Caregiving robots

Abstract

To provide a caring device capable of reducing a physical or psychological burden on excretion treatment.SOLUTION: A caring robot attaches diapers to a care receiver. The caring robot includes a hand for gripping the diapers, an arm for moving the hand gripping the diapers, and a control part for controlling the hand and the arm. The control part moves the hand by the arm so that the hand can pass between the inner thighs of the care receiver.SELECTED DRAWING: Figure 35

Description

Technical Field

[0001] This disclosure relates to a care robot.

Background Art

[0002] Patent Document 1 discloses a storage and partition combined furniture device for semi-compartmentalizing a large room and a medical and care facility.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] One of the care actions is excretion treatment. Excretion treatment is a heavy and delicate care for both the caregiver and the care recipient. It is desired to reduce the physical or psychological burden associated with excretion treatment

[0005] Therefore, an object of the present disclosure is to provide a care device capable of reducing the physical or psychological burden associated with excretion treatment.

Means for Solving the Problems

[0006] To solve the above problems, a care robot for attaching a diaper to a care recipient includes a hand for gripping the diaper, an arm for moving the hand gripping the diaper, and a control unit for controlling the hand and the arm, and the control unit moves the hand by the arm so that the hand passes between the legs of the care recipient.

Effects of the Invention

[0007] This caregiving robot can grasp diapers and pass them between the legs of the person being cared for, thereby reducing the physical and psychological burden associated with waste disposal. [Brief explanation of the drawing]

[0008] [Figure 1] Figure 1 is a perspective view showing a caregiving device according to Embodiment 1. [Figure 2] Figure 2 is a plan view showing a caregiving device according to Embodiment 1. [Figure 3] Figure 3 is a front view showing a caregiving device according to Embodiment 1. [Figure 4] Figure 4 is a side view showing a caregiving device according to Embodiment 1. [Figure 5] Figure 5 is a cross-sectional view along the VV line in Figure 2. [Figure 6] Figure 6 is a diagram illustrating the support structure. [Figure 7] Figure 7 is a diagram illustrating the waterproofing section. [Figure 8] Figure 8 shows a scene of waste disposal being performed using a caregiving device. [Figure 9] Figure 9 shows a scene of waste disposal being performed using a caregiving device. [Figure 10] Figure 10 shows a scene of waste disposal being performed using a caregiving device. [Figure 11] Figure 11 shows a first modified example of a caregiving device. [Figure 12] Figure 12 shows a second modified example of the caregiving device. [Figure 13] Figure 13 shows a third modified example of a caregiving device. [Figure 14] Figure 14 shows a third modified example of the caregiving device. [Figure 15] Figure 15 shows a fourth modified example of the caregiving device. [Figure 16] Figure 16 shows a fifth modified example of the caregiving device. [Figure 17]FIG. 17 is a diagram showing a sixth modification of the care device. [Figure 18] FIG. 18 is a diagram showing a sixth modification of the care device. [Figure 19] FIG. 19 is a schematic side view showing the internal configuration of the care device according to Embodiment 2. [Figure 20] FIG. 20 is a schematic plan view showing the internal configuration of the care device according to Embodiment 2. [Figure 21] FIG. 21 is a schematic plan view showing the configuration under the sink of the care device according to Embodiment 2. [Figure 22] FIG. 22 is a schematic perspective view showing the robot hand of the care device according to Embodiment 2. [Figure 23] FIG. 23 is a schematic cross-sectional view showing the care device according to Embodiment 2. [Figure 24] FIG. 24 is a schematic cross-sectional view showing the care device according to Embodiment 2. [Figure 25] FIG. 25 is a diagram showing a state in which a pretreatment process is being performed in the care device. [Figure 26] FIG. 26 is a diagram showing a state in which a pretreatment process is being performed in the care device. [Figure 27] FIG. 27 is a diagram showing a state in which a pretreatment process is being performed using the care device. [Figure 28] FIG. 28 is a diagram showing a state in which a pretreatment process is being performed using the care device. [Figure 29] FIG. 29 is a diagram showing a state in which a pretreatment process is being performed using the care device. [Figure 30] FIG. 30 is a diagram showing a state in which a pretreatment process is being performed using the care device. [Figure 31] [[ID=4)2]]FIG. 31 is a diagram showing a state in which a diaper changing process is being performed using the care device. [Figure 32] FIG. 32 is a plan view showing a diaper and a cartridge. [Figure 33] FIG. 33 is a diagram showing a state in which the robot hand is attaching a diaper. [Figure 34]Figure 34 shows a robotic hand attaching a diaper. [Figure 35] Figure 35 shows a robotic hand attaching a diaper. [Figure 36] Figure 36 shows a robotic hand attaching a diaper. [Figure 37] Figure 37 shows a modified example of an air cushion for the lower limbs. [Figure 38] Figure 38 shows a modified example of a sewage tank. [Figure 39] Figure 39 shows a modified example of a cartridge. [Figure 40] Figure 40 shows an example of how the cartridge works. [Figure 41] Figure 41 shows an example of how the cartridge works. [Figure 42] Figure 42 shows an example of diaper application using a cartridge. [Figure 43] Figure 43 shows an example of diaper application using a cartridge. [Figure 44] Figure 44 shows an example of diaper application using a cartridge. [Figure 45] Figure 45 is a schematic perspective view showing a caregiving device according to Embodiment 3. [Figure 46] Figure 46 is a schematic perspective view showing a care device in seated mode. [Figure 47] Figure 47 is a schematic perspective view showing a nursing care device in supine position mode. [Figure 48] Figure 48 is a schematic perspective view showing a modified example of a caregiving device. [Figure 49] Figure 49 is a plan view showing the vertical wall section. [Figure 50] Figure 50 is a schematic side view showing the internal configuration of the caregiving device. [Figure 51] Figure 51 is a schematic plan view showing the mounting unit. [Figure 52] Figure 52 shows a diaper changing procedure being performed using a caregiving device. [Figure 53] Figure 53 shows a diaper changing procedure being performed using a caregiving device. [Figure 54] Figure 54 shows a diaper changing procedure being performed using a caregiving device. [Figure 55] Figure 55 shows a diaper changing procedure being performed using a caregiving device. [Figure 56] Figure 56 shows a diaper changing procedure being performed using a caregiving device. [Figure 57] Figure 57 shows a diaper changing procedure being performed using a caregiving device. [Figure 58] Figure 58 shows a diaper changing procedure being performed using a caregiving device. [Figure 59] Figure 59 shows a diaper changing procedure being performed using a caregiving device. [Figure 60] Figure 60 shows a diaper changing procedure being performed using a caregiving device. [Modes for carrying out the invention]

[0009] [Embodiment 1] The following describes the care device according to Embodiment 1. Figure 1 is a perspective view showing the care device 10 according to Embodiment 1. Figure 2 is a plan view showing the care device 10 according to Embodiment 1. Figure 3 is a front view showing the care device 10 according to Embodiment 1. Figure 4 is a side view showing the care device 10 according to Embodiment 1. Figure 5 is a cross-sectional view along the VV line in Figure 2. Figure 6 is a diagram illustrating the support part 20. Figure 7 is a diagram illustrating the waterproof part 38.

[0010] The care device 10 is a device for handling the excretion of the person receiving care CR. Excretion handling includes, for example, at least one of removing the diaper D attached to the person receiving care CR and attaching a new diaper D to the person receiving care CR. Excretion handling may, if necessary, include washing the area around the buttocks CB, including the perineum of the person receiving care CR. In the following, when it is necessary to distinguish between diapers D, the one that is attached to the person receiving care CR and is to be replaced will be called diaper D1, the diaper D1 that has been removed from the person receiving care CR and is to be discarded will be called diaper D2, and the one that is newly attached to the person receiving care CR will be called diaper D3. Diaper D may be of the tape type, the pants type, or a new sheet-like wrap-around type.

[0011] The care device 10 comprises a support part 20 and a casing 30. The support part 20 supports the person being cared for while leaving the area around the buttocks CB of the person being cared for open. Because the area around the buttocks CB of the person being cared for, supported by the support part 20, is open, a space is formed around the buttocks CB of the person being cared for, supported by the support part 20. This space is an excretion processing space for processing the excretion of the person being cared for. The excretion processing space is a space in which there are substantially no obstacles when processing excretion. Because an excretion processing space is formed around the buttocks CB of the person being cared for, the excretion of the person being cared for can be carried out smoothly in the excretion processing space. The excretion processing performed in the excretion processing space includes, for example, at least one of the following processes: removal of diaper D, attachment of diaper D, and washing around the buttocks CB of the person being cared for.

[0012] Here, the support section 20 opens up the entire area around the buttocks CB of the care recipient CR. At the position of the buttocks CB along the long axis of the care recipient CR, the entire area around the long axis is open. 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 up the entire area around the long axis means that there are no members that come into contact with the care recipient CR for support or other purposes around the long axis at the position of the buttocks CB. If there are members that come into contact with the care recipient CR around the buttocks CB, it becomes necessary to pass the diaper between the member and the care recipient CR during diaper changes, or the member may interfere with the robot hand, making diaper changes difficult. By forming an excretion processing space around the entire area around the buttocks CB of the care recipient CR, excretion processing of the care recipient CR in the excretion processing space can be carried out smoothly.

[0013] The casing 30 includes a shielding wall 31. The shielding wall 31 conceals the excretion processing space. The shielding wall 31 is provided around the excretion processing space. In this space, during excretion processing, private parts of the person being cared for, including their genitals, may be exposed. By concealing the excretion processing space with the shielding wall 31, the exposed private parts are hidden from the outside, thereby reducing the psychological burden on the person being cared for.

[0014] Here, the support unit 20 supports the care recipient CR in a posture close to a seated 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 the 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 care recipient CR's back, and the guard 22 holds the care recipient CR's chest. Here, the guard 22 includes a pair of guard pieces 23 protruding from the support body 21 and a coupling part 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 coupling part 24 is not particularly limited, but may be, for example, a snap fastener or hook fastener. The support unit 20 may support the care recipient CR in a posture other than a seated position. Other postures besides sitting will be discussed in detail later. The configuration of the support part 20 is not limited to the examples described above and can be set as appropriate. For example, the support part 20 may be in the form of a rigid support holder used in amusement park attractions such as roller coasters where riders sit or lie down, or it may be in the form of a seat belt used in racing cars.

[0015] Here, the care device 10 includes a seat 40 on which the person being cared for (CR) sits. The seat 40 is movably provided. When the seat 40 moves, the area around the buttocks (CB) of the person being cared for (CR) is opened. Here, the movement of the seat 40 opens the entire area around the long axis at the position of the buttocks (CB) along the long axis of the person being cared for (CR). Here, the movement of the seat 40 is rotational. The movement of the seat 40 may be linear, 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 includes a seat movement unit that moves the seat 40. The movement of the seat 40 may be performed manually.

[0016] Here, the seat surface 40 is connected to the lower part of the support body 21. The seat surface 40 includes a seat surface body 41 and a hinge 42. The first seat surface body 41 is connected to the lower part of the support body 21 via a first hinge 42. The second seat surface body 41 is connected to the end of the first seat surface body 41 opposite to the support body 21 via a second hinge 42. Each hinge 42 is rotatable around an axis along the left-right direction by the seat surface movement part. As each hinge 42 rotates, each seat surface body 41 rotates. This allows the seat surface 40 to move between a position in which a person receiving care in a seated position can sit (see Figure 5) and a position that frees up the area around the buttocks CB of the person receiving care in a seated position (see Figure 8). The seat surface 40 may be provided separately from the support body 21.

[0017] Here, the care device 10 includes a lower limb support part 26 that supports the lower limb CL of the care recipient CR, which is supported by the support part 20. The lower limb support part 26 may support the portion of the lower limb CL of the care recipient CR below the knee. The lower limb support part 26 may be formed in a ring shape and wrapped around the ankle. The lower limb support part 26 may be formed in a hole shape and provided so that it can be inserted from the toes of the care recipient CR.

[0018] The support section 20 or the lower limb support section 26 may support the person being cared for in a manner that restricts their movement. The support section 20 or the lower limb support section 26 may also be a restraint that prevents the person being cared for from moving.

[0019] The shielding wall 31 has a peripheral wall that surrounds the person being cared for (CR). The peripheral wall is provided according to the posture of the person being cared for (CR) supported by the support part 20. The peripheral wall is provided so as to surround the left, right, front, and back of the person being cared for (CR) in a seated position. Here, the shielding wall 31 has an upper wall that closes the top of the peripheral wall and a bottom wall that closes the bottom of the peripheral wall. The excretion processing space is a nearly sealed space except for the part through which the person being cared for passes. Here, a drain pipe DP is connected to the bottom of the excretion processing 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 board material or fabric material. A window may be provided in part of the shielding wall 31. The window may be openable or fixed. If it is a fixed window, it is preferable that it be a transparent window. The window should be located in a position where the private parts of the person being cared for 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 outside the inner wall 32. The inner wall 32 surrounds the space for waste disposal. Between the inner wall 32 and the outer wall 33, an internal space is formed that is separated from the space for waste disposal. This internal space may be used as a space for installing equipment used for waste disposal. This internal space may be used as a storage space for new diapers D3. Here, the outer wall 33 is a shielding wall 31. The inner wall 32 may be a shielding wall 31. The inner wall 32 and the outer wall 33 may jointly form a shielding wall 31. For example, the upper part of the outer wall 33 and the inner wall 32 may form a 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 penetrates the inner wall 32 and the outer wall 33.

[0022] The shielding wall 31 is provided with an opening for the person being cared for (CR) to enter and exit. The opening may be provided with a door. The door may be hinged or sliding. The opening does not have to be provided with a door. For example, the support part 20 and the casing 30 may be detachable, and the support part 20 may be attached to the casing 30 so that the support part 20 closes the opening.

[0023] The portion of the care recipient's CR above the buttocks CB (part of the upper body) or below the buttocks CB (part of the legs) may be exposed from the shielding wall 31. The portion of the care recipient's CR above the buttocks CB (part of the upper body) or below the buttocks CB (part of the legs) may be covered by the shielding wall 31 and not exposed. Here, the legs of the care recipient's CR are located inside the shielding wall 31. The portion of the care recipient's CR above the shoulders protrudes upward from the 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 for the connecting portion 24 to become soiled during excretion processing. The lower limb CL may be exposed outside the casing 30, or it may be completely contained within the casing 30. By forming the casing 30 in a box shape with part of the care recipient's CR (e.g., upper body) exposed, the device can be made more compact.

[0024] The care device 10 includes a waterproof section 38 that waterproofs the portion of the care recipient's CR located above the space for waste disposal. The waterproof section 38 is made of, for example, waterproof fabric. The waterproof section 38 is attached to an opening in the upper wall. The waterproof section 38 has an opening through which the care recipient's CR is inserted. The size of the opening in the waterproof section 38 may be variable. This allows the periphery of the opening to be in close contact with the care recipient's CR. For example, a slit may be formed from the opening of the waterproof section 38 to the outer edge, and the size of the opening may be made variable by changing the amount by which the parts on both sides of the slit overlap. Alternatively, for example, a string may be passed through the periphery of the opening, and the size of the opening may be made variable by pulling or loosening the string.

[0025] The waterproof section 38 is located at the position of the support section 20. The waterproof section 38 may be located closer to the buttocks CB than the support section 20. For example, the upper body of the person being cared for (CR) may be clothed, and the waterproof section 38 may be provided to prevent the clothing on the upper body of the person being cared for from getting wet. The waterproof section 38 may prevent the lower part of the clothing from entering the excretion processing space. For example, the support section 20 may support the clothed portion of the person being cared for from the outside of the clothing so as to overlap with the clothing, and the waterproof section 38 may be located closer to the buttocks CB than the clothing, on the unclothed portion. The waterproof section 38 may be located further away from the buttocks CB than the support section 20. The waterproof section 38 may have a core made of an elastic material such as urethane. This makes it easier for the waterproof section 38 to adhere closely to the person being cared for (CR).

[0026] The care device 10 includes a diaper attachment / detachment unit 50 for removing and attaching at least one of the diaper D of the person being cared for CR in the excretion processing space.

[0027] Here, the diaper attachment / detachment unit 50 includes a robotic hand 51 that performs at least one of the removal and attachment of the diaper D of the person being cared for (CR). There may be one robotic hand 51 or multiple (two or three or more). For example, there may be a pair of robotic hands 51, one left and one right, or one up and one down. The pair of robotic hands 51 may be provided on both sides (left and right or front and back) of the person being cared for (CR). The robotic hand 51 is provided at the tip of a robotic arm 52. Here, the robotic arm 52 is a multi-joint robot. The robotic arm 52 may be a single-axis robot. For example, the robotic arm 52 may protrude inward from the inner wall 32, and the drive unit 53 of the robotic arm 52 may be located between the inner wall 32 and the outer wall 33. As a safety measure, the gripping portion of the robotic hand 51 may be made of a soft material, or the robotic hand 51 may be controlled to avoid movement in response to the movement of the lower limbs or body of the person being cared for (CR).

[0028] The diaper attachment / detachment unit 50 includes a diaper recognition unit 56 that recognizes diaper D. For example, the diaper recognition unit 56 may recognize diaper D1 of the care recipient CR supported by the support unit 20. The diaper recognition unit 56 may recognize a used diaper D2 that has been 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 diaper D. The camera is supported, for example, by the casing 30. Based on the image captured by the camera, the control unit may recognize the position (e.g., the position of the tape or the tearing position) that the robot hand 51 will access to remove diaper D1.

[0029] The care device 10 includes a diaper storage section 35 for storing new diapers D3 to be fitted to the person being cared for (CR). The robot hand 51 may take the diapers 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 have to include a diaper storage section 35. A new diaper D3 may be inserted into the casing 30 by a human through an opening provided in the casing 30 from outside the casing 30, and the robot hand 51 may retrieve the diaper D3 and put it on. The opening may be provided with an openable and closable cover 34 (see Figure 10).

[0030] The care device 10 includes a washing unit 60 for washing the buttocks CB of the person being cared for (CR). The washing unit 60 includes a shower nozzle 61 provided in the space for waste disposal. The shower nozzle 61 is supported, for example, by a casing 30. The shower nozzle 61 is provided on the inner surface of the inner wall 32. The washing range of the shower nozzle 61 may be the same as that of a toilet flushing device, such as around the anus or genitals. The washing range of the shower nozzle 61 may be wider than that of a toilet flushing device, such as covering the entire area around the buttocks CB. In the latter case, the washing range may be widened by the shower nozzle 61 oscillating or by providing multiple shower nozzles 61. In addition to the area around the anus or genitals, the washing range may recognize dirt in folds such as the genitals and groin, and automatically change the size of the shower droplets and the water pressure. The shower nozzle 61 may be provided so as to be movable to approach and move away from the part of the person being cared for (CR) to be washed, or it may be supported in a fixed position. If the care device 10 includes a robotic hand 51, the shower nozzle 61 may be provided on the robotic hand 51. The shower nozzle 61 may be provided on the front, back, left, and right sides of the person being cared for (CR). The number and arrangement of the shower nozzles 61 are not particularly limited and can be set as appropriate, as long as they can wash the buttocks (CB) of the person being cared for (CR).

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

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

[0033] The care device 10 does not necessarily have to include a washing unit 60. In this case, the care device 10 may be configured to allow washing by inserting an external shower nozzle 61 through an opening in the shielding wall 31, for example. Furthermore, washing does not have to be performed by showering. Washing may be performed by wiping with a disposable wet towel or the like. Wiping may be performed by a caregiver or by the robotic hand 51.

[0034] The washing unit 60 does not necessarily include a heating unit 63. The caregiving device 10 may be configured to wash with unheated water. Also, the washing unit 60 does not necessarily include a water tank 62. The caregiving device 10 may be configured to allow connection between an external water supply facility and the shower nozzle 61. In this case, the heating unit 63 may heat the water supplied from the external water supply facility. If the external water supply facility can supply hot water, hot water can be sprayed from the shower nozzle 61 even without the heating unit 63.

[0035] The care device 10 includes a drying unit 66 for drying the waste disposal space. The drying unit 66 evaporates and removes moisture from the person being cared for after washing and from the equipment facing the waste 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 necessarily have to include a drying unit 66. For example, a towel may be placed in the waste disposal space after washing, and the moisture from the person being cared for or the equipment may be wiped off with the towel.

[0036] When shower cleaning is performed in the waste disposal space, it is preferable that the components facing the waste 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 part 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. This cleaning function may be performed by the cleaning unit 60, or it may be provided separately from the cleaning unit 60.

[0038] The care device 10 includes an armrest 36 on which the person being cared for (CR) places their hand (CH). The armrest 36 is located outside the casing 30. The armrest 36 may also be located inside the casing 30. It is preferable that the armrest 36 be located outside the space for waste disposal. The armrest 36 may be provided to allow gripping or not. The armrest 36 may be located in front of the support section 20. The armrest 36 may also be located below the support section 20. The care device 10 does not necessarily have to include an armrest 36.

[0039] The caregiving device 10 includes a main body comprising a support section 20 and a casing 30, and is equipped with a moving mechanism 80 for moving the main body. The moving mechanism 80 may be a rolling mechanism such as a caster. The moving mechanism 80 may include a drive unit and be configured to be autonomously mobile. In this case, the caregiving device 10 may be equipped with a tracking mechanism for following a caregiver or the like. The tracking mechanism is not particularly limited and can be configured as appropriate. For example, the tracking mechanism may capture images of the target being tracked using an imaging unit such as a camera, or it may communicate wirelessly with the target being tracked. The moving mechanism 80 may have an electric assist function.

[0040] Here, the direction of movement of the mobile mechanism 80 and the orientation of the body of the care recipient CR supported by the support part 20 are the same. However, the direction of movement of the mobile mechanism 80 and the orientation of the body of the care recipient CR supported by the support part 20 may be different.

[0041] The care device 10 does not necessarily have to be equipped with a mobility mechanism 80. The care device 10 may be configured to be installed in a building or vehicle or the like in a way that it cannot be moved.

[0042] <Excretion Disposal> The process of excretion using the care device 10 will be explained with further reference to Figures 8 to 10. Figures 8 to 10 show the process of excretion using the care device 10.

[0043] First, as shown in Figure 5, the care recipient CR is supported by the support part 20 within the casing 30. In this state, a space for excretion processing is formed around the buttocks CB of the care recipient CR. At this time, the lower limb support part 26 supports the lower limb CL of the care recipient CR.

[0044] Next, the diaper D1 of the person being cared for (CR) is removed. As shown in Figure 8, the robot hand 51 removes the fastening part (e.g., tape) of diaper D1. This removes diaper D2. As shown in Figure 8, the removed diaper D2 falls to the ground. The diaper D2 that has fallen to the ground may remain there until the excretion process is complete, or it may be temporarily moved to a predetermined location (such as a trash can) in the care device 10. When the robot hand 51 removes diaper D1, it may move it directly to a predetermined location in the care device 10 without dropping it to the ground.

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

[0046] Once the area around the care recipient CR's buttocks CB has been cleaned and dried, a new diaper D3 is then fitted. As shown in Figure 10, the robot hand 51 fits the new diaper D3. At this time, the robot hand 51 moves the diaper D3 from the diaper storage unit 35 to behind the care recipient CR's buttocks CB. In this state, as the seat 40 returns to its original position, the diaper D3 is held in place between the care recipient CR's buttocks CB and the seat 40 without the robot hand 51 having to hold it. After this, the robot hand 51 fastens the diaper D3, and the diaper D3 is fitted to the care recipient CR.

[0047] When the robot hand 51 handles the diaper D, it may grasp the diaper D with the fingers of the robot hand 51. Alternatively, the robot hand 51 may use a suction part provided on the robot hand 51 to hold the diaper D. When the robot hand 51 holds the diaper D using the suction part, the diaper D may have a part that can be held by the suction part. The suction part and the part to be held may be held by magnetic force from a magnet. The magnet may be a permanent magnet or an electromagnet. The suction part and the part to be held may be held by generating negative pressure using a vacuum pump or suction cup. The suction part and the part to be held may be held by hook-and-loop fasteners or the like.

[0048] Furthermore, regarding the attachment of a new diaper D3, instead of the seat 40 rotating to support the diaper D3, the diaper D3 may be supported using the suction part and the part to be suctioned, while the tape of the diaper D3 is fastened using another finger of the robot hand 51. Alternatively, a caregiver may hook the new diaper D3 onto the robot hand 51.

[0049] Furthermore, the caregiving device 10 may include a sensing unit that senses the presence or absence of feces in the diaper D1 during excretion processing. If the sensing unit determines that there is no feces and only urine, the washing and drying phases may be omitted. The sensing unit may be incorporated into the casing 30 or into the robot hand 51. The decision to omit the washing and drying phases may be made by the control unit. In other words, the caregiving device 10 may include a control unit that changes the excretion processing according to the sensor results of the sensing unit. The decision to omit the washing and drying phases 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 removed from the diaper D1 before the person being cared for enters the care device 10, or the robot hand 51 may remove the sensing unit from the diaper D1 while the person being cared for enters the care device 10, before removing the diaper D1 from the person being cared for CR.

[0051] <Effects, etc.> With the care device 10 configured as described above, the area around the buttocks CB of the person being cared for, supported by the support part 20, is an open space for excretion. Therefore, excretion can be performed while concealing the excretion space with the shielding wall 31. This reduces the psychological burden associated with excretion.

[0052] Furthermore, the care device 10 includes a diaper attachment / detachment unit 50 for removing and attaching at least one of the diaper D of the person being cared for in the excretion processing space. This allows at least one of the removal and attachment of the diaper D to be performed using the diaper attachment / detachment unit 50 while the buttocks CB of the person being cared for are hidden by the shielding wall 31.

[0053] In this case, if the diaper attachment / detachment unit 50 includes a robotic hand 51 that performs at least one of the removal and attachment of the diaper D of the person being cared for (CR), then at least one of the removal and attachment of the diaper D of the person being cared for (CR) can be performed by the robotic hand 51 without the caregiver's intervention. This reduces the physical or psychological burden associated with excretion management.

[0054] Furthermore, if the diaper attachment / detachment unit 50 includes a diaper recognition unit 56 that recognizes diaper D, the robot hand 51 can recognize the diaper D of the person being cared for (CR).

[0055] Furthermore, the care device 10 includes a washing unit 60 for washing the buttocks CB of the person being cared for (CR), and the washing unit 60 includes a shower nozzle 61 provided in the space for waste disposal. This allows the washing unit 60 to wash the buttocks CB of the person being cared for without the caregiver's intervention. This reduces the physical or psychological burden associated with waste disposal. In this case, if the washing unit 60 includes a water tank 62 connected to the shower nozzle 61, washing can be performed even if the care device 10 is installed in a location where it cannot be connected to a water supply facility. In addition, if the washing unit 60 includes a heating unit 63 for heating the water supplied to the shower nozzle 61, washing can be performed with warm water.

[0056] Furthermore, the care device 10 includes a waterproof section 38 that waterproofs the portion of the care recipient's CR located above the excretion processing space. This prevents the upper part of the care recipient's CR from getting wet when washing the buttocks CB of the care recipient's CR.

[0057] Furthermore, in the care device 10, the seat 40 moves to open up the area around the buttocks CB of the person being cared for (CR). This allows the person being cared for (CR) to sit down before the diaper D is removed and after it is attached.

[0058] Furthermore, the care device 10 is equipped with a drying unit 66 for drying the space used for waste disposal. This allows the inside of the care recipient's CR and the care device 10 to be dried by the drying unit 66 after the care recipient's CR has been washed.

[0059] Furthermore, since the care device 10 is equipped with a mobility mechanism 80, the care device 10 can be easily moved.

[0060] Furthermore, since the care device 10 is equipped with a diaper storage section 35, it can store new diapers D3 for use on the person receiving care CR.

[0061] Furthermore, by having the lower limb support portion 26 support the lower limb CL of the care recipient CR, which is supported by the support portion 20, movement of the lower limb CL of the care recipient CR during excretion can be suppressed.

[0062] Furthermore, since the care device 10 is equipped with an armrest 36, the person receiving care (CR) can rest their hands (CH) on the armrest 36.

[0063] <Note> Figure 11 shows a first modified example of the caregiving device 10.

[0064] In the first modified care device 110, the diaper attachment / detachment section 50 includes an air nozzle 54 that generates air to remove the diaper D1. In this case, the diaper D1 of the person being cared for (CR) can be removed by air without the caregiver's intervention. This reduces the physical or psychological burden associated with excretion management. It also makes it possible to remove the diaper D1 while avoiding physical contact with the person being cared for (CR). When the air nozzle 54 removes the diaper D1, the diaper D3 is attached by the caregiver or a separate mechanism (e.g., a robotic hand 51) from the air nozzle 54.

[0065] The air nozzle 54 sprays air onto 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 from which the air is sprayed may be recognized by the diaper recognition unit 56. When removing the diaper D with air, an air pocket (a part that receives air) may be provided on the diaper D. This air pocket may be provided on the diaper D near the predetermined position.

[0066] The air nozzle 54 is supported within the casing 30. The air nozzle 54 may be movable to move closer to and further away from the diaper D1 of the person being cared for CR, or it may be supported in a fixed position. If the care device 10 includes a robotic hand 51, the air nozzle 54 may be provided on the robotic hand 51.

[0067] Figure 12 shows a second modified example of the caregiving device 10.

[0068] The second modified care device 210 includes a sewage tank 70. The sewage tank 70 is located at the bottom of the casing 30. The sewage tank 70 stores the sewage S used for washing the person being cared for (CR). This allows washing to be performed even if the care device 10 is installed in a location where it cannot be connected to an external sewage system.

[0069] In this case, it is preferable that the bottom wall of the casing 30 has an opening that leads to the sewer tank 70. Furthermore, it is preferable that the upper surface of the bottom wall be a sloping surface that slopes downward toward the opening. This makes it easier to guide the sewer S into the opening. The position of the opening is not particularly limited and can be set as appropriate. For example, the opening may be at the front of the bottom wall, on the side, at the rear, or in the middle of the front, back, left, or right. The bottom wall of the casing 30 may be sink-shaped (mortar-shaped).

[0070] Furthermore, in the caregiving device 210, the sewage tank 70 is installed in a detachable manner. 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 sewage system.

[0071] Furthermore, the care device 210 is equipped with a trash can 72 into which used diapers D2 removed from the person being cared for (CR) can be disposed of. This allows used diapers D2 to be temporarily stored in a designated place until the diaper change is complete.

[0072] The trash can 72 is preferably located in a position where it is less likely 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 also include an inner wall 32 that serves as a partition wall separating the waste disposal space from the trash can 72. The trash can 72 may be located on the bottom wall of the casing 30, or it may be located above the bottom wall.

[0073] The care device 210 includes a used diaper transfer unit that moves used diapers D2 to the trash can 72. This allows used diapers D2 to be moved to the trash can 72 without the caregiver's intervention.

[0074] Here, the robot hand 51 also serves as the used diaper transport unit. The used diaper transport unit may be provided separately from the robot hand 51. For example, the used diaper transport unit may be a conveyor installed on the bottom wall of the lower part of the shielding wall 31. Alternatively, the used diaper transport 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 at the end of the used diaper transport unit.

[0075] Furthermore, the caregiving device 210 is equipped with a processing unit 74 that automatically disposes of waste or sewage S generated during the excretion treatment of the person being cared for (CR). This reduces the need for caregivers to come into contact with the waste or sewage S.

[0076] The processing unit 74 disposes of the garbage in the trash can 72 or the sewage S from the sewage tank 70. The trash can 72 or the sewage tank 70 may be moved for disposal, or the bottom of the trash can 72 or the sewage tank 70 may be removed for disposal. In the example shown in Figure 12, the processing unit 74 disposes of the garbage in the trash can 72 at the garbage collection point GS.

[0077] The robot hand 51 may also function as the processing unit 74. That is, the robot hand 51 may empty the trash from the trash can 72 or the sewage S from 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 alone may be used. Alternatively, 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] Figures 13 and 14 show a third modified example of the caregiving device 10.

[0079] In the third modified example of the care device 310, the support part 20 is provided separately from the casing 30 so as to be detachable from the casing 30. This allows the care recipient CR to be supported on the support part 20 at a position separate from the casing 30, and then the casing 30 can be attached to the support part 20 on which the care recipient CR is supported. In the example shown in Figure 13, the support part 20 is attached to and detached from the rear opening of the casing 30. The support part 20 may also be configured to be attached to and detached from the front or side opening of the casing 30. In the example shown in Figure 13, the support part 20 is attached to and detached from the casing 30 when the care recipient CR is facing the casing 30. The support part 20 may also be attached to and detached from the casing 30 when the care recipient CR is facing away from the casing 30, or when the care recipient CR is facing to the side.

[0080] In the care device 310, a movable mechanism 80 is provided on the support part 20. In the care device 310, a movable part may be provided on the casing 30. In the care device 310, a movable part may be provided on both the support part 20 and the casing 30.

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

[0082] The care device 10 includes a transfer support section 44 that assists in the transfer of the person receiving care, CR, from the bed BD to the seat 40. This makes it easier for the person receiving care, CR, to transfer to the seat 40 of the care device 10.

[0083] The transfer support section 44 includes, for example, a support seat 45. The support seat 45 is provided next to the seat 40. The support seat 45 is connected to the top surface of the bed BD, etc. As shown in Figure 14, the person being cared for, CR, can move from the top surface of the bed BD to the seat 40 via the support seat 45 while sitting on the top surface of the bed BD. The support seat 45 may be positioned in a fixed location or may be foldable for storage. The support seat 45 may be detachable from the seat 40.

[0084] The transfer support section 44 may have a handrail 46 for the person being cared for to grasp when transferring. The handrail 46 may, for example, have armrests on both sides of the seat 40. The armrests between the seat 40 and the support seat 45 may be adjustable up and down. The handrail 46 may be provided in a position separate from the armrests.

[0085] Figure 15 shows a fourth modified example of the caregiving device 10.

[0086] In the fourth modified example of the care device 410, the support part 20 supports the person being cared for (CR) in a forward-leaning posture rather than a sitting posture. In this case, the support part 20 supports the chest and sides of the person being cared for (CR). The support part 20 may or may not support the back.

[0087] When the support part 20 supports the person being cared for (CR) in a forward-leaning posture, the care device 10 does not need to have a seat surface 40. Also, when the support part 20 supports the person being cared for (CR) in a forward-leaning posture, the lower limb support part 26 may support the knee. Also, when the support part 20 supports the person being cared for (CR) in a forward-leaning posture, a hand rest 36 that the person being cared for (CR) can grip may be provided in front of the support part 20. When attaching or detaching the support part 20 to the casing 30, the hand rest 36 may move inside the inner wall 32 together with the support part 20. Also, when attaching or detaching the support part 20 to the casing 30, the hand rest 36 may move outside the inner wall 32 or outside the outer wall 33.

[0088] Figure 16 shows a fifth modified example of the caregiving device 10.

[0089] In the fifth modified example of the care device 510, the support part 20 supports the person being cared for (CR) in a supine position rather than a seated position. In the example shown in Figure 16, the supine position is a back-lying position (also called a recumbent position). The back-lying position may be a position that is the same as sitting but rotated 90 degrees. The supine position may also be a lateral position with the side facing down or a prone position with the abdomen facing down. The lower limb support part 26 may support the knee or thigh of the person being cared for (CR). The lower limb support part 26 may support the person being cared for (CR) from the knee or thigh down to the toes. The knee may be bent or not.

[0090] The seat 40 does not necessarily have to be connected to the support 20. As shown in Figure 16, the seat 40 that supports the buttocks CB of the person being cared for (CR) may be rotatably connected to the lower limb support 26 via a hinge 42.

[0091] Figures 17 and 18 show a sixth modified example of the caregiving device 10.

[0092] In the sixth modified example of the care device 610, the casing 30 is provided so as to be openable and closable by a hinge. In the example shown in Figure 17, the axis of rotation of the hinge is aligned vertically. The axis of rotation of the hinge may be aligned in the front-to-back direction or the left-to-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 person being cared for from the bed BD into the casing 30.

[0094] In addition, the diaper attachment / detachment section 50 does not necessarily have to include the robotic hand 51. For example, a caregiver may insert their hand through the opening in the shielding wall 31 to remove or attach at least one of the diaper D of the person being cared for CR. In this case, a glove 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. This allows the caregiver to wear the attached glove on their hand inserted through the opening in the shielding wall 31, enabling them to perform excretion procedures.

[0095] Furthermore, at least one of the removal and attachment of diaper D may be performed collaboratively by the caregiver and the robot hand 51. For example, when removing diaper D1, the caregiver may set the robot hand 51 to a predetermined position on diaper D1 while it is attached to the person being cared for CR, and the robot hand 51 may remove diaper D1 by pulling at that predetermined position. Alternatively, for example, when attaching diaper D3, the caregiver may insert the feet of the person being cared for CR into the pant-type diaper D, and the robot hand 51 may move the diaper D with the feet of the person being cared for inserted to the buttocks CB. Alternatively, for example, the caregiver may set the part of diaper D that the robot hand 51 will handle onto the robot hand 51. This simplifies the operation of the robot hand 51.

[0096] Furthermore, the caregiving device may include a notification unit that informs the care recipient (CR) of the task to be performed. The notification unit may have either or both an audio generation unit and a display unit.

[0097] [Embodiment 2] A care device according to Embodiment 2 will now be described. Figure 19 is a schematic side view showing the internal configuration of the care device 710 according to Embodiment 2. Figure 20 is a schematic top view showing the internal configuration of the care device 710 according to Embodiment 2. Figure 21 is a schematic top view showing the configuration under the sink 732a of the care device 710 according to Embodiment 2. Figure 22 is a schematic perspective view showing the robot hand 751 of the care device 710 according to Embodiment 2. Figures 23 and 24 are schematic cross-sectional views showing the care device 710 according to Embodiment 2. Figure 23 is a cross-sectional view perpendicular to the long axis at the location of the torso air cushion 722. Figure 24 is a cross-sectional view perpendicular to the long axis at the location of the lower limb air cushion 728.

[0098] In the care device 710, the person being cared for (CR) is in a supine position, similar to the example shown in Figure 16. In the care device 710, the casing 730 covers the part of the person being cared for (CR) including the buttocks (CB), while exposing the head of the person being cared for (CR) to the outside of the casing 730. In this embodiment as well, the entire area around the buttocks (CB) of the person being cared for (CR) is open. In the care device 710, the bottom wall of the space for waste disposal is a sink 732a. The drain in the sink 732a is located at the front. The sink 732a is inclined so that the front side slopes downward toward the drain.

[0099] In the care device 710, the person being cared for (CR) assumes a diaper changing posture during diaper changes. The postures shown in Figures 19 and 20 are the diaper changing postures. As shown in Figure 19, in this diaper changing posture, the buttocks (CB) of the person being cared for (CR) are lower than the waist and thighs. As a result, in a side view, the part of the person being cared for (CR) from the waist to the thighs forms a V-shape. This makes it less likely for the washing solution to run down the body of the person being cared for (CR) and reach other parts that do not need washing, compared to a horizontal posture from the waist to the thighs. It also makes it easier for the robot hand 751 to access the diaper (D1).

[0100] Furthermore, as shown in Figure 20, in the diaper changing position, the care recipient CR is in a position with their legs spread apart. As a result, 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 diaper D2 and D3 to pass between the legs during diaper changes compared to a closed-leg position. In addition, the exposure of the area between the care recipient CR's legs makes it easier to wash and dry that area.

[0101] In the care device 710, the support section 720 includes a backrest 721 that supports at least the back of the person being cared for so that the person being cared for is in a supine position. The backrest 721 supports the person being cared for from below. For example, the backrest 721 supports the person being cared for from the waist down to the head.

[0102] Furthermore, the support section 720 includes an air cushion 722 for the torso that can be deployed and retracted using air. When deployed, the torso air cushion 722 surrounds the torso of the person being cared for (CR). In Figure 23, the solid line shows the deployed state of the torso air cushion 722, and the dashed line shows the retracted state. The base end of the torso air cushion 722 is attached, for example, to the backrest 721 or the vertical wall portion 738B on the side of the backrest 721. When air is injected into the retracted torso air cushion 722, the torso air cushion 722 deploys and surrounds the torso of the person being cared for (CR). In the example shown in Figure 23, torso air cushions 722 are provided on both sides of the person being cared for (CR). As the pair of torso air cushions 722 deploy, their ends come into contact above the torso.

[0103] The lower limb support section 726 includes a footrest 727 positioned towards the toes, beyond 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 thigh to the toes.

[0104] Here, the lower limb support section 726 includes an air cushion 728 for the lower limbs that can be deployed and retracted using air. When deployed, the air cushion 728 surrounds each of the lower limbs of the person being cared for (CR) and supports them in a spread-legged position. In Figure 24, the solid line shows the deployed state of the air cushion 728 for the lower limbs, and the dashed line shows the retracted state. The base end of the air cushion 728 for the lower limbs is attached, for example, to the footrest 727 or the vertical wall 738B on the side of the footrest 727. When air is injected into the retracted air cushion 728 for the lower limbs, it deploys and surrounds the lower limbs of the person being cared for (CR). In the example shown in Figure 24, air cushions 728 for the lower limbs are provided on the sides of each of the lower limbs of the person being cared for (CR) and between them. As the three lower limb air cushions 728 are deployed, the tips of two of the lower limb air cushions 728 come into contact with each other at the top of each lower limb.

[0105] The torso air cushion 722 or the lower limb air cushion 728 may have their front ends positioned and held in the deployed state. The care device 710 may include a front end holding part for positioning and holding the front ends of the torso air cushion 722 or the lower limb air cushion 728 in the deployed state. The front end holding part may be, for example, a hook-and-loop fastener that connects the front end of the torso air cushion 722 or the lower limb air cushion 728 in the deployed state to a mating object. Alternatively, for example, the front end holding part may consist of a recessed fitting part and a convex fitting part. One of the recessed fitting part and the convex fitting part may be provided on the front end of the torso air cushion 722 or the lower limb air cushion 728, and the other may be provided on the mating object that contacts it. The recessed fitting portion or the convex fitting portion provided at the tip of the torso air cushion 722 or the lower limb air cushion 728 reveals its shape when inflated with air, and loses its shape when the air is released. The recessed fitting portion and the convex fitting portion can be firmly fixed if they are shaped to widen along the inner side (bulging portion).

[0106] The tip holding portion may be configured to automatically release its holding state when the air is released 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 convex fitted portion, when the air is released, the shape of the fitting portion or the fitted portion cannot be maintained, and the fitted state of the fitting portion and the fitted portion is released.

[0107] Furthermore, the care device 710 includes an air cushion 740 for the buttocks that can be deployed and retracted using air. When deployed, the air cushion 740 supports the buttocks CB of the person being cared for from below. When retracted, the air cushion 740 leaves the area below the buttocks CB open. In Figure 19, the solid line shows the retracted state of the air cushion 740, and the dashed line shows the deployed state. The base end of the air cushion 740 is attached, for example, under the sink 732a. The sink 732a has an opening through which the air cushion 740 passes when it is deployed or retracted. When air is injected into the retracted air cushion 740, it deploys upward and reaches the buttocks CB of the person being cared for through the opening. A lid 738A is provided over the opening of the sink 732a, and the lid 738A may be closed when changing diapers.

[0108] In the care device 710, when the person being cared for enters or exits the room, the torso air cushion 722 and the lower limb air cushion 728 are in a contracted state, and the buttock air cushion 740 is in an extended state. During diaper changes, the torso air cushion 722 and the lower limb air cushion 728 are in an extended state, and the buttock air cushion 740 is in a contracted state. Here, the buttock air cushion 740 can be extended to three different heights: a first height, a second height, and a third height. The highest of these three heights, the first height, is the height when the person being cared for enters or exits the room (see Figure 26). The middle of these three heights, the second height, is the height when the backrest 721, buttock air cushion 740, and footrest 727 are lowered in a fully flat bed state (see Figure 27). The lowest of the three height levels, the third height, is the height when the care recipient's CR (Critical Care Unit) is in a lowered position (see Figure 28).

[0109] The air compressor supplies air to the torso air cushion 722, the lower limb air cushion 728, and the buttock air cushion 740, and also removes air from the torso air cushion 722, the lower limb air cushion 728, and the buttock 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 installed separately from the care device 710 at the same location where the care device 710 is installed.

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

[0111] In the care device 710, the support section 720 and the lower limb support section 726 can each be changed between a horizontal position and a rotational position. The position shown in Figure 25, described later, is the horizontal position. In the horizontal position, the posture of the person being cared for (CR) is supported horizontally. In the horizontal position, the backrest 721 and the footrest 727 are horizontal. The position shown in Figure 19 is the rotational position. In the rotational position, the buttocks (CB) of the person being cared for (CR) are supported in a position lower than the thighs and waist. In the rotational position, the backrest 721 and the footrest 727 are inclined.

[0112] Here, the care device 710 includes rotation links 725 and 729 for changing the posture of the support section 720 and the lower limb support section 726 between a horizontal posture and a rotation posture, respectively. The rotation link 725 includes a first support point 725a that supports the buttocks side CB of the backrest 721, a second support point 725b that supports the head side, and a guide section 725c that guides the vertical movement of the support points 725a and 725b. Similarly, the rotation link 729 includes a first support point 729a that supports the buttocks side CB of the footrest 727, a second support point 729b that supports the toes side, and a guide section 729c that guides the vertical movement of the support points 729a and 729b. In each of the pivoting links 725 and 729, at least one of the first support points 725a and 729a and the second support points 725b and 729b is movable vertically relative to the other. In the backrest 721 and footrest 727, the backrest 721 and footrest 727 rotate when the first support points 725a and 729a are positioned lower than the second support points 725b and 729b. This rotation may be performed by a caregiver, or the care device 710 may be equipped with a drive unit for performing this rotation.

[0113] Furthermore, the support section 720 and the lower limb support section 726 move up and down. The care device 710 is equipped with lifting links for moving the support section 720 and the lower limb support section 726 up and down. Here, the rotation links 725 and 729 also serve as lifting links. The guide sections 725c and 729c guide the up and down movement of both the first support points 725a and 729a and the second support points 725b and 729b. This lifting movement may be performed by a caregiver, or the care device 710 may be equipped with a drive unit for performing this lifting movement. The lifting links may be provided separately from the rotation links 725 and 729.

[0114] The care device 710 is positioned outside the torso air cushion 722 relative to the person being cared for (CR) and includes a wall portion that contacts the torso air cushion 722 when it is deployed. The inner surface of the wall portion contacts 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 decreases. This wall portion includes the vertical wall portions 738B on both sides of the person being cared for (CR), the ceiling wall above, and the bottom wall below. It forms the bottom wall on which the backrest 721 rests.

[0115] The care device 710 is positioned outside the lower limb air cushion 728 relative to the person being cared for (CR) and includes a wall portion that contacts the lower limb air cushion 728 when it is deployed. The inner surface of the wall portion contacts the outer surface of the lower limb air cushion 728. As the lower limb air cushion 728 inflates, the gap between the lower limb air cushion 728 and the wall portion decreases. This wall portion includes the vertical wall portions 738B on both sides of the person being cared for (CR), the ceiling wall above, and the bottom wall below. The footrest 727 rests on the bottom wall.

[0116] The ceiling wall described above may be, for example, a lid 738A that can be opened and closed relative to the casing 730. The lower surface of the head portion of the lid 738A along the long axis contacts the upper surface of the torso air cushion 722. The lower surface of the toe portion of the lid 738A along the long axis contacts the upper surface of the lower limb air cushion 728. The lid 738A may be of the sliding type, the hinged type, or the detachable type.

[0117] In the care device 710, a pair of robotic hands 751 are provided. For example, the pair of robotic hands 751 are positioned on the left and right sides of the person being cared for CR. The diaper attachment / detachment unit 750 includes a pair of robotic arms 752 to which the pair of robotic hands 751 are connected. The robotic arms 752 are supported at the ends of posts extending from the bottom wall. The robotic arms 752 may be supported by the bottom wall, by the vertical wall portion 738B, or suspended from the ceiling.

[0118] The base end of the robot arm 752 may be located in the outer space separated from the waste disposal space by a partition wall. If there is an opening in the partition wall and robot processing is required, the tip of the robot arm 752 and the robot hand 751 may advance through the opening into the waste disposal space. A hinged door may be provided in the opening. The robot hand 751 may open and close the hinged door.

[0119] The diaper attachment / detachment unit 750 includes an arm movement mechanism 752A that moves at least one of a pair of robot arms 752 along the long axis of the person being cared for CR. For example, the arm movement mechanism 752A moves along only one axis. For example, the arm movement mechanism 752A can be configured by a known single-axis stage or the like. Here, the arm movement mechanism 752A moves only one of the pair of robot arms 752. As shown in Figure 19, the person being cared for CR is in a position where the long axis is aligned with the front-to-back direction. As shown in Figure 22, the arm movement mechanism 752A moves the robot arm 752 along the front-to-back direction. The robot hand 751 that is not provided with the arm movement mechanism 752A can move 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 without the arm movement mechanism 752A, as well as grasping the diaper D3 which is deployed in front of the buttocks CB and moving it to the waist.

[0120] In this embodiment, the robot does not move the person being cared for (CR). The robot is not intended to actively come into contact with the person being cared for (CR). Therefore, the payload capacity of the robot arm 752 can be reduced, and the robot can be made more compact. Furthermore, even if the robot comes into contact with the person being cared for (CR) during excretion processing, the impact on the person being cared for (CR) will not be significant. For example, the object the robot carries may be only diapers D. In this case, the weight of a new diaper D3 is usually 100g or less, and the weight of a used diaper D2 is 1kg or less. For example, the payload capacity of the robot arm 752 may be around 2kg to 10kg, even when considering the weight of the robot hand 751.

[0121] As shown in Figure 21, the caregiving device 710 may include a control unit 90. The control unit 90 controls the robot. The control unit 90 may also control devices in the caregiving device 710 that require control (for example, a driven rotating device or a lifting device). The control unit 90 may be located, for example, under the sink 732a.

[0122] As shown in Figure 21, the care device 710 may also be equipped with a deodorizing device 776. By providing the deodorizing device 776, measures can be taken to control odors associated with diaper changes.

[0123] <Diaper changing procedure> Figures 25 to 30 show the pre-processing steps being performed in the caregiving device 710. Figure 31 shows the diaper changing process being performed using the caregiving device 710.

[0124] <Pre-treatment process> First, a pre-treatment process is carried out. This pre-treatment process includes receiving the care recipient CR, changing the care recipient CR's posture to one suitable for diaper changes, and shielding the space for excretion treatment.

[0125] Figure 25 shows the state immediately after the care recipient CR is received. The care device 710 receives the care recipient CR in the posture shown in Figure 25. The care recipient CR assumes an entry / exit posture when entering or leaving the facility. This entry / exit posture is different from the diaper changing posture. In the entry / exit posture, the body is horizontal from the waist to the thighs. The buttocks CB is also supported in the entry / exit posture. The care recipient CR is received with the backrest 721 and footrest 727 in a horizontal position and the buttock air cushion 740 deployed to the first height. The backrest 721, buttock air cushion 740, and footrest 727 form a fully flat bed. The upper surfaces of the backrest 721, buttock air cushion 740, and footrest 727 are in a raised position so as to be above the shielding wall. The torso air cushion 722 and the lower limb air cushion 728 are in a deflated state. The care recipient CR, who is lying in bed, is transferred by the caregiver to the full-flat bed of the bed-type care device 710.

[0126] Next, the posture of the care recipient CR is changed to a posture suitable for diaper changing. By changing the state of the support section 720, the lower limb support section 726, and the buttock air cushion 740, the posture of the care recipient CR is set to the diaper changing posture.

[0127] First, as shown in Figure 26, the torso air cushion 722 and the lower limb air cushion 728 are deployed to surround the torso and lower limbs of the person receiving care (CR). Here, with the upper and lower body in their predetermined positions, the torso air cushion 722 and the lower limb air cushion 728 are inflated by injecting air into them, thereby attaching them to the person.

[0128] Next, as shown in Figure 27, the full-flat bed lowers. At this point, the backrest 721 and footrest 727 lower. Also, the air cushion 740 for the buttocks contracts by one step to reach the second height.

[0129] Next, as shown in Figure 28, the backrest 721 and footrest 727 are tilted. Also, the buttock air cushion 740 is compressed by one step to the third height. The support surfaces of the backrest 721 and footrest 727 are rotated so that the buttock CB side is lowered. The posture of the person being cared for becomes V-shaped when viewed from the side. The buttock CB protrudes below the thighs and waist. As a result, the posture of the person being cared for becomes the diaper changing posture.

[0130] Next, as shown in Figure 29, the seat is separated from the buttocks CB. Here, by releasing the air from the buttocks air cushion 740, the buttocks air cushion 740 further contracts, becoming contracted and stored under the sink 732a. As a result, there are no members in contact with the lower part of the buttocks CB. There are no members in contact with the buttocks CB on either side or in front of the buttocks CB. As a result, the entire area around the long axis at the position of the buttocks CB is opened up. Even when the buttocks air cushion 740 is separated from the buttocks CB, the torso of the person being cared for (CR) is prevented from sliding down towards the buttocks CB by the torso air cushion 722. Also, even when the buttocks air cushion 740 is separated from the buttocks CB, the lower limbs (CL) of the person being cared for (CR) are prevented from sliding down towards the buttocks CB by the lower limb air cushion 728. In the sink 732a, a lid 743 is provided to close the opening above the buttock air cushion 740.

[0131] Next, the space for waste disposal is shielded. The privacy of the person being cared for (CR) is maintained. Also, water is prevented from leaking to the outside when washing. As shown in Figure 30, the lid 738A is closed. At this time, around the torso, the lid 738A and the torso air cushion 722 form a simple waterproof wall as shown in Figure 23. Also, around the lower limbs, the lid 738A and the lower limb air cushion 728 form a simple waterproof wall as shown in Figure 24. In addition, vertical wall sections 738B are provided on both sides as walls surrounding the space for waste disposal. Also, a vertical wall section 738C is provided below the footrest 727, partitioning in the front-to-back direction. The vertical wall section 738C may be a fixed wall or a movable wall. A wall section similar to the vertical wall section 738C may also be provided below the backrest 721.

[0132] <Diaper changing process> Once the pre-treatment process is complete, the diaper changing process is performed next.

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

[0134] The robot hand 751 places the removed diaper D2 into a used diaper opening provided in the sink 732a. A trash can may be connected to the opening. A packing device 775 may be connected between the opening and the trash can. The packing device 775 may pack the used diaper D2 with a bag or sheet. This suppresses odor leakage from the used diaper D2. The packed used diapers are stored in the trash can.

[0135] After diaper D is removed, the next step is washing. With diaper D removed, the washing unit 60 washes the area around the buttocks CB. Washing may be done with tap water only, or detergent may be used in combination. The washing unit 60 may or may not have a detergent dispensing unit. The detergent may be a type that does not require rinsing, or a type that does not require rinsing. The washing unit 60 may or may not have a fine bubble generating unit for incorporating fine bubbles into the washing 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 cleaning function after use.

[0136] Once cleaning is complete, drying is performed. The drying unit 66 dries the area around the buttocks CB of the person being cared for (CR). The drying unit 66 also dries the area within the waste disposal space.

[0137] Once drying is complete, a new diaper D3 is fitted. The new diaper D3 is fitted into the cartridge 735 and provided into the waste disposal space. Figure 32 is a plan view showing the diaper D3 and the cartridge 735. The robot hand 751 takes the new diaper D3 from the cartridge 735 and puts it on the person being cared for CR. Here, 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 and Dc, which are positioned separately at both ends of the diaper body Da. The two pairs of attachment pieces Db and Dc are provided with fastening parts Dd and De, respectively, which secure the two pairs of attachment pieces Db and Dc in a wrapped state around the abdomen or waist of the person being cared for CR. There is also a fastening part Df between the pair of attachment pieces Db. The fastening portion Df is for securing the diaper body Da when it is wrapped from below the buttocks CB to above the buttocks CB. Each fastening portion Dd, De, Df is made of hook-and-loop fasteners or adhesive tape, for example, similar to the fastening portions of known tape-type diapers. The cartridge 735 is provided, for example, below the backrest 721. A vertical wall with an opening may be provided below the backrest 721. The cartridge 735 may be located outside the waste disposal space during washing and provided into the waste disposal space through the opening after washing. A pair of attachment pieces Dc may protrude from the cartridge 735 to facilitate gripping by a robot hand.

[0138] Figures 33 to 36 show the robot hand 751 attaching diaper D3.

[0139] As shown in Figure 33, the robot hand 751 first grasps a pair of attachment pieces Dc from the new diaper D3 and moves them to both sides of the person being cared for CR. Next, as shown in Figure 34, it wraps the pair of attachment pieces Dc around the waist or abdomen of the person being cared for CR and fastens the fastening piece De. Next, as shown in Figure 35, it wraps the diaper body Da, which is located below the buttocks CB, over the buttocks CB and fastens the fastening piece Df. Next, as shown in Figure 36, it wraps the pair of attachment pieces Db around the waist or abdomen of the person being cared for CR and fastens the fastening piece Dd. With these steps, the attachment of the new diaper D3 is complete.

[0140] <Post-processing steps> Once the diaper changing process is complete, the post-treatment process is performed. The post-treatment process includes opening the space for waste disposal, changing the posture of the person being cared for (CR) to a posture suitable for the person being cared for to leave, and sending the person being cared for out. The post-treatment process is essentially the reverse of the pre-treatment process shown in Figures 25 to 30. That is, after the diaper changing process is complete, the state is as shown in Figure 30 (however, diaper D is in the state of a new diaper D). In this state, as shown in Figure 29, the lid 738A is removed to open the space for waste disposal. Next, as shown in Figure 28, the buttock air cushion 740 is extended to the third height to support the buttocks CB. Next, as shown in Figure 27, the backrest 721 and footrest 727 are rotated, and the buttock air cushion 740 is further extended to the second height to create a fully flat bed state. Next, as shown in Figure 26, the backrest 721 and footrest 727 are raised, and the buttock air cushion 740 is further extended to the first height so that the support surface is above the shielding wall. Next, as shown in Figure 25, the torso air cushion 722 and lower limb air cushion 728 are deflated. Finally, the caregiver transfers the person being cared for (CR) from the care device 710 to the bed.

[0141] <Effects, etc.> According to the care device 710, the support section 720 includes a backrest 721 that supports at least the back of the person being cared for (CR) so that the person being cared for (CR) is in a supine position. This allows the person being cared for (CR) to perform excretion procedures while in a supine position.

[0142] Furthermore, the buttock air cushion 740 supports the buttocks CB of the person being cared for when deployed, and leaves the area below the buttocks CB open when contracted. This allows the buttock air cushion 740 to support the buttocks CB of the person being cared for before or after excretion by deploying it. Also, by contracting the buttock air cushion 740, the support member for the buttocks CB is less likely to interfere with excretion.

[0143] Furthermore, the support section 720 and the lower limb support section 726 can each be changed between a horizontal position and a rotating position. In the rotating position, the buttocks CB of the person being cared for are supported in a position lower than the thighs and waist. This makes it easier to access the buttocks CB of the person being cared for during excretion. It also makes it easier to prevent parts other than the buttocks CB, which need to be washed, from getting wet during washing.

[0144] Furthermore, the support section 720 includes an air cushion 722 for the torso that can be deployed and retracted using air, and the air cushion 722 surrounds the torso of the person being cared for when deployed. This allows the person being cared for to feel as if they are being held while excretion is being handled, making it easier for them to feel secure.

[0145] The care device 710 is positioned outside the torso air cushion 722 relative to the person being cared for (CR) and has a wall portion that contacts the deployed torso air cushion 722. This allows for a simple watertight state to be formed at the position of the torso air cushion 722, making it easier to suppress water leakage towards the head side of the torso air cushion 722 during washing.

[0146] Furthermore, the lower limb support section 726 includes an air cushion 728 for the lower limbs that can be deployed and retracted using air. When deployed, the air cushion 728 surrounds each of the lower limbs of the person being cared for (CR) and supports them in a position with their legs spread apart. As a result, the person being cared for (CR) is kept in a position with their legs spread apart, which reduces the likelihood of dirt remaining on their body.

[0147] Furthermore, the care device 710 is positioned outside the lower limb air cushion 728 relative to the person being cared for (CR), and includes wall portions 738A and 738B that are in contact with the lower limb air cushion 728 when it is deployed. This allows for a simple watertight state to be formed at the position of the lower limb air cushion 728, making it easier to suppress water leakage towards the toes side of the lower limb air cushion 728 during washing.

[0148] Furthermore, the diaper attachment / detachment unit 750 includes a pair of robot arms 752 to which a pair of robot hands 751 are connected, and an arm movement mechanism 752A that moves at least one of the pair of robot arms 752 along the long axis of the person being cared for CR. This makes it possible to expand the range of motion of the robot hands 751 while avoiding the need to increase the functionality of the robot arms 752.

[0149] Furthermore, the casing 730 covers the area including the buttocks CB while exposing the head of the person being cared for outside the casing 730. This allows the size of the casing 730 to be as compact as possible. Also, because the head of the person being cared for is outside the casing 730, the person being cared for is less likely to feel claustrophobic or confined. The casing 730 may also have side walls to protect the sides of the head. Even in this case, the area in front of the head's line of sight remains open.

[0150] <Note> 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.

[0151] The torso air cushion 722 may also be configured in the same way as the lower limb air cushion 728A shown in Figure 37, with one torso air cushion 722 surrounding the torso from one side to the other.

[0152] Figure 38 shows a modified example of the sewage tank 770. The sewage tank 770 includes a tank section 770a for storing sewage, a receiving port 770b for receiving sewage, and a drain port 770c for draining sewage. Furthermore, as shown in the example in Figure 38, the sewage tank 770 may include wheels 770e and a handle 770d provided on the opposite side of the wheels 770e. The user may carry the sewage tank 770, removed from the caregiving device 710, to the sewage facility by holding the handle 770d and rolling the wheels 770e.

[0153] Furthermore, as shown in the example in Figure 38, the sewage tank 770 may have a recess 770f into which the upper edge of the toilet bowl T fits. This allows the sewage from the sewage tank 770 to flow into the toilet bowl T when the sewage tank 770 is set on the toilet bowl T using the recess 770f. In the example shown in Figure 38, two recesses 770f are formed. The upper edges on both sides of the toilet bowl T fit into the two recesses 770f. A drain port 770c of the sewage tank 770 is provided between the two recesses 770f. For example, the arrangement of the recesses 770f and the drain port 770c may be such that, when the upper edge of the toilet bowl T is fitted into the recesses 770f, the drain port 770c is located at the water outlet of the bidet nozzle. This allows the drain port 770c to be cleaned by the water coming out of the bidet nozzle.

[0154] Figure 39 shows a modified example of cartridge 835. Figures 40 and 41 show examples of operation of cartridge 835.

[0155] The modified cartridge 835 includes a case body 835A, a lid 835B, and a winding device 835C. As shown in Figure 39, a new diaper D3 can be set 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 sides of the waist and one winding device 835C2 located under the crotch. As shown in Figure 40, the winding device 835C1 is movable back and forth around its long axis. As shown in Figure 41, the winding device 835C2 is movable back and forth around an axis along the left-right direction. The winding device 835C may, for example, have a tension function that conforms to the body according to the physique of the person being cared for CR.

[0156] Figures 42 to 44 show examples of the operation of attaching diaper D3 using cartridge 835.

[0157] First, a new diaper D3 is placed in cartridge 835 outside the care device. The diaper is then placed in the case body 835A with the lid 835B removed, in an unfolded state. After that, the lid 835B is attached to the case body 835A, which sets the diaper D3 into cartridge 835. Next, cartridge 835 with the new diaper D3 is inserted into the care device.

[0158] Inside the care device, once the cartridge 835 reaches the designated position below the buttocks CB, the lid 835B is first removed. After this, the two winding devices 835C1 are activated. Then, the winding device 835C2 is activated to secure the diaper D3.

[0159] Cartridge 835 may also be used to remove diaper D1 worn by the person receiving care (CR). Removal of diaper D1 using cartridge 835 can be performed, for example, as follows:

[0160] First, the cartridge 835 is positioned in a predetermined location below the buttocks CB. In this state, the crotch fastening of the diaper D1 is detached by the winding device 835C2, and the waist fastening is detached by the winding device 835C1. The detached diaper D1 falls from the buttocks CB onto the lid 835B below. At this time, the used diaper D2 is spread out on the lid 835B. The used diaper D2 may also be folded by the winding device 835C.

[0161] The care device may include a health management device that recognizes the state of the waste attached to diaper D2 and manages the health of the person being cared for (CR). For example, the health management device may perform image recognition of the waste to recognize its state from its color or shape. The imaging of the waste should be done in a location within the casing 30 where the genital area is not visible. For example, when diaper D1 is removed using the cartridge 835, the waste on diaper D2 spread on the lid 835B may be imaged. Alternatively, the health management device may use a chemical sensor to detect a predetermined component in the waste and recognize its state. 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 composed of a medical AI algorithm.

[0162] The care device 710 may include an emotion measurement unit for measuring the emotions of the care recipient CR. The emotions of the care recipient CR are determined by analyzing indicator values ​​such as the care recipient CR's facial expressions, vocalizations, or changes in pulse rate. In this case, the state variable acquisition unit includes an emotion analysis unit for deriving emotion data from the emotion indicator values. The indicator values ​​such as the care recipient CR's facial expressions, vocalizations, or changes in pulse rate are detected by an emotion indicator value detection sensor. The emotion indicator value detection sensor includes, for example, a camera for photographing the care recipient CR's facial expressions, a microphone for capturing vocalizations made by the care recipient CR, and a pulse sensor for measuring the care recipient CR's pulse rate. The emotion analysis unit is configured using the indicator values ​​detected by the emotion indicator value detection sensor and is configured by a known emotion analysis program or the like. Emotions may be determined from one indicator value or from multiple indicator values. When emotions are determined from multiple indicator values, the weights of each of the multiple indicator values ​​may be equal, or the weights of each of the multiple indicator values ​​may be assigned different levels of emphasis. The control unit 90 may control the robot based on the emotions of the care recipient CR obtained by the emotion measurement unit. For example, if the emotions of the care recipient CR are measured as negative, the control unit 90 may control the robot to stop or reduce its speed.

[0163] In the care device 710, the backrest 721, the air cushion for the buttocks 740, and the footrest 727 may be arranged to form a chair when receiving the person to be cared for (CR). In this case, the person to be cared for (CR), who is able to walk, may sit on the chair-type backrest 721, the air cushion for the buttocks 740, and the footrest 727.

[0164] The care device 710 may be equipped with a chute. The chute is a device that guides used diapers D2 to the trash can 72.

[0165] The caregiving device 710 may include a trash can moving device. The trash can moving device is a device for moving 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 caregiving device 710, a trash can 72 may be placed in a hole provided in the center or part of the lifting seat (air cushion 740 for the buttocks).

[0167] Measures to prevent incontinence in the person being cared for (CR) may be taken during diaper changes. For example, an absorbent sheet may be placed in the sink 732a separately from the diaper D2. Alternatively, a foamy cleaning agent may be sprayed into the sink 732a before diaper changes. Alternatively, a small amount of water may be placed in the sink 732a before diaper changes.

[0168] The robot may include an air blowing device located near the fingers of the robot hand 751. This allows the fastener of the tape-type diaper D to be lifted by blowing air from the air blowing device towards the fastener while the fingers of the robot hand 751 are positioned near it. This allows the fingers of the robot hand 751 to grasp the fastener while it is lifted, making it easier for the robot hand 751 to grasp the fastener.

[0169] <Embodiment 3> A care device according to Embodiment 3 will now be described. Figure 45 is a schematic perspective view showing the care device 910 according to Embodiment 3. Figure 46 is a schematic perspective view showing the care device 910 in seated mode. Figure 47 is a schematic perspective view showing the care device 910 in supine mode. Figure 48 is a schematic perspective view showing a modified example of the care device 910. Figure 49 is a plan view showing the vertical wall portion 938B. Figure 50 is a schematic side view showing the internal configuration of the care device 910. Figure 51 is a schematic plan view showing the mounting unit 950B.

[0170] The support section 920 of the care device 910 also includes a backrest 921, a seat 940, and a lower limb support section 926. As shown in Figures 46 and 47, the backrest 921, seat 940, and lower limb support section 926 can be switched between a seated mode and a supine mode between a pair of vertical wall sections 938A and 938B, similar to the care device 710 according to Embodiment 2. As shown in Figure 45, in this embodiment, the backrest 921, seat 940, and lower limb support section 926 can form a casing mode. In casing mode, part or all of the backrest 921, seat 940, and lower limb support section 926 form part of the casing 930. For example, by entering this casing mode when the care device 910 is not in use or during transport, the care device 910 is less likely to get in the way. In this casing mode, the backrest 921 and seat 940 are located above the pair of vertical wall sections 938A, forming the upper wall section. The lower limb support section 926 is located in front of the pair of vertical wall sections 938A, forming the side wall section.

[0171] As shown in Figure 48, the lower limb support portion 926 may be provided with leg-receiving recesses 926D and 926E. The legs of the person being cared for (CR) are placed in the leg-receiving recesses 926D and 926E. The leg-receiving recesses 926D and 926E are formed in a U-shape in cross-section. The leg-receiving recesses 926D and 926E include a leg-receiving recess 926D for the right leg and a leg-receiving recess 926E for the left leg. The leg-receiving recess 926D for the right leg and the leg-receiving recess 926E for the left leg may be arranged to gradually move away from each other towards the toes.

[0172] As shown in Figure 48, the backrest 921 may be provided with a neck support 921A. The neck support 921A may be fixed or movable.

[0173] As shown in Figure 48, the vertical 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 supine position, the upper surface of the vertical wall portion 938B can be aligned with the upper surface of the seat 940 or backrest 921. This makes it easier for the person being cared for (CR) to move over the vertical wall portion 938B onto the seat 940 or backrest 921.

[0174] As shown in Figure 49, a pair of lower wall portions 938C may be provided. Equipment M used for caregiving may be placed between the pair of lower wall portions 938C. Equipment M may be a power supply, control unit, 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 plate portion located outside the lower wall portions 938C, and ribs protruding toward the lower wall portions 938C from the front edge and rear edge of the main plate portion, respectively.

[0175] As shown in Figure 50, the seat 940 can be housed under the lower limb support 926 or the backrest 921. The seat 940 is slidable or rotatable.

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

[0177] The care device 910 is equipped with a lid similar to the lid 738A described above. The lid may be a single plate. The lid may be made of multiple plates. The multiple plates may be separate. The multiple plates may be connected via hinges 926C and be foldable. The lid may be a roll screen or a bellows screen.

[0178] The diaper attachment / detachment section 950 of the nursing care device 910 comprises a detachment unit 950A, an attachment unit 950B, and a movement mechanism 957. The detachment unit 950A, the attachment unit 950B, and the movement mechanism 957 are housed inside the box when in casing mode.

[0179] The detachment unit 950A comprises a vacuum device 958 and a packing device 959. The vacuum device 958 removes the used diaper D attached to the care recipient CR by sucking it up. The vacuum device 958 is not particularly limited, and any 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 up by the vacuum device 958. The packing device 959 is not particularly limited, and any known packing section 959B can be used.

[0180] For example, the vacuum device 958 comprises 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 be able to create negative pressure at the upper opening. The lower opening of the cup 958A is connected to a packing device 959. By applying negative pressure to the diaper D by pressing the edge of the upper opening against it, the used diaper D is sucked into the cup 958A. The used diaper D sucked into the cup 958A falls into the packing device 959 by its own weight through the lower opening of the cup 958A.

[0181] For example, the packing device 959 comprises a film 959A, a packing section 959B, and a cutting section 959C. The film 959A includes a rolled section and a leading end that is fed from the rolled section to the packing section 959B. The packing section 959B uses the leading end of the film 959A to wrap the used diaper D. After the wrapping is complete, the cutting section 959C cuts the leading end of the film 959A, separating the portion of the film 959A used for wrapping from the rolled section.

[0182] The packing section 959B holds the pair of films 959A in a state where the lower parts are bonded together and the upper parts are open. The packing section 959B bonds the upper parts of the films 959A after the used diaper D is placed inside the films 959A. For example, the films 959A may be self-fusing. In this case, the packing section 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, the pair of films 959A are bonded together by the pair of rollers. This completes the wrapping of the used diaper D. The cutting section 959C cuts the wrapped films 959A at the bottom of the pair of rollers.

[0183] The tape on diaper D attached to the person receiving care (CR) may be removed by the caregiver or by the care device 910. When the care device 910 removes the tape on diaper D1 attached to the person receiving care (CR), the care device 910 may have a tape removal device. The tape removal device may be incorporated into the detachment unit 950A or provided separately from the detachment unit 950A. The tape removal device may include, for example, a long, rod-shaped bag and an inflation / deflation unit that adjusts the air inside the bag to inflate and deflate it. The tape is removed when the bag is inflated while it is inserted between the tape of diaper D attached to the person receiving care (CR) and the diaper body.

[0184] The mounting unit 950B comprises a cartridge 935, a base unit 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 unit 955. A cartridge 935 holder is provided on the upper part of the base unit 955 to detachably hold the cartridge 935.

[0185] The four robot hands 951 are capable of grasping the diaper D in the cartridge 935 held by the base 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. The three robot arms 952 move three of the four robot hands 951. The three robot arms 952 include robot arms 952A, 952B, and 952C. Robot arm 952A moves robot hand 951A. Robot arm 952B moves robot hand 951B. Robot arm 952C moves robot hand 951C. Robot hand 951D does not move and grasps the diaper D in the cartridge 935 until a predetermined operation is completed. While one robot hand 951 grasps a portion of diaper D3, the other three robot hands 951 grasp other portions of diaper D3 and move it. This prevents diaper D from shifting from its predetermined position when the three robot hands 951 move portions of diaper D3.

[0186] The three robotic arms 952 move the three robotic hands 951 up and down between a lower position and an upper position. For example, the lower position is the position for grasping the diaper D3 set in the cartridge 935. For example, the upper position is the position located above the abdomen of the person being cared for CR. The up and down movement may also be, for example, extension and retraction. For example, the lower position may be the retracted position and the upper position may be the extended position.

[0187] The two robot arms 952 move the two robot hands 951 horizontally. This horizontal movement may be, for example, telescopic movement. For example, with three robot hands 951 in an upward position, the two robot arms 952 move the two robot hands 951 horizontally toward the robot hands 951. The two robot arms 952 also move the two robot hands 951 horizontally toward a predetermined tape-fastening position.

[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 be moved 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 lifting 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 backward. The horizontal movement mechanism 957A controls the movement so that the detachment unit 950A and the attachment unit 950B are never simultaneously positioned at the position below the buttocks. One of the two lifting and lowering mechanisms 957B moves the detachment unit 950A up and down, and the other moves the attachment unit 950B up and down. The two lifting and lowering mechanisms 957B move horizontally together with the detachment unit 950A and the attachment unit 950B by the horizontal movement mechanism 957A.

[0189] <Diaper changing procedure> This section describes the diaper changing procedure using the care device 910. Figures 52 to 60 show the diaper changing procedure being performed using the care device 910. Note that the pre-treatment process is complete, and the care recipient CR is in a position suitable for diaper changing.

[0190] <Diaper removal process> As shown in Figure 52, the horizontal movement mechanism 957A moves the detachment unit 950A below the buttocks CB of the person being cared for (CR).

[0191] As shown in Figure 53, the lifting and moving mechanism 957B raises the detachment unit 950A, bringing the cup 958A of the vacuum device 958 closer to the diaper D1 worn by the person being cared for (CR). At this time, the tape on the diaper D1 is also removed.

[0192] As shown in Figure 54, the vacuum pump of the vacuum device 958 is driven to suction the diaper D1 of the person being cared for (CR). This removes the diaper D1 from the person being cared for (CR). The removed used diaper D2 is sent to the packing device 959 by free fall.

[0193] As shown in Figure 55, the packing device 959 is driven to pack the used diaper D2 with film 959A. This prevents the caregiver from directly touching the used diaper D2, allowing for a more hygienic diaper changing process. The packed diapers D2 accumulate, for example, at the bottom of the detachment unit 950A. For example, the caregiver can dispose of the packed diapers D2 in a timely manner.

[0194] Furthermore, as shown in Figure 55, once the diaper removal process is complete, the lifting mechanism 957B lowers the removal unit 950A, and the horizontal movement mechanism 957A moves the removal unit 950A out of the position below the buttocks.

[0195] After this, the detachment unit 950A retracts from its position below the buttocks, and with the space below the buttocks now open, the washing unit 60 and drying unit 66 are used to wash and dry the care recipient CR.

[0196] <Diaper supply and processing> While the detachment unit 950A is removing diaper D1 from the person being cared for (CR), a new diaper D3 may be placed in the attachment unit 950B.

[0197] As shown in Figure 52, the horizontal movement mechanism 957A moves the mounting unit 950B outside the casing (vertical wall portion 938B). Remove the cartridge 935 located on top of the mounting unit 950B. For example, a caregiver removes the cartridge 935 located on top of the mounting unit 950B.

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

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

[0200] The four hands 951 grasp the diaper D3 at the recess 935A of the cartridge 935.

[0201] This sets the diaper D3 into the attachment unit 950B, making it ready for attachment. The diaper attachment process is then performed with the diaper D3 set in the attachment unit 950B.

[0202] <Diaper attachment process> As shown in Figure 56, the horizontal movement mechanism 957A moves the attachment unit 950B below the buttocks CB of the person being cared for (CR).

[0203] As shown in Figure 57, the lifting and moving mechanism 957B raises the attachment unit 950B, bringing the new diaper D3 closer to the buttocks CB of the person being cared for (CR).

[0204] As shown in Figure 58, arm 952A moves hand 951A upward. Hand 951A rises through the legs of the person being cared for (CR).

[0205] Furthermore, as shown in Figure 58, arms 952B and 952C move the hands 951B and 951C on both the left and right sides of the person being cared for (CR) upward. The hands 951B and 951C and arms 952B and 952C connect the pair of attachment pieces Dc of the diaper D3.

[0206] As shown in Figure 59, arms 952B and 952C move hands 951B and 951C toward hand 951A. Hands 951B and 951C grasp the attachment piece Db of the diaper D3 held by hand 951A. Once the attachment piece Db of the diaper D3 is handed over to hands 951B and 951C, arm 952A moves hand 951A downward.

[0207] As shown in Figure 60, arms 952B and 952C move hands 951B and 951C toward the upper limb to attach the attachment piece Db of diaper D3. At this time, diaper D3 is aligned with the groin area of ​​the person being cared for CR. This completes the process of attaching a new diaper D3 to the person being cared for CR. Once the attachment of diaper D3 is complete, arms 952B and 952C move hands 951B and 951C downward.

[0208] The care device 910 may be the bed that the person receiving care (CR) normally uses. The care device 910 may also be incorporated around (for example, underneath) the bed that is normally used. In this way, transferring from the bed to the care device 910 becomes unnecessary or easy.

[0209] The detachment unit 950A and the attachment unit 950B may be integrated. 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.

[0210] Furthermore, the configurations described in the above embodiments and each of the modified examples can be combined as appropriate, as long as they do not contradict each other.

[0211] This specification and drawings disclose the following embodiments.

[0212] The first embodiment is a caregiving device comprising a support part that supports the person being cared for while leaving the entire area around the person's buttocks open, and a casing that includes a shielding wall that conceals the space for excretion processing formed around the person's buttocks supported by the support part.

[0213] This care device allows for the use of an open space for excretion around the buttocks of the person being cared for, supported by a support structure. This allows for the use of an open space for excretion while concealing it with a partition wall. This reduces the psychological burden associated with excretion.

[0214] A second embodiment is a care device according to the first embodiment, comprising a diaper attachment / detachment unit in the excretion processing space for removing and attaching at least one of the care recipient's diapers. This allows at least one of the care recipient's diapers to be removed and attached using the diaper attachment / detachment unit while the care recipient's buttocks are hidden by a shielding wall.

[0215] A third embodiment is a care device according to the second embodiment, wherein the diaper attachment / detachment unit includes a robotic hand that performs at least one of removing and attaching the diaper of the person being cared for. This allows at least one of removing and attaching the diaper of the person being cared for to be performed by the robotic hand without the need for a caregiver. This reduces the physical or psychological burden associated with excretion management.

[0216] A fourth aspect is a care device relating to the second or third aspect, wherein the diaper attachment / detachment section includes an air nozzle that generates air to remove the diaper. This allows the caregiver to remove the care recipient's diaper using air without the caregiver's intervention. This reduces the physical or psychological burden associated with waste disposal. Furthermore, it makes it possible to remove the diaper while avoiding physical contact.

[0217] The fifth aspect is a caregiving device according to the third or fourth aspect, wherein the diaper attachment / detachment unit includes a diaper recognition unit that recognizes the diaper. This allows the robotic hand or air nozzle to recognize the diaper of the person being cared for.

[0218] The sixth aspect is a care device relating to any one of the first to fifth aspects, comprising a washing unit for washing the buttocks of the person being cared for, the washing unit including a shower nozzle provided in the excretion processing space. This allows the buttocks of the person being cared for to be washed by the washing unit without the caregiver's intervention. This reduces the physical or psychological burden associated with excretion processing.

[0219] The seventh aspect is a caregiving device according to the sixth aspect, wherein the cleaning unit includes a water tank connected to the shower nozzle. This allows cleaning to be performed even when the caregiving device is installed in a location where it cannot be connected to a water supply facility.

[0220] The eighth aspect is a caregiving device according to the sixth or seventh aspect, wherein the washing unit includes a heating unit that heats the water supplied to the shower nozzle. This allows the washing process to be performed with hot water.

[0221] The ninth aspect is a care device relating to any one of the first to eighth aspects, comprising a waterproof section that waterproofs the portion of the person being cared for that is located above the space for waste disposal. This prevents the upper part of the person being cared for from getting wet when washing the buttocks of the person being cared for.

[0222] The tenth embodiment is a care device relating to any one of the first to ninth embodiments, which is movably mounted and includes a seat on which the person being cared for sits, and the seat moves to open up the area around the buttocks of the person being cared for. This allows the person being cared for to sit before and after the diaper is removed.

[0223] The eleventh aspect is a care device according to the tenth aspect, comprising a transfer support unit that assists in the transfer of the person being cared for from the bed to the seat. This makes it easier for the person being cared for to transfer to the seat of the care device.

[0224] The twelfth embodiment is a caregiving device according to any one of the first to eleventh embodiments, comprising a sewage tank provided at the bottom of the casing for storing sewage used to wash the person being cared for. This allows for washing to be performed even if the caregiving device is installed in a location where it cannot be connected to a sewage system.

[0225] The 13th embodiment is a caregiving device according to the 12th embodiment, wherein the sewage tank is installed in a detachable manner. This allows the sewage tank to be removed and the sewage stored in the tank to be drained into the sewage system.

[0226] The 14th aspect is a caregiving device according to any one of the first to 13 aspects, comprising a drying unit for drying the excretion processing space. This allows the care recipient and the inside of the caregiving device to be dried by the drying unit after the care recipient has been washed.

[0227] The 15th embodiment is a caregiving device relating to any one of the first to 14th embodiments, comprising a moving mechanism provided on the main body including the support part and the casing, for moving the main body. This allows the caregiving device to be easily moved.

[0228] The sixteenth embodiment is a care device relating to any one of the first to fifteenth embodiments, comprising a trash can into which used diapers removed from the person being cared for are disposed of. This allows used diapers to be temporarily stored in a designated place until the diaper change is completed.

[0229] The 17th aspect is a caregiving device according to the 16th aspect, comprising a used diaper transfer unit for moving the used diapers to the trash can. This allows the used diapers to be moved to the trash can without the caregiver's intervention.

[0230] The 18th embodiment is a care device relating to any one of the first to 17 embodiments, comprising a diaper storage section for storing new diapers to be fitted to the person receiving care. This allows for the storage of new diapers.

[0231] The 19th aspect is a care device relating to any one of the first to 18 aspects, comprising a lower limb support that supports the lower limbs of the person being cared for, which are supported by the support portion. This makes it possible to suppress the movement of the lower limbs of the person being cared for during excretion.

[0232] The 20th embodiment is a caregiving device relating to any one of the first to 19 embodiments, comprising a processing unit that automatically disposes of waste or sewage generated from the excretion of the person being cared for. This reduces the caregiver's contact with the waste or sewage.

[0233] The 21st embodiment is a care device relating to any one of the first to 20 embodiments, which includes a hand rest on which the person being cared for can place their hands. This allows the person being cared for to rest their hands.

[0234] The 22nd aspect is a care device relating to any one of the first to 21 aspects, wherein the support portion includes a backrest that supports at least the back of the person being cared for so that the person being cared for is in a supine position. This allows the person being cared for to perform excretion procedures while in a supine position.

[0235] The 23rd aspect is a care device relating to the 22nd aspect, which includes an air cushion for the buttocks that can be deployed and retracted by air, wherein the air cushion for the buttocks supports the buttocks of the person being cared for when deployed and leaves the area below the buttocks open when retracted. This makes it less likely for the support member for the buttocks to interfere with excretion by retracting the air cushion.

[0236] The 24th aspect is a care device according to the 22nd or 23rd aspect, comprising a lower limb support that supports the lower limbs of the person being cared for, which are supported by the support part, and each of the support part and the lower limb support is capable of changing between a horizontal position and a rotating position, and in the rotating position, the buttocks of the person being cared for are supported in a position lower than the thighs and waist. This makes it easier to access the buttocks of the person being cared for when handling excretion. It also makes it easier to prevent parts other than the area to be washed, including the buttocks, from getting wet during washing.

[0237] The 25th embodiment is a care device relating to any one of the 22nd to 24th embodiments, wherein the support part includes an air cushion for the torso that can be deployed and retracted by air, and the air cushion for the torso surrounds the torso of the person being cared for when deployed. This allows the person being cared for to feel as if they are being held while excretion is being handled, making it easier for them to feel secure.

[0238] The 26th aspect is a care device according to the 25th aspect, comprising a wall portion located outside the torso air cushion relative to the person being cared for, and in contact with the deployed torso air cushion. This allows for the formation of a simple watertight state at the position of the torso air cushion, making it easier to suppress water leakage towards the head side of the torso air cushion during washing.

[0239] The 27th embodiment is a care device relating to any one embodiment from the 22nd to the 26th, comprising a lower limb support section that supports the lower limbs of the person being cared for, which are supported by the support section, and the lower limb support section includes an air cushion for the lower limbs that can be deployed and retracted using air, and the lower limb air cushion, when deployed, surrounds each of the lower limbs of the person being cared for and supports them in a position with their legs spread apart. As a result, the person being cared for is kept in a position with their legs spread apart, which makes it less likely for dirt to remain on them.

[0240] The 28th aspect is a care device according to the 27th aspect, comprising a wall portion located outside the lower limb air cushion with respect to the person being cared for, and in contact with the lower limb air cushion when it is deployed. This allows for the formation of a simple watertight state at the position of the lower limb air cushion, making it easier to suppress water leakage toward the toes side of the lower limb air cushion during washing.

[0241] The 29th aspect is a care device according to the third aspect, wherein a pair of robot hands are provided, and the diaper attachment / detachment unit includes a pair of robot arms to which the pair of robot hands are connected, and an arm movement mechanism for moving at least one of the pair of robot arms along the long axis of the person being cared for. This makes it possible to expand the range of motion of the robot hands without increasing the functionality of the robot arms.

[0242] The 30th embodiment is a care device relating to any one of the first to 29 embodiments, wherein the casing covers the portion including the buttocks while exposing the head of the person being cared for to the outside of the casing. This makes the size of the casing as compact as possible.

[0243] The 31st aspect is a care device according to the 24th aspect, wherein, in the rotational position, the knees of the person being cared for are bent and supported in a position where the knees are higher than the thighs. This allows the person being cared for to maintain the rotational position with less strain.

[0244] The 32nd aspect is a caregiving device according to the 24th aspect, comprising a neck support that supports the neck of the person being cared for in the rotational position. This allows the person being cared for to maintain the rotational position with less strain.

[0245] The 33rd aspect is a care device according to the 2nd aspect, wherein the diaper attachment / detachment unit includes a detachment unit that removes the diaper of the care recipient, a wearing unit that is provided separately from the detachment unit and attaches a new diaper to the care recipient, and a moving mechanism that moves the detachment unit and the wearing unit. This makes it easy to provide an appropriate mechanism according to the removal and attachment of the diaper.

[0246] All of the above descriptions are illustrative in all aspects, and the present invention is not limited thereto. Innumerable variations that are not illustrated can be assumed without departing from the scope of the present invention.

Explanation of Signs

[0247] 10, 710, 910 Care device 20, 720, 920 Support part 26, 726, 926 Lower limb support part 30, 730, 930 Casing 31 Shielding wall 35 Diaper storage part 36 Handrest 38 Waterproof part 40, 940 Seat surface 44 Transfer support part 50, 750, 950 Diaper attachment / detachment unit 51, 751, 951 Robot hand 52, 752, 952 Robot arm 54 Air nozzle 56 Diaper recognition part 60 Cleaning part 61 Shower nozzle 62 Water supply tank 63 Heating part 66 Drying part 70 Sewage tank 72 Dustbin 74 Processing part 80 Moving mechanism 721 Backrest 722 Chest air cushion 727 Footrest 728 Lower Limb Air Cushion 740 Air cushion for buttocks 752A Arm movement mechanism 921A Neck support 950A Detachment 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 caregiving robot that puts on diapers for the person being cared for, The hand for gripping the aforementioned diaper, An arm for moving the hand that is gripping the diaper, A control unit that controls the hand and the arm, Equipped with, The control unit is a caregiving robot that moves the hand by the arm so that the hand passes between the legs of the person being cared for.

2. A care robot according to claim 1, The hand includes a first hand that grasps the ventral side of the diaper, The control unit is a caregiving robot that uses the arm to move the first hand, which grasps the ventral side of the diaper located below the buttocks of the person being cared for, so that the first hand passes between the legs of the person being cared for.

3. A caregiving robot according to claim 2, The hand includes a second hand for grasping the left portion of the back side of the diaper and a third hand for grasping the right portion of the back side of the diaper. The control unit is a care robot that uses the arms to move the second hand and the third hand, which are grasping the dorsal side of the diaper located below the buttocks of the person being cared for, so that they move above the abdomen of the person being cared for.

4. A care robot according to any one of claims 1 to 3, A caregiving robot in which the support portion that supports the arm is supported by a bottom wall below the buttocks of the person being cared for.

5. A care robot according to claim 4, A caregiving robot in which the support portion is slidable between a first position and a second position located closer to the feet of the person being cared for than the first position.

6. A care robot according to any one of claims 1 to 3, A caregiving robot in which the support part that supports the aforementioned arm is supported by a vertical wall or ceiling.

7. A care robot according to claim 6, A caregiving robot in which the support portion is slidable between a first position and a second position located closer to the feet of the person being cared for than the first position.

Images