JP2005041677A - Movement assisting device and traveling device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a simple and inexpensive device for making a wheelchair climb over a different height. <P>SOLUTION: This movement assisting device B is usable together with a traveling device A mounting an actuator and capable of traveling while carrying people and articles. The device B comprises a moving means 91 capable of the traveling device A relative to it, a support means 92 displaceably supporting the moving means 91, and a transmitting means 93 displacing the moving means 91 by transmitting a driving force provided by the actuator mounted to the traveling device A to the moving means 91. <P>COPYRIGHT: (C)2005,JPO&NCIPI

Description

  The present invention is particularly suitable for applications such as step elevators, lifts, bath lifts, elevators, nursing beds, bedsore prevention equipment, relaxation equipment, fitness equipment, rehabilitation equipment, cradle, rocking chair, massage equipment, etc. The present invention relates to a support device and a traveling device.

In general, wheelchairs are widely used as tools used in moving handicapped persons, victims, elderly people, and the like. There are sometimes differences in elevation in the distance traveled by wheelchairs, but wheelchair-compatible escalators have been developed as one of the means for eliminating such elevation differences (for example, the following) See patent literature).
JP 2003-192264 A JP 2003-182964 A

  The wheelchair-adaptive escalator as described above is installed mainly in, for example, a railway station and public facilities. However, it is a large-scale device, and its installation and maintenance requires a large cost. Therefore, it cannot be installed everywhere in the world.

  The main object of the present invention made in view of the above problems is to provide a simple and low-cost device for causing a traveling device such as a wheelchair to overcome a height difference. In addition, we will provide simple and low-cost bedding with a function to prevent decubitus.

  In order to solve the above-described problems, the present invention configures a movement support device that can be used with a traveling device that is equipped with an actuator and can travel with a person or an object (not limited to inanimate objects). The movement support apparatus according to the present invention includes a moving means that can be placed on the traveling apparatus or capable of moving a person or an object on the traveling apparatus, a supporting means that displaceably supports the moving means, And a transmission means for displacing the moving means by transmitting a driving force applied by an actuator mounted on the traveling device to the moving means.

  That is, the moving means can be driven using an actuator mounted on the traveling device to move a person or an object. In such a case, it is not necessary to mount an electric motor, a power supply device, or the like on the movement support apparatus itself, so that the configuration of the movement support apparatus can be simplified. Therefore, the cost of the movement support apparatus can be reduced, and the space occupied by the movement support apparatus can be saved. For example, if a movement support apparatus is installed in advance at a plurality of locations that are travel destinations of the travel apparatus, the movement support apparatus at that location can be used as necessary.

  In addition, it is preferable that the said moving means can move the person and the thing currently put on the traveling apparatus with the traveling apparatus. However, the mode in which only a person or an object is moved by the moving means is not disturbed.

  In addition, the travel device includes a drive mechanism that can rotationally drive other members using the drive force output by the actuator, and the transmission means of the movement support device is the drive mechanism of the travel device. The actuator of the traveling device is connected to the moving means of the movement support device if it has at least a rotating member that is rotationally driven by the actuator and receives the driving force supplied through the rotating member to displace the moving means. Work becomes easier. This makes it possible for passengers (especially those with handicaps, victims, elderly people, etc.) who use the traveling device to use the mobility support device without the assistance of an assistant. It also leads to self-reliance.

  Incidentally, if the moving means supports a part of the bedding and the body of the person using the bedding is moved by the displacement of the part, it is equipped with a decubitus prevention function to which the movement support device according to the present invention is applied. The bedding can also be configured. Of course, the moving means in this case does not move a person along with the traveling device.

  In addition, as a traveling device that can be used with the movement support device according to the present invention, a main body capable of traveling with a person or an object, an actuator mounted on the main body, and a transmission means of the movement support device are connected. It is desirable to configure a traveling device including a driving mechanism that transmits a driving force applied by the actuator. The actuator mounted on the traveling device can also be used as a driving force supply source for moving the traveling device carrying a person or an object. Therefore, the system formed by combining the movement support apparatus and the traveling apparatus according to the present invention is suitably used for moving a person or an object over a wide range.

  According to the present invention described in detail above, a simple and low-cost movement support apparatus can be realized. Then, using the movement support device, it is possible to cause the travel device to go through a path where there is a difference in height, or to prevent the occurrence of an anxiety in the care of a sick or elderly person.

  <First Embodiment> Hereinafter, embodiments of the present invention will be described with reference to the drawings. First, the traveling device A will be described. As shown in FIGS. 1 and 2, the main body 1 of the traveling device A is supported by at least a pair of main wheels 2 so as to be able to travel. The main body 1 is provided with a sheet portion (not shown) for placing a person or an object. For example, like an existing wheelchair or the like, a seat portion on which a cared person or the like can sit is attached to an appropriate part of the main body 1. Moreover, the traveling device A includes a step elevation mechanism for overcoming a path in which steps and obstacles exist. The step elevating mechanism includes a crank 3 that is rotatably mounted at a position that does not hinder the rotation of the main wheel 2, an arm 4 that is attached to a portion displaced from the center of the crank 3, that is, the center of rotation, and the crank 3. Actuators 6a and 6b that output a driving force for driving the arm 4 are included. The arm 4 is driven by the crank 3 as a scaffold and can move its tip in a direction away from the center of rotation.

  The step elevation mechanism will be described in detail. The crank driving actuator 6 a and the arm driving actuator 6 b are disposed on substantially the same axis as the axle 5 that receives the main wheel 2. The crank driving actuator 6a and the arm driving actuator 6b can be driven independently of each other. The crank 3 has a base end fixed to the crank driving actuator 6a via a shaft 6a1, and has a tip extended between the main wheels 2 so as to rotate around the shaft 6a1. The arm 4 is provided at the extended end of the crank 3 via a horizontal support shaft 41. That is, the arm 4 is rotationally driven around the horizontal support shaft 41 with the extended end of the crank 3 as a scaffold (in other words, a fulcrum). Further, on the tip side of the arm 4, a grounding portion 42 having a grounding surface having a partial arc shape or elliptical arc shape having substantially the same diameter as the side view main wheel 2 is provided. A sprocket 7 a is fixed to the horizontal support shaft 41. The sprocket 7a is connected to a sprocket 7c attached to the shaft 6b1 of the arm driving actuator 6b via a sprocket chain 7b. That is, the sprocket 7a fixed to the horizontal support shaft 41 receives driving force from the arm driving actuator 6b via the sprocket chain 7b. Thus, the crank 3 can be driven by the crank driving actuator 6a, and the arm 4 can be driven by the arm driving actuator 6b.

  An operation when the traveling device A descends the lower step will be described. When the main wheel 2 faces the lower step, the crank 3 is rotated by the crank driving actuator 6a and the arm 4 is driven by the arm driving actuator 6b, as shown in FIG. Alternatively, the grounding portion 42 provided at the tip of the arm 4 is grounded to the lower stepped floor. Then, the crank 3 and the arm 4 are driven so as to approach the axle 5 or the center of rotation of the crank 3 (the axis of the crank driving actuator 6a) while the grounding portion 42 rolls, and as shown in FIG. Lower A and ground the main wheel 2 to the lower floor.

  Next, an operation when the traveling device A climbs the upper step will be described. When the main wheel 2 faces the upper step, as shown in FIG. 4, the crank 3 and the arm 4 are driven by the crank driving actuator 6a and the arm driving actuator 6b to ground the grounding portion 42 to the lower floor. Then, as shown in FIG. 3, the ground contact portion 42 provided at the tip of the arm 4 is moved away from the axle 5. That is, in a state where the ground contact portion 42 is rolling while being in contact with the lower floor, the crank 3 rotates about the shaft 6a1 on which the base end of the crank 3 is pivotally attached, and the reaction device A is driven by the reaction. Will be lifted to a position where it can cross the upper step.

  The crank 3 and arm 4 can be program controlled. In this embodiment, the movements of the crank 3 and the arm 4 are controlled by a program by controlling the actuators 6a and 6b by a programmable controller (not shown).

  Incidentally, the main body 1 is attached with a handle portion 11 extending upward or rearward and upward. When a driver other than the passenger drives the traveling device A, the main body 1 can be operated by holding the handle portion 11. Further, the main body 1 is provided with a sub-wheel 12 that functions as a front wheel or a rear wheel and supports the main body 1 together with the main wheel 2 so as to be movable. However, the handle portion 11 and the auxiliary wheel 12 are not essential components.

  In the traveling device A described above, in the present embodiment, the traveling device A is traveled using the driving force provided by the actuator included in the step lifting mechanism, that is, the crank driving actuator 6a and the arm driving actuator 6b. It is configured to be able to. More specifically, the driving force of the actuators 6a and 6b is transmitted to a driving wheel 2X separate from the main wheel 2, so that the driving wheel 2X can be driven to rotate. If the driving wheel 2X is grounded to the traveling road surface by slightly tilting the posture of the main body 1 and the driving wheel 2X is rotated in this state, the traveling device A can be continuously traveled.

  A connecting plate 81 is fixed to the drive wheel 2X. The drive wheel 2 </ b> X and the connecting plate 8 </ b> X are supported so as to be rotatable around the axis of the support shaft 82 fixed to the main body 1. The connecting plate 81 rotates with the movement of the arm 4 by engaging with the arm 4. The connecting plate 81 has a first action surface 811 and a second action surface 812 that receive the action of the driving force from the arm 4. These action surfaces 811 and 812 are surfaces substantially parallel to the rotation axis direction of the connecting plate 81, that is, the axial center direction of the support shaft 82. However, these working surfaces 811 and 812 are not necessarily flat surfaces. A gap is formed between the first working surface 811 and the second working surface 812 in the range of a predetermined angle around the support shaft 82. In the illustrated example, the first working surface 811 and the second working surface 812 form an angle of approximately 180 degrees, and form a substantially half-moon-shaped gap in a side view over a range of approximately 180 degrees. On the other hand, the arm 4 protrudes along the width direction of the main body 1 of the traveling device A and is provided with an operating body 43 that is positioned at a position facing the first action surface 811 or the second action surface 812 of the connecting plate 81. It is. The operating body 43 is, for example, a pin, a cam follower or the like. In the illustrated example, the operating body 43 protrudes inward from the grounding portion 42 of the arm 4. The crank 3 and the arm 4 are operated to move the operating body 43 within the diameter of the connecting plate 81 (when the connecting plate 81 is rotated, the trajectory drawn by the first operating surface 811 and the second operating surface 812 is intersected). The arm 4 can be engaged with the connecting plate 81 through the operating body 43. When the crank 3 and the arm 4 are driven so that the operating body 43 revolves around the support shaft 82, the operating body 43 comes into contact with either the first working surface 811 or the second working surface 812. The connecting plate 81 can be rotated forward and backward. Even if the arm 4 is fixed in a state where the operating body 43 exists within the diameter of the connecting plate 81, the connecting plate 81 remains within a predetermined angle range, that is, the first working surface 811 and the second working surface. It is possible to oscillate within the range of the gap interposed between the 812 and 812. That is, there is play (due to a gap) in the engagement structure formed between the operating body 43 of the arm 4 and the working surfaces 811 and 812 of the connecting plate 81, and even if the position of the arm 4 is fixed by this play, It is allowed to change the rotational phase of the plate 81 within a predetermined range. Furthermore, with the above configuration, the arm 4 and the connecting plate 81 can be easily engaged or released. That is, by inserting the operating body 43 of the arm 4 into the gap, the operating body 43 can be made to face the first working surface 811 and the second working surface 812, and conversely, the first working surface 811, The engagement between the arm 4 and the connecting plate 81 can be easily eliminated by guiding the operating body 43 facing the second working surface 812 out of the gap.

  In the present embodiment, a pair of left and right connecting plates 81 are provided corresponding to the pair of left and right drive wheels 2X. The one side connecting plate 81 and the other side connecting plate 81 are rotatable independently of each other. In addition, the driving wheel 2X on one side and the driving wheel 2X on the other side can rotate independently of each other. As already described, since the connecting plate 81 has a play of about 180 degrees around the support shaft 82 with respect to the operating body 43 of the arm 4, the rotational phase of the connecting plate 81 that makes a pair within this play range is adjusted. There can be a difference. Therefore, a difference can be given to the rotational phase of the paired drive wheels 2X. That is, regardless of the position of the operating body 43 of the arm 4, one of the drive wheels 2X can be rotated within a predetermined angle range with respect to the other. As a result, the direction of the main body 1 of the traveling device A can be easily changed without forcibly dragging the drive wheels 2X with respect to the road surface, and the vehicle smoothly turns as if it is equipped with a differential device. It becomes possible.

  Generally speaking, the movement of the arm 4 is transmitted to the connecting plate 81 and the driving wheel 2X via the operating body 43, and the traveling device A can be driven by rotating the connecting plate 81 and the driving wheel 2X. is there. Incidentally, the connecting plate 81 and the drive wheel 2X are movable along the axial direction of the support shaft 82. Further, a recessed portion 2X1 is formed on the inwardly facing surfaces of the pair of drive wheels 2X. On the other hand, a stopper pin 13 that can be engaged with the recessed portion is provided so as to protrude from a predetermined portion of the main body 1 toward the drive wheel 2X. For example, when the lifting operation by the step lifting mechanism is to be performed, the coupling plate 81 and the drive wheel 2X are moved in the axial direction of the support shaft 82 to release the engagement between the coupling plate 81 and the operating body 43, and By engaging the stopper pin 13 with the portion 2X1, the drive wheel 2X can be stopped. The drive wheel 2X whose rotation is stopped by the stopper pin 13 can be used as a brake wheel that rubs against a road surface or a stepped floor surface.

  Incidentally, only one drive wheel 2X can be provided at the central portion, and the vehicle can travel while grounded together with the other wheels 2 and 12 (in the illustrated example, with a total of five wheels). Further, in order to be able to deal with uneven road surfaces, it is preferable to support the driving wheel 2X on the main body 1 so that it can be displaced in the vertical direction. On the other hand, the drive control of the crank 3 and the arm 4 by software (that is, control of the trajectory of the operating body 43) cannot always flexibly respond to the vibration in the vertical direction of the drive wheel 2X. In view of the above, the rotating shaft of the driving wheel 2X and the rotating shaft of the connecting plate 81 are separated, and the Oldham coupling is sandwiched between these rotating shafts, thereby connecting the rotating plate connecting plate 81 of the driving wheel 2X. It is good also as a structure which accept | permits the fluctuation | variation with respect to a rotating shaft.

  However, it is also conceivable to drive the traveling device A continuously by rotating the main wheel 2 using the driving force provided by the crank driving actuator 6a and the arm driving actuator 6b. It is not impossible to self-run by kicking the road surface with the arm 4.

  Next, the movement support apparatus B in this embodiment will be described. The movement support apparatus B is installed in at least one place that is the destination of the travel apparatus A, and plays a role of assisting the passenger or driver of the travel apparatus A. The movement support apparatus B includes a moving means 91 that can move a person or an object up and down by engaging with a person or an object to be placed on the traveling apparatus A (directly or indirectly through the traveling apparatus A), and a moving means. Support means 92 for supporting 91 in a displaceable manner, and transmission means 93 for displacing the moving means 91 by transmitting the driving force applied by the actuators 6a and 6b mounted on the traveling device A to the moving means 91. To do.

  The movement support apparatus B of this embodiment is provided along stairs etc. as shown in FIG. The support means in this movement support apparatus B is a guide rail 92 that supports the movement means so that the lift 91 as the movement means can be displaced obliquely up and down along the stairs and the like. In the illustrated example, a plurality (especially a pair) of guide rails 92 extending in parallel are provided. The lift 91 includes a roller 911 that engages with a guide rail 92 as support means. In the illustrated example, a plurality of (in particular, three) rollers 911 that engage with each of the pair of guide rails 92 are provided. The roller 911 can be displaced along the guide rail 92 in a state where the roller 911 is engaged with the guide rail 92.

  A drum 931 is attached to the lift 91. The drum 931 can wind the wire 933 (or a belt or a chain). The wire 933 taken up by the drum 931 is fixed at its tip (at a predetermined position or the like on an upper floor such as a staircase). Therefore, if the drum 931 is driven to rotate and the wire 933 is taken up, the lift 91 can be displaced upward. Conversely, if the drum 931 is driven to rotate and the wire 933 is pulled out, the lift 91 can be displaced downward. .

  The lift 91 can lift a person or an object together with the traveling device A. The lift 91 in the present embodiment is provided with a hook 912 that can be hooked to a required portion (for example, the handle 11) of the main body 1 of the traveling device A, and the traveling device A can be lifted via the hook 912. it can. In addition, you may attach to the lift 91 the member (not shown) used as the scaffold which can mount the traveling apparatus A instead of such a hook 912. FIG. With the above configuration, the lift 91 as a moving means can move a person or an object along the stairs or the like together with the traveling device A.

  In addition, a driving force for rotationally driving the drum 931 is obtained from the actuators 6a and 6b of the traveling device A. The lift 91 is provided with a rotating member 932 that can be driven to rotate, and the drum 931 rotates in accordance with the rotation of the rotating member 932. For example, by fixing the rotating member 932 to the drum 931, both the rotating member 932 and the drum 931 can rotate around the same axis. The rotating member 932 rotates with the movement of the arm 4 by engaging with the arm 4 of the traveling device A. The rotating member 932 can have, for example, a first action surface 932a and a second action surface 932b that receive the action of the driving force from the arm 4, just like the connecting plate 81 described above. . These action surfaces 932a and 932b are surfaces substantially parallel to the axial direction of the rotation shaft of the rotation member 932. However, these action surfaces 932a and 932b are not necessarily flat surfaces.

  On the other hand, the arm 4 protrudes along the width direction of the main body 1 of the traveling device A and is provided with an operating body 44 that is positioned at a position facing the first action surface 932a or the second action surface 932b of the rotating member 932. It is. The operating body 44 is, for example, a pin, a cam follower or the like. In the illustrated example, the operating body 44 projects outward from the grounding portion 42 of the arm 4. When the crank 3 and the arm 4 are operated so that at least the grounding portion 42 protrudes rearward of the traveling device A, and the operating body 44 (or the operating body 43) is within the diameter of the rotating member 932 (when the rotating member 932 is rotated). The arm 4 can be engaged with the rotating member 932 via the operating body 44 by positioning the first working surface 932a and the second working surface 932b at positions intersecting the trajectory drawn. Then, when the crank 3 and the arm 4 are driven so that the operating body 44 revolves around the rotation center of the rotating member 932, the operating body 44 moves to either the first operating surface 932a or the second operating surface 932b. The rotating member 932 can be rotated forward and backward by contacting. Control for causing the operating body 44 to revolve around the rotation center of the rotating member 932 is performed by the programmable controller already described.

  Generally speaking, the movement of the arm 4 is transmitted to the rotating member 932 via the operating body 44 and the rotating member 932 is driven to rotate, thereby rotating the drum 931 and moving the lift 91 up and down. That is, the traveling device A of the present embodiment includes a drive mechanism that can rotationally drive other members using the drive force output by the actuators 6a and 6b. The drive mechanism referred to here includes the crank 3, the arm 4, the sprockets 7a and 7c, and the sprocket chain 7b. The movement support apparatus B of the present embodiment is configured to displace a lift 91 as a moving means by receiving a driving force supplied via a rotating member 932 that is rotationally driven by a driving mechanism of the traveling apparatus A. Thus, the rotating member 932, the drum 931 that rotates following the rotating member 932, and the wire 933 that is wound by the drum 931 transmit the driving force applied by the actuator of the traveling device A to the lift 91, and the lift 91. It becomes a component of the transmission means 93 which displaces.

  Incidentally, the handle 11 of the traveling device A can be guided by the guide rail 92, and the raising / lowering operation itself can be performed using a step elevation mechanism.

  According to the present embodiment, the lift 91 that is a moving means that can move the person and the object together with the traveling device A in association with the person and the object, and the guide rail 92 that is a support means that supports the lift 91 in a displaceable manner. Since the movement support apparatus B including the transmission means 93 for displacing the lift 91 by transmitting the driving force applied by the actuators 6a and 6b mounted on the traveling apparatus A to the lift 91, less labor is required. You can move people and things. In addition, since it is not necessary to mount an actuator on the movement support apparatus B itself, the configuration of the movement support apparatus B can be simplified, downsized, and reduced in cost.

  The transmission means 93 has at least a rotating member 932 that is rotationally driven by the driving mechanism of the traveling device A, and receives the driving force through the rotating member 932 to displace the lift 91. The operation of connecting the actuators 6a and 6b of the apparatus A to the moving means of the movement support apparatus B is easy. In addition, the arm 4 extends rearward from the main body 1 and the rotating member 932 is driven to rotate via the operating body 44 provided on the arm 4. Further, the arm 4 for driving the rotating member 932 to rotate. Since the control of the crank 3 can be entrusted to the programmable controller, it is possible for the passenger on board the traveling device A to use the movement support device B without the assistance of another person.

  Further, the main body 1 that can travel with a person or an object, the actuators 6 a and 6 b mounted on the main body 1, and the drive applied by the actuators 6 a and 6 b connected to the transmission means 93 of the movement support device B. Since the traveling device A including the traveling device A including the driving mechanism for transmitting force is configured and can be used together with the movement support device B, it is possible to suitably move a person or an object.

  In addition, this embodiment is not restricted to the aspect which explained in full detail above. The specific configuration of each part can be variously modified without departing from the spirit of the present invention. For example, as illustrated in FIG. 6, it is possible to adopt a configuration in which a lift 91 as a moving unit moves up and down in the vertical direction along the guide rail 92 </ b> X. The guide rail 92X in this example has a substantially cylindrical shape. The lift 91X supported by the guide rail 92X is supported by a wire 933 whose upper end is fixed to a support provided at the upper end portion of the guide rail 92X, and the wire 933 is taken up by a drum 931, whereby the guide rail 92X. Ascend along the outer surface. In addition, the support body 921 and the lift 91X that support the upper end of the wire 933 are rotatable around the axis of the guide rail 92X. In this example, the wire 933 whose upper end is supported by the support body 921 is an element of the transmission means 93 and an element of the support means (the constituent elements of the support means in this example are the wire 933 and the support body 921. And guide rail 92X). From the state shown in FIG. 6, the main body 1 of the traveling device A is engaged with the hook 912 provided on the lift 91X, the rotary member 932 and the drum 931 are rotationally driven by the arm 4, and the lift 91X is raised, and then travels. By rotating the device A, the lift 91X, and the support body 921 around the axis of the guide rail 92X, the traveling device A and a person or an object riding on the traveling device A can be placed on the upper floor. The movement support apparatus B of this example is suitable for ascending / descending an edge stand or a fence. If the upper floor is regarded as the upper floor, it can be said that this is an elevator.

  Further, in the above embodiment, the lifts 91 and 91X as the moving means lift the person and the object together with the traveling device A. However, the seat part on which the person and the object are placed (this seat part belongs to the passenger and the situation of the passenger The passenger will follow the occupant as the second garment that responds.The seat part may be used properly depending on the TPO such as bath, toilet, and outing). it can. In such a case, the drum 931, the rotating member 932, and the like, which are elements of the transmission means 93, are not provided on the lifts 91 and 91X, but are provided on the guide rails 92 and 92X as support means, for example.

  The traveling device A is not limited to the one provided with the crank 3 and the arm 4, and does not prevent the traveling device A from being an existing electric wheelchair.

  <Second Embodiment> The present embodiment to be described next is a bedding (bed) with an anti-soaking function to which the movement support apparatus B according to the present invention is applied. In addition, about the traveling apparatus A, since it can be comprised similarly to the thing in said 1st embodiment, description is abbreviate | omitted here.

  The bedclothes with the function of preventing decubitus according to this embodiment are mainly composed of a mattress 94 that can lie down on a person. As shown in FIGS. 7 to 9, the mattress 94 is supported from below by a vertically moving body 95 as a moving means at a plurality of locations. Each of the plurality of vertically moving bodies 95 can be moved up and down. Then, by selectively moving the vertical moving body 95 up and down, a part of the mattress 94 is positioned at a relatively high position with respect to the other parts. This can be used to change the position of a person lying on the mattress 94 (just to roll over the mattress 94) or to wake up the person lying on the side It is possible.

  More specifically, as shown in FIGS. 8 and 9, each vertical moving body 95 is supported so as to be movable up and down along the support member 96. Each vertical moving body 95 is engaged with a wire 971 (or a belt or a chain). By pulling the wire 971, the vertical moving body 95 can be displaced in the vertical direction. In the illustrated example, the tip of a wire 971 hung on a pulley 951 attached to the vertical moving body 95 is fixed to this bedding, and the vertical moving body 95 is raised (shown in FIG. 8) by pulling the wire 971, The vertical moving body 95 can be lowered (shown in FIG. 9) by loosening the wire 971.

  A plurality of wires 971 for driving the plurality of vertical moving bodies 95 are each wound up by a drum 972. Incidentally, in the illustrated example, the vertical moving body 95 as a plurality of moving means and the plurality of wires 971 have a one-to-one correspondence, but the vertical moving body 95 and the wire 971 are not necessarily in a one-to-one correspondence. The number of drums 972 is the same as the number of wires 971. Thus, in the present embodiment, the rotation shaft 973 for rotationally driving these drums 972 is shared, and an actuator for supplying a driving force for driving the drum 972 (and thus for driving the vertical moving body 95) is provided. It is configured so that the number can be reduced.

  More specifically, as shown in the enlarged view of the main part of FIG. 10, a plurality of drums 972 are provided on one rotating shaft 973, and the same number of clutches 974 corresponding to each of these drums 972 are supported. Each clutch 974 is rotated at the same angular velocity as the rotation shaft 973 is rotated by, for example, a spline or a key groove, and can be displaced along the axial center direction of the rotation shaft 973. The clutch 974 and the drum 972 can be connected by displacing the clutch 974 along the axial center direction of the rotation shaft 973 and bringing the clutch 974 and the drum 972 into close or close proximity. In a state where the clutch 974 and the drum 972 are connected (typically, concave and convex engagement), the drum 972 rotates together with the clutch 974 and the rotating shaft 973. On the other hand, in a state where the connection between the clutch 974 and the drum 972 is released, the drum 972 does not rotate together with the clutch 974 and the rotating shaft 973. Incidentally, in this embodiment, the drum 972 when not connected to the clutch 974 freely rotates in the direction of loosening the wire 971 by the tension of the wire 971 or by an urging means (not shown).

  Accordingly, the clutches 974 are individually displaced along the axial center direction of the rotation shaft 973, and the connection or release of each clutch 974 with each corresponding drum 972 is controlled, whereby a plurality of wires 971 are selectively selected. Can be pulled or loosened. That is, it is possible to selectively displace any one of the plurality of vertical moving bodies 95.

  The clutch 974 is driven by, for example, a solenoid (not shown) and a programmable controller that inputs a control (electrical) signal to the solenoid. When the programmable controller drives each clutch 974 according to a predetermined program, connection / release of each clutch 974 and each drum 972 can be automatically controlled. By utilizing this, for example, at bedtime or the like, any one or a plurality of wires 971 are wound around the drum 972 every predetermined time, and the vertical moving body 95 and the mattress 94 supported by the vertical moving body 95 are supported. If the portion is raised, the position of the person lying on the mattress 94 can be changed every predetermined time, and the occurrence of drowsiness can be suppressed. It is also conceivable that the up-and-down moving body 95 supporting the portion corresponding to the head or upper body of a lying person is raised to wake up the person.

  Of course, the actuator that supplies the driving force for rotating the rotary shaft 973 can be mounted on the bedding itself, but it is also preferable to use the actuators 6a and 6b mounted on the traveling device A. In this case, a rotating member 975 that receives a driving force applied from the actuators 6a and 6b of the traveling device A is provided on the bedding side. The rotating member 975 may adopt the aspect in the first embodiment, but may have a groove 975a on the outer surface as shown in FIGS. The concave groove 975a extends perpendicular to the rotation axis direction of the rotating member 975. In the illustrated example, the rotating member 975 is directly attached to the rotating shaft 973, but it goes without saying that the rotating shaft 973 may be provided so as to be indirectly driven through various transmission mechanisms. When the operating body 43 or the operating body 44 provided on the arm 4 of the traveling device A is inserted into the concave groove 975a and the crank 3 and the arm 4 are driven to rotate the rotating member 975, the rotating member The rotation shaft 973 rotates following the rotation of 975, and a driving force for driving the clutch 974, the drum 972, and the vertical moving body 95 can be supplied. Incidentally, when the vertical moving body 95 is moved up and down using the actuators 6a and 6b of the traveling device A, a control signal for controlling each clutch 974 can also be input from the traveling device A (accordingly). A programmable controller on the bedding side is not essential). That is, a control signal may be input to a solenoid that drives the clutch 974 from a programmable controller (not shown) included in the traveling device A via a signal line. Alternatively, a control signal output from the programmable controller on the traveling device A side may be wirelessly transmitted to the bedding side.

  Generally speaking, the movement of the arm 4 is transmitted to the rotating member 975 via the operating body 43 or the operating body 44 and the rotating member 975 is rotationally driven to selectively rotate part or all of the drum 972. The vertical moving body 95 can be moved up and down. That is, the traveling device A of the present embodiment includes a drive mechanism that can rotationally drive other members using the drive force output by the actuators 6a and 6b. The drive mechanism referred to here includes the crank 3, the arm 4, the sprockets 7a and 7c, and the sprocket chain 7b. The movement support apparatus B according to the present embodiment mounted on the bedding displaces the vertical moving body 95 as a moving means by receiving a driving force supplied via a rotating member 975 that is rotationally driven by the driving mechanism of the traveling apparatus A. is there. Thus, the rotating member 975, the rotating shaft 973 that rotates following the rotating member 975, the clutch 974, the drum 972, and the wire 971 taken up by the drum 972 generate the driving force applied by the actuator of the traveling device A as a vertically moving body. It becomes a component of the transmission means 93 which transmits to 95 and displaces this vertical moving body 95.

  According to the present embodiment, the vertical moving body 95 that is a moving means that can move a person's body on the mattress 94 while being engaged with a person or an object, and the support member that is a support means that supports the vertical moving body 95 in a displaceable manner. The movement support apparatus B is configured to include 96 and a transmission means 93 that displaces the vertical moving body 95 by transmitting the driving force applied by the actuators 6a and 6b mounted on the traveling apparatus A to the vertical moving body 95. , You can move the person's body with less effort and change its position. In addition, since it is not necessary to mount an actuator on the movement support apparatus B itself, the configuration of the movement support apparatus B can be simplified, downsized, and reduced in cost.

  Since the transmission means 93 has at least a rotating member 975 that is rotationally driven by the driving mechanism of the traveling device A, and receives the supply of driving force through the rotating member 975, the vertical moving body 95 is displaced. The operation of connecting the actuators 6a and 6b of the traveling device A to the moving means of the movement support device B is easy.

  The vertical moving body 95 supports a part of the bedding, that is, a part of the mattress 94, and the displacement of this part can move the body of the person using the bedding, so that the occurrence of decubitus is effectively suppressed. Can do.

  Further, the main body 1 that can travel with a person or an object, the actuators 6 a and 6 b mounted on the main body 1, and the drive applied by the actuators 6 a and 6 b connected to the transmission means 93 of the movement support device B. Since the traveling device A including the traveling device A including the driving mechanism for transmitting force is configured and can be used together with the bedding including the movement support device B, the present invention is particularly effective in the nursing field.

  In addition, this embodiment is not restricted to the aspect which explained in full detail above. The specific configuration of each part can be variously modified without departing from the spirit of the present invention. For example, the drive of the clutch 974 is not limited to that by a solenoid, and it is allowed to employ an electromagnetic clutch or other various clutch devices. A magnetic circuit including the clutch 974 may be configured to drive the clutch 974.

  A mode in which the rotating shaft 973 has a function of connecting / disconnecting the clutch 974 to / from the drum 972 and power is supplied through a slip ring is also conceivable.

  The drum 972 can be in a non-rotatable state due to the connection with the fixing clutch, in addition to the rotational drive and free rotation according to the connection / release of the clutch 974.

  The laid wire 971 is preferably accommodated in a pipe or the like for protection and to enhance safety.

  It is also conceivable to arrange the rotating shaft 973, the drum 972, the clutch 974, and the like below the mattress 94.

The principal part side view which shows the traveling apparatus in one Embodiment of this invention. FIG. The figure explaining operation | movement of the level | step difference raising / lowering mechanism of a traveling apparatus. The figure explaining operation | movement of the level | step difference raising / lowering mechanism of a traveling apparatus. The side view which shows the movement assistance apparatus in one Embodiment of this invention. The side view which shows the movement assistance apparatus in one Embodiment of this invention. The top view which shows the movement assistance apparatus in one Embodiment of this invention. The figure which illustrates the displacement of a mattress typically. The figure which illustrates the displacement of a mattress typically. The principal part top view which shows the movement assistance apparatus in the embodiment. The principal part side view.

Explanation of symbols

A ... Traveling device 6a, 6b ... Actuator B ... Movement support device 91, 95 ... Moving means 92, 96 ... Support means 93, 97 ... Transmission means

Claims (4)

It is a movement support device that can be used with a traveling device that is equipped with an actuator and can travel with a person or an object,
A means of transportation that allows people and things to move in relation to people and things,
Supporting means for supporting the moving means in a displaceable manner;
A movement support apparatus comprising: a transmission means for displacing the movement means by transmitting a driving force applied by an actuator mounted on the traveling apparatus to the movement means. The travel device includes a drive mechanism that can rotationally drive other members using the drive force output by the actuator,
The said transmission means has at least the rotation member rotationally driven by the drive mechanism of the said traveling apparatus, receives supply of driving force through this rotation member, and displaces the said movement means. Mobility support device.   3. The moving means supports a part of the bedding, and the displacement of the part can move the body of a person using the bedding to suppress the occurrence of a sore throat. The movement assistance apparatus as described. A traveling device that can be used with the movement support device according to claim 1,
A body that can run with people and things on it,
An actuator mounted on the main body;
A travel device comprising: a drive mechanism that is connected to a transmission means of the movement support device and transmits a drive force applied by the actuator.

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