Diaper for care, robot for care, and care facility

Abstract

To provide a diaper for care that can be changed by a robot.SOLUTION: A diaper 38 is an open type in which a waist side polymerization element 39, a crotch part polymerization element 40, and an abdominal side polymerization element 41 are integrally continued, for example, and is provided with assistant means for facilitating its change by a robot on the inner surface, the outer surface, etc. The assistant function part is a part to be detected, which can be detected by a sensor like an optical sensor, for example. The part to be detected is center lines 49a and 49b along a center line 48, and sensing cells 51-54, 56, and 57 arranged in large numbers on the inner surface or the outer surface of the diaper 38. A thick knob piece 47c of a side tape 47 can be an assistant function that facilitates picking up with fingers of robots 3 and 75. Since a change in the shape and posture of the diaper 38 can be grasped accurately, the change of the diaper can be performed appropriately.SELECTED DRAWING: Figure 2

Description

Technical Field

[0001] The present invention relates to diapers for nursing care, nursing robots, and nursing facilities. Here, the robot refers to a device having at least a part corresponding to a human hand (hand), and is not necessarily a humanoid having a head, a torso, and four limbs.

Background Art

[0002] Aging is progressing in many countries including Japan, and accordingly, the number of care recipients is increasing. Although there are levels of care needs, in caregiving work, the most difficult task for both the caregiver and the care recipient is changing the diaper when the care recipient is bedridden. As a diaper used by a bedridden person, an open type fixed with tapes on both the left and right is generally used.

[0003] The caregiver changes the old diaper, puts on a new diaper, and washes the genital area etc. in a series while changing the posture of the care recipient from lying on the back, lying on the right side, or lying on the left side. Since changing the diaper of a bedridden person is a continuous series of delicate operations, it relies on human hands. However, in changing the diaper, the care recipient exposes the genital area and entrusts the work to the caregiver, which is not only heavy labor for the caregiver, but also causes problems such as the shame of the care recipient and the mental distress of the caregiver, and both the care recipient and the caregiver feel a psychological burden.

[0004] In Japan, most of the care for bedridden people is provided by family caregiving, but family caregiving has an aspect where a specific person is strongly sacrificed, so it is a problem that should be addressed particularly in welfare policies.

[0005] ​​​​Therefore, regarding diaper changing, a technology that can reduce the physical and mental burdens on both caregivers and care recipients is in demand. The applicant of this application has, in order to meet such demand, disclosed a robot system in Patent Document 1 that enables diaper changing for bedridden care recipients. shown.

Prior Art Documents

Patent Documents

[0006]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0007] If the robot of Patent Document 1 is realized, diaper changing with reduced physical and mental burdens on both caregivers and care recipients will be possible, and it is expected that the severe situation surrounding care can be greatly improved. However, there is a concern that the current diapers, which are made on the premise of manual replacement, are difficult to cope with replacement by a robot. Therefore, it is said that there is a demand for improvement of diapers so that the effects by a robot can be facilitated. The present invention has been made to meet this demand.

[0008] The present invention is made to meet this demand.

Means for Solving the Problems

[0009] The present invention includes many configurations, and its typical examples are specified in each claim. Among these, the invention of claim 1 targets diapers for care, "a waist-side overlapping element that overlaps the waist and the back surface of the pelvis of the care recipient, a crotch overlapping element that is continuously connected to the waist-side overlapping element and overlaps the crotch of the care recipient, and a crotch overlapping element that is continuously connected to the crotch overlapping element and continues and overlaps the thigh of the care recipient, and a thigh overlapping element that is continuously connected to the thigh overlapping element and ​​​​​a ventral overlapping element that overlaps the abdomen of the care recipient, and the left and right waists integrally provided on the waist overlapping element side flaps, and fixing side tapes provided on the left and right waist side flaps, having, the waist overlapping element, the crotch overlapping element, the ventral overlapping element, and the waist side flaps constitute the main body, cells are arranged on the main body and the side tapes, which are recognized by imaging with a camera and performing image processing and based on the image data of the cells, a wearing operation or a removing operation by a robot can be executed, in a nursing diaper, a: The cells of the main body include an inner surface side main body cell arranged on the inner surface facing the care recipient and an outer surface side main body cell arranged on the outer surface facing the opposite side of the care recipient, b: The inner surface side main body cell and the outer surface side main body cell are recognized as different images and the inner surface side main body cell and the outer surface side main body cell are in different modes having their own addresses respectively, c: The side tape has a picking piece that can be picked up by the hand of the robot both before and after wearing on the care recipient. having the feature of " " The invention according to claim 2 is a development example of the invention according to claim 1,

[0010] "The inner surface and the outer surface of the picking piece on the side tape are provided with tape cells as the cells of the side tape." configured as

[0011] The invention according to claim 3 is a development example of the invention according to claim 1 or 2, "The side tape has a structure in which an adhesive layer and the picking piece are provided on a tape-shaped base material, and the said picking piece is formed thicker than the material thickness of the base material." ​​It is configured as follows.

[0012] The invention according to claim 4 is, in claim 1 or 2, "The cells of the main body portion are arranged in a large number of dots over the entire main body portion at a predetermined density and are arranged in an aligned manner." It is configured as follows.

[0013] The invention according to claim 5 is also a development example of claim 1 or 2, "The group of inner surface side main body cells and the group of outer surface side main body cells are arranged so as to overlap each other inside and outside and a large number of pairs are present." It is configured as follows.

[0014] The invention according to claim 6 is also a development example of claim 1 or 2, "Center lines that can be recognized by imaging with the camera and performing image processing are respectively provided on the inner and outer surfaces of the waist side overlapping element, the crotch portion overlapping element, and the abdominal side overlapping element." It is configured as follows. It is configured as follows.

[0015]

[0016]

[0017]

[0018]

[0019] In claim 3, in addition to the thick portion, it is also possible to perform embossing or form engaging holes. It is possible.

[0020]

[0021]

[0022]

[0023]

[0024]

[0025] The invention according to claim 7 is directed to a robot for performing the diaper changing operation described in claims 1 to 6. And this robot "comprises the camera, the left and right working hands, and the control device, and the control device a first program for recognizing the size, gender, and posture of the care recipient; a second program for performing the act of undressing the care recipient to expose the diaper being worn; a third program for imaging the diaper being worn by the care recipient with the camera to recognize the three-dimensional shape of the diaper being worn; a fourth program for performing the act of spreading the replacement diaper into a predetermined posture; a fifth program for performing the act of placing the replacement diaper spread in the predetermined posture under the care recipient; a sixth program for performing the act of removing the diaper being worn from the care recipient while cleaning the soiled area of the care recipient; a seventh program for performing the act of rolling up and removing the diaper that the care recipient was wearing; and an eighth program for performing the act of dressing the replacement diaper on the care recipient, and the fourth program 、end includes the act of recognizing the position of the side tape based on the image data of the partial cell, then pinching the left and right picking pieces with the hand and moving the left and right hands; the fifth program includes the act of pinching the left and right picking pieces and moving the left and right hands under the care recipient with the diaper spread; the sixth program the end includes the act of releasing the fixation to the care recipient by recognizing the partial cell on the outer surface side with the camera, then pinching the left and right picking pieces with the hand and spreading them left and right, the act of peeling the ventral overlapping element forward to expose the crotch of the care recipient, and the act of cleaning the crotch of the care recipient with the hand; The seventh program is set to move the hand while grasping the change in the three-dimensional shape of the diaper by continuously reading the group of cells of the main body by the camera. The eighth program includes the act of picking up the picking piece with the hand after recognizing the image of the end cell of the replacement diaper with the camera. It has such a configuration.

[0026] The invention of claim 8 is a development example of claim 7, "It has a torso, limbs, and a head and can walk independently like a human, and the camera is arranged on the head." It has such a configuration, and the invention of claim 9 is also a development example of claim 7, "A caster-equipped stand is provided with parts corresponding to a human torso, both hands, and a head." It has such a configuration.

[0027] The invention of claim 10 is directed to care facilities. That is, this care facility "has a robot described in any one of claims 7 to 9 and an indoor camera capable of photographing a care recipient lying in bed, and is set so that the image data of the care recipient and the diaper photographed by the indoor camera is transmitted to the control device of the robot." It has such a configuration.

[0028]

Advantages of the Invention

[0029] In the diaper replacement work by the robot, the robot can grasp the form (change) of the care recipient and the diaper. ​​​​​It is essential to grasp three-dimensionally, and by providing a cell imaged by a camera as in the invention of the present application, the robot can easily recognize shape changes in diapers and greatly contribute to realizing diaper changes by the robot.

[0030] In the diaper changing operation, it is also essential to recognize three-dimensionally the form such as the posture of the care recipient. However, the three-dimensional recognition of the care recipient can be performed by imaging only with the camera provided in the robot, or it is also possible to use in combination the data imaged by an indoor camera provided on the ceiling of the room or the like. It is also possible to provide a pressure sensor on the bed for recognizing the posture of the care recipient.

[0031] As described above, as diapers for bedridden care recipients, open types are generally used from the viewpoint of ease of replacement. In this regard, the present invention also adopts an open type. And when a center line is provided as in claim 6, the waist side overlapping element and the abdominal side overlapping element of the open type can be accurately attached to the care recipient. On the other hand, when a gather detection unit is provided, the robot can accurately cover the absorber disposed in the crotch overlapping element with the gather. Therefore, it is possible to prevent the absorber from protruding and excrement from oozing out. It is preferable to provide both a center line and a gather detection unit.

[0032] The detection unit can adopt various modes. However, when the detection unit is arranged in a dot shape as in claim 4, the three-dimensional shape can be detected in fine detail. Therefore, it promotes the robot to accurately remove and attach the diaper, and can improve the satisfaction of the care recipient.

[0033] The detection unit can be integrally provided on the surface of the diaper, or can be provided by retrofitting. This is also possible. Adopting a retrofit method has the advantage that the current diapers can be used as they are. For example, it is also possible to apply or impregnate conductive ink or conductive paint and read it with a magnetic sensor. By using it in combination with optical detection, fine replacement work can be realized corresponding to differences in the physique of the care recipient, etc.

[0034] When putting on an open - type diaper, starting from the unfolded state, the crotch polymerization element is wrapped around the crotch of the care recipient, the abdominal polymerization element is overlapped on the abdomen, and the flaps provided on the abdominal polymerization element and the waist - side polymerization element are overlapped on the side of the care recipient and fixed with tape. Therefore, if the form of the diaper can be recognized in the unfolded state and the state overlapped on the care recipient, the diaper can be accurately put on the body. The same applies when removing the diaper.

[0035] And, when detection parts are provided on the front side and the back side of the diaper as in the present invention, since the change in form from the unfolded state to the worn state and the reverse change in form can be accurately grasped, it is suitable because the diaper can be accurately attached and detached.

[0036] When performing a series of diaper removal and attachment, it is necessary for the robot to be able to distinguish between the old diaper and the new diaper. In this regard, it is also possible to optically image and recognize the old diaper and the new diaper by image processing.

[0037] As time passes after the care recipient excretes, it is not only uncomfortable for the care recipient but also time - consuming for the handling during replacement. In this regard, if it is possible to detect that excretion has occurred, rapid diaper replacement can be enabled. Therefore, the discomfort of the care recipient can be suppressed, and It can also contribute to the authority of the labor of changing diapers. By arranging a smell sensor and a moisture sensor on the bed, a configuration that can detect excretion can also enjoy the same effect.

[0038] In the diaper change by the robot, it is necessary to pick up the diaper with the robot's hand in the same way as in the case of manual operation. However, it is very difficult the picking force to adjust the robot's fingertips to in the same way as human fingertips. In this regard, when the picking piece is thickened as in claim 3, the diaper can be firmly picked up while preventing the fingertips from slipping without finely controlling the robot's fingertips or excessively increasing the picking force. Therefore, it can contribute to the realization of diaper change by the robot. In addition, when a thick picking piece is provided as in claim 3 as an easy-picking portion, the diaper can be accurately picked up with the robot's fingertips without significantly changing the current form. Therefore, it has high practicality.

[0039] In the current open-type diaper, left and right flaps are provided at the part that hits the waist of the care recipient, the left and right waist-side flaps are folded and fixed with side tapes, and picking pieces are provided on the side tapes, but in the present invention, for the robot to put on the care recipient, it is possible to newly provide picking pieces at appropriate parts such as waist-side polymerization elements, crotch polymerization elements, and ventral polymerization elements. By providing picking pieces for the robot in this way, without being restricted by the existing working mode, it is possible to move forward towards the realization of diaper change by the robot.

[0040] Since it is difficult to make the current robot perform exactly the same movements as a human, as an adaptability to the current situation, a diaper structure is envisioned that can be changed without giving the care recipient a sense of discomfort even with the clumsy hand and finger movements of the robot. In this regard, if a structure that can release the fixation of the diaper to the care recipient by simply pulling the fixing member is adopted, the diaper change by the robot can be greatly facilitated. ​It can be promoted.

[0041] Diaper changing consists of removing the old diaper from the care recipient and putting on a new diaper, but if the diaper is treated to make it slippery from the bed, the old diaper can be quickly removed. Therefore, workability can be improved, and it is suitable because the care recipient can also be quickly removed from an uncomfortable state.

[0042] Now, as described at the beginning, in the current manual diaper changing work, the care recipient is asked to change the posture between lying on the back and lying on the side. The caregiver puts a hand on the care recipient's waist and changes to the side-lying posture or the back-lying posture. However, changing the lying posture of the care recipient requires finely adjusting the amount of force applied, which is very difficult for a robot. Therefore, it is suitable that the diaper can be changed while the care recipient is lying on the back, as this can greatly advance the work by the robot and is also suitable for reducing the physical and bodily burden on the care recipient. This can be realized by lowering a part of the bed as in the embodiment to form a space below a part of the care recipient's body. If the diaper is configured to be wound up, the space formed below the body can be used to easily handle the diaper when putting it on or taking it off the care recipient. Therefore, it can contribute to the realization of diaper changing by a robot.

[0043]

[0044] Although the inventions of claims 7 to 9 are directed to robots, since improved diapers can be effectively utilized, it can greatly advance towards the realization of diaper changing by robots. When using an indoor camera in combination as in claim 10, the accuracy of recognizing the shape of the diaper and the posture of the care recipient can be significantly improved, enabling further advancement of the robotization of diaper changing.

Brief Explanation of Drawings

[0045]

Figure 1

Figure 2

Figure 3

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Figure 7

Figure 8

Figure 9

Figure 10

Figure 11

Figure 12

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Figure 14

Figure 15

Figure 16

Mode for Carrying Out the Invention

[0046] Next, embodiments of the present invention and related technologies will be described. Hereinafter, with respect to the care recipient and the diaper the terms up, down, left, and right will be used. In this case, the up-down direction is defined with the head side of the care recipient being up and the foot side being down. Left and right are based on the care recipient. Regarding the diaper, the terms inner surface · outer surface will be used. The inner surface is the side that overlaps the care recipient, and the outer surface is the surface that is exposed on the outside of the care recipient and exposed.

[0047] (1). Overview of the Site In FIG. 1, an example of a care site is schematically shown. The care site is a room in a hospital or a care facility or a living room in a general household. The care recipient 1 is assumed to be a bedridden person, and only the skeleton is shown lying in the bed 2. However, the reason for showing the skeleton of the care recipient 1 is to intend a comparison with the structure of the bed 2.

[0048] The care robot 3 shown in FIG. 1 is a multi-joint self-propelled walking type humanoid and has a skeleton similar to that of a human and can realize movements similar to those of a human. The eyes of the robot 3 are cameras 4 (eye cameras) and the mouth is a speaker 5, and the ears are microphones 6. The left and right hands (hands d) have five fingers and can grasp, lift, and move objects in the same way as a human hand It can be done. In Fig. 1, only the skeleton of the robot 3 is shown, but in order to ensure a sense of intimacy with the care recipient 1, it is preferable to flesh it out, dress it, and configure it to have an android appearance. It is preferable to give the robot 3 a name. When the care recipient 1 is able to converse, it is suitable to insert a conversation program into the control device and set it to chat with the care recipient 1. Of course, the conversation should have a learning effect and be updated daily. Even when the care recipient 1 is unable to converse, appropriate voices are set to be spoken during the work. A rear-mounted stand 7 is erected on the side of the bed 2, and an indoor camera 8 is provided thereon. The indoor camera 8 recognizes the posture of the care recipient 1, etc. However, unlike the eye camera 4 provided on the robot 3, it is fixed, so it is excellent in functions such as recognizing the posture of the care recipient 1. The indoor camera 8 can also be fixedly installed on the ceiling or wall of the room, but from the perspective of respecting the privacy of the care recipient 1, it is preferable to adopt a rear-mounted method that is only used when changing diapers.

[0049] When the care recipient 1 is able to converse, it is suitable to insert a conversation program into the control device and set it to chat with the care recipient 1. Of course, the conversation should have a learning effect and be updated daily. Even when the care recipient 1 is unable to converse, appropriate voices are set to be spoken during the work. When the care recipient 1 is able to converse, it is suitable to insert a conversation program into the control device and set it to chat with the care recipient 1. Of course, the conversation should have a learning effect and be updated daily. Even when the care recipient 1 is unable to converse, appropriate voices are set to be spoken during the work. Even when the care recipient 1 is unable to converse, appropriate voices are set to be spoken during the work. Even when the care recipient 1 is unable to converse, appropriate voices are set to be spoken during the work.

[0050] A rear-mounted stand 7 is erected on the side of the bed 2, and an indoor camera 8 is provided thereon. The indoor camera 8 recognizes the posture of the care recipient 1, etc. However, unlike the eye camera 4 provided on the robot 3, it is fixed, so it is excellent in functions such as recognizing the posture of the care recipient 1. The indoor camera 8 can also be fixedly installed on the ceiling or wall of the room, but from the perspective of respecting the privacy of the care recipient 1, it is preferable to adopt a rear-mounted method that is only used when changing diapers. A rear-mounted stand 7 is erected on the side of the bed 2, and an indoor camera 8 is provided thereon. The indoor camera 8 recognizes the posture of the care recipient 1, etc. However, unlike the eye camera 4 provided on the robot 3, it is fixed, so it is excellent in functions such as recognizing the posture of the care recipient 1. The indoor camera 8 can also be fixedly installed on the ceiling or wall of the room, but from the perspective of respecting the privacy of the care recipient 1, it is preferable to adopt a rear-mounted method that is only used when changing diapers. A rear-mounted stand 7 is erected on the side of the bed 2, and an indoor camera 8 is provided thereon. The indoor camera 8 recognizes the posture of the care recipient 1, etc. However, unlike the eye camera 4 provided on the robot 3, it is fixed, so it is excellent in functions such as recognizing the posture of the care recipient 1. The indoor camera 8 can also be fixedly installed on the ceiling or wall of the room, but from the perspective of respecting the privacy of the care recipient 1, it is preferable to adopt a rear-mounted method that is only used when changing diapers. A rear-mounted stand 7 is erected on the side of the bed 2, and an indoor camera 8 is provided thereon. The indoor camera 8 recognizes the posture of the care recipient 1, etc. However, unlike the eye camera 4 provided on the robot 3, it is fixed, so it is excellent in functions such as recognizing the posture of the care recipient 1. The indoor camera 8 can also be fixedly installed on the ceiling or wall of the room, but from the perspective of respecting the privacy of the care recipient 1, it is preferable to adopt a rear-mounted method that is only used when changing diapers. A rear-mounted stand 7 is erected on the side of the bed 2, and an indoor camera 8 is provided thereon. The indoor camera 8 recognizes the posture of the care recipient 1, etc. However, unlike the eye camera 4 provided on the robot 3, it is fixed, so it is excellent in functions such as recognizing the posture of the care recipient 1. The indoor camera 8 can also be fixedly installed on the ceiling or wall of the room, but from the perspective of respecting the privacy of the care recipient 1, it is preferable to adopt a rear-mounted method that is only used when changing diapers.

[0051] A mobile auxiliary table 9 is placed beside the bed 2. Various items such as replacement diapers can be placed on the auxiliary table 9. A trash bin for throwing in soiled items such as used diapers and wiping sheets is provided inside the auxiliary table 9. Auxiliary tools such as a cleaning liquid spray, wiping sheets, and trays can be placed on the auxiliary table 9. Drying the cleaning part with warm air is understood to be comfortable for the care recipient 1, and it is also possible to give the robot 3 a warm air ejection function as a means, but from the intention of respecting the dignity of the care recipient 1 as a person, the actions of the robot 3 should be as human as possible. A mobile auxiliary table 9 is placed beside the bed 2. Various items such as replacement diapers can be placed on the auxiliary table 9. A trash bin for throwing in soiled items such as used diapers and wiping sheets is provided inside the auxiliary table 9. Auxiliary tools such as a cleaning liquid spray, wiping sheets, and trays can be placed on the auxiliary table 9. Drying the cleaning part with warm air is understood to be comfortable for the care recipient 1, and it is also possible to give the robot 3 a warm air ejection function as a means, but from the intention of respecting the dignity of the care recipient 1 as a person, the actions of the robot 3 should be as human as possible. A mobile auxiliary table 9 is placed beside the bed 2. Various items such as replacement diapers can be placed on the auxiliary table 9. A trash bin for throwing in soiled items such as used diapers and wiping sheets is provided inside the auxiliary table 9. Auxiliary tools such as a cleaning liquid spray, wiping sheets, and trays can be placed on the auxiliary table 9. Drying the cleaning part with warm air is understood to be comfortable for the care recipient 1, and it is also possible to give the robot 3 a warm air ejection function as a means, but from the intention of respecting the dignity of the care recipient 1 as a person, the actions of the robot 3 should be as human as possible. A mobile auxiliary table 9 is placed beside the bed 2. Various items such as replacement diapers can be placed on the auxiliary table 9. A trash bin for throwing in soiled items such as used diapers and wiping sheets is provided inside the auxiliary table 9. Auxiliary tools such as a cleaning liquid spray, wiping sheets, and trays can be placed on the auxiliary table 9. Drying the cleaning part with warm air is understood to be comfortable for the care recipient 1, and it is also possible to give the robot 3 a warm air ejection function as a means, but from the intention of respecting the dignity of the care recipient 1 as a person, the actions of the robot 3 should be as human as possible. Drying the cleaning part with warm air is understood to be comfortable for the care recipient 1, and it is also possible to give the robot 3 a warm air ejection function as a means, but from the intention of respecting the dignity of the care recipient 1 as a person, the actions of the robot 3 should be as human as possible. Drying the cleaning part with warm air is understood to be comfortable for the care recipient 1, and it is also possible to give the robot 3 a warm air ejection function as a means, but from the intention of respecting the dignity of the care recipient 1 as a person, the actions of the robot 3 should be as human as possible. It can be said that it is preferable to dry by using a dryer placed on the auxiliary table 9, imitating this.

[0052] Now, the care recipient 1 has the left and right arms 10, the left and right hands (fingers) 11, the head 12, the back (scapula and spine , thorax), 13, the lumbar region (lumbar vertebra) 14, the pelvis 15, the thigh (femur) 16, the inter-foot 17, the shin 18, and the grounding foot 19. On the other hand, the bed 2 has a base 21 supported by legs 20 and , and a bed plate 22 arranged thereon via a support member (not shown), and the bed plate 22 is divided into a plurality of parts.

[0053] That is, the bed plate 22, in order from the side of the head 12 of the care recipient 1, ◎ A head support 23 that supports the head 12 of the care recipient 1, ◎ A back support 24 that supports the back 13 of the care recipient 1, ◎ A lumbar support 25 that mainly supports the lumbar region 14 of the care recipient 1, ◎ A pelvic upper support 26 that supports the upper part of the pelvis 15 of the care recipient 1, ◎ A pelvic middle support 27 that supports the upper and lower middle part of the pelvis 15 of the care recipient 1 at the left and right middle part of the bed 2, ◎ A pair of first side supports 28 located on both left and right sides of the pelvic middle support 27, ◎ A pelvic lower support 29 that supports the lower part of the pelvis 15 of the care recipient 1 at the left and right middle part of the bed 2, ◎ A pair of second side supports 30 located on both left and right sides of the pelvic lower support 29, ◎ A thigh upper support 31 that supports the upper part of the thigh 16 of the care recipient 1 at the left and right middle part of the bed 2, ◎ A pair of third side supports 32 located on both left and right sides of the thigh upper support 31, ◎ A thigh lower support 33 that generally supports the lower part of the thigh 16 of the care recipient 1, ◎ The ankle joint 17 and the shin 18 of the care recipient 1 are supported by a shin support 34, ◎The foot support 35 that supports the foot 19 of the care recipient 1 is divided into these. Each of these supports 23 to 35 can be moved independently or a plurality of them can be moved integrally. Details of the movement (control) will be described later.

[0054] In the embodiment, the support is divided into three parts left and right at the pelvis 15 and thigh 16 of the care recipient 1 but it may be configured to descend as a whole without being divided left and right. That is, the middle pelvis support 27 and the first side support 28 may be integrated, the lower pelvis support 29 and the second side support 30 may be integrated, and the upper thigh support 31 and the third side support 32 may be integrated.

[0055] (2). Structure and attachment / detachment method of the diaper The form and structure of the diaper of the first embodiment are shown in FIGS. 2 and 3. This diaper 38 is of the open type, and includes a waist-side overlapping element 39 that overlaps the back surface of the waist 14 and pelvis 15 of the care recipient, a crotch overlapping element 40 that overlaps the crotch (lower surface of the pelvis 15) of the care recipient 1, and a ventral overlapping element 41 that overlaps the abdomen of the care recipient 1, and these are integrally continuous.

[0056] On the inner surface (the surface facing the care recipient 1) of the crotch overlapping element 40, an absorber 42 containing a water-absorbing polymer in a cotton-like material is non-removably held (the absorber 42 is shown by solid parallel hatching in FIG. 2 and by dotted parallel hatching in FIG. 3).). The absorber 42 is located inside the left and right side edges of the crotch overlapping element 40 and extends to the upper and lower middle parts of the waist-side overlapping element 39 and the upper and lower middle parts of the ventral overlapping element 41. On both the left and right sides of the absorber 42 on the inner surface side, inner gathers 43 that expand and contract with rubber are arranged. Outer gathers 44 are arranged on the left and right side parts of the crotch overlapping element 40. 41, and inner gathers 43 that expand and contract with rubber are arranged on both the left and right sides of the absorber 42 on the inner surface side. Outer gathers 44 are arranged on the left and right side parts of the crotch overlapping element 40. ​​​

[0057] Rectangular waist-side flaps 45 are integrally connected to the left and right edges of the waist-side overlapping element 39 on both sides, and on the ventral side Rectangular ventral-side flaps 46 are integrally connected to the left and right edges of the ventral-side overlapping element 41. The waist-side flaps The left and right widths of the 45 are slightly smaller than the left and right widths of the waist-side overlapping element 39, and the left and right widths of the ventral-side flaps 46 are slightly smaller than the left and right widths of the ventral-side overlapping element 41.

[0058] Two upper and lower side tapes 47 are arranged at both ends of the left and right waist-side flaps 45. As shown in Fig. 2(B), the side tape 47 has a base material 47a fixed to the waist-side flap 45 by welding or the like, an adhesive layer 47b (or hook-and-loop fastener layer) provided on the base material 47a, and a tab 47c exposed outside the adhesive layer 47b. The tab 47c is folded in half to thicken and is thickened.

[0059] The waist-side overlapping element 39, the crotch overlapping element 40, and the ventral-side overlapping element 41 share a continuous base sheet, and the flaps 45, 46 are formed in a state where the base sheet is extended. That is, the diaper 38 has a base sheet having the flaps 45, 46 as the main body forming the appearance, and members such as the absorber 42 and the gathers 43, 44 are fixed to this base sheet serving as the main body. In FIGS. 4 and 5, an example of the procedure for attaching the diaper 38 to the care recipient 1 is shown. That is, as shown in Fig. 4, first, it is placed below the care recipient 1 (not shown) in an unfolded state, then the ventral-side flap 46 of the ventral-side overlapping element 41 is folded, and then, as shown in Fig. 5(B),

[0060] the ventral-side overlapping element 41 with the ventral-side flap 46 folded is folded back toward the abdomen of the care recipient 1. from, and then, as shown in Fig. 5(B), the ventral-side overlapping element 41 with the ventral-side flap 46 folded is folded back toward the abdomen of the care recipient 1. ​​​, Next, as shown in FIG. 5(B), one waist-side flap 45 is folded onto the ventral overlapping element 41 and fixed with the side tape 47. Finally, the other waist-side flap 45 is folded onto one waist-side flap 45 and fixed with the side tape 47.

[0061] In FIGS. 5(B) and 5(C), the side tape 47 is shown in a state of being fixed in a simple horizontal posture However, in order to improve the fitness for the care recipient 1, it is preferable that the lower side tape 4 7 extends obliquely upward, and the upper side tape 47 extends obliquely downward. When removing the diaper 38, basically, the procedure is the reverse of the wearing procedure. However, for the treatment of dirt, it is rolled or folded and will not return to the unfolded state.

[0062] (3). Detection part The diaper 38 is provided with a plurality of types of detection parts. First, as shown in FIG. 2, on the inner surface of the diaper 38, an inner surface side center line 49a extending along the center line 48 that divides the waist-side overlapping element 39, the crotch overlapping element 40, and the ventral overlapping element 41 into left and right parts is formed. As shown in FIG. 3, on the outer surface of the diaper 38, an outer surface side center line 49 b extending along the center line 48 is formed.

[0063] The inner and outer center lines 49a and 49b are, for example, an example of an optical center detection part that can be imaged by the eye camera 4 and the indoor camera 8, and are displayed as colors distinguishable from the base color of the diaper 38 (base sheet). The center lines 49a and 49b can be formed by printing means such as inkjet printing, or means such as welding or adhesion of a strip-shaped member. However, it is understood that it is preferable to use ink or paint. In particular, the inner surface side center line 49a is also provided on the absorber 42 Since it is formed, it is necessary to take care not to impair the function of the absorber 42 or give a sense of discomfort to the care recipient 1, so formation by printing is preferable. In particular, the inkjet method is suitable.

[0064] In the figure, the center lines 49a and 49b are shown continuously, but a form that extends intermittently can also be adopted. Also, when the diaper 38 is provided as a dedicated product to be replaced by the robot 3, it is also possible to form it in a state that cannot be visually recognized by the naked eye using ink that can be recognized by an infrared camera. Even when the caregiver replaces it, since it is convenient for the work if the center line 48 is clearly shown, the center lines 49a and 49b are preferably displayed in a color that can be visually recognized by people. The outer side center line 49b can be attached later (such as by adhesion) with a strip tape without any problem.

[0065] As shown in FIG. 3, on the outer side center line 49b, in order to specify the position and posture of the outer side center line 49b in relation to the reference line (for example, the center line) of the bed 2, a large number of auxiliary center -sensing cells 51 are provided. The auxiliary center-sensing cells 51 are, for example, metal parts, and are configured by attaching a fine metal foil such as aluminum foil or applying a metal-containing paint (conductive paint). These auxiliary center-sensing cells 51 are read by a center detection sensor (metal sensor, proximity sensor) 50 provided on the bed 2, and from the comparison with the reference line (for example, the center line) of the bed 2, the posture of the outer side center line 49b with respect to the bed 2 is recognized.

[0066] On the other hand, the relationship between the reference line of the bed 2 and the posture of the care recipient 1 is an image captured by the indoor camera 8 or ​​​​​​Since they can be recognized, the center lines 49a and 49b of the diaper 38 can be arranged so as to overlap with the body axis of the care recipient 1. The center lines 49a and 49b are composed of thin threads that do not cause discomfort even when the care recipient 1 touches them, and it is also possible to set the color of these threads so that people and the cameras 4 and 8 can clearly recognize them. (In this case, it is good to wind a metal wire as an auxiliary center sensing cell 51 around at least the thread constituting the outer center line 49b.) As shown in FIG. 2, on the inner surface of the diaper 38, as an example of the detection target cell described in the claims, a group of inner surface side outer peripheral sensing cells 52 extending along the outer periphery and a group of inner surface side inner peripheral sensing cells 53 located inside the outer periphery are provided. Similarly, as shown in FIG. 3, on the outer surface of the diaper 38, as an example of the detection target cell described in the claims, a group of outer surface side outer peripheral sensing cells 54 extending along the outer periphery and a group of outer surface side inner peripheral sensing cells 55 located inside the outer periphery are provided. Therefore, a group of a large number of sensing cells 52 to 55 are arranged in a dot shape on the inner and outer surfaces of the diaper 38. In this case, by changing the shapes of the sensing cells 52 and 53 on the inner surface and the sensing cells 54 and 55 on the outer surface, consideration is given to enabling recognition of the inner and outer surfaces of the diaper 38. Further, it is preferable to distinguish between the outer peripheral sensing cells 52 and 54 and the inner peripheral sensing cells 53 and 55 inside and outside the diaper 38. In this regard, for example, this can be achieved by making the sizes of the outer peripheral sensing cells 52 and 54 different from those of the inner peripheral sensing cells 53 and 55.

[0067]

[0068]

[0069] ​​​​​​​​​​​​​​Furthermore, regarding the inner sensing cells 52, 53 and the outer sensing cells 54, 55 , it is preferable to assign addresses to the individual sensing cells 52, 53. In this regard , it can be handled by displaying figures with different shapes, sizes, etc. on each of the cells 52 to 55. By changing the color , they can also be distinguished. As shown in Fig. 2(A), tape cells 56, 57 detected by cameras 4, 8 are provided on the inner and outer surfaces of the grip piece 47c of the side tape 47 . The inner and outer tape cells 56, 57 can be configured in different manners, for example, by applying different colors to the entire front and back surfaces of the grip piece 47c .

[0070] As shown in Fig. 3, as an example of a detected part for detecting the excretion state, sensing codes 58 with left and right longitudinal directions are arranged in multiple stages inside the absorber 42 . The sensing code 58 is a water-containing resin thread having a certain waist strength and is wound with a metal thread. That is, it is composed of a conductive water-containing thread . Since the sensing code 58 contains metal, a magnetic field or an electric field is generated when it is vibrated .

[0071] When the sensing code 58 absorbs excrement and its weight increases, it becomes difficult to vibrate and the strength of the magnetic field or electric field also decreases. Therefore, a specific sensing code 58 is given a fine vibration with a predetermined strength by an ultrasonic vibration device provided on the bed 2, and the strength of the magnetic field or electric field generated by the vibration is measured by a sensor (magnetometer or ammeter) provided on the bed 2, whereby the degree of contamination of each individual sensing code 58 can be detected . In this case, the excretion content can be grasped according to which part of the sensing code 58 is contaminated. Alternatively, since the degree of weight increase is different between the case of defecation and the case of urination, the excretion content can be recognized. The measurement is, for example, 1 ​ It may be intermittently performed at intervals of 0 minutes.

[0072] As an example of the gather detection unit, in the inner gather 43, inner gather cells 43a with a color different from that of the base material are intermittently formed at its edge. In the outer gather 44 as well, outer gather cells 44a with a color different from that of the base material are intermittently formed at its edge, but the color of the cells 43a in the inner gather 43 is made different from the color of the cells 44a in the outer gather 44. Therefore, the inner gather 43 and the outer gather 44 can be distinguished by image processing, and changes in shape can also be easily grasped.

[0073] As shown by the dashed-dotted line in Fig. 2, as an example of the auxiliary function unit, a side grab assist piece 38b can be provided on the side edge of the ventral flap 46, or a lower grab assist piece 38b can be provided at the lower end of the ventral overlapping element 41. Although not shown, it is also possible to provide a grab assist piece at the upper end of the waist-side overlapping element 39 or on the left and right side edges of the crotch overlapping element 40.

[0074] (4). Structure of the bed In Fig. 6, the relationship between the bed 2 and the skeleton of the care recipient 1 is clearly shown. Fig. 6 is basically the same as Fig. 1(A).

[0075] As described above, the bed plate 22 is divided into a plurality of supports 23 to 35. However, as shown in Fig. 7(A), the head support 23, the back support 24, the waist support 25, the upper pelvic support 26, and the middle pelvic support 27 can be lifted and rotated upward as a whole in a continuous state, and further, the head support 23 can be lifted and rotated relative to the back support 24. ​ It is.

[0076] Therefore, the first tilting body 61 that can support and pivot the group of the head support 23 to the pelvic middle support 27 is rotatably connected to the base 21 (or a machine frame not shown), and the second tilting body 62 to which the head support 23 is attached is rotatably connected to the first tilting body 61. The tilting bodies 61 and 62 can be individually driven by a motor, or can also be driven by a common motor (not shown) via an interlocking member such as a wire or a link.

[0077] Each of the lumbar support 25 to the foot support 35 can be lowered individually. An example of the drive mechanism is shown in Fig. 7(B). In this example, the elevating supports 25 to 35 are held by the guide shaft 63 and the guide cylinder 64 so as to be vertically movable by the base 21 (or a machine frame not shown), and are configured to be elevated by the rotation of the cam 65. The cam 65 is rotated by the pinion 66 and the front - rear longitudinal rack 67, and each rack 67 is driven by a single common motor 68. Therefore, a clutch mechanism for transmitting the rotation of the common motor 68 to an arbitrary rack 67 is separately arranged.

[0078] The pivoting of the head support 23 to the pelvic middle support 27 and the elevation and descent of each of the elevating supports 25 to 35 can be performed by a single common motor 68. Also, each of the elevating supports 25 to 35 can be biased upward by a spring (not shown). Instead of being driven by the rack 67, it is also possible to lower it by pulling a wire. Or it is also possible to be driven by a hydraulic cylinder. It is also possible to elevate and lower it individually by a motor.

[0079] The supports 23 to 35 are made by attaching a cushioning material 70 to a base plate 69 and covering it with a covering 71. As shown in FIG. 7(C), the cushioning material 70 is made up of a lower layer 70a and an upper layer 70b. For example, the lower layer 70a may be made of a material made of a number of resin fibers intertwined and engaged. A three-dimensional mesh can be used, and a soft nonwoven fabric can be used as the upper layer 70b. A suction machine can be installed to prevent this, but the cushion material 70 is made of a three-dimensional mesh and nonwoven fabric. By doing so, it is possible to ensure the absorption of moisture from the skin surface of the care recipient 1.

[0080] When changing the diaper 38, for example, as shown in FIG. 12, the care recipient 1 is temporarily placed on the knees. It is necessary to keep it in an upright (bent) position, as shown by the dashed line in Figure 12. It is preferable to use a support 71 that holds the knees in an upright position as shown in FIG. It is made of a sturdy material and can be placed stably on bed 2.

[0081] (5) Removal and cleaning of old diapers Next, an example of a procedure for changing a diaper 38 will be described. The procedure for changing the diaper involves removing the old diaper 38, putting on a new diaper 38, and washing the soiled part. The current manual method involves removing old diapers38 and cleaning the diapers at the same time. There are two methods: one is to wash the diaper first and then put on a new diaper 38. 8 to 10 show an example of the latter procedure, in which an old diaper 38 is removed. is doing.

[0082] In this example (and other examples as well), the care recipient 1 is wearing a pair of pajamas. This is based on the premise that the pajama pants 72 must be removed. Therefore, as shown only partially in FIG. 8(B), while lowering each of the support bodies 25 to 35 of the waist support 25 to the foot support 35 in order to form a work space 74 at the lowered position, the trousers 72 are slid down, thereby removing the trousers 72 from the care recipient 1. Since the bed plate 22 is composed of a large number of support bodies 23 to 35, the care recipient 1 can remove the trousers 72 while lying on his or her back. In other words, the trousers 72 can be removed without imposing a physical burden on the care recipient 1. In this case, it is preferable to lower each of the elevating support bodies 25 to 35 in order while rolling up the hem of the trousers 72 outward and shifting the trousers 72 in a caterpillar manner. Putting on the trousers 72 is performed in the reverse procedure.

[0083]

[0084] Now, when a person lies on his or her back and the pelvis 15 floats in the air, a large tension acts on the person's abdominal muscles, imposing a large physical burden on the person. In particular, for a bedridden person, since the abdominal muscles are almost non-existent, support for the pelvis 15 is essential. Therefore, whether it is the removal or attachment of the trousers 72 or the diaper 38, it is important to always support at least a part of the pelvis 15 from below.

[0085] After removing the trousers 72, as shown in FIG. 8(C), have the care recipient 1 kneel, open the waist-side flap 45 of the diaper 38, and then spread the abdominal-side overlapping element 41 and the crotch overlapping element 40 downward. The abdominal-side flap 46 may remain folded. Next, as shown in FIG. 9(F), the pelvis middle support 27, the pelvis lower support 29, and the thigh upper support ​​​​​​​​​​​​​​The body 31 is lowered, and the abdominal overlapping element 41 and the crotch overlapping element 40 of the diaper 38 are folded upward. Then, the pelvis is placed under the pelvic middle support 27. A tray 73 is placed between the support 29 and the thigh upper support 31 to wash the pubic area. The tray 73 has a flange 73a formed on the edge of its opening.

[0086] Cleaning should be done according to the situation, such as wiping with wet tissue or dry tissue. If necessary, a cleaning liquid such as hot water can be used. In this embodiment, a void is formed in the bed 2. The tray 73 can be placed in this position, making it easy to use hot water. In the case of subject 1, the skin is weak and may peel off if rubbed strongly. In this case, you can place the tray 73 and use hot water or cleaning solution freely, so that the waste does not stick to the Even if the skin is dirty, the waste can be washed away without damaging the skin. Therefore, it can be said that the satisfaction level of care recipient 1 is high.

[0087] In a series of operations such as taking off the trousers 72, the operator may perform the operations shown in FIG. As shown by the dashed line in FIG. 1, the upper body of the care recipient 1 can be raised at a slight angle. It is also possible to raise only the head 12. The genitals are exposed and the excrement is disposed of. There is a lot of psychological resistance to this, but at least you can raise your head and see how the work is going. It is believed that being able to recognize this will alleviate feelings of shame and fear to some extent.

[0088] After you have finished disposing of the excrement, press a dry tissue or use a hair dryer to blow hot air on the Then, as shown in FIG. 9(G), the moisture (humidity) is removed from the surface of the genital area. While raising the entire upper body into an inclined state, the pelvic middle support 27 remains lowered while the pelvic lower support 29 and the thigh upper support 31 are raised, and then the pelvic upper support 26 and the lumbar support 25 are lowered.

[0089] Therefore, in this state, the lumbar support 25, the pelvic upper support 26, and the pelvic middle support 2 7 are lowered. However, when excrement adheres to the lumbar region of the care recipient 1 in this state, wipe it off. In this case, it is also possible to use a dedicated tray.

[0090] Since the folded crotch overlapping element 40 and the ventral overlapping element 41 are interposed between the pelvic lower support 29 and the care recipient 1, when the pelvic lower support 29 is raised to its original position, there is a possibility of pushing the care recipient 1 back up. Therefore, the lifting amount of the pelvic lower support 29 is preferably set to the dimension obtained by subtracting the thicknesses of the crotch overlapping element 40 and the ventral overlapping element 41. It is also possible to provide a pressure sensor on the pelvic lower support 29 or the like and control the lifting amount so that the value of the pressure sensor does not become excessive.

[0091] and bone Also, by lowering the lumbar support 25

[0092] the pelvic upper support 26 and the pelvic middle support 27, a working space 74 is formed below the person's waist. However, since this working space 74 is in the groin area of the person and difficult to visually recognize from above, a mirror may be arranged at the part of the base 21 located below the care recipient 1 so that the state of the care recipient 1's body can be visually recognized. The mirror may be fixed or placed only during work. When the purification of the lumbar region of the care recipient 1 is completed, as shown in FIG. 9(H), with the waist - side overlapping element 39 of the diaper 38 folded upward, the lumbar support 25 and the pelvic upper support 26 are raised while the waist - side overlapping element 39 of the diaper 38 is folded upward, and the lumbar support 25 and the pelvic upper support 26 are raised Next, as shown in FIG. 10(I), while keeping the pelvic middle support 27 lowered, the pelvis lower support 29 is lowered, and the waist side overlapping element 39 of the diaper 38 is overlapped on the thigh overlapping element 40 and the abdomen side overlapping element 41 from above. Then, as shown in FIG. 10(J), while keeping the pelvic lower support 29 lowered, the pelvic middle support 27 is raised to lower the thigh upper support 31 and, in this state, the old diaper 38 is removed.

[0093] In this way, the old diaper 38 can be removed and the dirt of the care recipient 1 can be cleaned. In the above explanation, first, the thigh overlapping element 40 and the abdomen side overlapping element 41 are involved to clean the crotch, and then the waist is cleaned. However, as shown in FIG. 11, first, the waist support 25 and the pelvic upper support 26 are lowered to clean the waist of the care recipient 1, and then the thigh washing can be shifted to.

[0094] (6). Procedure for putting on a new diaper · Other replacement procedures The procedure for putting on a new diaper 38 after removing the old diaper 38 is shown in FIG. 12. That is, first, the pelvic lower support 29 and the thigh upper support 31 are lowered, and the diaper 38 folded in the space is placed. In this case, the second side support 30 and the third side support 32 may also be lowered.

[0095] Next, while raising the thigh upper support 31 to stretch the abdomen side overlapping element 41 downward, the pelvic middle support 27 is lowered, the waist side overlapping element 39 is fed upward, and then, as shown in FIG. 12 (C), the pelvic lower support 29 is raised to lower the pelvic upper support 26 and the waist support 25, thereby spreading above the waist side overlapping element 39, and then the waist support Lower the 25 and the pelvic upper support 26, and then roll up the ventral polymerization element 41 and fold and fix the waist-side fl raps 46, 45.

[0096] The above description was the procedure for once removing the old diaper 38 and then putting on the new diaper 38. However, as shown in Fig. 13, with the old diaper 38 still on, place the new diaper 38 in an unfolded state under the care recipient 1, and then it is also possible to remove and wash the old diaper 38. That is, the same procedure as the current manual replacement work can also be adopted. In this case, removing the old diaper 38 and cleaning the perineum may be done by first cleaning the perineum and then moving the cleaning upward as shown in Figs. 8(A) to 1 0, or by first cleaning the waist and then moving the cleaning downward as shown in Fig. 11.

[0097]

[0098] (7). Another example of the robot · control mechanism In Fig. 1, the walking humanoid robot 3 is shown, but in Fig. 14, a stand-type robot 75 with a multi-jointed upper body is shown. Both have, like a human, a head 76, a back (vertebrae and lumbar vertebrae) 77, left and right arms 78 (hands), and a pelvis 79. Both arms 78 have five fingers 80.

[0099] In the robot 3 of Fig. 1, the pelvis 79 is supported by the left and right walking legs 81, but in the robot 75 of Fig. 14, the pelvis 79 is fixed to the column 83 provided on the stand 82, and the column 83 is mounted on the stand 82 so as to be movable up and down and left and right. In Fig. 14, the stand 8 2 is of a four-leg type, and casters 85 are provided at the lower ends of each leg 84. The casters 85 are It is equipped with a locking mechanism. Therefore, the robot 75 in Fig. 14 cannot move independently or by itself but can be moved in a stationary form.

[0100] In Fig. 14, the back 77 of the robot 75 can tilt forward and backward with respect to the pelvis 79 and both can rotate horizontally. Therefore, it can perform the same movements as the humanoid robot 3 in Fig. 1. The stationary robot 75 in Fig. 14 can be said to be more stable than the humanoid robot 3 in Fig. 1. Also, since it can move up and down, it can be said that it can easily wash the waist of the care recipient 1. Since walking control is unnecessary, the structure is simple and advantageous in terms of cost.

[0101] In Fig. 15, a control block diagram of the robot 3 and the bed 2 is shown. This figure targets the robot 75 in Fig. 14. As shown in the figure, the control device includes a CPU (Central Processing Unit) that serves as the center of control, a group of robot sensors and a group of bed sensors as the input system, and a robot drive system and a bed drive system as the output system (drive system). That is, by using the signals from the sensors as input variables and calculating the output based on a program, the members of the drive system are driven in a preset procedure.

[0102] The group of robot sensors includes the aforementioned eye camera 4, a sensor for detecting the height of the support column 83, a right hand flexion and extension sensor for detecting the flexion and extension state of the right hand of the robot 75, a group of right finger sensors for detecting the movement of the right finger of the robot 75, a left hand flexion and extension sensor for detecting the flexion and extension state of the left hand of the robot 75, and a group of left finger sensors for detecting the movement of the right finger of the robot 75. The sensors shown in the figure are only a part, and in addition to this, the group of robot sensors also includes a sensor for detecting the left and right positions of the support column, the tilting of the back, and water It is equipped with a large number of sensors, such as the sensors for detecting the flat posture and the aforementioned microphone 6 etc.

[0103] Examples of the bed sensors include the aforementioned indoor camera 8, smell sensor 59 (see Fig. 7(A)), center detection sensor 50, a group of lifting sensors for detecting the heights of the respective supports 23 to 35, a group of pressure sensors for detecting the pressure acting on the respective supports 23 to 35, and a group of angle sensors for detecting the angles of the tilting bodies 61, 62. However, a large number of other sensors such as tray detection sensors can also be used.

[0104] The robot drive system includes a drive device for moving the robot 75 left and right, a device for driving the column 83 up and down, a drive device for tilting the column 83 forward and backward, a speaker 5, a drive device for bending and extending the right arm, a group of drive devices for bending and extending the right hand (right fingers ), a drive device for bending and extending the left arm, and a group of drive devices for bending and extending the left fingers, etc.

[0105] The bed drive system includes a drive device for the first tilting body 61, a drive device for the second tilting body 62, a lifting device for the head support , a lifting device for the waist support ··· a lifting device for the shin support, a lifting device for the foot support, etc. As described above, when driving each part with a single common motor 68, a power transmission device for connecting and disconnecting the power transmission is required. In this case, since it is necessary to keep a plurality of supports in a lowered state, a plurality of power transmission devices are required.

[0106] (8). Summary This embodiment has the above configuration. The robot 3, 75 and the bed 2 are driven by driving the drive unit by calculating the input signals detected by the sensors as variables while referring to the program incorporated in the control device to generate a force signal. By continuously performing a large number of movements, the diaper 38 can be replaced.

[0107] And, in the diaper 38 of the present embodiment, detection parts such as center lines 49a and 49b are provided. Therefore, when the robot 3 or 75 replaces the diaper 38, the shape, posture, and changes thereof of the diaper 38 can be accurately recognized by sensor means such as cameras 4 and 8, and the removal work of the old diaper 38, the cleaning work of the care recipient 1, and the attachment work of the new diaper 38 can be accurately performed. The diaper 38 of the present embodiment can also be used for manual replacement, but it is preferable to have center lines 49a and 49b because the alignment can be accurately performed.

[0108] As described above, in the present embodiment, by providing the detection means on the diaper 38, the robots 3 and 75 can be made to move in the same manner as a human, and a diaper replacement work that is not harmonious with the care recipient 1 with different physique and posture can be provided. Therefore, the psychological burden on the care recipient and the caregiver due to manual diaper replacement can be reduced.

[0109] In the present embodiment, since the detection cell 43a capable of optically detecting this is provided in the inner gather 43, the fingertips of the robots 3 and 75 trace the inner peripheral surface of the inner gather 43 so that the absorber 42 does not protrude outside the inner gather 43, and the absorber 42 can be set to be covered with the inner gather 43. Therefore, leakage of excrement can be prevented.

[0110] When the bed 2 composed of a large number of movable supports 23 to 35 and the diaper 38 are used in combination as in the embodiment, the diaper replacement can be performed with the care recipient 1 lying on his / her back without changing to a lateral position, which can further contribute to reducing the physical and psychological burden on the care recipient 1. ​​​​​​​​​​​​​The same applies when the replacement is done manually.

[0111] In addition, as in the embodiment, an odor sensor 86 may be provided on the bed 2, or a sensor may be provided on the diaper 38. By providing an excrement detection means such as a gcode 58, the diaper 38 can be changed promptly when excrement is detected. This not only contributes to improving the comfort of the person receiving care 1, but also reduces the effort required for disposal. can also contribute to

[0112] In addition, the detection of the detection target part such as a cell provided in the diaper 38 is performed by the indoor camera 8 and the sensor of the bed 2. When sensing is performed using the same type of sensor, the shape and This can remarkably improve the accuracy of recognition of the posture of the care recipient 1. This will allow us to further advance the digitalization of our business.

[0113] In the above embodiment, the task of changing the diaper 38 of the care recipient 1 lying on the bed 2 has been described. However, the person in care 1 was asked to move to the seated cleaning device, where the diaper 38 was changed and For example, the care recipient 1 is basically in a standing position. After washing, the baby is dried with warm air and then the diaper is put on. The diaper can be put on while being held by the backboard. In this case, it is roughly the same as putting on an unfolded diaper. First, place the device on the back of the care recipient 1, then raise the abdominal overlapping element upwards and tape the device. In this case, the auxiliary grip 38 shown in FIG. By pinching a and 38b with the fingers of the robot, the diaper 38 is smoothly placed on the care recipient 1. It is possible.

[0114] In other words, when putting on a diaper 38 by hand, a person can delicately move their fingertips, so While pinching the edge of the diaper 38 with a finger and without touching the fingertip to the care recipient 1, it is possible to overlap the diaper 38 on the body of the care recipient 1. In contrast, in the case of a robot, if the control of the fingertip is incomplete there is a risk that the fingertip may touch the body of the care recipient and cause discomfort to the care recipient. However, if auxiliary pinching pieces 38a, 38b protruding from the edge are provided on the diaper 38, the robot can overlap the diaper 38 on the body of the care recipient 1 without touching the fingertip to the body of the care recipient. Therefore, it can be said that the satisfaction of the care recipient can be improved.

[0115] The fingertips of the robots 3, 75 are made soft like a human finger by being composed of urethane resin, etc. However, due to the difficulty of adjusting the pinching force, slippage may occur even when pinching the diaper 38. Moreover, if it is set to pinch strongly, problems such as tearing of the diaper 38 may occur, and there is also an aspect that it is difficult to set it to pinch strongly in the first place. In this regard, as in the embodiment where the pinching piece 47c is thickened, thickening the part to be pinched

[0116] is suitable because it can be firmly held even with a weak pinching force of the fingertip. As means for facilitating pinching, in addition to or instead of thickening, embossing may be performed, a large number of protrusions or recesses or both may be provided, a large number of punched holes may be formed, engagement holes 38c may be formed as shown by the dashed line in FIG. 4, and as shown by the dashed line in FIG. 4, only the edge of the pinching piece 47 etc. may be thickened to improve the catching of the fingertip, and various structures can be adopted. It is also suitable to configure the part to be pinched with a material having a large friction coefficient such as urethane resin.

[0117] Alternatively, the fingertips of the robot 3,75 can be formed into a hook shape and engaged with the engagement holes provided in the picked part. This is also possible.

[0118] FIG. 16 shows a reference example applied to the pants-type diaper 86. The diaper 86 has a normal pants-type appearance, but connecting threads 87 are arranged on the left and right side parts as fixing members. The connecting thread 87 is a thread that stitches and connects the waist-side overlapping element 88 (rear view) and the abdominal-side overlapping element 89 (front body view). When pulled up or down with a predetermined force, the connection between the waist-side overlapping element 88 (rear view) and the abdominal-side overlapping element 89 (front body view) is released and it becomes the same form as the open type. Naturally, the waist-side overlapping element 88 and the abdominal-side overlapping element 89 are connected via the crotch overlapping element 9 0. When this diaper 86 is worn, the opening edge is rounded outward, and while sequentially lowering the support body constituting the bed 2, it can be worn on the care recipient 1 by restoring the rounding. On the other hand, when removing, considering that the inner surface is soiled with excrement and that the care recipient 1 needs to be washed, while wearing, pull the connecting thread 87 to spread the diaper 86 into the same state as the open type, and then, for example, in the same procedure as FIGS. 8(C) to 10(J), while rounding, retreat and wash and remove it. Therefore, it is possible to use it for bedridden people without impairing the advantages such as ease of wearing and certainty of leakage prevention, which are the characteristics of the pants-type diaper, and to remove and wash the old diaper 86.

[0119] Although not shown, in this reference example as well, at least on the outer surface of the diaper 86, a detected part such as a cell shape is provided.

[0120] On the other hand, when removing, considering that the inner surface is soiled with excrement and that the care recipient 1 needs to be washed, while wearing, pull the connecting thread 87 to spread the diaper 86 into the same state as the open type, and then, for example, in the same procedure as FIGS. 8(C) to 10(J), while rounding, retreat and wash and remove it. Therefore, it is possible to use it for bedridden people without impairing the advantages such as ease of wearing and certainty of leakage prevention, which are the characteristics of the pants-type diaper, and to remove and wash the old diaper 86.

[0121] Although not shown, in this reference example as well, at least on the outer surface of the diaper 86, a detected part such as a cell shape A part is provided. For easy recognition when unfolding and then removing, a detection part is also provided on the inner surface. It is preferable to provide it. The end part (locking part, gripping part) of the connecting thread 87 can also be formed into a thick and soft tape shape so that it can be firmly held by the finger of the robot 3.

[0122] As mentioned above, the embodiments of the present invention have been described, but the present invention can be embodied in various other ways. For example, it is also possible to include a coagulant that hardens feces in the diaper. Also, it is possible to include a deodorant in the diaper. As the deodorant, commercially available activated carbon can be used, but it is preferable to use the dried extract residue of coffee because high deodorant effects can be enjoyed by using waste products. The coffee grounds generated during the production of instant coffee are also worth considering.

[0123] It is also possible to configure it so that dirt on the skin can be wiped off by pulling the diaper. Old diapers are removed by being rolled up or folded, but it is also possible to incorporate a tape-shaped member or the like that assists folding or rolling into the diaper or provide it separately.

[0124] When rolling up the diaper, a long and thin jig that clamps the end of the diaper can be used to wind up the used diaper or unwind a new diaper while rotating it. By attaching this jig to the hand of the robot and controlling the rotation of the jig and the lifting and lowering of the support of the bed, it is also possible to wind up the used diaper and attach a new diaper.

[0125] Also, since the number of urinations is more than that of defecations in the excretion of the cared-for person, urine pads are used. ​​​​​​​​​​​Although it has been described, the present invention can also be applied to diapers that can be equipped with urine collection pads. Robot To facilitate the replacement of the urine collection pad by the robot, it is possible to provide a mark that indicates the position of the urine collection pad on the ventral overlapping element and the crotch overlapping element of the diaper.

Industrial Applicability

[0126] The present invention can be embodied in diapers and diaper-changing robots. Therefore, it can be used industrially.

Explanation of Signs

[0127] 1 Care recipient 2 Bed 3,75 Robot 4 Eye camera (eyes) 5 Speaker (mouth) 6 Microphone (ears) 8 Indoor camera 12 Head of the care recipient 13 Back of the care recipient 14 Waist of the care recipient 15 Pelvis of the care recipient 16 Thigh of the care recipient 17 Inter-foot of the care recipient 18 Shin of the care recipient 19 Foot of the care recipient 21 Bed base 22 Bed plate 23 - 35 Supports constituting the bed plate 38 Open-type diaper 39 Waist-side overlapping element 40 Crotch overlapping element 41 Ventral overlapping element 42 Absorbent body 43 Inner gather 43a Inner gather cell serving as the detected part 44 Outer gather 44a Outer gather cell 45 Waist-side flap 46 Ventral flap​​ 47 Side tape 47c Thickened grip piece 48 Center line 49a, 49b Center line as an example of the center detection part 51 - 55 Cells of the main body 56, 57 Tape cells 61, 62 Bed tilting bodies 68 Motor for driving the bed 74 Working space 78 Arm constituting the hand 80 Arm constituting the hand 86 Pant - type diaper according to the second embodiment 89 Connecting thread as an example of a fixing member

Claims

1. An incontinence diaper for nursing care, which is provided with an auxiliary function unit for realizing or facilitating the attachment of the robot to the care recipient or the removal of the robot from the care recipient. Incontinence diaper for nursing care.

2. The incontinence diaper for nursing care according to claim 1, wherein the auxiliary function unit is a detected part that can be detected by optical, electrical, or magnetic means for enabling the grasping of a planar shape or a three-dimensional shape. The incontinence diaper for nursing care according to claim 1.

3. A waist-side overlapping element that overlaps the waist and the back surface of the pelvis of the care recipient, a crotch overlapping element that overlaps the crotch of the care recipient, and a ventral overlapping element that overlaps the abdomen of the care recipient are integrally continuous, and an absorber is arranged so as to extend to the waist-side overlapping element and the ventral overlapping element centering on the crotch overlapping element. Gathers are arranged on both the left and right sides of the absorber, and the left and right waist-side flaps provided on the waist-side overlapping element are fixed to the ventral overlapping element by side tapes provided at the left and right ends of the waist-side overlapping element. The detected part is arranged at least along the outer periphery in series or intermittently. The incontinence diaper for nursing care according to claim 2, which includes one or both of a center detected part arranged in series or intermittently along a center line that divides the waist-side overlapping element, the crotch overlapping element, and the ventral overlapping element into left and right, and a gather detected part arranged in series or intermittently along the edge of the gather. The incontinence diaper for nursing care according to claim 2.

4. A waist-side overlapping element that overlaps the waist and the back surface of the pelvis of the care recipient, a crotch overlapping element that overlaps the crotch of the care recipient, and a ventral overlapping element that overlaps the abdomen of the care recipient are integrally continuous, and the left and right waist-side flaps provided on the waist-side overlapping element are fixed to the ventral overlapping element by side tapes provided at the left and right ends of the waist-side flaps. The detected parts are arranged in a large number in dot form over the whole at a predetermined density, and each detected part can be recognized as a different address. The incontinence diaper for nursing care according to claim 2.

5. The detected part is retrofitted by adhesion, sewing, coating, impregnation, or other means as a dedicated member. The incontinence diaper for nursing care according to any one of claims 2 to 4.

6. An inner surface side detected part is arranged on the inner surface side facing the body of the care recipient in the use state, and an outer surface side detected part is arranged on the outer surface part facing the outside of the care recipient, and the inner surface side detected part and the outer surface side detected part can be recognized as different signals by a common sensor. The incontinence diaper for nursing care according to claim 3 or 4.

7. The detection unit is set such that its sensitivity changes when it is heated by being worn on the care recipient. The disposable diaper for caregiving according to claim 3 or 4.

8. The auxiliary function unit is made of a material whose physical properties change when it comes into contact with excrement, and is disposed at a portion that contacts the skin of the care recipient. The disposable diaper for caregiving according to claim 1.

9. The auxiliary function unit is an easy-to-pick-up part provided at a location where the robot picks with its fingertips. The disposable diaper for caregiving according to claim 1.

10. A waist overlapping element that overlaps the waist of the care recipient, a crotch overlapping element that overlaps the crotch of the care recipient, and a ventral overlapping element that overlaps the abdomen of the care recipient are integrally continuous, and the left and right waist flaps provided on the waist overlapping element are fixed to the ventral overlapping element by adhesive side tapes provided at the left and right ends of the waist overlapping element. At the location of the side tape, as a thick part, a pick-up piece made of a material thicker than the base material of the side tape is integrally provided. The disposable diaper for caregiving according to claim 9.

11. The auxiliary function unit is an elongated fixing member whose wearing state on the care recipient is released by pulling, and one end or both ends of the fixing member are exposed to allow the robot to pick or lock. The disposable diaper for caregiving according to claim 1.

12. It is of a type that is removed from the care recipient by being pulled away from the care recipient by the robot after being removed from the care recipient who is lying in bed. As the auxiliary function unit, a slide assist process is performed to make it easy to slide between the bed when being pulled by the robot. The disposable diaper for caregiving according to claim 1.

13. A waist-side overlapping element that overlaps the waist and the dorsal surface of the pelvis of the care recipient, a crotch overlapping element that overlaps the crotch of the care recipient, and a ventral overlapping element that overlaps the abdomen of the care recipient are integrally continuous, and the left and right waist-side flaps provided on the waist-side overlapping element are fixed to the ventral overlapping element by side tapes provided at the left and right ends of the waist-side flaps. As the auxiliary function unit, a core material or a mark is provided to facilitate winding up or winding back starting from the end of the waist-side overlapping element or the end of the ventral overlapping element. The disposable diaper for caregiving according to claim 1.

14. A robot for performing the replacement operation of the side tape-fixed diaper among the diapers according to claims 1 to 13, wherein the control device A first program for recognizing the size, gender, and posture of a care recipient; A second program for performing the act of removing clothes from the care recipient to expose the diaper being worn; A third program for detecting the detected part of the diaper being worn with a sensor and recognizing the three-dimensional shape of the diaper being worn; A fourth program for spreading out a replacement diaper, detecting the detected part of the replacement diaper with a sensor, and performing the act of spreading it out in a predetermined posture; A fifth program for performing the act of placing the replacement diaper spread out in the predetermined posture under the care recipient; A sixth program for continuously detecting the detected part of the diaper being worn with a sensor and, based on the information, performing the act of removing the diaper being worn from the care recipient while cleaning the soiled part of the care recipient; A seventh program for continuously detecting the detected part of the diaper being worn with a sensor and, based on the information, performing the act of rolling up and removing the diaper that was being worn; An eighth program for continuously detecting the detected part of the replacement diaper with a sensor and, based on the information, performing the act of fixing the replacement diaper to the care recipient, is included. A care robot.

15. A robot for performing the replacement work of any of the diapers described in Claims 1 to 13, wherein the control device includes A first program for recognizing the size, gender, and posture of a care recipient; A second program for performing the act of removing clothes from the care recipient to expose the diaper being worn; A third program for detecting the detected part of the diaper being worn with a sensor and recognizing the three-dimensional shape of the diaper being worn; A fourth program for continuously detecting the detected part of the diaper being worn with a sensor and, based on the information, performing the act of removing the diaper being worn while cleaning the soiled part of the care recipient; A fifth program for detecting the detected part of the diaper being worn with a sensor and, based on the information, performing the act of rolling up and removing the diaper that was being worn; A sixth program for continuously detecting the detected part of the replacement diaper with a sensor and, based on the information, performing the act of attaching the replacement diaper to the care recipient, is included. A care robot.

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