CN107440890A - Servicing unit and householder method - Google Patents
Servicing unit and householder method Download PDFInfo
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- CN107440890A CN107440890A CN201710168910.4A CN201710168910A CN107440890A CN 107440890 A CN107440890 A CN 107440890A CN 201710168910 A CN201710168910 A CN 201710168910A CN 107440890 A CN107440890 A CN 107440890A
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- Prior art keywords
- wheel
- servicing unit
- user
- motor
- sensor
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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 disabled persons
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F5/00—Orthopaedic methods or devices for non-surgical treatment of bones or joints; Nursing devices; Anti-rape devices
-
- 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 disabled persons
- A61H2003/046—Wheeled walking aids for disabled persons with braking means
Abstract
The present invention provides a kind of servicing unit and householder method.Specifically, aiding in the servicing unit (1) of user (M) action has：Supporting table (5), the body of support user (M)；Driving wheel (7), driven pulley (11), for moving supporting table (5)；Motor (9), driving wheel (7) is driven；And controller (13), by the control to motor (9) come braked drive wheels (7).Controller (13) is by making motor (9) be in servo locking state come braked drive wheels (7).
Description
Technical field
Embodiment disclosed in this invention is related to a kind of servicing unit and householder method.
Background technology
The vertical Fill in station has been recorded in patent document 1 and has helped device.The Zhan Li Fill help device to possess：As the matrix of pedestal；And position
In the supporting part of support user's body on top, have at matrix：It is fixed to rotatable first arm；Can be along
Enter the second arm of line slip on the inside of one arm；And it is accommodated in intrinsic silicon and the first arm of driving, the drive device of the second arm.
Patent document 1：Japanese Laid-Open 2014-8341 publications
The content of the invention
Helped in the Zhan Li Fill of above-mentioned prior art in device, wheel is provided with matrix.When the wheel is in auxiliary user
When Shi Wei is locked, Fill helps device to be possible to move because of the weight of user's body, and user is possible to fall, in security
On problem be present.
The present invention based on it is such the problem of and carry out, technical problem to be solved be to provide a kind of servicing unit and
Householder method, it can safely aid in the action of user.
In order to solve the above problems, according to the viewpoint of the present invention, a kind of applicable servicing unit, it aids in user
Action, have：Supporting member, support the body of the user；Wheel, for moving the supporting member；Motor, to institute
Wheel is stated to be driven；And controller, the wheel is braked by the control to the motor.
According to other viewpoints of the present invention, a kind of applicable householder method, it aids in moving for user by servicing unit
Make, servicing unit has：Supporting member, support the body of user；Wheel, for moving the supporting member；And motor, it is right
The wheel is driven, and is had by braking the retroaction sequence of the wheel to the control of the motor.
In accordance with the invention it is possible to safely aid in the action of user.
Brief description of the drawings
Fig. 1 is the side view of an example of the overall Sketch for representing the servicing unit involved by present embodiment.
Fig. 2 is the top view of an example of the overall Sketch for representing the servicing unit involved by present embodiment.
Fig. 3 is the block diagram for representing the example that the function of controller is formed.
Fig. 4 is represented as the flow chart of an example of the processing sequence performed by controller.
Fig. 5 is the schematic diagram for an example for representing action of the servicing unit when aiding in the sitting action of user.
Fig. 6 is the schematic diagram for an example for representing action of the servicing unit when aiding in the sitting action of user.
Fig. 7 is represented as the flow chart of an example of the processing sequence performed by controller.
Fig. 8 be represent user using the handle part of the supporting table of servicing unit as handrail to use when action an example
The schematic diagram of son.
Fig. 9 be represent user using the handle part of the supporting table of servicing unit as handrail to use when action an example
The schematic diagram of son.
Figure 10 is the flow chart for an example for representing the processing sequence by controller execution.
Figure 11 is the schematic diagram for representing an example of the servicing unit when aiding in the walking action of user.
Figure 12 is the schematic diagram for representing an example of the servicing unit when aiding in the walking action of user.
Figure 13 is the block diagram for the hardware configuration example for representing controller.
Symbol description
1- servicing units；5- supporting tables (example of supporting member)；7- driving wheels (example of wheel)；9- motors；
13- controllers；19- operating portions；21- range sensors (example of the 2nd sensor)；25- feelers (the 1st sensing
One example of device)；27- encoders (example of the 3rd sensor)；The determination units of 29- the 1st；The brake control sections of 31- the 1st；
The determination units of 33- the 2nd；The determination units of 35- the 3rd；The brake control sections of 37- the 2nd；The determination units of 39- the 4th；The brake control sections of 41- the 3rd；M- makes
User.
Embodiment
Hereinafter, an embodiment is illustrated referring to the drawings.Also, hereinafter, servicing unit etc. for convenience of description
Structure, although suitably waiting direction using front and rear up and down shown in Fig. 1 and Fig. 2 sometimes, do not limit auxiliary and fill
The position relationship for each structure put etc..
1. the overall structure of servicing unit
First, an integrally-built example for the servicing unit 1 involved by present embodiment is illustrated with Fig. 1 and Fig. 2.
Servicing unit 1 is action especially sitting action, the walking action etc. for aiding in user's (the elderly needs care-giver etc.)
Device.
As shown in Figures 1 and 2, servicing unit 1 has body 3, supporting table 5, a pair of driving wheels 7, driving wheel 7 carried out
The motor 9 of driving, a pair of driven 11, controller 13 etc..Motor 9, controller 13 are housed in body 3.
Supporting table 5 (example of supporting member) is to support the component of user's body, is seen in this example embodiment from upside
The shape examined is a substantially U-shaped.Supporting table 5 is supported on the upside of body 3 by pillar 15.Pillar 15 is formed as follows, by not
The motor of diagram can be rotated centered on the bottom of body 3, and scalable.As shown in Fig. 1 chain-dotted line, auxiliary dress
Put it is 1 as follows, by rearward rotation post 15, so as to make supporting table 5 rearward rotate and run-off the straight, while by making
Pillar 15 occurs to stretch, so as to move supporting table 5 in the vertical direction.
Above the front side of supporting table 5, handle 17 is provided with.In the state of user holds handle 17, auxiliary
Device 1 aids in sitting action, walking action etc..The substantially central portion of the left and right directions of handle 17 is provided with operating portion 19.Make
User to operating portion 19 by operating, so as to make supporting table 5 carry out rotational action, expanding-contracting action etc..As operation
Portion 19, although can be used such as button, switch, action bars, operation panel etc. can also be set.
In the substantially central portion (example at the 2nd position) of the left and right directions of the inner surface of supporting table 5, be provided with away from
From sensor 21.The body (such as body) of range sensor 21 (example of the 2nd sensor) detection user and support
The distance between sensor-disposed portion position of platform 5.Although not limiting the species of range sensor 21 specially, for example, can make
With infrared ray sensor, ultrasonic sensor etc..
In the left and right sides of the rear side of supporting table 5, handrail can be used as when carrying out sitting action etc. by being provided with user
Come the handle part 23 (example at the 1st position) used.In the appropriate location of each handle part 23, be in this example embodiment above,
It is provided with the feeler 25 (example of the 1st sensor) whether detection body contacts.Connect although not limiting specially
The species of sensor 25 is touched, but such as usable static capacity type sensor, voltage sensitive sensor.
A pair of driving wheels 7 (example of wheel) is separately positioned on the left and right of the front of body 3 downside, a pair of driven
11 are separately positioned on the left and right on the downside of the rear of body 3.Motor 9 is linked to each driving respectively via decelerator (not shown) etc.
Wheel 7, driving wheel 7 is driven by motor 9.Driven pulley 11 is the non-driving wheel not driven by motor 9.Although also, in this example embodiment
1 motor 9 is respectively arranged with to each driving wheel 7, but can also be configured to distribute the power of 1 motor 9 and drive 2 drivings
Wheel 7.
Encoder 27 is respectively arranged with each motor 9.Encoder 27 (example of the 3rd sensor) detects motor 9
Rotating speed (anglec of rotation, angular speed also referred to as in the unit interval, and the rotating speed of driving wheel 7 and driven pulley 11).In addition,
On the basis of rotating speed or instead of rotating speed, encoder 27 can also detect rotary acceleration (also referred to as angular acceleration).Also, compile
Code device 27 can also be arranged at driving wheel 7 or driven pulley 11.As long as in addition, it can detect that motor 9 (driving wheel 7 or driven pulley 11)
Rotating speed, rotary acceleration, then can also use encoder beyond equipment.
Controller 13 carries out the control and the rotational action on supporting table 5, the control etc. of expanding-contracting action on motor 9,
Carry out to the overall control of servicing unit 1.To controller 13 input signal from operating portion 19 and from feeler 25,
The signal etc. of range sensor 21, encoder 27.
2. the function of controller is formed
Next, the example that the function of being braked on driving wheel 7 among being formed with Fig. 3 to the function of controller 13 is formed
Illustrate.
As shown in figure 3, there is controller 13 the 1st determination unit 29, the 1st brake control section 31, the 2nd determination unit the 33, the 3rd to judge
Portion 35, the 2nd brake control section 37, the 4th determination unit 39, the 3rd brake control section 41.
Whether the 1st determination unit 29 is operated according to the input signal decision portion 19 from operating portion 19.When the 1st judgement
When portion 29 judges into operating portion 19 and operated, the 1st brake control section 31 control motor 9 and be at servo locking state, from
And braked drive wheels 7.Also, " servo locking " refers to following state, when there is no command signal in being controlled in the position of motor 9,
Because of external force and rotation position deviate when, position ring plays a role and is powered to motor 9 in a manner of correcting its error, production
Life resists the torque of external force and increases the rotational resistance of driving wheel 7, stop-keeping position.As a result, motor 9 keeps halted state
(locking).
Also, such as when the 1st determination unit 29 judges into operating portion 19 and no longer operated, or from passing through when no longer being operated
During the stipulated time, or as defined in progress during lock release operation, the 1st brake control section 31 releases the servo locking of motor 9 and solved
Put driving wheel 7.
2nd determination unit 33 determines whether to contact handle part 23 according to the input signal from feeler 25.In addition, the
Whether the distance that 3 determination units 35 judge to be detected by range sensor 21 is more than the 1st threshold value.1st threshold value is servicing unit 1 auxiliary
Help under the state (state shown in Figure 11 described later) that the walking of user acts to exclude when contacting feeler 25
Error detection and the threshold value that sets, such as be set to the distance from feeler 25 untill the rearward end of supporting table 5.When
2 determination units 33 judge into contact handle part 23 and the 3rd determination unit 35 judges into distance when being more than 1 threshold value, the 2nd brake control section
37 control motors 9 and are at servo locking state, so as to braked drive wheels 7.
Also, such as provided when the 2nd determination unit 33 judges into and no longer contacts handle part 23, or from passing through when no longer contacting
During the time, or as defined in progress during lock release operation, the 2nd brake control section 37 releases the servo locking of motor 9 and liberates drive
Driving wheel 7.
In addition, such as the auxiliary shape acted being arranged on the side of supporting table 5 because of feeler 25 in walking
When error detection does not occur under state (state shown in Figure 11 described later), range sensor 21 can also be not provided with.Now, also not
Need above-mentioned 3rd determination unit 35.So as to which when the 2nd determination unit 33 judges into contact handle part 23, the 2nd brake control section 37 is controlled
Motor 9 processed and be at servo locking state, so as to braked drive wheels 7.
Whether the rotating speed (or can also be rotary acceleration) that the 4th determination unit 39 judges to be detected by encoder 27 is more than
2nd threshold value.2nd threshold value is set to the bigger setting of the rotating speed of motor 9 during than generally auxiliary, so as to auxiliary in servicing unit 1
Help under the state (state shown in Figure 11 described later) that the walking of user acts, be capable of detecting when the unexpected disequilibrium of user
Or situation about falling narrowly.When the 4th determination unit 39, which judges into rotating speed, is more than 2 threshold value, the 3rd brake control section 41 control motor
9 and be at servo locking state, so as to braked drive wheels 7.
Also, such as when passing through the stipulated time at the time of from braked drive wheels 7, or carry out as defined in lock release operation
When, the 3rd brake control section 41 releases the servo locking of motor 9 and liberates driving wheel 7.
Also, processing in the 1st above-mentioned determination unit 29, the 1st brake control section 31 etc. etc., it is not limited to above-mentioned place
The shared example of reason, such as can both be handled by lesser amount of processing unit (such as 1 processing unit), in addition can also be by
The processing unit being more refined is handled.In addition, each function of controller 13 both can be by by CPU901 (reference pictures described later
13) program performed is realized, one part or all can also by the actual device of ASIC, FPGA, other circuits etc. come
Realize.
3. the processing sequence performed by controller
Next, with Fig. 4~Figure 12 to the dynamic of the processing sequence that is performed by controller 13 (Figure 13 CPU901) and servicing unit 1
The example made illustrates.
Driving wheel braking when 3-1. operating portions are operated
As shown in figure 4, in step S5 (example of the 1st judgement order), controller 13 is by the 1st determination unit 29 according to next
Whether operated from the input signal decision portion 19 of operating portion 19.(the step S5 when judging not operated into operating portion 19：
It is no), terminate this flow.On the other hand, (the step S5 when judging to be operated into operating portion 19：It is), it is transitioned into ensuing step
Rapid S10.
In step S10 (example of the 1st retroaction sequence), controller 13 utilizes the 1st brake control section 31 control horse
Up to 9 and be at servo locking state, so as to braked drive wheels 7.By in this way, terminating this flow.
One example of action of the servicing unit 1 when aiding in user M sitting action is shown in Fig. 5 and Fig. 6.Such as
Shown in Fig. 5, in the state of the supporting table 5 of servicing unit 1 is tilted, the user M for being seated at chair 43 with the hands holds handle
17.In this case, as shown in fig. 6, user M (or care-giver (not shown) etc.) is operated to operating portion 19 and made branch
Support platform 5 rotates forwards, so as to aid in the action that user M stands from chair 43.Now, user M is (or not shown
Care-giver etc.) operating portion 19 can also be operated as needed and that pillar 15 occurs is flexible, make supporting table 5 upper and lower
Moved on direction and adjust height.In addition, the action of taking one's seat with the order auxiliary user M opposite with as above content.
In the above cases, because user M relies on by a part (being preceding wrist in this example embodiment) for body
Taken one's seat in the state of supporting table 5, therefore in the case where driving wheel 7, driven pulley 11 are not locked, servicing unit 1 be possible to because
The weight of user's M bodies and move, user M is possible to fall.In present embodiment, due to passing through the above-mentioned of controller 13
Control and driving wheel 7 can be locked during operation in operating portion 19, therefore can safely aid in user M sitting to move
Make.
Driving wheel braking when 3-2. handle parts are held
As shown in fig. 7, in step S15 (example of the 2nd judgement order), controller 13 utilizes the basis of the 2nd determination unit 33
Input signal from feeler 25 judges whether body contacts the handle part 23 of supporting table 5.When judgement is into not in contact with handle
(step S15 during the portion 23 of holding：It is no), terminate this flow.On the other hand, (the step S15 when judging into contact handle part 23：It is),
It is transitioned into following step S20.
In step S20 (example of the 3rd judgement order), controller 13 is judged by distance using the 3rd determination unit 35
Whether the distance that sensor 21 detects is more than the 1st threshold value, in other words, judges between supporting table 5 and user's body (body)
Distance whether be more than predetermined distance.(the step S20 when judging to be less than 1 threshold value into the distance detected：It is no), terminate this stream
Journey.On the other hand, (the step S20 when judging to be more than 1 threshold value into the distance detected：It is), it is transitioned into following step
S25。
In step S25 (example of the 2nd retroaction sequence), controller 13 utilizes the 2nd brake control section 37 control horse
Up to 9 and be at servo locking state, so as to braked drive wheels 7.By in this way, terminating this flow.Also, work as described above
When being not provided with range sensor 21, and above-mentioned steps S20 is not needed.
The person of being shown with M is being used using the handle part 23 of the supporting table 5 of servicing unit 1 as handrail in Fig. 8 and Fig. 9
When action an example.As shown in figure 8, the supporting table 5 in servicing unit 1 is in that horizontal state (can also be inclined
State) under, the user M for being seated at chair 43 holds the handle part 23 of supporting table 5.Afterwards, as shown in figure 9, user M will be
Portion 23 is held as handrail to use, can be stood from chair 43.In addition, user M take one's seat action with above-mentioned content
Opposite order is carried out.
In the above cases, because a part (being hand in this example embodiment) for body is also being relied on branch by user M
Sitting is carried out in the state of support platform 5, therefore in the case where driving wheel 7, driven pulley 11 are not locked, servicing unit 1 is possible to
Moved because of the weight of user's M bodies, user M is possible to fall.In present embodiment, due to passing through the upper of controller 13
State control and driving wheel 7 can be locked during the handle part 23 of supporting table 5 is held, therefore user M can be carried out safely
Sitting action.
Driving wheel braking when 3-3. rotating speeds are larger
As shown in Figure 10, in step S30 (example of the 4th judgement order), controller 13 is judged using the 4th determination unit 39
Whether the rotating speed (or can also be rotary acceleration) detected by encoder 27 is more than the 2nd threshold value.When judging into detecting
Rotating speed be less than the 2nd threshold value (step S30：It is no), terminate this flow.On the other hand, when judgement is more than the 2nd into the rotating speed detected
(step S30 during threshold value：It is), it is transitioned into following step S35.
In step S35 (example of the 3rd retroaction sequence), controller 13 utilizes the 3rd brake control section 41 control horse
Up to 9 and be at servo locking state, so as to braked drive wheels 7.By in this way, terminating this flow.
An example of the servicing unit 1 when aiding in user M walking action is shown in Figure 11 and Figure 12.Such as Figure 11
Shown, in the state of the supporting table 5 of servicing unit 1 is in horizontal, user M with the hands holds handle 17 and carries out walking.This
When, motor 9 for example both may be at non-loaded state, can also be in and apply specified loads for user M rehabilitation
The state of (rotational resistance), driving condition can also be in order to be guided to user M etc..
When so carrying out walking, as shown in figure 12, in such as unexpected disequilibriums of user M or trip and fall narrowly
In the case of, if driving wheel 7, driven pulley 11 are not locked, servicing unit 1 and user M are possible to fall down.This embodiment party
In formula, driving wheel 7 can be locked when the rotating speed of driving wheel 7 drastically becomes big due to the above-mentioned control by controller 13, because
In the case that this falls even in the unexpected disequilibriums of user M or narrowly, it can also prevent servicing unit 1 and user M from falling
.
In above content, step S5~step S35 is suitable and the braking of brake wheel equivalent to by the control to motor
One example of sequence.
4. the hardware configuration example of controller
Next, the 1st determination unit 29, the 1st control for brake realized with Figure 13 to the program described above performed by CPU901
The hardware configuration example of the controller 13 of the processing of the grade of portion 31 illustrates.
As shown in figure 13, controller 13 such as with CPU901, ROM903, RAM905, for ASIC or FPGA it is specific
Application specific integrated circuit 907, input unit 913, output device 915, storage device 917, driver 919, the connector of purposes
921st, communicator 923 etc..Above-mentioned composition is as follows, is connected to mutually transmit via bus 909, input/output interface 911
Signal.
Program is such as can be stored in ROM903, RAM905, storage device 917.
Alternatively, it is also possible to which program interim or non-provisional (permanent) to be stored in disk such as flexible disk (-sc), various
In the removable storage medium 925 of CD-MO disks and DVD etc. CD, semiconductor memory etc..By such storage medium
925 can also provide as so-called packaged software.Now, being stored in program in above-mentioned storage medium 925 can also be by
Driver 919 is read, and is stored in via input/output interface 911, bus 909 etc. in above-mentioned storage device 917.
Alternatively, it is also possible to by program such as being stored in download site, other computers, other storage devices (not shown)
In.Now, program is transmitted via the network (NW) of LAN, internet etc., and communicator 923 receives the program.Afterwards, by leading to
The program that T unit 923 receives can also be stored in above-mentioned storage device 917 via input/output interface 911, bus 909 etc.
In.
Alternatively, it is also possible to program is for example stored in appropriate external connection apparatus 927.Now, program can also be situated between
Transmitted by appropriate connector 921, above-mentioned storage device 917 is stored in via input/output interface 911, bus 909 etc.
In.
Afterwards, various processing are performed according to the program in above-mentioned storage device 917 is stored in by CPU901, so as to real
The existing above-mentioned processing by progress such as the 1st determination unit 29, the 1st brake control sections 31.Now, CPU901 for example both can be from above-mentioned
Storage device 917 directly reads program and performed, and can also be performed after RAM905 is temporarily loaded into.Moreover, CPU901 examples
Such as when receiving program via communicator 923, driver 919, connector 921, the program of reception can not also be stored
Directly performed in storage device 917.
In addition, as needed, CPU901 can also be according to from such as mouse including aforesaid operations portion 19, keyboard, Mike
Signal that the input unit 913 of wind (not shown) etc. inputs, information carry out various processing.
Afterwards, CPU901 can will both perform the result of above-mentioned processing such as from display device, instantaneous speech power
Output device 915 exports, and CPU901 as needed can also be by the result via communicator 923, connector 921
Send, can also be stored in above-mentioned storage device 917, storage medium 925.
5. the effect of embodiment
As described above, the servicing unit 1 of present embodiment has：Supporting table 5, support user M body；Driving wheel 7, use
In mobile supporting table 5；Motor 9, driving wheel 7 is driven；And controller 13, driving is braked by the control to motor 9
Wheel 7.
In addition, the householder method of present embodiment have by motor 9 control come the step S5 of braked drive wheels 7~
Step S35.
Thus, due to aid in user M action when can lock driving wheel 7, therefore can prevent servicing unit 1 because
The weight of user's M bodies and move.Thus, it is possible to safely aid in user M action.
In addition, especially servicing unit 1 also has the operation operated when moving supporting table 5 in present embodiment
Portion 19, controller 13 have：1st determination unit 29, whether grasped according to the input signal decision portion 19 from operating portion 19
Make；And the 1st brake control section 31, when the 1st determination unit 29, which judges into operating portion 19, to be operated, driving wheel 7 is braked.
In addition, the householder method of present embodiment has：Step S5, behaviour is judged according to the input signal from operating portion 19
Make whether portion 19 is operated；And step S10, when judging to be operated into operating portion 19 by step S5, driving wheel 7 is made
It is dynamic.Thus, following effect is obtained.
That is, the servicing unit 1 of present embodiment is as follows, supporting table 5 is entered action by being operated to operating portion 19
Make, so as to aid in user M sitting action.Now, because a part for body is being relied on supporting table by user M
Sitting is carried out in the state of 5, therefore in the case where driving wheel 7, driven pulley 11 are not locked, servicing unit 1 is possible to because making
The weight of user's M bodies and move, user M is possible to fall.In present embodiment, due to can be operated in operating portion 19
Period locks driving wheel 7, therefore can safely aid in user M sitting action.
In addition, especially servicing unit 1 also has the handle part 23 for being arranged on supporting table 5 and detected whether in present embodiment
The feeler 25 being in contact, controller 13 have：2nd determination unit 33, believed according to the input from feeler 25
Number determine whether to contact handle part 23；And the 2nd brake control section 37, it is right when the 2nd determination unit 33 judges into contact handle part 23
Driving wheel 7 is braked.
In addition, the householder method of present embodiment has：Step S15, according to the input signal from feeler 25
Determine whether to contact handle part 23；And step S25, when being judged by step S15 into contact handle part 23, driving wheel 7 is entered
Row braking.Thus, following effect is obtained.
That is, in the servicing unit 1 of present embodiment, user M uses using supporting table 5 as handrail, can carry out
Sitting action.Now, because user M carries out sitting a part for body is relied in the state of supporting table 5, therefore
In the case that driving wheel 7, driven pulley 11 are not locked, servicing unit 1 is possible to move because of the weight of user's M bodies, makes
User M is possible to fall.In present embodiment, due to driving wheel 7 can be locked during holding in supporting table 5, therefore use
Person M can safely carry out sitting action.
In addition, especially servicing unit 1 also has detection user M body and the sensing of supporting table 5 in present embodiment
The range sensor 21 of the distance between device set location, controller 13 have the distance for judging to be detected by range sensor 21
Whether be more than the 1st threshold value the 3rd determination unit 35, when the 2nd determination unit 33 judge into contact handle part 23 and the 3rd determination unit 35 judge
When being more than 1 threshold value into distance, the 2nd brake control section 37 is braked to driving wheel 7.
In addition, the householder method of present embodiment has whether the distance for judging to be detected by range sensor 21 is more than the
The step S20 of 1 threshold value, judge when by step S15 into contact handle part 23 and by step S20 judgements into apart from more than the 1st
During threshold value, driving wheel 7 is braked in step s 25.Thus, following effect is obtained.
That is, simply detect whether to be in contact by feeler 25, it is likely that user M can not be correctly detected out
Using supporting table 5 as handrail sitting action is carried out to use.For example, in the user M state that is supported by supporting table 5 of body
Under, when servicing unit 1 aids in walking action, it is possible to error detection occurs.In present embodiment, due to by user M body
Body can correctly detect out user M and will prop up from the locking the condition more than predetermined distance of supporting table 5 as driving wheel 7
Support platform 5 carries out sitting action using as handrail.Thus, it is possible to prevent error detection, it is possible to increase reliability.
In addition, especially servicing unit 1 also has among rotating speed and the rotary acceleration of detection motor 9 in present embodiment
At least one encoder 27, controller 13 have：4th determination unit 39, judge the rotating speed that is detected by encoder 27 and
Whether at least one among rotary acceleration is more than the 2nd threshold value；And the 3rd brake control section 41, when the 4th determination unit 39 judges into
When at least one among rotating speed and rotary acceleration is more than 2 threshold value, driving wheel 7 is braked.
In addition, the householder method of present embodiment has：Step S30, judge rotating speed and the rotation detected by encoder
Whether at least one among acceleration is more than the 2nd threshold value；And step S35, when by step S30 judge into rotating speed and rotation plus
When at least one among speed is more than 2 threshold value, driving wheel 7 is braked.Thus, following effect is obtained.
That is, the servicing unit 1 of present embodiment is as follows, in the state of user M body is supported by supporting table 5, energy
Enough aid in user M walking action.In the walking, in the unexpected disequilibriums of user M or narrowly in the case of tumble, such as
Fruit driving wheel 7, driven pulley 11 are not locked, then servicing unit 1 and user M are possible to fall down.In present embodiment, due to
The rotating speed of driving wheel 7, rotary acceleration can lock driving wheel 7 when drastically becoming big, therefore lose suddenly even in user M flat
In the case of weighing or falling narrowly, it can also prevent servicing unit 1 and user M from falling down.
In addition, especially controller 13 is by making motor 9 be in servo locking state come braked drive wheels in present embodiment
7。
Thus, only just driving wheel 7 is driven enough using servo motor, it is not necessary to be provided for the zero of braking in addition
Part, device.Thus, it is possible to reduce cost while realization device minimizes.
6. variation
Also, embodiment disclosed above is not limited to the above, the model of its purport and technical thinking is not being departed from
Various modifications can be carried out in enclosing.Hereinafter, such variation is illustrated.
More than, although by making motor 9 be in servo locking state come braked drive wheels 7, pass through the control to motor
System is not limited thereto to obtain the method for brake force.For example, it can also use possess electromagnetic brake to have system as motor 9
The motor of dynamic device, on the basis of servo locking or replace servo to lock, electromagnetic system can also be controlled by controller 13
Dynamic device, so as to braked drive wheels 7.Now, by using non-excited work type brake, so as to even in servicing unit 1
Power supply disconnect when can also be braked.So as to, such as in foregoing user M by the holding of the supporting table 5 of servicing unit 1
When portion 23 is used as handrail to use etc., the state that the power supply due to contemplating servicing unit 1 disconnects, therefore be particularly effective.
In addition, for example can also be as follows, the motor for possessing dynamic brake is used as motor 9, in above-mentioned servo
On the basis of locking, electromagnetic brake or servo locking, electromagnetic brake are replaced, can also be by controller 13 to the dynamic
Brake is controlled and braked drive wheels 7.That is, when controller 13 is braked, using resistor make motor terminal it
Between occur short circuit, fall rotational energy so as to heat consumption and obtain brake force.Even if in this case, in the electricity of servicing unit 1
When source disconnects, brake force can be also obtained, servicing unit 1 can be made to be difficult to be moved.
In addition, though the driving wheel 7 that can be braked is configured to the front-wheel of servicing unit 1 in above content, by driven pulley
11 are configured at trailing wheel, but the configuration structure of wheel is not limited thereto.For example, it is also possible to driven pulley 11 is configured at front-wheel,
Driving wheel 7 is configured at trailing wheel.In addition, the quantity of wheel is not limited to 4, both can be less than 3 or 5
More than.Such as when more than 6 wheels, the driving wheel 7 that can be braked can also be configured to the interposition between front-wheel and trailing wheel
Put.
In addition, beyond what said above, can also appropriately combined above-mentioned embodiment, involved by each variation
Method and be used.In addition, although not illustrating one by one, in the range of its purport is not departed from, can apply each
Kind changes and implements above-mentioned embodiment, each variation.
Claims (12)
1. a kind of servicing unit, the action of user is aided in, it is characterized in that,
Have：Supporting member, support the body of the user；
Wheel, for moving the supporting member；
Motor, the wheel is driven；
And controller, the wheel is braked by the control to the motor.
2. servicing unit according to claim 1, it is characterized in that,
Also there is the operating portion operated when being acted the supporting member,
The controller has：1st determination unit, according to the input signal from the operating portion judge the operating portion whether by
Operation；
And the 1st brake control section, when the 1st determination unit judges to be operated into the operating portion, to the wheel system
It is dynamic.
3. servicing unit according to claim 1 or 2, it is characterized in that,
Also there is the 1st position for being arranged on the supporting member and detect whether the 1st sensor being in contact,
The controller has：2nd determination unit, according to the input signal from the 1st sensor determines whether contact
1st position；
And the 2nd brake control section, when the 2nd determination unit is judged into when contacting 1 position, to the wheel system
It is dynamic.
4. servicing unit according to claim 3, it is characterized in that,
Also there is the 2nd sensing for detecting the body of the user with the distance between the 2nd position of the supporting member
Device,
The controller has the 3rd the judgement whether distance for judging to be detected by the 2nd sensor is more than the 1st threshold value
Portion,
When the 2nd determination unit judges to judge to be more than the 1st into the distance into contact the 1st position and the 3rd determination unit
During threshold value, the 2nd brake control section is braked to the wheel.
5. according to the servicing unit described in any 1 in Claims 1-4, it is characterized in that,
Also there is the 3rd at least one sensor among the rotating speed and rotary acceleration for detecting the motor or the wheel,
The controller has：4th determination unit, judge the rotating speed that is detected by the 3rd sensor and the rotation plus
Whether at least one among speed is more than the 2nd threshold value；
And the 3rd brake control section, when the 4th determination unit is judged at least one among the rotating speed and the rotary acceleration
It is individual when being more than 2 threshold value, the wheel is braked.
6. according to the servicing unit described in any 1 in claim 1 to 5, it is characterized in that,
The controller is by making the motor be in servo locking state to brake the wheel.
7. a kind of householder method, the action of user is aided in by servicing unit, servicing unit has：Supporting member, support make
The body of user；Wheel, for moving the supporting member；And motor, the wheel is driven, it is characterized in that,
With by braking the retroaction sequence of the wheel to the control of the motor.
8. householder method according to claim 7, it is characterized in that,
The servicing unit also has the operating portion operated when being acted the supporting member,
The retroaction sequence has：1st judgement order, judge that the operating portion is according to the input signal from the operating portion
It is no to be operated；
And the 1st retroaction sequence, when being operated by the described 1st judgement sequential decision into the operating portion, the wheel is entered
Row braking.
9. the householder method according to claim 7 or 8, it is characterized in that,
The servicing unit also has the 1st position for being arranged on the supporting member and detects whether the 1st sensing being in contact
Device,
The retroaction sequence has：2nd judgement order, determines whether to contact according to the input signal from the 1st sensor
1st position；
And the 2nd retroaction sequence, when judging that sequential decision into when contacting 1 position, is carried out to the wheel by the described 2nd
Braking.
10. householder method according to claim 9, it is characterized in that,
The servicing unit also have between the body for detecting the user and the 2nd position of the supporting member away from
From the 2nd sensor,
The retroaction sequence has whether the distance for judging to be detected by the 2nd sensor is sentenced more than the 3rd of the 1st threshold value
Fixed order,
When judging sequential decision into contacting the 1st position and judge sequential decision into described by the described 3rd by the described 2nd
When distance is more than 1 threshold value, the wheel is braked in the 2nd retroaction sequence.
11. according to the householder method described in any 1 in claim 7 to 10, it is characterized in that,
The servicing unit also has at least one among the rotating speed and rotary acceleration for detecting the motor or the wheel
The 3rd sensor,
The retroaction sequence has：4th judgement order, judges the rotating speed that is detected by the 3rd sensor and the rotation
Whether at least one among rotational acceleration is more than the 2nd threshold value；
And the 3rd retroaction sequence, when by the described 4th judge sequential decision among the rotating speed and the rotary acceleration extremely
Few one when being more than 2 threshold value, is braked to the wheel.
12. according to the householder method described in any 1 in claim 7 to 11, it is characterized in that,
By making the motor be in servo locking state to brake the wheel in the retroaction sequence.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2016059700A JP2017169861A (en) | 2016-03-24 | 2016-03-24 | Assist device and assist method |
| JP2016-059700 | 2016-03-24 |
Publications (1)
| Publication Number | Publication Date |
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| CN107440890A true CN107440890A (en) | 2017-12-08 |
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ID=59969701
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| Application Number | Title | Priority Date | Filing Date |
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| CN201710168910.4A Pending CN107440890A (en) | 2016-03-24 | 2017-03-21 | Servicing unit and householder method |
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| CN (1) | CN107440890A (en) |
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| JP2017169861A (en) | 2017-09-28 |
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