Caregiving robots

Abstract

This compact diaper-changing robot offers superior ease of use for caregivers and excellent privacy protection for those receiving care. [Solution] The care robot has left and right side plates 2 and a mat 1 placed between them, and the mat 1 is composed of a number of unit mats 1a to 1e. The mat 1 can be changed between a fully flat position and a bent care position. In the fully flat position, the person being cared for M can be easily transferred between the mat and the bed, and the removal and putting on of pajama pants is also easy. In the care position (position for changing diapers 18), the entire lower body, waist, and abdomen of the person being cared for M are covered by the cover member 22. Therefore, the privacy of the person being cared for M can be reliably protected.

Description

Technical Field

[0001] The present invention relates to a nursing robot (nursing facility) that can automatically perform nursing care on a care recipient.

Background Art

[0002] Aging is progressing in many countries including Japan, and accordingly, the number of care recipients is increasing. Although there are levels of care needs, in nursing care work, the most difficult task for both the caregiver and the care recipient is changing the diaper when the care recipient is bedridden.

[0003] As a diaper for a bedridden person, an open type fixed with left and right tapes is generally used. The caregiver changes the posture of the care recipient to a supine position, a right-facing position, or a left-facing position, and then removes the old diaper, attaches a new diaper, and washes the genital area and the like in a series. [[ID=第十七条]] [[ID=第十八条]]

[0004] [[ID=第十九条]] [[ID=第二十条]]Changing the diaper of a bedridden person is a continuous delicate operation and thus relies on human hands. However, in changing the diaper, the care recipient exposes the genital area and entrusts the work to the caregiver, which is not only heavy labor for the caregiver but also causes the shame of the care recipient and the mental distress of the caregiver, and there is also a problem of feeling a psychological burden for both the care recipient and the caregiver. In Japan, most of the care for bedridden people is provided by family caregivers, but family caregiving has an aspect where a specific person is strongly sacrificed, so it is a problem that should be addressed especially in welfare policies. [[ID=第二十一条]] [[ID=第二十二条]]

[0005] [[ID=第二十三条]] [[ID=第二十四条]]Therefore, it can be said that there is a demand for a technology that can reduce the physical and psychological burdens of both the caregiver and the care recipient regarding diaper changing. In order to respond to such a demand, the applicant of the present application disclosed a robot system that enables diaper changing for a bedridden care recipient in Patent Documents 1 and 2. [[ID=第二十五条]] [[ID=第二十六条]]

[0006] [[ID=第二十七条]] On the other hand, a bed for nursing care has also been proposed in which the mattress is separated into a number of unit mattresses arranged in the direction of the person being cared for's height, and by lowering the unit mattress that supports the person's waist, a workspace is created below the person's waist, allowing diaper changes to be performed while the person is lying on their back (for example, Patent Document 3). [Prior art documents] [Patent Documents]

[0007] [Patent Document 1] Patent No. 7349038 [Patent Document 2] Patent No. 7526345 [Patent Document 3] Japanese Patent Publication No. 2022-84497 [Overview of the project] [Problems that the invention aims to solve]

[0008] While a device that allows for diaper changes without human intervention would be good news for many care recipients, several considerations need to be taken into account. For example, improving comfort after a diaper change would be beneficial. Specifically, if the soiled area can be thoroughly cleaned, providing the same level of comfort as if the genital area had been washed with a shower, it is believed that the care recipient's satisfaction level will improve.

[0009] Furthermore, even with automated diaper changing systems, caregiver support is not entirely unnecessary. While caregiver support is beneficial to the extent that it does not affect privacy, in this case, an environment is needed that ensures the ease of the caregiver's work while firmly protecting the privacy of the person being cared for.

[0010] Considering these circumstances, from the perspective of comfort and other factors, it can be said that it is more rational to transfer the patient from the bed to a dedicated device for diaper changes rather than automatically changing the diaper while the patient is lying in bed. In other words, it is rational to have a dedicated care robot with excellent cleaning capabilities as separate equipment from the bed. By having such a dedicated care robot, it can be said that, for example, in a nursing facility with many residents, one care robot can provide high-quality care to many people receiving care.

[0011] The present invention was made against this backdrop, and aims to provide a care robot that is independent of the bed and has superior functionality. [Means for solving the problem]

[0012] The present invention includes many components, the typical components of which are specified in each claim. Of these, the invention of claim 1 is an independent invention. A body support device that can change the position of the person being cared for between lying on their back and being cared for, An automated care device that automatically performs caregiving actions on a person in the aforementioned caregiving position, It has a cover member that can cover at least the waist area of ​​the person being cared for in the aforementioned caregiving position, The cover member is movable or detachable from a standby state in which it does not cover the person being cared for to a shielding state in which it covers the person being cared for. This is the structure.

[0013] The invention of claim 2 is an extension of claim 1, "The body support device has a group of movable mats arranged in the direction of the person being cared for, and the movement of the movable mats allows the person being cared for to change between lying on their back and being cared for." The cover member is controlled to transition between a standby state and a shielded state in conjunction with the movement of the mat group." This is the structure.

[0014] The invention according to claim 3 is a development example of the invention according to claim 1 or 2, "The cover member is set to cover the entire feet and the waist area of the care recipient in the shielding state." It has such a configuration.

[0015] The invention according to claim 4 is also a development example of the invention according to claim 1 or 2, "The automatic care device is a diaper automatic exchange device, The diaper automatic exchange device includes a used diaper collection device, a cleaning device for removing dirt from the soiled part of the care recipient, and a wearing device for wearing a new diaper on the care recipient, The posture of the care recipient being cared for includes a posture for removing the diaper worn by the care recipient and a posture for wearing a new diaper." It has such a configuration.

[0016] The diaper automatic exchange device further includes a control device for controlling the drive of the drive member, cameras and sensors for detecting the state of the care recipient and the diaper. Also, since an odor is generated, it is preferable to provide a deodorizing device as an accessory device.

[0017] In claim 4, a diaper automatic exchange device is adopted as the automatic care device, but as the automatic care device, a lower body cleaning device can also be adopted. In addition to these, a hair washing device (such as a warm water shower, a water receiving tray, a drainage tank, etc.) can also be provided.

[0018] The invention according to claim 5 is also a development example of the invention according to claim 1 or 2, "The body support device has a group of mats arranged side by side in the height direction of the care recipient and side plates arranged on both the left and right sides of the group of mats, The body support device further has a lifting device for lifting and lowering the group of mats or the side plates, The group of mats can be set to a height equal to or higher than that of the side plates." It has such a configuration.

[0019] In this case, the group of mats and the side plates include three modes: a mode in which only the group of mats can be height-adjusted, a mode in which only the side plates can be height-adjusted, and a mode in which both the group of mats and the side plates can be height-adjusted. The mode of height-adjusting the side plates includes both a mode in which a side plate with a single structure can be height-adjusted and a mode in which the side plate is a vertical telescopic structure composed of a fixed part and a movable part, and the height is adjusted by raising and lowering the movable part.

[0020] The invention according to claim 6 is a developed example of the invention according to claim 2, "The cover member is equipped on the body support device and is movable from a standby state located below the feet of the care recipient to a shielding state covering the entire lower limbs and waist of the care recipient." It has such a configuration.

[0021] The invention according to claim 7 is a developed example of the invention according to claim 6, "The cover member is in a telescopic or folding manner that rotates around the axis of the left and right longitudinal directions to shift from the standby state to the shielding state." It has such a configuration.

[0022] In this case, as the telescopic or folding method, a structure in which a plurality of shell members are stacked inside and outside, a telescopic bellows structure, or a structure in which a flexible membrane material is supported by a number of frame materials can be adopted.

[0023] The invention according to claim 8 is a developed example of the invention according to claim 1 or 2, "A pair of front and rear casters are attached to the left and right side plates in a state where they are accommodated within the thickness of the side plates." It has such a configuration.

[0024] The invention according to claim 9 is a developed example of the invention according to claim 8, "The caster is rotatable around the axis of the left and right longitudinal directions and is allowed to move in the direction of the rotation axis." It has such a configuration.

Advantages of the Invention

[0025] According to the present invention, when the person being cared for is lying on their back, the cover member can be left open, making it easy for the person being cared for to transfer to and from the bed, and for the caregiver to put on or take off the pajama bottoms. Furthermore, when care such as diaper changes is being performed automatically, at least the waist area is covered by the cover member, thus preventing the genital area from being seen and ensuring the privacy of the person being cared for.

[0026] While the cover component can be detachable, adopting a system where it is attached to a care robot has the advantage of eliminating the hassle of attachment and detachment. Furthermore, as in the invention of claim 2, linking the movement of the cover component to the movement of the mat group reduces the burden on the caregiver and also has the advantage of reducing the psychological burden on the care recipient by eliminating any hesitation they may have towards the caregiver.

[0027] As described in claim 3, covering the entire lower limb of the person being cared for with the cover member ensures that the person's toes are also covered, thus guaranteeing the protection of the person being cared for's privacy. In particular, it is understood that women tend to be more embarrassed to have their toes and soles of their feet seen, but claim 3 allows for the complete concealment of the toes, soles of the feet, and thighs, thus ensuring privacy and providing the person being cared for with a high level of reassurance.

[0028] One of the most burdensome aspects of caregiving for both caregivers and those receiving care is changing diapers. Therefore, providing an automatic diaper changing function, as described in claim 4, is beneficial for both caregivers and those receiving care. Because the automatic diaper changing is performed by a care robot separate from the bed, thorough cleaning can be performed using hot water, thereby improving the satisfaction of the person receiving care. Furthermore, since the person receiving care is transferred to the bed with a new diaper, they can use the bed with a more refreshed feeling compared to when diapers are changed in the bed itself. This change of pace can also contribute to improving the self-satisfaction of the person receiving care.

[0029] By adopting the configuration of claim 5, the upper edge of the side panel and the upper edge of the mattress group are aligned at the same height, making it easier to transfer the person being cared for between the bed and the mattress group. Furthermore, by setting the mattress group at a height higher than the side panel, it becomes easier to perform tasks such as putting on and taking off the person being cared for's pajamas.

[0030] By adopting the configuration of claim 6, the wide space below the mat is used as a waiting space for the cover member, allowing the cover member to be positioned without difficulty. Furthermore, since the cover member can be positioned so that it is not visible (or difficult to see) when not in use, it is possible to prevent the cover member from interfering with the caregiver's work or becoming unsightly.

[0031] As described in claim 7, configuring the cover member to be retractable or foldable allows the cover member to be compactly stored in a standby state, thus enabling efficient use of space. Since components such as automatic care devices need to be placed below the mat group, configuring the cover member to be retractable or foldable is also beneficial in securing space for other components.

[0032] The care robot of the present invention is positioned next to the bed to transfer the person being cared for, and therefore needs to be able to move freely on the floor. Consequently, it is preferable to provide casters. In this case, a swivel-type caster, in which rollers rotate horizontally around a vertical axis, can also be used. However, swivel-type casters have problems such as the caregiver's feet sometimes hitting them and the difficulty of positioning the care robot snugly against the bed.

[0033] In contrast, in the invention of claim 8 of this application, the casters are contained within the thickness of the side plate, so the caregiver's feet do not come into contact with the casters, allowing for safe and comfortable caregiving work, as well as a good appearance. Furthermore, with swivel casters, when trying to bring the care robot into close contact with the bed, the rollers rotate horizontally, causing the care robot to move in the forward and backward directions. However, by adopting a caster structure that also moves in the axial direction as in claim 9, the care robot can be moved directly sideways to bring it into close contact with and away from the bed, allowing for smooth transfer work. [Brief explanation of the drawing]

[0034] [Figure 1] The figure shows the first embodiment, where (A) is a perspective view of the mats in a fully flat state, (B) is a perspective view of the mats in a folded state, and (C) is a perspective view of the state in which the person to be cared for is being transferred between the mats and the bed. [Figure 2] The figure shows the first embodiment, where (A) is a perspective view of the caregiving posture and (B) is a perspective view showing the first stage of movement of the cover member. [Figure 3] In the figure illustrating the first embodiment, (A) is a perspective view showing the second stage of movement of the cover member, and (B) is a perspective view showing the cover member in its fully moved state. [Figure 4] The figure shows the first embodiment, where (A) is a schematic longitudinal side view with the cover member fully moved in a state where care is possible, and (B) and (C) are diagrams showing examples of caster structures. [Figure 5] The figure shows the first embodiment, where (A) is a schematic longitudinal side view showing the diaper collection process, (B) is an example of an upper holder for body support, and (C) is a diagram showing an example of the diaper collection process. [Figure 6] This figure shows the first embodiment and is a schematic longitudinal side view illustrating the genital cleansing process. [Figure 7] The figure shows the first embodiment, where (A) is a schematic longitudinal side view showing the diaper fitting process, and (B) is a diagram showing an example of a change in the shape of the diaper cassette. [Figure 8]The figure shows a second embodiment, where (A) is a longitudinal cross-sectional side view of the main part, (B) is a partial enlarged view of part B of (A), and (C) is a diagram showing a bellows structure as an alternative example. [Figure 9] This is a schematic longitudinal cross-sectional side view showing the third embodiment. [Figure 10] This is a schematic longitudinal cross-sectional side view showing the fourth embodiment. [Figure 11] This is a schematic longitudinal cross-sectional side view showing the fifth embodiment. [Modes for carrying out the invention]

[0035] Next, embodiments of the present invention will be described based on the drawings. In the following, the terms front / back, left / right, and up / down will be used to specify directions. The front / back direction is the direction of the height of the person being cared for when lying on their back, the left / right direction is the left / right direction relative to the person being cared for when lying on their back, and the up / down direction is the direction of gravity.

[0036] (1) Schematic of the structure of the first embodiment First, the first embodiment shown in Figures 1 to 7 will be described. As shown in Figure 1, the care robot (care equipment) of this embodiment is equipped with a body support device having a width and length that allows the person to be cared for to lie on their back. The body support device comprises a mat 1 on which the person to be cared for M can lie on their back, and side plates 2 arranged on both the left and right sides of the mat 1.

[0037] Mat 1 is broadly composed of a first unit mat 1a on which the head of the person being cared for rests, a second unit mat 1b on which the back of the person being cared for rests, a third unit mat 1c on which the buttocks (pelvis) of the person being cared for rests, a fourth unit mat 1d on which the thighs of the person being cared for rests, and a fifth unit mat 1e on which the lower legs of the person being cared for rests. The first unit mat 1a and the second unit mat 1b are integrally connected via a first hinge 3, and the two can change their relative posture from a flat position to a right-angle position with the first unit mat 1a facing downwards.

[0038] The third unit mat 1c is separated from the second unit mat 1b and the fourth unit mat 1d. The fourth unit mat 1d and the fifth unit mat 1e are connected via the second hinge portion 4, and their relative orientation can be changed from a flat position where they form the same plane to a right-angle position where the fifth unit mat 1e faces downwards. It is also possible to completely separate each unit mat 1a to 1e. Each unit mat 1a to 1e is constructed by attaching cushioning material to a rigid base and covering it with a surface material, and the hinge portions 3 and 4 are made of the surface material.

[0039] Although not shown in the diagram, the first unit mat 1a and the second unit mat 1b are connected to a fixed front support so as to be able to change their tilt angle, the third unit mat 1c is connected to a vertically movable intermediate support so as to be able to change its tilt angle, and the fourth unit mat 1d and the fifth unit mat 1e are connected to a front-to-back movable rear support so as to be able to change their tilt angle. The front and rear supports can also be configured to be vertically movable, and the intermediate support can be configured to be vertically movable and vertically movable. The first unit mat 1a and the second unit mat 1b, and the fourth unit mat 1d and the fifth unit mat 1e can also be configured as independent structures without being connected, and can be made to move independently, such as vertically.

[0040] The first unit mat 1a and the second unit mat 1b, and the fourth unit mat 1d and the fifth unit mat 1e, are formed with inclined surfaces 5 at their opposing ends, allowing them to be bent into a right-angle position.

[0041] As shown in Figure 1(B), the care robot can be folded into a rectangular box shape by holding the second to fourth unit mats 1b to 1d in a horizontal position at the same height as the side panel 2, while rotating the first unit mat 1a and the fifth unit mat 1e downwards and inserting them between the left and right side panels 2. Therefore, when not in use, space can be used effectively when storing it in the corner of the room.

[0042] By placing Mat 1 next to Bed B in a fully flat state at the same height as Side Panel 2, the person being cared for, M, can be easily transferred between Bed B and the care robot. Specifically, multiple people can assist the transfer by supporting M with their hands H and pushing or pulling, or by pulling the sheet M is lying on. Since care beds are usually height-adjustable, transfers can be easily performed.

[0043] In this embodiment, the front-to-back width of the side plate 2 is set to be considerably smaller than the total length of the mat 1 in a fully flat state. In a fully flat state, the first unit mat 1a protrudes in front of the side plate 2, and the fourth unit mat 1d protrudes behind the side plate 2. As a result, when the care robot is positioned next to the bed, a gap the same thickness as the side plate 2 is created between the first unit mat 1a and the fifth unit mat 1e. Therefore, it is preferable that the side plate 2 be as thin as possible. The care robot is preferably as compact as possible while ensuring sufficient size for supporting the person being cared for M and changing diapers. For example, the left-to-right width can be set to about 600-700 mm, and the total length to about 1800-2000 mm.

[0044] The side plate 2 has a structure in which an outer plate, front and rear plates, and a top plate are arranged on a frame made of metal or synthetic resin, and as a whole it takes the form of a shallow tray that opens inward. Mechanical components such as a lifting mechanism and links are arranged inside. The left and right side plates 2 are connected by a bottom plate 6 shown in Figure 1 and stays (not shown). The side plates 2 can also be made of a shell made of synthetic resin (for example, a blow-molded product). In this embodiment the side plates 2 are fixed, but it is also possible to attach the side plates 2 to a support column rising from the bottom plate 6 so as to be height adjustable, or to configure the side plates 2 as an extendable structure in which a movable upper member and a fixed lower member are fitted together.

[0045] If the side panel 2 is height-adjustable, either a method in which the mat 1 moves up and down together with the side panel 2, or a method in which the side panel 2 moves up and down independently of the mat 1, can be adopted.

[0046] As shown by the dashed line in Figure 1(A), the front panel 7 and rear panel 8 of the side panel 2 can also be configured to rotate so that they can be flipped up and rotated to the height of the side panel 2. In this case, there is no gap between the mattress 1 and the bed B, which further facilitates the transfer of the person being cared for M. The front panel 7 and rear panel 8 are supported by a support rod-shaped link 9 in a horizontally raised position.

[0047] Casters 10 are built into both the front and rear sides of the side plate 2. That is, the front and rear casters 10 are positioned within the thickness of the side plate 2. The casters 10 are so-called omniwheels, and as shown in Figure 4(B) as an example of the principle, they have a structure in which a number of rings 12 are rotatably attached to a rotating plate 11. Therefore, the entire structure can rotate around the axis 13 and move in the direction of the axis 13.

[0048] In the example shown in Figure 4(C), the caster 10 has a structure in which a number of balls 14 are rotatably held on a rotating plate 11 via a retainer 15. In any case, by using an omni-wheel as the caster 10, the care robot can move left and right to move closer to and further away from bed B. Therefore, the transfer of the person being cared for M and subsequent tasks can be performed quickly (there is no need to change direction by moving forward and backward, as is done with swivel casters).

[0049] (2) Mat movement and preparation process In this embodiment, diaper changes can be performed automatically. Prior to diaper changes, as a preparatory step, the caregiver removes the pajama pants 17 of the person being cared for (M) while M is in a fully reclined position. Therefore, with M lying on the mat 1 in a fully reclined position, the diaper 18 is exposed. The pajama top (shirt) 19 is also pulled up so as not to interfere with the diaper change. The diaper 18 is an open type secured with fastening tape, but as a preliminary step, the caregiver can release the fastening tape so that the diaper 18 can be easily removed.

[0050] As shown in Figure 2(A), diaper changes are performed with the care recipient M in a position where their knees are slightly bent, their hips are slightly lowered, and their upper body is tilted backward. Therefore, from a fully flat position, as shown in Figures 2(A) and 4(A), the fourth unit mat 1d and the fifth unit mat 1e bend into a mountain shape, the third unit mat 1c descends and assumes a backward-tilting position, and the first unit mat 1a and the second unit mat 1b are tilted backward in a position where they are almost a single board with the third unit mat 1c.

[0051] During the automatic change of diaper 18, there is a risk of danger if the person being cared for, M, moves. Therefore, for safety reasons, as shown in Figure 2(A), the chest and lower legs of the person being cared for are held by air bladder holders 20a and 20b. The upper and lower holders 20a and 20b are separated into left and right parts, and the left and right parts extend towards the middle of the body while rising upward as air is injected. Once the air is fully injected, the chest and lower legs of the person being cared for are held without being compressed.

[0052] The person being cared for, M, has their legs spread apart (hips open), and their lower legs are held by the lower holder 20b. Therefore, the lower holder 20b has downward-facing recesses on both sides that cover the lower legs. In other words, it has a shape that has three peaks in terms of posterior visual acuity.

[0053] The upper holder 20a can partially cover the abdomen of the person being cared for, M. The person being cared for, M can bend both arms H and place them on the upper holder 20a, but since the upper holder 20a is shaped by air, even if both arms H are placed on the upper holder 20a, the chest and abdomen of the person being cared for will not be compressed. The holding process using holders 20a and 20b is performed by the caregiver with the mat 1 fully flat.

[0054] It is preferable that the caregiver operates the switches to inflate and extend (air blowing operation) holders 20a and 20b while checking the condition of the person being cared for M. Furthermore, when holders 20a and 20b are attached to a care robot, they need to be placed between the second unit mat 1b and the side plate 2 (or in the space of the side plate 2) in standby mode. However, as a measure to simplify the structure by eliminating the need for storage space and a drive mechanism, as shown in Figure 5(B), the upper holder 20a can be prepared as a separate inverted U-shaped structure and attached to the care robot. The same applies to the lower holder 20b.

[0055] In this case, holders 20a and 20b have locking plates 21 that are inserted between the second unit mat 1b and the side plate 2, and the locking plates 21 engage with a latch body provided on the side plate 2 to hold them in place so they cannot be removed. The lock is released by operating a lever or button provided on the side plate 2. For the upper holder 20a, if it is to be added later, a configuration that allows it to be bent from the unfolded position to the position of use can also be adopted. In this case, when not in use, it can be stored in a recess in the outward-facing opening provided on the side plate 2, making it easier to handle. It is also possible to store it in a flat state in the recess of the side plate 2 with the air removed, and then inflate and maintain its shape by injecting air after taking it out.

[0056] (3) Cover member When the person being cared for, M, assumes a caregiving posture, the lower legs, waist, and abdomen of the person being cared for are covered by the cover member 22, as shown in Figures 2(B) to 4. The cover member 22 has a structure in which a flexible membrane material 24 is stretched over first to fifth gate-shaped frame members 23a to 23e. By sequentially unfolding each gate-shaped frame member 23a to 23e from an overlapping folded state, the entire lower body, waist, and abdomen of the person being cared for are covered. The membrane material 24 has an outer circumference and side portions.

[0057] The membrane material 24 can be made of an opaque fabric, but a thick and aesthetically pleasing material is preferred. The membrane material 24 can be fixed to each of the gate-shaped frame members 23a to 23e, or to only the gate-shaped frame members 23a to 23e at both ends. Since the base of each gate-shaped frame member 23a to 23e is located between the side plate 2 and the mat 1, it is preferable that each gate-shaped frame member 23a to 23e has as thin a structure as possible.

[0058] In Figure 4, each portal frame member 23a to 23e is depicted as rotating around a common pivot point, but it is also possible to shift the pivot point of each portal frame member 23a to 23e in the front-to-back direction and / or the up-and-down direction. In any case, each portal frame member 23a to 23e springs up from below the fifth unit mat 1e, so care has been taken to ensure that it rotates without interfering with the fifth unit mat 1e.

[0059] The cover member 22 conceals the toes of the person being cared for, M. Therefore, the toes and soles of the person being cared for, M, are not visible to others during the diaper changing process. As a result, even women can receive the automatic diaper changing service without feeling embarrassed. The free end of the cover member 22 has a notch 25 that loosely fits or tightly fits into the upper holder 20a. Therefore, the cover member 22 does not come into contact with the person being cared for, ensuring safety.

[0060] Since the free end of the cover member 22 fits into the lower part of the upper holder 20a, the person being cared for M is not prevented from bending their hand H and placing it on the upper holder 20a. Furthermore, since both of the person being cared for M's hands H are located outside the cover member 22, the person being cared for M's hands H will not come into contact with the replacement parts when changing the diaper 18, ensuring safety. It is also possible for the person being cared for M's hands H to be placed on the side plate 2.

[0061] The cover member 22 can be moved manually by the caregiver, or it can be powered by the caregiver pressing a button. When operating the cover member 22 manually, it is preferable to do so by rotating the handle. In this case, it is preferable to store the handle in a recess provided on the outer surface of the side plate 2. It is necessary to take care to ensure that the cover member 22 does not come into contact with the care recipient M's hand H, and to confirm that the cover member 22 is properly fitted into the upper holder 20a. Therefore, it may be preferable for the caregiver to manually or powerfully cover the care recipient M while checking on them.

[0062] (4) Used diaper collection equipment and collection process The automated diaper changing process (operation) can be broadly divided into three steps: collecting the old diaper 18 that is being worn, cleaning the soiled area, and putting on a new diaper 18. After putting the new diaper 18 on the person being cared for M, the cover member 22 is returned to the standby position, the mat 1 is changed to a fully flat position, the caregiver makes any necessary adjustments to the diaper 18, and then the person being cared for M is transferred to the bed B.

[0063] Figure 5(A) shows the process of collecting the old diaper 18 that is being worn. The care robot has a diaper collection pod 26 as a device for collecting the old diaper 18. The diaper collection pod 26 can move back and forth via a suspension rail device 27 from a position below the pelvis of the person being cared for M to a position behind the care robot.

[0064] As a prerequisite mechanism for changing the diaper 18, for example, the third unit mat 1c is separated into left and right parts and rotated downwards, thereby leaving the area below the pelvis of the person being cared for M as a workspace. In this state, the person being cared for M is held by the upper holder 20a at the chest and by the lower holder 20b at the lower legs, so even without support from the third unit mat 1c, the upper body of the person being cared for M will not slide down.

[0065] The diaper collection pod 26 is equipped with a diaper puller, such as a vacuum suction type, as an accessory. When the diaper 18 is pulled downwards with the diaper puller, the diaper 18 falls into the diaper collection pod 26. As previously mentioned, if the caregiver releases the fixing tape, the diaper 18 can be easily dropped by pulling with the diaper puller alone.

[0066] Inside the diaper collection pod 26, a non-breathable collection bag 28 is set with its opening facing upwards. When an old diaper 18 is placed in the collection bag 28, a sealing bar (not shown) is activated to seal (heat-seal) the opening of the collection bag 28. It is also possible to use a deodorizing bag as the collection bag 28 and tie the opening of the deodorizing bag with a rubber band. It is also possible to use a deodorizing bag with a tie string.

[0067] Once the diaper 18 is collected in the collection bag 28, the diaper collection pod 26 is pulled out behind the care robot, as shown in Figure 6, and the collection bag 28 is removed. After the collection bag 28 is removed, the diaper collection pod 26 returns to the standby position shown by the dashed line in Figure 6. If the first unit mat 1a is tilted downward between the left and right side plates 2, the standby position of the diaper collection pod 26 shifts inward from the dashed line.

[0068] For used diapers 18 to be collected properly, their shape and position must be accurately recognized. This recognition of the diaper's shape and position can be performed using a CCD camera placed inside the care robot. Specifically, the robot recognizes the image of the diaper 18 using the captured data, and then activates the diaper puller based on the position of that image. It would be even more beneficial to display a detection area on the diaper 18 that is captured by the camera.

[0069] It goes without saying that the posture of each unit mat 1a to 1e is monitored using microswitches and camera imaging, and this data is sent to the control device to perform the automatic replacement of the diaper 18. The same applies to other processes. Although the replacement of the diaper 18 is performed automatically, it is preferable for a caregiver to be on standby nearby so that the process can be stopped immediately if any abnormality is observed in the person being cared for M. Therefore, it is preferable to provide an emergency stop button on the care robot.

[0070] When collecting used diapers 18, as shown in Figure 5(C), it is also possible to fold the abdominal overlapping element (front panel) 18b downwards in half and cover the folded abdominal overlapping element 18b with the waist overlapping element (back panel) 18a, which is folded upwards in half. In this case, the diaper 18 can be compactly folded and collected. Folding the abdominal overlapping element 18b or waist overlapping element 18a in half can be done using the diaper attachment device 33, which will be described later. Therefore, the diaper collection device and the diaper attachment device 33 are interchangeable.

[0071] (5) Cleaning equipment and cleaning process Once the used diaper 18 is collected, the groin area of ​​the person being cared for (M) is washed. Therefore, the care robot is equipped with a washing water storage tank and a wastewater tank (neither shown), a shower head 30, a wastewater receiving tray 31, a pump (not shown), and a drying dryer (not shown). The washing water storage tank is equipped with a heater.

[0072] The shower head 30 and the wastewater collection tray 31 are movable and form a single unit, and are designed to move from a standby position on the base plate 6 to a position for use. Naturally, the shower head 30 is connected to the washing water storage tank by a hose, and the wastewater collection tray 31 is also connected to the wastewater tank by a hose. After washing the person being cared for M, it is also possible to wash the wastewater collection tray 31 with the shower head 30.

[0073] In order to wash the genitals and buttocks of the person being cared for, there needs to be space in front of the pelvis of the person being cared for. For this reason, the fourth unit mat 1d is divided into left and right parts, similar to the third unit mat 1c, and the left and right parts are designed to rotate, for example, downward. Since the entire area below the pelvis does not need to be open during the washing process, it is also possible to support the left and right sides of the buttocks with a lifting support (e.g., an air bladder support) which is not shown.

[0074] To address situations where waste adheres to the skin of the person being cared for (M), a wet wipe can be provided. Alternatively, a dry tissue patting tool can be provided to speed up drying. Furthermore, it is preferable to set the receiving area of ​​the wastewater receiving tray 31 as large as possible so that it can also function as a waste collection tray in case the person being cared for (M) becomes incontinent during washing.

[0075] It is anticipated that soiled material attached to the diaper 18 may fall onto the bottom plate 6, or that soiled material may fall onto the bottom plate 6 due to incontinence. Therefore, it is preferable to make the bottom plate 6 a shallow tray-like shape and to configure it in a movable manner that allows it to be pulled out forward or backward, as this facilitates cleaning.

[0076] (6) New diaper fitting device and fitting process As shown in Figure 7(A), the new diaper 18 is folded so that the lumbar overlapping element 18a and the abdominal overlapping element 18b overlap, and is held in a template (shape-retaining paper) 32 to form a cassette which is then attached to the diaper attachment device 33. The diaper attachment device 33 can move freely back and forth and up and down, and the diaper cassette 34 can be set by pulling it forward of the care robot via the rail device 33a. Although not shown in detail, in the diaper cassette 34, the fixing tapes provided on the left and right lumbar flaps of the lumbar overlapping element (back body) 18a are exposed on the outside of the template 32. Also, as shown in Figure (B), the free ends of the ventral overlapping element (front body) 18b are also exposed on both the left and right sides from the template 32.

[0077] The diaper dispensing device 33 includes a base plate 35 on which a diaper cassette 34 rests, and a hand arm 36 positioned above the diaper cassette 34. The hand arm 36 has an inverted L-shape, rising upward from the rear end of the base plate 35 and then extending forward. It is connected to the base plate 35 by a pivot shaft 36a so as to rotate up and down with the lower end of the rear end as the pivot point.

[0078] The forward-facing portion 36b of the hand arm 36 has left and right first collets 37 for adsorbing the template 32 of the diaper cassette 34 from above, left and right second collets 38 for adsorbing or grasping the fixing tape of the diaper 18, and left and right third collets 39 for adsorbing or grasping the free other end of the abdominal overlapping element 18b of the diaper 18. The diaper attachment device 33 moves between the standby position and the working position by a moving device such as a stacker crane or an arm. The hand arm 36 is driven by a motor (not shown), and each collet 37-39 is driven by an actuator such as a motor (two movements are performed: extension and adsorption).

[0079] Then, from the standby position, the hand arm 36 is opened and rotated to move the diaper cassette 34 toward the person being cared for, with the cassette spread out in a bent position. First, the lumbar overlapping element (back panel) 18a is placed over the buttocks of the person being cared for, then the hand arm 36 is tilted forward to lightly overlap the abdominal overlapping element (front panel) 18b of the diaper 18 onto the abdomen of the person being cared for, and the crotch overlapping element of the diaper 18 is placed over the crotch of the person being cared for, then the free end of the crotch overlapping element of the diaper 18 is held by the third collet 39, then the first collet 37 is retracted to lift the abdominal pattern 32, and then the left and right fixing tapes are pressed and secured to the free end of the abdominal overlapping element 18b by the third collet 39.

[0080] Then, the second collet 38 and the third collet 39 are retracted, and the hand arm 36 is opened and rotated to separate the abdominal template 32 from the diaper 18, and the diaper attachment device 33 is returned to its standby position to separate the lumbar template 32 from the person being cared for M.

[0081] Now, in the open-type diaper 18, the crotch overlapping element is narrow, while the waist overlapping element 18a and abdominal overlapping element 18b are wide (see, for example, Patent Document 2). The abdominal overlapping element 18b needs to be overlapped from between the legs of the person being cared for M toward the abdomen. However, the abdominal overlapping element 18b is wider than the crotch overlapping element, and there is a limit to how far the person being cared for M can spread their legs, so the abdominal overlapping element 18b tends to come into contact with the thighs of the person being cared for M. Therefore, in the automated diaper changing process, the step of overlapping the abdominal overlapping element 18b onto the abdomen of the person being cared for M is one of the hurdles.

[0082] In this regard, as shown in Figure 7(B), by unfolding the diaper 18, which is cassette-type and folded in half, into a bent position, and folding the pattern 32 in half into a U shape so that the abdominal overlapping element 18b overlaps with the center line, the abdominal overlapping element 18b is temporarily narrowed, and in that state the abdominal overlapping element 18b is passed between the legs of the person being cared for M, and then the abdominal overlapping element 18b is spread out and placed on the abdomen of the person being cared for M, the abdominal overlapping element 18b can be placed on the abdomen of the person being cared for M in a natural manner without the person being cared for M having to spread their legs excessively. Therefore, the automatic changing of the diaper 18 can be greatly facilitated.

[0083] When overlapping the abdominal overlapping element 18b of the diaper 18 onto the abdomen of the person being cared for M, it is preferable to pull the abdominal overlapping element 18b upward by moving the third collet 39 forward, thereby bringing the crotch overlapping element of the diaper 18 into close contact with the groin area of ​​the person being cared for M.

[0084] As previously described, used diapers 18 can be folded using the diaper attachment device 33. Specifically, the process involves first peeling the abdominal overlapping element 18b forward and folding it in half, then lowering the entire diaper 18, folding the waist overlapping element 18a in half while sandwiching the abdominal overlapping element 18b, and then releasing the restraint of the diaper 18 by the diaper attachment device 33 and dropping it into the diaper collection pod 26. In this case, a diaper puller is not necessarily required.

[0085] After changing the diaper 18, the cover member 22 is returned to the standby position, the mat 1 is returned to the fully flat position, and the holders 20a and 20b release the hold. Then, the caregiver inspects the diaper 18 and makes adjustments if necessary. Next, the caregiver puts on the pajama pants 17 and adjusts the shirt 19, and finally, the care robot is positioned next to bed B to transfer the person being cared for M.

[0086] (7) Summary of the first embodiment The first embodiment has the above configuration and operation, and can be switched between an open state in which the person being cared for M can lie on their back on the fully flat mattress 1 and a working state in which the person being cared for M is covered by the cover member 22. This ensures that ancillary tasks such as transferring between the bed B and the bed, and putting on and taking off pajamas, are easy, while diaper changes 18 can be performed with full privacy protection. Thus, it is possible to improve the ease of work for the caregiver and the satisfaction of the person being cared for M.

[0087] In particular, as in the embodiment, when the cover member 22 completely covers the toes of the person being cared for M, the person being cared for M can receive the automatic diaper changing service 18 without feeling embarrassed. Therefore, it can be said that women in particular can enjoy a high level of satisfaction.

[0088] The care robot of this embodiment can be used in a home setting, or it can be placed in a care facility and shared by a large number of care recipients M. In either case, the width can be set to the minimum necessary, making it easy to use even in narrow spaces. Furthermore, because the width is small and the mat 1 is foldable, the space required when not in use is minimized. Therefore, it is also suitable for home use.

[0089] As in the embodiment, incorporating the foldable cover member 22 into the care robot is preferable because it eliminates the problem of where to store it when not in use. In particular, forming the gate-type frame members 23a to 23e into a plate shape allows their base to be placed in a narrow space, thus minimizing the distance between the mat 1 and the side plate 2 and contributing to compactness. In particular, being able to fold the first unit mat 1a and the fifth unit mat 1e downwards is preferable as it further promotes compactness when not in use. Furthermore, since the care robot can be used by caregivers as a substitute for a chair (stool), its usefulness can be enhanced.

[0090] As in the embodiment, adopting a configuration in which the diaper collection pod 26 and the diaper attachment device 33 can be pulled out to the outside of the internal space enclosed by the side plates 2 is preferable because it makes it easy to attach and detach the collection bag 28 and to set the diaper cassette 34.

[0091] (8) Second Embodiment Figure 8 shows a second embodiment, which is another example of the cover member 22. In this embodiment, the cover member 22 is composed of first to fifth shell members 41a to 41e, and adjacent shell members 41a to 41e are set to overlap.

[0092] In other words, in this second embodiment, each shell member 41a to 41e has a fan-shaped left and right side plate in a side view and an outer peripheral plate connecting them, and the distance from the pivot point to the outer peripheral plate increases in stages from the first shell member 41a located in the innermost part to the fifth shell member 41e located in the outermost part. Therefore, in the standby state, each shell member 41a to 41e is in a state where they overlap in the space behind the left and right side plates 2.

[0093] Furthermore, since each shell member 41a to 41e transitions to the shielded position by passing outside the fifth unit mat 1e, the radius of curvature of the outer plate of the first shell member 41a is greater than the distance to the free end of the fifth unit mat 1e. Also, as shown in (B), when adjacent shell members 41a to 41e are deployed, the relative position of adjacent shell members 41a to 41e is restricted by the contact between an outward projection 42 provided at one end in the circumferential direction and an inward projection 43 provided at the other end in the circumferential direction. Conversely, by providing an outward projection 44 for closing rotation at the other end of each shell member 41a to 41e, the relative position in the closed state is restricted.

[0094] The rotation of the shell members 41a to 41e can be performed automatically by a motor or manually by a handle. In either case, when the fifth shell member 41e is rotated in the opening direction, the outward projection 42 is pushed by the inward projection 43, causing the fourth shell member 41d to the first shell member 41a to be pulled out in order. When the fifth shell member 41e is driven in the closing direction, the fourth shell member 41d to the first shell member 41a are pushed in order and move into the closed position.

[0095] Instead of separating the cover member 22 into multiple shell members 41a to 41e, it is also possible to configure the entire cover member 22 as a bellows structure, as shown in Figure 8(C). In this case, the cover member 22 can be compactly stored in the internal space of the care robot. In this case, it is necessary to provide a movable gantry frame material at the free end of the cover member 22. It is also preferable to provide an appropriate number of wire gantry-type shape-retaining frames in the middle section.

[0096] (9) Third to fifth embodiments Figure 9 shows a third embodiment, which is another example of the cover member 22. In this third embodiment, the body-holding holders 20a and 20b are integrated into the cover member 22. That is, the cover member 22 is made of an air bladder, and the upper and lower holders 20a and 20b are integrated into it. The cover member 22 has an outer periphery and left and right wall portions, and it is preferable that the wall portions be made of a flexible or expandable sheet material.

[0097] In this third embodiment, the cover member 22 is positioned on the lower surface of the fifth unit mat 1e in a contracted state, as shown by the dashed line, when in standby mode. By making the mat 1 fully flat and blowing air into it while advancing one end of the cover member 22 (the end with the upper holder 20a) along the upper edge of the side plate 2, the person being cared for M is covered with the cover member 22 and held by the holders 20a and 20b when in full flat mode, and then the mat 1 is bent to transition to the caregiving position. After changing the diaper 18, the mat 1 is returned to the full flat state and the cover member 22 is returned to standby mode.

[0098] Figure 10 shows a fourth embodiment, which is another example of the cover member 22 and the care posture. In this fourth embodiment, the care recipient M has their diaper 18 changed while kneeling on the fully flat mat 1. The third unit mat 1c and the fourth unit mat 1d open downwards or move downwards to form a workspace for diaper changing. In this case as well, the upper and lower holders 20a and 20b are used to ensure the posture stability of the care recipient M.

[0099] Holders 20a and 20b can be integrated into the care robot or attached by the caregiver, as in other embodiments. Furthermore, holders 20a and 20b can be set before the person being cared for M raises their knees, or after the person being cared for M raises their knees.

[0100] In this fourth embodiment, the cover member 22 has a dome shape and includes a front wall 22a that overlaps the upper holder 20a and a rear wall 22b that covers the rear end. The cover member 22 is bellows-shaped and expandable, and by moving the front frame at the front end forward while the person being cared for M is lying down with their knees extended, the abdomen and lower body of the person being cared for M can be covered. In the standby state, the cover member 22 is positioned on the underside of the fifth unit mat 1e, and by rotating the front frame upward and then moving it forward along the guide body provided on the side plate 2, the person being cared for M is covered by the cover member 22.

[0101] Figure 11 shows a fifth embodiment, which is another example of the cover member 22 and the care posture. In this fifth embodiment, the diaper 18 is changed with the fifth unit mat 1e raised to lift the lower leg. The third unit mat 1c and the fourth unit mat 1d are rotatable downward or movable downward, thereby creating a workspace for diaper changing. When the fifth unit mat 1e is raised, the lower leg K is raised and the thigh is tilted, but the fifth unit mat 1e is set to move forward while rising in order to allow the leg to bend while the lower leg K is held by the lower holder 20b.

[0102] The cover member 22 has a dome structure similar to that of the fourth embodiment. The chest and lower legs of the person being cared for (M) are held by holders 20a and 20b, but the holding operation by holders 20a and 20b is performed with the knees extended.

[0103] In this embodiment, a large workspace is created behind the groin area of ​​the person being cared for (M), opening vertically and horizontally, thus providing ample space for changing the diaper 18. This allows for improvements in the structure and freedom of movement of the movable member when providing a movable member in the diaper changing device. In the washing and diaper changing processes, a lifting support 45 such as an air bag type can be used, as described in the first embodiment.

[0104] Although embodiments of the present invention have been described above, the present invention can be implemented in various other ways. For example, if the cover member is rotatable, the pivot point does not need to be fixed, and a swing type in which the pivot point moves can also be adopted. It is also possible to provide armrests on both the left and right sides of the cover member. It is also possible to install a diaper changing device inside the cover member. The care function can be limited to washing only. The number of mat sections is not limited to five. The cover members can be separated into left and right sections, with the left and right side panels extending upwards and curving inwards, overlapping to form a dome. As an additional feature, a tray for washing hair can be placed at the front of the mat. [Industrial applicability]

[0105] The present invention can be implemented in caregiving robots for tasks such as diaper changing. Therefore, it can be used industrially. [Explanation of Symbols]

[0106] M Care recipient H hand K Lower leg 1a~1e Unit Mat 2 Side panels 3,4 Hinge section 6 Bottom plate 10 Casters (Omni-wheels) 17 Pajama pants 18. Open-type diapers 18a Waist overlapping element (back panel) 18b Abdominal overlapping element (front panel) 19 Pajama shirt 20a, 20b Holder for body support 22 Cover component 23a~23e Gate-type frame material constituting the cover member 24 Light-shielding film material constituting the cover member 25 Notches 26 Diaper collection pods 28 Diaper collection bags 30 shower heads 31. Wastewater collection tray 32 Pattern (Shape Retention Paper) 33 Diaper fitting device 34 Diaper Cassettes 35 Base Plate 36 Hand Arm 36a Support shaft 37. First Colette 38 Second Colette 39. Third Colette

Claims

1. A body support device that can change the position of the person being cared for between lying on their back and being cared for, An automated care device that automatically performs caregiving actions on a person in the aforementioned caregiving position, It has a cover member that can cover at least the waist area of ​​the person being cared for in the aforementioned caregiving position, The cover member is movable or detachable from a standby state that does not cover the person being cared for to a shielding state that covers the person being cared for. Caregiving robot.

2. The body support device has a group of movable mats arranged in the direction of the height of the person being cared for, and the movement of the movable mats allows the person being cared for to change between lying on their back and being cared for. The cover member is controlled to transition between a standby state and a shielded state in conjunction with the movement of the group of movable mats. The caregiving robot described in claim 1.

3. The cover member is configured to cover the entire legs and waist area of ​​the person being cared for in the shielded state. A caregiving robot as described in claim 1 or 2.

4. The aforementioned automated care device is an automatic diaper changing device, The aforementioned automatic diaper changing device comprises a used diaper collection device, a washing device for removing soiled material from the soiled area of ​​the person being cared for, and a fitting device for putting a new diaper on the person being cared for. The caregiver's posture includes a posture for removing the diaper the caregiver is wearing and a posture for putting on a new diaper. A caregiving robot as described in claim 1 or 2.

5. The body support device comprises a group of mats arranged in the direction of the height of the person being cared for, and side plates positioned on both the left and right sides of the group of mats. The system further includes a lifting device for raising and lowering the group of mats or side plates, The group of mats can be set to the same height as or higher than the side plate. A caregiving robot as described in claim 1 or 2.

6. The cover member is mounted on the body support device and can transition from a standby state located below the feet of the person being cared for to a shielding state that covers the entire lower limbs and waist of the person being cared for. The caregiving robot described in claim 2.

7. The cover member is of a retractable or foldable type that transitions from a standby state to a shielded state by rotating around its left and right longitudinal axes. The caregiving robot described in claim 6.

8. A pair of front and rear casters are attached to the left and right side panels in such a way that they fit within the thickness of the side panels. A caregiving robot as described in claim 1 or 2.

9. The aforementioned caster is rotatable around its left and right longitudinal axes and is also permitted to move in the direction of the rotation axis. The caregiving robot described in claim 8.

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