JP2003038582A - Seat site movement supporting apparatus and method for moving the same - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a seat site movement supporting apparatus capable of dealing with a low bed or a stretcher without positional deviation of a boarding part even when a moving mechanism is turned with respect to a body having the boarding part. SOLUTION: The seat site movement supporting apparatus comprises a first motor 20 for rotating the moving mechanism turning with respect to the body having the boarding part to turn the mechanism to the body by a worm gear 34 with a turning shaft as an output of the gear, a pair of drive wheels 3L, 3R mounted by matching rotary shafts to each other to the same axes, and second and third motors 19L, 19R for rotating the pair of the drive wheels, respectively. In this apparatus, a rotating shaft 36 of the mechanism 6 is a substantially a mid-point of a line for connecting the rotating centers of the pair of the wheels, and the gear 34 and the first motor 20 are disposed between the pair of the wheels.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a sitting movement support device represented by an omnidirectional electric wheelchair and a moving method thereof.

[0002]

2. Description of the Related Art Known document 1: Japanese Patent Laid-Open No. 2000-30061.
According to the publication No. 8, as shown in a sectional side view of FIG. 7, a turning seat portion 2 is mounted on a front portion of a vehicle body 1, and a drive wheel 3 is mounted on a rear portion of the vehicle body 1.
L and 3R are arranged. The drive wheels 3L and 3R are reversed to rotate the vehicle body 1 on the spot, and at the same time, control is performed to turn the seat portion 2 so as to cancel the turning of the vehicle body 1.

As shown in the sectional side view of FIG. 7, the rotation axis Os of the seat portion 2 is located in front of the center Ow of the drive wheels 3L, 3R (FIG. 2). Therefore, when the vehicle body 1 is turned in situ for translation, as shown in the plan view of FIG. 8, the seat portion 2 moves diagonally rearward from the position of the first seat portion 2 ′ and then moves together with the vehicle body 1. The translational movement is started. On the contrary, when the vehicle body 1 is translated and then moved forward and backward, the vehicle body 1 turns on the spot. As a result, the seat portion 2 temporarily moves diagonally forward, and then starts to move forward and backward together with the vehicle body 1.

Further, the battery 4 is arranged almost directly under the seat 2, and the shaft support 5 of the seat 2 is arranged above the battery 4.

Known Document 2: Japanese Patent Laid-Open No. 2000-116720
As shown in the sectional side view of FIG. 9, the moving mechanism portion 6 is pivotally supported at the center of the vehicle body 1 so as to be pivotable. A brake 8 is attached to the shaft support 7, and the moving mechanism 6 is attached to the vehicle body 1.
Can be freely turned, or conversely, the moving mechanism portion 6 can be fixed to the vehicle body 1. When the drive wheels 3L and 3R are reversely rotated with the brake 8 released, the moving mechanism 6 turns. At this time, when the vehicle body 1 is frictionally interlocked and rotated by the resistance of the shaft support portion 7 or the like, the turning angle of the moving mechanism portion 6 is set small in order to correctly position the posture of the vehicle body 1.

The relationship between the target turning angle θ of the vehicle body 1, the angle Δθ at which the vehicle body 1 frictionally links with the turning of the drive wheels 3L and 3R, and the turning angle θ ′ of the moving mechanism section 6 shown in the plan view of FIG. Is as follows. [theta] '= [theta]-[Delta] [theta] As shown in FIG. 9, the moving mechanism section 6 is arranged almost directly under the seat section 2, and the casters 9F, 9 are provided on the left and right of the front and rear of the vehicle body 1.
R is placed. Drive wheel 3 by spring 10 during running
L and 3R are urged to the floor. The upper and lower positions of the drive wheels 3L and 3R are variable, and the drive wheels 3L and 3R can be floated.

[0007] In the known document 3: Japanese Unexamined Patent Publication No. 2000-84006, as shown in the side view of FIG. 11, a height adjusting mechanism 11 and a moving mechanism portion 6 are arranged almost directly under the seat portion 2. The moving mechanism section 6 has one driving wheel 3.

The pedal 12 is operated by stepping on the pedals 12 arranged in 4 to 8 equal parts. After the drive wheel 3 is turned by the turning motor 13 having a worm gear in the direction of the depressed pedal 12, the drive wheel 3 is rotated to proceed.

[0009]

A sitting position movement assisting device for assisting transfer from a bed has a function that a riding part has a full flat shape and is laterally attached to the bed. FIG. 6 shows how the sitting movement support device 14 is placed horizontally on the bed 15. When moving to the side of the bed, push (pull) the handle part with your hand to move like a general power assist electric wheelchair. The caregiver 16 places the seat so that the seat is parallel to the bed 15. The sitting movement support device 14 is moved back and forth according to the position of the cared person 17's body. ~
During this period, the drive wheels 3L and 3R are facing forward and backward, and the movement mode thereof is called a normal traveling mode.

The seat portion is transformed into a bed shape. Also,
The height of the seat surface and the height of the bed 15 are matched. When the width is approached to the bed 15, the drive wheels 3L and 3R are turned 90 degrees and moved sideways in translation. 'If necessary, turn on the spot to finely adjust the seat so that it is parallel to the bed 15, and then move in translation to bring it into close contact with the bed 15.
The drive wheels 3L 'and 3R' are in a state of being turned by 90 ° during the period from to ', and the movement form thereof is called a translational traveling mode.

Even when the battery is dead when the power is not turned on when it is not used, it is necessary to push it by hand to quickly get it out. Further, during repair, parts of the moving mechanism are replaced and adjustments are made after the replacement.

In order to develop the above-mentioned sitting movement support device, the following problems must be solved for the conventional device.

The publicly known document 1 is as follows. Push it to the side of the bed and place it so that the seat is parallel to the bed. With the power assist, the caregiver moves to the side of the bed in the same way as a normal wheelchair. Then, it is transformed into a stretcher shape and the front and rear positions and height are finely adjusted according to the bed. Since the seat portion 2 of the known document 1 is a non-reclining type, it is replaced with a seat portion that deforms like a stretcher. The height adjusting mechanism is arranged between the seat portion 2 and the seat pivot support portion 5. In this case, it becomes difficult to adjust the height to a low bed.
The height may be adjusted using the high / low function of the bed.

Next, the width adjustment is performed, but at this time, the translational movement is performed. At this time, in the case of the known document 1, since the seat portion 2 moves back and forth, there is a possibility that the position of the seat portion 2 that matches the care-receiver's body may be displaced or that it may collide with a rear wall or the like.
Therefore, the turning shaft support portion 5 of the seat portion 2 is connected to the drive wheels 3L and 3R.
It is necessary to shift it back to the position of. When the width is adjusted by the translational movement, there is a case that the space is not parallel to the bed and there is a gap. In this case, the seat portion 2 can be swung and finely adjusted to be brought into close contact with the side surface of the bed.

Since there is no wheel at the position of the upper half of the body of the seat portion 2 when transferring, the vehicle body 1 may roll over when the weight is put on the portion. If the widths of the left and right fall prevention stoppers 18SL and 18SR are widened so as to prevent the vehicle from overturning, the vehicle width becomes wider and it becomes impossible to pass through a narrow passage. Therefore, the fall prevention stopper 18R behind the drive wheels 3L, 3R is extended, and after translational movement, the vehicle body 1 is turned to the original posture to support the weight of the upper body.

However, in this case, since the rearward fall prevention stopper 18R projects laterally during translational movement,
Caregivers should be careful about their feet. To avoid this, if the fall prevention stopper 18R is manually set, the work procedure for transfer becomes complicated.

Further, unless a lift function for floating the drive wheels 3L, 3R or a clutch function for idling is added, the vehicle cannot move in an emergency.

When the drive wheels 3L, 3R of the moving mechanism 6 or the motors 19L, 19R of the drive wheels are replaced, the vertical position adjustment width of the fall prevention stopper 18R is small, so the drive wheels 3L, 3R may float. No, it cannot be used for repairing the moving mechanism section 6. Since it has to be jacked up with a jack, the work efficiency of repair is poor. It is not necessary to lift up when replacing the seat turning motor 20.

The publicly known document 2 is as follows. Push it to the side of the bed and place it so that the seat is parallel to the bed. With the power assist, the caregiver moves to the side of the bed in the same way as a normal wheelchair. Then, it is transformed into a stretcher shape and the front and rear positions and height are finely adjusted according to the bed. Since the seat portion 2 of the known document 2 is non-deformed, it is replaced with a seat portion that is transformed into a stretcher. The height adjusting mechanism is arranged between the seat portion 2 and the vehicle body 1. If the moving mechanism 6 is provided at the center of the vehicle body 1, the position of the seat portion 2 becomes high, which makes it difficult to adjust the height to a low bed. The height may be adjusted using the high / low function of the bed. It is transformed into a stretcher and the front and rear positions are finely adjusted according to the bed.

Next, the width adjustment is performed, but at this time, the translational movement is performed. At this time, in the case of the known document 2, the moving mechanism 6
The vehicle body 1 turns due to the friction interlocking with the turning. if,
When the movement mechanism section 6 is controlled based on the posture of the vehicle body 1,
The moving mechanism unit 6 does not face directly to the bed. Initially, a slight shift is enough, but as the number of times is repeated, errors accumulate.

Therefore, if control is performed so that a correction operation for correcting a minute deviation is performed every time the moving mechanism section 6 is turned, the horizontal mounting work will take time. Alternatively, a means for detecting the relative angle between the vehicle body 1 and the moving mechanism portion 6 is added to the turning shaft 7 so that the moving mechanism portion 6 is always turned 90 ° with respect to the vehicle body 1 even if frictional interlocking of the vehicle body 1 occurs. Take control. That is, when the relative angle between the moving mechanism 6 and the vehicle body 1 reaches the target rotation angle θ, the brake 8 is applied to stop the drive wheels 3L, 3R. However, the body 1 that is rotating in conjunction
Will be stopped suddenly, and the riding comfort will deteriorate.

Generally, in order to reduce a large moment of inertia of the machine, the deviation Δθ between the target rotation angle θ of the vehicle body 1 and the rotation angle θ ′ of the moving mechanism portion 6 is near zero (θ ′ is the target rotation angle θ). In the near region), control is performed such that the rotational speed ω2 of the drive wheels 3L and 3R is slowed down.

In the relationship between the target turning angle deviation and the control speed of the driving wheels in FIG. 12, the more gently the inclination K is set,
The drive wheels 3L and 3R gradually decelerate. If the vehicle body 1 is slowly interlocked, the turning speed ω2 thereafter is slow even if Δθ reaches a target value close to zero.
It takes time to reach the target value and stand still.
If the vehicle body 1 continues to be frictionally linked, both the vehicle body 1 and the moving mechanism unit 6 continue to rotate. As described above, the behavior of the control of the moving mechanism section 6 is unstable due to the interlocking of the vehicle body 1 and the riding comfort becomes poor. Alternatively, it takes time to reach the target turning angle.

Since the drive wheels 3L, 3R are biased downward by the spring 10, the drive wheels 3L, 3R cannot be easily floated in the air even if they are lifted by a lift or the like. When the power is off, the vehicle cannot move in an emergency unless a clutch function for idling the drive wheels 3L, 3R is added.

The drive motors 19L, 1L of the moving mechanism section 6
When exchanging 9R, it is necessary to jack up with a jack or the like, so the work efficiency of repair is poor.

The publicly known document 3 is as follows. Push it to the side of the bed and place it so that the seat is parallel to the bed. With the power assist, the caregiver moves to the side of the bed in the same way as a normal wheelchair. Next, it is transformed into a stretcher. Since the seat portion 2 is not deformed, the seat portion 2 is changed to a reclining type seat portion 2.
However, when it is transformed into a stretcher, it becomes impossible to depress the accelerator pedal 12 of the foot, and therefore the joystick or the like at the hand is used for operation. Since the seat portion 2 freely turns when the width is approached by the translational movement, the seat portion 2 can be closely attached to the side surface of the bed.

However, if the transfer is carried out in that state, there is no wheel at the position of the upper half of the cared person, and therefore there is a possibility that the vehicle body 1 will roll over when weight is put on that part. It is necessary to lengthen the vehicle body 1 in the front and rear so that it is difficult to roll over. The vehicle body 1 which is long in the front and rear direction as described above cannot pass through a narrow passage unless the vehicle body 1 turns and changes the direction of the vehicle body 1. However, since the vehicle body 1 cannot turn in-situ with one drive wheel 3, it is necessary to attach the drive wheel 3 to the left and right.

In addition, the vehicle cannot move in an emergency unless a function for floating the drive wheel 3 from the ground or a clutch function for idling is added.

Further, when replacing the drive motor 19 of the moving mechanism section 6, it is necessary to jack up with a jack or the like, so that the work efficiency of repair is poor.

It is an object of the present invention to provide a sitting position movement assisting device which is capable of responding to a low bed or stretcher in which the position of the riding part does not shift even when the moving mechanism part is rotated with respect to the vehicle body having the riding part. To do.

Another object of the present invention is to provide a sitting position movement assisting device which improves the work efficiency of repair when the moving mechanism part fails.

Still another object of the present invention is to provide a sitting position movement assisting device which makes it difficult for the cared person to roll over when transferred to the riding part.

Another object of the present invention is to transfer the sitting movement assisting device by laterally mounting it on a bed or a stretcher.
It is an object of the present invention to provide a moving method of a sitting position movement assisting device which enables a smooth positioning operation even in a narrow place and enables safe transfer.

Still another object of the present invention is to provide a sitting position movement assisting apparatus capable of manually moving the apparatus or easily maintaining the moving mechanism section when the posture of the riding section is changed and the situation is urgent. Especially.

[0035]

SUMMARY OF THE INVENTION According to the present invention, there is provided a moving mechanism portion for turning with respect to a vehicle body having a riding portion, wherein the turning shaft is used as an output of a worm gear to move the moving mechanism portion with respect to the vehicle body. A first electric motor that rotates, a pair of drive wheels that are mounted on the same axis with their mutual rotation axes aligned, and second and third electric motors that rotate the pair of drive wheels independently, An axis of the turning of the moving mechanism section is substantially a midpoint of a line connecting the rotation centers of the pair of drive wheels, and the worm gear and the first electric motor are arranged between the pair of drive wheels. Is a sitting position movement support device.

The present invention is characterized in that the worm gear, the first electric motor, the pair of drive wheels, and the second and third electric motors are attached to a base plate to form a unit, which is a sitting position movement. It is a support device.

According to the present invention, the riding section is a seat section composed of a seat surface and a backrest, and a vertically moving means for raising and lowering the seat section is arranged below the seat section and in front of the vehicle body. Then, place the battery in the front below the vehicle body,
In the sitting position movement assisting device, the moving mechanism section is arranged at a rear side, and a control device of the moving mechanism section is arranged at a rear side on the vehicle body.

According to the present invention, the riding portion is a seat portion including a seat surface, a backrest, and a footrest, and the deformation means for inclining the backrest and the footrest to transform into a flat bed shape is provided under the seat portion. It is arranged on the front side above the vehicle body, the battery is arranged on the front side below the vehicle body, the moving mechanism section is arranged on the rear side, and the control device for the moving mechanism section is arranged on the rear side above the vehicle body. This is a characteristic sitting support device.

According to the present invention, when the side surface of the riding portion is laterally attached to the side surface of the bed or the stretcher, the sitting position movement assisting device according to claim 1 is operated to position the bed parallel to the bed or the stretcher, and the front and rear positions are determined. Then, the height is adjusted, and the pair of drive wheels are rotated in opposite directions to each other by a certain angle, and at the same time, the first electric motor is rotated at a speed proportional to the rotational speeds of the second and third electric motors. By doing so, the moving mechanism section is turned by 90 ° with respect to the vehicle body, and the pair of drive wheels are rotated in the same direction for translational lateral movement, and when it does not stick in parallel to the bed or stretcher, When the pair of drive wheels are rotated in opposite directions to each other and adjusted, and when the drive wheels are separated from the bed or stretcher, the pair of drive wheels are rotated in the same direction to move in translation, and then the pair of drive wheels is moved. At the same time that the drive wheels are rotated in opposite directions by a certain angle and at the same time the first electric motor is rotated at a speed proportional to the rotational speeds of the second and third electric motors, the moving mechanism section is moved to the vehicle body. To 90 °
It is a method of moving a sitting position movement assisting device, which is characterized in that the original state is obtained by turning.

According to the present invention, caster wheels are attached to the front and rear and right and left of the vehicle body, the pair of drive wheels of the moving mechanism portion are located between them, and height changing means is provided to the rear left and right caster wheels. This is a sitting position movement assisting device.

The present invention is a sitting position movement assisting device having means for enabling engagement with a lifter behind the vehicle body.

[0042]

FIG. 1 is a side view showing an entire embodiment of a sitting position movement assisting apparatus of the present invention. This embodiment includes a seat portion, a vehicle body, a power supply portion, a moving mechanism portion, and a control device.

The seat portion includes the backrest 21 and the seat 2.
2, consists of footrest 23, footstep 24,
The seat height is the linear motor L25 (4000-6000).
The X link 30 is driven and adjusted by a generated force of about [N]. The inclination angle of the backrest 21 is the direct drive motor B2.
6 (generated force of about 2000 to 3000 [N]) is driven and changed. The inclination angle of the footrest 23 is changed by driving the linear motor F27 (a force generated by about 2000 to 3000 [N]). Since the height-adjusting linear motion motor L25 has a large load, a motor having a larger output than the other two linear motion motors 26 and 27 is selected.

The armrests 2 are provided on both sides of the seat 22.
Attach 8L and 28R. Armrest 28L, 28R
Should be stowable or removable when transformed into a stretcher. In the present embodiment, the armrests 28L, 2L are electrically driven by a direct-acting mechanism using a screw nut.
Contains 8R. The armrests 28L and 28R can be adjusted within a height range from 0 [mm] to 200 [mm] above the seat surface, and can be moved upward against a load of 30 [kgf].

The vehicle body 1 is elongated in the front-rear direction, and rotary casters 9F, 9R are attached to the front-rear and left-right sides.

The power supply unit is composed of a battery 4 mounted below the vehicle body 1 at the front. By stacking the heavy battery 4 at this position, even if the stretcher is deformed and a large load is applied to the rear side, the battery does not fall backward. The battery 4 is stored in a tray that slides back and forth, and the battery can be easily replaced by raising the footrest 23 and pulling the tray forward. The charger 29 is placed behind the battery 4. By connecting a household power source of 100 [V] to the charger with the magnetic plug 31, the battery is charged.

The moving mechanism portion 6 is arranged below the vehicle body 1 at the rear. Details of the moving mechanism unit 6 will be described later.

The control device 32 is arranged behind the seat deforming mechanism and above the moving mechanism section 6. The electric circuit can be viewed from above when repairing, which is convenient for maintenance. The control device 32 is usually covered with a removable cover 33.

A plan view of the moving mechanism section 6 is shown in FIG. A front side view of FIG. 1 is shown in FIG. The first electric motor 20 (hereinafter referred to as a swing motor), the second and third electric motors 19
Both L and 19R (hereinafter referred to as drive motors) are 200
The same type motor of W is used. The swing motor 20 has a speed reducer 42 attached to the motor head, and power is transmitted to the worm gear unit 34 by a belt / pulley. Motor head reducer 4
The reduction ratio of 2 is 1/34, and the reduction ratio of the worm gear unit 34 is 1/10. The pulley diameter is the same, 1: 1
Is the gear ratio of.

The reduction ratio of the motor head reducers 35L and 35R of the drive motors 19L and 19R is 1/80, and the belt
Driving wheels 3L and 3R with a diameter of 170 mm through pulleys
Transmit power to. The pulley diameters are the same and the gear ratio is 1: 1. The reduction ratio of the motor head reducers 35L and 35R of the drive motors 19R and 19L is lower than that of the swing motor 20. If the rotation speed of the wheels is not higher than the rotation speed of the turning, the translational movement mode switching operation cannot be performed.

Here, the output shaft 36 of the worm gear unit 34, which is the axis of rotation of the moving mechanism 6, is driven by the drive wheels 3L, 3L.
It is substantially at the midpoint of the line connecting the rotation centers of R, and the worm gear unit and the turning motor 20 are driven wheels 3L, 3R.
It is located between. In addition, the motor head reducer 42,
By attaching the motor head reducers 35L and 35R to the base plate 43 (FIG. 2), the swing motor 20 and the drive motors 19L and 19R are substantially attached to the base plate 43 and are unitized.

The output shaft 36 of the worm gear unit 34 is threaded and fixed to the vehicle body 1 (FIG. 1) with a nut. A key is attached to the shaft 36 to stop the rotation. If this nut is removed, the moving mechanism unit 6 can be pulled out downward and removed from the vehicle body 1.

Next, the operation of the sitting movement support device will be described. Move to the side of the bed: Similar to a general power assisted electric wheelchair, the sitting movement support device is moved to the side of the bed while passing through the door of the room and avoiding furniture such as shelves. Turn to be parallel to the bed. The seating surface is located on the waist of the cared person as a standard for the front-back position. If you cannot push the power assist handle in a small space, you may operate it with your own controller. You may move in a stretcher shape from the beginning, but it is more advantageous to transform into a chair shape in a narrow passage.

Deformation: The backrest 21 is tilted down, the footrest 23 is raised, and the armrests 28L and 28R are housed and transformed into a full-flat stretcher. If necessary, make fine adjustments to turning and back-and-forth movement.

Switching to translational movement mode: The movement mechanism unit 6 is turned to switch to translational movement mode. In FIG. 1, the turning mechanism 20 may rotate the moving mechanism unit 6 90 degrees counterclockwise, and at the same time, the right driving wheel 3R may be rotated forward and the left driving wheel 3L may be rotated backward. It suffices that the switching operation be performed in response to the caregiver's button operation.

Reduction ratio of the swing motor 20 (motor head 4
2 and the worm gear unit 34) is T1, the reduction ratio of the drive motors 19L, 19R is T2, and the drive wheels 3L,
If the diameter of 3R is D, the treads of the drive wheels 3L and 3R are W, and the rotation speed of the turning motor 20 is ω1 [rad / s], the motors 19L and 19R that drive the drive wheels 3L and 3R.
The rotational speed ω2 [rad / s] may be controlled so that ω2 = ((W / D) × (T1 / T2)) × ω1.

Translational movement: translational movement toward the bed side, and the side surface of the sitting movement support device is brought into close contact with the side surface of the bed. If necessary, make a turn on the spot. At that time, it is not necessary to once turn the moving mechanism to return to the normal traveling mode for turning on the spot. Without turning the moving mechanism part,
This is done by rotating the left and right drive wheels in opposite directions.

Transfer: Since the sitting position movement support device is in a state of being laterally attached to the bed without a gap, the transfer is performed. Caregivers perform the transfer work. A transfer device may be used. Since a heavy battery 4 is loaded in front of the vehicle body 1 and the drive wheel (left drive wheel 3L in the present embodiment) moves to the rearmost position of the vehicle body by turning, the weight is put on the backrest 21. It is difficult to fall backward.

Translational movement: When the transfer is completed, the translational movement is performed once to move away from the bed. Don't do this
If you start moving freely while in contact with the bed, you may damage the bed or the sitting support device, and
Something laterally protruding from the bed may hit the care recipient's body.

Deformation: The backrest 21 and the footrest 23 are raised and deformed into a chair shape. When the armrests 28L, 28R housed after raising the back are raised, the care receiver's arm has the backrest 21 and the armrests 28L, 2R.
It is not sandwiched between 8R. The armrests 28L and 28R and the backrest 21 may be manually operated, and the operation order is determined according to the situation. It should be noted that when the stretcher is moved as it is, it does not have to be transformed into a chair shape.

Switching to normal moving mode: The moving mechanism unit 6 is turned to switch to the normal moving mode in the same manner as. In the opposite direction, the moving mechanism unit 6 is rotated clockwise by 90 ° and returned to the original state. The right drive wheel 3R is rotated backward and the left drive wheel 3L is rotated forward.

Move to destination: As with a general power assist electric wheelchair, a caregiver pushes the handle 37 to move to a desired place.

Next, a method of floating the driving wheels 3R, 3R to change their postures to manually move the device or to easily remove the moving mechanism unit will be described. Car body 1 of FIG.
FIG. 10 shows a cross-sectional side view of the caster 9R with a lift function attached to the rear part. A handle 39 is fixed to the caster shaft 38 and a male screw is cut on the long caster shaft 38. Car body 1
Female screws are cut on the holder 40 that is fixed to the caster wheel 4
Allow the height of 1 to be adjusted up and down. If the caster shaft becomes longer and the strength is insufficient, change the material and thickness.

As described above, the moving mechanism unit 6 is arranged below the vehicle body 1 and is fixed to the vehicle body 1 by the nut of the turning shaft 36 (FIG. 1). If the cover 33 of the control device 32 is removed and the nut of the pivot shaft 36 is removed, the moving mechanism unit 6 can be removed downward. At this time, the signal lines of the motor commander, the encoder, etc., and the power cable are connected and wired by a coupler or the like so that they can be separated and separated from the body of the vehicle.

Next, another method of changing the posture by floating the drive wheels 3R, 3R will be described. A ring or a hole or a plate that allows a rod to be inserted laterally is provided in the rear portion of the vehicle body 1, and a rear portion of the vehicle body is lifted by a lifter. As shown in FIG. 12, the lifter 43 has a dogleg shape, and the vehicle body 1 is placed on the left and right claws 44 facing the left and right drive wheels 3L and 3R. The arm 45 is attached to the rear part of the lifter 43, and the vehicle body 1 is lifted by levering. Attach wheels 46 to lifter 43,
You may make it possible to move by pushing the sitting movement support device. The wheels 46 may be attached to the bent position of the dogleg, and in this case, the arm 45 is moved while being lifted. The arm 45 may be separately formed and inserted into the lifter 43 for use. When the footsteps 24 hit the ground when the vehicle body 1 is lifted and tilted forward, the footsteps 24 are pivotally supported so as to be pivotable upward. The seat 22 is previously moved by the vertical movement of the seat 22.
There is also a method of adjusting the height to a higher level or raising the footrest 24.

In the embodiment, the frame of the vehicle body 1, the bolts 47 attached to the frame and the casters (the holder 40 thereof).
The claw of the lifter 43 is hooked 44 in the recess formed between. The tray 48 of the battery 4 has its rear end hooked on the vehicle body 1 in the pulled-out state, and even if the vehicle body 1 leans forward, the tray 48 rotates around the rear end as a fulcrum, which does not hinder the lift.

[0067]

According to the present invention, even if the moving mechanism is rotated with respect to the vehicle body having the riding section, the sitting section is not displaced and the sitting position movement assisting apparatus can cope with a low bed or stretcher. Can be obtained. Further, according to the present invention, it is possible to obtain a sitting position movement assisting device that improves the work efficiency of repair when the moving mechanism portion fails. Further, according to the present invention, it is possible to obtain a sitting position movement support device in which a care receiver is not likely to roll over when transferred to a riding part. Further, according to the present invention, when the seating movement support device is laid sideways on a bed or a stretcher and transferred, a positioning operation can be performed smoothly even in a narrow place, and a movement method of the sitting position movement support device that enables safe transfer is provided. Obtainable. Further, according to the present invention, it is possible to obtain a sitting position movement assisting device capable of manually moving the device when the posture of the riding portion is changed and urgently maintaining the moving mechanism portion.

[Brief description of drawings]

FIG. 1 is a plan view of a moving mechanism portion of an embodiment of a sitting movement support device of the present invention.

FIG. 2 is a front side view of FIG.

FIG. 3 is a side view showing the whole embodiment of the sitting movement support device of the present invention.

4 is a cutaway side view of the rear wheel caster of FIG. 1. FIG.

FIG. 5 is a diagram showing a lift state of the sitting movement support device.

FIG. 6 is a diagram showing transfer by a sitting position movement support device.

FIG. 7 is a sectional side view of known document 1.

FIG. 8 is a plan view showing a translational movement mode switching of known document 1.

FIG. 9 is a sectional side view of known document 2.

FIG. 10 is a plan view showing translational movement mode switching of known document 2.

11 is a sectional side view of known document 3. FIG.

FIG. 12 is a diagram showing a relationship between a target turning angle deviation and a control speed of driving wheels.

[Explanation of symbols]

1 ... Car body (wheelchair basic frame; wheelchair body), 2 ...
Seat (bed for stretcher), 3 ... drive wheels,
4 ... Battery, 5 ... Rotary seat part pivot support part, 6 ... Movement mechanism part (movement mechanism unit), 7 ... Movement mechanism part pivotal support part,
8 ... A brake for stopping the rotation of the rotary movement mechanism section, 9 ... Casters (rotatable wheels), 10 ... Spring, 111 ... Height adjusting mechanism by worm gear, 12 ... Accelerator pedal, 1
3 ... Drive wheel turning worm gear, 14 ... Sit-position movement support device, 15 ... Bed (bed), 16 ... Caregiver, 17 ... Cared person. 18 ... Fall prevention stoppers, 19L, 19R ... Second and third electric motors (driving motors) for driving the drive wheels, 20 ... First electric motor (swinging motor) for driving the turning portion, 21 ... Backrest, 22 ... Seat (seat surface), 2
3 ... Footrest, 24 ... Footstep, 25 ... Linear motor L, 26 ... Linear motor B, 27 ... Linear motor F, 2
8 ... Armrest, 29 ... Charger, 30 ... Height adjustment X
Link, 31 ... Charging magnet plug, 32 ... Control device, 33 ... Control device cover, 34 ... Worm gear unit, 35L, 35R ... Second and third electric motor (driving motor) motor head reducer, 36 ... Worm gear unit output Shaft (moving mechanism unit swing shaft), 37 ... power assist handwheel, 38 ... caster shaft, 39 ... caster wheel vertical adjustment handle, 40 ... holder, 41 ... caster wheel (rotatable), 42 ... first electric motor (Swing motor) Motor head reducer, 43 ... Base plate, 44 ... Lifter, 45 ... Claw, 46 ... Arm, 47 ... Wheel, 48 ... Bolt, 49 ... Tray.

   ─────────────────────────────────────────────────── ─── Continued front page    (72) Inventor Masakatsu Fujie             502 Kintatemachi, Tsuchiura City, Ibaraki Japan             Tate Seisakusho Mechanical Research Center F-term (reference) 3B091 CA08 GA01

Claims (7)

[Claims] 1. A first electric motor for rotating a moving mechanism part having a riding part, wherein the axis of the turning is used as an output of a worm gear to rotate the moving mechanism part with respect to the vehicle body by the worm gear. It is composed of a pair of drive wheels mounted on the same axis with their mutual rotation axes aligned, and second and third electric motors that rotate the pair of drive wheels independently of each other. A sitting position movement assisting device, wherein an axis is substantially a midpoint of a line connecting centers of rotation of the pair of drive wheels, and the worm gear and the first electric motor are arranged between the pair of drive wheels. 2. The sitting position movement assisting apparatus according to claim 1, wherein the worm gear, the first electric motor, the pair of drive wheels, and the second and third electric motors are attached to a base plate to form a unit. A sitting movement support device. 3. The sitting position movement support device according to claim 1, wherein the riding portion is a seat portion constituted by a seat surface and a backrest, and the up-and-down moving means for raising and lowering the seat portion is the seat portion. Below the vehicle body, the battery below the vehicle body, the moving mechanism portion behind, and the control device of the moving mechanism portion above and behind the vehicle body. A sitting movement support device characterized by being arranged. 4. The sitting position movement support device according to claim 1, wherein the riding portion is a seat portion including a seat surface, a backrest, and a footrest, and the backrest and the footrest are inclined to be deformed into a flat bed shape. The deforming means is disposed below the seat portion in front of the vehicle body, in front of the vehicle body below the vehicle, in the rear of the moving mechanism portion, and above the vehicle body in the rear portion. A sitting position movement assisting device, characterized in that a control device for a moving mechanism is arranged. 5. When the side surface of the riding part is laterally attached to the side surface of the bed or stretcher, the sitting position movement assisting device according to claim 1 is operated to position the bed parallel to the bed or stretcher, and to position the front and back, Adjusting the height, rotating the pair of drive wheels in opposite directions to each other by a certain angle, and at the same time rotating the first electric motor at a speed proportional to the rotational speed of the second and third electric motors. When the moving mechanism section is turned by 90 ° with respect to the vehicle body, and the pair of drive wheels are rotated in the same direction for translational lateral movement, and when the moving mechanism section is not parallel to the bed or stretcher,
Adjusting by rotating the pair of drive wheels in mutually opposite directions,
When moving away from the bed or stretcher, the pair of drive wheels are rotated in the same direction to move in translation, and then the pair of drive wheels are rotated in opposite directions to each other by a certain angle, and at the same time, the second and third drive wheels are rotated. A sitting position movement assisting device, characterized in that, by rotating the first electric motor at a speed proportional to the rotation speed of the electric motor, the moving mechanism section is turned to 90 ° with respect to the vehicle body to return to the original state. How to move. 6. The seating movement support device according to claim 1, wherein caster wheels are attached to the front and rear and right and left of the vehicle body, and the pair of drive wheels of the moving mechanism portion are located between them. However, the sitting position movement assisting device is characterized in that the caster wheels on the left and right sides are provided with height changing means. 7. The sitting position movement assisting apparatus according to claim 1, further comprising means for engaging with a lifter behind the vehicle body.