Technical Field
[0001] The present invention relates to an assistant robot that assists the standing action
of a person in need of assistance.
Background Art
[0002] PTL 1 describes an assistant robot that assists the standing action of a person in
need of assistance. Here, in order to stably transfer the person in need of assistance
from a sitting posture to a stand-up posture, it is necessary to lift and move a holding
section in a forward, backward, and inclined manner with respect to a base. Therefore,
the assistant robot includes an arm section including multiple joints in order to
enable the holding section which holds the person in need of assistance to lift and
lower and move in a forward, backward, and inclined manner with respect to a base.
The arm section includes a first joint that moves a first arm section in an inclined
manner with respect to the base, a second joint that slides a second arm section with
respect to the first arm section, and a third joint that moves the holding section
in an inclined manner with respect to the second arm section.
Citation List
Patent Literature
[0003] PTL 1: Pamphlet of International Publication No.
2014/122751
Summary of Invention
Technical Problem
[0004] However, the first joint that moves the first arm section in an inclined manner with
respect to the base is located at a location away from the holding section, and thus
the moment generated due to the force that the holding section receives from the person
in need of assistance becomes extremely great. Therefore, the size of an actuator
for driving the first joint becomes large. That is, the size of the assistant robot
becomes large as a whole.
[0005] An object of the present invention is to provide an assistant robot in which a small-size
actuator can be used.
Solution to Problem
[0006] An assistant robot includes a base, a lifting and lowering section which lifts and
lowers with respect to the base, a holding section which holds a part of a body of
a person in need of assistance and moves in a forward, backward, and inclined manner
with respect to the lifting and lowering section, a lifting and lowering actuator
which drives the lifting and lowering section to lift and lower with respect to the
base, and a forward-and-backward movement actuator that drives the holding section
in a forward, backward, and inclined manner with respect to the lifting and lowering
section. One of the lifting and lowering section and the holding section includes
a guide path which is formed to extend in a forward-and-backward direction and guides
the holding section to move in a forward, backward, and inclined manner with respect
to the lifting and lowering section, and the other of the lifting and lowering section
and the holding section includes a guided member which moves along the guide path.
Advantageous Effects of Invention
[0007] The holding section moves in a forward, backward, and inclined manner with respect
to the lifting and lowering section. In addition, the forward-and--backward movement
actuator drives the holding section to move in a forward, backward, and inclined manner
with respect to the lifting and lowering section. Therefore, the person in need of
assistance is moved in a forward, backward, and inclined manner by the driving of
the forward-and-backward movement actuator. As described above, in the present invention,
the forward-and-backward movement actuator drives the holding section with respect
to the lifting and lowering section. That is, compared with actuator of the related
art which moment-drive the lifting and lowering section with respect to the base,
the forward-and-backward movement actuator in the present invention have small size.
Brief Description of Drawings
[0008]
[Fig. 1] Fig. 1 is a view of an assistant robot 1 of a first embodiment seen from
a right side in a travelling direction. The travelling direction is toward the right
side of the drawing.
[Fig. 2] Fig. 2 is a plan view of the assistant robot 1 of Fig. 1. The travelling
direction is toward the right side of the drawing.
[Fig. 3] Fig. 3 is a view of the assistant robot 1 seen from the back in the travelling
direction.
[Fig. 4] Fig. 4 is a view of the assistant robot 1 seen from the front in the travelling
direction.
[Fig. 5] Fig. 5 is a view of the assistant robot 1 in a state in which a holding section
in the assistant robot 1 of Fig. 1 is lifted seen from the right side in the travelling
direction.
[Fig. 6] Fig. 6 illustrates an internal structure of the assistant robot 1 of Fig.
1 and is a view of the assistant robot 1 seen from the right side in the travelling
direction.
[Fig. 7] Fig. 7 is a view seen from the left side of the assistant robot 1 of Fig.
6, that is, a view of the assistant robot 1 seen from the back in the travelling direction.
[Fig. 8] Fig. 8 is a sectional view in a direction of 8-8 in Fig. 7.
[Fig. 9] Fig. 9 is an enlarged view of a lifting and lowering section 40, a holding
section 50, and forward-and-backward movement actuators 90 and 100 in an upper portion
in Fig. 8. Here, Fig. 9 corresponds to a sectional view in a direction of 9-9 in Fig.
10.
[Fig. 10] Fig. 10 is a sectional view in a direction of 10-10 in Fig. 9.
[Fig. 11] Fig. 11 is a view illustrating a state in which the holding section 50 moves
forwards and is inclined at the front from a state illustrated in Fig. 9.
[Fig. 12] Fig. 12 is a block diagram of a control device 120 in the assistant robot
1.
[Fig. 13] Fig. 13 is a view of the assistant robot 1 seen from the right side in the
travelling direction when a person in need of assistance M1 is in a seating posture.
[Fig. 14] Fig. 14 is a view of the assistant robot 1 seen from the right side in the
travelling direction when the person in need of assistance M1 is in a standing posture.
[Fig. 15] Fig. 15 is an enlarged view of a lifting and lowering section 240, a holding
section 250, and a forward-and-backward movement actuator 260 in an assistant robot
200 of a second embodiment.
[Fig. 16] Fig. 16 is a view illustrating a state in which the holding section 250
moves forwards and is inclined at the front from a state illustrated in Fig. 15.
[Fig. 17] Fig. 17 is an enlarged view of a lifting and lowering section 340, a holding
section 350, and a forward-and-backward movement actuator 360 in an assistant robot
300 of a third embodiment.
[Fig. 18] Fig. 18 is a view illustrating a state in which the holding section 350
moves forwards and is inclined at the front from a state illustrated in Fig. 17.
[Fig. 19] Fig. 19 is an enlarged view of a lifting and lowering section 440, a holding
section 450, and a forward-and-backward movement actuator 460 in an assistant robot
400 of a fourth embodiment.
[Fig. 20] Fig. 20 is a view illustrating a state in which the holding section 450
moves forwards and is inclined at the front from a state illustrated in Fig. 19.
Description of Embodiments
<First embodiment>
(1. Overall constitution of assistant robot 1)
[0009] The overall constitution of an assistant robot 1 of a first embodiment will be described
with reference to Figs. 1 to 5. The assistant robot 1 supports a part (for example,
the upper body) of the body of a person in need of assistance M1 (illustrated in Figs.
13 and 14) and assists standing actions and seating actions. As illustrated in Figs.
1 to 5, the assistant robot 1 includes a base 10, lifting and lowering arms 20 and
30, lifting and lowering sections 40, a holding section 50, lifting and lowering actuators
70 and 80, forward-and-backward movement actuators 90 and 100, and a control device
120. In the following description, each of front, back, left, and right is set to
be front, back, left, and right when the travelling direction of the assistant robot
1 is considered as forward.
[0010] The base 10 is a portion that is placed on the ground. As illustrated in Fig. 2,
the base 10 is formed in a U shape so as to be open backwards when seen in a plan.
The base 10 includes four wheels 15 to 18 and is capable of moving forwards and backwards.
[0011] The lifting and lowering arms 20 and 30 are respectively provided on the right and
left ends of the upper surface of the base 10 and are provided so as to be capable
of stretching upwards. As illustrated in Figs. 1 and 5, the lifting and lowering arms
20 and 30 linearly stretch and contract in a direction in which the upper end is inclined
forwards with respect to the lower end. The lifting and lowering sections 40 are provided
on the upper ends of the lifting and lowering arms 20 and 30. When the lifting and
lowering arms 20 and 30 stretch and contract in the vertical direction, the lifting
and lowering sections 40 lift and lower with respect to the base 10. That is, as illustrated
in Figs. 1 and 5, the lifting and lowering sections 40 linearly move forwards as the
lifting and lowering sections lift with respect to the base 10.
[0012] The holding section 50 is located on the upper sides of the lifting and lowering
sections 40 and is supported by the lifting and lowering sections 40. The holding
section 50 moves in a forward, backward, and inclined manner with respect to the lifting
and lowering sections 40. The holding section 50 holds a part of the body of the person
in need of assistance M1. The holding section 50 includes an attachment 60 that can
be exchanged with other attachments depending on the person in need of assistance
M1.
[0013] The lifting and lowering actuators 70 and 80 drive the lifting and lowering sections
40 to lift and lower with respect to the base 10. The lifting and lowering actuators
70 and 80 respectively drive the extension and contraction of the corresponding lifting
and lowering arms 20 and 30. That is, the lifting and lowering sections 40 are driven
using the lifting and lowering actuators 70 and 80 to lift and move forwards with
respect to the base 10 to a location illustrated in Fig. 5 from a state illustrated
in Fig. 1 and vice versa. The lifting and lowering actuators 70 and 80 are provided
across the base 10 and the lifting and lowering arms 20 and 30.
[0014] The forward-and-backward movement actuators 90 and 100 drive the holding section
50 to move in a forward, backward, and inclined manner with respect to the lifting
and lowering sections 40. That is, the holding section 50 is driven using the forward-and-backward
movement actuators 90 and 100 to move forwards and be inclined at the front with respect
to the lifting and lowering sections 40 to the location illustrated in Fig. 5 from
the state illustrated in Fig. 1 and vice versa. The forward-and-backward movement
actuators 90 and 100 are provided across the lifting and lowering sections 40 and
the holding section 50. The control device 120 controls the lifting and lowering actuators
70 and 80 and the forward-and-backward movement actuators 90 and 100 in accordance
with the operation of the person in need of assistance M1.
(2. Internal constitution of assistant robot 1)
[0015] As illustrated in Figs. 1 to 5, the assistant robot 1 includes a cover 11 for the
base 10, covers 25 and 35 for the lifting and lowering arms 20 and 30 respectively,
a cover 45 for the lifting and lowering sections 40, and the attachment 60 in the
holding section 50. Therefore, the internal constitution of the assistant robot 1
obtained by removing these covers and attachment will be described with reference
to Figs. 6 to 8. However, the lifting and lowering sections 40, the holding section
50, and the forward-and-backward movement actuators 90 and 100 will be described later.
[0016] The base 10 includes right and left frames 12 and 13 and a coupling frame 14 that
couples the front end portions of the right and left frames 12 and 13. The right and
left frames 12 and 13 are disposed at an interval necessary for the person in need
of assistance M1 to enter. Right and left back wheels 15 and 16 are respectively provided
in the back end portions of the right and left frames 12 and 13. Right and left front
wheels 17 and 18 are respectively provided in the front end portions of the right
and left frames 12 and 13. The right and left front wheels 17 and 18 revolve in accordance
with the travelling direction of the assistant robot 1. Here, in the present embodiment,
the right and left back wheels 15 and 16 and the right and left front wheels 17 and
18 are wheels having no driving forces, but the right and left back wheels 15 and
16 and the right and left front wheels 17 and 18 may be driven using a motor or the
like.
[0017] The lifting and lowering arms 20 and 30 include first arm sections 21 and 31, second
arm sections 22 and 32, and third arm sections 23 and 33. The first arm sections 21
and 31, the second arm sections 22 and 32, and the third arm sections 23 and 33 are
formed to be long and linear. The first arm sections 21 and 31 are respectively fixed
to the right and left frames 12 and 13 of the base 10. The first arm sections 21 and
31 are fixed to be inclined forwards with respect to the base 10 at a predetermined
angle (for example, 80 degrees).
[0018] The second arm sections 22 and 32 slide in the longitudinal direction with respect
to the first arm sections 21 and 31. When the second arm sections 22 and 32 contract,
a majority of the second arm sections 22 and 32 are stored in the first arm sections
21 and 31. The third arm sections 23 and 33 slide in the longitudinal direction with
respect to the second arm sections 22 and 32. The lifting and lowering sections 40
are fixed to the upper ends of the third arm sections 23 and 33. When the third arm
sections 23 and 33 contract, a majority of the third arm sections 23 and 33 are stored
in the second arm sections 22 and 32.
[0019] Therefore, when the second arm sections 22 and 32 and the third arm sections 23 and
33 contract, a majority of the third arm sections 23 and 33 are stored in the first
arm sections 21 and 31 and the second arm sections 22 and 32 as illustrated in Fig.
1. At this time, the lifting and lowering sections 40 are located at the lowermost
location. Meanwhile, when the second arm sections 22 and 32 and the third arm sections
23 and 33 stretch, the third arm sections 23 and 33 are located at locations above
the first arm sections 21 and 31 without overlapping the first arm sections 21 and
31 in the vertical direction as illustrated in Figs. 5 to 8. At this time, the lifting
and lowering sections 40 are located at the uppermost location.
[0020] The lifting and lowering actuators 70 and 80 include rotary driving sources 71 and
81, first lifting and lowering mechanisms 72 and 82, and second lifting and lowering
mechanisms 73 and 83. The rotary driving sources 71 and 81 include motors that output
rotation driving forces. Appropriately, deceleration mechanisms may be provided in
the rotary driving sources 71 and 81.
[0021] The first lifting and lowering mechanisms 72 and 82 are mechanisms which are coupled
to the rotary driving sources 71 and 81 and lift and lower the second arm sections
22 and 32 with respect to the first arm sections 21 and 31. The first lifting and
lowering mechanisms 72 and 82 are screw mechanisms. Meanwhile, as the first lifting
and lowering mechanisms 72 and 82, it is possible to apply belt mechanisms. The first
lifting and lowering mechanisms 72 and 82 include screw shafts 72a and 82a which are
rotary-driven using the rotary driving sources 71 and 81 and nut members 72b and 82b.
In the present embodiment, the screw shafts 72a and 82a are fixed to the first arm
sections 21 and 31, and the nut members 72b and 82b are fixed to the second arm sections
22 and 32. That is, when the screw shafts 72a and 82a are rotated using the rotary
driving sources 71 and 81, the nut members 72b and 82b lift and lower. The second
arm sections 22 and 32 lift and lower with respect to the first arm sections 21 and
31 in the above-described manner.
[0022] The second lifting and lowering mechanisms 73 and 83 are mechanisms that lift and
lower the third arm sections 23 and 33 with respect to the second arm sections 22
and 32. The second lifting and lowering mechanisms 73 and 83 are belt mechanisms.
Meanwhile, as the second lifting and lowering mechanisms 73 and 83, it is possible
to apply screw mechanisms. The second lifting and lowering mechanisms 73 and 83 include
lower pulleys 73a and 83a and upper pulleys 73b and 83b which are provided at both
ends of the second arm sections 22 and 32 in the longitudinal direction so as to be
capable of rotating.
[0023] Furthermore, the second lifting and lowering mechanisms 73 and 83 include belts 73c
and 83c that are suspended at the lower pulleys 73a and 83a and the upper pulleys
73b and 83b. The belts 73c and 83c are fixed to upper end coupling members 21a and
31a of the first arm sections 21 and 31 on one side and are fixed to lower end coupling
members 23a and 33a of the third arm sections 23 and 33 on the other side. That is,
when the second arm sections 22 and 32 lift with respect to the first arm sections
21 and 31, the belts 73c and 83c rotate in synchronization with the lifting action.
The third arm sections 23 and 33 lift with respect to the second arm sections 22 and
32 in synchronization with the rotating action. The lowering action of the second
arm sections 22 and 32 and the third arm sections 23 and 33 is an action performed
by reversing the above-described action.
(3. Structures of lifting and lowering sections 40, holding section 50, and forward-and-backward
movement actuators 90 and 100)
[0024] The lifting and lowering sections 40, the holding section 50, and the forward-and-backward
movement actuators 90 and 100 will be described with reference to Figs. 9 to 11. Here,
in the following description, a coupled structure between the left side portion of
the lifting and lowering section 40 and the left side portion of the holding section
50 will be described. Therefore, the right-side forward-and-backward movement actuator
100 will not be described. Although not described, the coupled structure between the
right side portion of the lifting and lowering section 40 and the right side portion
of the holding section 50 is a bilaterally symmetric structure of the left-side structure.
[0025] The lifting and lowering sections 40 are fixed to the upper ends of the third arm
sections 23. In addition, the holding section 50 moves in a forward, backward, and
inclined manner with respect to the lifting and lowering sections 40. Here, in the
assistant robot 1 of the present embodiment, the holding section 50 includes guide
paths 53 which are rail members, the lifting and lowering sections 40 include guided
members 43, screw shafts 93 of the forward-and-backward movement actuators 90 and
100 are provided in the holding section 50, and nut members 94 are provided in the
lifting and lowering sections 40.
[0026] As illustrated in Figs. 9 and 10, the lifting and lowering sections 40 include base
sections 41, oscillation support sections 42, and the guided members 43. As illustrated
in Fig. 10, the base sections 41 are formed in a crank shape when seen in the forward-and-backward
direction and are fixed to the upper ends of the third arm sections 23 and 33. As
illustrated in Fig. 10, the oscillation support section 42 in the lifting and lowering
section 40 is formed in a U shape so as to be open downwards when seen in the forward-and-backward
direction and is fixed to one side surface (the right side of Fig. 10) of the base
section 41. In addition, the guided member 43 is a member that is held in the guide
path 53 described below so as to be capable of moving. The guided member 43 has a
groove on one side surface and is formed in a block shape. The guided member 43 is
fixed to the other side surface (the left side in Fig. 10) of the base section 41.
That is, the base section 41, the oscillation support section 42, and the guided member
43 which constitute the lifting and lowering section 40 are integrally formed.
[0027] The holding section 50 includes a main body frame 51, oscillation support sections
52, and the guide paths 53. The main body frame 51 is formed in a U shape so as to
be open backwards when seen from above. Fig. 9 illustrates an extended portion of
the left side of the main body frame 51, and Fig. 10 illustrates a part of the extended
portion and the central coupled portion of the main body frame 51. As illustrated
in Fig. 10, the oscillation support section 52 in the holding section 50 is formed
in a U shape so as to be open downwards when seen in the forward-and-backward direction.
The oscillation support section 52 in the holding section 50 is located at a location
at which the oscillation support section overlaps the oscillation support sections
42 in the lifting and lowering sections 40 in the forward-and-backward direction and
is located ahead of the oscillation support section 42 in the lifting and lowering
section 40.
[0028] The guide paths 53 are rail members and are fixed to side surfaces of the right and
left extended portions of the main body frame 51. The guide path 53 is formed so as
to extend in the forward-and-backward direction. In the present embodiment, the guide
path 53 is formed in a curved non-linear shape, particularly, an arc shape. The guide
path 53 is fixed to the main body frame 51 so as to have the front end at the lowest
location and have an upward arc shape as illustrated in Fig. 9. The guide path 53
is fitted into the guided member 43 in the vertical direction and holds the guided
member 43. That is, the guide path 53 moves the guided member 43 in an arc shape along
the guide path 53 as illustrated in Figs. 9 and 11.
[0029] When the guided members 43 move in an arc shape along the guide paths 53, the main
body frame 51 in the holding section 50 moves in a forward, backward, and inclined
manner with respect to the lifting and lowering sections 40 as illustrated in Figs.
9 and 11. In detail, when a state in which the guided members 43 are located at the
front ends of the guide paths 53 as illustrated in Fig. 9 transfers to a state in
which the guided members 43 are located at the back ends of the guide paths 53 as
illustrated in Fig. 11, the main body frame 51 in the holding section 50 moves forwards
and is inclined at the front. In addition, in a case in which a state in which the
locational relationship between the guided members 43 and the guide paths 53 is as
illustrated in Fig. 11 transfers to a state illustrated in Fig. 9, the main body frame
51 in the holding section 50 moves backwards and falls into a horizontal state. As
described above, the guide paths 53 guide the holding section 50 to move in a forward,
backward, and inclined manner with respect to the lifting and lowering sections 40
through the guided members 43.
[0030] The forward-and-backward movement actuators 90 and 100 drive the holding section
50 to move in a forward, backward, and inclined manner with respect to the lifting
and lowering sections 40 as described above. Here, the number of the forward-and-backward
movement actuators is two (the left-side forward-and-backward movement actuator 90
and the right-side forward-and-backward movement actuator 100), but the forward-and-backward
movement actuators perform one kind of driving action to drive the holding section
50 with respect to the right and left lifting and lowering sections 40. That is, the
two forward-and-backward movement actuators 90 and 100 act in synchronization with
each other and are constituted as an actuator that performs one kind of driving action.
In addition, the forward-and-backward movement actuators 90 and 100 that performs
one kind of driving action drive the holding section 50 to move in a forward, backward,
and inclined manner with respect to the lifting and lowering sections 40 with one
kind of driving action.
[0031] As illustrated in Figs. 9 and 10, the forward-and-backward movement actuator 90 includes
the supported member 91, the rotary driving source 92, the screw shaft 93, and the
nut member 94. The supported member 91 has a through-hole formed in the center and
is formed in a block shape. The supported member 91 is supported by a U-shaped opening
end of the oscillation support section 52 in the holding section 50 so as to be capable
of oscillating using the horizontal direction as a rotation axis line.
[0032] The rotary driving source 92 is, for example, a motor. The rotary driving source
92 is fixed to the supported member 91. That is, the rotary driving source 92 becomes
capable of moving in an inclined manner with respect to the oscillation support section
52 in the holding section 50. The screw shaft 93 is coupled to the output axis of
the rotary driving source 92 and is rotary-driven using the rotary driving source
92. The screw shaft 93 is supported by the supported member 91 so as to be capable
of rotating around an axis line of the screw shaft 93. That is, the screw shaft 93
becomes capable of moving in an inclined manner with respect to the oscillation support
section 52 together with the rotary driving source 92. The nut member 94 is supported
by a U-shaped opening end of the oscillation support section 42 in the lifting and
lowering section 40 so as to be capable of moving in an inclined manner using the
horizontal direction as a rotation axis line. The nut member 94 is engaged with the
screw shaft 93 and moves along the screw shaft 93 in accordance with the rotation
of the screw shaft 93.
[0033] That is, the rotary driving source 92 rotates the screw shaft 93 by means of rotary
drive and, furthermore, moves the nut member 94 in the forward-and-backward direction
in accordance with the rotation of the screw shaft 93. In accordance with the rotation
of the rotary driving source 92, the distance between the supported member 91 that
supports one end of the screw shaft 93 and the nut member 94 changes. At this time,
as described above, the posture of the holding section 50 with respect to the lifting
and lowering sections 40 is determined by the movement of the guided members 43 in
an arc shape along the guide paths 53. Therefore, the screw shaft 93 and the nut member
94 move in an inclined manner due to the movement of the holding section 50 with respect
to the lifting and lowering sections 40 in a forward, backward, and inclined manner.
(4. Structure of attachment 60)
[0034] The attachment 60 will be described with reference to Figs. 1 to 4. The attachment
60 includes a main body section 61, a trunk pad 62, right and left grips 63a and 63b,
right and left elbow rest sections 64a and 64b, armpit holding sections 65a and 65b,
and an operation section 66. The main body section 61 is mounted so as to be attachable
to or detachable from the main body frame 51 in the holding section 50 (illustrated
in Fig. 9).
[0035] The trunk pad 62 is formed of a cushion material in an almost plate shape. The trunk
pad 62 is located in the central portion in the horizontal direction and in the central
portion in the forward-and-backward direction of the entire attachment 60 on the upper
surface of the main body section 61. The trunk pad 62 is provided so that the upper
surface thereof is slightly inclined backwards. The trunk pad 62 supports almost all
of the trunk of the person in need of assistance M1, that is, chest to abdomen and
the vicinity of the left armpit to the vicinity of the right armpit. Particularly,
the trunk pad 62 is formed to have a narrower horizontal width in the upper half which
corresponds to chest than that in the lower half which corresponds to abdomen. Therefore,
the person in need of assistance M1 is able to locate both armpits without any discomfort
and obtain a feeling of the vicinity of abdomen stably supported. Furthermore, the
upper edge of the trunk pad 62 is formed in a concave shape so as to allow the head
of the person in need of assistance M1 to move without any hindrance. The lower edge
of the trunk pad 62 is formed in a concave shape so as to allow the leg section to
enter the trunk pad and allow the waist portion to be stably supported.
[0036] The grips 63a and 63b are respectively fixed to the front parts of the right and
left sides of the main body section 61. The elbow rest sections 64a and 64b are respectively
disposed in the back of the right and left sides of the main body section 61. The
operation section 66 includes buttons that the person in need of assistance M1 or
a caregiver operates. The armpit holding sections 65a and 65b are formed in an arc
shape and are respectively disposed on the right and left of the trunk pad 62. The
armpit holding sections 65a and 65b are pinched under both arms of the person in need
of assistance M1 and regulate the forward-and-backward movement of the person in need
of assistance M1. The operation section 66 includes buttons for lifting and lowering
operation. When the person in need of assistance M1 operates the buttons for lifting
and lowering operation in the operation section 66, the lifting and lowering sections
40 perform lifting and lowering movement, and the holding section 50 moves in a forward,
backward, and inclined manner in synchronization with the lifting and lowering movement
of the lifting and lowering sections 40.
[0037] Meanwhile, in the attachment 60, each of the trunk pad 62, the right and left grips
63a and 63b, the right and left elbow rest sections 64a and 64b, the armpit holding
sections 65a and 65b, and the operation section 66 can be individually exchanged with
new members. In addition, the attachment 60 does not need to include all of the trunk
pad 62, the right and left grips 63a and 63b, the right and left elbow rest sections
64a and 64b, the armpit holding sections 65a and 65b, and the operation section 66
and may have a constitution including only appropriately-selected members.
(5. Constitution of control device 120 and operation of assistant robot 1)
[0038] The constitution of the control device 120 will be described with reference to Fig.
12. Simultaneously, the actions of the assistant robot 1 will be described with reference
to Figs. 13 and 14. The control device 120 includes a calculating section 121 such
as CPU and a memory section 122 such as HDD or Flash SSD. Although not illustrated,
the control device 120 includes an interface for communication with the operation
section 66, the lifting and lowering actuators 70 and 80, and the forward-and-backward
movement actuators 90 and 100 as external devices.
[0039] The calculating section 121 acquires operation information from the operation section
66 in a case in which the person in need of assistance M1 operates the operation section
66. The operation information is about lifting actions, lowering actions, and stoppage
actions with respect to the holding section 50. Furthermore, the calculating section
121 acquires the current state information of each of the actuators 70, 80, 90, and
100, for example, the rotation increment values of motors. In addition, the calculating
section 121 synchronously controls the lifting and lowering actuators 70 and 80 and
the forward-and-backward movement actuators 90 and 100 on the basis of the acquired
operation information, the current states of the respective actuators 70, 80, 90,
and 100, and information memorized in the memory section 122. Here, the memory section
122 memorizes the operation information, the current states of the respective actuators
70, 80, 90, and 100, and the relationships with command values for the respective
actuators 70, 80, 90, and 100.
[0040] When the person in need of assistance M1 is in a sitting posture, immediately after
the person in need of assistance M1 is held in the trunk pad 62 in the attachment
60 in the holding section 50, the calculating section 121 first drives the forward-and-backward
movement actuators 90 and 100 and moves the holding section 50 in a forward, backward,
and inclined manner as illustrated in Fig. 13. After that, the calculating section
121 drives the lifting and lowering actuators 70 and 80 while driving the forward-and-backward
movement actuators 90 and 100. That is, the holding section 50 lifts while moving
in a forward, backward, and inclined manner as illustrated in Fig. 14. The lift height
of the holding section 50 can be set in accordance with the height of the person in
need of assistance M1. In addition, even in a case in which the person in need of
assistance M1 transfers from a stand-up posture to a sitting posture, similarly, lifting
and lowering movement using the lifting and lowering actuators 70 and 80 and forward,
backward, and inclined movement using the forward-and-backward movement actuators
90 and 100 are performed in cooperation.
<Second embodiment>
[0041] Lifting and lowering sections 240, a holding section 250, and forward-and-backward
movement actuators 260 in an assistant robot 200 of a second embodiment will be described
with reference to Figs. 15 and 16. Figs. 15 and 16 illustrate, similar to Figs. 9
and 10 in the first embodiment, a coupled structure between the left side portion
of the lifting and lowering section 240 and the left side portion of the holding section
250.
[0042] Here, in the assistant robot 200 of the present embodiment, the holding section 250
includes guide paths 253 which are rail members, the lifting and lowering sections
240 include guided members 243, screw shafts 262 of the forward-and-backward movement
actuators 260 are provided in the lifting and lowering sections 240, and nut members
263 are provided in the holding section 250.
[0043] The lifting and lowering sections 240 are mounted on the upper ends of the third
arm sections 23. The lifting and lowering section 240 includes a base section 241,
a both-end support section 242, and a guided member 243. The base section 241 is constituted
in the same manner as the base section 41 in the first embodiment. The both-end support
section 242 has flange portions at both ends of a long portion. The central portion
of the both-end support section 242 is supported by one side surface (the near surface
in Fig. 15) of the base section 241 so that the both-end support section is capable
of moving in an inclined manner around an axial line of the assistant robot 1 in the
horizontal direction. The guided member 243 is fixed to the other side surface (the
far surface in Fig. 15) of the base section 241.
[0044] The holding section 250 includes a main body frame 251, oscillation support sections
252, and guide paths 253. The oscillation support section 252 is formed in the main
body frame 251 in a U shape so as to be open downwards in a case in which the oscillation
support section is seen in the forward-and-backward direction. The guide paths 253
are rail members and are fixed to side surfaces of the right and left extended portions
of the main body frame 251. The guide path 253 is formed so as to extend in the forward-and-backward
direction. The guide path 253 is formed in a curved non-linear shape, particularly,
an arc shape. The guide path 253 is fitted into the guided member 243 in the vertical
direction and holds the guided member 243. That is, the guide path 253 moves the guided
member 243 in an arc shape along the guide path 253 as illustrated in Figs. 15 and
16.
[0045] The forward-and-backward movement actuator 260 includes a rotary driving source 261,
a screw shaft 262, and a nut member 263 as illustrated in Figs. 15 and 16. The rotary
driving source 261 is fixed to one flange portion of the both-end support section
242 in the lifting and lowering section 240. That is, the rotary driving source 261
becomes capable of moving in an inclined manner with respect to the base section 241
in the lifting and lowering section 240. The screw shaft 262 is coupled to the output
axis of the rotary driving source 261 and is rotary-driven using the rotary driving
source 261. The screw shaft 262 has both ends that are supported by the both flange
portions of the both-end support section 242 in the lifting and lowering section 240
so that the screw shaft is capable of rotating around the axis line of the screw shaft
262. That is, the screw shaft 262 becomes capable of moving in an inclined manner
with respect to the base section 241 in the lifting and lowering section 240 together
with the rotary driving source 261. The nut member 263 is supported by a U-shaped
opening end of the oscillation support section 252 in the holding section 250 so as
to be capable of moving in an inclined manner using the horizontal direction as a
rotation axis line. The nut member 263 is engaged with the screw shaft 262 and moves
along the screw shaft 262 in accordance with the rotation of the screw shaft 262.
[0046] The holding section 250 acts with respect to the lifting and lowering sections 240
in the same manner as in the first embodiment. That is, in a state illustrated in
Fig. 15 as the initial state, the rotary driving sources 261 rotary-drive the screw
shafts 262 to rotate, and the nut members 263 move in a unidirectional manner along
the screw shafts 262 in accordance with the rotation of the screw shafts 262. In such
a case, the both-end support sections 242 in the lifting and lowering sections 240
which support the screw shafts 262 and the oscillation support sections 252 in the
holding section 250 which support the nut members 263 come close to each other.
[0047] At this time, the guided members 243 move in an arc shape along the guide paths 253.
Therefore, the holding section 250 moves forwards and is inclined at the front with
respect to the lifting and lowering sections 240 as illustrated in Fig. 16. On the
other hand, in a case in which the rotary driving sources 261 rotary-drive the screw
shafts in the reverse direction, the holding section 250 acts with respect to the
lifting and lowering sections 240 in a reverse manner.
<Third embodiment>
[0048] Lifting and lowering sections 340, a holding section 350, and forward-and-backward
movement actuators 360 in an assistant robot 300 of a third embodiment will be described
with reference to Figs. 17 and 18. Figs. 17 and 18 illustrate, similar to Figs. 9
and 10 in the first embodiment, a coupled structure between the left side portion
of the lifting and lowering section 340 and the left side portion of the holding section
350.
[0049] Here, in the assistant robot 300 of the present embodiment, the lifting and lowering
sections 340 include guide paths 342 and 343 which are rail members, the holding section
350 includes guided members 352 and 353, screw shafts 262 of the forward-and-backward
movement actuators 360 are provided in the lifting and lowering sections 340, and
nut members 363 are provided in the holding section 250.
[0050] The lifting and lowering sections 340 are mounted on the upper ends of the third
arm sections 23. The lifting and lowering section 340 includes a base section 341,
a first guide path 342, and a second guide path 343. Unlike the base section 41 in
the first embodiment, the base section 341 is formed to be long in the forward-and-backward
direction enough to fix the guide paths 342 and 343 which are rail members. The first
guide path 342 is formed to be linear and is horizontally disposed in the back part
of a side surface of the base section 341 so as to extend in the forward-and-backward
direction. The second guide path 343 is formed to be linear and is disposed in the
front part of the side surface of the base section 341 an angle inclined with respect
to the horizontal surface so as to extend in the forward-and-backward direction. In
detail, the second guide path 343 is provided so that the front end is located below
the back end.
[0051] The holding section 350 includes a main body frame 351, a first guided member 352,
and a second guided member 353. The first guided member 352 is supported by the back
part of the main body frame 351 so as to be capable of moving in an inclined manner
using the horizontal direction of the assistant robot 300 as a rotation axis line.
The first guided member 352 is held in the first guide path 342 so as to pinch the
first guide path 342 in the lifting and lowering section 340 in the vertical direction.
The first guided member 352 moves linearly (in the forward-and-backward direction
and horizontally) along the first guide path 342.
[0052] The second guided member 353 is supported by the front part of the main body frame
351 so as to be capable of moving in an inclined manner using the horizontal direction
as a rotation axis line. The second guided member 353 is held in the second guide
path 343 so as to pinch the second guide path 343 in the lifting and lowering section
340 in the vertical direction. The second guided member 353 moves linearly (in the
forward-and-backward direction so as to be inclined at the front) along the second
guide path 343.
[0053] The forward-and-backward movement actuator 360 includes a rotary driving source 361,
a screw shaft 362, and a nut member 363. The rotary driving source 361 is fixed to
the base section 341 in the lifting and lowering section 340. The screw shaft 362
is coupled to the output axis of the rotary driving source 361 and is rotary-driven
using the rotary driving source 361. That is, the rotary driving source 361 and the
screw shaft 362 are supported so as to be incapable of moving in an inclined manner
with respect to the lifting and lowering section 340. Here, the axis line of the screw
shaft 362 is horizontally disposed so as to extend in the forward-and-backward direction.
[0054] The nut member 363 is engaged with the screw shaft 362 and moves along the screw
shaft 362 in accordance with the rotation of the screw shaft 362. The nut member 363
is fixed to the first guided member 352 in the holding section 350. That is, the first
guided member 352 in the holding section 350 moves in accordance with the movement
of the nut member 363.
[0055] The holding section 350 acts with respect to the lifting and lowering sections 340
in the same manner as in the first embodiment. That is, in a state illustrated in
Fig. 17 as the initial state, the rotary driving sources 361 rotary-drive the screw
shafts 362 to rotate, and the nut members 363 move forwards along the screw shafts
362 in accordance with the rotation of the screw shafts 362.
[0056] At this time, the first guided members 352 move linearly and horizontally along the
first guide paths 342. On the other hand, the second guided members 353 move linearly
along the second guide paths 343 so as to be inclined at the front. Therefore, the
holding section 350 moves forwards and is inclined at the front with respect to the
lifting and lowering sections 340 as illustrated in Fig. 18. On the other hand, in
a case in which the rotary driving sources 361 rotary-drive the screw shafts in the
reverse direction, the holding section 350 acts with respect to the lifting and lowering
sections 340 in a reverse manner.
<Fourth embodiment>
[0057] Lifting and lowering sections 440, a holding section 450, and forward-and-backward
movement actuators 460 in an assistant robot 400 of a fourth embodiment will be described
with reference to Figs. 19 and 20. Figs. 19 and 20 illustrate, similar to Figs. 9
and 10 in the first embodiment, a coupled structure between the left side portion
of the lifting and lowering section 440 and the left side portion of the holding section
450.
[0058] Here, in the assistant robot 400 of the present embodiment, the holding section 450
includes guide paths 451a which are grooves, the lifting and lowering sections 440
include guided members 443 and 444, main body sections 461 of the forward-and-backward
movement actuators 460 are provided in the lifting and lowering sections 440, and
rod sections 462 of the forward-and-backward movement actuators 460 are provided in
the holding section 450.
[0059] The lifting and lowering sections 440 are mounted on the upper ends of the third
arm sections 23. The lifting and lowering section 440 includes a base section 441,
an oscillation support section 442, a first guided member 443, and a second guided
member 444. The oscillation support section 442 is provided in the front part of a
side surface of the base section 441. The first guided member 443 and the second guided
member 444 are protruding members that are provided in the back parts of the side
surfaces of the base section 441 so as to protrude toward the side parts. The first
guided member 443 and the second guided member 444 are provided so as to be arranged
almost in the forward-and-backward direction.
[0060] The holding section 450 includes a main body frame 451 and oscillation support sections
452. The guide paths 451a which are grooves that are open toward the side parts are
formed on the side surfaces of the main body frame 451. The guide path 451a is formed
in a non-linear shape extending in the forward-and-backward direction. The front part
of the guide path 451a is formed in a linear shape extending in the forward-and-backward
direction, and the back part of the guide path 451a is formed in a continuously curved
shape in the linear portion. The back end of the guide path 451a is located below
the front end. That is, the guide path 451a forms a cam groove. The first guided member
443 and the second guided member 444 are inserted into the guide path 451a so as to
be capable of moving along the guide path 451a. When the first guided member 443 and
the second guided member 444 are inserted into the guide path 451a, the posture of
the holding section 450 is stabilized with respect to the lifting and lowering section
440. The oscillation support section 452 is provided at the back end of the main body
frame 451.
[0061] The forward-and-backward movement actuator 460 is a cylinder mechanism. The forward-and-backward
movement actuator 460 includes a main body section 461 and a rod section 462. The
main body section 461 is supported by the oscillation support section 442 in the lifting
and lowering section 440 so as to be capable of moving in an inclined manner using
the horizontal direction of the assistant robot 400 as a rotation axis line. The rod
section 462 acts so that the protruding amount changes with respect to the main body
section 461. The front end of the rod section 462 is supported by the oscillation
support section 452 in the holding section 450 so as to be capable of moving in an
inclined manner using the horizontal direction of the assistant robot 400 as a rotation
axis line.
[0062] In the present embodiment, the holding section 450 acts with respect to the lifting
and lowering sections 440 in the same manner as in the first embodiment. That is,
in a state illustrated in Fig. 19 as the initial state, the rod section 462 transfers
from a state of being extended with respect to the main body section 461 to a state
of being contracted with respect to the main body section, the oscillation support
section 452 in the holding section 450 comes close to the oscillation support section
442 in the lifting and lowering section 440. At this time, the first guided member
443 and the second guided member 444 relatively move along the guide path 451a which
is a groove. In such a case, as illustrated in Fig. 20, the holding section 450 is
inclined forwards while moving forwards with respect to the lifting and lowering section
440. On the other hand, when the forward-and-backward movement actuators 460 are caused
to act in a reverse manner, the holding section 450 acts with respect to the lifting
and lowering sections 440 in a reverse manner.
[0063] Meanwhile, in the fourth embodiment, the guide path 451a is formed in the holding
section 450, and the guided members 443 and 444 are provided in the lifting and lowering
section 440, but the guide path 451a may be formed in the lifting and lowering section
440, and the guided members 443 and 444 may be provided in the holding section 450.
<Summary>
[0064] The assistant robots 1, 200, 300, and 400 of the first, second, third, and fourth
embodiments include the base 10, the lifting and lowering sections 40, 240, 340, and
440 which lift and lower with respect to the base 10, the holding sections 50, 250,
350, and 450 which hold a part of the body of the person in need of assistance M1
and move in a forward, backward, and inclined manner with respect to the lifting and
lowering sections 40, 240, 340, and 440, the lifting and lowering actuators 70 and
80 which drive the lifting and lowering sections 40, 240, 340, and 440 to lift and
lower with respect to the base 10, and the forward-and-backward movement actuators
90, 100, 260, 360, and 460 which drive the holding sections 50, 250, 350, and 450
to move in a forward, backward, and inclined manner with respect to the lifting and
lowering sections 40, 240, 340, and 440.
[0065] One of the lifting and lowering sections 40, 240, 340, and 440 and the holding sections
50, 250, 350, and 450 are formed to extend in the forward-and-backward direction and
include the guide paths 53, 253, 342, 343, and 451a which guide the holding sections
50, 250, 350, and 450 to move in a forward, backward, and inclined manner with respect
to the lifting and lowering sections 40, 240, 340, and 440. The other one of the lifting
and lowering sections 40, 240, 340, and 440 and the holding sections 50, 250, 350,
and 450 include the guided members 43, 243, 352, 353, 443, and 444 which move along
the guide paths 53, 253, 342, 343, and 451a.
[0066] The holding sections 50, 250, 350, and 450 move in a forward, backward, and inclined
manner with respect to the lifting and lowering sections 40, 240, 340, and 440. In
addition, the forward-and-backward movement actuators 90, 100, 260, 360, and 460 drive
the holding sections 50, 250, 350, and 450 to move in a forward, backward, and inclined
manner with respect to the lifting and lowering sections 40, 240, 340, and 440. Therefore,
the person in need of assistance M1 is moved in a forward, backward, and inclined
manner by the driving of the forward-and-backward movement actuators 90, 100, 260,
360, and 460. As described above, the forward-and-backward movement actuators 90,
100, 260, 360, and 460 drive the holding sections 50, 250, 350, and 450 with respect
to the lifting and lowering sections 40, 240, 340, and 440. That is, compared with
actuators in the related art which moment-drive the lifting and lowering sections
50, 250, 350, and 450 with respect to the base 10, the forward-and-backward movement
actuators 90, 100, 260, 360, and 460 in the present embodiments have small sizes.
[0067] Furthermore, the forward-and-backward movement actuators 90, 100, 260, 360, and 460
move the holding sections 50, 250, 350, and 450 in an inclined manner and, furthermore,
move the holding sections in a forward and backward manner. That is, in the assistant
robots 1, 200, 300, and 400, it is not necessary to separately provide actuators for
driving the holding sections 50, 250, 350, and 450 to move in an inclined manner and
actuators for driving the holding sections in a forward-and-backward manner. Therefore,
the number of actuators decreases. As a result, the assistant robots 1, 200, 300,
and 400 have small sizes.
[0068] In addition, in the assistant robots 1, 200, and 300 of the first, second, and third
embodiments, the guide paths 53, 253, 342, and 343 are rail members, and the guided
members 43, 243, 352, and 353 are members which are held so as to be capable of relatively
moving with respect to the guide paths 53, 253, 342, and 343. When the rails members
are used, the holding sections 50, 250, and 350 are stably guided with respect to
the lifting and lowering sections 40, 240, and 340. Furthermore, the sliding resistance
between the guide paths 53, 253, 342, and 343 as rail members and the guided members
43, 243, 352, and 353 is small, and thus the power of the forward-and-backward movement
actuators 90, 100, 260, and 360 becomes small.
[0069] In the assistant robot 400 of the fourth embodiment, the guide path 451a is a groove
which is formed in one of the lifting and lowering section 440 and the holding section
450, and the guided members 443 and 444 are protruding members which are inserted
into the guide path 451a so as to be capable of relatively moving in the guide path
451a. In this case, the guide path 451a is not an exclusive member and is formed in
one of the lifting and lowering section 440 and the holding section 450, and thus
the number of components decreases. Furthermore, since the degree of freedom in designing
the shape of the groove is high, the degree of freedom of the holding section 450
acting with respect to the lifting and lowering section 440 is high.
[0070] In the assistant robots 1, 200, and 400 of the first, second, and fourth embodiments,
the holding sections 50, 250, and 450 include the guide paths 53, 253, and 451a, and
the lifting and lowering sections 40, 240, and 440 include the guided members 43,
243, 443, and 444. Since the guide paths 53, 253, and 451a have lengths in the forward-and-backward
direction, members having the guide paths 53, 253, and 451a have lengths. On the other
hand, the guided members 43, 243, 443, and 444 are members that move along the guide
paths 53, 253, and 451a and are thus relatively short.
[0071] In addition, the holding sections 50, 250, and 450 hold a part of the body of a person
in need of assistance M1 and thus have a length to a certain extent. Therefore, when
the holding sections 50, 250, and 450 having original lengths include the guide paths
53, 253, and 451a, it is possible to shorten the full lengths of the lifting and lowering
sections 40, 240, and 440 in the forward-and-backward direction. As a result, the
full lengths of the assistant robots 1, 200, and 400 in the forward-and-backward direction
become short.
[0072] In the assistant robot 1 of the first embodiment, the forward-and-backward movement
actuators 90 and 100 include the rotary driving sources 92 which are provided in the
holding section 50, the screw shafts 93 which are coupled to the output axes of the
rotary driving sources 92 and are rotary-driven using the rotary driving sources 92,
and the nut members 94 which are provided in the lifting and lowering sections 40,
are engaged with the screw shafts 93, and move to the screw shafts 93 in accordance
with the rotation of the screw shafts 93. In this case, the screw shafts 93 in the
forward-and-backward movement actuators 90 and 100 move together with the holding
section 50. The screw shafts 93 have lengths. The holding section 50 holds a part
of the body of the person in need of assistance M1 and thus has a length to a certain
extent. Therefore, when the screw shafts 93 are held in the holding section 50 having
an original length, it is possible to shorten the lengths in the forward-and-backward
direction of members which are provided in the lifting and lowering sections 40. As
a result, the full length of the assistant robot 1 in the forward-and-backward direction
becomes short.
[0073] Furthermore, in the assistant robot 1 of the first embodiment, the rotary driving
sources 92 and the screw shafts 93 are supported by the holding section 50 so as to
be capable of moving in an inclined manner, and the nut members 94 are supported by
the lifting and lowering sections 40 so as to be capable of moving in an inclined
manner. In this case, in a case in which the holding section 50 moves in a forward,
backward, and inclined manner with respect to the lifting and lowering sections 40,
the screw shafts 93 move in an inclined manner in accordance with the inclination
angle of the holding section 50. Therefore, the sizes of the forward-and-backward
movement actuators 90 and 100 in the vertical direction are reduced.
[0074] In the assistant robots 200 and 300 of the second and third embodiments, the forward-and-backward
movement actuators 260 and 360 include the rotary driving sources 261 and 361 which
are provided in the lifting and lowering sections 240 and 340, the screw shafts 262
and 362 which are coupled to the output axes of the rotary driving sources 261 and
361 and are rotary-driven using the rotary driving sources 261 and 361, and the nut
members 63 and 363 which are provided in the holding sections 250 and 350, are engaged
with the screw shafts 262 and 362, and move to the screw shafts 262 and 362 in accordance
with the rotation of the screw shafts 262 and 362. In this case, the rotary driving
sources 261 and 361 rarely move in a forward and backward manner with respect to the
lifting and lowering sections 240 and 340. Therefore, handling of wires for the rotary
driving sources 261 and 361 is extremely favorable.
[0075] In addition, in the assistant robot 200 of the second embodiment, the rotary driving
sources 261 and the screw shafts 262 are supported by the lifting and lowering sections
240 so as to be capable of moving in an inclined manner, and the nut members 263 are
supported by the holding sections 250 so as to be capable of moving in an inclined
manner. In this case, in a case in which the holding section 250 moves in a forward,
backward, and inclined manner with respect to the lifting and lowering sections 240,
the screw shafts 262 move in an inclined manner in accordance with the inclination
angle of the holding section 250. Therefore, the sizes of the forward-and-backward
movement actuators 260 in the vertical direction are reduced.
[0076] In addition, in the assistant robot 300 of the third embodiment, the rotary driving
sources 361 and the screw shafts 362 are supported by the lifting and lowering sections
340 so as to be incapable of moving in an inclined manner, and the nut members 363
are supported by the holding sections 350 so as to be capable of moving in an inclined
manner. The rotary driving sources 361 and the screw shafts 362 move in accordance
with the lifting and lowering action of the lifting and lowering section 340, but
do not follow the forward, backward, and inclined movement of the holding section
350. Therefore, there is a little opportunity that the rotary driving sources 361
and the screw shafts 362 are imparted with vibrations from the outside. Therefore,
the service lives of the rotary driving sources 361 and the screw shafts 362 extend.
[0077] In addition, in the assistant robot 200 of the second embodiment, both ends of the
screw shafts 262 are supported by the lifting and lowering sections 240. Since the
screw shafts 262 are stably held, even in a case in which the assistant robot 200
acts, the engagement state between the screw shafts 262 and the nut members 263 is
favorably maintained. Therefore, the service lives of the screw shafts 262 and the
nut members 263 extend.
[0078] In addition, in the assistant robots 1, 200, 300, and 400 of the first, second, third,
and fourth embodiments, the lifting and lowering sections 40, 240, 340, and 440 linearly
move forwards as the lifting and lowering sections lift with respect to the base 10.
Here, in a case in which the person in need of assistance M1 transfers from a seating
posture to a standing posture, the holding sections 50, 250, 350, and 450 need to
move forwards with respect to the lifting and lowering sections 40, 240, 340, and
440 to a predetermined extent. When the lifting and lowering sections 40, 240, 340,
and 440 lift, the lifting and lowering sections 40, 240, 340, and 440 are capable
of moving forwards. As a result, it is possible to shorten the stroke of the forward-and-backward
movement of the holding sections 50, 250, 350, and 450 with respect to the lifting
and lowering sections 40, 240, 340, and 440. Therefore, the lengths of the guide paths
53, 253, 342, 343, and 451a become short, and the full lengths of the assistant robots
1, 200, 300, and 400 in the forward-and-backward direction become short.
[0079] In the assistant robots 1, 200, 300, and 400 of the first, second, third, and fourth
embodiments, the guide paths 53, 253, and 451a are formed in a non-linear shape. The
guide paths 53, 253, and 451a enable the holding sections 50, 250, and 450 to move
in a forward, backward, and inclined manner with respect to the lifting and lowering
sections 40, 240, and 440. The structure can be easily formed. In the assistant robot
300 of the third embodiment, the guide path 343 is linearly formed in an inclined
manner. The formation of the guide path 343 becomes easy.
[0080] In addition, in the assistant robots 1, 200, 300, and 400 of the first, second, third,
and fourth embodiments, the forward-and-backward movement actuators 90, 100, 260,
360, and 460 are constituted of actuators that perform one kind of driving action
and drive the holding sections 50, 250, 350, and 450 to move in a forward, backward,
and inclined manner with respect to the lifting and lowering sections 40, 240, 340,
and 440. Here, the actuators that perform one kind of driving action may be multiple
actuators which are intended to perform the same kind of action in synchronization
with each other.
[0081] That is, in the assistant robots 1, 200, 300, and 400, it is not necessary to separately
provide actuators for driving the holding sections 50, 250, 350, and 450 to move only
in an inclined manner and actuators for driving the holding sections only in a forward-and-backward
manner. As described above, in the assistant robots 1, 200, 300, and 400, it is not
necessary to provide actuators that perform two kinds of driving action in order to
move the holding sections 50, 250, 350, and 450 in a forward, backward, and inclined
manner with respect to the lifting and lowering sections 40, 240, 340, and 440. Therefore,
the assistant robots 1, 200, 300, and 400 may include a small number of actuators.
As a result, the assistant robots 1, 200, 300, and 400 have small sizes.
Reference Signs List
[0082]
1, 200, 300, 400: assistant robot, 10: base, 20, 30: lifting and lowering arm, 23,
33: third arm section, 40, 240, 340, 440: lifting and lowering section, 41, 241, 341,
441: base section, 43, 243, 352, 353, 443, 444: guided member, 50, 250, 350, and 450:
holding section, 51, 251, 351, 451: main body frame, 53, 253, 342, 343, 451a: guide
path, 60: attachment, 70, 80: lifting and lowering actuator, 90, 100, 260, 360, 460:
forward-and-backward movement actuator, 92, 261, 361: rotary driving source, 93, 262,
362: screw shaft, 94, 263, 363: nut member, 120: control device, M1: person in need
of assistance