CN107049716A - The control method of the drive device of walker and the drive device of walker - Google Patents
The control method of the drive device of walker and the drive device of walker Download PDFInfo
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- CN107049716A CN107049716A CN201610891848.7A CN201610891848A CN107049716A CN 107049716 A CN107049716 A CN 107049716A CN 201610891848 A CN201610891848 A CN 201610891848A CN 107049716 A CN107049716 A CN 107049716A
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- drive device
- walker
- driving wheel
- support frame
- driving source
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- 238000000034 method Methods 0.000 title claims abstract description 11
- 230000009471 action Effects 0.000 claims description 30
- 238000012360 testing method Methods 0.000 claims description 12
- 238000001514 detection method Methods 0.000 claims description 3
- 238000010586 diagram Methods 0.000 description 4
- 230000000694 effects Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000010355 oscillation Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 230000001788 irregular Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000003252 repetitive effect Effects 0.000 description 1
Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H3/04—Wheeled walking aids for patients or disabled persons
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H2003/001—Appliances for aiding patients or disabled persons to walk about on steps or stairways
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H3/04—Wheeled walking aids for patients or disabled persons
- A61H2003/043—Wheeled walking aids for patients or disabled persons with a drive mechanism
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H3/04—Wheeled walking aids for patients or disabled persons
- A61H2003/046—Wheeled walking aids for patients or disabled persons with braking means
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/12—Driving means
- A61H2201/1207—Driving means with electric or magnetic drive
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- Health & Medical Sciences (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Rehabilitation Tools (AREA)
Abstract
The present invention provides the control method of the drive device of walker and the drive device of walker, and the walker can easily pass over step.The drive device (1) of walker has：Fixed mount (10)；Driving wheel (20), it configures the upper side position in specified altitude relative to the lowest positions of the wheel of walker；Support frame (30), it is linked in the way of it can swing with fixed mount (10), support driving wheel (20)；Switch (40), it detects the swing of support frame (30)；And driver element (50), it is driven to driving wheel (20).Driver element (50) is driven in the case where switch (40) detects the swing of support frame (30) to driving wheel (20).
Description
Technical field
The application is related to the control method of the drive device of walker and the drive device of walker.
Background technology
There is the walker that a kind of walking to needing the users such as caregiver is aided in.Such walker while with
So that the mode that user will not fall supports the body of user while traveling.For example, in patent document 1, being used as auxiliary
The device of user's movement, describing a kind of can cross the wheelchair of step.
Patent document 1：Japanese Unexamined Patent Application Publication 2010-536512 publications
The content of the invention
In the case of there is step on the ground, due to the wheel of walker can be blocked, accordingly, it would be desirable to lift walker
Cross step.Therefore, the purpose of the application is the drive device and step for providing the walker that can easily pass over step
The control method of the drive device of row device.
The application is a kind of drive device of walker, and the drive device is arranged on walker, and drive device has：Gu
Determine frame, it is fixed on walker；Driving wheel, its configuration is high in the upper regulation of the lowest positions of the wheel than walker
The position of degree；Support frame, it is linked with fixed mount in the way of it can swing, driving wheel is supported to rotate；Switch, its
Detect the swing of support frame；And driver element, it is driven to driving wheel, and driver element detects support frame in switch
Driving wheel is driven in the case of swing.
The application is a kind of control method of the drive device of walker, and drive device has：Fixed mount, it is fixed on step
On row device；Driving wheel, it is configured in the position of the upper specified altitude of the lowest positions of the wheel than walker；Support
Frame, it is linked with fixed mount in the way of it can swing, driving wheel is supported to rotate；Switch, it detects support frame
Swing；And driver element, it is driven to driving wheel, and control method comprises the following steps：Support frame is detected using switch
Swing；And driver element is worked in the case where switch detects the swing of support frame.
According to the application, step can be easily passed over.
Brief description of the drawings
Fig. 1 is the stereogram for representing to be provided with the walker of the drive device of embodiment.
Fig. 2 is the left surface figure of Fig. 1 drive device.
Fig. 3 is the figure of Fig. 1 drive device from left front.
Fig. 4 is the axial sectional view of swing for the drive device for showing Fig. 1.
Fig. 5 is to show the block diagram around Fig. 1 driver element.
Fig. 6 is the flow chart of the flow of processing for showing to be driven drive device.
Fig. 7 is the block diagram around the driver element for the drive device for showing the 1st variation.
Fig. 8 is the block diagram around the driver element for the drive device for showing the 2nd variation.
Fig. 9 is the block diagram around the driver element for the drive device for showing the 3rd variation.
Figure 10 is the axial sectional view of swing for the drive device for showing the 4th variation.
Label declaration
1st, 1A~1D：Drive device；10：Fixed mount；20：Driving wheel；30、30A：Support frame；40：Switch；50th, 50A~
50C：Driver element；51：Driving source；52nd, 52A~52C：Control unit；60：Current detecting part；70：Apart from test section；80：Stop
Switch；100：Walker；P1：Swinging axle；P2：Rotary shaft.
Embodiment
Hereinafter, embodiment is illustrated referring to the drawings.Also, in the description of the drawings, to identical element numeral
Identical label, the repetitive description thereof will be omitted.
As shown in figure 1, drive device 1 is arranged on walker 100.Multiple drivings can also be installed on walker 100
Device 1.Walker 100 is to support user while the device that the walking to user is aided in.Walker 100 has
Lower cage 110, front vehicle wheel 120, rear wheel 130, column sections 140 and supporting part 150.Walker 100 by user by being pressed
Press and travel.Or, walker 100 can also be following such structure：With being carried out to front vehicle wheel 120 or rear wheel 130
The driving source of the walker of driving, front vehicle wheel 120 or rear wheel 130, thus, the step with user are driven by the driving source
Capable correspondingly automatic running.Here, the direct of travel side of walker 100 is set as " preceding ", by relative to the phase of direct of travel
Toss about and be set as " rear ".In addition, when from rear side to front side walker 100, right side being set as into " right side ", left side is set
For " left side ".
Front vehicle wheel 120 and rear wheel 130 are arranged on the lower surface of lower cage 110.Front vehicle wheel 120 is arranged on rear wheel 130
Front side.Column sections 140 are fixed in lower cage 110.Column sections 140 extend from lower cage 110 to upside.Supporting part 150 is consolidated
It is scheduled on the upper end of column sections 140.Arm of the support user of column sections 140 etc..User rides over arm on supporting part 150,
While utilizing the support of supporting part 150 oneself, one side walking.
Drive device 1 is arranged on the bottom of walker 100.Drive device 1 is aided in the traveling of walker 100, with
Walker 100 is enabled to cross step.In the present embodiment, drive device 1 is arranged on the lower surface of lower cage 110.Such as
Shown in Fig. 1~Fig. 4, drive device 1 has fixed mount 10, driving wheel 20, support frame 30, switch 40 and driver element 50.
Fixed mount 10 is fixed on the lower surface of the lower cage 110 of walker 100.Fixed mount 10 has upper wall portions 11, rear wall
Portion 12, left wall 13 and right wall portion 14.Upper wall portions 11 are fixed on the lower surface of lower cage 110.Rear wall parts 12 are from upper wall portions 11
The end of rear side extend to downside.Left wall 13 extends from the end in the left side of upper wall portions 11 to downside.Right wall portion 14 is from upper
The end on the right side of wall portion 11 extends to downside.
Support frame 30 have main part 31, retainer 32, left support portion 33, right support portion 34, linking part 35, spring 36 with
And spring 37.Main part 31 is the part of tabular, is configured between left wall 13 and right wall portion 14.Retainer 32 is from main part 31
Upper end extend to front side.Left support portion 33 and right support portion 34 extend from the bottom of main part 31 to front side.In left support
Provided with defined gap between portion 33 and right support portion 34.Right support portion 34 configures the right side in left support portion 33.
The upper end of main part 31 is connected by linking part 35 in the way of it can swing with left wall 13 and right wall portion 14
Knot.Linking part 35 makes main part 31 and left wall using straight line in left-right direction as axle in the way of main part 31 can be swung
13 and right wall portion 14 link.The axle of the swing of main part 31 is set as swinging axle P1 (referring to Fig. 2).Retainer 32 by with
To limit main part 31, supporting part 33 rotates more than predetermined angular the abutting of upper wall portions 11 close to the direction of upper wall portions 11 to the left.
Spring 36 links main part 31 and left wall 13.Spring 37 links main part 31 and right wall portion 14.Spring 36 and bullet
Spring 37 pulls main part 31, so as to the state that retainer 32 is abutted with upper wall portions 11.
Driving wheel 20 is supported in the way of it can rotate by left support portion 33 and right support portion 34.The rotary shaft of driving wheel 20
P2 (referring to Fig. 2) extends in left-right direction.That is, driving wheel 20 can rotate in the way of walker 100 is advanced forwards.Separately
Outside, the bearing of trend of swinging axle P1 bearing of trend and rotary shaft P2 is parallel to each other.In the present embodiment, swinging axle P1 is located at
Rotary shaft P2 rear side.In addition, swinging axle P1 is located at rotary shaft P2 upside.
Driving wheel 20 is relative to the front vehicle wheel 120 of walker 100 and the lowest positions of rear wheel 130, and configuration is in regulation
The upper side position of height.That is, in the case where the walker 100 for being provided with drive device 1 is positioned on ground, on ground and
Gap as defined in being formed between driving wheel 20.Before driving wheel 20 is configured as the front position of driving wheel 20 than front vehicle wheel 120
Side protrudes specific length to end position forward.Or, driving wheel 20 can also be configured as the front position and front truck of driving wheel 20
The front position of wheel 120 is identical in the longitudinal direction.When drive device 1 is installed on walker 100, with as such
The mode of the allocation position of driving wheel 20 sets the size of the grade of driving wheel 20.In addition, with the configuration as such driving wheel 20
The mode of position installs drive device 1 on walker 100.
Switch 40 detects the swing of support frame 30.Specifically, switch 40 is arranged on the face of the rear side of main part 31.In master
Body portion 31 is to during a side oscillation close to rear wall parts 12, and switch 40 is pressed.Switch 40 is clamped by main part 31 and rear wall parts 12
And press, thus, detect the swing of support frame 30.
Driver element 50 is driven to driving wheel 20.In addition, driver element 50 detects support frame 30 in switch 40
Driving wheel 20 is driven in the case of swing.More specifically, as shown in Figure 2 and Figure 5, driver element 50 has driving source 51
With control unit 52.Driving source 51 is the driving source being driven to driving wheel 20.
In the present embodiment, as one, the driving force of driving source 51 by pulley 53, pulley 54, band 55 and
Tight device (tensioner) 56 passes to driving wheel 20.Pulley 53 is arranged in the rotary shaft of driving source 51.Pulley 54 is arranged on
In the rotary shaft of driving wheel 20.The rotation of pulley 53 is passed into pulley 54 with 55.Tensioning apparatus 56 applies tensile force to band 55,
So that pulley 53 is not slided relative to band 55, and pulley 54 is not slided relative to band 55.
Action of the control unit 52 to driving source 51 is controlled.Control unit 52 detects the swing of support frame 30 in switch 40
In the case of, driving source 51 is worked, start the driving of driving wheel 20.In addition, control unit 52 is after driving source 51 is worked, warp
Stop the action of driving source 51 after having spent the stipulated time.The stipulated time can be value set in advance, can also be by making
User changes.Control unit 52 has the function of time of measuring.Thus, control unit 52 can determine that after driving source 51 is worked
Whether the stipulated time have passed through.
Control unit 52 is arranged on the appropriate position of drive device 1, such as on support frame 30.Control unit 52 is for example
The structure on hardware is used as with the circuit 52a shown in Fig. 5.Circuit 52a has processor 52b, memory 52c, holder
52d, input/output port 52e and driver 52f.Driver 52f is the circuit for making driving source 51 work.Input and output
Port 52e is carried out in addition to the input and output that carry out external signal, also for the driver 52f input of signal and defeated
Go out.Processor 52b cooperates and configuration processor with least one in memory 52c, holder 52d, and by perform via
Input/output port 52e signal input and output, as described above, the action to driving source 51 is controlled.
In addition, the structure on the hardware of control unit 52 is not necessarily defined to by configuration processor come as described above to driving
The action in source 51 is controlled.For example, control unit 52 by special logic circuit or can also pass through these integrated circuits
Obtained from ASIC (Application Specific Integrated Circuit) come as described above to driving source 51
Action is controlled.
Then, to there is step on ground in the case of drive device 1 start working illustrate.Such as Fig. 2 institutes
Show there is step X on the ground F that walker 100 is travelled.User makes after the traveling of walker 100, the driving of drive device 1
Wheel 20 is abutted with step X.By the abutting, support frame 30 using swinging axle P1 as axle, with cause driving wheel 20 backward side movement
Mode is swung.By the swing, rear wall part 12 is by compressing switch 40, therefore, and switch 40 detects the swings of support frame 30.
Detect after the swing of support frame 30 that control unit 52 drives driving wheel 20 by driving source 51 by switch 40, to cause driving
Wheel 20 crosses step X (walker 100 is advanced forward).
By being driven to driving wheel 20, driving wheel 20 crosses step X.That is, drive device 1 makes walker 100 with more
The mode for crossing step X is travelled.In addition, as driving wheel 20, in order to easily pass over step X, coefficient of friction can be used
Big wheel, or the irregular wheel of tool can be used so that it is engaged with step X.After walker 100 crosses step X,
Driving wheel 20 is no longer abutted with step X.Thus, by the effect of spring 36 and spring 37, support frame 30 is leaned in left support portion 33
The side of nearly upper wall portions 11 is swung up, the pressing of cancel switch 40.
Then, illustrated using the control method of Fig. 6 drive devices 1 carried out to control unit 52.Control unit 52 judges
Whether switch 40 detects the swing (S11) of support frame 30.(the S11 in the case where not detecting to swing：It is no), control unit 52
S11 processing is carried out untill detecting swing.(the S11 in the case where detecting to swing：It is), control unit 52 makes driving source
51 work, to cause driving wheel 20 to cross step X.After driving source 51 is worked, control unit 52 is judged from making the work of driving source 51
Make whether to have passed through the stipulated time (S13).(the S13 in the case where have passed through the stipulated time：It is), control unit 52 makes driving source
51 work stops.Then, control unit 52 carries out S11 processing again.
On the other hand, (the S13 in the case of no process stipulated time：It is no), control unit 52 makes driving source 51 work, directly
Untill by the stipulated time (S12).
Present embodiment is constituted as described above, is existed on the F of ground when travelling in the state of step X walker 100,
Driving wheel 20 is abutted with step X, and support frame 30 is swung.Switch 40 detects the swing of support frame 30.Driver element 50 is being opened
Close 40 to detect after the swing of support frame 30, driving wheel 20 is driven.By being driven to driving wheel 20, driving wheel 20
Step X can be crossed.That is, the drive device 1 of walker 100 can be such that walker 100 is travelled in the way of crossing step X.
Control unit 52 stops the action of driving source 51 after driving source 51 is worked after have passed through the stipulated time.By
This, control unit 52 can prevent the continuation of driving source 51 from acting, and being in due course stops the action of driving source 51.
(the 1st variation)
Then, the 1st variation to drive device is illustrated.The drive device of this variation is relative to embodiment
Drive device 1, the opportunity for stopping the action of driving source 51 is different.Hereinafter, as the 1st variation, with different from embodiment
Structure centered on illustrate.As shown in fig. 7, the drive device 1A of this variation has driver element 50A to substitute implementation
The driver element 50 of the drive device 1 of mode.In addition, drive device 1A also has current detecting part 60.In the figure 7 only to driving
Structure around unit 50A is shown, but drive device 1A is identical with the drive device 1 of embodiment, with fixed mount
10th, driving wheel 20 and support frame 30 etc..
Driving source 51 is driven using electric power to driving wheel 20.The detection of current detecting part 60 is provided to driver element
The current value of the electric power of 50A driving source 51.
Actions of the control unit 52A to driving source 51 is controlled.Structure and embodiment on control unit 52A hardware
Control unit 52 is identical, and the description thereof will be omitted.Control unit 52A makes driving in the case where switch 40 detects the swing of support frame 30
Source 51 works, and starts the driving of driving wheel 20.In addition, control unit 52A is examined after drive division 51 is worked in current detecting part 60
The current value measured be rated current value below in the case of, stop the action of driving source 51.
Here increase there is provided the current value of the electric power to driving source 51 with the increase for the load for being applied to driving source 51
Greatly.That is, it is supplied to the current value ratio driving wheel 20 of the electric power of driving source 51 to be in float state when driving wheel 20 crosses step X
When be supplied to driving source 51 electric power current value it is big.Therefore, the current value of the electric power of driving source 51, energy are supplied to by detection
Enough judge driving wheel 20 whether in the state floated.Above-mentioned rated current value is set to cross step than driving wheel 20
The value for being supplied to the current value of the electric power of driving source 51 small when (applying load).
So, in the case where the current value that current detecting part 60 is detected is below rated current value, i.e. driving wheel 20
In the case of the state crossed step and floated, control unit 52A stops the action of driving source 51.Thus, drive device
1A can be after driving wheel 20 crosses step, and being in due course stops the action of driving source 51.
(the 2nd variation)
Then, the 2nd variation to drive device is illustrated.The drive device of this variation is relative to embodiment
Drive device 1, the opportunity for stopping the action of driving source 51 is different.Hereinafter, as the 2nd variation, with different from embodiment
Structure centered on illustrate.As shown in figure 8, the drive device 1B of this variation has driver element 50B to substitute implementation
The driver element 50 of the drive device 1 of mode.In addition, drive device 1B also has apart from test section 70.In fig. 8, only to driving
Structure around moving cell 50B is shown, but drive device 1B is identical with the drive device 1 of embodiment, with fixation
Frame 10, driving wheel 20 and support frame 30 etc..
The operating range of walker 100 is detected apart from test section 70.For example can also be according to front vehicle wheel apart from test section 70
120 or the rotating speed of rear wheel 130 detect operating range.Or, apart from test section 70 except the grade of front vehicle wheel 120 rotating speed with
Outside, other sensors etc. can also be used to detect the operating range of walker 100.Driven in addition, being detected apart from test section 70
Operating range after the dynamic start-up operation of source 51.
Actions of the control unit 52B to driving source 51 is controlled.Structure and embodiment on control unit 52B hardware
Control unit 52 is identical, and the description thereof will be omitted.Control unit 52B makes driving source in the case where switch 40 detects the swing of support frame 30
51 work, start the driving of driving wheel 20.In addition, the walker after detecting that driving source 51 of sening as an envoy to works apart from test section 70
100 operating range be predetermined distance more than in the case of, control unit 52B stops the action of driving source 51.The predetermined distance
For example can be that the front vehicle wheel 120 and rear wheel 130 for estimating walker 100 have passed past the distance of step.
So, control unit 52B stops the action of driving source 51 after the movement predetermined distance of walker 100.Thus, drive
Dynamic device 1B can prevent the continuation of driving source 51 from acting, and being in due course stops the action of driving source 51.
(the 3rd variation)
Then, the 3rd variation to drive device is illustrated.The drive device of this variation is relative to embodiment
Drive device 1, the opportunity for stopping the action of driving source 51 is different.Hereinafter, as the 3rd variation, with different from embodiment
Structure centered on illustrate.As shown in figure 9, the drive device 1C of this variation has driver element 50C to substitute implementation
The driver element 50 of the drive device 1 of mode.In addition, drive device 1C also has shutdown switch 80.In fig .9, only to driving
Structure around unit 50C is shown, but drive device 1C is identical with the drive device 1 of embodiment, with fixed mount
10th, driving wheel 20 and support frame 30 etc..
Shutdown switch 80 is operated by the user of walker 100.Shutdown switch 80 accepts the driving of user's progress
The instruction that the driving of wheel 20 stops.Shutdown switch 80 is arranged at the maneuverable position of user, for example the branch of walker 100
Near support part 150 etc..
Actions of the control unit 52C to driving source 51 is controlled.Structure and embodiment on control unit 52C hardware
Control unit 52 is identical, and the description thereof will be omitted.Control unit 52C makes driving source in the case where switch 40 detects the swing of support frame 30
51 work, start the driving of driving wheel 20.In addition, control unit 52C is received after drive division 51 is worked in shutdown switch 80
In the case that the stopping of driving source 51 is indicated, stop the action of driving source 51.
So, because drive device 1C has shutdown switch 80, therefore, user to shutdown switch 80 by operating
Stop on any opportunity the action of driving source 51.
In addition, as illustrated in the 3rd variation, making the action of driving source 51 according to the operation of shutdown switch 80
The structure of stopping is readily applicable to drive device 1, the drive device 1A of the 1st variation and the 2nd variation of embodiment
Drive device 1B.In this case, the drive device 1 of embodiment, the drive device 1A of the 1st variation and the 2nd become
The drive device 1B of shape example also can stop the action of driving source 51 according to the operation of user.
(the 4th variation)
Then, the 4th variation to drive device is illustrated.The drive device of this variation is relative to embodiment
Drive device 1, supports the swinging axle of support frame of driving wheel different from the position relationship between the rotary shaft of driving wheel.Hereinafter,
As the 4th variation, illustrated centered on the structure different from embodiment.As shown in Figure 10, the driving of this variation
Device 1D has fixed mount 10, driving wheel 20, support frame 30A, switch 40 and driver element 50.Support frame 30A has a pair
Supporting part 38 and by bottom 39.
A pair of supporting parts 38 are configured between the left wall 13 of fixed mount 10 and right wall portion 14.A pair of supporting parts 38 are from left wall
Portion 13 and right wall portion 14 extend to downside.Provided with defined gap between a pair of supporting parts 38.In a pair of supporting parts 38
A supporting part 38 upper end linking part 35A to link by way of can swinging with right wall portion 14.Equally, a pair
The upper end of another supporting part 38 in support part 38 is linking part 35A to link by way of can swinging with left wall 13.
Linking part 35A in the way of supporting part 38 can be swung along the straight line of left and right directions as axle, to make supporting part 38 and left wall
13 and right wall portion 14 link.The axle of the swing of supporting part 38 is set as swinging axle P1.
By the bottom of a supporting part 38 in a pair of supporting parts 38, driving wheel 20 is supported in the way of it can rotate
Rotary shaft an end.Equally, by the bottom of another supporting part 38 in a pair of supporting parts 38, that can rotate
Mode support driving wheel 20 rotary shaft another end.The rotary shaft P2 of driving wheel 20 extends along left and right directions.Pendulum
The bearing of trend of moving axis P1 bearing of trend and rotary shaft P2 is parallel to each other.In this variation, swinging axle P1 is located at rotary shaft
P2 front side.In addition, swinging axle P1 is located at rotary shaft P2 upside.
When supporting part 38 is swung using swinging axle P1 as axle, the upper surface of supporting part 38 and the upper wall portions of fixed mount 10
11 lower surface is abutted.By adjusting the gap between the upper surface of supporting part 38 and the lower surface of upper wall portions 11, it can determine
The hunting range of supporting part 38 by axle of swinging axle P1.
At the part of the rear side of supporting part 38, it is provided with the way of extending from supporting part 38 to rear side by bottom 39.
Switch 40 is arranged on the lower surface of upper wall portions 11.When supporting part 38 is to by bottom 39 close to a side oscillation of upper wall portions 11, open
40 portions 39 that are pressed are closed to press.Switch 40 is pressed portion 39 and upper wall portions 11 are clamped and pressed, and thus, detects support frame 30A
Swing.
Driver element 50 is arranged on supporting part 38.Driver element 50 detects support frame 30A swing in switch 40
In the case of, driving wheel 20 is driven.
Then, the situation that supporting part 38 is swung in the case where driving wheel 20 is abutted with the step on ground is illustrated.Drive
After driving wheel 20 is abutted with step X, as shown by arrow Y, bottom of the supporting part 38 using swinging axle P1 as axle, to cause supporting part 38
The mode moved to rear side and upward side is swung.That is, supporting part 38 is to cause driving wheel 20 to be moved to rear side and upward side
Mode swung.Moved by the upward side of driving wheel 20, driving wheel 20 becomes easily to cross step X.
So, in drive device 1D, when driving wheel 20 is abutted with step X, support frame 30A is swung so that driven
Driving wheel 20 crosses step X (upward side movement).Thus, driving wheel 20 becomes easily to cross step X.
In the 4th variation, the front side for making swinging axle P1 be located at rotary shaft P2.It is used as the further change of the 4th variation
Shape example, swinging axle P1 and rotary shaft P2 can also be configured at same position in the longitudinal direction.In this case, also can
Obtain and the 4th variation identical action effect.
In addition, illustrate in the variation of the 4th variation and the 4th variation, swinging axle P1 and rotary shaft P2 position
Relation is readily applicable to drive device 1A~drive device 1C in the variation of the 1st variation~the 3rd.
Above, embodiment and various modifications example are illustrated, but the application is not limited to above-mentioned embodiment party
Formula and various modifications example.For example, driver element 50,50A~50C are not limited to make driving according to the testing result of switch 40
Source 51 works.Driver element 50,50A~50C can also start the operation of switch to make driving source according to operated by user
51 work.In addition, driver element 50,50A~50C by switch 40 in addition to detecting support frame 30,30A swing, such as
The testing result of the sensor of step can also be detected according to use laser etc., driving source 51 is worked.
Claims (7)
1. a kind of drive device of walker, the drive device is arranged on walker, wherein,
The drive device has：
Fixed mount, it is fixed on the walker；
Driving wheel, it is configured in the position of the upper specified altitude of the lowest positions of the wheel than the walker；
Support frame, it is linked with the fixed mount in the way of it can swing, the driving wheel is supported to rotate；
Switch, it detects the swing of support frame as described above；And
Driver element, it is driven to the driving wheel,
The driver element is driven in the case where the switch detects the swing of support frame as described above to the driving wheel.
2. the drive device of walker according to claim 1, wherein,
The rotary shaft of the driving wheel and the swinging axle of support frame as described above are parallel to each other,
The swinging axle of support frame as described above is more upper than the rotary shaft of the driving wheel and before the walker
Side.
3. the drive device of walker according to claim 1 or 2, wherein,
The driver element has：
Driving source, it is driven to the driving wheel；And
Control unit, its action to the driving source is controlled,
The control unit makes the driving source work in the case where the switch detects the swing of support frame as described above, making
State after driving source work, stop the action of the driving source after have passed through the stipulated time.
4. the drive device of walker according to claim 1 or 2, wherein,
The drive device also has current detecting part, and the current detecting part detection is supplied to the electric power of the driver element
Current value,
The driver element has：
Driving source, it is driven using the electric power to the driving wheel；And
Control unit, its action to the driving source is controlled,
The control unit makes the driving source work in the case where the switch detects the swing of support frame as described above, making
After stating driving source work, the current value detected by the current detecting part be below rated current value in the case of make it is described
The action of driving source stops.
5. the drive device of walker according to claim 1 or 2, wherein,
The drive device also has apart from test section, the operating range that the walker is detected apart from test section,
The driver element has：
Driving source, it is driven to the driving wheel；And
Control unit, its action to the driving source is controlled,
The control unit makes the driving source work in the case where the switch detects the swing of support frame as described above, described
Detect that the operating range of the walker from making the driving source work is feelings more than predetermined distance apart from test section
Stop the action of the driving source under condition.
6. the drive device of walker according to claim 1 or 2, wherein,
The drive device also has the shutdown switch operated by the user of the walker,
The driver element stops the driving of the driving wheel in the case where the shutdown switch is by operation.
7. a kind of control method of the drive device of walker, the drive device has：Fixed mount, it is fixed on the walking
On device；Driving wheel, it is configured in the position of the upper specified altitude of the lowest positions of the wheel than the walker；Support
Frame, it is linked with the fixed mount in the way of it can swing, the driving wheel is supported to rotate；Switch, it is detected
The swing of support frame as described above；And driver element, it is driven to the driving wheel, and the control method includes following step
Suddenly：
The swing of support frame as described above is detected using the switch；And
The driver element is set to work in the case where the switch detects the swing of support frame as described above.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2015-218521 | 2015-11-06 | ||
| JP2015218521A JP6245244B2 (en) | 2015-11-06 | 2015-11-06 | Pedestrian drive device and method for controlling walker drive device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107049716A true CN107049716A (en) | 2017-08-18 |
Family
ID=58769081
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610891848.7A Pending CN107049716A (en) | 2015-11-06 | 2016-10-12 | The control method of the drive device of walker and the drive device of walker |
Country Status (2)
| Country | Link |
|---|---|
| JP (1) | JP6245244B2 (en) |
| CN (1) | CN107049716A (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP7118607B2 (en) * | 2017-08-14 | 2022-08-16 | ナブテスコ株式会社 | Electric walker, control method for electric walker, and computer program |
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|---|---|---|---|---|
| US4960179A (en) * | 1989-05-19 | 1990-10-02 | Norman Leach | Powered heavy-duty hand truck |
| JPH0999022A (en) * | 1995-10-06 | 1997-04-15 | Technol Res Assoc Of Medical & Welfare Apparatus | Device and method for supporting walking/bending action |
| JP2004314879A (en) * | 2003-04-18 | 2004-11-11 | Mitsuo Sawada | Stairs lifting carriage |
| JP2011046244A (en) * | 2009-08-26 | 2011-03-10 | Zojirushi Baby Kk | Front wheel mechanism of walking auxiliary vehicle |
| JP2012143488A (en) * | 2011-01-14 | 2012-08-02 | Ibaraki Univ | Walker with mechanism for climbing over step |
| CN103230322A (en) * | 2013-05-08 | 2013-08-07 | 河北工业大学 | Front leg mechanism of composite wheel leg type wheelchair |
| WO2015019982A1 (en) * | 2013-08-06 | 2015-02-12 | 株式会社村田製作所 | Handcart |
| JP2015156897A (en) * | 2014-02-21 | 2015-09-03 | 株式会社幸和製作所 | Handcart |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP6232873B2 (en) * | 2012-09-18 | 2017-11-22 | 株式会社村田製作所 | Wheelbarrow and program |
-
2015
- 2015-11-06 JP JP2015218521A patent/JP6245244B2/en not_active Expired - Fee Related
-
2016
- 2016-10-12 CN CN201610891848.7A patent/CN107049716A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4960179A (en) * | 1989-05-19 | 1990-10-02 | Norman Leach | Powered heavy-duty hand truck |
| JPH0999022A (en) * | 1995-10-06 | 1997-04-15 | Technol Res Assoc Of Medical & Welfare Apparatus | Device and method for supporting walking/bending action |
| JP2004314879A (en) * | 2003-04-18 | 2004-11-11 | Mitsuo Sawada | Stairs lifting carriage |
| JP2011046244A (en) * | 2009-08-26 | 2011-03-10 | Zojirushi Baby Kk | Front wheel mechanism of walking auxiliary vehicle |
| JP2012143488A (en) * | 2011-01-14 | 2012-08-02 | Ibaraki Univ | Walker with mechanism for climbing over step |
| CN103230322A (en) * | 2013-05-08 | 2013-08-07 | 河北工业大学 | Front leg mechanism of composite wheel leg type wheelchair |
| WO2015019982A1 (en) * | 2013-08-06 | 2015-02-12 | 株式会社村田製作所 | Handcart |
| JP2015156897A (en) * | 2014-02-21 | 2015-09-03 | 株式会社幸和製作所 | Handcart |
Also Published As
| Publication number | Publication date |
|---|---|
| JP2017086319A (en) | 2017-05-25 |
| JP6245244B2 (en) | 2017-12-13 |
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Application publication date: 20170818 |