(19)
(11)EP 3 058 921 B1

(12)EUROPEAN PATENT SPECIFICATION

(45)Mention of the grant of the patent:
11.12.2019 Bulletin 2019/50

(21)Application number: 14854784.7

(22)Date of filing:  14.03.2014
(51)International Patent Classification (IPC): 
A61G 7/10(2006.01)
B25J 11/00(2006.01)
B25J 5/00(2006.01)
(86)International application number:
PCT/JP2014/057950
(87)International publication number:
WO 2015/056460 (23.04.2015 Gazette  2015/16)

(54)

ROBOT FOR TRANSFERRING A CARE RECEIVER

PATIENTENTRANSFERROBOTER

ROBOT POUR TRANSFERT DE PATIENT


(84)Designated Contracting States:
AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR

(30)Priority: 18.10.2013 JP 2013216861
13.12.2013 JP 2013258661

(43)Date of publication of application:
24.08.2016 Bulletin 2016/34

(73)Proprietor: Muscle Corporation
Osaka-shi, Osaka 541-0042 (JP)

(72)Inventors:
  • TAMAI, Hirofumi
    Toyonaka-shi Osaka 560-0084 (JP)
  • TAMAI, Satoshi
    Toyonaka-shi Osaka 560-0003 (JP)

(74)Representative: Vossius & Partner Patentanwälte Rechtsanwälte mbB 
Siebertstrasse 3
81675 München
81675 München (DE)


(56)References cited: : 
WO-A1-2004/026213
JP-A- 2010 536 417
JP-A- 2011 172 898
WO-A1-2009/147832
JP-A- 2011 172 898
  
      
    Note: Within nine months from the publication of the mention of the grant of the European patent, any person may give notice to the European Patent Office of opposition to the European patent granted. Notice of opposition shall be filed in a written reasoned statement. It shall not be deemed to have been filed until the opposition fee has been paid. (Art. 99(1) European Patent Convention).


    Description

    Technical Field of the invention



    [0001] The present invention is related to a robot. More specifically, the present invention is mainly related to a robot which is able to reduce burden of caregivers at a time of transferring care receivers.

    Background art



    [0002] Up to now, life support for aged persons and physically handicapped persons (hereinafter, referred to as care receivers) is carried out by caregivers such as care helpers. In the life support for care receivers by caregivers such as care helpers, the care receivers are transferred to wheelchairs from beds or to beds from wheelchairs to go to a restroom or to take a bath.

    [0003] Since such transfer is usually carried out by one caregiver such as care helper alone, the caregiver is resultantly loaded heavy burden. Therefore, most of caregivers such as care helpers suffer from lower back pain. As a result, such lower back pain has been one of the occupational disorders.

    [0004] For this reason, the care receiver is transferred by two caregivers now. However, due to rapid greying population of Japan, it becomes difficult to get enough caregivers such as care helpers. Accordingly, the persons related to the care business, it is anticipated that a care-robot to reduce number of caregivers such as care helpers at the time of transferring care receivers.

    [0005] The patent document No.1 discloses a carrier used in care. However, the carrier has a complex construction, so that the carrier cannot handle easily.

    Prior document


    Patent document



    [0006] Patent document No.1: Japanese Laid-open patent publication 2002-136549 Patent document No.2: WO 2004/026213 A1 Patent document No.3: JP 2011-172898 A

    [0007] WO 2004/026213 A1 relates to a transporting device for a patient. JP 2011-172898 A relates to a nursing care lift for safely moving a care receiver from a bed.

    Summary of the invention


    Problem to be solved by the invention



    [0008] Considering the problem of the prior art, the purpose of the present invention is to provide a robot which is operated easily and is able to transfer a care receiver by one caregiver alone.

    Means to solve the problem



    [0009] The robot of the present invention comprises a movable block, a rising & falling block arranged on the movable block, a tilting block set to the rising & falling block, an operating block arranged on the tilting block and a pair of arms; wherein the tilting block has a main tilting part and an auxiliary tilting part arranged on the main tilting part; and the auxiliary tilting part has auxiliary tilting elements, holding the arms, rotatably set at the both ends of a main tilting element of the main tilting part respectively.

    [0010] In the robot of the present invention, it is preferable that the main tilting part has a planetary gear mechanism including a sun gear and a pair of planetary gears arranged symmetrically to the sun gear; wherein the sun gear is supported by the top of the central rising & falling shaft of the rising & falling block and the main tilting element of the main tilting part in condition that the sun gear is unable to be rotated; one of the planetary gears is supported by the top of the one-side rising & falling shaft, which is set at one side of the central rising & falling shaft tiltably set on the base and at one side of the main tilting element of the main tilting part, in condition that the planetary gear is able to be rotated; and the other of the planetary gears is supported by the top of the other-side rising & falling shaft, which is set at the other side of the central rising & falling shaft tiltably set on the base and at the other side of the main tilting element of the main tilting part, in condition that the planetary gear is able to be rotated.

    [0011] Also, in the robot of the present invention, it is preferable that the rising & falling block has a pair of rising & falling shafts; wherein the main tilting element is tilted by the rising & falling shafts.

    [0012] Also, in the robot of the present invention, the auxiliary tilting element of the auxiliary tilting part is tilted by the rotating force of the planetary gear through a force transmitting mechanism arranged in the main tilting element.

    [0013] Also, in the robot of the present invention, the auxiliary tilting element is rotated in the same direction as the tilting direction of the main tilting element.

    [0014] Also, in the robot of the present invention, it is preferable that the arm is solid or hollow cylinder.

    [0015] Also, in the robot of the present invention, it is preferable that the arm is supported by the auxiliary tilting element in condition that the arm is able to be moved forward and backward.

    [0016] Also, in the robot of the present invention, it is preferable that the auxiliary tilting element has a locking mechanism which locks the arm at a prescribed position.

    [0017] Also, in the robot of the present invention, it is preferable that the robot is covered with a decorative cover.

    [0018] Also, in the robot of the present invention, it is preferable that the operating block has operating levers, an operating panel, and a control device; wherein the operating levers have actuating command means generating actuating command for the rising & falling block.

    [0019] Also, in the robot of the present invention, it is preferable that the operating panel has a head position indicating means indicating position of a head, and a head position indicating display displaying position of the head in response to an indicating signal from the head position indicating means.

    [0020] Also, in the robot of the present invention, it is preferable that the control device has a signal input block, an input signal managing block, an arithmetic processing block, a driving command generation block and a signal output block; wherein the arithmetic processing block has a tilting processing section which has tilting command generation means and a limit processing means.

    [0021] Also, in the robot of the present invention, it is preferable that the input signal managing block has a polarity discriminating means discriminating the polarity of the actuating command, a comparing means comparing the amplitude of the actuating command and a head position discriminating means discriminating head position based on a signal from the head position indicating means.

    [0022] Also, in the robot of the present invention, it is preferable that the comparing means selects a smaller absolute value of the input signal.

    [0023] Also, in the robot of the present invention, it is preferable that the limit processing means calculates the tilting angle based on the acceleration.

    Effect of the invention



    [0024] The present invention is comprised as described above, so that one caregiver is able to move a care receiver from bed alone.

    Brief description of drawings



    [0025] 

    Fig. 1 is a functional block diagram of one embodiment of the present invention.

    Fig. 2 is a schematic drawing of the robot.

    Fig. 3 is a schematic drawing showing the tilting block is tilted.

    Fig. 4 is a perspective view of the robot.

    Fig. 5 is a front view of the robot.

    Fig. 6 is a plan view of the robot.

    Fig. 7 is a side view of the robot.

    Fig. 8 is a schematic drawing of the main part of the tilting block of the robot.

    Fig. 9 is a schematic drawing of a custom care sheet.

    Fig. 10 is an isometric view of the robot covered by a decorative cover.

    Fig. 11 is a functional block diagram of the operating block of one embodiment of the robot of the present invention.

    Fig. 12 is a schematic plan view of the operating panel of the operating block.

    Fig. 13 is a block diagram of the control device of the operating block.

    Fig. 14 is a circuit diagram of the operating block.

    Fig. 15 is a block diagram of the input signal managing block.

    Fig. 16 is a block diagram of the arithmetic processing block.


    Embodiments carrying-out the invention



    [0026] Hereinafter referring to the attached drawings, the present invention is described on the basis of embodiments. However, the present invention is not limited to the embodiments.

    [0027] Fig. 1 shows a functional block diagram of a robot R, Fig. 2 shows a schematic drawing of the robot R, and Fig. 3 shows a tilting block in condition that the tilting block is tilted. Hereinafter, the right-side and the left-side mean the right-side and the left-side of the robot in case of viewing the robot R from the rear thereof respectively.

    [0028] As shown in Fig. 1, the robot R comprises a movable block M1, a rising & falling block M2 arranged on the movable block M1, a tilting block M3 set to the rising & falling block M2, and an operating block M4 arranged on the tilting block M3 as main components.

    [0029] More concretely, as shown in Fig. 2 and Fig. 3, the robot R has a base 100, movably constructed, composing the movable block M1, and a rising & falling shaft 3, arranged on the base 100 and composing the rising & falling block M2, tilting the tilting block M3 and rising and falling the tilting block M3. Also, the base 100 is equipped with a battery B. The battery B supplies the operating block M4, the rising & falling block M2, and the tilting block M3 with electric power.

    [0030] The rising & falling shaft 3 includes a central rising & falling shaft 3C arranged at the center of the base 100, a right-side rising & falling shaft 3R near-by arranged at the right-side of the central rising & falling shaft 3C, and a left-side rising & falling shaft 3L near-by arranged at the left-side of the central rising & falling shaft 3C. Herein, the right-side rising & falling shaft 3R and the left-side rising & falling shaft 3L are driving shaft, and the central rising & falling shaft 3C is driven shaft driven by the right-side rising & falling shaft 3R and the left-side rising & falling shaft 3L. Also, the driving shafts are screw shafts so that the shafts are able to hold their position when the shafts are stopped, and the shafts have internal sensors (not shown) at the upper limit and the lower limit thereof so that the shafts are automatically stopped at the upper limit and the lower limit thereof respectively.

    [0031] Tilting of the tilting block M3 is carried out by tilting a tilting element 2 of the tilting block M3 with a tilting mechanism composed of a planetary gear unit 4, as a central component, comprising a sun gear arranged at the top of the central rising & falling shaft 3C, a right-side planetary gear arranged at the top of the right-side rising & falling shaft 3R and a left-side planetary gear arranged at the top of the left-side rising & falling shaft 3L

    [0032] Rising and falling of the tilting block M3 is carried out by rising and falling the tilting element 2 of the tilting block M3 with rising and falling the right-side rising & falling shaft 3R and the left-side rising & falling shaft 3L synchronously. Detail of the planetary gear unit 4 is described later.

    [0033] In this embodiment, the movement range of the tilting block M3 by the rising & falling shaft 3 is restricted in the range of 750 mm to 1150 mm, and tilting angle of the head-side of the tilting block M3 is restricted in the range of +45 degrees to 0 degrees. However, the movement range and the tilting angle are not limited to the above-described range. For example, the tilting angle is able to be freely selected not to exceed +90 degrees.

    [0034] Hereinafter, referring additionally to Fig. 4 to Fig. 8, a mechanical construction of the robot R of the embodiment is described in detail.

    [0035] The robot R includes the base 100 movably constructed, the rising & falling block M2 arranged on the base 100, and the tilting block M3 set to the rising & falling block M2. The tilting element 2 of the tilting block M3 is equipped with a pair of arm elements 20, 20 at the both ends thereof. Namely, the right-side end thereof is equipped with a right-side arm element 21, and the left-side end thereof is equipped with a left-side arm element 22.

    [0036] The base 100 includes a carrying block 110 arranged on the center of the base 100, and moving mechanisms 160 set at the both sides of the carrying block 110. The carrying block 110 includes a carrying element 120 arranged at the center of the carrying block 110, and a horizontal support element 130 supporting the carrying element 120 elongated right and left directions.

    [0037] The carrying block 110, more concretely, the carrying element 120 is equipped with the rising & falling block M2 and so on.

    [0038] The moving mechanism 160 includes a front moving mechanism 170, a middle moving mechanism 180 and a rear moving mechanism 190. The front moving mechanism 170 includes front wheels 171 and front wheel support elements 172. The front wheel support element 172 is set to the front end of a front wheel support element holding element 175 including a front horizontal part 173 and a rear upslope part 174. More concretely, the front wheel support element 172 is set to the front end of the front horizontal part 173.

    [0039] The middle moving mechanism 180 includes middle wheels 181 and middle wheel support elements 182. The rear moving mechanism 190 includes rear wheels 191 and rear wheel support elements 192.

    [0040] The front wheel support element holding elements 175, the middle wheel support elements 182 and the rear wheel support elements 192 are connected to the horizontal support element 130 by suitable means respectively. Herein, the diameter of the front wheel 171 and the diameter of the middle wheel 181 are smaller than that of the rear wheel 191, and the diameter of the front wheel 171 is smaller than that of the middle wheel 181.

    [0041] The diameter of the front wheel 171 is small, and the front wheel support element holding element 175 has the above-described construction, so that the front moving mechanism 170 is able to get under a bed.

    [0042] The tilting block M3 comprises the tilting element 2, including a main tilting part 30 having a main tilting element 31, and an auxiliary tilting part 40. The main tilting part 30 is constructed by the planetary gear unit 4 as a central component. The planetary gear unit 4 includes the non-movable sun gear 5, and the right-side planetary gear 6R and the left-side planetary gear 6L symmetrically arranged to the sun gear 5. The auxiliary tilting part 40 includes a right-side auxiliary tilting section 41 having a right-side timing belt mechanism 42 driven by the right-side planetary gear 6R, and a left-side auxiliary tilting section 45 having a left-side timing belt mechanism 46 driven by the left-side planetary gear 6L.

    [0043] As shown in Fig. 8, the sun gear 5 is set to the top-front of the central rising & falling shaft 3C stood on the center of the base 100. More concretely, a rear shaft 5a of the sun gear 5 projected backward is set to a bearing (not shown) arranged to the central rising & falling shaft 3C. On the other hand, a front shaft 5b of the sun gear 5 projected forward is fixed to the main tilting element 31, thereby the main tilting element 31 is able to be tilted around the front shaft 5b as tilting center.

    [0044] The central rising & falling shaft 3C has a connecting element connecting to the carrying element 120 at the bottom thereof, and has a connecting part connecting to the rear shaft 5a of the sun gear 5 set to the main tilting part 30 at the top thereof as described above. It is preferable that the central rising & falling shaft 3C is hollow in view of light-weight of the robot R. Herein, a reinforcing rib 3Ca is provided to the front-bottom of the central rising & falling shaft 3C in order to prevent the central rising & falling shaft 3C from bending forward when the central rising & falling shaft 3C is loaded.

    [0045] As shown in Fig. 8, the right-side planetary gear 6R is set to the top of the right-side rising & falling shaft 3R stood at the right-side of the central rising & falling shaft 3C stood on the base 100. More concretely, a rear shaft 6Ra of the right-side planetary gear 6R projected backward is rotatably set to the top of the right-side rising & falling shaft 3R. On the other hand, the bottom of the front shaft 6Rb of the right-side planetary gear 6R projected forward is rotatably set to the main tilting element 31. Also, the top of the front shaft 6Rb is connected to a driving pulley 43 of the right-side timing belt mechanism 42 so as to be rotated integrally with the driving pulley 43. The right-side rising & falling shaft 3R is, for example, an electric cylinder including a right-side rising & falling body 3Ra, and a right-side actuator 3Rb rising and falling the right-side rising & falling shaft 3R. Bottom of an outer casing of the right-side rising & falling body 3Ra is tiltably connected to a connecting part 121 arranged on the carrying element 120. For example, the bottom of the outer casing of the right-side rising & falling body 3Ra is connected by pin-joint. Also, the right-side actuator 3Rb rising and falling the right-side rising & falling shaft 3R is connected to the right-side rising & falling body 3Ra so as for the right-side rising & falling body 3Ra is to be tilted.

    [0046] As shown in Fig. 8, the left-side planetary gear 6L is set to the top of the left-side rising & falling shaft 3L stood at the left-side of the central rising & falling shaft 3C stood on the base 100. More concretely, a rear shaft 6La of the left-side planetary gear 6L projected backward is rotatably set to the top of the left-side riding & falling shaft 3L. On the other hand, the bottom of the front shaft 6Lb of the left-side planetary gear projected forward is rotatably set to the main tilting element 31. Also, the top of the front shaft 6Lb is connected to a driving pulley 47 of the left-side timing belt mechanism 46 so as to be rotated integrally with the driving pulley 47.

    [0047] The left-side rising & falling shaft 3L, similar to the right-side rising & falling shaft 3R, includes a left-side rising & falling body 3La, and a left-side actuator 3Lb rising and falling the left-side rising & falling shaft 3L. Bottom of an outer casing of the left-side rising & falling body 3La is tiltably connected to a connecting part 121 arranged on the carrying element 120. For example, the bottom of the outer casing of the left-side rising & falling body 3La is connected by pin-joint. Also, the left-side actuator 3Lb rising & falling the left-side rising & falling shaft 3L is connected to the left-side rising & falling body 3La so as for the left-side rising & falling body 3La is to be rotated.

    [0048] As is described above, since the central rising & falling shaft 3C has not an actuator, rising and falling of the central rising & falling shaft 3C is carried out by synchronously rising and falling both of the right-side rising & falling shaft 3R and the left-side rising & falling shaft 3L.

    [0049] The main tilting element 31 is a rectangular box 32, and houses the right-side timing belt mechanism 42 right-side thereof and the left-side timing belt mechanism 46 left-side thereof. As is described above, sun gear 5, the front shaft 6Rb of the right-side planetary gear 6R and the front shaft 6Lb of the left-side planetary gear 6L are connected to the rear face 32a of the box 32. The right-end of the box 32 is equipped with a right-side auxiliary tilting element 44 of the right-side auxiliary tilting section 41 and the left-end of the box 32 is equipped with a left-side auxiliary tilting element 48 of the left-side auxiliary tilting section 45.

    [0050] Since the right-side auxiliary tilting element 44 and the left-side auxiliary tilting element 48 have the same construction except that they are bilateral symmetry, herein, the right-side auxiliary tilting element 44 is described and the description of the left-side auxiliary tilting element 48 is omitted.

    [0051] The right-side auxiliary tilting element 44 includes a driven pulley 43b driven by the driving pulley 43 through the timing belt 43a, a rear connecting piece 44a and a front connecting piece 44b connected to the rear shaft and the front shaft of the driven pulley 43b respectively, and a right-arm holding part 44c supported by the rear connecting piece 44a and the front connecting piece 44b. Herein, the rear connecting piece 44a and the front connecting piece 44b are connected to the rear shaft and the front shaft of the driven pulley 43b so that the rear connecting piece 44a and the front connecting piece 44b are rotated together with the driven pulley 43b. Also, the front shaft and the rear shaft of the driven pulley 43b are rotatably supported by the end of the front part 32b and the end of the rear face 32a of the box 32 respectively. For example, the front shaft and the rear shaft of the driven pulley 43b are rotatably supported through bearings. It is preferable that the timing belt 43a is provided with a tension adjuster in order to prevent the timing belt 43a from loosing. It is preferable that any known structure is able to be adopted as the tension adjuster. Namely, there is no limitation to the construction of the tension adjuster.

    [0052] The right-arm holding part 44c has a through-hole formed back and forth direction for the right-side arm element 21 to be inserted.

    [0053] The right-side arm element 21 is a hollow cylinder of which length is adjusted so that the right-side arm element 21 is projected forward from the robot R at prescribed distance, and a brim is formed at the rear end thereof to prevent the right-side arm element 21 from slipping off. Also, the left-side arm element 22 has similar construction and is formed a brim at the rear end thereof.

    [0054] Such construction is acceptable for the right-side arm element 21 and the left-side arm element 22. However, as shown in the drawings, it is preferable that the right-side arm element 21 is inserted so as to be moved freely backward and forward and that stopping groove 21a is ring-likely formed about midway thereof. The right-arm holding part 44c of the right-side auxiliary tilting element 44 is provided with a locking piece of a locking mechanism, for example, a latch locking mechanism F to be entered into the groove 21a so that the right-side arm element 21 is locked. The right-side arm element 21 and the left-side arm element 22 are constructed as such, it becomes easy for the right-side arm element 21 and the left-side arm element 22 are inserted into holding parts 61 of a custom care sheet 60 described later.

    [0055] Since the tilting block M3 is constructed as such, for example, the right-side of the main tilting part 30 is tilted up by synchronously raising the right-side rising & falling shaft 3R and falling the left-side rising & falling shaft 3L. Namely, the main tilting element 31 is inclined right-side up. In this case, since the right-side planetary gear 6R and the left-side planetary gear 6L are rotated, and the right-side planetary gear 6R and the left-side planetary gear 6L are held by the rear face 32a of the box 32 composing the main tilting element 31, the right-side planetary gear 6R and the left-side planetary gear 6L are rotated in the same direction. As a result, the right-side auxiliary tilting element 44 of the right-side auxiliary tilting section 41 is raised and the left-side auxiliary tilting element 48 of the left-side auxiliary tilting section 45 is lowered (refer to Fig.3). Namely, inclination of the custom care sheet 60 described below held by the right-side arm element 21 and the left-side arm element 22 makes large despite the small inclination of the main tilting part 30.

    [0056] Fig.9 shows one example of the custom care sheet 60.

    [0057] As shown in Fig.9, the custom care sheet 60 has cylindrical holding parts 61 at both end thereof. The right-side arm element 21 of the robot R is inserted into one of the holding part 61 and the left-side arm element 22 of the robot R is inserted into the other of the holding part 61.

    [0058] The holding part 61 comprises a base layer 62, a cushion layer 63 made of cushioned material arranged outside of the base layer 62 and a surface layer 64 made of synthetic resin sheet.

    [0059] Fig. 10 shows the robot R is covered with a decorative cover.

    [0060] The decorative cover C includes a base cover C1 covering the base 100, a body cover C2 covering the central rising & falling shaft 3C, the right-side rising & falling shaft 3R and the left-side rising & falling shaft 3L, a main tilting element cover C3 covering the main tilting element 31, a right-side auxiliary tilting section cover C4 covering the right-side auxiliary tilting section 41, and a left-side auxiliary tilting section cover C6 covering the left-side auxiliary tilting section 45.

    [0061] According to the robot R constructed as such, the right-side arm element 21 is inserted into one of the holding parts 61 and the left-side arm element 22 is inserted into the other of the holding parts 61 of the custom care sheet 60 on which a care receiver is laid, and then the robot R is moved backward in condition that the care receiver is raised above the bed by raising the right-side rising & falling shaft 3R and the left-side rising & falling shaft 3L synchronously. Thereafter, the main tilting element 31 is tilted so as for the head of the care receiver is moved upward, and then the care receiver is transferred to a wheelchair by the caregiver keeping such posture. Namely, the care receiver is able to be transferred to a wheelchair by one caregiver alone.

    [0062] Next the operating block M4 is described in detail.

    [0063] As shown in Fig. 11, the operating block M4 includes an operating levers 7, an operating panel 70, and a control device 200.

    [0064] The operating lever 7 has an actuating command knob (actuating command means generating actuating command) 8 at the front end thereof which generates actuating command for rising & falling shafts 3.

    [0065] More concretely, the operating levers 7 includes a right-side lever 7R set at the right-side of the tilting block M3, and a left-side lever 7L set at the left-side of the tilting block M3. The front end of the right-side lever 7R is provided with an actuating command knob 8 generating actuating command, i.e. a right-side knob 8R, and the front end of the left-side lever 7L is provided with an actuating command knob 8 for actuating command means generating actuating command, i.e. a left-side knob 8L (refer to Fig.4 to Fig.7). The right-side knob 8R and the left-side knob 8L generate input signals for a signal input block 210 of the control device 200.

    [0066] Herein, one example of the input signals generated by the right-side knob 8R and the left-side knob 8L is roughly described.

    [0067] When the right-side knob 8R and the left-side knob 8L are turned opposite you (upward) simultaneously, raising commands for the right-side rising & falling shaft 3R and the left-side rising & falling shaft 3L in proportion to revolution quantity. Namely, raising commands to increase raising speed for the right-side rising & falling shaft 3R and the left-side rising & falling shaft 3L are generated as increase of revolution quantity. To the contrary, when the right-side knob 8R and the left-side knob 8L are turned toward you (downward) simultaneously, falling commands for the right-side rising & falling shaft 3R and the left-side rising & falling shaft 3L in proportion to revolution quantity. Namely, falling commands to increase falling speed for the right-side rising & falling shaft 3R and the left-side rising & falling shaft 3L are generated as increase of revolution quantity. Stopping raising or falling, the right-side knob 8R and the left-side knob 8L are turned to the zero points respectively. Herein, turning to the zero points are automatically made by springs arranged inside of the knobs.

    [0068] It is described later for a case in which there is difference between the revolution quantity of the right-side knob 8R and the revolution quantity of the left-side knob 8L. In a condition that the head of a care receiver is positioned the right-side, the right-side knob 8R is turned opposite you (upward), while the left-side knob 8L is turned toward you (downward), and then a raising command for the right-side rising & falling shaft 3R is generated in proportion to revolution quantity, while a falling command for the left-side rising & falling shaft 3L is generated in proportion to revolution quantity. In an opposite case, the reverse commands are generated. Stopping tilting, the right-side knob 8R and the left-side knob 8L are turned to the zero points respectively.

    [0069] It is described later for a case in which there is difference between the absolute value of the revolution quantity of the right-side knob 8R and the absolute value of the revolution quantity of the left-side knob 8L.

    [0070] As shown in Fig. 12, the operating panel 70 includes a head position indicating switches (head position indicating means) 71 indicating position of a head, head position indicating lamps (head position indicating displays) 72 displaying position of the head in response to an indicating signal from the head position indicating switch (the head position indicating means) 71, an emergency stop switch 73. The head position indicating switches 71 include a right-side indicating switch 71R indicating that the head is positioned at the right-side, and a left-side indicating switch 71L indicating that the head is positioned at the left-side. The head position indicating lamps 72 include a right-side indicating lamp 72R indicating that the head is positioned at the right-side, and a left-side lamp 72L indicating that the head is positioned at the left-side. Herein, the head position indicating switches 71, namely the right-side indicating switch 71R and the left-side indicating switch 71L generate input signals for the signal input block 210 of the control device 200.

    [0071] Herein, a circuit of the right-side indicating switch 71R and left-side indicating switch 71L is made so that the other is turned off when one of them is turned on.

    [0072] As shown in Fig. 13, the control device 200 is provided with the signal input block 210, an input signal managing block 220, a memory block 230, an arithmetic processing block 240, an electric current command generating block 250, and a signal output block 260 as main components. The control device 200 constructed as such is composed of a microcomputer installed programs performing functions described later. A circuit of the control device 200 is shown in Fig.14.

    [0073] Signals from the actuating command knobs (the actuating command means) 8 generating actuating commands for rising & falling shafts 3 set to the robot R, the switches 71, and the acceleration sensor (acceleration detecting means) are inputted into the signal input block 210, and then inputted signals are outputted to the input signal managing block 220 and/or the memory block 230.

    [0074] Herein, the acceleration sensor is a three dimensional sensor. However, the acceleration sensor is not limited to the three dimensional sensor, any sensor which calculates at least tilt angle of the tilting block M3 based on acceleration thereof is acceptable. The three dimensional sensor, not shown in the drawings, is set on the center of the top of the main tilting element 31.

    [0075] The input signal managing block 220 manages input signals inputted from the signal input block 210 and outputs the signals to the arithmetic processing block 240. As shown in Fig.15, the input signal managing block 220 has polarity discriminating means 222 discriminating the polarity of the actuating command, and comparing means 224 comparing the amplitude of the absolute value of the actuating command and deciding the actuating command output to the arithmetic processing block 240, and head position discriminating means 226 discriminating head position.

    [0076] The polarity discriminating means 222 discriminates the polarity of the actuating commands from the right-side knob 8R and the left-side knob 8L, and decides raising or falling of the right-side rising & falling shaft 3R and the left-side rising & falling shaft 3L, thereafter the polarity discriminating means 222 outputs the decision to the arithmetic processing block 240.

    [0077] For example, when both of the polarity of the actuating commands from the right-side knob 8R and the left-side knob 8L are plus, the polarity discriminating means 222 outputs raising commands for the right-side rising & falling shaft 3R and the left-side rising & falling shaft 3L. To the contrary, when both of the polarity of the actuating commands from the right-side knob 8R and the left-side knob 8L are minus, the polarity discriminating means 222 outputs falling commands for the right-side rising & falling shaft 3R and the left-side rising & falling shaft 3L.

    [0078] When the polarity of the actuating command from the right-side knob 8R is plus and the polarity of the actuating command from the left-side knob 8L is minus, the polarity discriminating means 222 outputs a raising command for the right-side rising & falling shaft 3R, while the polarity discriminating means 222 outputs a falling command for the left-side rising & falling shaft 3L. To the contrary, when the polarity of the actuating command from the right-side knob 8R is minus and the polarity of the actuating command from the left-side knob 8L is plus, the polarity discriminating means 222 outputs a falling command for the right-side rising & falling shaft 3R, while the polarity discriminating means 222 outputs a raising command for the left-side rising & falling shaft 3L.

    [0079] The comparing means 224 compares the amplitude of absolute value of the actuating command from the right-side knob 8R and the amplitude of absolute value of the actuating command from the left-side knob 8L, and then outputs the small one as the actuating command (the decided actuating command). Therefore, when either the actuating command from the right-side knob 8R or the actuating command from the left-side knob 8L is not inputted, rising & falling or tilting are not carried out because the decided actuating command becomes zero. As a result, the operation is carried out safely.

    [0080] The head position discriminating means 226 discriminates that the head position is the right-side or the left-side based on a signal from the head position indicating switch 71, and then the decision is outputted to the arithmetic processing block 240. Namely, the head position discriminating means 226 outputs a command indicating the head is the right-side based on the signal from the right-side indicating switch 71R to the arithmetic processing block 240, and the head position discriminating means 226 outputs a command indicating the head is left-side based on the signal from the left-side indicating switch 71L to the arithmetic processing block 240.

    [0081] The memory block 230 stores signals from the signal input block 210 and date for range of movement of the tilting block M3.

    [0082] The arithmetic processing block 240 processes based on signals inputted from the input signal managing block 220 and data stored in the memory block 230, thereafter the arithmetic processing block 240 outputs the result to the electric current command generating block 250, for example, as command for speed.

    [0083] Hereinafter, additionally referring to Fig. 16, the arithmetic processing block 240 is described in detail.

    [0084] The arithmetic processing block 240 includes a tilting processing section 242. The arithmetic processing block 240 outputs the processed raising or falling speed to the electric current command generating block 250, for example, as command for speed. The tilting processing section 242 having tilting speed command generating means (tilting command generating means) 244 and limit processing means 245 processes the following arithmetic processing:
    A head raising processing case when the head is positioned at the right-side:
    The tilting speed command generating means 244 generates speed commands corresponding to the decided actuating commands for the right-side rising & falling shaft 3R (raising) and the left-side rising & falling shaft 3L (falling) when the tilting speed command generating means 244 discriminates the polarity of the actuating command from the right-side knob 8R is plus, and the polarity of the actuating command from the left-side knob 8L is minus, namely, when a raising command is generated for the rising & falling shaft 3 positioned at the head-side.

    [0085] The limit processing means 245 performs limiting processing for the speed command signal generated by the tilting speed command generating means 244 as follows:
    First, calculates increased angle by processing the signal from the acceleration sensor. Next, discriminates as to whether the calculated angle is within the permissible range or not. Limit processing is made for the speed command signal when the calculated angle exceeds the permissible range. Namely, cuts the upper part of the speed command signal so as for the tilting angle not to exceed the permissible range. However, tilting is stopped when the right-side rising & falling shaft 3R is raised to the upper limit in spite of the tilting angle being within the permissible range.

    [0086] When the head is positioned at the left-side, the reverse processing is made.

    [0087] A head falling processing case when the head is positioned at the right-side:
    The tilting speed command generating means 244 generates speed commands corresponding to the decided actuating commands for the right-side rising & falling shaft 3R (falling) and the left-side rising & falling shaft 3L (raising) when the tilting speed command generating means 244 discriminates the polarity of the actuating command from the right-side knob 8R is minus, and the polarity of the actuating command from the left-side knob 8L is plus, namely, when a falling command is generated for the rising & falling shaft 3 positioned at the head-side.

    [0088] The limit processing means 245 performs limiting processing for the speed command signal generated by the tilting speed command generating means 244 as follows:
    First, calculates decreased angle by processing a signal from the acceleration sensor.

    [0089] Next, discriminates as to whether the calculated angle is within the permissible range or not. Limit processing is made for the speed command signal when the calculated angle exceeds the permissible range. Namely, cuts the upper part of the speed command signal so as for the tilting angle not to exceed the permissible range.

    [0090] However, tilting is stopped when the right-side rising & falling shaft 3R is fallen to the lower limit in spite of the tilting angle being within the permissible range.

    [0091] When the head is positioned at the left-side, the reverse processing is made.

    [0092] The electric current command generating block 250 generates electric current commands for the right-side rising & falling shaft 3R and the left-side rising & falling shaft 3L based on the speed command signals from the arithmetic processing block 240, and then outputs them to the signal output block 260. Herein, generation of the electric current commands are made by known method using the necessary data for generation of electric current commands stored in the memory block 230.

    [0093] According to the present embodiment, since the tilting block M3 is tilted by simple handling of only turning the right-side knob 8R set at the front end of the right-side operating lever 7R and the left-side knob 8L set at the front end of the left-side operating lever 7L, caregivers are not required to lift up care receivers from beds and the burden of caregivers are lightened. For example, the lower back pain so-called the occupational disorder is got rid of.

    [0094] The present invention is described referring to the specific embodiment, however, the scope of the present invention is not limited to the specific embodiment, and numerous variants are possible.

    [0095] For example, the auxiliary tilting elements 44, 48 are tilted by the timing belt mechanism 42, 46. The auxiliary tilting elements 44, 48 may be tilted by a chain mechanism.

    [0096] Also, the actuating command means for the rising & falling shaft 3 are not limited to the embodiment, and numerous variants are possible. For example, the actuating command means for the rising & falling shaft 3 are not limited to the knob 8R arranged at the front end of the right-side lever 7R, and the knob 8L arranged at the front end of the left-side lever 7L, and any type of signal input means is acceptable. Also, any suitable setting position of the signal input means is acceptable. It is possible for a force sensor to be joined the signal input means.

    Industrial applicability



    [0097] The present invention is applicable for use in the care business and the robot industry.

    Symbol



    [0098] 
    R
    Robot
    M1
    Movable block
    M2
    Rising & falling block
    M3
    Tilting block
    M4
    Operating block
    B
    Battery
    C
    Decorative cover
    F
    Latch locking mechanism
    2
    Tilting element
    3
    Rising & falling shaft
    3C
    Central rising & falling shaft
    3Ca
    Reinforcing rib
    3R
    Right-side rising & falling shaft
    3Ra
    Right-side rising & falling body
    3Rb
    Right-side actuator
    3L
    Left-side rising & falling shaft
    3La
    Left-side rising & falling body
    3Lb
    Left-side actuator
    4
    Planetary gear unit
    5
    Sun gear
    5a
    Rear shaft
    5b
    Front shaft
    6R
    Right-side planetary gear
    6Ra
    Rear shaft
    6Rb
    Front shaft
    6L
    Left- side planetary gear
    6La
    Rear shaft
    6Lb
    Front shaft
    7
    Operating lever
    7R
    Right-side lever
    7L
    Left-side lever
    8
    Actuating command knob
    8R
    Right-side knob
    8L
    Left-side knob
    20
    Arm element
    21
    Right-side arm element
    21a
    Groove
    22
    Left-side arm element
    30
    Main tilting part
    31
    Main tilting element
    32
    Box
    32a
    Rear face
    40
    Auxiliary tilting part
    41
    Right-side auxiliary tilting section
    42
    Right-side timing belt mechanism
    43
    Driving pulley
    43a
    Timing belt
    43b
    Driven pulley
    44
    Right-side auxiliary tilting element
    44c
    Right-arm holding part
    45
    Left-side auxiliary tilting section
    46
    Left-side timing belt mechanism
    47
    Driving pulley
    48
    Left-side auxiliary tilting element
    60
    Custom care sheet
    61
    Cylindrical holding part
    62
    Base layer
    63
    Cushion layer
    64
    Surface layer
    70
    Operating panel
    71
    Head position indicating switch (Head position indicating means)
    71R
    Right-side indicating switch
    71L
    Left-side indicating switch
    72
    Head position indicating lamp (Head position indicating display)
    72R
    Right-side indicating lamp
    72L
    Left-side indicating lamp
    73
    Emergency stop switch
    100
    Base
    110
    Carrying block
    120
    Carrying element
    121
    Connecting part
    130
    Horizontal support element
    160
    Moving mechanism
    170
    Front moving mechanism
    171
    Front wheel
    172
    Front wheel support element
    173
    Horizontal part
    174
    Upslope part
    175
    Front wheel support element holding element
    180
    Middle moving mechanism
    181
    Middle wheel
    182
    Middle wheel support element
    190
    Rear moving mechanism
    191
    Rear wheel
    192
    Rear wheel support element
    200
    Control device
    210
    Signal input block
    220
    Input signal managing block
    222
    Polarity discriminating means
    224
    Comparing means
    226
    Head position discriminating means
    230
    Memory block
    240
    Arithmetic processing block
    242
    Tilting processing section
    244
    Tilting speed command generating means
    245
    Limit processing means
    250
    Electric current command generating block
    260
    Signal output block



    Claims

    1. A robot (R) for transferring a care receiver, comprising:

    a movable block (M1);

    a rising & falling block (M2) arranged on the movable block;

    a tilting block (M3) set to the rising & falling block;

    an operating block (M4) arranged on the tilting block; and

    a pair of arms (20),

    wherein the tilting block has a main tilting part (30) and an auxiliary tilting part (40) arranged on the main tilting part;

    the auxiliary tilting part has auxiliary tilting elements (44, 48), holding the arms, rotatably set at the both ends of a main tilting element (31) of the main tilting part respectively; and

    each of the auxiliary tilting elements is tilted by a rotating force of a planetary gear through a force transmitting mechanism arranged in the main tilting element, wherein the auxiliary tilting element is rotated in the same direction as the tilting direction of the main tilting element.


     
    2. The robot according to claim 1,

    wherein the main tilting part has a planetary gear mechanism including a sun gear (5) and a pair of planetary gears arranged symmetrically to the sun gear;

    the sun gear is supported by the top of the central rising & falling shaft (3C) of the rising & falling block and the main tilting element of the main tilting part in condition that the sun gear is unable to be rotated;

    one of the planetary gears is supported by the top of the one-side rising & falling shaft (3R, 3L), which is set at one side of the central rising & falling shaft tiltably set on the base and at one side of the main tilting element of the main tilting part, in condition that the planetary gear is able to be rotated; and

    the other of the planetary gears is supported by the top of the other-side rising & falling shaft (3L, 3R), which is set at the other side of the central rising & falling shaft tiltably set on the base and at the other side of the main tilting element of the main tilting part, in condition that the planetary gear is able to be rotated.


     
    3. The robot according to claim 1, wherein the rising & falling block has a pair of rising & falling shafts (3R, 3L) by which the main tilting element is tilted.
     
    4. The robot according to claim 1 or 3, the operating block further comprising a pair of operating levers (7R, 7L), an operating panel (70), and a control device (200); wherein the pair of the operating levers arranged symmetrically on the main tilting element have actuating command means (8) generating actuating command for the rising & falling block.
     
    5. The robot according to claim 4, wherein the operating panel has a head position indicating means (71) indicating position of a head, and a head position indicating display (72) displaying position of the head in response to an indication signal from the head position indicating means.
     
    6. The robot according to claim 4, the control device further comprising a signal input block (210), an input signal managing block (220), an arithmetic processing block (240), a driving command generation block and a signal output block (260); wherein the arithmetic processing block has a tilting processing section which has a tilting command generation means and a limit processing means.
     
    7. The robot according to claim 6, the input signal managing block further comprising a polarity discriminating means (222) configured to discriminate the polarity of the actuating command, a comparing means (224) configured to compare the amplitude of the actuating command and a head position discriminating means (226) configured to discriminate head position based on a signal from the head position indicating means.
     
    8. The robot according to claim 7, wherein the comparing means is configured to select a smaller absolute value of the input signal.
     
    9. The robot according to claim 6, wherein the limit processing means is configured to limit processing for a speed command signal generated by the tilting speed command generating means based on a tilting angle calculated by measured acceleration.
     


    Ansprüche

    1. Roboter (R) zum Verlegen eines Pflegeempfängers, der aufweist:

    einen beweglichen Block (M1),

    einen Hebe- und Absenkblock (M2), der am beweglichen Block angeordnet ist;

    einen Kippblock (M3), der am Hebe- und Absenkblock angeordnet ist;

    einen Bedienungsblock (M4), der am Kippblock angeordnet ist; und

    ein Paar Arme (20),

    wobei der Kippblock einen Hauptkippteil (30) und einen Hilfskippteil (40) aufweist, der am Hauptkippteil angeordnet ist;

    der Hilfskippteil Hilfskippelemente (44, 48) aufweist, die die Arme halten, die drehbar an den beiden Enden eines Hauptkippelements (31) des Hauptkippteils angeordnet sind; und

    jedes der Hilfskippelemente durch eine Drehkraft eines Planetenrads durch einen Kraftübertragungsmechanismus geneigt wird, der im Hauptkippelement angeordnet ist,

    wobei das Hilfskippelement in dieselbe Richtung wie die Kipprichtung des Hauptkippelements gedreht wird.


     
    2. Roboter nach Anspruch 1,
    wobei der Hauptkippteil einen Planetengetriebemechanismus aufweist, der ein Sonnenrad (5) und ein Paar Planetenräder aufweist, die symmetrisch zum Sonnenrad angeordnet sind;
    das Sonnenrad durch den oberen Teil der zentralen Hebe- und Absenkwelle (3C) des Hebe- und Absenkblocks und das Hauptkippelement des Hauptkippteils in einem Zustand gehalten wird, in dem das Sonnenrad nicht gedreht werden kann;
    eines der Planetenräder durch den oberen Teil der Hebe- und Absenkwelle (3R, 3L) einer Seite, die auf einer Seite der zentralen Hebe- und Absenkwelle angeordnet ist, die kippbar an der Basis und auf einer Seite des Hauptkippelements des Hauptkippteils angeordnet ist, in einem Zustand gehalten wird, in dem das Planetenrad gedreht werden kann; und
    das andere der Planetenräder durch den oberen Teil der Hebe- und Absenkwelle (3L, 3R) einer anderen Seite, die auf der anderen Seite der zentralen Hebe- und Absenkwelle angeordnet ist, die kippbar an der Basis und auf der anderen Seite des Hauptkippelements des Hauptkippteils angeordnet ist, in einem Zustand gehalten wird, in dem das Planetenrad gedreht werden kann.
     
    3. Roboter nach Anspruch 1, wobei der Hebe- und Absenkblock ein Paar Hebe- und Absenkwellen (3R, 3L) aufweist, durch die das Hauptkippelement geneigt wird.
     
    4. Roboter nach Anspruch 1 oder 3, wobei der Bedienungsblock ferner ein Paar Bedienungshebel (7R, 7L), ein Bedienungsfeld (70) und eine Steuervorrichtung (200) aufweist; wobei das Paar der Bedienungshebel, die symmetrisch am Hauptkippelement angeordnet sind, ein Stellbefehlsmittel (8) aufweisen, das einen Stellbefehl für den Hebe- und Absenkblock erzeugt.
     
    5. Roboter nach Anspruch 4, wobei das Bedienungsfeld ein Kopfpositionsanzeigemittel (71), das die Position eines Kopfes anzeigt, und eine Kopfpositionsanzeige (72) aufweist, die die Position des Kopfes als Reaktion auf ein Anzeigesignal vom Kopfpositionsanzeigemittel anzeigt.
     
    6. Roboter nach Anspruch 4, wobei die Steuervorrichtung ferner einen Signaleingangsblock (210), einen Eingangssignalverwaltungsblock (220), einen Arithmetikverarbeitungsblock (240), einen Antriebsbefehlserzeugungsblock und einen Signalausgangsblock (260) aufweist; wobei der Arithmetikverarbeitungsblock einen Kippverarbeitungsabschnitt aufweist, der ein Kippbefehlserzeugungsmittel und ein Begrenzungsverarbeitungsmittel aufweist.
     
    7. Roboter nach Anspruch 6, wobei der Eingangssignalverwaltungsblock ferner ein Polaritätsunterscheidungsmittel (222), das konfiguriert ist, die Polarität des Stellbefehls zu unterscheiden, ein Vergleichsmittel (224), das konfiguriert ist, die Amplitude des Stellbefehls zu vergleichen, und ein Kopfpositionsunterscheidungsmittel (226) aufweist, das konfiguriert ist, die Kopfposition beruhend auf einem Signal vom Kopfpositionsanzeigemittel zu unterscheiden.
     
    8. Roboter nach Anspruch 7, wobei das Vergleichsmittel konfiguriert ist, einen kleineren Absolutwert des Eingangssignals auszuwählen.
     
    9. Roboter nach Anspruch 6, wobei das Begrenzungsverarbeitungsmittel konfiguriert ist, die Verarbeitung für ein Geschwindigkeitsbefehlssignal, das durch das Kippgeschwindigkeitsbefehl-Erzeugungsmittel erzeugt wird, beruhend auf einem Kippwinkel zu begrenzen, der durch eine gemessene Beschleunigung berechnet wird.
     


    Revendications

    1. Robot (R) pour le transfert d'une personne bénéficiaire de soins, comprenant :

    un bloc mobile (M1) ;

    un bloc montant et descendant (M2) disposé sur le bloc mobile ;

    un bloc d'inclinaison (M3) fixé sur le bloc montant et descendant ;

    un bloc fonctionnel (M4) disposé sur le bloc d'inclinaison ; et

    une paire de bras (20),

    où le bloc d'inclinaison présente une partie d'inclinaison principale (30) et une partie d'inclinaison secondaire (40) disposée sur la partie d'inclinaison principale ;

    la partie d'inclinaison secondaire présente des éléments d'inclinaison auxiliaires (44, 48) maintenant le bras, respectivement fixés de manière rotative aux deux extrémités d'un élément d'inclinaison principal (31) de la partie d'inclinaison principale ; et

    chaque élément d'inclinaison auxiliaires est incliné sous l'effet d'une force de rotation d'un engrenage planétaire par l'intermédiaire d'un mécanisme de transmission de force disposé dans l'élément d'inclinaison principal, l'élément d'inclinaison auxiliaire étant rotatif dans la même direction que la direction d'inclinaison de l'élément d'inclinaison principal.


     
    2. Robot selon la revendication 1,
    où la partie d'inclinaison principale est pourvue d'un mécanisme d'engrenage planétaire comprenant une roue solaire (5) et une paire d'engrenages planétaires disposés symétriquement à la roue solaire ;
    la roue solaire est supportée par le sommet de l'arbre montant et descendant central (3C) du bloc montant et descendant et l'élément d'inclinaison principal de la partie d'inclinaison principale à condition que la roue solaire soit empêchée d'être rotative ;
    un des engrenages planétaires est supporté par le sommet du premier arbre montant et descendant latéral (3R, 3L), lequel est fixé sur un côté de l'arbre montant et descendant central fixé de manière inclinable sur la base et sur un côté de l'élément d'inclinaison principal de la partie d'inclinaison principale, à condition que l'engrenage planétaire puisse être rotatif ; et
    l'autre engrenage planétaire est supporté par le sommet de l'autre arbre montant et descendant latéral (3L, 3R), lequel est fixé sur l'autre côté de l'arbre montant et descendant central fixé de manière inclinable sur la base et sur l'autre côté de l'élément d'inclinaison principal de la partie d'inclinaison principale, à condition que l'engrenage planétaire puisse être rotatif.
     
    3. Robot selon la revendication 1, où le bloc montant et descendant présente une paire d'arbres montants et descendants (3R, 3L) par lesquels l'élément d'inclinaison principal est incliné.
     
    4. Robot selon la revendication 1 ou la revendication 3, où le bloc fonctionnel comprend en outre une paire de leviers fonctionnels (7R, 7L), un panneau fonctionnel (70) et un dispositif de commande (200) ; où la paire de leviers fonctionnels disposés symétriquement sur l'élément d'inclinaison principal comprend un moyen de commande d'actionnement (8) générant une commande d'actionnement pour le bloc montant et descendant.
     
    5. Robot selon la revendication 4, où le panneau fonctionnel est pourvu d'un moyen d'indication de position de tête (71) indiquant la position de la tête, et d'un écran d'indication de position de tête (72) affichant la position de la tête en réaction à un signal d'indication du moyen d'indication de position de tête.
     
    6. Robot selon la revendication 4, où le dispositif de commande comprend en outre un bloc d'entrée de signaux (210), un bloc de gestion de signaux d'entrée (220), un bloc de traitement arithmétique (240), un bloc de génération de commande d'entraînement et un bloc de sortie de signaux (260) ; où le bloc de traitement arithmétique est pourvu d'une section de traitement d'inclinaison présentant un moyen de génération de commande d'inclinaison et un moyen de traitement de limite.
     
    7. Robot selon la revendication 6, où le bloc de gestion de signaux d'entrée comprend en outre un moyen de distinction de polarité (222) prévu pour distinguer la polarité de la commande d'actionnement, un moyen de comparaison (224) prévu pour comparer l'amplitude de la commande d'actionnement, et un moyen de distinction de position de tête (226) prévu pour distinguer la position de la tête sur la base d'un signal du moyen d'indication de position de tête.
     
    8. Robot selon la revendication 7, où le moyen de comparaison est prévu pour sélectionner une valeur absolue inférieure du signal d'entrée.
     
    9. Robot selon la revendication 6, où le moyen de traitement de limite est prévu pour le traitement de limite d'un signal de commande de vitesse généré par le moyen de génération de commande de vitesse d'inclinaison, sur la base d'un angle d'inclinaison calculé par une mesure d'accélération.
     




    Drawing





















































    Cited references

    REFERENCES CITED IN THE DESCRIPTION



    This list of references cited by the applicant is for the reader's convenience only. It does not form part of the European patent document. Even though great care has been taken in compiling the references, errors or omissions cannot be excluded and the EPO disclaims all liability in this regard.

    Patent documents cited in the description