公开(公告)号：JP2013090647A

公开(公告)日：2013-05-16

申请号：JP2011232607

申请日：2011-10-24

Applicant: Toyota Motor Corp ,  トヨタ自動車株式会社

Inventor： NAKAMURA TAKUMA

IPC: A61G5/00

Abstract: PROBLEM TO BE SOLVED: To provide a transfer support device and a control method of the transfer support device that can reduce unpleasantness and a burden that a person to be cared has.SOLUTION: A transfer support device 100 including a holder 16 for holding the upper part of the person to be cared, and a step 13 on which the legs of the person to be cared are placed includes a storage part 202 which stores relative positions of the holder 16 and the step 13, an elevation axis actuator 213 which elevates the holder 16, a step actuator 214 which elevates the step, and a control device 201 which outputs a drive instruction to elevate the holder 16 and the step 13 while maintaining the relative positions to the elevation axis actuator 213 and the step actuator 214.

Abstract translation: 要解决的问题：提供一种转移支持装置和转移支持装置的控制方法，其可以减少被照顾的人的不愉快和负担。 解决方案：一种转移支持装置100，包括用于保持被照顾的人的上部的保持器16，以及放置被照顾者的腿的步骤13包括存储部分202，其存储相对 保持器16和台阶13的位置，提升保持器16的升降轴致动器213，升高台阶的踏板致动器214和输出驱动指令以提升保持器16和台阶13的控制装置201，同时 保持与升降轴致动器213和踏板致动器214的相对位置。版权所有：（C）2013，JPO＆INPIT

公开(公告)号：JP2010162626A

公开(公告)日：2010-07-29

申请号：JP2009005351

申请日：2009-01-14

Applicant: Toyota Motor Corp ,  トヨタ自動車株式会社

Inventor： ODAJIMA TADASHI ,  EBIHARA YASUHIRO ,  NAKAMURA TAKUMA

IPC: B25J13/02 ,  A61G7/10 ,  B25J3/00 ,  B25J5/00

Abstract: PROBLEM TO BE SOLVED: To provide a robot system capable of reliably preventing erroneous operation while improving operability, and a method for operating the same.
SOLUTION: The robot system 10 includes an operation part 25 for inputting operation information and a plurality of operation attachments 12a, 24a and 24b on which the operation part 25 can be attached and detached. The robot system 10 may further include a carrier 1, a wheel driving part for driving a wheel of the carrier 1, an arm 2 coupled with the carrier 1, an arm driving part for driving the arm 2, a control part 17 for controlling the wheel driving part and the arm driving part based on the operation information input via the operation attachments 12a, 24a and 24b from the operation part 25, and a holder 3 mounted on the arm 2 for holding a human.
COPYRIGHT: (C)2010,JPO&INPIT

Abstract translation: 要解决的问题：提供一种能够可靠地防止错误操作同时提高可操作性的机器人系统及其操作方法。 解决方案：机器人系统10包括用于输入操作信息的操作部分25和可以安装和拆卸操作部件25的多个操作附件12a，24a和24b。 机器人系统10还可以包括载体1，用于驱动载体1的轮的轮驱动部，与载体1连接的臂2，用于驱动臂2的臂驱动部，控制部17 基于从操作部件25经由操作附件12a，24a和24b输入的操作信息的手轮驱动部分和手臂驱动部分，以及安装在手臂2上用于保持人的保持器3。 版权所有（C）2010，JPO＆INPIT

公开(公告)号：JP2010029359A

公开(公告)日：2010-02-12

申请号：JP2008193435

申请日：2008-07-28

Applicant: Toyota Motor Corp ,  トヨタ自動車株式会社

Inventor： YAMAUCHI YOJI ,  NAKAMURA TAKUMA

IPC: A61G1/00 ,  A61G7/10

Abstract: PROBLEM TO BE SOLVED: To provide a transfer support apparatus and a method for controlling the transfer support apparatus, which are capable of preventing the situation that the body of a care-receiver holding a body holder is pressurized by the body holder, in the transfer support apparatus for supporting the transfer operation of the care-receiver.
SOLUTION: The transfer support apparatus including a support base, a post whose one end is freely tiltably attached to the support base, the body holder provided at the other end part of the post, driving means for tilting the post, and a control portion for controlling the driving means, includes detection means for detecting a pressure sensing state for a direction of driving the post on the surface of the body holder.
COPYRIGHT: (C)2010,JPO&INPIT

Abstract translation: 要解决的问题：为了提供一种能够防止由身体保持器对身体保持器的身体进行加压的情况的转移支持装置和控制转移支持装置的方法， 在用于支持护理者的转移操作的转移支持装置中。 解决方案：转印支撑装置包括支撑基座，其一端可自由倾斜地附接到支撑基座的柱，设置在柱的另一端部的主体保持架，用于使柱移动的驱动装置，以及 用于控制驱动装置的控制部分包括检测装置，用于检测在主体保持器的表面上驱动柱的方向的压力感测状态。 版权所有（C）2010，JPO＆INPIT

公开(公告)号：JP2013090880A

公开(公告)日：2013-05-16

申请号：JP2011236228

申请日：2011-10-27

Applicant: Toyota Motor Corp ,  トヨタ自動車株式会社

Inventor： NAKAMURA TAKUMA ,  KONDO HIROYUKI

IPC: A61G7/10 ,  A61G1/003 ,  A61G5/00

Abstract: PROBLEM TO BE SOLVED: To provide a transfer support device and a transfer support device control method that improve operability during a movement.SOLUTION: The transfer support device having a vehicle body 21 for transferring a person to be cared includes: driven wheels 11 capable of rolling in all directions; driving wheels 12 capable of changing rolling directions according to a moving direction of the vehicle body 21; and a steering device 22 which changes the rolling directions of the driving wheels 12 so that when the moving direction of the vehicle body 21 is changed, the driving wheels may roll in the same directions as the rolling directions of the driven wheels 11 or in directions of rolling around the driven wheels 11.

Abstract translation: 要解决的问题：提供一种提高运动中的可操作性的转移支持装置和转移支持装置控制方法。 解决方案：具有用于转移被照顾的人的车身21的转移支撑装置包括：能够在所有方向上滚动的从动轮11; 能够根据车体21的移动方向变更滚动方向的驱动轮12; 以及转向装置22，其改变驱动轮12的滚动方向，使得当车身21的移动方向改变时，驱动轮可以沿与从动轮11的滚动方向相同的方向滚动，或者以方向 绕过驱动轮11滚动。（C）2013年，JPO＆INPIT

公开(公告)号：JP2012100720A

公开(公告)日：2012-05-31

申请号：JP2010249370

申请日：2010-11-08

Applicant: Toyota Motor Corp ,  トヨタ自動車株式会社

Inventor： NAKAMURA TAKUMA

IPC: A61G7/10

Abstract: PROBLEM TO BE SOLVED: To provide a technique for holding a trunk of a care-receiver at an appropriate position when lifting the trunk using a holding tool.SOLUTION: A transfer support apparatus 1 is an apparatus for supporting transfer of the care-receiver P in an upright sitting position. The transfer support apparatus 1 includes: a trunk holding tool 5 for holding the care-receiver P by coming in contact with the trunk of the care-receiver P in the upright sitting position; a loosening elimination mechanism for eliminating loosening between the trunk holding tool 5 and the trunk of the care-receiver P; and a lifter 6 (trunk holding tool raising means) for lifting the trunk holding tool 5 to raise the trunk of the care-receiver P.

Abstract translation: 要解决的问题：提供一种用于在使用保持工具提升躯干时将护理者的躯干保持在适当位置的技术。 解决方案：转移支持装置1是用于支持护理者P处于直立坐姿的转移的装置。 转移支持装置1包括：躯干保持工具5，用于通过与处于直立坐姿的护理人员P的躯干接触来保持护理者P; 用于消除躯干保持工具5与护理者P的躯干之间松动的松动消除机构; 以及用于提升行李箱保持工具5以升高护理者P的躯干的升降器6（躯干保持工具抬起装置）。（C）2012年，JPO和INPIT

公开(公告)号：JP2012045193A

公开(公告)日：2012-03-08

申请号：JP2010190455

申请日：2010-08-27

Applicant: Toyota Motor Corp ,  トヨタ自動車株式会社

Inventor： NISHIDA TAKESHI ,  ITO YUJI ,  NAKAMURA TAKUMA

IPC: A61G5/00 ,  A61G1/00

Abstract: PROBLEM TO BE SOLVED: To perform transfer work easily.SOLUTION: A transfer support apparatus 1 includes: a movable truck part 2; a holder 4 for holding an upper half of the body of a care-receiver; a seat part 5 on which the care-receiver sits; and a support member 6 for supporting the seat part 5, wherein one end is connected to the truck part 2 and the other end is connected to the seat part 5 so that the seat part 5 is swingable in a vertical direction. The support member 6 has a housed state to be housed in the truck part 2 together with the seat part 5 and a seated state that the care-receiver can sit on the seat part 5 by swinging upward from the housed state.

Abstract translation: 要解决的问题：轻松执行转移工作。 转移支撑装置1包括：可移动卡车部件2; 用于保持护理者身体的上半部的保持器4; 护理者坐在其上的座位部分5; 以及用于支撑座椅部分5的支撑构件6，其中一端连接到卡车部件2，另一端连接到座椅部件5，使得座椅部件5能够在垂直方向上摆动。 支撑构件6具有容纳状态，其与座部5一起容纳在卡车部2中，并且通过从容纳状态向上摆动，护理者可以坐在座部5上的就座状态。 版权所有（C）2012，JPO＆INPIT

公开(公告)号：JP2010142550A

公开(公告)日：2010-07-01

申请号：JP2008325379

申请日：2008-12-22

Applicant: Toyota Motor Corp ,  トヨタ自動車株式会社

Inventor： ODAJIMA TADASHI ,  NAKAMURA TAKUMA

IPC: A61G7/10

CPC classification number: A61G7/1017 ,  A61G7/1048 ,  A61G7/1059 ,  A61G7/1065 ,  A61G7/1086 ,  A61G2200/52

Abstract: PROBLEM TO BE SOLVED: To provide a transfer support device capable of swiftly and accurately controlling the posture of a holder, and a control method therefor.
SOLUTION: The transfer support device related to a first embodiment includes: an arm having first and second joints; a holder part coupled with the arm part for holding a care-receiver; a control handle for controlling the position and posture of the holder part; a first motor for driving the first joint; a second motor for driving the second joint; and a control part for controlling the first and second motors based on the information input from the control handle and the angle information on the first and second joints. The control part automatically controls the first and second motors so that the posture of the holder part is retained within a prescribed range of tolerance.
COPYRIGHT: (C)2010,JPO&INPIT

Abstract translation: 要解决的问题：提供能够快速且准确地控制保持器的姿势的转移支撑装置及其控制方法。 解决方案：与第一实施例相关的转移支撑装置包括：具有第一和第二关节的臂; 与手臂部分联接以保持护理者的保持器部分; 用于控制保持器部件的位置和姿势的控制手柄; 用于驱动第一接头的第一电机; 用于驱动第二关节的第二电动机; 以及控制部件，用于基于从控制手柄输入的信息和第一和第二关节上的角度信息来控制第一和第二电动机。 控制部自动控制第一和第二电动机，使得保持器部件的姿态保持在规定的公差范围内。 版权所有（C）2010，JPO＆INPIT

公开(公告)号：JP2010131225A

公开(公告)日：2010-06-17

申请号：JP2008310484

申请日：2008-12-05

Applicant: Toyota Motor Corp ,  トヨタ自動車株式会社

Inventor： NISHIDA TAKESHI ,  MISAO WARO ,  ITO YUJI ,  NAKAMURA TAKUMA

IPC: A61G7/10

Abstract: PROBLEM TO BE SOLVED: To provide a transfer support apparatus capable of reducing a psychological pressure on a care-receiver.
SOLUTION: The transfer support apparatus 10 (100) includes: a movable truck part 1; an arm part 22 whose one end is attached so as to be tiltable with respect to the truck part 1; a body holder 3 (130) arranged at the other end of the arm part 22, so as to hold the care-receiver; the driving part 43 of the arm part 22; a control part 5 for controlling the driving part 43; and a partitioning board 6 (160) for shielding the visibility of the care-receiver.
COPYRIGHT: (C)2010,JPO&INPIT

Abstract translation: 要解决的问题：提供能够降低护理受理者心理压力的转移支持装置。 传送支撑装置10（100）包括：可移动卡车部件1; 臂部22，其一端被安装成可相对于卡车部件1倾斜; 设置在臂部22的另一端的主体保持件3（130），以便保持保养人; 臂部22的驱动部43; 用于控制驱动部43的控制部5; 以及用于屏蔽护理者的可视性的分隔板6（160）。 版权所有（C）2010，JPO＆INPIT

公开(公告)号：JP2010069002A

公开(公告)日：2010-04-02

申请号：JP2008239493

申请日：2008-09-18

Applicant: Toyota Motor Corp ,  トヨタ自動車株式会社

Inventor： EBIHARA YASUHIRO ,  ODAJIMA TADASHI ,  NAKAMURA TAKUMA

IPC: A61G7/10

Abstract: PROBLEM TO BE SOLVED: To provide a transfer device and a transfer method for holding a person with a holer and optimally transferring the person. SOLUTION: The transfer device 10 includes: a cart part 1; a wheel driving part for driving the wheels 15 of the cart part 1; an arm part 2 connected to the cart part 1; an arm part driving part for driving the arm part 2; a control part 17 for controlling the wheel driving part and the arm part driving part; the holder 3 attached to the arm part 2 and holding the person; and a contact detecting part 19 for detecting contact of the person with the holder 3. The control part 17 controls the driving of the wheels 15 by the wheel driving part and the driving of the arm part 2 by the arm part driving part to move the holder 3 to a transfer target position. When the contact detecting part 19 detects the contact of the person with the holder 3, the control part 17 controls the driving of the wheel driving part and slows down the movement speed of the cart part 1. COPYRIGHT: (C)2010,JPO&INPIT

Abstract translation: 要解决的问题：提供一种用于保持拥有人的人的转移装置和转移方法，并且最佳地转移该人。 解决方案：转印装置10包括：手推车部件1; 用于驱动车部件1的车轮15的车轮驱动部件; 连接到推车部件1的臂部件2; 用于驱动臂部2的臂部驱动部; 用于控制车轮驱动部和臂部驱动部的控制部17; 附着在手臂部分2上并保持人的支架3; 以及用于检测人与保持器3的接触的接触检测部19.控制部17通过轮驱动部来控制车轮15的驱动，通过臂部驱动部来驱动臂部2， 支架3到转印目标位置。 当接触检测部19检测到人与保持器3的接触时，控制部17控制车轮驱动部的驱动，并减慢推车部1的移动速度。版权所有（C）2010 ，JPO＆INPIT

公开(公告)号：JP2010069283A

公开(公告)日：2010-04-02

申请号：JP2008320026

申请日：2008-12-16

Applicant: Toyota Motor Corp ,  トヨタ自動車株式会社

Inventor： NISHIDA TAKESHI ,  MISAO WARO ,  ITO YUJI ,  NAKAMURA TAKUMA ,  MATSUMOTO KUNIYASU

IPC: A61G5/00 ,  A61G7/10

Abstract: PROBLEM TO BE SOLVED: To provide a transfer device to reduce a load on a person upon transferring and a transfer method thereof. SOLUTION: The transfer device 10 includes a transferrable cart part 1, an arm part 2 connected to the cart part 1, and a holder 3 attached to the arm part 2 to hold a person. The holder 3 has a body support part 31 to support the body of the person in an holding manner and an almost reverse T-shape lower limb support part 32 connected to the lower part of the body support part 31 to support the lower limb part. The holder may be formed into an almost laid U-shape, and may have a back support part with one side extended in an almost horizontal direction to support the back of a person, a lower limb support part with the other side extended almost in parallel with the back support part to hold the lower limb part, and a support part to support the back support part and the lower limb support part. COPYRIGHT: (C)2010,JPO&INPIT

Abstract translation: 要解决的问题：提供一种转移装置，以减少人员在转移时的负担及其转移方法。

解决方案：转印装置10包括可转印的手推车部件1，连接到手推车部件1的臂部件2和附接到臂部件2以保持人的保持器3。 保持器3具有主体支撑部31，用于以保持的方式支撑人体，以及连接到主体支撑部31的下部以支撑下肢部的几乎相反的T形下肢支撑部32。 保持器可以形成为几乎成U形，并且可以具有背部支撑部分，其一侧沿大致水平方向延伸以支撑人的背部，下肢支撑部分的另一侧几乎平行延伸 后支撑部分保持下肢部分，以及支撑部分以支撑后支撑部分和下肢支撑部分。 版权所有（C）2010，JPO＆INPIT