Care equipment

Abstract

To provide a care device capable of reducing the physical or psychological burden associated with excretion processing. [Solution] The care device comprises a support section that supports the care recipient, and a diaper attachment / detachment section for at least one of removing and attaching the care recipient's diaper in an excretion processing space formed around the care recipient's buttocks supported by the support section, and the support section includes a regulating section that regulates the movement of the care recipient.

Description

[Technical Field]

[0001] This disclosure relates to care devices. [Background technology]

[0002] Patent Document 1 discloses a furniture device that serves as both a storage unit and a partition to turn a large room into a semi-private room, and a medical / nursing care facility. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2007-319186 Summary of the Invention [Problem to be solved by the invention]

[0004] In a care device, it is desirable that the care recipient does not move while at least one of the diaper is being removed and / or put on.

[0005] Therefore, an object of the present disclosure is to prevent a care recipient from moving while at least one of a diaper is being removed and / or put on. [Means for solving the problem]

[0006] In order to solve the above problem, the care device comprises a support section that supports the care recipient, and a diaper attachment / detachment section for at least one of removing and attaching the care recipient's diaper in an excretion processing space formed around the buttocks of the care recipient supported by the support section, and the support section includes a regulating section that regulates the movement of the care recipient. [Effects of the Invention]

[0007] According to this care device, the support section includes a restricting section that restricts the movement of the care recipient, thereby preventing the care recipient from moving while at least one of the diapers is being removed and / or attached. [Brief explanation of the drawings]

[0008] [Figure 1] FIG. 1 is a perspective view showing a care device according to a first embodiment. [Figure 2] FIG. 2 is a plan view showing the nursing care device according to the first embodiment. [Figure 3] FIG. 3 is a front view showing the nursing care device according to the first embodiment. [Figure 4] FIG. 4 is a side view showing the nursing care device according to the first embodiment. [Figure 5] FIG. 5 is a cross-sectional view taken along line VV in FIG. [Figure 6] FIG. 6 is a diagram illustrating the support portion. [Figure 7] FIG. 7 is a diagram illustrating the waterproof portion. [Figure 8] FIG. 8 is a diagram showing how excretion is handled using the care device. [Figure 9] FIG. 9 is a diagram showing how excretion is handled using the care device. [Figure 10] FIG. 10 is a diagram showing how excretion is handled using the care device. [Figure 11] FIG. 11 is a diagram showing a first modified example of the nursing care device. [Figure 12] FIG. 12 is a diagram showing a second modified example of the nursing care device. [Figure 13] FIG. 13 is a diagram showing a third modified example of the nursing care device. [Figure 14] FIG. 14 is a diagram showing a third modified example of the nursing care device. [Figure 15] FIG. 15 is a diagram showing a fourth modified example of the nursing care device. [Figure 16] FIG. 16 is a diagram showing a fifth modified example of the nursing care device. [Figure 17]FIG. 17 is a diagram showing a sixth modified example of the nursing care device. [Figure 18] FIG. 18 is a diagram showing a sixth modified example of the nursing care device. [Figure 19] FIG. 19 is a schematic side view showing the internal configuration of the nursing care device according to the second embodiment. [Figure 20] FIG. 20 is a schematic plan view showing the internal configuration of the nursing care device according to the second embodiment. [Figure 21] FIG. 21 is a schematic plan view showing the configuration under the sink of the nursing care device according to the second embodiment. [Figure 22] FIG. 22 is a schematic perspective view showing a robot hand of the nursing care device according to the second embodiment. [Figure 23] FIG. 23 is a schematic cross-sectional view showing a nursing care device according to the second embodiment. [Figure 24] FIG. 24 is a schematic cross-sectional view showing a nursing care device according to the second embodiment. [Figure 25] FIG. 25 is a diagram showing a state in which a pretreatment process is being performed in the nursing care device. [Figure 26] FIG. 26 is a diagram showing a state in which a pre-treatment process is being performed in the nursing care device. [Figure 27] FIG. 27 is a diagram showing how the pretreatment step is carried out using the nursing care device. [Figure 28] FIG. 28 is a diagram showing how the pretreatment step is carried out using the nursing care device. [Figure 29] FIG. 29 is a diagram showing how the pretreatment step is carried out using the nursing care device. [Figure 30] FIG. 30 is a diagram showing how the pretreatment step is carried out using the nursing care device. [Figure 31] FIG. 31 is a diagram showing a state in which a diaper change process is being performed using the care device. [Figure 32] FIG. 32 is a plan view showing the diaper and the cartridge. [Figure 33] FIG. 33 shows the robot hand putting on a diaper. [Figure 34]FIG. 34 shows the robot hand putting on a diaper. [Figure 35] FIG. 35 shows the robot hand putting on a diaper. [Figure 36] FIG. 36 shows the robot hand putting on a diaper. [Figure 37] FIG. 37 shows a modified example of the air cushion for lower limbs. [Figure 38] FIG. 38 shows a modified example of the sewage tank. [Figure 39] FIG. 39 shows a cartridge according to a modified example. [Figure 40] FIG. 40 shows an example of the operation of the cartridge. [Figure 41] FIG. 41 shows an example of the operation of the cartridge. [Figure 42] FIG. 42 shows an example of the operation of putting on a diaper using a cartridge. [Figure 43] FIG. 43 shows an example of the operation of putting on a diaper using a cartridge. [Figure 44] FIG. 44 shows an example of the operation of putting on a diaper using a cartridge. [Figure 45] FIG. 45 is a schematic perspective view showing a care device according to the third embodiment. [Figure 46] FIG. 46 is a schematic perspective view showing the nursing care device in the sitting mode. [Figure 47] FIG. 47 is a schematic perspective view showing the nursing care device in the lying position mode. [Figure 48] FIG. 48 is a schematic perspective view showing a modified example of the nursing care device. [Figure 49] FIG. 49 is a plan view showing the standing wall portion. [Figure 50] FIG. 50 is a schematic side view showing the internal configuration of the nursing care device. [Figure 51] FIG. 51 is a schematic plan view showing the fitting unit. [Figure 52] FIG. 52 shows a state in which a diaper change process is being performed using the care device. [Figure 53] FIG. 53 shows a state in which a diaper change process is being performed using the care device. [Figure 54] FIG. 54 shows a state in which a diaper change process is being performed using the care device. [Figure 55] FIG. 55 shows a state in which a diaper change process is being performed using the care device. [Figure 56] FIG. 56 shows a state in which a diaper change process is being performed using the care device. [Figure 57] FIG. 57 shows a state in which a diaper change process is being performed using the care device. [Figure 58] FIG. 58 shows a state in which a diaper change process is being performed using the care device. [Figure 59] FIG. 59 shows a state in which a diaper change process is being performed using the care device. [Figure 60] FIG. 60 shows a state in which a diaper change process is being performed using the care device. DETAILED DESCRIPTION OF THE INVENTION

[0009] [Embodiment 1] The nursing care device according to embodiment 1 will be described below. Fig. 1 is a perspective view showing the nursing care device 10 according to embodiment 1. Fig. 2 is a plan view showing the nursing care device 10 according to embodiment 1. Fig. 3 is a front view showing the nursing care device 10 according to embodiment 1. Fig. 4 is a side view showing the nursing care device 10 according to embodiment 1. Fig. 5 is a cross-sectional view taken along line VV in Fig. 2. Fig. 6 is a diagram illustrating the support part 20. Fig. 7 is a diagram illustrating the waterproof part 38.

[0010] The care device 10 is a device for treating the excretion of the care recipient CR. The excretion treatment includes, for example, at least one of removing a diaper D worn by the care recipient CR and fitting a new diaper D to the care recipient CR. The excretion treatment may include, as necessary, washing the area around the buttocks CB, including the genitals, of the care recipient CR. In the following, when it is necessary to distinguish between diapers D, the diaper D that is worn by the care recipient CR and is to be replaced will be referred to as a diaper D1, the diaper D1 that has been removed from the care recipient CR and is to be discarded will be referred to as a diaper D2, and the diaper D that is to be newly fitted to the care recipient CR will be referred to as a diaper D3. The diaper D may be a tape type, a pants type, or a new sheet-like wrap-around type.

[0011] The care device 10 includes a support part 20 and a casing 30. The support part 20 supports the care recipient CR while leaving the area around the buttocks CB of the care recipient CR open. Because the area around the buttocks CB of the care recipient CR supported by the support part 20 is open, a space is formed around the buttocks CB of the care recipient CR supported by the support part 20. This space is an excretion disposal space for carrying out excretion disposal of the care recipient CR. The excretion disposal space is a space that is substantially free of obstacles when carrying out excretion disposal. Because an excretion disposal space is formed around the buttocks CB of the care recipient CR, excretion disposal of the care recipient CR can be carried out smoothly in the excretion disposal space. The excretion disposal carried out in the excretion disposal space includes, for example, at least one of removing a diaper D, putting on a diaper D, and washing around the buttocks CB of the care recipient CR.

[0012] Here, the support unit 20 opens the entire area around the buttocks CB of the care recipient CR. The entire area around the long axis is opened at the position of the buttocks CB along the long axis of the care recipient CR. The long axis is the axis of the human body that runs from the head (mouth) to the tail (anus). The long axis is also called the head-tail axis. Opening the entire area around the long axis means that there are no parts that come into contact with the care recipient CR for supporting the care recipient CR around the long axis at the position of the buttocks CB. If there are parts that come into contact with the care recipient CR around the buttocks CB, it may be necessary to pass a diaper between the parts and the care recipient CR during diaper changing, or the parts may interfere with the robot hand, which may interfere with diaper changing. By forming an excretion disposal space all around the buttocks CB of the care recipient CR, the care recipient CR can smoothly dispose of excretion in the excretion disposal space.

[0013] The casing 30 includes a shielding wall 31. The shielding wall 31 conceals the excretion disposal space. The shielding wall 31 is provided around the excretion disposal space. Here, the private parts of the care recipient CR, including the genitals, may become exposed during excretion disposal. By hiding the excretion disposal space with the shielding wall 31, the exposed private parts are hidden from the outside, and the psychological burden on the care recipient CR can be reduced.

[0014] Here, the support unit 20 supports the care recipient CR in a position similar to a sitting position. The support unit 20 includes a support body 21 and a guard 22. The support body 21 supports the care recipient CR. The guard 22 maintains the state in which the care recipient CR is supported by the support body 21. The guard 22 restricts movement of the care recipient CR from the support body 21. The guard 22 is detachable from the care recipient CR. Here, the support body 21 supports the back of the care recipient CR, and the guard 22 holds the chest of the care recipient CR. Here, the guard 22 includes a pair of guard pieces 23 protruding from the support body 21 and a connecting portion 24 that detachably connects the pair of guard pieces 23. The pair of guard pieces 23 protrude from both sides of the care recipient CR. The connecting portion 24 is not particularly limited, and may be, for example, a snap fastener or a hook-and-loop fastener. The support unit 20 may support the care recipient CR in a position other than a sitting position. Postures other than the seated position will be described in detail later. The configuration of the support unit 20 is not limited to the above example and can be set as appropriate. For example, the support unit 20 may be in the form of a rigid support holder used in attractions such as coasters at amusement parks that are ridden in a seated or lying position, or may be in the form of a seat belt used in racing cars, etc.

[0015] Here, the care device 10 has a seat 40 on which the care recipient CR sits. The seat 40 is provided to be movable. The seat 40 moves to open up the area around the buttocks CB of the care recipient CR. Here, the movement of the seat 40 opens up the entire area around the longitudinal axis at the position of the buttocks CB along the longitudinal axis of the care recipient CR. Here, the movement of the seat 40 is a rotational movement. The movement of the seat 40 may be a linear movement, or a combination of rotational and linear movement. The movement of the seat 40 is performed by an actuator. In this case, the care device 10 has a seat moving unit that moves the seat 40. The movement of the seat 40 may also be performed manually.

[0016] Here, the seat 40 is connected to the lower part of the support body 21. The seat 40 includes a seat body 41 and a hinge 42. The first seat body 41 is connected to the lower part of the support body 21 via the first hinge 42. The second seat body 41 is connected to the end of the first seat body 41 opposite the support body 21 via the second hinge 42. Each hinge 42 can rotate around an axis along the left-right direction by the seat movement unit. Rotation of each hinge 42 causes each seat body 41 to rotate and move. This allows the seat 40 to move between a position where the care recipient CR in a seated position can sit on it (see FIG. 5) and a position where the area around the buttocks CB of the care recipient CR in a seated position is open (see FIG. 8). The seat 40 may be provided separately from the support body 21.

[0017] Here, the care device 10 includes a lower limb support section 26 that supports the lower limb CL of the care recipient CR supported by the support section 20. The lower limb support section 26 may support a portion of the lower limb CL of the care recipient CR below the knee. The lower limb support section 26 may be formed in a ring shape and wrapped around the ankle. The lower limb support section 26 may be formed in a hole shape and provided so that the care recipient CR can insert the foot first.

[0018] The support section 20 or the lower leg support section 26 may support the care recipient CR so as to restrict movement of the care recipient CR. The support section 20 or the lower leg support section 26 may be a restraining section that restrains the care recipient CR so as not to move.

[0019] The shielding wall 31 has a peripheral wall that surrounds the periphery of the care recipient CR. The peripheral wall is provided according to the posture of the care recipient CR supported by the support part 20. The peripheral wall is provided to surround the left and right and the front and back of the care recipient CR in a seated position. Here, the shielding wall 31 has an upper wall that closes the upper part of the peripheral wall and a bottom wall that closes the lower part of the peripheral wall. The excretion disposal space is an almost sealed space except for a part through which part of the care recipient passes. Here, a drain pipe DP is connected to the lower part of the excretion disposal space.

[0020] The shielding wall 31 is made of an opaque or translucent material. The shielding wall 31 may be made of wood, metal, or resin. The shielding wall 31 may be made of a board material or a cloth material. A window may be provided in a part of the shielding wall 31. The window may be openable or closable, or may be fixed. If the window is fixed, it is preferable that it is a transparent window. The window is preferably provided in a position where the private parts of the care recipient CR are not visible (for example, around the toes).

[0021] Here, the casing 30 has an inner wall 32 and an outer wall 33 that is outer than the inner wall 32. The inner wall 32 surrounds the excretion treatment space. An internal space separated from the excretion treatment space is formed between the inner wall 32 and the outer wall 33. The internal space may be used as an installation space for equipment used for excretion treatment. The internal space may be used as a storage space for new diapers D3. Here, the outer wall 33 serves as the shielding wall 31. The inner wall 32 may also serve as the shielding wall 31. The inner wall 32 and the outer wall 33 may collectively serve as the shielding wall 31. For example, the upper part of the outer wall 33 and the inner wall 32 may serve as the shielding wall 31, and the lower part of the outer wall 33 that overlaps with the inner wall 32 may be a transparent window. The drain pipe DP passes through the inner wall 32 and the outer wall 33.

[0022] The shielding wall 31 has an opening for the care recipient CR to enter and exit. A door may be provided at the opening. The door may be of a hinged type or a sliding type. The opening does not have to have a door. For example, the support part 20 and the casing 30 may be detachable, and the support part 20 may be configured to close the opening by being attached to the casing 30.

[0023] A portion of the care recipient CR above the buttocks CB (part of the upper body) or a portion below (part of the legs) may be exposed from the shielding wall 31. A portion of the care recipient CR above the buttocks CB (part of the upper body) or a portion below (part of the legs) may be covered by the shielding wall 31 and not exposed. Here, the legs of the care recipient CR are located inside the shielding wall 31. A portion of the care recipient CR above the shoulders protrudes upward from an opening in the upper wall of the shielding wall 31. The connecting portion 24 may be provided outside the casing 30. This makes it less likely that the connecting portion 24 will become soiled during excretion processing. The lower limbs CL may be exposed outside the casing 30, or may be entirely contained within the casing 30. By forming the casing 30 into a box shape that exposes a portion of the care recipient CR (for example, the upper body), the device can be made more compact.

[0024] The care device 10 includes a waterproof section 38 that waterproofs a portion of the care recipient CR that is located above the excretion disposal space. The waterproof section 38 is made of, for example, waterproof fabric. The waterproof section 38 is attached to an opening in the upper wall. An opening through which the care recipient CR is inserted is formed in the waterproof section 38. The size of the opening in the waterproof section 38 may be variable, thereby allowing the periphery of the opening to fit closely to the care recipient CR. For example, a slit may be formed from the opening to the outer edge of the waterproof section 38, and the size of the opening may be variable by changing the amount of overlap between both sides of the slit. Alternatively, for example, a string may be threaded around the periphery of the opening, and the size of the opening may be variable by pulling or loosening the string.

[0025] The waterproof part 38 is provided at the position of the support part 20. The waterproof part 38 may be provided closer to the buttocks CB than the support part 20. For example, the upper half of the care recipient CR may be clothed, and the waterproof part 38 may be provided to prevent the clothes on the upper half of the care recipient CR from getting wet. The waterproof part 38 may prevent dripping clothes from entering the excretion disposal space. For example, the support part 20 may support the clothed part of the care recipient CR from the outside of the clothes so as to overlap with the clothes, and the waterproof part 38 may be provided on the unclothed part closer to the buttocks CB than the clothes. The waterproof part 38 may be provided farther from the buttocks CB than the support part 20. The waterproof part 38 may have a core made of an elastic material such as urethane. This makes it easier for the waterproof part 38 to adhere to the care recipient CR.

[0026] The care apparatus 10 includes a diaper attachment / detachment section 50 for at least one of removing and attaching a diaper D to the care recipient CR in the excretion disposal space.

[0027] Here, the diaper putting on / taking off section 50 includes a robot hand 51 that at least one of removes and puts on a diaper D on the care recipient CR. The number of robot hands 51 may be one or more (two, three, or more). For example, a pair of robot hands 51 may be provided on the left and right or a pair of upper and lower robot hands. A pair of robot hands 51 may be provided on both sides (left and right or front and back) of the care recipient CR. The robot hand 51 is provided at the tip of a robot arm 52. Here, the robot arm 52 is a multi-joint robot. The robot arm 52 may be a single-axis robot. For example, the robot arm 52 may protrude inward from the inner wall 32, and a drive unit 53 of the robot arm 52 may be located between the inner wall 32 and the outer wall 33. As a safety measure, the gripping portion of the robot hand 51 may be made of a soft material, or the robot hand 51 may be controlled to avoid collisions in accordance with the movement of the lower limbs or body of the care recipient CR.

[0028] The diaper putting on and taking off unit 50 includes a diaper recognition unit 56 that recognizes the diaper D. For example, the diaper recognition unit 56 may recognize the diaper D1 of the care recipient CR supported by the support unit 20. The diaper recognition unit 56 may recognize a used diaper D2 removed from the care recipient CR. The diaper recognition unit 56 may recognize a new diaper D3. The diaper recognition unit 56 may include, for example, a camera that photographs the diaper D. The camera is supported, for example, on the casing 30. Based on an image captured by the camera, the control unit may recognize a position (for example, a tape position or a tearing position) that the robot hand 51 accesses to remove the diaper D1.

[0029] The care device 10 includes a diaper storage section 35 for storing new diapers D3 to be put on the care recipient CR. The robot hand 51 may take out the diaper D3 from the diaper storage section 35. For example, the internal space between the inner wall 32 and the outer wall 33 may be the diaper storage section 35. The care device 10 does not need to include the diaper storage section 35. A new diaper D3 may be manually inserted into the casing 30 from outside the casing 30 through an opening provided in the casing 30, and the robot hand 51 may retrieve the diaper D3 and put it on the care recipient CR. An openable cover 34 may be provided at the opening (see FIG. 10 ).

[0030] The care device 10 includes a cleaning unit 60 that cleans the buttocks CB of the care recipient CR. The cleaning unit 60 includes a shower nozzle 61 provided in the excrement disposal space. The shower nozzle 61 is supported, for example, by the casing 30. The shower nozzle 61 is provided on the inner surface of the inner wall 32. The cleaning area of ​​the shower nozzle 61 may be the same as the cleaning area of ​​a toilet flushing device, such as around the anus or genitals. The cleaning area of ​​the shower nozzle 61 may be a wider area than the cleaning area of ​​a toilet flushing device, such as the entire area around the buttocks CB. In the latter case, the cleaning area may be wider by oscillating the shower nozzle 61 or by providing multiple shower nozzles 61. The cleaning area may include not only around the anus or genitals, but also by recognizing dirt in wrinkles such as the genitals and groin, and automatically adjusting the size and pressure of the shower droplets. The shower nozzle 61 may be provided movable so as to approach and move away from the area to be cleaned of the care recipient CR, or it may be supported in a fixed position. When the care device 10 includes a robot hand 51, the shower nozzles 61 may be provided on the robot hand 51. The shower nozzles 61 may be provided on the front, back, left and right sides of the care recipient CR. The number and arrangement of the shower nozzles 61 are not particularly limited and can be set appropriately as long as they can wash the buttocks CB of the care recipient CR.

[0031] The cleaning section 60 includes a clean water tank 62 connected to a shower nozzle 61. The clean water tank 62 is connected upstream of the shower nozzle 61. Clean water stored in the clean water tank 62 is supplied to the shower nozzle 61 and sprayed from the shower nozzle 61. The clean water tank 62 is supported, for example, by the casing 30. The clean water tank 62 may be supported inside the casing 30 or outside the casing 30. The method of supplying water to the clean water tank 62 is not particularly limited and can be set as appropriate. For example, the water supply port of the clean water tank 62 may be located in a position accessible from the outside, and water may be supplied while the clean water tank 62 is supported by the casing 30. Alternatively, for example, the clean water tank 62 may be detachable from the casing 30, and may be configured to be removed from the casing 30 to supply water to the clean water tank 62.

[0032] The cleaning unit 60 includes a heating unit 63 that heats the clean water supplied to the shower nozzle 61. The heating unit 63 is located upstream of the shower nozzle 61 and heats the clean water heading toward the shower nozzle 61. The heating unit 63 may heat the clean water in the clean water tank 62. The heating unit 63 may be located between the clean water tank 62 and the shower nozzle 61 and heat the clean water heading from the clean water tank 62 to the shower nozzle 61. The heating unit 63 may be configured to heat the water electrically or by burning fuel.

[0033] The care device 10 does not have to be equipped with the cleaning unit 60. In this case, the care device 10 may be configured so that it can be cleaned by inserting an external shower nozzle 61 through an opening in the shielding wall 31, for example. Furthermore, cleaning does not have to be performed by showering. Cleaning may be performed by wiping using a disposable wet towel or the like. Wiping may be performed by a caregiver or by the robot hand 51.

[0034] The cleaning unit 60 may not include the heating unit 63. The care device 10 may be configured to clean with unheated water. Furthermore, the cleaning unit 60 may not include the clean water tank 62. The care device 10 may be configured so that the shower nozzle 61 can be connected to an external clean water facility. In this case, the heating unit 63 may heat clean water supplied from the external clean water facility. If the external clean water facility is capable of supplying warm water, warm water can be sprayed from the shower nozzle 61 even without the heating unit 63.

[0035] The care device 10 is equipped with a drying unit 66 that dries the excretion disposal space. The drying unit 66 evaporates and removes moisture on the care recipient CR after cleaning and on the equipment facing the excretion disposal space. The drying unit 66 may be an air shower, a heater, or a combination of an air shower and a heater. The care device 10 does not have to be equipped with the drying unit 66. For example, a towel or the like may be placed in the excretion disposal space after cleaning, and the moisture on the care recipient CR or the equipment may be wiped off and removed with the towel.

[0036] When the excreta disposal space is cleaned with a shower, it is preferable that the components facing the excreta disposal space that may be exposed to the shower be waterproof. For example, the seat surface 40 may be partially or entirely waterproof. Also, for example, the support portion 20 and the shielding wall 31 may be partially or entirely waterproof.

[0037] The care device 10 may have a cleaning function for cleaning the inside of the casing 30. Such a cleaning function may be performed by the cleaning unit 60, or may be provided separately from the cleaning unit 60.

[0038] The care device 10 is provided with a hand rest 36 on which the care recipient CR places his / her hands CH. The hand rest 36 is provided outside the casing 30. The hand rest 36 may be provided inside the casing 30. The hand rest 36 is preferably provided outside the excretion processing space. The hand rest 36 may be provided so that it can be gripped, or may not be provided so that it cannot be gripped. The hand rest 36 may be provided in front of the support part 20. The hand rest 36 may be provided below the support part 20. The care device 10 does not have to be provided with a hand rest 36.

[0039] The care device 10 includes a moving mechanism 80 that is provided on a main body including the support part 20 and the casing 30 and moves the main body. The moving mechanism 80 may be a rolling mechanism such as casters. The moving mechanism 80 may include a drive part and be configured to be capable of autonomous travel. In this case, the care device 10 may include a tracking mechanism that tracks a caregiver or the like. The tracking mechanism is not particularly limited and can be set as appropriate. For example, the tracking mechanism may be one that captures an image of the tracking target using an imaging part such as a camera, or may be one that communicates wirelessly with the tracking target. The moving mechanism 80 may have an electric assist function.

[0040] Here, the direction of movement of the movement mechanism 80 and the direction of the body of the care recipient CR supported by the support unit 20 are the same. The direction of movement of the movement mechanism 80 and the direction of the body of the care recipient CR supported by the support unit 20 may be different from each other.

[0041] The care device 10 does not necessarily have to include the moving mechanism 80. The care device 10 may be configured to be immovably installed in a building, a vehicle, or the like.

[0042] <Excretion processing> An excretion process using the care device 10 will be described with further reference to Figures 8 to 10. Figures 8 to 10 are diagrams showing how excretion is carried out using the care device 10.

[0043] First, as shown in Fig. 5, the care recipient CR is supported by the support parts 20 inside the casing 30. In this state, an excretion disposal space is formed around the buttocks CB of the care recipient CR. At this time, the lower limb support parts 26 support the lower limbs CL of the care recipient CR.

[0044] Next, the diaper D1 of the care recipient CR is removed. Here, as shown in FIG. 8, the robot hand 51 removes the part (for example, tape) that fastens the diaper D1. This removes the diaper D1. Here, as shown in FIG. 8, the removed diaper D2 falls to the bottom. The dropped diaper D2 may remain there until the excretion process is completed, or may be temporarily moved to a predetermined position (such as a trash can) in the care device 10. When the robot hand 51 removes the diaper D1, it may move it directly to a predetermined position in the care device 10 without dropping it to the bottom.

[0045] Once the diaper D1 has been removed and the area around the buttocks CB of the care recipient CR is exposed, the area around the buttocks CB of the care recipient CR is then washed by the washing unit 60. As shown in FIG. 9 , water is sprayed from a shower nozzle 61 to wash the area around the buttocks CB of the care recipient CR. At this time, hot water supplied from a clean water tank 62 and heated by a heating unit 63 is sprayed from the shower nozzle 61. After the area around the buttocks CB of the care recipient CR has been washed, it is dried by a drying unit 66.

[0046] Once the area around the buttocks CB of the care recipient CR has been washed and dried, a new diaper D3 is then fitted. Here, as shown in FIG. 10, the robot hand 51 fits the new diaper D3. At this time, the robot hand 51 carries the diaper D3 from the diaper storage unit 35 to behind the buttocks CB of the care recipient CR. In this state, the seat surface 40 returns, so that the diaper D3 is sandwiched and held between the buttocks CB of the care recipient CR and the seat surface 40, even if the robot hand 51 does not hold the diaper D3. Thereafter, the robot hand 51 fastens the diaper D3, so that the diaper D3 is attached to the care recipient CR.

[0047] When the robot hand 51 handles the diaper D, the diaper D may be grasped by the fingers of the robot hand 51. The diaper D may also be attracted by an attraction portion provided on the robot hand 51. When the robot hand 51 attracts the diaper D by an attraction portion, the diaper D may be provided with an attractable portion that can be attracted by the attraction portion. The attractable portion and the attractable portion may be configured to attract by magnetic force of a magnet. The magnet may be a permanent magnet or an electromagnet. The attractable portion and the attractable portion may be configured to attract by generating negative pressure using a vacuum pump or a suction cup, etc. The attractable portion and the attractable portion may be configured to attract by hook-and-loop fasteners, etc.

[0048] Furthermore, in regard to putting on a new diaper D3, instead of the embodiment in which the seat surface 40 rotates to support the diaper D3, the diaper D3 may be supported using the adsorbing portion and the adsorbed portion while the tape of the diaper D3 is fastened using another finger of the robot hand 51. Also, the caregiver may hook the new diaper D3 onto the robot hand 51.

[0049] The care device 10 may also include a sensing unit that senses the presence or absence of stool in the diaper D1 during excretion processing. If the sensing unit determines that there is only urine and no stool, the cleaning phase and drying phase may be omitted. The sensing unit may be incorporated into the casing 30 or the robot hand 51. The decision to omit the cleaning phase and drying phase may be made by the control unit. In other words, the care device 10 may include a control unit that changes the excretion processing depending on the sensor result of the sensing unit. The decision to omit the cleaning phase and drying phase may be made by the caregiver.

[0050] The sensing unit may be incorporated into the diaper D1. In this case, the sensing unit may be detached from the diaper D1 before the care recipient CR enters the care device 10, or the robot hand 51 may detach the sensing unit from the diaper D1 while the care recipient CR is inside the care device 10 and before removing the diaper D1 from the care recipient CR.

[0051] <Effects, etc.> According to the care device 10 configured as described above, the area around the buttocks CB of the care recipient CR supported by the support part 20 is made into an open excretion disposal space, so excretion disposal can be performed while the excretion disposal space is hidden by the shielding wall 31. This reduces the psychological burden associated with excretion disposal.

[0052] The care device 10 also includes a diaper putting on / taking off section 50 for at least one of removing and putting on a diaper D for the care recipient CR in the excretion treatment space. This allows at least one of removing and putting on the diaper D using the diaper putting on / taking off section 50 while the buttocks CB of the care recipient CR are hidden by the shielding wall 31.

[0053] In this case, if the diaper putting on / taking off section 50 includes a robot hand 51 that at least one of removing and putting on the diaper D on the care recipient CR, the robot hand 51 can at least one of removing and putting on the diaper D on the care recipient CR without the help of a caregiver. This reduces the physical and psychological burden associated with excretion processing.

[0054] In addition, if the diaper putting on / taking off section 50 includes a diaper recognition section 56 that recognizes the diaper D, the diaper D of the care recipient CR can be recognized when the robot hand 51 is used.

[0055] The care device 10 also includes a cleaning unit 60 that cleans the buttocks CB of the care recipient CR, and the cleaning unit 60 includes a shower nozzle 61 provided in the excretion disposal space. This allows the buttocks CB of the care recipient CR to be cleaned by the cleaning unit 60 without the help of a caregiver. This reduces the physical and psychological burden associated with excretion disposal. If the cleaning unit 60 includes a clean water tank 62 connected to the shower nozzle 61, cleaning can be performed even if the care device 10 is installed in a location where it cannot be connected to a clean water facility. If the cleaning unit 60 includes a heating unit 63 that heats the clean water supplied to the shower nozzle 61, cleaning can be performed with warm water.

[0056] The care device 10 also includes a waterproofing part 38 that waterproofs the part of the care recipient CR that is located above the excretion disposal space. This makes it possible to prevent the upper part of the care recipient CR from getting wet when washing the buttocks CB of the care recipient CR.

[0057] Furthermore, in the care apparatus 10, the seat surface 40 moves to open up the area around the buttocks CB of the care recipient CR, thereby allowing the care recipient CR to sit before removing the diaper D and after putting it on.

[0058] The care apparatus 10 also includes a drying section 66 that dries the excretion processing space. This allows the care recipient CR and the inside of the care apparatus 10 to be dried by the drying section 66 after the care recipient CR has been washed.

[0059] Furthermore, since the care device 10 is provided with the movement mechanism 80, the care device 10 can be easily moved.

[0060] Furthermore, the care apparatus 10 is provided with the diaper storage section 35, so that new diapers D3 to be put on the care recipient CR can be stored therein.

[0061] Furthermore, by the lower limb support portion 26 supporting the lower limbs CL of the care recipient CR supported by the support portion 20, it is possible to prevent the lower limbs CL of the care recipient CR from moving during excretion processing.

[0062] Furthermore, the care apparatus 10 is provided with a hand rest 36, whereby the care recipient CR can place his / her hands CH.

[0063] <Additional Notes> FIG. 11 is a diagram showing a first modified example of the nursing care device 10. As shown in FIG.

[0064] In the care device 110 according to the first modified example, the diaper putting on and taking off unit 50 includes an air nozzle 54 that generates air to remove the diaper D1. In this case, the diaper D1 of the care recipient CR can be removed by air without the help of a caregiver. This reduces the physical and psychological burden associated with excretion processing. It also makes it possible to remove the diaper D1 while avoiding physical contact with the care recipient CR. When the diaper D1 is removed by the air nozzle 54, the diaper D3 is attached by a caregiver or a mechanism other than the air nozzle 54 (for example, a robot hand 51).

[0065] The air nozzle 54 sprays air at a predetermined position on the diaper D1 (for example, the position of the tape) to remove the diaper D1. In this case, the predetermined position on the diaper D1 to which air is sprayed may be recognized by the diaper recognition unit 56. When removing the diaper D with air, an air pocket (a portion that receives air) may be provided in the diaper D. The air pocket may be provided in the diaper D near the predetermined position.

[0066] The air nozzle 54 is supported within the casing 30. The air nozzle 54 may be provided so as to be movable toward and away from the diaper D1 of the care recipient CR, or may be supported at a fixed position. In the case where the care device 10 includes a robot hand 51, the air nozzle 54 may be provided on the robot hand 51.

[0067] FIG. 12 is a diagram showing a second modified example of the nursing care device 10. In FIG.

[0068] The care apparatus 210 according to the second modified example includes a sewage tank 70. The sewage tank 70 is provided in the lower part of the casing 30. The sewage tank 70 stores the sewage S used to wash the care recipient CR. This allows the care apparatus 10 to perform the washing process even if it is installed in a location where it cannot be connected to an external sewage facility.

[0069] In this case, it is preferable that an opening leading to the sewage tank 70 is formed in the bottom wall of the casing 30. It is also preferable that the upper surface of the bottom wall is formed as a sloped surface that slopes downward toward the opening. This makes it easier to guide the sewage S to the opening. The position of the opening is not particularly limited and can be set as appropriate. For example, the opening may be located in the front, side, or rear part of the bottom wall, or in the middle part of the front, back, left, or right. The bottom wall of the casing 30 may be sink-shaped (cone-shaped).

[0070] Furthermore, the sewage tank 70 is detachably installed in the nursing care device 210. This allows the sewage tank 70 to be removed and the sewage S stored in the sewage tank 70 to be drained to an external sewerage facility.

[0071] The care device 210 also includes a trash can 72 in which the used diaper D2 removed from the care recipient CR can be disposed of. This allows the used diaper D2 to be temporarily stored in a predetermined place until the diaper change is completed.

[0072] The trash can 72 is preferably provided in a position where it is unlikely to be splashed with water from the cleaning unit 60, such as in the internal space between the inner wall 32 and the outer wall 33. The care device 210 may include the inner wall 32 as a partition wall separating the excretion processing space from the trash can 72. The trash can 72 may be provided on the bottom wall of the casing 30, or may be provided above the bottom wall.

[0073] The care device 210 includes a used diaper moving section that moves the used diaper D2 to the trash can 72. This allows the used diaper D2 to be moved to the trash can 72 without the help of a caregiver.

[0074] Here, the robot hand 51 also serves as the used diaper transfer unit. The used diaper transfer unit may be provided separately from the robot hand 51. For example, the used diaper transfer unit may be a conveyor or the like provided on the bottom wall below the shielding wall 31. Also, for example, the used diaper transfer unit may be a sweeping unit that moves back and forth using a cylinder or the like. In these cases, it is preferable to install a trash can 72 ahead of the used diaper transfer unit.

[0075] The care device 210 also includes a processing unit 74 that automatically discards the waste or sewage S generated by the excretion process of the care recipient CR. This prevents the caregiver from coming into contact with the waste or sewage S.

[0076] The processing unit 74 discards the garbage in the garbage can 72 or the sewage S in the sewage tank 70. The garbage can 72 or the sewage tank 70 may be moved and discarded, or the garbage can 72 or the sewage tank 70 may be discarded by removing the bottom thereof. In the example shown in Fig. 12, the processing unit 74 discards the garbage in the garbage can 72 at a garbage collection point GS.

[0077] The robot hand 51 may also function as the processing unit 74. That is, the robot hand 51 may discard the trash in the trash can 72 or the sewage S in the sewage tank 70. The processing unit 74 may be provided separately from the robot hand 51. For example, the processing unit 74 may have a mechanism for moving and tilting the trash can 72 or the sewage tank 70. In this case, linear movement and rotational movement may be combined, or rotational movement only may be used. Also, for example, the processing unit 74 may have a mechanism for moving the trash can 72 or the sewage tank 70 and a mechanism for removing the bottom of the trash can 72 or the sewage tank 70.

[0078] 13 and 14 are diagrams showing a third modified example of the nursing care device 10. FIG.

[0079] In a care device 310 according to the third modified example, the support part 20 is provided separately from the casing 30 and is detachable from the casing 30. As a result, after the care recipient CR is supported on the support part 20 at a position separate from the casing 30, the support part 20 supporting the care recipient CR can be attached to the casing 30. In the example shown in FIG. 13 , the support part 20 is attached and detached through an opening at the rear of the casing 30. The support part 20 may also be configured to be attached and detached through an opening at the front or side of the casing 30. In the example shown in FIG. 13 , the support part 20 is attached and detached to and from the casing 30 with the care recipient CR facing the casing 30. The support part 20 may also be attached and detached to and from the casing 30 with the care recipient CR facing away from the casing 30 or with the care recipient CR facing to the side.

[0080] In the nursing care device 310, the moving mechanism 80 is provided in the support part 20. In the nursing care device 310, the moving part may be provided in the casing 30. In the nursing care device 310, the moving part may be provided in each of the support part 20 and the casing 30.

[0081] In the nursing care device 10, the lower limb support section 26 is provided in the moving section together with the support section 20. The lower limb support section 26 may be provided in the casing 30.

[0082] The care apparatus 10 includes a transfer support part 44 that supports the transfer of the care recipient CR from the bed BD to the seat 40. This makes it easier for the care recipient CR to transfer onto the seat 40 of the care apparatus 10.

[0083] The transfer support section 44 includes, for example, a support seat surface 45. The support seat surface 45 is provided next to the seat surface 40. The support seat surface 45 is connected to the upper surface of the bed BD, for example. As shown in FIG. 14, the care recipient CR can move from the upper surface of the bed BD onto the seat surface 40 via the support seat surface 45 while sitting on the upper surface of the bed BD. The support seat surface 45 may be positioned in a fixed position or may be foldable and storable. The support seat surface 45 may be detachable from the seat surface 40.

[0084] The transfer support section 44 may have handrails 46 that the care recipient CR grasps when transferring. The handrails 46 may have, for example, armrests on both sides of the seat surface 40. The armrests between the seat surface 40 and the support seat surface 45 may be movable up and down. The handrails 46 may be provided in a position separate from the armrests.

[0085] FIG. 15 is a diagram showing a fourth modified example of the nursing care device 10. In FIG.

[0086] In the care device 410 according to the fourth modification, the support unit 20 supports the care recipient CR in a forward leaning position rather than a sitting position. In this case, the support unit 20 supports the chest and sides of the care recipient CR. The support unit 20 may or may not support the back.

[0087] When the support unit 20 supports the care recipient CR in a forward-leaning position, the care device 10 does not need to have a seat surface 40. When the support unit 20 supports the care recipient CR in a forward-leaning position, the lower limb support unit 26 may support the knees. When the support unit 20 supports the care recipient CR in a forward-leaning position, a hand rest 36 that can be gripped by the care recipient CR may be provided in front of the support unit 20. When the support unit 20 is attached to or detached from the casing 30, the hand rest 36 may move inside the inner wall 32 together with the support unit 20. When the support unit 20 is attached to or detached from the casing 30, the hand rest 36 may move outside the inner wall 32 or outside the outer wall 33.

[0088] FIG. 16 is a diagram showing a fifth modified example of the nursing care device 10. As shown in FIG.

[0089] In the care device 510 according to the fifth modified example, the support unit 20 supports the care recipient CR in a lying position, not a sitting position. In the example shown in FIG. 16 , the lying position is a supine position (also referred to as a supine position, etc.) with the care recipient CR on their back. The lying position may be a position obtained by rotating the care recipient CR 90 degrees from the supine position. The lying position may be a lateral position with the care recipient CR on their side, or a prone position with the care recipient CR on their stomach. The lower limb support unit 26 may support the knees or thighs of the care recipient CR. The lower limb support unit 26 may support the care recipient CR from their knees or thighs to their toes. The knees may or may not be bent.

[0090] The seat surface 40 does not have to be connected to the support part 20. As shown in Fig. 16, the seat surface 40 that supports the buttocks CB of the care recipient CR may be rotatably connected to the lower leg support part 26 via a hinge 42.

[0091] 17 and 18 are diagrams showing a sixth modified example of the care device 10. FIG.

[0092] In the nursing care device 610 according to the sixth modification, the casing 30 is provided so as to be openable and closable by a hinge. In the example shown in Fig. 17, the rotation axis of the hinge is along the vertical direction. The rotation axis of the hinge may be along the front-rear direction or the left-right direction.

[0093] In addition, the casing 30 may be connected to the side or rear end of the bed BD. A conveyor or the like may be provided on the bed BD to facilitate the transfer of the care recipient CR from the bed BD into the casing 30.

[0094] Alternatively, the diaper putting on / taking off section 50 may not include the robot hand 51. For example, a caregiver may insert his / her hand through an opening in the shielding wall 31 to at least one of remove and put on a diaper D on the care recipient CR. In this case, gloves communicating with the opening in the shielding wall 31 may be provided inside the shielding wall 31. In other words, the shielding wall 31 may be formed in the shape of a glove box. In this way, the provided gloves are put on the caregiver's hand inserted through the opening in the shielding wall 31, and the caregiver can perform excretion management.

[0095] Furthermore, at least one of removing and putting on the diaper D may be performed by a caregiver and the robot hand 51 in cooperation with each other. For example, when removing the diaper D1, the caregiver may set the robot hand 51 at a predetermined position on the diaper D1 being worn by the care recipient CR, and the robot hand 51 may pull on the predetermined position to remove the diaper D1. For example, when putting on the diaper D3, the caregiver may insert the toes of the care recipient CR into the pants-type diaper D, and the robot hand 51 may move the diaper D with the toes of the care recipient CR inserted to the buttocks CB. For example, the caregiver may set the portion of the diaper D that the robot hand 51 handles onto the robot hand 51. This can simplify the operation of the robot hand 51.

[0096] The care device may also include a notification unit that notifies the care recipient CR of the task to be performed. The notification unit may have one or both of a sound generating unit and a display unit.

[0097] [Embodiment 2] A care device according to a second embodiment will now be described. Fig. 19 is a schematic side view showing the internal configuration of a care device 710 according to the second embodiment. Fig. 20 is a schematic plan view showing the internal configuration of the care device 710 according to the second embodiment. Fig. 21 is a schematic plan view showing the configuration below a sink 732a of the care device 710 according to the second embodiment. Fig. 22 is a schematic perspective view showing a robot hand 751 of the care device 710 according to the second embodiment. Figs. 23 and 24 are schematic cross-sectional views showing the care device 710 according to the second embodiment. Fig. 23 is a cross-sectional view perpendicular to the longitudinal axis direction at the position of the torso air cushion 722. Fig. 24 is a cross-sectional view perpendicular to the longitudinal axis direction at the position of the lower limb air cushion 728.

[0098] In the care device 710, the care recipient CR is placed in a supine position, similar to the example shown in FIG. 16. In the care device 710, the casing 730 covers the area including the buttocks CB of the care recipient CR, while leaving the head of the care recipient CR exposed to the outside of the casing 730. In this embodiment, the entire area around the buttocks CB of the care recipient CR is also open. In the care device 710, the bottom wall of the excretion processing space is a sink 732a. A drain outlet in the sink 732a is located on the front side. The sink 732a is inclined so that the front side is downward toward the drain outlet.

[0099] In the care device 710, the care recipient CR assumes a diaper changing position when changing a diaper. The position shown in Figs. 19 and 20 is the diaper changing position. As shown in Fig. 19, in this diaper changing position, the buttocks CB of the care recipient CR are lower than the waist and thighs. Therefore, in a side view, the portion of the care recipient CR from the waist to the thighs assumes a V-shaped position. This makes it less likely that the cleaning liquid will run down the body of the care recipient CR and reach other parts that do not need to be cleaned, compared to a position in which the waist to the thighs is horizontal. In addition, the robot hand 751 can easily access the diaper D1.

[0100] As shown in Figure 20, in the diaper changing position, the care recipient CR is in a position with their legs apart. Therefore, in a plan view, the care recipient CR's lower limbs CL and torso form a Y-shape. This makes it easier for parts of the diapers D2 and D3 to pass between their legs during diaper changing compared to when their legs are closed. Furthermore, because the area between the care recipient CR's legs is exposed, it is easier to wash and dry the area between the care recipient CR's legs.

[0101] In the care device 710, the support unit 720 includes a backrest 721 that supports at least the back of the care recipient CR so that the care recipient CR lies supine. The backrest 721 supports the care recipient CR from below. For example, the backrest 721 supports the care recipient CR from the waist to the head.

[0102] Furthermore, the support unit 720 here includes a torso air cushion 722 that can be expanded and contracted using air. In an expanded state, the torso air cushion 722 surrounds the torso of the care recipient CR. In FIG. 23, the solid lines indicate the expanded torso air cushion 722, and the imaginary lines indicate the deflated torso air cushion 722. The base end of the torso air cushion 722 is attached to, for example, the backrest 721 or the upright wall portion 738B on the side of the backrest 721. When air is injected into the deflated torso air cushion 722, the torso air cushion 722 expands to surround the torso of the care recipient CR. In the example shown in FIG. 23, torso air cushions 722 are provided on both sides of the care recipient CR. As the pair of torso air cushions 722 expand, their tips come into contact above the torso.

[0103] The lower leg support section 726 includes a footrest 727 on which the feet of the care recipient CR are placed relative to the buttocks CB. The footrest 727 supports the care recipient CR from below. For example, the footrest 727 supports the care recipient CR from the thighs to the feet.

[0104] Here, the lower leg support section 726 includes lower leg air cushions 728 that can be expanded and contracted using air. When expanded, the lower leg air cushions 728 surround both lower legs of the care recipient CR and support the care recipient CR in an open-legged position. In FIG. 24, the lower leg air cushions 728 are shown in solid lines in an expanded state, and the lower leg air cushions 728 are shown in imaginary lines in a deflated state. The base ends of the lower leg air cushions 728 are attached to, for example, the footrest 727 or the upright wall portion 738B on the side of the footrest 727. When air is injected into the deflated lower leg air cushions 728, the lower leg air cushions 728 expand and surround the lower legs of the care recipient CR. In the example shown in FIG. 24, the lower leg air cushions 728 are provided on the sides of and between both lower legs of the care recipient CR. As the three air cushions 728 for lower legs are deployed, the tips of the two air cushions 728 for lower legs come into contact with each other above each of the lower legs.

[0105] The distal end of the torso air cushion 722 or the lower-limb air cushion 728 may be positioned and held in place in the unfolded state. The care device 710 may include a distal end holding portion that positions and holds the distal end of the torso air cushion 722 or the lower-limb air cushion 728 in the unfolded state. The distal end holding portion may be, for example, a hook-and-loop fastener that joins the distal end of the torso air cushion 722 or the lower-limb air cushion 728 in the unfolded state to a mating part that comes into contact with it. Alternatively, for example, the distal end holding portion may be a recessed engaging portion and a protruding engaged portion. One of the recessed engaging portion and the protruding engaged portion is provided at the distal end of the torso air cushion 722 or the lower-limb air cushion 728, and the other is provided on the mating part that comes into contact with it. The recessed engaging portion or the protruding engaged portion provided at the tip of the torso air cushion 722 or the lower limb air cushion 728 expands with air to reveal its shape, and loses its shape when the air is released. These recessed engaging portion and protruding engaged portion can be firmly fixed by expanding along the back side (bulging portion).

[0106] The tip holding portion may be configured to automatically release the held state by releasing the air from the torso air cushion 722 or the lower limb air cushion 728. For example, if the tip holding portion has a recessed fitting portion and a protruding fitted portion, releasing the air will cause the fitting portion or fitted portion to lose its shape, and the fitted state of the fitting portion and fitted portion will be released.

[0107] The care device 710 also includes a buttocks air cushion 740 that can be expanded and contracted using air. When expanded, the buttocks air cushion 740 supports the buttocks CB of the care recipient CR from below. When contracted, the buttocks air cushion 740 opens the area below the buttocks CB. In FIG. 19, the buttocks air cushion 740 is shown in solid lines in a contracted state, and the buttocks air cushion 740 is shown in imaginary lines in an expanded state. The base end of the buttocks air cushion 740 is attached, for example, below the sink 732a. The sink 732a has an opening through which the buttocks air cushion 740 passes when expanded and contracted. When air is injected into the contracted buttocks air cushion 740, the buttocks air cushion 740 expands upward and reaches the buttocks CB of the care recipient CR through the opening. A lid 738A is provided on the opening of the sink 732a, and the lid 738A may be closed when changing diapers.

[0108] In the care device 710, when the care recipient CR enters or leaves the care device 710, the torso air cushion 722 and the lower leg air cushion 728 are in a deflated state, and the buttocks air cushion 740 is in an expanded state. During diaper changes, the torso air cushion 722 and the lower leg air cushion 728 are in an expanded state, and the buttocks air cushion 740 is in a deflated state. Here, the buttocks air cushion 740 can be expanded so that the height of its upper surface is one of three different height levels: a first height, a second height, and a third height. The first height, which is the highest of the three height levels, is the height when the care recipient CR enters or leaves the care device 710 (see FIG. 26). The second height, which is the middle of the three height levels, is the height when the backrest 721, the buttocks air cushion 740, and the footrest 727 are lowered in the fully flat bed state (see FIG. 27). The third height, which is the lowest of the three height levels, is the height when the buttocks CB of the care recipient CR are in a lowered position (see FIG. 28).

[0109] The air compressor supplies air to the torso air cushion 722, the lower leg air cushion 728, and the buttocks air cushion 740, and deflates air from the torso air cushion 722, the lower leg air cushion 728, and the buttocks air cushion 740. The air compressor may be incorporated into the care device 710 and configured to move together with the care device 710. The air compressor may also be provided separately from the care device 710, at a location where the care device 710 is installed.

[0110] Each air cushion has an inflatable structure similar to a known inflatable mat or inflatable board, etc. Each air cushion can be constructed with, for example, a drop stitch structure.

[0111] In the care device 710, the support unit 720 and the lower limb support unit 726 can each be changed between a horizontal position and a pivoted position. The position shown in FIG. 25, which will be described later, is the horizontal position. In the horizontal position, the position of the care recipient CR is supported horizontally. In the horizontal position, the backrest 721 and the footrest 727 are horizontal. The position shown in FIG. 19 is the pivoted position. In the pivoted position, the buttocks CB of the care recipient CR are supported in a position lower than the thighs and waist. In the pivoted position, the backrest 721 and the footrest 727 are each inclined.

[0112] Here, nursing care device 710 includes pivot links 725 and 729 for changing the position of support unit 720 and lower limb support unit 726 between a horizontal position and a pivoted position, respectively. Pivot link 725 includes a first support point 725a that supports the buttocks CB side of backrest 721, a second support point 725b that supports the head side, and a guide portion 725c that guides the up and down movement of support points 725a and 725b. Similarly, pivot link 729 includes a first support point 729a that supports the buttocks CB side of footrest 727, a second support point 729b that supports the toes side, and a guide portion 729c that guides the up and down movement of support points 729a and 729b. In each of the rotation links 725, 729, at least one of the first support points 725a, 729a and the second support points 725b, 729b can move up and down relative to the other. The first support points 725a, 729a of the backrest 721 and the footrest 727 are positioned lower than the second support points 725b, 729b, respectively, so that the backrest 721 and the footrest 727 rotate. The rotation may be performed by a caregiver, or the care device 710 may be provided with a drive unit for performing the rotation.

[0113] Further, here, the support unit 720 and the lower limb support unit 726 move up and down. The care device 710 is provided with a lifting link for lifting and lowering the support unit 720 and the lower limb support unit 726. Here, the pivot links 725, 729 also serve as the lifting and lowering links. The guide units 725c, 729c guide the up and down movement of both the first support points 725a, 729a and the second support points 725b, 729b. The lifting and lowering movement may be performed by a caregiver, or the care device 710 may be provided with a drive unit for performing the lifting and lowering movement. The lifting and lowering links may be provided separately from the pivot links 725, 729.

[0114] The care device 710 is provided with a wall portion that is positioned outside the torso air cushion 722 with respect to the care recipient CR and that comes into contact with the torso air cushion 722 in an expanded state. The inner surface of the wall portion comes into contact with the outer surface of the torso air cushion 722. As the torso air cushion 722 inflates, the gap between the torso air cushion 722 and the wall portion becomes smaller. The wall portion includes upright wall portions 738B on both sides of the care recipient CR, an upper ceiling wall, and a lower bottom wall. The bottom wall on which the backrest 721 rests forms.

[0115] The care device 710 is provided with a wall portion that is positioned outside the lower leg air cushion 728 with respect to the care recipient CR and that comes into contact with the lower leg air cushion 728 in an expanded state. The inner surface of the wall portion comes into contact with the outer surface of the lower leg air cushion 728. As the lower leg air cushion 728 inflates, the gap between the lower leg air cushion 728 and the wall portion becomes smaller. The wall portion includes upright wall portions 738B on both sides of the care recipient CR, an upper ceiling wall, and a lower bottom wall. The footrest 727 forms the bottom wall.

[0116] The ceiling wall may be, for example, lid 738A that can be opened and closed relative to casing 730. The lower surface of a portion of lid 738A on the head side along the longitudinal axis abuts against the upper surface of torso air cushion 722. The lower surface of a portion of lid 738A on the toe side along the longitudinal axis abuts against the upper surface of lower leg air cushion 728. Lid 738A may be of a sliding type, a hinge type, or a detachable type.

[0117] The care device 710 is provided with a pair of robot hands 751. For example, the pair of robot hands 751 are arranged on the left and right sides of the care recipient CR. The diaper putting on and taking off section 750 includes a pair of robot arms 752 to which the pair of robot hands 751 are connected. The robot arms 752 are supported at the ends of posts extending from the bottom wall. The robot arms 752 may be supported on the bottom wall, on the upright wall section 738B, or by being suspended from the ceiling.

[0118] The base end of the robot arm 752 may be provided in an outer space separated from the excrement processing space by a partition wall. The partition wall may have an opening through which the tip of the robot arm 752 and the robot hand 751 can advance into the excrement processing space when processing by the robot is required. A hinged door may be provided at the opening. The robot hand 751 may open and close the hinged door.

[0119] The diaper putting on / taking off section 750 includes an arm moving mechanism 752A that moves at least one of the pair of robot arms 752 along the longitudinal direction of the care recipient CR. For example, the arm moving mechanism 752A moves only along one axis. For example, the arm moving mechanism 752A can be configured using a known one-axis stage. Here, the arm moving mechanism 752A moves only one of the pair of robot arms 752. As shown in FIG. 19, the care recipient CR assumes a posture in which the longitudinal direction is aligned with the front-to-rear direction. As shown in FIG. 22, the arm moving mechanism 752A moves the robot arm 752 along the front-to-rear direction. The robot hand 751 not provided with the arm moving mechanism 752A is capable of moving the diaper D3 around the waist. The robot hand 751 equipped with the arm movement mechanism 752A can perform the same operations as the robot hand 751 not equipped with the arm movement mechanism 752A, as well as grasp the diaper D3 that is deployed forward of the buttocks CB and move it to the waist.

[0120] In this embodiment, the robot does not move the care recipient CR. The robot is not expected to actively come into contact with the care recipient CR. This allows the robot arm 752 to have a small carrying capacity, making the robot more compact. Furthermore, even if the robot comes into contact with the care recipient CR during excretion processing, the impact on the care recipient CR will not be large. For example, the object to be transported by the robot may be only a diaper D. In this case, a new diaper D3 typically weighs 100 g or less, and a used diaper D2 typically weighs 1 kg or less. For example, the carrying capacity of the robot arm 752 may be approximately 2 kg to 10 kg, even when the weight of the robot hand 751 is taken into account.

[0121] 21, the nursing care device 710 may include a control unit 90. The control unit 90 controls the robot. The control unit 90 may also control devices that need to be controlled in the nursing care device 710 (for example, a driving rotation device or an elevating device). The control unit 90 may be placed, for example, under the sink 732a.

[0122] 21, the care device 710 may include a deodorizing device 776. By providing the deodorizing device 776, it is possible to take measures against odors associated with diaper changing.

[0123] <Diaper changing procedure> 25 to 30 are diagrams showing how the pre-treatment process is performed in the care apparatus 710. Fig. 31 is a diagram showing how the care apparatus 710 is used to perform a diaper change process.

[0124] <Pretreatment process> First, a pre-processing step is carried out, which includes a step of welcoming the care recipient CR, a step of changing the position of the care recipient CR to a position suitable for diaper changing, and a step of shielding the excretion processing space.

[0125] FIG. 25 shows the state immediately after the care recipient CR has entered. The care device 710 enters the care recipient CR in the posture shown in FIG. 25. The care recipient CR assumes the entry / exit posture when entering or exiting. The entry / exit posture is different from the diaper changing posture. In the entry / exit posture, the care recipient CR is in a horizontal posture from the waist to the thighs. In the entry / exit posture, the buttocks CB are also supported. The care recipient CR is entered with the backrest 721 and footrest 727 in a horizontal position and the buttocks air cushion 740 deployed to the first height. The backrest 721, buttocks air cushion 740, and footrest 727 form a fully flat bed. The top surfaces of the backrest 721, buttocks air cushion 740, and footrest 727 are in an elevated position so as to be located above the shielding wall. The trunk air cushion 722 and the lower leg air cushion 728 are in a deflated state. The care recipient CR lying on the bed is transferred onto the full flat bed of the bed-type care apparatus 710 by the caregiver.

[0126] Next, the position of the care recipient CR is changed to a position suitable for diaper changing. The positions of the support portion 720, the lower leg support portion 726, and the buttocks air cushion 740 are changed to bring the care recipient CR into a diaper changing position.

[0127] First, as shown in Fig. 26, the torso air cushion 722 and the lower leg air cushion 728 are deployed to surround the torso and lower leg of the care recipient CR. Here, with the upper and lower body in a predetermined position, the torso air cushion 722 and the lower leg air cushion 728 are fitted by inflating them with air.

[0128] Next, the full flat bed descends as shown in Figure 27. Here, the backrest 721 and the footrest 727 descend. Also, the buttocks air cushion 740 contracts by one step to the second height.

[0129] Next, as shown in Figure 28, the backrest 721 and the footrest 727 are tilted. Also, the buttocks air cushion 740 is deflated one step to the third height. The support surfaces of the backrest 721 and the footrest 727 are rotated so that the buttocks CB side is lowered. The posture of the care recipient CR becomes V-shaped in side view. The buttocks CB protrudes downward beyond the thighs and waist. This puts the care recipient CR in a diaper changing position.

[0130] Next, as shown in FIG. 29 , the seat is moved away from the buttocks CB. Here, the air is released from the buttocks air cushion 740, causing the buttocks air cushion 740 to further deflate, enter a deflated state, and be stored under the sink 732a. As a result, there are no components in contact with the lower part of the buttocks CB. There were originally no components in contact with the buttocks CB on either side or in front of the buttocks CB. As a result, the entire periphery around the longitudinal axis at the position of the buttocks CB is opened. Even when the buttocks air cushion 740 moves away from the buttocks CB, the torso air cushion 722 prevents the torso of the care recipient CR from sliding down toward the buttocks CB. Furthermore, even when the buttocks air cushion 740 moves away from the buttocks CB, the lower limbs CL of the care recipient CR are prevented from sliding down toward the buttocks CB by the lower limb air cushions 728. A lid 743 that closes the upper opening of the buttocks air cushion 740 is provided on the sink 732a.

[0131] Next, the excretion disposal space is sealed off. This maintains the privacy of the care recipient CR. It also prevents water from leaking outside during washing. As shown in FIG. 30, the lid 738A is closed. At this time, a simple waterproof wall is formed around the waist by the lid 738A and the torso air cushion 722, as shown in FIG. 23. A simple waterproof wall is formed around the lower legs by the lid 738A and the lower leg air cushion 728, as shown in FIG. 24. In addition, standing wall portions 738B are provided on both sides as walls surrounding the excretion disposal space. Furthermore, standing wall portion 738C is provided below the footrest 727 to separate the space in the front-to-rear direction. Standing wall portion 738C may be a fixed wall or a movable wall. A wall portion similar to standing wall portion 738C may also be provided below the backrest 721.

[0132] <Diaper changing process> Once the pre-treatment step is complete, the diaper changing step is carried out.

[0133] First, as shown in Fig. 31, the diaper D1 is removed. Here, the robot hand 751 removes the diaper. The robot hand 751 may remove the tape of a tape-type diaper D1. The robot hand 751 may also tear off a part of the diaper D1.

[0134] The robot hand 751 places the removed diaper D2 into a used diaper inlet provided in the sink 732a. A trash can may be connected to the inlet. A packing device 775 may be connected between the inlet and the trash can. The packing device 775 may pack the used diaper D2 in a bag or a sheet, etc. This prevents odor from escaping from the used diaper D2. The packed used diapers are collected in the trash can.

[0135] Once the diaper D is removed, washing is performed next. With the diaper D removed, the washing unit 60 washes the area around the buttocks CB. Washing may be performed using tap water alone, or detergent may be used in combination. The washing unit 60 may or may not have a detergent discharge unit. The detergent may be a type that may leave some residue or a type that does not require rinsing. The washing unit 60 may or may not have a fine bubble generator for adding fine bubbles to the wash water. The washing unit 60 may or may not have a water pressure adjustment function. The washing unit 60 may or may not have a temperature adjustment function. The washing unit 60 may or may not have an automatic washing function after use.

[0136] After the cleaning is completed, the next step is drying. The drying section 66 dries the area around the buttocks CB of the care recipient CR. The drying section 66 dries the inside of the excretion processing space.

[0137] Once drying is complete, a new diaper D3 is put on the diaper. The new diaper D3 is attached to the cartridge 735 and provided in the excreta processing space. FIG. 32 is a plan view showing the diaper D3 and the cartridge 735. A robot hand 751 removes the new diaper D3 from the cartridge 735 and puts it on the care recipient CR. In this example, the diaper D3 has a three-point fastening structure. Specifically, the diaper D3 has a diaper body Da and two pairs of attachment pieces Db, Dc arranged separately on both ends of the diaper body Da. The two pairs of attachment pieces Db, Dc are provided with fastening parts Dd, De that fasten each of the two pairs of attachment pieces Db, Dc around the abdomen or waist of the care recipient CR. In addition, a fastening part Df is provided between the pair of attachment pieces Db. The fastening parts Df are for fastening the diaper body Da when it is wrapped from below the buttocks CB onto the buttocks CB. Each fastening part Dd, De, Df is formed of, for example, a hook-and-loop fastener or an adhesive tape, similar to the fastening parts of known tape-type diapers. The cartridge 735 is provided, for example, below the backrest 721. A standing wall with an opening may be provided below the backrest 721. The cartridge 735 may be positioned outside the excreta disposal space during cleaning, and may be provided into the excreta disposal space through the opening after cleaning. The pair of attachment pieces Dc may protrude from the cartridge 735 so that it can be easily grasped by the Robohand.

[0138] 33 to 36 are diagrams showing the robot hand 751 attaching the diaper D3.

[0139] As shown in FIG. 33, the robot hand 751 first grasps a pair of attachment pieces Dc of the new diaper D3 and moves to both sides of the care recipient CR. Next, as shown in FIG. 34, the pair of attachment pieces Dc are wrapped around the waist or abdomen of the care recipient CR and the fastening parts De are fastened. Next, as shown in FIG. 35, the diaper body Da located below the buttocks CB is wrapped over the buttocks CB and the fastening parts Df are fastened. Next, as shown in FIG. 36, the pair of attachment pieces Db are wrapped around the waist or abdomen of the care recipient CR and the fastening parts Dd are fastened. This completes the putting on of the new diaper D3.

[0140] <Post-processing process> After the diaper changing process is completed, a post-processing process is performed. The post-processing process includes the steps of opening the excretion processing space, changing the posture of the care recipient CR to a posture suitable for the care recipient CR's exit, and sending the care recipient CR out. The post-processing process is essentially the reverse of the pre-processing process shown in FIGS. 25 to 30. That is, after the diaper changing process is completed, the state shown in FIG. 30 is reached (except that the diaper D is in the new state). In this state, as shown in FIG. 29, the lid 738A is removed to open the excretion processing space. Next, as shown in FIG. 28, the buttocks air cushion 740 is deployed to the third height to support the buttocks CB. Next, as shown in FIG. 27, the backrest 721 and the footrest 727 are rotated, and the buttocks air cushion 740 is further deployed to the second height to create a fully flat bed. Next, as shown in Fig. 26, the backrest 721 and the footrest 727 are raised, and the buttocks air cushion 740 is further deployed to the first height so that the support surface is above the shielding wall. Next, as shown in Fig. 25, the torso air cushion 722 and the lower leg air cushion 728 are deflated. Finally, the caregiver transfers the care recipient CR from the care device 710 to the bed.

[0141] <Effects, etc.> According to the care device 710, the support unit 720 includes a backrest 721 that supports at least the back of the care recipient CR so that the care recipient CR is in a supine position. This allows the care recipient CR to perform excretion treatment while in a supine position.

[0142] Furthermore, the buttocks air cushion 740 supports the buttocks CB of the care recipient CR when deployed, and opens the area below the buttocks CB when contracted. This allows the buttocks CB of the care recipient CR to be supported before or after excretion processing by deploying the buttocks air cushion 740. Furthermore, by contracting the buttocks air cushion 740, the member supporting the buttocks CB is less likely to interfere with excretion processing.

[0143] Furthermore, each of the support portion 720 and the lower limb support portion 726 can be changed between a horizontal position and a rotating position, and in the rotating position, the buttocks CB of the care recipient CR are supported in a position lower than the thighs and waist. This makes it easier to access the buttocks CB of the care recipient CR when processing excretion. It also makes it easier to prevent areas other than the areas to be washed, including the buttocks CB, from getting wet when washing.

[0144] Furthermore, the support section 720 includes a torso air cushion 722 that can be expanded and contracted by air, and the torso air cushion 722 surrounds the torso of the care recipient CR when expanded. This allows the care recipient CR to feel as if they are being held during excretion processing, making it easier for them to feel secure.

[0145] Care device 710 is positioned outside torso air cushion 722 with respect to care recipient CR and has a wall portion that comes into contact with deployed torso air cushion 722. This allows a simple watertight state to be formed at the position of torso air cushion 722, making it easier to prevent water from leaking toward the head side of torso air cushion 722 during cleaning.

[0146] Furthermore, the lower leg support section 726 includes an air cushion 728 for lower legs that can be expanded and contracted by air, and when expanded, the air cushion 728 for lower legs surrounds each of the lower legs of the care recipient CR and supports the care recipient CR in an open-legged position. This keeps the care recipient CR's legs open, making it less likely that dirt will remain.

[0147] Care device 710 also includes walls 738A and 738B that are positioned outward of lower leg air cushion 728 with respect to care recipient CR and come into contact with deployed lower leg air cushion 728. This allows a simple watertight state to be formed at the position of lower leg air cushion 728, making it easier to prevent water from leaking toward the toes of lower leg air cushion 728 during cleaning.

[0148] The diaper putting on / taking off section 750 also includes a pair of robot arms 752 connected to a pair of robot hands 751, and an arm moving mechanism 752A that moves at least one of the pair of robot arms 752 along the longitudinal direction of the care recipient CR. This makes it possible to widen the range of motion of the robot hands 751 while avoiding the robot arms 752 from becoming too sophisticated.

[0149] Furthermore, the casing 730 covers the area including the buttocks CB of the care recipient CR while leaving the head of the care recipient CR exposed to the outside of the casing 730. This allows the size of the casing 730 to be made as compact as possible. Furthermore, because the head of the care recipient CR is exposed to the outside of the casing 730, the care recipient CR is less likely to feel closed in or cramped. The casing 730 may have side walls that protect the sides of the head. Even in this case, the area in front of the head's line of sight is open.

[0150] <Additional Notes> Figure 37 shows a modified example of the lower limb air cushion 728. As shown in Figure 37, one lower limb air cushion 728A may surround one lower limb CL from one side to the other side.

[0151] Similarly to the lower leg air cushion 728A shown in FIG. 37, the torso air cushion 722 may be configured so that one torso air cushion 722 surrounds the torso from one side to the other.

[0152] Fig. 38 is a diagram showing a modified example of sewage tank 770. Sewage tank 770 includes a tank portion 770a for storing sewage, an inlet 770b for receiving sewage, and a drain outlet 770c for draining the sewage. Furthermore, as in the example shown in Fig. 38, sewage tank 770 may include wheels 770e and a handle 770d provided on the opposite side of wheels 770e. A user may carry sewage tank 770 removed from nursing care apparatus 710 to a sewerage facility by rolling wheels 770e while holding handle 770d.

[0153] Furthermore, as shown in the example in FIG. 38, the sewage tank 770 may be formed with a recess 770f into which the upper edge of the toilet bowl T fits. As a result, when the sewage tank 770 is set on the toilet bowl T using the recess 770f, the sewage from the sewage tank 770 can be drained into the toilet bowl T. In the example shown in FIG. 38, two recesses 770f are formed. The upper edges of both sides of the toilet bowl T fit into the two recesses 770f. A drain outlet 770c of the sewage tank 770 is provided between the two recesses 770f. For example, the recess 770f and the drain outlet 770c may be arranged so that when the upper edge of the toilet bowl T fits into the recess 770f, the drain outlet 770c is positioned at the water outlet of the nozzle of the warm-water washing toilet seat. As a result, the drain outlet 770c can be cleaned with water from the nozzle of the warm-water washing toilet seat.

[0154] Figure 39 is a diagram showing a cartridge 835 according to a modified example. Figures 40 and 41 are diagrams showing an example of the operation of the cartridge 835.

[0155] The cartridge 835 according to the modified example includes a case body 835A, a lid 835B, and a winding device 835C. As shown in FIG. 39, a new diaper D3 can be placed in an unfolded state between the case body 835A and the lid 835B. Three winding devices 835C are provided. The three winding devices 835C include two winding devices 835C1 located on the left and right of the waist, and one winding device 835C2 located between the legs. As shown in FIG. 40, the winding device 835C1 can advance and retreat around its longitudinal axis. As shown in FIG. 41, the winding device 835C2 can advance and retreat around an axis extending in the left-right direction. The winding device 835C may have a tensioning function that allows it to conform to the body of the care recipient CR according to its build, for example.

[0156] 42 to 44 are diagrams showing an example of the operation of putting on the diaper D3 using the cartridge 835.

[0157] First, a new diaper D3 is set in the cartridge 835 outside the care device. The diaper is set in an unfolded state in the case main body 835A with the lid 835B removed. Thereafter, the lid 835B is attached to the case main body 835A, thereby setting the diaper D3 in the cartridge 835. Next, the cartridge 835 with the new diaper D3 set in it is inserted into the care device.

[0158] When the cartridge 835 reaches a predetermined position below the buttocks CB inside the care device, the lid 835B is first removed. After this, the two wrapping devices 835C1 are activated. After that, the wrapping device 835C2 is activated to fasten the diaper D3.

[0159] The cartridge 835 may be used to remove the diaper D1 worn by the care recipient CR. Removal of the diaper D1 using the cartridge 835 is performed, for example, as follows.

[0160] First, the cartridge 835 is positioned at a predetermined position below the buttocks CB. In this state, the fastening portion of the crotch portion of the diaper D1 is released by the winding device 835C2, and the fastening portion of the waist portion is released by the winding device 835C1. The diaper D1, whose fastening portions have been released, falls from the buttocks CB onto the lower lid 835B. At this time, the used diaper D2 is in an unfolded state on the lid 835B. The used diaper D2 may be folded by the winding device 835C.

[0161] The care apparatus may include a health management device that recognizes the condition of waste on the diaper D2 and manages the health of the care recipient CR. For example, the health management device may perform image recognition of the waste and recognize the condition of the waste from the color or shape of the waste. The image of the waste should be captured in a location that does not capture the genitals inside the casing 30. For example, when the diaper D1 is removed using the cartridge 835, an image of the waste from the diaper D2 that spreads on the lid 835B may be captured. Furthermore, for example, the health management device may use a chemical sensor to detect a predetermined component of the waste and recognize the condition of the waste. The predetermined component may be, for example, blood or a component other than blood. The health management device may be a combination of an image sensor and a chemical sensor. The health management device may be configured with a medical AI algorithm.

[0162] The care device 710 may include an emotion measurement unit that measures the emotion of the care recipient CR. The emotion of the care recipient CR is determined by analyzing index values ​​such as the care recipient CR's facial expression, vocalizations, or pulse rate changes. In this case, the state variable acquisition unit includes an emotion analysis unit that derives emotion data from the emotion index values. Index values ​​such as the care recipient CR's facial expression, vocalizations, or pulse rate changes are detected by an emotion index value detection sensor. The emotion index value detection sensor includes, for example, a camera that captures the care recipient CR's facial expression, a microphone that captures the care recipient CR's vocalizations, and a pulse sensor that measures the care recipient CR's pulse rate. The emotion analysis unit is configured using a known emotion analysis program or the like that uses the index values ​​detected by the emotion index value detection sensor. The emotion may be determined from one index value or multiple index values. When the emotion is determined from multiple index values, each of the multiple index values ​​may be equally weighted, or each of the multiple index values ​​may be weighted differently. The control unit 90 may control the robot based on the emotion of the care recipient CR obtained by the emotion measurement unit. For example, when the emotion of the care recipient CR is measured as a negative emotion, the control unit 90 may control the robot to stop or slow down the speed of the robot.

[0163] The care device 710 may receive the care recipient CR in a state where the backrest 721, the buttocks air cushion 740, and the footrest 727 form a chair. In this case, the care recipient CR who can walk may sit on the chair-type backrest 721, the buttocks air cushion 740, and the footrest 727.

[0164] The care device 710 may include a shooter. The shooter is a device that guides the used diaper D2 into the trash can 72.

[0165] The care device 710 may include a trash can moving device. The trash can moving device is a device that moves the trash can 72. The trash can moving device may be configured so that the trash can 72 moves over the sink 732a.

[0166] In the care device 710, the trash can 72 may be placed in a hole provided in the center or part of the liftable seat surface (buttocks air cushion 740).

[0167] Measures to prevent incontinence of the care recipient CR may be taken when changing the diaper. For example, a water-absorbent sheet may be placed in the sink 732a separately from the diaper D2. Also, for example, a foamy detergent or the like may be sprayed in the sink 732a before changing the diaper. Also, for example, a small amount of water may be filled in the sink 732a before changing the diaper.

[0168] The robot may include an air blowing device provided near the finger portion of the robot hand 751. With this, when the finger portion of the robot hand 751 is positioned near the fastening portion of the tape-type diaper D, the fastening portion can be lifted by blowing air from the air blowing device toward the fastening portion. This allows the finger portion of the robot hand 751 to pick up the lifted fastening portion, making it easier for the robot hand 751 to pick up the fastening portion.

[0169] <Embodiment 3> A care device according to a third embodiment will be described. Fig. 45 is a schematic perspective view showing a care device 910 according to the third embodiment. Fig. 46 is a schematic perspective view showing the care device 910 in a sitting position mode. Fig. 47 is a schematic perspective view showing the care device 910 in a lying position mode. Fig. 48 is a schematic perspective view showing a modified example of the care device 910. Fig. 49 is a plan view showing a standing wall portion 938B. Fig. 50 is a schematic side view showing the internal configuration of the care device 910. Fig. 51 is a schematic plan view showing a fitting unit 950B.

[0170] The support unit 920 of the care device 910 also includes a backrest 921, a seat surface 940, and a lower leg support unit 926. As shown in FIGS. 46 and 47 , the backrest 921, the seat surface 940, and the lower leg support unit 926 can be switched between a seated mode and a lying mode between a pair of upright wall portions 938A and 938B, similar to the care device 710 according to the second embodiment. As shown in FIG. 45 , in this embodiment, the backrest 921, the seat surface 940, and the lower leg support unit 926 can be in a casing mode. In the casing mode, part or all of the backrest 921, the seat surface 940, and the lower leg support unit 926 form part of the casing 930. For example, by switching to the casing mode when the care device 910 is not in use or is being transported, the care device 910 is less likely to get in the way. Here, in the casing mode, the backrest 921 and the seat surface 940 are positioned above the pair of standing wall portions 938A and serve as upper wall portions, and the lower leg support portion 926 is positioned in front of the pair of standing wall portions 938A and serves as side wall portions.

[0171] As shown in Fig. 48, the lower leg support section 926 may be provided with leg accommodating recesses 926D, 926E. The legs of the care recipient CR are accommodated in the leg accommodating recesses 926D, 926E. The leg accommodating recesses 926D, 926E are formed in a U-shaped cross section. The leg accommodating recesses 926D, 926E include a leg accommodating recess 926D for the right leg and a leg accommodating recess 926E for the left leg. The leg accommodating recess 926D for the right leg and the leg accommodating recess 926E for the left leg may be arranged so that they gradually separate from each other toward the toes.

[0172] 48, a neck support part 921A may be provided on the backrest 921. The neck support part 921A may be fixed or movable.

[0173] 48, the standing wall portion 938B includes a lower wall portion 938C and an upper wall portion 938D, and the upper wall portion 938D may be movable up and down. In the lying position mode, the upper surface of the standing wall portion 938B can be aligned with the upper surface of the seat surface 940 or the backrest 921. This makes it easy for the care recipient CR to move onto the seat surface 940 or the backrest 921 over the standing wall portion 938B.

[0174] As shown in Fig. 49, a pair of lower wall portions 938C may be provided. A nursing care device M may be placed between the pair of lower wall portions 938C. The device M may be a power source, a control unit, a motor, etc. The upper wall portion 938D may be located outside the pair of lower wall portions 938C. The upper wall portion 938D may have a main body plate portion located outside the lower wall portions 938C, and ribs protruding from each of the front and rear edges of the main body plate portion toward the lower wall portion 938C.

[0175] 50, the seat surface 940 can be stored under the lower leg support portion 926 or the backrest 921. The seat surface 940 can slide or rotate.

[0176] As shown in FIG. 50, in the lying mode, the care recipient CR is held in a posture close to a supine position. The leg rest holds the legs bent in an inverted V shape. Here, the leg rest includes a first support portion 926A, a second support portion 926B, and a hinge 926C. The first support portion 926A and the second support portion 926B are bendably connected via the hinge 926C. The first support portion 926A and the second support portion 926B bend in an inverted V shape to hold the legs bent in an inverted V shape. The area around the hinge 926C is located behind the knees. A triangular prism-shaped cushion member may be provided on the leg rest, and the cushion member may be applied to the back of the knees. The rest surface may be curved in an inverted V shape. Leg accommodating recesses 926D and 926E may be provided in the second support portion 926B.

[0177] The care device 910 includes a lid similar to the lid 738A described above. The lid may be a single plate. The lid may be multiple plates. The multiple plates may be separate. The multiple plates may be connected via a hinge 926C and may be foldable. The lid may be a roller blind or a bellows screen.

[0178] The diaper putting on and taking off section 950 of the care apparatus 910 includes a detachment unit 950A, a fitting unit 950B, and a moving mechanism 957. The detachment unit 950A, the fitting unit 950B, and the moving mechanism 957 are housed in a box body in the casing mode.

[0179] The detachment unit 950A includes a vacuum device 958 and a packing device 959. The vacuum device 958 removes the used diaper D from the care recipient CR by sucking in the used diaper D worn on the care recipient CR. The vacuum device 958 is not particularly limited, and a known vacuum device 958 can be used. The packing device 959 is connected to the vacuum device 958. The packing device 959 wraps the used diaper D sucked in by the vacuum device 958. The packing device 959 is not particularly limited, and a known packing unit 959B can be used.

[0180] For example, the vacuum device 958 includes a cup 958A and a vacuum pump (not shown). The cup 958A includes an upper opening and a lower opening. The vacuum pump is connected to the cup 958A so as to create a negative pressure in the upper opening. The lower opening of the cup 958A is connected to the packing device 959. The used diaper D is sucked into the cup 958A by applying a negative pressure to the edge of the upper opening against the diaper D. The used diaper D sucked into the cup 958A falls into the packing device 959 through the lower opening of the cup 958A due to its own weight.

[0181] For example, the packing device 959 includes a film 959A, a packing unit 959B, and a cutting unit 959C. The film 959A includes a rolled-up roll portion and a leading end portion sent from the roll portion to the packing unit 959B. The packing unit 959B uses the leading end portion of the film 959A to wrap the used diaper D. After wrapping is complete, the cutting unit 959C cuts the leading end portion of the film 959A to separate the portion of the film 959A used for wrapping from the roll portion.

[0182] The packing unit 959B holds the pair of films 959A in a state where the bottoms are bonded together and the tops are open. The packing unit 959B bonds the tops of the films 959A together after the used diaper D is placed inside the films 959A. For example, the films 959A may be self-adhesive. In this case, the packing unit 959B includes a pair of rollers that press the pair of films 959A together. With the used diaper D positioned between the pair of films 959A, the pair of films 959A and the used diaper D pass between the pair of rollers. Once the used diaper D has passed through, the pair of films 959A are bonded together by the pair of rollers. This completes the wrapping of the used diaper D. The cutting unit 959C cuts the film 959A that has been wrapped at the bottom of the pair of rollers.

[0183] The tape of the diaper D put on the care recipient CR may be removed by a caregiver or by the care device 910. When the care device 910 removes the tape of the diaper D1 put on the care recipient CR, the care device 910 may have a tape removing device. The tape removing device may be incorporated into the detachment unit 950A or may be provided separately from the detachment unit 950A. The tape removing device includes, for example, a long, rod-shaped bag body and an inflation / deflation unit that adjusts the air inside the bag body to expand and contract the bag body. The bag body is inserted between the tape of the diaper D put on the care recipient CR and the diaper body, and expands to remove the tape.

[0184] The fitting unit 950B includes a cartridge 935, a base 955, four robot hands 951, and three robot arms 952. A new diaper D3 is set in the cartridge 935. The cartridge 935 is detachable from the base 955. A cartridge 935 holding portion that detachably holds the cartridge 935 is provided on the upper part of the base 955.

[0185] The four robot hands 951 can grasp the diaper D in the cartridge 935 held by the base portion 955. The four robot hands 951 include robot hands 951A, 951B, 951C, and 951D. Here, the cartridge 935 has a recess 935A formed therein for grasping the diaper D3 set in the cartridge 935. Three robot arms 952 move three of the four robot hands 951. The three robot arms 952 include robot arms 952A, 952B, and 952C. The robot arm 952A moves the robot hand 951A. The robot arm 952B moves the robot hand 951B. The robot arm 952C moves the robot hand 951C. The robot hand 951D does not move and grasps the diaper D in the cartridge 935 until the predetermined operation is completed. While the robot hand 951 is gripping a part of the diaper D3, the three robot hands 951 grip other parts of the diaper D3 and move it. This makes it possible to prevent the diaper D from shifting from a predetermined position when the three robot hands 951 move the parts of the diaper D3.

[0186] The three robot arms 952 move the three robot hands 951 up and down between a lower position and an upper position. For example, the lower position is a position where the diaper D3 set in the cartridge 935 is grasped. For example, the upper position is a position located above the abdomen of the care recipient CR. The up and down movement may be, for example, an extension / contraction movement. For example, the lower position may be a contracted position, and the upper position may be an extended position.

[0187] The two robot arms 952 move the two robot hands 951 horizontally. The horizontal movement may be, for example, extension and contraction movement. For example, with the three robot hands 951 in the upper position, the two robot arms 952 move the two robot hands 951 horizontally toward the robot hands 951. Furthermore, the two robot arms 952 move the two robot hands 951 horizontally toward predetermined tape fastening positions.

[0188] The movement mechanism 957 moves the detachment unit 950A and the attachment unit 950B. Either the detachment unit 950A or the attachment unit 950B can move independently of the other. The movement mechanism 957 can move only one of the detachment unit 950A or the attachment unit 950B. For example, the movement mechanism 957 includes a horizontal movement mechanism 957A and two elevation movement mechanisms 957B. The horizontal movement mechanism 957A can move the detachment unit 950A between a position below the buttocks and a position further forward. For example, the horizontal movement mechanism 957A can move the attachment unit 950B between a position below the buttocks and a position further rearward. The horizontal movement mechanism 957A controls the movement of the detachment unit 950A and the attachment unit 950B so that they are not simultaneously positioned at the position below the buttocks. One of the two lifting and moving mechanisms 957B lifts and moves the removal unit 950A, and the other lifts and moves the mounting unit 950B. The two lifting and moving mechanisms 957B are moved horizontally together with the removal unit 950A and the mounting unit 950B by the horizontal moving mechanism 957A.

[0189] <Diaper change process> A diaper changing process using the care apparatus 910 will be described. Figures 52 to 60 are diagrams showing how the diaper changing process is performed using the care apparatus 910. After the pre-processing step is completed, the care recipient CR is in a position suitable for the diaper changing process.

[0190] <Diaper weaning process> As shown in FIG. 52, the horizontal movement mechanism 957A moves the detachable unit 950A to below the buttocks CB of the care recipient CR.

[0191] 53, the lifting / moving mechanism 957B raises the detachable unit 950A, and brings the cup 958A of the vacuum device 958 closer to the diaper D1 worn by the care recipient CR. At this time, the tape on the diaper D1 has been removed.

[0192] As shown in Fig. 54, the vacuum pump of the vacuum device 958 is driven to suck the diaper D1 of the care recipient CR. This causes the diaper D1 of the care recipient CR to come off. The removed used diaper D2 is sent to the packing device 959 by free fall.

[0193] As shown in FIG. 55, the packing device 959 is driven to pack the used diaper D2 in a film 959A. This prevents the caregiver from directly touching the used diaper D2, allowing for a more hygienic diaper changing process. The packed diaper D2 accumulates, for example, at the bottom of the detachable unit 950A. For example, the caregiver discards the packed diaper D2 at the appropriate time.

[0194] Furthermore, as shown in FIG. 55, when the diaper removal process is completed, the lifting movement mechanism 957B lowers the removal unit 950A, and the horizontal movement mechanism 957A retracts the removal unit 950A from the position below the buttocks.

[0195] Thereafter, the detachable unit 950A retreats from the position below the buttocks, and in a state where the space below the buttocks is vacant, the care recipient CR is washed and dried using the washing section 60, the drying section 66, and the like.

[0196] <Diaper supply processing> While the detachment unit 950A is removing the diaper D1 from the care recipient CR, a new diaper D3 may be set on the attachment unit 950B.

[0197] 52, the horizontal movement mechanism 957A moves the fitting unit 950B out of the casing (standing wall portion 938B). The cartridge 935 located at the top of the fitting unit 950B is removed. For example, a caregiver removes the cartridge 935 located at the top of the fitting unit 950B.

[0198] 53, a new diaper D3 is placed in the cartridge 935. For example, a caregiver places a new diaper D3 in the cartridge 935.

[0199] 54, the cartridge 935 containing the new diaper D3 is returned to the top of the fitting unit 950B. For example, a caregiver returns the cartridge 935 containing the new diaper D3 to the top of the fitting unit 950B.

[0200] The four hands 951 grip the diaper D3 at the recessed portion 935A of the cartridge 935.

[0201] As a result, the diaper D3 is set in the fitting unit 950B in a state where it can be attached. With the diaper D3 set in the fitting unit 950B, the diaper attachment process is performed.

[0202] <Diaper installation process> As shown in FIG. 56, the horizontal movement mechanism 957A moves the fitting unit 950B to below the buttocks CB of the care recipient CR.

[0203] As shown in FIG. 57, the lifting / moving mechanism 957B lifts the fitting unit 950B to bring the new diaper D3 closer to the buttocks CB of the care recipient CR.

[0204] As shown in Fig. 58, the arm 952A moves the hand 951A upward. The hand 951A passes between the legs of the care recipient CR and rises.

[0205] 58, the arms 952B and 952C move the hands 951B and 951C on both the left and right sides of the care recipient CR upward. The hands 951B and 951C and the arms 952B and 952C join the pair of attachment pieces Dc of the diaper D3.

[0206] 59, arms 952B and 952C move hands 951B and 951C toward hand 951A. Hands 951B and 951C grip attachment pieces Db of diaper D3 gripped by hand 951A. Once attachment pieces Db of diaper D3 are handed over to hands 951B and 951C, arm 952A moves hand 951A downward.

[0207] As shown in Figure 60, the arms 952B and 952C move the hands 951B and 951C toward the upper limbs to join the attachment pieces Db of the diaper D3. At this time, the diaper D3 is aligned with the groin area of ​​the care recipient CR. This puts the new diaper D3 in place on the care recipient CR. Once the diaper D3 has been attached, the arms 952B and 952C move the hands 951B and 951C downward.

[0208] The care device 910 may be the bed that the care recipient CR normally uses. The care device 910 may be built around (for example, underneath) the bed that the care recipient CR normally uses. This makes it unnecessary or easy to transfer from the bed to the care device 910.

[0209] The detachment unit 950A and the attachment unit 950B may be integrated together. The diaper attachment / detachment section may have a single attachment / detachment unit in which the detachment unit 950A and the attachment unit 950B are integrated together.

[0210] The configurations described in the above embodiment and modifications can be combined as appropriate as long as they are not mutually inconsistent.

[0211] The present specification and drawings disclose the following aspects.

[0212] The first aspect is a care device comprising a support part that supports the care recipient while leaving the entire area around the buttocks of the care recipient open, and a casing that includes a shielding wall that hides the excretion processing space formed around the buttocks of the care recipient supported by the support part.

[0213] With this care device, the area around the buttocks of the care recipient supported by the support part is made into an open excretion disposal space, so excretion can be carried out while the excretion disposal space is hidden by the screening wall, thereby reducing the psychological burden associated with excretion disposal.

[0214] In a second aspect, the nursing care device according to the first aspect includes a diaper attachment / detachment section in the excretion treatment space for at least one of removing and attaching a diaper to the care recipient, whereby at least one of removing and attaching the diaper can be performed using the diaper attachment / detachment section while the buttocks of the care recipient are hidden by the screening wall.

[0215] In a third aspect, in the care device according to the second aspect, the diaper putting on / taking off unit includes a robot hand that at least one of removing and putting on a diaper for the care recipient. This allows the robot hand to at least one of removing and putting on a diaper for the care recipient without the help of a caregiver. This reduces the physical and psychological burden associated with excretion management.

[0216] In a fourth aspect, in the care device according to the second or third aspect, the diaper removal unit includes an air nozzle that generates air to remove the diaper. This allows the diaper to be removed from the care recipient using air without the help of a caregiver. This reduces the physical and psychological burden associated with excretion management. It also makes it possible to remove the diaper while avoiding physical contact.

[0217] In a fifth aspect, in the care device according to the third or fourth aspect, the diaper donning / dosing unit includes a diaper recognition unit that recognizes the diaper, thereby enabling the diaper of the care recipient to be recognized when using the robot hand or the air nozzle.

[0218] A sixth aspect is the care device according to any one of the first to fifth aspects, further comprising a washing unit for washing the buttocks of the care recipient, the washing unit including a shower nozzle provided in the excretion disposal space. This allows the buttocks of the care recipient to be washed by the washing unit without the need for a caregiver. This reduces the physical and psychological burden of excretion disposal.

[0219] In a seventh aspect, in the nursing care device according to the sixth aspect, the cleaning unit includes a clean water tank connected to the shower nozzle, so that cleaning can be performed even if the nursing care device is installed in a location where it cannot be connected to a clean water facility.

[0220] In an eighth aspect, in the nursing care device according to the sixth or seventh aspect, the cleaning unit includes a heating unit that heats the clean water supplied to the shower nozzle, thereby enabling the cleaning process to be performed with warm water.

[0221] A ninth aspect is the care device according to any one of the first to eighth aspects, further comprising a waterproofing part that waterproofs a part of the care recipient that is located above the excretion disposal space, thereby preventing the upper part of the care recipient from getting wet when washing the buttocks of the care recipient.

[0222] In a tenth aspect, the nursing care device according to any one of the first to ninth aspects includes a movable seat on which the care recipient sits, and the seat moves to open up the area around the buttocks of the care recipient, allowing the care recipient to sit before removing and after putting on a diaper.

[0223] An eleventh aspect is the care device according to the tenth aspect, further comprising a transfer support unit that supports the care recipient in transferring from a bed to the seat, thereby making it easier for the care recipient to transfer onto the seat of the care device.

[0224] In a twelfth aspect, the nursing care device according to any one of the first to eleventh aspects further includes a sewage tank provided at the bottom of the casing for storing sewage used in washing the care recipient. This allows the nursing care device to perform washing even when it is installed in a location where it cannot be connected to a sewage facility.

[0225] In a thirteenth aspect, in the nursing care device according to the twelfth aspect, the sewage tank is installed detachably, so that the sewage tank can be removed and the sewage stored in the sewage tank can be drained into a sewerage facility.

[0226] A fourteenth aspect is the care device according to any one of the first to thirteenth aspects, further comprising a drying unit that dries the excretion treatment space, whereby after washing the care recipient, the care recipient and the inside of the care device can be dried by the drying unit.

[0227] In a fifteenth aspect, the nursing care device according to any one of the first to fourteenth aspects further includes a moving mechanism provided on a main body including the support part and the casing for moving the main body, thereby enabling the nursing care device to be easily moved.

[0228] In a sixteenth aspect, the nursing care device according to any one of the first to fifteenth aspects further includes a trash can for disposing of used diapers removed from the care recipient. This allows the used diapers to be temporarily stored in a predetermined location until the diaper change is complete.

[0229] A seventeenth aspect is the care device according to the sixteenth aspect, further comprising a used diaper moving unit that moves the used diaper to the trash can, thereby enabling the used diaper to be moved to the trash can without the help of a caregiver.

[0230] In an eighteenth aspect, the care device according to any one of the first to seventeenth aspects includes a diaper storage section for storing new diapers to be worn by the care recipient. This allows new diapers to be stored.

[0231] A nineteenth aspect is the care device according to any one of the first to eighteenth aspects, further comprising a lower limb support part for supporting the lower limbs of the care recipient supported by the support part, thereby making it possible to prevent the lower limbs of the care recipient from moving during excretion processing.

[0232] A twentieth aspect is the care device according to any one of the first to nineteenth aspects, further comprising a processing unit that automatically discards waste or sewage generated by the care recipient's excretion process, thereby preventing the caregiver from coming into contact with the waste or sewage.

[0233] A twenty-first aspect is the care device according to any one of the first to twentieth aspects, further comprising a hand rest on which the care recipient places their hands. This allows the care recipient to place their hands.

[0234] In a 22nd aspect, in the care device according to any one of the 1st to 21st aspects, the support unit includes a backrest that supports at least the back of the care recipient so that the care recipient is in a supine position, thereby allowing the care recipient to perform excretion treatment while in a supine position.

[0235] A 23rd aspect is the care device according to the 22nd aspect, including an air cushion for buttocks that can be expanded and contracted by air, and the air cushion for buttocks supports the buttocks of the care recipient in an expanded state and opens up the area below the buttocks in a contracted state. Thus, by contracting the air cushion, the member supporting the buttocks is less likely to interfere with excretion processing.

[0236] A 24th aspect is a care device according to the 22nd or 23rd aspect, further comprising a lower limb support section for supporting the lower limbs of the care recipient supported by the support section, and the support section and the lower limb support section are each changeable between a horizontal position and a rotated position, and in the rotated position, the buttocks of the care recipient are supported in a position lower than the thighs and waist. This makes it easier to access the buttocks of the care recipient during excretion treatment. Also, it is easier to prevent areas other than the buttocks, including the buttocks, from getting wet during washing.

[0237] In a 25th aspect, in the care device according to any one of the 22nd to 24th aspects, the support unit includes a torso air cushion that can be expanded and contracted by air, and the torso air cushion surrounds the torso of the care recipient in the expanded state. This allows the care recipient to feel as if they are being held during excretion, making them more likely to feel secure.

[0238] In a 26th aspect, the nursing care device according to the 25th aspect further includes a wall portion that is positioned outward of the torso air cushion with respect to the care recipient and that contacts the torso air cushion in an expanded state. This allows a simple watertight state to be formed at the position of the torso air cushion, making it easier to prevent water from leaking toward the head side of the torso air cushion during cleaning.

[0239] A 27th aspect is the care device according to any one of the 22nd to 26th aspects, further comprising a lower limb support section for supporting the lower limbs of the care recipient supported by the support section, the lower limb support section including air cushions for lower limbs that can be expanded and contracted by air, and the air cushions for lower limbs, when expanded, surround both lower limbs of the care recipient while supporting them in an open-legged position. This keeps the care recipient's legs open, making it less likely that dirt will remain.

[0240] In a 28th aspect, the care device according to the 27th aspect includes a wall portion positioned outward of the air cushions for lower legs with respect to the care recipient and in contact with the air cushions for lower legs in an expanded state. This allows a simple watertight state to be formed at the position of the air cushions for lower legs, making it easier to prevent water from leaking toward the toes of the air cushions for lower legs during cleaning.

[0241] In a 29th aspect, in the care device according to the third aspect, a pair of the robot hands is provided, and the diaper putting on and taking off unit includes a pair of robot arms connected to the pair of robot hands, and an arm moving mechanism that moves at least one of the pair of robot arms along the longitudinal direction of the care recipient. This makes it possible to expand the range of motion of the robot hands while avoiding the need for high functionality in the robot arms.

[0242] In a thirtieth aspect, in the care device according to any one of the first to twenty-ninth aspects, the casing covers the area including the buttocks of the care recipient while leaving the head of the care recipient exposed to the outside of the casing, thereby making it possible to make the size of the casing as compact as possible.

[0243] In a thirty-first aspect, in the care device according to the twenty-fourth aspect, in the turned posture, the knees of the care recipient are bent and supported in a posture in which the knees are higher than the thighs, thereby enabling the care recipient to maintain the turned posture with less strain.

[0244] A thirty-second aspect is the care device according to the twenty-fourth aspect, further comprising a neck support portion that supports the neck of the care recipient in the turned posture, thereby enabling the care recipient to maintain the turned posture with less strain.

[0245] In a thirty-third aspect, in the care device according to the second aspect, the diaper putting on and taking off section includes a detachment unit for removing a diaper from the care recipient, an attachment unit provided separately from the detachment unit for attaching a new diaper to the care recipient, and a moving mechanism for moving the detachment unit and the attachment unit. This makes it easy to provide appropriate mechanisms for removing and attaching a diaper.

[0246] The above description is illustrative in all respects and is not intended to limit the scope of the present invention. It is understood that numerous variations not illustrated can be envisaged without departing from the scope of the present invention. [Explanation of symbols]

[0247] 10, 710, 910 Care equipment 20, 720, 920 Support part 26, 726, 926 Lower limb support part 30, 730, 930 casing 31 Shielding wall 35 Diaper storage area 36 Hand rest 38 Waterproof part 40, 940 seat 44 Transfer Support Section 50, 750, 950 Diaper attachment / detachment section 51, 751, 951 Robot Hand 52, 752, 952 Robot Arm 54 Air nozzle 56 Diaper Recognition Unit 60 Cleaning section 61 shower nozzle 62 Water Tank 63 Heating section 66 Drying section 70 Sewage Tank 72 Trash Can 74 Processing section 80 Moving mechanism 721 Backrest 722 Chest Air Cushion 727 Footrest 728 Air cushion for lower limbs 740 Buttocks Air Cushion 752A Arm movement mechanism 921A Neck support 950A Detachable Unit 950B Mounting Unit 957 Moving mechanism BD Bed CR care recipient CB buttocks CH Hand CL lower limb D, D1, D2, D3 diapers S Sewer

Claims

1. a support unit that supports the care recipient; a diaper attachment / detachment section for at least one of removing and attaching a diaper to the care recipient in an excretion disposal space formed around the buttocks of the care recipient supported by the support section; Equipped with The support unit includes a restricting unit that restricts movement of the care recipient.

2. The care device according to claim 1, the support portion includes, as the restriction portion, an air cushion for the trunk that can be expanded and contracted by air, The torso air cushion surrounds the torso of the care recipient in an expanded state. Nursing care equipment.

3. The nursing care device according to claim 1 or 2, the support unit includes a lower limb support unit as the restriction unit, the lower limb support unit supporting the lower limbs of the care recipient; the lower leg support portion includes an air cushion for lower legs that can be expanded and contracted by air, The air cushion for lower legs, when deployed, surrounds both lower legs of the care recipient and supports the care recipient in an open-legged position.

4. The nursing care device according to claim 1 or 2, the restricting unit is capable of changing a state between a restricted state in which movement of the care recipient is restricted and a released state in which the restricted state is released, A care device in which the support section is capable of changing its position between a position in which the state of the regulating section is changed and a position in which the diaper attachment / detachment section, in the regulating state, at least one of removing and attaching a diaper to the person being cared for.

Images