Care bed and care facility

Abstract

To disclose a bed for facilitating diaper exchange of a bedridden cared person and also promoting the exchange by a robot.SOLUTION: A bed 2 includes: a mat 22; and a base 21 for supporting the mat. The mat 22 includes multiple movable mat parts 23-35 aligned in a front and rear direction. The parts from the hip-part movable mat part 25 to the foot-part movable mat part 35 can be individually lowered. The parts from the head-part movable mat part 23 to the pelvis middle movable mat part 27 can be raised and rotated as a whole. The movable mat parts 25-35 are lowered so as to form a work recession 74 on a lower side. Thus, a diaper 38 can be removed or fitted while a cared person is lying in a supine position. A tray 73 can be stored in the work recession 74.SELECTED DRAWING: Figure 9

Description

Technical Field

[0001] The present invention relates to a nursing bed and a nursing facility composed of this nursing bed and a nursing robot. Here, the robot refers to a device having at least a part corresponding to a human hand, and is not necessarily a humanoid (self-propelled walking type) 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 care work, the most difficult part for both the caregiver and the care recipient is changing the diaper when the care recipient is bedridden.

[0003] As a diaper used by a bedridden person, an open type fixed with left and right tapes is generally used. The caregiver changes the posture of the care recipient's body to a supine position, a right-facing position, or a left-facing position, and then removes the old diaper, attaches a new diaper, and washes the perineum and the like in a series.

[0004] Changing the diaper of a bedridden person depends on manual labor because it is a continuous series of delicate operations. However, in changing the diaper, the care recipient exposes the perineum and entrusts the work to the caregiver. Therefore, it is not only heavy labor for the caregiver, but also causes the shame of the care recipient and the mental distress of the caregiver, and there is also a problem of feeling a psychological burden for both the care recipient and the caregiver. In Japan, most of the care for bedridden people is provided at home, but home care has an aspect in which a specific person is strongly sacrificed, so it is a problem that should be addressed particularly in welfare policies.

[0005] Therefore, it can be said that there is a demand for a technology that can reduce the physical and psychological burdens of both the caregiver and the care recipient regarding diaper changing. In response to such a demand, the applicant of the present application disclosed a robot system that enables diaper changing for bedridden care recipients in Patent Document 1.

[0006] On the other hand, as a nursing bed, a bed equipped with a toilet has also been proposed (for example, Patent Document 2).

Prior Art Documents

Patent Documents

[0007]

Patent Document 1

Patent Document 2

Summary of the Invention

Problems to be Solved by the Invention

[0008] When the robot of Patent Document 1 is realized, it is expected that diaper changing can be performed with reduced physical and psychological burdens on both the caregiver and the care recipient, and the severe situation surrounding care can be greatly improved. However, at present, since the robot has not reached the technical level where it can completely reproduce human movements, there is a demand for the preparation of an environment that enables diaper changing by the robot.

[0009] Also, regarding the manual diaper changing operation, the care recipient must change their posture to a supine position, a right lateral recumbent position, and a left lateral recumbent position. Therefore, it is not necessarily understood that the physical and psychological burden on the care recipient is low. Thus, even when considered from the perspective of diaper changing by a robot, a technology that can reduce the physical and psychological burden on the care recipient is demanded.

[0010] Regarding the toilet-equipped bed of Patent Document 2, although this toilet-equipped bed may seem reasonable at first glance, when the care recipient is bedridden, when using the toilet, it is necessary to take off and put on pajamas or underwear with the help of others. In reality, taking off and putting on clothes is very difficult for both the care recipient and the caregiver. Also, the care recipient will excrete in a state where they have raised their body with the help of the caregiver, which is also a great burden for both the care recipient and the caregiver. Furthermore, there is also a problem that the toilet cannot be used unless the caregiver is on standby so that they can help at any time. Therefore, the toilet-equipped bed of Patent Document 2 is considered to have low practicality.

[0011] Therefore, while it is recognized that the care recipient uses diapers, it can be said that there is a demand for an environment that can reduce the burden on the care recipient and the caregiver as much as possible. The present invention was made to meet this demand.

Means for Solving the Problems

[0012] The present invention includes many configurations, and the typical ones are specified in each claim. Among these, the invention of claim 1 is directed to a bed, and this bed is "a bed on which a care recipient can lie down with a diaper on, and auxiliary means for facilitating the replacement of the diaper by others is provided." Here, others correspond to caregivers and include both humans and robots.

[0013] The invention of claim 2 is a development example of claim 1, "the auxiliary means is a height adjustment mechanism that can partially change the height of the support surface of the care recipient when others replace the diaper of the care recipient, and by partially lowering the height of the support surface by the height adjustment mechanism, a work recess is formed under a part of the body of the care recipient in a supine state so that others can insert their hands to perform diaper replacement or cleaning work." It has such a configuration.

[0014] The invention according to claim 3 is an expansion example of the invention according to claim 2, "the support surface is composed of a mat, and the mat in relation to a person lying on their back, includes a first movable mat portion on which the back and head of the care recipient rest, a second movable mat portion on which the waist of the care recipient rests, a third movable mat portion on which the upper part of the pelvis of the care recipient rests, a fourth movable mat portion on which the lower part of the pelvis of the care recipient rests, a fifth movable mat portion on which the thighs of the care recipient rest, and a sixth movable mat portion on which the lower legs and feet of the care recipient rest, and at least the fifth movable mat portion can be lowered by the height adjustment mechanism so that a cleaning work recess for facilitating the cleaning of the genitals of the care recipient is formed." It has such a configuration.

[0015] In claim 3, since the fifth movable mat portion at least descends, it is necessary to be separated from the fourth movable mat portion and the sixth movable mat portion, but the first to fourth movable mat portions may be connected in series. For example, it is also possible to configure the mat with more movable mat portions, such as separating the fourth movable mat portion into multiple parts.

[0016] The invention according to claim 4 is an expansion example of the invention according to claim 3, "the second to fourth movable mat portions and the sixth movable mat portion can also be independently lowered by the height adjustment mechanism respectively." It has such a configuration.

[0017] The invention according to claim 5 is an expansion example of the invention according to claim 4, "at least the fifth movable mat portion is divided into a center portion having a lateral width approximately the same as the lateral width of the buttocks of the care recipient and side portions located on both left and right sides of the center portion, and at least the center portion can be lowered." It has such a configuration.

[0018] The invention according to claim 6 is an expansion example of the invention according to claim 2, "There are a plurality of said auxiliary means, and one of them is a holder for holding the left and right legs of a person lying on their back in a kneeling state, and this holder is provided as a facility." It has such a configuration.

[0019] The invention of claim 7 is a development example of claim 3, "There are a plurality of said auxiliary means, and one of them is a tray that can be fitted at least into the work recess for washing, and this tray is provided as a facility." It has such a configuration.

[0020] The invention of claim 8 is a development example of claim 4, "At least said first movable mat part can be raised and rotated into an inclined position." It has such a configuration. It is also possible to divide the first inclined part into a head movable mat part and a back movable mat part, and configure the head movable mat part to be relatively raised and rotatable with respect to the back movable mat part.

[0021] The invention of claim 9 is a preferred development of claim 8, "At least said first movable mat part can be raised and rotated at an angle of 15° or more." It has such a configuration. The raising angle may be about 15 to 30°.

[0022] The invention of claim 10 is a development example of claim 1, "The said auxiliary means is a posture changing mechanism that can change the posture of the cared-for person between a supine posture and a lateral recumbent posture when another person changes the diaper of the cared-for person." It has such a configuration.

[0023] The invention of claim 11 is a development example of claim 10, "The said posture changing mechanism is a movable mat part that is a part of the mat constituting the bed, and the said movable mat part is arranged to rotate around an axis extending in the longitudinal direction of the bed." It has such a configuration.

[0024] The invention according to claim 12 is directed to care facilities, and these care facilities "comprise a nursing bed according to any one of claims 2 to 11 and a robot for performing diaper changing work on a care recipient lying on the nursing bed." It has such a configuration.

[0025] When changing diapers, it is necessary to undress the care recipient to expose the lower body, but it is not easy to take off the pants from a bedridden care recipient. In this regard, claim 13, as a development example of claim 12, "the second to sixth movable mat parts constituting the bed are each independently lowerable, when the care recipient is wearing pajamas separated into an upper garment and pants, the control device is set such that the robot slides down the pants from the waist while sequentially lowering each movable mat part of the bed from the second movable mat part toward the sixth movable mat part, thereby performing the operation of removing the pants from the care recipient, and is set such that the robot slides up the pants from the waist while sequentially lowering each movable mat part of the bed from the sixth movable mat part toward the second movable mat part, thereby performing the operation of dressing the care recipient with the pants." It adopts such a configuration.

[0026] The invention of the present application has a plurality of auxiliary functions, but these auxiliary function parts do not mutually exclude each other. Therefore, a plurality of auxiliary function parts can be held on the bed.

Advantages of the Invention

[0027] According to the invention of the present application, by providing an auxiliary function part on the bed, it is possible to make great progress toward realizing the replacement work by the robot. Therefore, it is good news for both the caregiver and the care recipient. Also, when changing diapers manually, the physical and mental burden on the caregiver can be reduced.

[0028] As in claim 2, when a part of the support surface is lowered to form a working recess under a part of the body of the care recipient, the care recipient can change the diaper while lying on their back without turning the body to the right or left or lying on their side. Therefore, the burden on the care recipient and the caregiver can be further reduced. When the robot changes the diaper, there is no need to change the posture of the care recipient, so it is possible to make great progress towards the realization of diaper changing by the robot. The support surface of the bed only temporarily descends during diaper changing and is usually flat, so there is no discomfort and it is highly realistic.

[0029] The invention of claim 3 uses a means of partially lowering the support surface by separating the mat into a plurality of parts and lowering a part of it. Since it is easy to configure the mat in a split manner, it is highly realistic. And because the fifth movable mat part on which the thigh of the care recipient lies descends, the caregiver (human or robot) can insert a hand into the working recess formed by lowering the fifth movable mat part to clean (purify) the dirt in the genital area of the care recipient. Therefore, the cleaning of the genital area can be easily performed. Since the care recipient can remain lying on their back during the cleaning of the genital area, the physical burden can be reduced.

[0030] As in claim 4, if all the movable mat parts except the first movable mat part are configured to be lowerable, a working recess can be formed in a state where it moves under the human body, so that diaper changing and the removal of trousers can be facilitated. Therefore, it can not only greatly contribute to the realization of diaper changing by the robot, but also contribute to the reduction of the physical and psychological burdens of both the caregiver and the care recipient even when the diaper is changed manually. Therefore, the practical value is very high.

[0031] In claim 5, at least the fifth movable mat part is divided into three parts on the left and right, and the center part with a left and right width approximately the same as the left and right width of the buttocks of the care recipient can be independently lowered to form a working recess. Since the working recess takes the form of a bottomed hole on the upper surface of the bed, a tray can be stably placed in the working recess (it is particularly preferable to provide a flange on the tray).

[0032] Bedridden care recipients often have weak skin. Therefore, there is a risk that the skin may peel off if rubbed strongly. However, in claim 5, since the tray can be used in a stable state, it is easy to wash away dirt using a cleaning liquid such as hot water. Therefore, the comfort of the care recipient can be improved.

[0033] Changing diapers and cleaning the genitals and other areas are set together. In particular, when cleaning, it is necessary to have the care recipient kneel. However, if a holder that holds the care recipient in a kneeling state as in claim 6 is used, the physical burden on the care recipient can be reduced, and operations such as cleaning can be performed smoothly.

[0034] In claim 7, a tray is specified as one of the auxiliary means, and its advantages are as described in the effect section of claim 5. Since the tray is detachable and is placed on the bed only when needed, it does not inhibit the function of the bed in the normal state, and it is also easy to clean the tray itself.

[0035] Exposing the genitals to others when a person cannot visually confirm the working state is accompanied by shame and fear, and there is a great psychological resistance. However, if the first movable mat part can be raised and rotated as in claim 8, the head can be raised and the working content can be made visible, thus giving the care recipient a considerable sense of security and contributing to the reduction of the psychological burden.

[0036] In addition, by enlarging the working recess formed below the waist of the care recipient, it is possible to contribute to improving the workability of diaper changing and body cleansing. Therefore, it can also contribute to the realization of diaper changing by a robot. In particular, when the first movable mat portion can be raised at an angle of 15° or more as in claim 9, the back of the waist can be largely exposed. Thus, when excrement has reached the back of the waist, removal (washing and wiping) can be facilitated, and since it becomes easier to handle the diaper, the diaper changing operation becomes even easier.

[0037] In the configuration of claim 10, since the care recipient can be changed between a supine position and a lateral position, in particular, washing and wiping can be easily performed when the waist is dirty. That is, since the waist of a person can be easily visually recognized, washing and wiping can be easily performed. Removal of the old diaper and setting of the new diaper can also be easily performed. The posture changing device can use a retrofitting method, but if it is configured with a movable mat portion as in claim 11, it is convenient because there is no need to set it up one by one.

[0038] The clothes worn by bedridden care recipients can generally be roughly classified into pajamas consisting of a top and pants, and nightgowns that are overlapped from the left and right and fixed with a string or the like. Which one to wear depends on the preference of the care recipient, but in the case of nightgown type, the hem must be rolled up when changing the diaper. There is a risk that the rolled-up part may hit the back of the body, and from the perspective of the care recipient, it is not necessarily considered suitable. Also, there is a risk of accidentally soiling if a part spreads on the bed. The problem of the hem being easily disarranged while sleeping is also assumed.

[0039] On the other hand, when changing a diaper, the wearer has to take off their pants, so there are no problems with dirt or contact with part of the body during diaper changing, nor is there any problem with the hem getting messed up. However, since the pants are pulled off the care recipient lying in bed or put on while being lifted up, the task of putting on and taking off the pants is a burden for both the care recipient and the caregiver. Whether taking off or putting on the pants, it is necessary to subtly adjust the way of hanging the fingers and applying force to the pants, so the hurdle for realizing the task of putting on and taking off by a robot is high.

[0040] The main reason why it is difficult to put on and take off pants is that the weight of the care recipient acts on the pants. However, in the configuration of claim 13 of the present application, by sequentially lowering a large number of movable mat portions from the end, recesses can be sequentially formed below the care recipient where the edge of the pants can be moved without the body pressure of the care recipient being applied. Therefore, the pants can be put on and taken off without imposing a physical or psychological burden on the care recipient. It can also contribute to the realization of robot-assisted changing. The removal and setting of the sheet can also be realized in the same way.

Brief Description of the Drawings

[0041]

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Embodiments for Carrying Out the Invention

[0042] Next, embodiments of the present invention and related technologies will be described. Hereinafter, the terms up, down, left, and right will be used with respect to the cared-for person and the diaper. In this case, the up-down direction is defined such that the head side of the cared-for person is up and the foot side is down. Left and right are based on the cared-for person. The terms inner surface and outer surface are used with respect to the diaper. The inner surface is the surface that overlaps the cared-for person, and the outer surface is the surface that is exposed outside the cared-for person.

[0043] (1). Outline 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 cared-for person 1 is assumed to be a bedridden person, and only the skeleton is shown lying on the bed 2, but showing the skeleton of the cared-for person 1 is intended to compare with the structure of the bed 2. In this embodiment, the robot 3 can be responsible for changing the diaper. Therefore, the care equipment is composed of the bed 2 and the robot 3.

[0044] The care robot 3 shown in FIG. 1 is a multi-indirect self-sufficient walking type humanoid and has the same skeleton as a human and can realize the same movements as a human. The eyes of the robot 3 are cameras 4 (eye cameras), the mouth is a speaker 5, and the ears are microphones 6. The left and right hands 80 are provided with five fingers and, like a human, can grasp, lift, and move objects with the hands. In FIG. 1, only the skeleton of the robot 3 is shown, but it is preferable to add flesh and wear clothes to make it look like a human appearance in order to eliminate a sense of strangeness. It is preferable to give a name to the robot 3.

[0045] When the care recipient 1 is able to have a conversation, it is preferable to insert a conversation program into the robot's control device and set it to have a casual conversation with the care recipient 1. Naturally, a learning effect should be incorporated into the conversation, and the conversation program should be updated daily. Even when the care recipient 1 is unable to have a conversation, appropriate voices are set to be used during the work.

[0046] 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, since it is a fixed type different from the eye camera 4 provided on the robot 3, it is excellent in functions such as recognizing the posture of the care recipient 1. The indoor camera 8 can also be fixedly provided on the ceiling or wall of the room. However, from the perspective of respecting the privacy of the care recipient 1, it is preferable to adopt a rear-mounted method that is used only when changing diapers.

[0047] A mobile auxiliary table 9 is placed beside the bed 2. Various items such as replacement diapers can be placed thereon. A trash can for throwing in dirt 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 considered comfortable for the care recipient 1. Although it is possible to give the robot 3 a warm air ejection function as a means for this, from the intention of respecting the dignity of the care recipient 1, it can be said that it is preferable to make the movement of the robot 3 as human-like as possible and use a dryer placed on the auxiliary table 9 for drying.

[0048] Now, the care recipient 1 is equipped with the left and right arms 10, the left and right hands (fingers) 11, the head 12, the back (scapula, spine, torso) 13, the waist (lumbar vertebra) 14, the pelvis 15, the thighs (femur bones) 16, the ankles 17, the shins 18, and the feet 19 that touch the ground. On the other hand, the bed 2 has a base 21 supported by legs 20 and a mat 22 disposed thereon via a movable mat member (not shown), and the mat 22 is divided into a plurality of parts.

[0049] That is, the mat 22, in order from the side of the head 12 of the care recipient 1, ◎A head movable mat part 23 that supports the head 12 of the care recipient 1, ◎A back movable mat part 24 that supports the back 13 of the care recipient 1, ◎A waist movable mat part 25 that mainly supports the waist 14 of the care recipient 1, ◎A pelvic upper movable mat part 26 that supports the upper part of the pelvis 15 of the care recipient 1, ◎A pelvic middle movable mat part 27 that supports the upper and lower middle parts of the pelvis 15 of the care recipient 1 at the left - right middle part of the bed 2, ◎A pair of first side movable mat parts 28 located on both left and right sides of the pelvic middle movable mat part 27, ◎A pelvic lower movable mat part 29 that supports the lower part of the pelvis 15 of the care recipient 1 at the left - right middle part of the bed 2, ◎A pair of second side movable mat parts 30 located on both left and right sides of the pelvic lower movable mat part 29, ◎A thigh upper movable mat part 31 that supports the upper part of the thigh 16 of the care recipient 1 at the left - right middle part of the bed 2, ◎A pair of third side movable mat parts 32 located on both left and right sides of the thigh upper movable mat part 31, ◎A thigh lower movable mat part 33 that generally supports the lower part of the thigh 16 of the care recipient 1, ◎A shin movable mat part 34 that supports the calf 17 and shin 18 of the care recipient 1, ◎A foot movable mat part 35 that supports the foot 19 of the care recipient 1, is divided into

[0050] In relation to claim 2, the head movable mat part 23 and the back movable mat part 24 correspond to the first movable mat part, the waist movable mat part 25 corresponds to the second movable mat part, the pelvic upper movable mat part 26 corresponds to the third movable mat part, the pelvic middle movable mat part 27 and the first side movable mat part 28 correspond to the third movable mat part at the upper part and the fourth movable mat part at the lower part, the pelvic lower movable mat part 29 and the second side movable mat part 30 correspond to the fourth movable mat part, the thigh upper movable mat part 31, the third side movable mat part 32 and the thigh lower movable mat part 33 correspond to the fifth movable mat part, and the shin movable mat part 34 and the foot movable mat part 35 correspond to the sixth movable mat part. Each of these movable mat parts 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.

[0051] In the embodiment, the movable mat part is divided into three parts on the left and right at the positions of the pelvis 15 and the thigh 16 of the care recipient 1, but it may be configured to descend as a whole without being divided into the left and right. That is, the pelvic middle movable mat part 27 and the first side movable mat part 28 may be integrated, the pelvic lower movable mat part 29 and the second side movable mat part 30 may be integrated, and the thigh upper movable mat part 31 and the third side movable mat part 32 may be integrated.

[0052] (2). Structure and attachment / detachment method of the diaper The form and structure of the diaper used in 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 the pelvis 15 of the care recipient 1, a crotch overlapping element 40 that overlaps the crotch (the 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 continuous vertically.

[0053] 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 abdomen-side overlapping element 41. On both the left and right sides of the absorber 42 on the inner surface side, inner gathers 43 that stretch with rubber are arranged. Outer gathers 44 are arranged on the left and right side parts of the crotch overlapping element 40.

[0054] Rectangular waist-side flaps 45 are integrally connected to both the left and right side edges of the waist-side overlapping element 39, and rectangular abdomen-side flaps 46 are integrally connected to both the left and right side edges of the abdomen-side overlapping element 41. The left and right widths of the waist-side flaps 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 abdomen-side flaps 46 are slightly smaller than the left and right widths of the abdomen-side overlapping element 41.

[0055] 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 a hook-and-loop fastener layer) provided on the base material 47a, and a tab piece 47c exposed outside the adhesive layer 47b. The tab piece 47c is folded in half and thickened.

[0056] The waist-side overlapping element 39, the crotch overlapping element 40, and the abdomen-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 arranged (fixed) on this base sheet serving as the main body.

[0057] In FIGS. 4 and 5, an example of the procedure for dressing the diaper 38 on 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 the unfolded state, and then the ventral flap 46 of the ventral polymerization element 41 is folded. Next, as shown in FIG. 5(A), the ventral polymerization element 41 with the ventral flap 46 folded is folded back toward the abdomen of the care recipient 1. Then, as shown in FIG. 5(B), one waist-side flap 45 is folded onto the ventral polymerization element 41 and fixed with the side tape 47. Finally, the other waist-side flap 45 is folded onto the one waist-side flap 45 and fixed with the side tape 47.

[0058] In FIGS. 5(B) and 5(C), the side tape 47 is shown in a simply horizontally fixed state. However, in order to improve the fitness for the care recipient 1, it is preferable that the lower side tape 47 extends obliquely upward and the upper side tape 47 extends obliquely downward. When removing the diaper 38, the procedure is basically the reverse of the dressing procedure. However, for waste treatment, it is not returned to the unfolded state as it is rolled or folded.

[0059] (3). Detection part The diaper 38 is provided with a plurality of types of detection parts. First, as shown in FIG. 2, an inner surface side center line 49a extending along the center line 48 that divides the waist-side polymerization element 39, the crotch polymerization element 40, and the ventral polymerization element 41 into left and right is formed on the inner surface of the diaper 38. As shown in FIG. 3, an outer surface side center line 49b extending along the center line 48 is formed on the outer surface of the diaper 38.

[0060] The inner and outer center lines 49a and 49b can be imaged by, for example, the eye camera 4 and the indoor camera 8, and are displayed in a color distinguishable from the ground color of the diaper 38 (base sheet). The center lines 49a and 49b can be formed by means such as printing by printing means such as inkjet, welding or adhesion of a strip member, but it is understood that it is preferable to use ink or paint. In particular, since the inner surface side center line 49a is also formed on the absorber 42, it is necessary to consider so as 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 preferable.

[0061] In the figure, the center lines 49a and 49b are shown continuously, but a form in which they extend intermittently can also be adopted. Further, when the diaper 38 is provided as a dedicated product to be exchanged by the robot 3, it is also possible to form it in a state where it cannot be visually recognized by using ink that can be recognized by an infrared camera. Even when it is exchanged by a human caregiver, since it is convenient for the work if the center line 48 is clearly shown, it can be said that it is preferable to display the center lines 49a and 49b in a color that can be visually recognized by a person. The outer surface side center line 49b may be attached later (such as by adhesion) with a strip tape.

[0062] As shown in FIG. 3, a large number of auxiliary center sensing cells 51 are provided on the outer surface side center line 49b in order to specify the position and posture of the outer surface side center line 49b in relation to the reference line (for example, the center line) of the bed 2. The auxiliary center sensing cell 51 is, for example, a metal part, and is 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 the posture of the outer surface side center line 49b with respect to the bed 2 is recognized from the comparison with the reference line (for example, the center line) of the bed 2.

[0063] Since the relationship between the reference line of the bed 2 and the posture of the care recipient 1 can be recognized from the image captured by the indoor camera 8, the diaper 38 can be arranged so that the center lines 49a and 49b thereof overlap with the body axis of the care recipient 1. The center lines 49a and 49b may be constituted by thin threads that do not cause discomfort even when the care recipient 1 touches them, and the color of these threads may be set to a color that can be clearly grasped by people and the cameras 4 and 8. (In this case, it is preferable to wind a metal wire around at least the thread constituting the outer center line 49b as the auxiliary center sensing cell 51.)

[0064] As shown in FIG. 2, on the inner surface of the diaper 38, as an example of the detected part, 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 detected part, 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, groups 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.

[0065] 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, and this can be achieved, for example, by making the sizes of the outer peripheral sensing cells 52 and 54 and the inner peripheral sensing cells 53 and 55 different.

[0066] Furthermore, it is preferable to assign addresses to the individual sensing cells 52 and 53 on the inner surface and the sensing cells 54 and 55 on the outer surface. In this regard, this can be addressed by displaying figures with different shapes, sizes, etc. on each of the cells 52 to 55. It can also be distinguished by changing the color. As shown in Fig. 2(A), the tape sensing cells 56 and 57 are provided on the gripping pieces 47c of the side tape 47. The tape sensing cells 56 and 57 can be configured, for example, by applying different colors to the entire front and back surfaces.

[0067] As shown in Fig. 3, as an example of the detected part for detecting the excretion state, sensing codes 58 in the longitudinal direction 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. Therefore, although the sensing code 58 is composed of a conductive water-containing thread, since it contains metal, a magnetic field or an electric field is generated when it is vibrated.

[0068] 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 the 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 sensing code 58 can be detected. In this case, the excretion content can be grasped depending on which part of the sensing code 58 is contaminated. Alternatively, since the degree of weight increase is different between the case of feces and the case of urine, the excretion content can be recognized. The measurement may be performed intermittently, for example, at 10-minute intervals.

[0069] As an example of the gather detection unit, in the inner gather 43, cell portions 43a having a color different from the color of the base material are intermittently formed at its edge. Also in the outer gather 44, cell portions 44a having a color different from the color of the base material are intermittently formed at its edge, but the color of the cell portion 43a in the inner gather 43 is made different from the color of the cell portion 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.

[0070] (4). Structure of the bed In FIG. 6, the relationship between the bed 2 and the skeleton of the care recipient 1 is shown clearly. FIG. 6 is the same as FIG. 1(A) for the basic body.

[0071] As described above, the mat 22 is divided into a plurality of movable mat portions 23 to 35. However, as shown in FIG. 7(A), the head movable mat portion 23, the back movable mat portion 24, the waist movable mat portion 25, the upper pelvic movable mat portion 26, and the middle pelvic movable mat portion 27 can be lifted and rotated upward as a whole, and further, the head movable mat portion 23 can be lifted and rotated relative to the back movable mat portion 24. The lifting and rotation angle may be about 15 to 30°.

[0072] Therefore, a first tilting body 61 that supports and can lift and rotate the group of the head movable mat portion 23 to the middle pelvic movable mat portion 27 is rotatably connected to the base 21 (or a machine frame not shown), and a second tilting body 62 to which the head movable mat portion 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 be driven by a common motor (not shown or shown in FIG. 7) via interlocking members such as wires and links.

[0073] Each of the movable mat parts from the waist movable mat part 25 to the foot movable mat part 35 can be individually lowered independently to form a working recess. An example of the drive mechanism is shown in Fig. 7(B). In this example, the elevating movable mat parts 25 to 35 are held by a guide shaft 63 and a guide cylinder 64 so as to be vertically movable on a base 21 (or a machine frame not shown), and are configured to be elevated by the rotation of a cam 65. The cam 65 is adapted to rotate by a pinion 66 and a longitudinally extending 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.

[0074] The raising and turning of the head movable mat part 23 to the pelvic middle movable mat part 27 and the elevation of each of the elevating movable mat parts 25 to 35 can be performed by a single common motor 68. Further, each of the elevating movable mat parts 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. Alternatively, it is also possible to drive it by a hydraulic cylinder. It is also possible to elevate it individually by a motor. Alternatively, as the elevating means, a link mechanism such as a bell crank type or a parallel link type can also be adopted.

[0075] The movable mat parts 23 to 35 have a structure in which a cushion material 70 is stretched over a base plate 69 and covered with a ground fabric 71. However, as shown in Fig. 7(C), the cushion material 70 can be configured in a two-layer structure of a lower layer 70a and an upper layer 70b. For example, as the lower layer 70a, a three-dimensional network body in which a large number of resin fibers are entangled and engaged can be used, and as the upper layer 70b, a soft non-woven fabric can be used. Although a suction machine for preventing congestion can be installed in the bed 2, if the cushion material 70 is composed of a three-dimensional network body and a non-woven fabric, the suction of moisture from the skin surface of the care recipient 1 can be ensured.

[0076] When changing the diaper 38, for example, as shown in FIG. 12, the cared-for person 1 needs to be temporarily held in a kneeling position (bent state). However, as shown by the dashed line in FIG. 12, it is preferable to use a support tool 71 for holding the person in the kneeling position. The support tool 71 is made of a lightweight material and can be stably placed on the bed 2. The support tool 71 may be separated into a right-foot type and a left-foot type, but it is preferably continuously integrated from the perspective of a stable support surface. In that case, a method in which the left and right support parts are erected from a left-right longitudinal substrate is preferable so as not to interfere with the work by a person or a robot.

[0077] (5). Procedure for removing and cleaning the old diaper Next, an example of the procedure for changing the diaper 38 will be described. As procedures for changing the diaper 38 of the bedridden cared-for person 1, there can be two methods: a method of performing the work of removing the old diaper 38, wearing the new diaper 38, and cleaning the soiled part simultaneously in parallel (the current manual work method), and a method of first removing and cleaning the old diaper 38 and then wearing the new diaper 38. In FIGS. 8 to 10, as the first half of the latter example, an example of the procedure for removing the old diaper 38 is shown.

[0078] In this example (the same applies to other examples), it is premised that the cared-for person 1 is wearing pajamas separated vertically. Therefore, as a premise, it is necessary to remove the trousers 72 of the pajamas. Therefore, as shown only partially in FIG. 8(B), while sequentially lowering each of the movable mat parts 25 to 35 from the waist movable mat part 25 to the foot movable mat part 35 to form the work recess 74, the trousers 72 are slid down, thereby removing the trousers 72 from the cared-for person 1.

[0079] Since the mat 22 is composed of a number of movable mat portions 23 to 35, the care recipient 1 can take off the trousers 72 while lying on his or her back. In other words, the trousers 72 can be taken off without imposing a physical burden on the care recipient 1. In this case, it is preferable to lower the elevating movable mat portions 25 to 35 in turn in a caterpillar-like manner while rolling up the hem of the trousers 72 outward to shift the trousers 72. Putting on the trousers 72 is done in the reverse procedure.

[0080] 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, bedridden people have almost no abdominal muscles, so the support of the pelvis 15 is essential. Therefore, regarding the care recipient 1, whether it is taking off and putting on the trousers 72 or the diaper 38, it is important to always support at least a part of the pelvis 15 from below.

[0081] After taking off the trousers 72, as shown in Fig. 8(C), ask the care recipient 1 to kneel, spread 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 flap 46 may remain folded. Next, as shown in Fig. 9(F), lower the middle pelvic movable mat portion 27, the lower pelvic movable mat portion 29, and the upper thigh movable mat portion 31, fold (or roll up) the abdominal-side overlapping element 41 and the crotch overlapping element 40 of the diaper 38 upward, store this in the lower part of the middle pelvic movable mat portion 27, then lower the lower pelvic movable mat portion 29 and the upper thigh movable mat portion 31 to form a working recess 74, use this working recess 74 for washing, place a tray 73 thereon, and wash the genitals (and its surroundings if necessary).

[0082] As shown in FIG. 7(D), the tray 73 is provided with a flange 73a that overlaps the opening edge of the work recess 74 for cleaning, and its front part is set to enter below the buttocks of the care recipient 1. Therefore, even if the cleaning liquid runs off, it can be firmly taken in. Note that the cleaning recess 74 means that the work recess is used for cleaning, and it does not mean that the recess formed by the lowering of the three movable mat parts 27, 29, and 31 is only used for cleaning.

[0083] Cleaning is performed according to the situation, such as wiping with a wet tissue or a dry tissue. Appropriately, a cleaning liquid such as hot water can also be used. In this embodiment, since the cleaning recess 74 is formed in the bed 2 as described above and the tray 73 can be placed therein, it is also possible to use hot water to wash away dirt. In the case of a bedridden care recipient 1, the skin may be weakened and the skin may peel off if rubbed strongly. However, in this embodiment, since the tray 73 is placed and hot water or a cleaning liquid can be freely used, even when excrement is stuck, the excrement can be removed without damaging the skin. Therefore, it can be said that the satisfaction of the care recipient 1 is high.

[0084] During a series of operations such as the operation of taking off the pants 72, it is possible to raise the upper body of the care recipient 1 by a slight angle or only raise the head 12 from the beginning or in the middle, as shown by the dashed line in FIG. 9(F). When exposing the genitals to have excrement processed, there is a sense of shame and fear, and there is a great psychological resistance as a person. However, it is understood that at least raising the head 12 so that the state of the operation can be visually recognized can considerably relieve the sense of shame and fear.

[0085] After finishing the treatment of excrement, press a dry tissue or blow warm air with a dryer to remove moisture (humidity) from the surface of the genitals. Next, as shown in FIG. 9(G), while raising the entire upper body in an inclined state, the pelvic middle movable mat part 27 remains lowered while raising the pelvic lower movable mat part 29 and the thigh upper movable mat part 31, and then lowering the pelvic upper movable mat part 26 and the lumbar movable mat part 25.

[0086] Therefore, in this state, the lumbar movable mat portion 25, the upper pelvic movable mat portion 26, and the middle pelvic movable mat portion 27 have descended, creating a working recess 74. However, if excrement is attached to the lumbar region of the care recipient 1 in this state, it is wiped off. In this case, it is also possible to use a dedicated tray.

[0087] Between the lower pelvic movable mat portion 29 and the care recipient 1, the folded thigh overlapping element 40 and the ventral overlapping element 41 are interposed. Therefore, when the lower pelvic movable mat portion 29 is raised to its original position, there is a possibility of pushing the care recipient 1 backward. In this regard, it is preferable to set the raising amount of the lower pelvic movable mat portion 29 to a dimension obtained by subtracting the thicknesses of the thigh overlapping element 40 and the ventral overlapping element 41. It is also possible to provide a pressure sensor on the lower pelvic movable mat portion 29 or the like and control the raising amount so that the numerical value of the pressure sensor does not become excessive.

[0088] Also, by lowering the lumbar movable mat portion 25, the upper pelvic movable mat portion 26 that is lowered, and the middle pelvic movable mat portion 27, a working recess 74 where cleaning work can be performed is formed below the human waist. However, since this working recess 74 is in the shape of a human groin and is difficult to visually recognize from above, a mirror may be arranged at a portion 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.

[0089] When the cleaning 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 movable mat portion 25 and the upper pelvic movable mat portion 26 are raised. Then, as shown in FIG. 10(I), with the middle pelvic movable mat portion 27 remaining lowered, the lower pelvic movable mat portion 29 is lowered so that the waist-side overlapping element 39 of the diaper 38 is overlapped on the thigh overlapping element 40 and the ventral overlapping element 41 from above. Next, as shown in FIG. 10(J), with the lower pelvic movable mat portion 29 remaining lowered, the middle pelvic movable mat portion 27 is raised to lower the upper thigh movable mat portion 31, and in this state, the old diaper 38 is removed.

[0090] In this way, the old diaper 38 can be removed and the dirt of the care recipient 1 can be cleaned. In the above description, first, the crotch overlapping element 40 and the ventral overlapping element 41 are involved to clean the genitals, and then the waist is cleaned. However, as shown in FIG. 11, first, the waist movable mat part 25 and the pelvic upper movable mat part 26 are lowered to clean the waist of the care recipient 1, and then it is also possible to shift to cleaning the crotch.

[0091] (6). Procedure for putting on a new diaper · Other replacement procedures The procedure for removing the old diaper 38 and then putting on the new diaper 38 is shown in FIG. 12. That is, first, the pelvic lower movable mat part 29 and the upper thigh movable mat part 31 are lowered to form a recess, and the folded diaper 38 is placed in the recess. In this case, it is also possible to lower the second side movable mat part 30 and the third side movable mat part 32.

[0092] Next, while raising the upper thigh movable mat part 31 and stretching the ventral overlapping element 41 downward, lower the pelvic middle movable mat part 27, feed the waist side overlapping element 39 upward, and then, as shown in FIG. 12(C), raise the pelvic lower movable mat part 29 and lower the pelvic upper movable mat part 26 and the waist movable mat part 25 to spread above the waist side overlapping element 39, and then lower the waist movable mat part 25 and the pelvic upper movable mat part 26, and then, roll up the ventral overlapping element 41 and fold and fix the flaps 46, 45.

[0093] The above description was the procedure for putting on the new diaper 38 after removing the old diaper 38 once. However, as shown in FIG. 13, it is also possible to place the new diaper 38 in a spread state below the care recipient 1 while the old diaper 38 is worn, and then remove and wash the old diaper 38. That is, the same procedure as the current manual replacement operation can also be adopted. Such a procedure is made possible by sequentially lowering the movable mat part to form the work recess 74.

[0094] In this case, when removing the used diaper 38 and cleaning the genital area, as shown in FIGS. 8(A) to 10, the cleaning may first be performed on the genital area and then shifted upward, or as shown in FIG. 11, the cleaning may first be performed on the waist and then shifted downward.

[0095] (7). Another Example of Robot · Control Mechanism In FIG. 1, a walkable humanoid robot 3 is shown, while in FIG. 14, a stand-type robot 75 with a multi-articulated upper body is shown. Both have, like a human, a head 76, a back (vertebra and lumbar vertebra) 77, left and right arms 78, and a pelvis 79, and both arms are equipped with five fingers 80.

[0096] In the robot 3 of FIG. 1, the pelvis 79 is supported by the left and right walking legs 81, while in the robot 75 of FIG. 14, the pelvis 79 is fixed to a support column 83 provided on a stand 82, and the support 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 82 is of a four-leg type, and casters 85 are provided at the lower ends of each leg 84. The casters 85 are equipped with a locking mechanism. Therefore, the robot 75 of FIG. 14 is a stationary type that cannot walk on its own but can move.

[0097] In FIG. 14, the back 77 of the robot 75 can tilt forward and backward and can also rotate horizontally with respect to the pelvis 79. Therefore, it can perform the same movements as the humanoid robot 3 in FIG. 1. It can be said that the stationary robot 75 in FIG. 14 has higher stability than the humanoid robot 3 in FIG. 1. Also, since it is movable up and down, it can be said that the cleaning of the waist of the care recipient 1 can be performed without difficulty. Since walking control is not required, the structure is simple and advantageous in terms of cost.

[0098] 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 taking 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.

[0099] 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 sensor for detecting the flexion 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 right hand flexion sensor for detecting the flexion state of the left hand of the robot 75, and a group of left finger sensors for detecting the movement of the left finger of the robot 75. The sensors shown in the figure are only a part. In addition to this, the group of robot sensors also includes a large number of sensors such as a sensor for detecting the left and right positions of the support column, a sensor for detecting the tilting and horizontal posture of the back, and the aforementioned microphone 6.

[0100] Examples of the bed sensors include the aforementioned indoor camera 8, an odor sensor 59 (see FIG. 7(A)), a center detection sensor 50, a group of lifting sensors for detecting the height of each movable mat part 23 - 35, a group of pressure sensors for detecting the pressure acting on each movable mat part 23 - 35, and a group of angle sensors for detecting the angles of the tilting bodies 61, 62. However, many other sensors such as tray detection sensors can also be used.

[0101] The robot drive system includes a drive device for moving the robot 75 left and right, a device for driving the support column 83 up and down, a device for tilting the support column 83 forward and backward, a speaker 5, a flexion drive device for the right arm, a group of flexion drive devices for the right hand (right finger), a flexion drive device for the left arm, and a group of flexion drive devices for the left finger.

[0102] 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 movable mat part, a lifting device for the waist movable mat part ··· a lifting device for the shin movable mat part, a lifting device for the foot movable mat part, and the like. As described above, when driving each part with a single common motor 68, a power transmission device for interrupting power transmission is required. In this case, since it is necessary to hold a plurality of movable mat parts in a lowered state, a plurality of power transmission devices are required.

[0103] (8). Summary This embodiment has the above configuration, and the robot 3,75 and the bed 2 are driven by driving the drive unit by calculating the input signal detected by the sensors as variables and generating an output signal while referring to the program incorporated in the control device. By continuously linking a large number of drives of the robot 3,75 and the bed 2, the diaper 38 can be smoothly replaced.

[0104] And, since the diaper 38 of this embodiment is provided with detection parts such as center lines 49a, 49b, when replacing the diaper 38 by the robot 3,75, the shape, posture, and changes of the diaper 38 can be accurately recognized by sensor means such as cameras 4, 8, and the diaper removal work, cleaning work, and wearing work of the diaper 38 can be accurately performed. The diaper 38 used in this embodiment can also be used for manual replacement, but it is preferable to have center lines 49a, 49b to accurately align the posture.

[0105] In this way, in this embodiment, by providing detection means also for the diaper 38, the robot 3,75 can be made to move in the same way as a human, and a diaper replacement operation that does not cause discomfort to 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 manually replacing the diaper can be reduced.

[0106] In this embodiment, since the inner gather 43 is provided with a cell portion 43a that can optically detect this, the fingertips of the robots 3 and 75 trace the inner peripheral surface of the inner gather 43 so that the absorber 42 is not exposed outside the inner gather 43, and the absorber 42 can be set to be covered by the inner gather 43. Therefore, it is possible to prevent the leakage of excrement.

[0107] In the embodiment, the care facility is constituted by the bed 2 composed of a large number of movable mat portions 23 to 35 that are movable and the robots 3 and 75, and the diaper 38 is provided with a large number of detected portions so that it can be replaced by the robots 3 and 75. Therefore, the diaper can be replaced while the cared-for person 1 remains lying on their back without assuming a lateral posture. Accordingly, it is possible to further contribute to reducing the physical and mental burdens on the cared-for person 1. The bed 2 of the embodiment can also be used for manually changing diapers, but in this case as well, since the cared-for person 1 does not need to assume a lateral posture, the physical and mental burdens on both the cared-for person 1 and the caregiver can be reduced.

[0108] If a smell sensor 59 is provided on the bed 2 or excrement detection means such as a sensing code 58 is provided on the diaper 38 as in the embodiment, the diaper 38 can be replaced promptly when excretion occurs, which can contribute not only to improving the comfort of the cared-for person 1 but also to reducing the labor of the treatment work.

[0109] Also, if the detection of the detected portions provided on the diaper 38 is performed by the indoor camera 8 or the sensors of the bed 2, the accuracy of recognizing the shape of the diaper 38, the posture of the cared-for person 1, etc. can be significantly improved compared to the case where only the robots 3 and 75 perform sensing. Therefore, the robotization of diaper replacement can be further advanced.

[0110] In this embodiment, it is also possible to perform partial deployment of the diaper 38 and perineum cleaning while the care recipient 1 is in a tilted body position. Further, when there is no burden on the care recipient, it is also possible to support the waist 14 and the thighs 16 to float the buttocks (pelvis 15) and perform diaper 38 replacement and cleaning all at once. It is also worth considering performing cleaning promptly by alternately taking a posture of supporting the left half of the pelvis 15 and standing on the right knee and a posture of supporting the right half of the pelvis 15 and standing on the left knee.

[0111] In FIG. 4(B), a pant-type diaper 86 that can be used in the present invention is shown as a diaper. The appearance of the diaper 86 in this example is a normal pant type, but connecting threads 87 are arranged on the left and right side portions 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. 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 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 90.

[0112] When putting on this pant-type diaper 86, with the opening edge rounded outward, the movable mat part constituting the bed 2 is sequentially lowered to sequentially form a working recess, and while returning the rounding, it can be put on the care recipient 1.

[0113] On the other hand, when removing, considering that the inner surface is soiled with excrement and the care recipient 1 needs to be cleaned, the connecting thread 87 is pulled while in the worn state to expand 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), it is removed while performing cleaning while retreating while rounding. Therefore, without impairing advantages such as ease of wearing and certainty of leakage prevention as characteristics of the pant type, it can be used for bedridden people, and the old diaper 86 can be removed and cleaned.

[0114] Although not shown, the diaper 86 also has a detection section such as a cell shape provided at least on the outer surface. For ease of shape recognition when unfolding and removing, it is preferable to provide a detection section on the inner surface as well. The end portions (locking portions, gripping portions) of the connecting thread 87 can be formed into a thick and soft tape shape so that they can be firmly held by the fingers of the robot 3.

[0115] (10). Third and Fourth Embodiments (Figs. 16 and 17) Figs. 16 and 17(A) show a third embodiment which is another example of the auxiliary function section of the bed 2. In this example, when changing the diaper, as shown in Fig. 16(B), the care recipient 1 is laid down from the supine position to the lateral position to remove the diaper and clean the dirt on the waist.

[0116] Therefore, the bed 2 is provided with means (auxiliary function section, movable mat section) for raising the care recipient 1 to the lateral position, including an upper center movable mat section 92 on which the back of the care recipient 1 in the supine position lies, upper side movable mat sections 93 located on both the left and right sides thereof, a lower center movable mat section 94 on which the pelvis of the care recipient 1 in the supine position lies, and lower side movable mat sections 95 located on both the left and right sides thereof. These movable mat sections 92 to 95 are separated and set so that they can be independently raised and rotated horizontally to the left and right around the longitudinal axis.

[0117] The base of each of the movable mat sections 92 to 95 is connected to the base of the bed or the like by a hinge or the like and can be rotated upward by a mechanism such as protruding from below by a link. Among the mats 22, the portion located below the thigh area of the care recipient 1 in the supine position is a liftable mat section 96 for washing, but this is not necessarily required.

[0118] In this embodiment, by raising the upper and lower side movable mat parts 93 and 94 on either the left or right side, the posture of the care recipient 1 can be changed to a lateral position. In this case, since the lateral position is stabilized when the care recipient 1 bends their knees, it is preferable to have the care recipient stand on their knees during the posture change or use a drive-type knee-raising member to raise the knees prior to the operation of raising the side movable mat parts 93 and 94.

[0119] Also, during work such as changing diapers, since it is necessary for the waist and hips of the care recipient 1 to be exposed while in a lateral position, the side movable mat parts 93 and 94 are separated vertically, and the lower side movable mat part 95 is set to be raised first and then lowered. When changing the posture of a person from a supine position to a lateral position using the control device, when raising the shoulders (scapulae), the entire upper body will rise, so it is also possible to use only the upper side movable mat part 93 without using the lower side movable mat part 95.

[0120] When changing the posture of the care recipient 1 in a lateral position to a supine position, as shown in Fig. 17(B), the upper side movable mat part 93 and the upper center movable mat part 92 can be lowered together. It is also possible to raise the lower center movable mat part 94 first and then rotate the lower center movable mat part 94 and the lower side movable mat part 95 together.

[0121] In the fourth embodiment shown in Fig. 18, the upper side movable mat part 93 is connected to the upper part of the upper center movable mat part 92 by a hinge, and further, the auxiliary movable mat part 97 is connected to the lateral end of the upper side movable mat part 93 by a hinge. Then, with the care recipient 1 lying on their side, the upper side movable mat part 93 and the auxiliary movable mat part 97 are set to partially hold the shoulders of the person.

[0122] In this embodiment, when the upper center movable mat portion 92 is laid down horizontally, the shoulders of the care recipient 1 are pulled, so that the care recipient 1 can be stably repositioned simply by laying down the upper center movable mat portion 92. Also in this case, it is possible to raise the lower center movable mat portion 94 which was lying down to receive the care recipient 1. As a means for holding the upper side movable mat portion 93 and the upper auxiliary movable mat portion 97 in a rotated state, it is possible to use an arm (not shown).

[0123] In the third and fourth embodiments, as the procedure for changing the diaper, first, the care recipient 1 is asked to kneel and the perineum is washed. Next, the care recipient 1 is asked to lie on their side and if necessary, the waist is wiped. Then, the diaper is pulled off and removed. This procedure can be adopted. For the replacement diaper, either the method of removing the old one and then putting on a new one or the method of laying it under the care recipient 1 first can be adopted. However, in this embodiment, the latter is considered reasonable.

[0124] In this embodiment as well, the robots 3, 75 of the first or second embodiment can be used. However, the movable mat portions 92 to 96 of the bed 2 are linked to the movements of the robots 3, 75. That is, the movable mat portions 92 to 96 of the bed 2 and the hands of the robots 3, 75 are feedback controlled based on mutual signals. It is also possible to lower the portion of the mat 22 that supports the pelvis 15 of the care recipient 1 while the care recipient 1 is in a lying - on - side position. In this case, the removal of the old diaper can be done smoothly. In this case, the portion of the mat 22 that supports the thigh of the care recipient 1 may be raised slightly.

[0125] (11). Fifth Embodiment (Figs. 19, 20) Figures 19 and 20 show a fifth embodiment, which is another example of a diaper changing device. The diaper changing device 99 of this embodiment includes a box body 100 placed on the bed 2 to cover the waist and hips of the care recipient 1. Inside the box body 100, there are a diaper roll 102 around which a large number of diapers 101 are wound, a diaper feeding mechanism 103 for feeding the diaper roll 102 downward under the lower body of the care recipient 1, and a plurality of working hands 104 arranged inside the box body 100.

[0126] Each diaper 101 is lightly adhered to one side of a long strip-shaped film 105, and the diaper roll 102 is formed by winding the strip-shaped film 105. The diaper feeding mechanism 103 has a feeding roller 106 and a film winding roller 107, and a cutter (not shown) is provided near the feeding roller 106.

[0127] As an example of the auxiliary function part, the bed 2 includes a movable mat part (not shown) similar to the previous embodiment and a lifting plate 108 made of a thin metal plate. The lifting plate 108 has the strength to lift the hips of the care recipient 1 by a certain dimension. As one method, it is inserted horizontally into the space formed between the lower part of the care recipient 1's back and the bed 2, then slid under the hips of the care recipient 1, and then the hips are lifted to form a space through which the diaper 101 can be inserted. After setting the diaper 101 in place, it is withdrawn and retracted to a position where it does not get in the way.

[0128] As another method of using the lifting plate 108, it is inserted horizontally under the thighs of the care recipient 1, slid under the stepped part, then slid under the hips, the hips are lifted to set the diaper 101, and after setting the diaper, it is withdrawn and retracted to a position where it does not get in the way.

[0129] The diaper 101 is basically the same as that shown in the first embodiment, and includes an absorber 42 that covers the crotch of the care recipient 1, and left and right waist-side flaps 45 that are wound around the hips and waist of the care recipient 1. The left and right waist-side flaps 45 are each provided with an adhesive portion 110 covered with a release paper 109 and an upper picking piece 112 for picking with the hand 104. A plurality of lower picking pieces 113 for picking with the hand 104 are arranged on the lower end portion of the absorber 42 on the left and right (one piece may also be sufficient). The lower picking piece 113 is set so as not to protrude downward from the absorber 42.

[0130] In this embodiment, after setting the device on the bed 2, the hips of the care recipient 1 are lifted while wearing pajamas, the diaper roll 102 is fed out, and the diaper 101 is placed below the care recipient 1. The tip of the long film 105 that constitutes the diaper roll 102 protrudes from the feed roller 106 by a certain dimension, and the exposed portion of the diaper roll 102 is grasped by a pulling tool (not shown) fed out from the side of the winding roller 107 below the care recipient 1 and retracted.

[0131] Below the feed roller 106, a pressing guide 106a for holding the diaper roll 102 is provided to allow the tip of the long film 105 to be exposed. When the work is completed, the strip film 105 is cut in a state where a slight dimension is exposed. The strip film 105 may be cut by scoring perforations in the strip film 105 and then tearing it off with the winding roller 107.

[0132] In this embodiment, after removing the old diaper, a new diaper 101 is put on the care recipient 1. The procedure for putting it on is to fold back the absorber 42, then overlap and adhere one waist-side flap 45 to the absorber 42, and then overlap and adhere the other waist-side flap 45 to the absorber 42 on the waist-side flap 45. The folding back of the absorber 42 is to pick up the lower picking piece 113 with the hand 104 and overlap it on the abdomen of the care recipient 1. In this case, since the lower picking piece 113 does not protrude from the absorber 42, the hand 104 does not touch the abdomen of the care recipient 1.

[0133] When the diaper replacement of the diaper 101 is completed, the diaper changing device 99 is removed from the bed 2. However, a configuration in which the diaper changing device 99 is detachably mounted on the bed 2 so as to be movable back and forth, and is advanced when diaper replacement is required, can also be adopted. Also in this embodiment, data is exchanged between the bed 2 and the diaper changing device 99, and each driving means is feedback-controlled.

[0134] In FIG. 20, there is not much space between adjacent diapers 101, but actually, there is a large space between adjacent diapers 101. In order to prevent the diaper roll 102 from becoming in a so-called bamboo shoot shape, it is also possible to arrange the dummy spacer 113 shown in FIG. 20(A).

[0135] (12). Sixth to Eighth Embodiments (FIGS. 21 to 23) FIG. 21 shows a sixth embodiment which is another example of the diaper changing device 99. In the fifth embodiment, the diaper roll 102 was arranged above the bed 2, but in this sixth embodiment, the diaper roll 102 is arranged below the bed 2. And, the portion of the mat 22 that overlaps with the diaper 101 in the spread state is a movable mat portion (not shown) that moves downwards and slides. Therefore, a large working space 74 can be created below the lower body of the care recipient 1. The same diaper roll 102 as that shown in FIG. 20 is used.

[0136] In this embodiment, a thin lifting plate 108 is inserted under the lower surface of the pelvis of the care recipient 1 who has taken off the pajama trousers, and the pelvis of the care recipient 1 is lifted by a slight dimension. Then, the movable mat portion is lowered and slid to form a large working space 74. Next, the diaper 101 is detached from the belt-like film 105 and moved upward using the hand 104 or a dedicated lifting tool. Then, the movable mat portion is moved back. Then, the lifting plate 108 is removed.

[0137] Then, a new diaper 101 is interposed between the care recipient 1 wearing the old diaper and the bed 2. After that, the soiled areas are cleaned and the old diaper is removed in the manner described above, and finally, the new diaper 101 is put on the care recipient 1. The procedure for putting it on may be the same as in the fifth embodiment.

[0138] In this embodiment as well, the box body 100 provided with the hand 104 may simply be placed on the bed 2, or may be configured to move in the longitudinal direction of the bed 2. It is also possible to arrange it so as to extend upward from below the mat 22 without providing the hand 104 on the box body 100. In this case, since the diaper changing device 99 is accommodated in the space below the bed 2, the overall appearance can be made neater. This point is the same as in the seventh embodiment of FIG. 22.

[0139] The seventh embodiment shown in FIG. 22 is a modification of the sixth embodiment. In this embodiment, instead of using the diaper roll 102 as in the seventh embodiment, a single diaper 101 is detachably adhered to the backing paper 101a, and these are stacked in multiple layers and placed on the lifting table 114. The backing paper 101a uses paper with a certain stiffness. The lifting table 114 is provided with a guide (not shown) for preventing the diaper 101 from shifting. Further, the lifting table 114 is of a cassette type and can be pulled out to the side of the bed 2.

[0140] In this embodiment, after forming the working space 74 below the care recipient 1 in the same manner as in the sixth embodiment, the diaper 101 is lifted together with the backing paper 101a, then the movable mat part is returned to its original state, and the diaper 101 is interposed between the care recipient 1 and the bed 2. After cleaning and removing the old diaper, a new diaper 101 is put on the care recipient 1 using the hand 104, and finally the backing paper 101a is removed. Thus, attaching the diaper to the backing paper 101a can also be applied to the first embodiment and the like. In this embodiment, there are advantages such as easy handling because cutting is not required, and the ability to be made more compact. The positioning of the diaper 101 can also be done accurately.

[0141] In the eighth embodiment shown in FIG. 23, the diaper roll 102 circulates around the care recipient 1, so that the diaper 101 is wrapped around the care recipient 1. Although the diaper roll 102 needs to be cut after being wrapped around the care recipient 1, this cutting is preferably done by pulling after making perforations in advance. The diaper can be fixed with a separate adhesive tape. Also in these embodiments of FIG. 21, the detection means (sensor) provided on the bed 2 and the sensor provided on the diaper changing device 99 cooperate, and the driving of the movable mat part and the lifting plate 108 and the driving of the hand 104 etc. are linked and performed.

[0142] (13). Reference Example (FIG. 24) FIG. 24 discloses a reference example as an example of a device for waking up a person lying in the bed 2. That is, it discloses a posture changing device as an example of an auxiliary function part. In this posture changing device, as the auxiliary function part, a flexible sheet 115 made of a tough mesh material is used. The flexible sheet 115 is sized so that the care recipient 1 can lie supine, and has a first bending line 116 located generally at the hip joint of the care recipient 1 and a second bending line 117 located generally at the knee joint of the care recipient 1.

[0143] Therefore, the flexible sheet 115 can be divided into three parts: an upper part 118, an intermediate part 119, and a lower part 120. And suspension rings 121 are provided at the corner parts of each part, and a hanger 122 lowered from a suspension device (not shown) can be locked to each suspension ring 121. Although not shown, a camera is also arranged on the bed 2.

[0144] In this reference example, a flexible sheet 115 is inserted under a person lying on the bed 2. First, by pulling up the left and right ends of the upper part 118 with the hangers 122, the upper body of the care recipient 1 is raised at an appropriate inclination angle. In this case, the flexible sheet 115 is bent and deformed to wrap around the upper body of the care recipient 1. However, if cylindrical portions are formed on each piece of the upper part 118 and rods are inserted into the cylindrical portions, the bending deformation of the flexible sheet 115 can be suppressed. Note that the bending deformation of the flexible sheet 115 is preferable for stabilizing the posture of the care recipient 1.

[0145] Next, the hangers 122 are locked to the respective suspension rings 121, and the care recipient 1 is lifted to such an extent that the care recipient 1 does not separate from the bed 2, and the care recipient 1 is horizontally rotated. This horizontal rotation can also be performed by rotating the member that suspends the flexible sheet 115. In this embodiment, since the care recipient 1 rotates with the buttocks and lower limbs against the bed 2, the care recipient 1 does not have a sense of fear as in the case of being lifted entirely. Therefore, it is user-friendly.

[0146] After horizontally rotating the posture of the care recipient 1 by 90 degrees, the flexible sheet 115 is laterally moved so that the knees protrude from the bed 2. Then, the lifting of the lower end of the lower part 120 is released, and the tibial part of the assist function part is lowered. As a result, the care recipient 1 is held in a sitting position on the bed 2, and the inclined posture of the care recipient 1 can be arbitrarily set according to the preference of the care recipient 1, etc.

[0147] When the care recipient 1 is in a sitting position on the bed 2, for example, a meal delivery robot waiting nearby is brought close to the care recipient 1. As a result, the care recipient 1 can eat in a state similar to using a table. It is also possible to slightly lift the care recipient 1 from the sitting position on the bed 2 and transfer to a wheelchair, and it is also possible to have a hair wash, etc. in that state.

[0148] The embodiments of the present invention have been described above, but the present invention can be embodied in various other ways. Since the frequency of urination is higher than that of defecation in the excretion of care recipients, urine collection pads are used. However, the present invention can be applied not only to the replacement of the entire diaper but also to the replacement of urine collection pads.

[0149] The embodiments of the present invention have been described above, but the present invention can be embodied in various other ways. For example, when rolling up a diaper to remove it, a long and narrow jig for clamping the end of the diaper can be used, and while rotating this jig, the used diaper can be wound up or a new diaper can be wound back. By attaching this jig to the hand of a robot and controlling the rotation of the jig and the raising and lowering of the movable mat part of the bed, it is also possible to wind up the used diaper and attach a new diaper.

[0150] Also, since the frequency of urination is higher than that of defecation in the excretion of care recipients, urine collection pads are used. However, diapers that can be equipped with urine collection pads can also be used for the beds and care facilities of the present invention.

[0151] It is also possible to configure the mat of the bed with a number of air bags in the shape of polygons or the like, and lower the support surface by exhausting the air in a predetermined air bag, and raise the support surface by injecting air. Also, whether using a movable mat part like in the embodiment or using air bags, the support surface can be configured with elements arranged in rows and columns and separated, and it is possible to raise and lower the support surface of any element. When configured in this way, there is an advantage that it can cope with differences in the physique of care recipients.

[0152] As described above, the pajama pants can be removed by sequentially lowering the movable mat part from the waist end. In this case, a waist opening detection part is provided at the waist opening of the pants, while a sensor capable of detecting the waist opening detection part is provided on the bed, and it is also possible to lower the movable mat part as the waist opening detection part moves.

Industrial Applicability

[0153] The invention of the present application can be embodied in a diaper and a robot for diaper changing. Therefore, it can be industrially utilized. As shown by the dotted line in FIG. 6, it is composed of a large number of movable cells C in which the mat 22 is arranged in a grid pattern, and it is also possible to raise and lower any movable cell individually or as a group. In this case, it is also possible to change the size of the movable cell depending on the location. With such a configuration, it has excellent adaptability to body build and can also form fine working recesses.

Explanation of Signs

[0154] 1 Care recipient 2 Bed constituting care facility 3,75 Robot constituting care facility 4 Eye camera (eye) 5 Speaker (mouth) 6 Microphone (ear) 8 Indoor camera 21 Base of bed 22 Mat 23 Head movable mat part corresponding to the first movable mat part 24 Back movable mat part corresponding to the first movable mat part 25 Waist movable mat part corresponding to the second movable mat part 26 Pelvis upper movable mat part corresponding to the third movable mat part 27 Pelvis middle movable mat part sharing the third movable mat part and the fourth movable mat part 29 Pelvis lower movable mat part corresponding to the fourth movable mat part 31 Thigh upper support corresponding to the fifth movable mat part 33 Thigh lower support corresponding to the fifth movable mat part 34 Shin movable mat part corresponding to the sixth movable mat part 35 Foot movable mat part corresponding to the sixth movable mat part 38 Open-type diaper 39 Waist-side overlapping element 40 Crotch overlapping element 41 Abdomen-side overlapping element 45,46 Flap 61,62 Bed tilting body The cam that constitutes the drive member 66 Pinion 67 Rack 68 Motor 71 Support tool for kneeling posture 73 Tray 74 Working recess 76 Robot head 77 Robot back 78 Robot arm 80 Robot hand 92 - 97 Movable mat part for posture change 99 Box - type assist device 102 Diaper roll

Claims

1. A bed on which a person receiving care can lie down while wearing a diaper, An auxiliary means is provided to facilitate changing of the diaper by another person. Nursing bed.

2. The auxiliary means is a height adjustment mechanism that can partially change the height of the support surface for the care recipient when another person changes the care recipient's diaper, and by partially lowering the height of the support surface with the height adjustment mechanism, a working recess is formed under a part of the body of the care recipient into which the other person can insert their hands to perform diaper changing or cleaning work while the care recipient is lying on their back. A nursing bed according to claim 1.

3. The support surface is comprised of a mat, the mat comprising: The mat includes a first movable mat section on which the back and head of the cared person rests, in relation to a person lying in a supine position, a second movable mat section on which the waist of the cared person rests, a third movable mat section on which the upper part of the cared person's pelvis rests, a fourth movable mat section on which the lower part of the cared person's pelvis rests, a fifth movable mat section on which the thighs of the cared person rests, and a sixth movable mat section on which the lower legs and feet of the cared person rest, At least the fifth movable mat portion is capable of being lowered by the height adjustment mechanism so as to open a cleaning recess for facilitating cleaning of the private parts of the care recipient. A nursing bed according to claim 2.

4. The second to fourth movable mat sections and the sixth movable mat section can also be independently lowered by the height adjustment mechanism. A nursing bed according to claim 3.

5. At least the fifth movable mat portion is divided into a center portion having a width approximately equal to the width of the buttocks of the care recipient, and side portions located on both the left and right sides of the center portion, and at least the center portion is capable of descending. A nursing bed according to claim 4.

6. There are a plurality of the auxiliary means, one of which is a holder for holding both the left and right legs of a person lying on his / her back in a knee-up position, and the device is provided with this holder as an accessory. A nursing bed according to claim 2.

7. There are a plurality of the auxiliary means, one of which is a tray that can be fitted into at least the cleaning work recess, and the tray is provided as an accessory. A nursing bed according to claim 3.

8. At least the first movable mat portion can be raised and rotated to an inclined position. A nursing bed according to claim 4.

9. At least the first movable mat portion can be raised and rotated at an angle of 15° or more. A nursing bed according to claim 8.

10. The assisting means is a posture changing mechanism that can change the posture of the care recipient between a supine posture and a lateral posture when another person changes the care recipient's diaper. A nursing bed according to claim 1.

11. The position changing mechanism is a movable mat portion that is a part of a mat that constitutes a bed, and the movable mat portion is arranged to rotate around an axis extending in the longitudinal direction of the bed. A nursing bed according to claim 10.

12. A nursing bed according to any one of claims 2 to 11, and a robot for changing diapers of a person being cared for lying on the nursing bed. Nursing care facilities.

13. The second to sixth movable mat portions constituting the bed can be lowered independently of each other, In the case where the care recipient is wearing pajamas separated into a jacket and pants, The control device includes: The bed is set so that the movable mat parts of the bed are lowered in order from the second movable mat part to the sixth movable mat part, and the robot slides the pants down from the waist opening, thereby performing an operation of removing the pants from the care recipient, The bed is configured to perform an operation of putting on the trousers on the care recipient by lowering each movable mat part of the bed in order from the sixth movable mat part to the second movable mat part, and by using the robot to pull up the trousers from the waist opening.

12. A care facility according to claim 11.

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