JPH1156931A - Transfer support robot - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a transfer support robot capable of being operated relatively simply without requiring a skilled operator. SOLUTION: Upper side arms 2 fitted to the upper arms of an operator are supported at one end at least vertically rotatably on a barrel section 1 suspended by a lift 4 vertically movably. Lower side arms 3 fitted to the lower arms of the operator are supported at one end at least vertically rotatably on the other end. Cylinders supporting the load of a transferred object are provided between the barrel section 1 and the upper side arms 2 and between the upper side arms 2 and the lower side arms 3, and the cylinders are controlled based on the vertical displacements of the upper arms and lower arms of the operator detected by sensors.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a transfer assisting robot, and more particularly to a transfer assisting robot for assisting an operation for transferring an elderly person or a patient.

[0002]

2. Description of the Related Art When a nurse moves an elderly person or a patient who has a physical disability, the work load on the nurse is larger than expected, which is said to be a cause of the shortage of nurses. Especially,
In recent years, the weight of elderly people and patients has also tended to increase, and two or more nurses are required when replacing beds or moving old people or patients from beds.

In order to reduce such a work load, it is conceivable to use a robot that supports the work of a nurse. Conventionally, this type of robot has been provided with a crane-type arm, which is remotely operated by a lever or a switch.

[0004]

However, in such a conventional robot, the operation of the arm is difficult, and particularly when an elderly person or a patient with a physical disability is transported by the arm,
A skilled operator is required, and there is a problem that an unspecified number of people cannot easily operate. An object of the present invention is to solve such a problem, and an object of the present invention is to provide a transfer support robot that can be relatively easily operated without requiring a skilled operator.

[0005]

In order to achieve the above object, a transfer support robot according to the present invention has a torso suspended from above and attached to the operator's chest during operation, and one end thereof. An upper arm having a first sensor that is vertically rotatably supported by the torso and is attached to the upper arm of the operator at the time of work and detects the vertical displacement of the upper arm, and one end is connected to the other end of the upper arm. A lower arm having a second sensor for detecting the vertical displacement of the lower arm and being mounted on the lower arm of the operator at the time of work, and provided between the trunk and the upper arm during operation. A first support means for supporting the load on the upper arm by rotating the upper arm up and down according to the detection output of the first sensor; and a second support means provided between the upper arm and the lower arm. Lower arm according to the detection output of the sensor In which and a second support means for supporting the load on the lower 膊 by pivoting up and down. Therefore, the vertical displacement of the upper arm of the operator is detected by the first sensor, the load on the upper arm is supported by the first support means, and the vertical displacement of the lower arm is detected by the second sensor. The load on the lower arm is supported by the second support means.

The body has a third sensor for detecting the vertical displacement of the operator's upper body, and is suspended from above through a lift that expands and contracts in accordance with the detection output of the third sensor. It is supported. Therefore, the vertical displacement of the upper body of the operator is detected by the third sensor, and the body supporting the upper and lower arms to which the load of the transferred object is applied moves vertically by the lift. Also, a leg provided at a position surrounding the upper part of the lower floor of the trunk, and having rolling means capable of freely moving on the floor, and a column standing upright from the leg and suspending and supporting the trunk from its upper end. Unit. Therefore, the trunk supporting the upper and lower arms is stably supported on the floor surface, and can freely move in the front-rear, left-right, and oblique directions.

[0007]

Next, the present invention will be described with reference to the drawings. FIG. 1 is an external view of a transfer support robot according to an embodiment of the present invention. In FIG. 1, reference numeral 1 denotes a semi-elliptic cylindrical shape having an opening for an operator to attach to a chest like an apron. The torso 2 is an upper arm provided on the torso 1 corresponding to the left and right upper arms of the operator.
Are lower arms respectively provided at the tips of the upper arm 2 corresponding to the left and right lower arms of the operator.

Each of the arms 2 and 3 is made of a tubular metal or a hard plastic material, and the operator's arm is inserted into the inside from the trunk 1 side during operation. At this time, the palm of the operator is exposed from the tip of the lower arm 3. This allows
It is possible to perform a detailed operation when holding the transferred object with the arms 2 and 3.

One end of the upper arm 2 is supported by the body 1 at least vertically so as to be rotatable via a general joint mechanism. Note that the upper arm 2 may be rotatably supported on the left and right sides, so that the workability during transfer is improved. Also,
Between the body 1 and the upper arm 2, support means such as a cylinder described later is provided to support the load applied to the upper arm 2.

Similarly, one end of the lower arm 3 is supported by the other end of the upper arm 2 via a general joint structure so as to be rotatable at least up and down. Note that the upper arm 2 may be rotatably supported on the left and right sides, so that the workability during transfer is improved. In addition, between the upper arm 2 and the lower arm 3, to support the load applied to the lower arm 3,
Support means such as a cylinder described later is provided.

The body 1 supporting these arms is suspended from a power control unit 5 via left and right lifts 4 which expand and contract vertically. The power control unit 5 is provided with power supply means such as an oil pump for supplying power used in each of the support means. In addition, sensors to be described later are provided on the inside of the cylinder and the body of each arm to detect the vertical displacement of the operator's arm and the vertical displacement of the upper body, respectively. And a control unit for controlling the power supply to the lift 4 and the support means of each of the arms 2 and 3 in accordance with the detection output of each sensor.

The power control unit 5 is fixedly supported at the upper end of a column 6 erected on the leg 7. The leg 7 has a flat U-shape so as to surround the upper part of the lower floor of the body 1, and a plurality of carts 8 are provided at the lower part of the floor.
Thus, the body 1 to which the load of the transferred object is applied can be stably supported. At the time of work, an operator stands at the center of the U-shape of the leg 7, mounts the body 1, and rotates or moves the power control unit 5 and the body 1 supported by the leg 7 in any direction. be able to.

The operator controls the vertical position of each of the arms 2 and 3 and the height of the torso 1 by raising and lowering the upper arm, lower arm, or upper body, so that the elderly or patient to be transported can be moved. Hold with arms 2 and 3. At this time, the load applied to the arms 2 and 3 is detected by the sensor, and the power is supplied to each support means by the control unit, so that the load applied to the operator is reduced. Can be transported by operation.

Next, the operation of the present invention will be described with reference to FIG. FIG. 2 is an explanatory diagram showing a lift, a trunk, and an arm. The left and right lifts 4 each include an upper lift 4U supported by the power control unit 5 and a lower lift 4L supported by the body 1. Upper lift 4U and lower lift 4
A cylinder 4S that moves the lower lift 4L up and down with respect to the upper lift 4U is provided between L.

Sensors 11 and 12 (third sensors) for detecting the vertical displacement of the side or shoulder of the operator are provided above and below the inside of the support portion of the upper arm 2 (at positions corresponding to the base of the upper arm).
Is provided, and the vertical movement of the operator's upper body is detected. Therefore, power is supplied so that the cylinder 4S extends downward according to the detection output of the sensor 12, and the body 1
The whole goes down.

Power is supplied in accordance with the detection output of the sensor 11 so that the cylinder 4S contracts upward.
The whole goes up. When there is no detection output from the sensors 11 and 12, the position of the cylinder 4S is held.

A cylinder 1S (first support means) for supporting a load applied to the upper arm 2 is provided between the body 1 and the upper arm 2. Sensors 21 and 22 (first sensors) for detecting the vertical displacement of the upper arm of the operator are provided above and below the middle of the cylinder in the middle of the upper arm 2, and the upper arm is rotated vertically. Is detected.

Accordingly, in response to the detection output of the sensor 21, power is supplied so that the cylinder 1S extends forward, and the upper arm 2 rotates upward with respect to the body 1. Further, in accordance with the detection output of the sensor 22, power is supplied so that the cylinder 1S contracts rearward, and the upper arm 2 rotates downward with respect to the body 1. When there is no detection output from the sensors 21 and 22, the position of the cylinder 1S is held.

Similarly, between the upper arm 2 and the lower arm 3, a cylinder 2S (second support means) for supporting the load applied to the lower arm 3 is provided. Sensors 31 and 32 (second sensors) for detecting the vertical displacement of the upper arm of the operator are provided above and below the middle of the cylinder in the middle of the lower arm 3. Motion is detected.

Therefore, in response to the detection output of the sensor 31, power is supplied so that the cylinder 2S extends forward, and the lower arm 3 rotates upward with respect to the upper arm 2. Further, the cylinder 2 is controlled in accordance with the detection output of the sensor 32.
Power is supplied so that S contracts rearward, and the lower arm 3 rotates downward with respect to the upper arm 2. The sensor 3
When there is no detection output of 1, 32, the position of the cylinder 2S is maintained.

FIG. 3 is an explanatory view showing a control loop of the arm, and FIG. 4 is a flowchart of the control section. Cylinder 1
Inside S, there is provided a piston 1P for hermetically closing and closing the rear chamber 1A and the front chamber 1B.
Due to the internal pressure difference of B, the piston 1P moves back and forth inside the cylinder 1S. On the other hand, a fluid such as oil or air is stored in the tank 54 and is always supplied to the solenoid valve 53 by the pump 52 as a relatively high primary pressure.

The solenoid valve 53 is a valve for switching and supplying the primary pressure supplied from the pump 52 to either the rear chamber 1A or the front chamber 1B of the cylinder 1P, and is provided on the side opposite to the primary pressure supply side. The excess pressure from the chamber is returned to the tank 54. The control unit 51 instructs the solenoid valve 53 on which chamber the primary pressure should be supplied based on the detection outputs from the sensors 21 and 22.

For example, when the upward displacement of the upper arm of the operator is detected by the sensor 21 (step S11: YE)
S), the primary pressure is supplied from the solenoid valve 53 to the rear chamber 1A, and the excess pressure in the front chamber 1B is returned to the tank. Thereby, the shaft 1J provided on the piston 1P moves forward, and the upper arm 2 supported rotatably up and down about the shaft 20 rotates upward while maintaining a predetermined support force. (Step S12).

On the other hand, if the sensor 32 detects a downward displacement of the upper arm of the operator (step S13: YES),
The primary pressure is supplied from the solenoid valve 53 to the front chamber 1B, and the rear chamber 1A
Excess pressure is returned to the tank. Thereby, the piston 1
The shaft 1J of the P moves rearward, and the upper arm 2, which is supported rotatably up and down about the shaft 20, rotates downward while maintaining a predetermined support force (step S14).

When no detection output is obtained from the sensors 21 and 22 (step S13: NO), the valves on the supply paths from the solenoid valve 53 to the rear chamber 1A and the front chamber 1B are closed. As a result, the position of the shaft 1J of the piston 1P is maintained, and the upper arm 2, which is rotatably supported up and down about the shaft 20, is fixedly held while maintaining a predetermined assisting force (step S15). .

Although the cylinder 1S is described as an example in FIG. 3, the same operation is performed in the cylinder 2S provided between the upper arm 2 and the lower arm 3. The control unit 5
1, the pump 52, the solenoid valve 53 and the tank 54 are arranged in the power control unit 5, but the control unit 51 and the solenoid valve 53
If it is possible to reduce the weight and size of the cylinder, it may be arranged near each cylinder.

Thus, the supply path from each solenoid valve 53 to the cylinder can be shortened, and the supply path to the pump 52 and the tank 54 can be shared by each solenoid valve, reducing the space required for the supply path and its arrangement. it can. In the above description, the case where a fluid is used as a medium for transmitting power has been described as an example, but power may be transmitted using a wire such as a metal wire.

It should be noted that the sensors 11, 12,
As for 21, 22, 31, and 32, any type of sensor may be used as long as it can detect the vertical displacement of the shoulder or arm of the operator. For example, a sensor that detects only the presence or absence of a displacement, such as a contact sensor that detects a contact between a shoulder and an arm or a microswitch that operates with a slight displacement, may be used.
Further, a pressure sensor that can detect the degree of vertical displacement of the shoulder or arm of the operator as the degree of contact can be considered.

FIG. 5 is an explanatory diagram showing another control loop of the arm. Wires 24A and 24B are connected to the upper arm 2 above and below the fulcrum 20, respectively, and a rotor 23 rotated by motors 5A and 5B.
A, 23B. Therefore, the sensor 21
Motor 5A rotates forward in response to the detection output of
A is slightly wound, and the upper arm 2 is pivoted about the fulcrum 20.
Rotates upward while maintaining a predetermined support force.

In this case, immediately before the motor 5A rotates forward, the controller 51 rotates the motor 5B in the reverse
Rewind B slightly. In addition, the motor 5A rotates in reverse according to the detection output of the sensor 22, and the wire 24A is slightly rewound, and the upper arm 2 rotates downward while maintaining a predetermined support force about the fulcrum 20 as an axis. In this case, immediately after the reverse rotation of the motor 5A, the motor 5B is rotated forward to slightly wind the wire 24A.

If no detection output is obtained from the sensors 21 and 22, both the motors 5A and 5B are stopped or driven. As a result, the upper arm 2 is fixedly held while maintaining a predetermined support force. Also, the upper arm 2
The connection point of the wire 24A is connected to a distance farther than the fulcrum 20 as compared with the wire 24B. This allows
The torque for winding the wire 24A that applies a load to the upper arm 2 can be reduced, and the size of the motor 5A can be reduced.

In the above description, the case where each arm has a cylindrical shape has been described as an example, but other structures are also conceivable. FIG. 6 is an explanatory diagram showing a cross-sectional view of the arm. Hereinafter, the upper arm 2 will be described as an example. FIG. 6 (a)
Is a case of the above-described cylindrical shape, in which a sensor 21 is disposed at an inner upper portion, and a sensor 22 is disposed at an inner lower portion. Object 9B is supported and supported.

FIG. 6B shows a case of a square tube shape.
The arrangement of the sensors 21 and 22 is the same as that in FIG. In addition, a curved portion is provided at a corner of the upper arm 2, so that contact with the upper arm 9 </ b> A of the operator and the transferred elderly person or patient is eased. In addition, FIG.
By providing a ventilation hole in the cylinder of (b), perspiration during work can be reduced.

FIG. 6C shows a partially cylindrical shape having an opening, and a part of the upper arm 9A is exposed to the outside. 6A and 6B, the ventilation inside the upper arm 2 is improved in each step as compared with the case where a ventilation hole is provided in the cylindrical body in FIGS. 6A and 6B, and sweating during work is greatly reduced. it can.

The sensor 2 can be applied to other examples.
As long as the upper and lower arms 22 are located inside or below the upper arm 2, not only the uppermost end or the lowermost end but also a slightly inclined position as shown in FIG. When the opening is large, a support member 9C such as a belt may be provided in the opening in order to improve the interlocking between the upper arm 2 and the upper arm 9A.

FIG. 6D shows the case of a semi-cylindrical shape.
The lower half is open. As a result, FIG.
As in the case of, the air permeability is improved in each step, and sweating during work can be reduced. In this case, since the sensor 22 cannot be supported by the upper arm 2, the sensor 22 is supported by a wire-like support member 25 from the open end of the upper arm 2.

FIG. 6E shows the case of a semi-cylindrical shape.
(F) is an L-shaped case, but in any case, the sensor 22 is not provided. This is realized by using a sensor such as a pressure sensor capable of detecting the degree of displacement of the upper arm 9A of the operator as the sensor 21 and performing control based on a control flow as shown in FIG.

FIG. 7 is another flowchart of the control unit, in which upper and lower threshold values are provided for the detection output of the sensor 21. When the upper arm is largely displaced upward, for example, when the upper arm is strongly pressed against the pressure sensor 21 and the detection output from the sensor 21 is equal to or more than the upper limit threshold (step S21: YES), the controller 51 (FIG. 3) is an electromagnetic valve 53 so that the arm is rotated upward.
Is controlled (step S22).

When the upper arm is greatly displaced downward,
For example, if the pressure sensor 21 is slightly in contact with the pressure sensor 21 and the detection output from the sensor 21 is equal to or less than the lower threshold (step S23: YES), the control unit 51
The electromagnetic valve 53 is controlled so that the arm rotates downward (step S24).

Further, when the displacement of the supporting force to the upper arm is slight, for example, it is pressed to some extent against the pressure sensor 21, and the detection output from the sensor 21 is between the upper and lower thresholds. In this case (step S23: NO), the control unit 51 stops the rotation of the arm so that the electromagnetic valve 5
3 is controlled (step S25). Accordingly, the sensor 22 is not required, and a certain amount of load can always be applied to the operator, the work can be performed with a sense close to actuality, and even a beginner can easily operate.

6 (e) and 6 (f), since a certain load is always applied to the upper arm 9A, the interlock between the upper arm 9A and the upper arm 2 is good. In the case where the upper arm 2 is rotatable in the left-right direction, FIG.
By providing the upper arm 2 to a position where it contacts the left and right side surfaces of the upper arm 9A as described above, the rotation in the left and right direction can be easily operated by the upper arm. In addition, as shown in FIG.
By providing a supporting member 9C such as a belt, the upper arm 9 is provided.
The interlocking property between A and the upper arm 2 can be improved.

[0042]

As described above, according to the present invention, a torso suspended from above and attached to the operator's chest during operation, and one end supported by the torso so as to be rotatable up and down, can be operated during operation. An upper arm mounted on the upper arm of the user and having a first sensor for detecting the vertical displacement of the upper arm; one end of which is supported by the other end of the upper arm so as to be vertically rotatable; A lower arm mounted on the arm and having a second sensor for detecting the vertical displacement of the lower arm, wherein the upper arm is moved up and down by the first support means according to the detection output of the first sensor. By rotating, the load on the upper arm is supported, and the second arm is turned on according to the detection output of the second sensor.
The lower arm is pivoted up and down by the supporting means to support the load on the lower arm.

Therefore, as compared with the conventional method in which a crane-type arm is remotely operated with a lever or a switch, the operation can be performed relatively easily without requiring a skilled operator. Even when transporting a necessary elderly person or a handicapped person, it can be easily operated by an unspecified number of people. Further, the transported object can be transported by holding the transported object by the arm attached to the arm of the operator, and the transported elderly person or the patient with a physical disability can be warmly contacted without handling.

A third sensor for detecting the vertical displacement of the upper body of the operator is provided on the torso, and is suspended from above via a lift which expands and contracts in accordance with the detection output of the third sensor. Since it is supported, it can be easily transported to a position where the height difference is relatively large. Also, a leg is provided at a position surrounding the upper part of the lower floor of the trunk, the floor is made freely movable by rolling means, a pillar is erected upward from the leg, and the trunk is hung from the upper end. Since the upper and lower arms are supported, the body supporting the upper and lower arms is stably supported on the floor, and can be freely moved in the front-rear, left-right, and diagonal directions.

[Brief description of the drawings]

FIG. 1 is a schematic view of a transfer support robot according to an embodiment of the present invention.

FIG. 2 is an explanatory diagram showing a lift, a trunk, and an arm.

FIG. 3 is an explanatory diagram showing a control loop of an arm.

FIG. 4 is a flowchart of a control unit.

FIG. 5 is an explanatory diagram showing another control loop of the arm.

FIG. 6 is an explanatory diagram showing a cross section of an arm.

FIG. 7 is another flowchart of the control unit.

[Explanation of symbols]

1 ... trunk, 11, 12 ... sensor (third sensor), 1S
... Cylinder (first support means), 1A ... rear chamber, 1B ... front chamber, 1P ... piston, 1J ... axis, 2 ... upper arm, 20
… Axis, 21, 22, ... sensor (first sensor), 23A,
23B: rotor, 24A, 24B: wire, 25: support member, 2S: cylinder (second support means), 3: lower arm, 31, 32: sensor (second sensor), 4: lift, 5 ... Power control unit, 51 ... Control unit, 52 ... Pump, 5
3 ... solenoid valve, 54 ... tank, 5A, 5B ... motor, 6 ...
Column part, 7 ... Leg part, 8 ... Bogie, 9A ... Upper arm, 9B ... Transported object, 9C ... Support member.

Claims (3)

[Claims] 1. A transfer support robot for supporting an operation of transferring an object to be transferred, comprising: a torso suspended from above and mounted on a chest of an operator during the operation; An upper arm having a first sensor that is vertically rotatably supported and attached to the upper arm of the operator at the time of work and detects the vertical displacement of the upper arm; The lower arm, which is freely supported and attached to the lower arm of the operator at the time of work and has a second sensor for detecting the vertical displacement of the lower arm, is provided between the torso and the upper arm. A first support means for supporting the load on the upper arm by rotating the upper arm up and down in accordance with the detection output of the sensor of the second sensor, and a second sensor provided between the upper arm and the lower arm. Rotate the lower arm up and down according to the detection output Utsuri搬 support robot, characterized in that it comprises a second support means for supporting the load on the lower 膊 By. 2. The transfer support robot according to claim 1, wherein the body has a third sensor for detecting a vertical displacement of an upper body of the operator, and the body is vertically moved according to a detection output of the third sensor. A transfer support robot, which is suspended and supported from above via a lift that expands and contracts. 3. The transfer support robot according to claim 1, further comprising: a leg provided at a position surrounding the upper part of the lower floor of the trunk and having rolling means capable of freely moving on the floor; A transfer support robot, comprising: a standing portion; and a column portion for suspending and supporting the body portion from an upper end thereof.