,
The drive control unit is stopped after performing the drive control until the rotation number detected by the rotation number detection unit reaches a set value or a set range,
A human body support device characterized by that. The human body support device according to claim 3,
The drive control unit can be drive-controlled only once by the operation switch so as to return the movable part to the original position after the stop, or automatically return the movable part to the original position after the stop,
A human body support device characterized by that. The human body support device according to any one of claims 1 to 4 ,
The movable part is a back bottom that is movable and supported so as to be able to tilt in both the bed width and the longitudinal direction by a plurality of rotary actuators on the bed,
The operation switch includes a plurality of operation units that allow the plurality of rotary actuators to be operated separately.
A human body support device characterized by that.

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