Nursing care underwear and nursing care robot

Abstract

To disclose a technique of nursing care underwear with an excrement storage bag, devised to enable a robot to replace the excrement storage bag.SOLUTION: Nursing care underwear 1 comprises a pants-type body 5 with closed leg openings 6 on both sides, and a urine bag 15 and a feces bag 16 detachably attached to the main body 5. The urine bag 15 and the feces bag 16 are attached to the body 5 via hook-and-loop fasteners and are covered with a cover body 17. The urine bag 15 and the feces bag 16 are cassette-type so that they can be replaced by the robot 56. The urine bag 15 and the feces bag 16 are attached to and detached from the body 5 trough linear movement, thereby making replacement by the robot easy. The urine bag 15 and the feces bag 16 have no unnaturalness of the hanging type, so they are highly applicable to reality.SELECTED DRAWING: Figure 2

Description

[Technical Field]

[0001] The present invention relates to nursing underwear (nursing innerwear) and a nursing robot. Here, nursing underwear includes both underwear and diapers. On the other hand, a robot refers to a device with parts that move like a human hand, and is not necessarily a doll-type device with a head, torso, and limbs. [Background technology]

[0002] In Japan and many other countries, the aging of the population is progressing due to factors such as good eating habits and improved medical care, and the number of people requiring care is also increasing. There are stages in the level of care required, but one of the most difficult care tasks for both caregivers and those receiving care is the disposal of excrement. In a survey of caregivers, the disposal of excrement was ranked high among the major burdens.

[0003] Because excretion is an extremely private act, it is ideal to do it in a toilet, but there are many people who require care who cannot use a toilet due to unavoidable circumstances such as physical inactivity, and this is why adult diapers are used as a care item. Diapers come in two types: pants-type diapers, which have leg openings that are continuous with the front and back panels and crotch area, and open-type diapers, which have the front and back panels connected via the crotch area and secured with tape. Diapers are used depending on the situation of the person being cared for.

[0004] Diapers used by bedridden people are of the tape-fastened open type, and the caregiver turns the person's body from lying on their back to lying on their right side to lying on their left side, and then removes the old diaper, puts on a new diaper, and cleans the genitals, etc. Incontinence pads to be used in combination with diapers or underwear are also available on the market, and there are three types: for men, women, and unisex.

[0005] There are many types of diapers available, both pants-type and open-leg type, but in either case, excrement is spread over the entire absorbent layer, which overlaps the crotch area, to absorb it. Therefore, excrement spreads from the crotch area to the waist and abdomen. Therefore, when changing a diaper, the caregiver must wipe away the excrement that has spread over a wide area of ​​the body, which is a significant burden for the caregiver. However, what is most important is that urinating in a diaper is extremely uncomfortable for the person wearing it, and is tantamount to a denial of human dignity. Anyone can easily understand that it is particularly uncomfortable for feces to spread over the abdomen or waist.

[0006] Diapers that can prevent urine and feces from spreading have been proposed. These include a type in which a urine bag or feces bag is attached to the diaper like a tail, and a type in which a feces storage compartment is provided in the diaper body. An example of the former is disclosed in Patent Document 1, for example, and an example of the latter is disclosed in Patent Document 2, for example.

[0007] It can be said that there is a demand for technology that can reduce the physical and psychological burden on both the caregiver and the care recipient when changing diapers. In order to meet this demand from a different perspective, the applicant of the present application has disclosed in Patent Document 3 a robot system that makes it possible to change the diapers of bedridden care recipients. [Prior art documents] [Patent documents]

[0008] [Patent Document 1] Patent No. 6792016 [Patent Document 2] Japanese Patent Application Laid-Open No. 2002-233550 [Patent Document 3] Patent No. 7349038 Summary of the Invention [Problem to be solved by the invention]

[0009] The provision of a waste collection bag on a diaper as in Patent Document 1 has the advantage of being able to adequately collect even a large amount of excrement, but the waste collection bag hangs from the main body of the diaper, which is unnatural and unrealistic. In contrast, the configuration in Patent Document 2 does not look unnatural because it is similar to a regular diaper, but because it can only hold a small amount of excrement, it is insufficient in preventing the excrement from spreading, which also has the problem of being unrealistic.

[0010] As such, it is difficult to say that commercially available diapers and those in the publicly known literature are sufficient in terms of functionality and practicality (merchandiseability). On the other hand, if the robot described in Patent Document 3 were to be realised, it would be possible to change diapers with less physical and psychological burden on both the caregiver and the care recipient, and it is expected that this would significantly improve the harsh conditions surrounding caregiving. However, there are concerns that commercially available products that are designed for manual change may not be easily adapted for use by a robot, and in fact, current diapers have an essential flaw in that even if a robot changes diapers, they do not contribute to reducing the discomfort experienced by the user.

[0011] One possible solution is to use a robot to change diapers with a bag, as in Patent Document 1. However, leaving aside the reality of this as a commercial product, changing pants-type diapers with a robot would require many technical challenges to be overcome, and it would take many years to realize this.

[0012] Considering the current situation comprehensively, it can be said that the elements required to assist excretion for care recipients are those that allow the user (care recipient) to excrete without compromising their dignity, that have the ability to store excrement so that it sticks to the body to a minimum, and that have a structure that allows easy replacement by a robot.

[0013] The present invention has been made to meet this demand. [Means for solving the problem]

[0014] The present invention includes many components, typical examples of which are specified in each claim. The invention of claim 1 is directed to nursing underwear worn by a person, and this nursing underwear comprises: "It has a main body that fits the human body and has an excretion opening, and a cover that covers the excretion opening is provided on the main body in an openable or detachable manner." The structure is as follows.

[0015] In the present invention, the main body includes both a pants-type in which the front body, back body, and crotch section are connected as a single unit, and an open-type in which the front body and back body are connected via the crotch section and fastened with tape. The main body also includes both a disposable type and an underwear type that can be washed and reused, but considering fit and total cost, the reusable underwear type is preferable. The cover body includes both a type in which a part of it is connected to the main body and rotates, and a type in which the entire cover body can be removed from the main body.

[0016] The invention of claim 2 is a development example of claim 1, "Furthermore, the device has an excrement storage bag with an entrance portion that communicates with the excrement opening, and the excrement storage bag can be held to the main body by a releasable fastening means with the entrance portion of the excrement storage bag communicating with the excrement opening, and the state of the excrement storage bag being held to the main body is maintained by the cover body." The structure is as follows.

[0017] The invention of claim 3 is also an example of the development of claim 1, "Furthermore, the device has a waste storage bag with an entrance portion that communicates with the excretion opening, and the waste storage bag can be held on the cover body via a releasable fastening means, and the excreta storage bag can be attached to or detached from the cover body by opening or removing the cover body from the main body." Although adhesive tape can be used as the fastening means, hook-and-loop fasteners are preferred in terms of connection strength and ease of handling.

[0018] The invention of claim 4 is a development example of any one of claims 1 to 3, "The cover body is in the form of a flap that can rotate up and down around its lower end as a fulcrum, and is configured to bulge outward when closed." In this case, the cover body may be either entirely flap-shaped or partially flap-shaped. That is, it may have a structure in which the portion located in the front body is configured as a flap and the portion located in the crotch area is configured as a pocket.

[0019] Claim 5 is a development example of claim 2 or 3, "The cover body is in the form of a pocket with an upward opening, and is configured to open to a state where the excrement collection bag can be inserted and removed." The structure is as follows.

[0020] Claim 6 is also a development example of claim 2 or 3, "The main body has two excretion openings, one for urine and one for feces, and the excrement collection bag also has two, one for urine and one for feces." In addition, when two excrement storage bags, a urine bag and a feces bag, are provided, the cover body can be provided separately, but considering that the feces bag is placed in the crotch area, it is preferable to have the cover body be continuous. In other words, it is preferable to have a configuration in which both the urine bag and the feces bag can be replaced by opening and closing one cover body.

[0021] Claim 7 is also a development example of claim 2 or 3, "The waste collection bag is equipped with either a check valve to prevent backflow of waste or a coagulant to solidify the waste, or both." The typical coagulant is a water-absorbing polymer.

[0022] Claim 8 is also a development example of claim 2 or 3, "The excrement collection bag is folded in an accordion-like, zigzag or other shape, and is configured to expand with excrement after being attached to the main body." The folding direction of the accordion-like or zigzag-like shape may be any of the up-down direction, the left-right direction, or the front-rear direction when viewed from the direction facing the body.

[0023] Claim 9 is also a development example of claim 2 or 3, "The outer periphery of the excrement collection bag and the outer periphery of the cover body are overlapped with the main body, and the overlapping portion between the outer periphery of the excrement collection bag or the outer periphery of the cover body and the main body is composed of a shape-retaining frame, and one or both of the overlapping frames are provided with a positioning means for holding the frame so that it cannot slip out of place." The structure is as follows.

[0024] The invention of claim 10 is also a development example of claim 2 or 3, "The cover body and the waste collection bag are provided with outward-facing tabs, and in addition to or instead of this, the main body, cover body, and waste collection bag are provided with optical detection parts that serve as markers for replacement by a robot." The structure is as follows.

[0025] The gripping portion can be any shape, such as a tongue or boss. It is preferable to create the gripping portion with consideration given to being picked up by a robot hand. For example, a mark characterized by color or shape can be used as the optical detection portion. Furthermore, a CCD camera or photoelectric switch can be used as the optical detection means. The binary data captured by the CCD camera can be image processed to recognize the excrement collection bag, cover, and main body.

[0026] By setting the excrement collection bag and the cover in different colors and different colors from the main body, it is possible to distinguish the shapes of the excrement collection bag and the cover. In this case, the excrement collection bag and the cover can be entirely made in a single different color, or only the outer frame can be colored in a color that is easy to capture with a camera. For example, the main body can also be marked with different colors to distinguish the overall shape and to distinguish the placement area of ​​the excrement collection bag and the cover.

[0027] The invention of claim 11 is directed to a nursing care robot capable of replacing excrement collection bags. "A care robot that can change the excrement collection bag of a care-requiring person who is wearing the care underwear as described in claim 10 and is lying in bed, The program includes the steps of opening the cover body from the main body, removing the used waste collection bag, attaching a new waste collection bag, and closing and fixing the cover body. The structure is as follows.

[0028] The invention of claim 12 is a development example of claim 11, "Furthermore, the system is programmed to detect body soiling after the used waste collection bag is removed, and to remove the soiling if it detects body soiling." The structure is as follows.

[0029] To remove dirt, you can wipe it off with cotton or gauze, or spray it with warm water and then wipe it off. If you use a wet material or spray, you can also remove the moisture by patting (absorbing) it with dry cotton or tissue, or by drying it with a hair dryer.

[0030] Claim 13 is a development example of claim 11 or 12, "Furthermore, the program includes the steps of: prior to replacing the excrement collection bag, lifting up the comforter being used by the care recipient to expose the waist; pulling down the pajama pants being worn by the care recipient; after replacing the excrement collection bag with a new one, pulling up the pajama pants of the care recipient; and returning the lifted up comforter to its original position." The structure is as follows. [Effects of the Invention]

[0031] In the invention of claim 1, the means for disposing of excrement can be a waste storage bag as in claims 2 and 3, or it can be absorbed in an absorbent placed between the main body and the cover. Using a waste storage bag prevents excrement from spreading over the body, dramatically reducing stress for the user (care recipient). Even when an absorbent is used, making the main body water-impermeable prevents excrement from passing through the body and spreading over the body, dramatically reducing stress for the user (care recipient).

[0032] Furthermore, by using the excrement collection bag as described in claims 2 and 3, when a caregiver manually changes the excrement collection bag, there is little or no soiling of the user's body, which significantly reduces the burden on the caregiver when changing the excrement collection bag. This also contributes to the prevention of skin disorders caused by excrement.

[0033] As mentioned above, with current disposable diapers, feces excreted from the anus easily spreads down the crotch toward the abdomen, often soiling the vagina and penis with feces. If the person being cared for is a man with a partially circumcised penis, feces can get inside the foreskin. This is not only very uncomfortable for the person being cared for, but it is also a huge burden for the caregiver, who must carefully clean the penis without touching it directly with their hands.

[0034] However, with the present invention, feces excreted from the anus does not spread to the vagina or penis, eliminating the need to expose a person's most sensitive parts to the eyes of others and have them washed. This allows the person receiving care to maintain their dignity as a person, while significantly reducing the physical and mental burden on the caregiver by freeing them from nerve-wracking work.

[0035] As mentioned above, currently, changing diapers by hand involves complex steps such as changing the care recipient's position to side, removing the old diaper, cleaning the soiled areas, and putting on a new diaper. If this were to be done by a robot, image processing would be required to recognize the care recipient's position, the old diaper, the new diaper, and the soiled areas, which would require processing a huge amount of data and make it difficult to implement in reality.

[0036] In contrast, in the present invention, the only nursing care tasks performed by a robot are changing waste collection bags and absorbents, and the amount of data to be recognized is dramatically reduced compared to changing diapers, due to the synergistic effect of eliminating the cleaning task or significantly reducing the cleaning area. Therefore, image processing by a PC is also possible, which greatly promotes the feasibility of robotization in relation to data processing.

[0037] In terms of hardware, changing the waste collection bag can be done with a simple movement of grasping the tab with the hand and moving it in a straight line, which is significantly easier than changing the entire diaper. In this way, the realism of changing by robots can be promoted in both software and hardware aspects.

[0038] In addition, because the waste collection bag is covered with a cover, it is prevented or suppressed from dangling and also prevents the waste collection bag from falling off. Because the waste collection bag is covered with a cover, it does not look unnatural, making it highly marketable. Therefore, it can greatly contribute to realizing an environment where many care recipients can excrete without stress.

[0039] Furthermore, current diapers are designed to disperse waste on a cotton-like absorbent material, so they cannot be flushed down the toilet and used diapers are discarded as garbage. However, with the invention of claims 2 and 3 of this application, both urine and feces are stored in a waste storage bag, so it is possible to flush waste from the waste storage bag down the toilet, which will contribute to improving the environment at nursing care facilities by reducing waste and suppressing odors.

[0040] In the present invention, the main body also needs to be put on and taken off, but since the main body can be put on and taken off after removing the waste storage bag and absorbent body, the effort of putting on and taking off the main body can be reduced even if the main body is pants-type. In particular, when the caregiver takes off the main body to change it, the main body is hardly or not soiled with waste, making the work of taking it off easy.

[0041] In other words, with currently available pants-type diapers, after defecation, feces spread on the inside of the diaper and the body is also soiled with feces, so when the caregiver removes the diaper, they must do so with extreme caution, and therefore, when the care recipient is bedridden, open-type diapers are used to prevent the transfer of soiling, but with the present invention, there is little or no soiling of the main body, so even pants-type diapers can be easily put on and taken off. Therefore, pants-type diapers with excellent fit can be easily used and a high sealing performance can be ensured.

[0042] Now, the conditions of those receiving care (levels of care required) vary widely, and there are many who are conscious and able to use their hands freely, but who are unable to walk or move their legs, so are forced to use diapers. In other words, even if using diapers is unavoidable, many people would like to do things on their own without relying on a caregiver.

[0043] However, in the current situation, if a person excretes in a diaper, changing it requires actions such as changing the person's position and washing, so changing the diaper inevitably requires the caregiver to do so. Even if a separate urine pad is used, changing the urine pad is not easy, so even if the person being cared for is not bedridden, they have no choice but to ask the caregiver to change the urine pad. For this reason, even if the person being cared for wants to do it themselves, their wishes cannot be accommodated, and therefore the person being cared for not only feels uncomfortable from having their body soiled with their own excrement, but also feels a sense of helplessness at having to rely on others to deal with their excrement.

[0044] In other words, current diapers are not designed to allow care recipients to exercise their abilities to perform self-care tasks, even if they are capable of doing so. As a result, care recipients are forced to feel discomfort, helplessness, self-loathing, and concern for their caregivers, which places a physical and mental burden on the caregivers.

[0045] In contrast, the underwear of the present invention does not get dirty, so if the care recipient has both hands, even if it is a pants-type underwear, they can put it on and take it off by themselves, taking their time, or with the help of a caregiver. They can also change the waste storage bag and absorbent material by themselves or with the help of a caregiver. After removing the waste storage bag, they can also reach out and wipe away waste around the anus and urethral opening with tissue paper.

[0046] Regarding legs and hips, many people can bend their knees even if they cannot stand or walk on their own. By bending their knees and spreading their legs, it can be said that it becomes easier for them to put on and take off the main body and change the waste storage bag by themselves.

[0047] In this way, the underwear of the present invention draws out the remaining strength of the care recipient, enabling them to perform excretion disposal on their own, thereby giving the care recipient a sense of self-accomplishment and self-efficacy, knowing that they are "doing things on their own without relying on others." As a result, the underwear of the present invention helps the care recipient gain self-confidence and adopt a more proactive attitude toward life, and also contributes to preventing a decline in their physical strength. In particular, the adoption of the inventions of claims 7 to 9 makes it easy to handle the waste collection bag and attach and detach it from the main body, making it ideal for the care recipient to easily change the waste collection bag on their own or with the help of a caregiver.

[0048] By adopting a method of fixing (connecting) the excrement collection bag to the main body as in claim 2, the excrement collection bag will not fall off even when the cover body is opened, and the excrement collection bag can be accurately connected to the excrement opening of the main body. This improves the function of accurately discharging urine and feces into the excrement collection bag. In addition, the excrement collection bag can be closely attached to the body of the care recipient, improving the sealing performance of the excrement collection bag.

[0049] By adopting a configuration in which the excrement collection bag is attached to the cover body as in claim 3, the excrement collection bag can be set with the cover body open or removed, preventing or minimizing contact between human or robot hands and the care recipient's body, contributing to reducing stress for the care recipient. In particular, when changing the excrement collection bag using a robot, the robot's hands can be prevented from coming close to the care recipient's skin, ensuring safety and alleviating the care recipient's anxiety. Therefore, changing the excrement collection bag using a robot can also be promoted.

[0050] People do not particularly resist being pressed on the abdomen, but many people are likely to feel strong resistance to being pressed on the crotch, so it is possible to attach the urine bag (urine storage bag) to the main body for ease of attachment, and attach the waste bag (feces storage bag) to the cover to prevent stress on the person. If the cover is made detachable and the waste storage bag is attached to the cover, access to the care recipient's body is further reduced, making this particularly suitable for replacement by a robot.

[0051] In both claims 2 and 3, the excrement collection bag and the cover are secured by a releasable fastening means, making it easy to attach and detach the excrement collection bag and the cover. The fastening means is engaged and detached by reciprocating the movable part, making it easy to robotize. As mentioned above, a hook-and-loop fastener is suitable for the engaging means.

[0052] When the cover body is configured in a flap shape as in claim 4, the cover body can be opened wide, making it easy to attach and detach the excrement collection bag. Also, in claim 4, the cover body bulges outward, so the storage capacity of the excrement collection bag can be increased while maintaining the necessary thickness for the excrement collection bag.

[0053] If the cover body is configured in a pocket shape as in claim 5, the sealing function of the cover body can be improved, so that even if the excrement collection bag comes off, the sealing function can be improved. The combination of a flap structure and a pocket structure has the advantage of making it easier to replace the excrement collection bag while improving the protection function of the excrement collection bag.

[0054] Currently, urine absorbent pads are commercially available, and as mentioned above, these come in two types: those that are attached to diapers and those that are attached to underwear. In either case, urine pads are widely used because the frequency of urination is greater than the frequency of bowel movements, and urine does not stain the skin much, so disposing of the urine pad is not a hassle.

[0055] In view of these circumstances, it is preferable to use at least a urine waste storage bag (urine bag) in the present invention, but the most pressing problem that needs to be solved with current diapers is the spread of excreted feces (stool) over the body, and therefore, providing a feces storage bag as in claim 6 can dramatically reduce the stress of the user. Therefore, the invention of claim 6 is a particularly suitable configuration for the present invention and can greatly facilitate the realization of robotics.

[0056] Using a check valve or coagulant as in claim 7 can prevent leakage of excrement, contributing to reducing discomfort for the user, and also preventing excrement from leaking after removal. When the user turns over in bed, the excrement storage bag is expected to be pressurized, causing backflow, but claim 7 can prevent backflow, making it particularly useful as a measure against turning over in bed. It is also possible to place a deodorizer inside the excrement storage bag or inside the cover.

[0057] By configuring the excrement collection bag to be foldable as in claim 8, the excrement collection bag can be made compact, making it easy to handle and position, facilitating clamping and suction by a robot, and greatly facilitating robotic replacement. Furthermore, the excrement collection bag can be kept stacked on the main body in the pre-excretion state, preventing deterioration in usability. Furthermore, while being compact, it is possible to increase the capacity for excrement.

[0058] It is also possible to prepare several types of waste collection bags with different capacities, and use small-capacity bags during the day when they are easy to change, and foldable bags at night when they are difficult to change, thereby reducing the burden on caregivers.In addition, since the waste collection bags can be made into a cassette, so to speak, and can be easily attached to the main body or cover, if the user's level of care requirement is low, they can change them themselves.

[0059] The configuration of claim 9 also allows the waste collection bag to be made into a cassette, so to speak, which makes it easy to attach to the main body. Furthermore, the waste collection bag can be accurately positioned, making it easy to replace using a robot. This makes a big step forward toward realizing replacement using a robot. Even when the waste collection bag is replaced manually, the work can be done quickly and accurately. As a result, it also contributes greatly to reducing stress on the user (care recipient).

[0060] Providing a knob as in claim 10 makes it easy for a robot to grasp the knob with its hand, while providing a detection unit makes it possible to recognize the shape and position of the excrement collection bag. This contributes to promoting robotic replacement. Providing a knob also makes manual attachment and detachment easier. Combining claims 8 to 10 not only promotes robotization, but also makes manual replacement more accurate and easier, which is desirable.

[0061] As mentioned above, the nursing undergarments of the present invention are characterized by their ease of replacement by a robot, and the configuration specified in claim 11 makes it possible to provide a robot that can easily replace nursing undergarments. Furthermore, by enabling a robot to replace the excrement collection bag, it is possible to eliminate the inconvenience of having a caregiver replace the bag, and it is also possible to easily achieve replacement in real time. As a result, it is possible to further contribute to reducing stress for the user.

[0062] Providing a dirt removal (cleaning) function to the robot as in claim 12 can improve user comfort. In this case, since the amount of dirt adhering to the skin is small in the present invention, the robot can quickly and easily remove it. Therefore, the care recipient can accept the robot removing dirt without feeling uncomfortable. As a result, this will promote the realization of robotic care, further contributing to reducing stress on the care recipient and the burden on the caregiver.

[0063] Care recipients who sleep on futons in bed often wear pajamas, but changing the waste collection bag requires turning up the comforter and removing the pajama pants. However, by adopting the configuration of claim 13, the tasks of turning up and putting back the comforter and pulling down and pulling back the pajama pants can be performed by a robot, which reduces the psychological burden (anxiety) of the care recipient and enables real-time changing, while also significantly reducing the burden on the caregiver by reducing the amount of time they are tied up. [Brief explanation of the drawings]

[0064] [Figure 1] 1A and 1B are diagrams showing the first embodiment of nursing undergarments for women, in which (A) is a perspective view of the cover body in a closed state, and (B) is a perspective view of the cover body in an open state with the excrement storage bag omitted, shown in virtual lines. [Figure 2] (A) is an oblique view of the cover body opened and separated, (B) is an oblique view of the cover body opened and separated to reveal the waste bag, (C) is an oblique view, and (D) is an oblique view of the waste bag. [Figure 3]FIG. 3 is a cross-sectional side view taken along line III-III in FIG. [Figure 4] FIG. 1 is a side cross-sectional view in a urination state. [Figure 5] (A) is a side cross-sectional view of the defecation state, and (B) is a schematic view of (A) viewed from the bottom. [Figure 6] FIG. 5 is a cross-sectional side view similar to FIG. 4, showing a second embodiment. [Figure 7] 10A and 10B are diagrams showing a third embodiment for men, in which (A) is a side cross-sectional view, and (B) is a cross-sectional view taken along the line BB in (A). [Figure 8] 10A and 10B are schematic side views showing a replacement procedure by a robot. [Figure 9] FIG. 10 is a schematic diagram showing a replacement procedure by a robot. [Figure 10] 10A and 10B are diagrams showing a fourth embodiment of a robot, where FIG. 10A is a schematic diagram showing an outline, and FIG. 10B is a schematic perspective view showing a part of a hand of the robot. [Figure 11] FIG. 10 is an exploded perspective view of a main part showing a fifth embodiment, which is another example of nursing undergarments. [Figure 12] 10A and 10B are other examples of nursing undergarments, in which (A) is an exploded perspective view of a sixth embodiment, and (B) is an exploded perspective view of a seventh embodiment. [Figure 13] 10A and 10B are diagrams showing the eighth embodiment, which is an example of an open type, in which (A) is a plan view in the unfolded state, (B) is a cross-sectional view taken along line BB of (A), (C) is a cross-sectional view taken along line CC of (A), (D) is a cross-sectional view taken along line DD of (A), and (E) is a plan view showing the first stage of the wearing procedure. [Figure 14] (A) is a plan view showing the second stage of the mounting procedure, (B) is a cross-sectional view of (A) taken along the line B-B, (C) is a plan view after mounting is complete, and (D) is a cross-sectional view of (C) taken along the line D-D. [Figure 15] 10A and 10B are diagrams showing a ninth embodiment embodying claim 5, in which (A) is a perspective view of the cover body in an open state, and (B) is a partial schematic diagram showing the closing means of the bellows portion. DETAILED DESCRIPTION OF THE INVENTION

[0065] Next, embodiments of the present invention and related technologies will be described. In the following, the terms "upper, lower, left, right" are used in relation to the care recipient and nursing undergarments, and in this case, the upper and lower directions are defined as the head side of the care recipient being the top and the foot side being the bottom. Left and right are the left and right sides based on the care recipient. The terms "inner surface" and "outer surface" are used in relation to nursing undergarments, and the inner surface refers to the side that overlaps the care recipient, and the outer surface refers to the side that is exposed to the outside of the care recipient.

[0066] (1) Basic structure of the nursing underwear of the first embodiment The shape and structure of the nursing undergarments of the first embodiment are shown in Figures 1 to 5. This nursing undergarment 1 is a pants-type garment with closed leg openings, and includes a main body 5 in which a front body 2, a back body 3, and a crotch section 4 are integrally connected, and the front body 2, the back body 3, and the crotch section 4 form closed leg openings 6. While the front body 2 and the back body 3 are actually connected together via side sections, in this embodiment, the side sections are treated as part of the front body 2 and the back body 3. The nursing undergarments 1 of the first embodiment are designed for women.

[0067] The main body 5 is stretchable as a whole. It is preferable to sew elastic into the waist and leg openings 6. The main body 5 can be made using a single piece of stretchable material (fabric), but in order to ensure a three-dimensional fit to the human body, it is preferable to make it by sewing together multiple pieces. Furthermore, it is preferable to make the main body 5 as breathable as possible, but it is also possible to make parts that are likely to leak body waste non-breathable.

[0068] Furthermore, since the feel of the main body 5 against the skin is important, it is possible to provide a soft layer of nonwoven fabric or the like on part or all of the inner surface. From the viewpoint of such functionality, it is preferable to construct the main body 5 from multiple parts. Furthermore, in order to prevent stuffiness, the main body 5 can be constructed from a material that allows air (gas) to pass through but does not allow water (liquid) to pass through.

[0069] For example, as shown in FIG. 1(B), the main body 5 has a urination opening 7 and a defecation opening 8. A first hook-and-loop fastener 9 and a second hook-and-loop fastener 10 are provided around the urination opening 7 and the defecation opening 8 as pressurized engagement parts on the main body side. The first and second hook-and-loop fasteners 9, 10 may be attached directly to the main body 5, or may be fixed to the main body 5 via a reinforcing plate such as a resin tape. As shown in FIG. 3, the urination opening 7 is set to communicate with a female urethral opening 11, and the defecation opening 8 is set to communicate with an anus 12. For example, the reference numeral 13 in FIG. 3 indicates a vagina.

[0070] (2) Cover body The nursing underwear 1 is equipped with a urine bag 15 and a feces bag 16 as excrement storage bags separate from the main body 5. The main body 5 can be washed and reused, but the urine bag 15 and the feces bag 16 are, of course, disposable. A cover body 17 that covers the urine bag 15 and the feces bag 16 is connected to the main body 5 in an openable and closable manner.

[0071] That is, roughly speaking, the urine bag 15 is placed at the bottom of the front body 2 of the main body 5, and the feces bag 16 is placed in the crotch part 4 of the main body 5, but the cover body 17 is placed in a long posture in the front-to-back direction so as to straddle the crotch part 4 and the front body 2 of the main body 5 so as to cover the urine bag 15 and the feces bag 16. The crotch cover part 17a of the cover body 17 that covers the feces bag 16 is sewn to the crotch part 4 and the back body 3 of the main body 5 and formed like a pocket, and the abdominal cover part 17b that covers the urine bag 15 is formed like a flap so as to open and close (pivot) around its lower end as a fulcrum.

[0072] As shown in Figure 3, the crotch cover portion 17a of the cover body 17 is formed in a bellows shape that is folded front and back, and can expand in response to the expansion of the stool bag 16. In this case, the crotch cover portion 17a can be provided with a position-restoring means such as rubber so that it returns to its folded state when the external force is released. Alternatively, the crotch cover portion 17a can be made of a stretchable, non-breathable (non-water-permeable) material such as rubber. Furthermore, since the main function of the cover body 17 is to maintain the position of the bags 15, 16, it can also be made in whole or in part from a breathable material.

[0073] The abdominal cover portion 17b of the cover body 17 is basically rectangular, but the lower portion continuing to the crotch cover portion 17a is narrower, and the overall shape bulges forward. The portion that overlaps with the main body 5 (the peripheral edges of the left and right sides and the upper end) forms a tape-like first flange 18. The first flange 18 is an example of a frame body as recited in the claims. The main body of the cover body 17 can also be made from a rubber material such as elastomer. As another structural example of the cover body 17, the entire abdominal cover portion 17b can be made into a cup-shaped one-piece product by vacuum molding or pressure molding using a resin sheet material. When making the cup-shaped one-piece product, an injection-molded product can also be used.

[0074] (3).Urine bag / Fecal bag As roughly shown in Figure 2(A), the urine bag 15 has a shape seen from the front that narrows at the bottom. While Figure 2(A) shows the bag as bulging from front to back, before urine is introduced, it is folded flat as shown in Figure 2(C). This makes it easy to handle and facilitates the robotic replacement process described below. In this case, as shown in Figure 2(C), it is preferable to hold the bag in a flat state using a holding means that can be torn into two pieces with a light force, such as paper tape 19. A weak rubber band can also be used as a holding means. Alternatively, the accordion-like overlapping portion can be attached in a dotted pattern with an adhesive material.

[0075] The urine bag 15 has a certain width to ensure capacity. A second flange 20 made of a resin sheet strong enough to retain its shape is connected by welding to the urine bag 15 at a location facing the main body 5.

[0076] The second flange 20 is also an example of a frame body recited in the claims, and an annular overlapping portion 21 that overlaps with the first surface fastener 9 of the main body 5 is integrally connected to the second flange 20 via a stay 22. The annular overlapping portion 21 and the stay 22 are also welded to the main body of the urine bag 15, and a urination entrance 23 opens in a location of the urine bag 15 surrounded by the annular overlapping portion 21.

[0077] A first check valve 24 located inside the urine bag 15 is connected to the urination inlet 23. The first check valve 24 is made of a thin resin film, and when it is flattened, it prevents backflow. As shown in Figures 2(A) and 3, the lower part of the urine bag 15 is a bellows-like expanding part 15a that is folded forward and backward. The capacity of the expanding part 15a when it is expanded can be set as desired.

[0078] The second flange 20 of the urine bag 15 is shaped like a closed loop, and a third surface fastener 25 serving as a pressure-type engagement means is attached along its entire length to its rear surface, while a fourth surface fastener 26 shaped like a closed loop is disposed on the front body 2 of the main body 5, with which the third surface fastener 25 engages and disengages. The fourth surface fastener 26 is attached by adhesive or the like to a first reinforcing plate 27 made of resin tape sewn to the front body 2 of the main body 5. A fifth surface fastener 28, which engages and disengages with the first surface fastener 9 of the main body 5, is attached by adhesive or the like to the annular overlapping portion 21 of the urine bag 15.

[0079] The cover body 17 is fixed to the main body 5 while covering the urine bag 15. Therefore, the first flange 18 of the cover body 17 overlaps the front body section 2 of the main body 5 outside the second flange 20 of the urine bag 15. A sixth surface fastener 29 is attached to the rear surface of the first flange 18 along its entire length as an engagement means, while a seventh surface fastener 30 with which the sixth surface fastener 29 engages and disengages is disposed on the front body section 2 of the main body 5. The seventh surface fastener 30 is fixed to a second reinforcing plate 31, which is sewn to the main body 5. It is also possible to integrate the first reinforcing plate 27 and the second reinforcing plate 31.

[0080] 2(B)(D), the feces bag 16 is folded compactly at the time of shipment, and the third flange 32 facing the crotch portion 4 of the main body 5 is fixed by welding or the like to the main body made of a flexible resin film. The third flange 32 is made of a resin sheet with a certain degree of stiffness, and has an open feces entrance 34. In other words, the third flange 32 is formed in the shape of a plate with the feces entrance 34 open.

[0081] As shown in FIG. 3, the third flange 32 is provided with an eighth hook-and-loop fastener 35 that engages and disengages with the second hook-and-loop fastener 10. The third flange 32 has a closed loop shape, and the eighth hook-and-loop fastener 35 also has a closed loop shape. There is a slight gap between the inner periphery of the second hook-and-loop fastener 10 and the outer periphery of the defecation opening 8, and therefore there is also a slight gap between the inner periphery of the eighth hook-and-loop fastener 35 provided on the third flange 32 and the outer periphery of the defecation opening 8. As shown in FIGS. 2(D) and 3, a cushioning material 36 made of a soft material such as pulp or nonwoven fabric is disposed in the portion of the third flange 32 surrounded by the eighth hook-and-loop fastener 35. Naturally, the defecation opening 34 also penetrates the cushioning material 36.

[0082] As shown in Figure 2(B) and Figure 3, the feces bag 16 has a bellows structure that is folded front and back except for the upper end joined to the eighth hook-and-loop fastener 35, and is shipped in a flat, compact folded state. Like the urine bag 15, it is held in its folded state by a holding means 37 made of a weak material such as paper tape.

[0083] As shown in Figure 5(A), a second check valve 38 communicating with the defecation inlet 34 is disposed inside the feces bag 16. The second check valve 38 is made of a thin resin film, and prevents backflow when flattened. The second check valve 38 is welded to the body of the feces bag 16 (this is the same as for the first check valve 24).

[0084] (4) Summary In the present invention, the urine bag 15 is attached by, with the cover body 17 open toward the front, pressing the second flange 20 of the urine bag 15 against the fourth surface fastener 26 of the main body 5 and pressing the annular polymerization portion 21 against the first surface fastener 9. This pressing action causes the fifth surface fastener 28 and the third surface fastener 25 of the urine bag 15 to engage with the first surface fastener 9 and the fourth surface fastener 26 of the main body 5, and the urine bag 15 is fixed to the main body 5.

[0085] The urine bag 15 can be removed by pulling the second flange 20 to separate the fifth surface fastener 28 and the third surface fastener 25 from the fourth surface fastener 26 and the first surface fastener 9. In this case, if the second flange 20 is pulled from one corner, it can be peeled off with a light force.

[0086] The procedure for attaching the urine bag 16 is the same as for the urine bag 15, and is carried out by pressing the third flange 32 of the urine bag 16 against the second hook-and-loop fastener 10 of the main body 5 with the cover body 17 open towards you. This pressing action causes the eighth hook-and-loop fastener 35 of the urine bag 15 to engage with the second hook-and-loop fastener 10 of the main body 5, attaching the urine bag 16. The urine bag 16 can be removed by pulling the third flange 32.

[0087] When the user urinates, as shown in Figure 4, the urine flows into the inside of the urine bag 15 through the urination opening 7, the urination inlet 23, and the first check valve 24, and then the expanding part 15a of the urine bag 15 expands and the urine is stored.

[0088] As shown schematically in Figure 4, placing a coagulant 39 such as a water-absorbing polymer inside the urine bag 15 is preferable as it will gel the urine. The coagulant 39 may simply be placed inside the urine bag 15 in powder form, or may be placed in a state supported by a cotton-like material such as nonwoven fabric or pulp. It may also be held in place by gluing it to the inner surface of the urine bag 15. It is also possible to use a water-absorbing agent that can be flushed down the toilet (for example, a water-absorbing agent made from bean curd refuse).

[0089] When arranging the coagulant 39 in multiple layers inside the urine bag 15, it is preferable to set it so that the lower layers coagulate faster, as this allows for effective use of the internal space of the urine bag 15. One way to delay the coagulation of the coagulant 39 is to encapsulate the powder of the coagulant 39 in a water-soluble material such as oblate. In this case, the time at which coagulation begins can be changed by changing the properties and thickness of the water-soluble material. It is also possible to use both the water-soluble material-encapsulated coagulant 39 and the bare coagulant 39.

[0090] It is also possible to use a deodorant in combination. A storage section for the coagulant 39 is provided at the top of the urine bag 15, and the coagulant 39 can be configured to fall downward as the urine bag 15 moves.

[0091] In this embodiment, urine flows into the urine bag 15 without soiling the user's skin, significantly reducing discomfort for the user (care recipient) compared to commercially available diapers or urine pads. Furthermore, because there is almost no skin soiling, the urine bag 15 is easy to change, and skin disorders and illnesses caused by excrement are significantly reduced. Furthermore, because the urine bag 15 is covered with the cover body 17, it is possible to prevent the urine bag 15 from being touched or moved, and also to prevent the urine bag 15 from accidentally becoming detached from the main body 5. The first flange 18 of the cover body 17 can also be used to hold the second flange 20 of the urine bag 15 in place, further improving the ability to prevent the urine bag 15 from becoming detached.

[0092] When the user defecates, as shown in Figure 5, the feces pass from the defecation opening 8 of the main body 5 through the defecation inlet 34 and second check valve 38 of the feces bag 16 and are stored inside the feces bag 16. As the feces flow in, the feces bag 16 moves downward and expands in all directions, but because there is space between the left and right thighs when the person is lying down, the expansion of the feces bag 16 is not hindered. Also, because the anus 12 is located above the top surface 40 of the bed (futon) when the person is lying down, the feces naturally fall into the feces bag 16. Therefore, the feces are smoothly stored in the feces bag 16.

[0093] In this way, in this embodiment, excreted feces are contained in the feces bag 16 without spreading to the person's crotch, abdomen, or waist, which dramatically reduces discomfort for the user compared to commercially available diapers. Also, because there is almost no dirt in the crotch area, the effort required to wipe off the feces bag 16 when changing it is minimal, which significantly reduces the psychological and physical burden on both the user (care recipient) and the caregiver.

[0094] It is also preferable to place a coagulant 39 inside the stool bag 16. In particular, when the stool is soft or the patient has diarrhea, it is possible to eliminate fluidity, so it is preferable to place a coagulant 39 or a water-absorbing agent in advance. Also, it can be said that adding a deodorizing agent to the stool bag 16 is particularly meaningful.

[0095] It is expected that pressure will be applied to the feces bag 16 when the user turns over in bed after defecation, but in this case, since the second check valve 38 is flattened, feces will not flow back into the defecation entrance 34. As a measure to deal with the case where excessive pressure is applied to the feces bag 16, it is also possible to provide a buffer chamber in the feces bag 16 via a partition that will break when a certain amount of force is applied.

[0096] The crotch cover portion 17a of the cover body 17 is fixed to the main body 5 and is pocket-shaped, providing excellent protection for the urine bag 16. The cover body 17 is bulging, but it is preferable to keep the degree of bulging to a minimum in order to restrict the movement of the urine bag 15 and urine bag 16. The cover body 17 can also be made of a tightly woven, water-impermeable fabric. A zipper can also be used as a means for opening and closing the cover body 17.

[0097] (5) Second and third embodiments 6 shows a second embodiment. In this embodiment, the interior of the urine bag 15 is divided into a lower chamber 42 and an upper chamber 43 by a partition sheet 41 located above the urination inlet 23, and the lower part of the lower chamber 42 and the upper part of the upper chamber 43 are connected by a feed pipe 44. In addition, the upper part of the upper chamber 43 and the upper part of the lower chamber 42 are connected by a vent pipe 45.

[0098] In this embodiment, the urine bag 15 is placed over the person's body and is tilted in side view, so that the pressure inside the urine bag 15 is higher than atmospheric pressure, and by utilizing this, urine collected in the lower chamber 42 is pushed up into the upper chamber 43 by the feed pipe 44. Therefore, the upper chamber 43 can be effectively used to increase the amount of urine that can be stored.

[0099] The third embodiment shown in Figure 7 is a pair of nursing underwear 1 for men. In men, urine is excreted from the penis 46, which is located significantly higher than the anus 12, so the urine bag 15 can be positioned higher than in the first embodiment. In this embodiment, the urine bag 15 has a scrotal protector 48 that protects the scrotum 47, and a funnel 48a into which the penis 46 enters is integrally formed at the top of the scrotal protector 48. The inside of the funnel 48a forms the urination inlet 23, and a first check valve 24 is connected to the urination inlet 23.

[0100] The scrotal protector 48 and funnel portion 48a are made of soft resin such as low-density polyethylene or elastomer to avoid causing discomfort to the user. Although not shown in the figures, in this embodiment too, a coagulant 39 and a water-absorbing agent are placed inside the urine bag 15. The attachment structure of the urine bag 15 is basically the same as in the first embodiment.

[0101] (6) Fourth embodiment Next, a fourth embodiment will be described, as shown in Figures 8 to 10. This embodiment relates to a system for exchanging a urine bag 15 and a feces bag 16 by a robot. In this embodiment, the urine bag 15 and the feces bag 16 of a person M lying on a bed 50 are exchanged by a robot, and includes the steps of partially rolling up a comforter 52 as shown in Figure 8(A), pulling down the person's pajama pants 53 to near the ankles as shown in Figure 7(B), removing the old urine bag 15 and putting on a new urine bag 15 while the person keeps their knees raised as shown in Figure 8(C), and removing the old feces bag 16 and putting on a new feces bag 16 while the person keeps their knees raised as shown in Figure 8(D).

[0102] After the urine bag 15 or feces bag 16 has been replaced, the process is the reverse of the above, and includes the steps of pulling up the pajama pants 53 and returning the comforter 52 to its original position. Although not shown in Figure 8, these tasks are performed by a robot with hands. In the step of rolling up the comforter 52, clamps 54 are used to hold the ends of the comforter 52 from above and below, and the comforter 52 is rolled up by moving the clamps 54 while rotating. The rolled up comforter 52 is supported on a receiving stand (not shown) (the receiving stand is also movable).

[0103] The urine bag 15 can be replaced by simply kneeling, but when replacing the feces bag 16, it is preferable to partially lower or tilt downward the portion 55a of the mattress 55 that supports the pelvis, which forms the bed. This creates a large space below the crotch, making it easy to replace the feces bag 16 and wipe and wash around the anus.

[0104] Figure 9 shows a schematic diagram of the procedure for replacing the urine bag 15. That is, the procedure for replacing the urine bag 15 is as follows: (B) Open the cover body 17, (C) Remove the old urine bag 15, (D) Attach the new urine bag 15 to the main body 5, and (E) Close the cover body 17. These steps are performed by a robot.

[0105] The robot is generally shown in Figure 10. The robot 56 of this embodiment is a type that is attached to a bed 50, and is attached via a slider 59a to a two-stage stay 59 that is hung between left and right support columns 58 so as to be movable left and right, and therefore has two stages of hands 60. The hands 60 have a bendable arm 61 and a hand end portion 62 attached to the tip of the arm 61. The upper hand 60 is used to replace the storage bag, and the lower hand 60 is used to open and close the cover. In either case, the hand end portion 62 is movable in all directions, up and down, left and right, and front and back, and can also freely change its posture when viewed from the front and side (it can also rotate around an axis).

[0106] 10(B) is a schematic representation of the urine bag 15, and shows that the third flange 20 of the urine bag 15 has multiple pairs of tongue-shaped tabs 63 on each side. The third flange 20 has light-emitting holes 64 at the top and on each side, each of which serves as an example of the detection means described in the claims, while the first reinforcing plate 27 of the main body 5 has reflecting portions 65, also serving as an example of the detection means, that overlap the light-emitting holes 64 in a front view. The reflecting portions 65 are provided by partially hollowing out the fourth surface fastener 26.

[0107] The robot 56 is equipped with a light-emitting diode and a light-receiving diode (not shown) as an example of optical detection means, and light emitted from the light-emitting diode is reflected by the reflecting part 65 through the light-emitting hole 64, and the reflected light is detected by the light-receiving diode, thereby accurately positioning the urine bag 15 and the main body 5. In other words, the position of the urine bag 15 is finely adjusted so that the reflected light is received by the light-receiving diode, thereby accurately positioning the urine bag 15.

[0108] The hand portion 62 has a base plate 66, a fixed clamp body 67 fixed thereto, and a movable clamp body 68 that moves toward and away from the fixed clamp body 67 from the outside, and by moving the movable clamp body 68 left and right with the fixed clamp body 67 overlapping the third flange 20, the clamp bodies 67, 68 can clamp and release the knob 63. Therefore, with the knob 63 clamped by the clamp bodies 67, 68, the urine bag 15 can be positioned and advanced and pressed against the main body 5, thereby engaging the third surface fastener 25 and the fourth surface fastener 26, and automatically fixing the urine bag 15 to the main body 5.

[0109] Although not shown in the figures, the surface of the fixed clamp body 67 facing the person is provided with a cushioning material such as rubber. The fixed clamp body 67 and the movable clamp body 68 are provided with friction plates that allow the knob portion 63 to be firmly gripped. The used urine bag 15 can be removed by pulling the knob portion 63 toward you while gripping it with the clamp bodies 67, 68. Although not shown in the figures, the opening and closing of the cover body 17 is also done in the same way. In this embodiment, the cover body 17 is held open by the lower hand 60, and the urine bag 15 is replaced by the upper hand 60.

[0110] The same applies to replacing the waste bag 16, and as shown in Figure 5, the third flange 32 is provided with a knob 63 for grasping by the robot 56. Also, although not shown, the third flange 32 and the second hook-and-loop fastener 10 are provided with markers for image recognition.

[0111] The robot is equipped with a CCD camera, which serves as the basic control means for capturing images of the person, the main body 5, and the excrement collection bags 15, 16 and recognizing their shapes. It is also equipped with a distance sensor, which calculates the distance between the hand 62 and the main body 5 and controls the movement of the hand 62. As shown in Figure 10(A), a fixture stand 70 is placed next to the bed 50, and on the fixture stand 70, a urine bag stocker 71, a feces bag stocker 72, and a waste storage box 73 are placed. The stockers 71, 72 have the bags 15, 16 stacked in a state where they can be removed one by one.

[0112] Inside the waste storage box 73, tube-type bags or the like are set with their openings facing upward, and when a used bag is dropped in, the top of the bag is heat-sealed and the next bag is dispensed. Although not shown, the equipment stand 70 also has equipment for body cleansing, such as a wet wipe storage and a dryer. It is also possible to apply creams to human skin using an applicator such as a spatula. The prongs 62 of the hand 60 can be flipped over and moved toward the equipment stand 70.

[0113] (7) Fifth to Seventh Embodiments Fig. 11 shows a fifth embodiment. This embodiment is a specific example of claim 9, and as an example of the positioning means, dovetail grooves 74 are formed on the left and right sides of the first reinforcing plate 27 fixed to the main body 5, and the lower ends of the left and right sides of the third flange 20 of the urine bag 15 are inserted into the dovetail grooves 74. The knob 63 is plate-shaped. In this embodiment, the hand 62 of the robot 56 is provided with a vacuum suction collet 75 that suctions the left and right sides of the third flange 20, and the urine bag 15 is moved using a clamp body 76 and the vacuum suction collet 75 together.

[0114] When attaching the urine bag 15, the vacuum suction collet 75 is released from the bottom up. Reference numeral 77 denotes a mark (detectable portion) for recognizing the shape by image processing. In this and other embodiments, it is also possible to apply a specific color, pattern, figure, letter, etc. to the flange 20 or the hook-and-loop fasteners 9, 10, 35 as a mark.

[0115] In the sixth embodiment shown in Fig. 12(A), a group of protrusions 78 is provided on the first reinforcing plate 27 and a hole 79 is provided in the third flange 20 as positioning means. On the other hand, in the seventh embodiment shown in Fig. 12(B), a guide piece 80 is provided on the first reinforcing plate 27 as positioning means. In this embodiment, the knob portion 63 is formed in a round bar shape.

[0116] (8) Eighth and Ninth Embodiments 13 and 14 show an eighth embodiment applied to the open type. In this embodiment, the main body 5 comprises a back body 3 that overlaps the back of the care recipient's waist and pelvis, a crotch portion 4 that overlaps the care recipient's crotch, and a front body 2 that overlaps the care recipient's abdomen, all of which are continuous from front to back. Left and right flaps 3a and 3b are integrally formed on the back body 3. Openings 7 and 8 are formed in the crotch portion 4.

[0117] In this embodiment, the left and right flaps 3a, 3b are connected, and then the front body 2 is raised and fixed to the left and right flaps 3a, 3b. To this end, tongue-shaped tabs 63a, 63b and hook-and-loop fasteners 82 are provided on the left and right flaps 3a, 3b. As shown in FIG. 14(B), the left and right tabs 63a, 63b can be raised toward the user, and while one tab 63a is held by a robot 56 or the like, the other tab 63b can be held by the robot 56. Therefore, the left and right flaps 3a, 3b can be fixed in a state where they are drawn together. This allows the garment to fit the user's body.

[0118] Tabs 63c are provided on both the left and right ends of the front body 2. When the robot 56 is used for replacement, the robot 56 grasps the left and right tabs 63 and then pulls them upward, thereby keeping the crotch portion 4 fitted around the person's crotch, and fastening the hook-and-loop fasteners 83 of the front body 2 to the hook-and-loop fasteners 84 of the left and right flaps 3a, 3b. Therefore, the main body 5 can be fitted to the person in the same way as pants.

[0119] In this embodiment, the crotch cover portion 17a of the cover body 17 is fixed (sewn) to the main body 5 and is pocket-shaped, while the abdominal cover portion 17b is flap-shaped. Also, as in the first embodiment, a feces bag and a urine bag are attached to the main body 5, although not shown.

[0120] In the ninth embodiment shown in Fig. 15, the main body 5 is formed in a pants-like shape, and the abdominal cover portion 17b of the cover body 17 is also integrated with the main body 5. That is, the entire cover body 17 is pocket-shaped and connected to the main body 5. However, since the abdominal cover portion 17b needs to be opened wide to attach and detach the urine bag 15 and the feces bag 16, the side of the abdominal cover portion 17b is an accordion portion 17c.

[0121] Then, to enable bellows portion 17c to be closed in a sealed state, string material 85 is passed through the opening edge of bellows portion 17c, and the bellows is held in a folded state by pulling string material 85. Therefore, when cover body 17 is closed, string material 85 is largely exposed on the front side. In order to hold the bellows portion in a closed state with string material 85, a friction-fixing stopper may be provided on string material 85.

[0122] Although the embodiments of the present invention have been described above, the present invention can be embodied in many other ways. For example, the interior of the urine bag can be divided into multiple compartments so that urine accumulates in the lower compartments first. A flow-diverting tube can also be built in to distribute urine throughout the bag.

[0123] The robot may be mobile. For example, in a nursing home, a mobile robot such as a self-walking robot can be introduced, allowing one robot to care for multiple people. For home care, a fixed robot such as the one shown in the figure would be preferable. It is also possible to have the robot memorize information about a person's skin, and apply (or spray) medicine or cream when changing the waste collection bag.

[0124] If an abnormality occurs with the care recipient during replacement or under normal conditions (if the care recipient requests the robot to contact the robot), the robot can contact the caregiver or family by phone, etc. In other words, it is possible to equip the robot with a monitoring function. This is particularly useful in home care when the caregiver is out. The robot is equipped with a camera, so if it is set up to send images of the person to the caregiver's smartphone, the caregiver can check the situation, which is ideal.

[0125] The robot's care functions include listening to the care recipient and reading stories. A detection means for detecting the storage status of the waste collection bag can also be provided, allowing the waste collection bag to be replaced in real time. While each embodiment uses a waste collection bag as the waste disposal means, it is also possible to use an absorbent similar to a current pad, with a cover holding the absorbent against the main body and transferring the waste from the excretion opening to the absorbent. In this case, at least the portion of the main body where the absorbent overlaps is made of a water-impermeable material to prevent waste from seeping through the main body and sticking to the body. [Industrial Applicability]

[0126] The present invention can be embodied in a nursing underwear and a nursing robot using the same, and therefore has industrial applicability. [Explanation of symbols]

[0127] 1. Nursing underwear 2 Front 3 Back 4 Crotch 5 Main unit 6 Leg opening 7 Urination opening 8 Defecation opening 9 First surface fastener 10 Second surface fastener 11 Urethral meatus 12 anus 15 Urine bag (excrement collection bag) 16. Stool bags (excrement storage bags) 17 Cover body 18 First flange (frame) 20 Second flange, which is an example of a frame 21 Cyclic polymerization section 23 Urinary inlet 24 First check valve 25 Third surface fastener 26 Fourth surface fastener 27 First reinforcing plate, which is an example of a frame body 28 5th side fastener 29 6th side fastener 30 7th side fastener 31 Second reinforcing plate 32 Third flange (frame) 34 Defecation entrance 35 8th surface fastener 38 Second check valve 39 Coagulant (water-absorbing polymer) 50 beds 56 Robot 60 hands 61 Arm 62 Hands 63 Knob 67 Fixed clamp body 68 Movable clamp body 74 Dovetail groove portion constituting positioning means

Claims

1. A pair of nursing underwear worn by a person, The toilet has a main body that fits the human body and has an excretion opening, and a cover body that covers the excretion opening is provided on the main body in an openable / closable or detachable manner. Nursing underwear.

2. The device further includes an excrement storage bag having an entrance portion that communicates with the excrement opening, and the excrement storage bag can be held on the main body by a releasable fastening means with the entrance portion of the excrement storage bag communicating with the excrement opening, and the state of the excrement storage bag being held on the main body is maintained by the cover body.

2. The nursing underwear according to claim 1.

3. The device further includes an excrement storage bag having an entrance portion that communicates with the excrement opening, and the excrement storage bag can be held on the cover body via a releasable fastening means, and the excrement storage bag can be attached to or detached from the cover body by opening or removing the cover body from the main body.

2. The nursing underwear according to claim 1.

4. The cover body is in the form of a flap that can rotate up and down around its lower end as a fulcrum, and is configured to bulge outward when closed.

4. The nursing underwear according to claim 1.

5. The cover body is in the form of a pocket having an upward opening, and is configured to open to a state where the excrement collection bag can be inserted and removed.

4. Nursing underwear according to claim 2 or 3.

6. The main body has two excretion openings, one for urine and one for feces, and the excrement collection bag also has two excretion openings, one for urine and one for feces.

4. Nursing underwear according to claim 2 or 3.

7. The excrement collection bag is provided with either or both of a check valve for preventing backflow of excrement and a coagulant for solidifying excrement.

4. Nursing underwear according to claim 2 or 3.

8. The excrement collection bag is folded into an accordion-like, zigzag-like or other shape, and is configured to expand with excrement after being attached to the main body.

4. Nursing underwear according to claim 2 or 3.

9. The outer periphery of the excrement storage bag and the outer periphery of the cover body are overlapped with the main body, and the overlapping portion between the outer periphery of the excrement storage bag or the outer periphery of the cover body and the main body is made of a shape-retaining frame body, and one or both of the overlapping frames are provided with a positioning means for holding the frame body so that it cannot be displaced.

4. Nursing underwear according to claim 2 or 3.

10. The cover body and the waste collection bag are provided with outward-facing tabs, and in addition to or instead of this, the main body, the cover body and the waste collection bag are provided with optical detection parts that serve as markers for replacement by a robot.

4. Nursing underwear according to claim 2 or 3.

11. A care robot capable of changing an excrement collection bag for a care-requiring person wearing the care underwear according to claim 10 and lying in bed, The program includes the steps of opening the cover body from the main body, removing the used excrement collection bag, attaching a new excrement collection bag, and closing and fixing the cover body. Nursing care robot.

12. Furthermore, the program is programmed to include a step of detecting body soiling after the used excrement collection bag is removed, and a step of removing the soiling if the presence of soiling on the body is detected. The nursing robot according to claim 11.

13. Furthermore, the system is programmed with the steps of rolling up the comforter used by the care recipient to expose the waist area prior to replacing the excrement collection bag, pulling down the pajama pants worn by the care recipient, replacing the excrement collection bag with a new one, and then pulling up the pajama pants of the care recipient, and returning the rolled up comforter to its original position. The nursing care robot according to claim 11 or 12.

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