JP2018029918A - Object moving device and walking support apparatus including the same - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an object moving device capable of suppressing inclination generated in a moving object in the course of the movement in a simple configuration.SOLUTION: An object moving device includes a plurality of moving mechanisms, and a moving member that is driven to move between a base end side and a terminal side. Each of the plurality of moving mechanisms drives to pull a wire, in which the moving member is attached to one end thereof, so as to move the moving member from the base end side to the terminal side. During the movement, the moving member is engaged with slide members that slide with respect to rail members, at two parts, and presses the slide members toward the terminal side. When the moving member moves and comes into contact with a moving-member contact part, each of the slide members applies a load to the moving member, so as to adjust a distance between a portion of the moving member coming into contact with the moving-member contact part and a portion of the moving member not coming into contact with the moving-member contact part.SELECTED DRAWING: Figure 6

Description

  The present invention relates to an object moving device and a walking support device including the same.

  There are known object moving devices for moving a moving object, such as an elevating mechanism for elevating and lowering a cargo bed and an opening / closing mechanism for opening and closing a door.

  For example, Patent Document 1 discloses a lifting device that lifts and lowers a lifting platform as an example of an object moving device. In this lifting device, a plurality of lifting means each having a brushless motor are arranged at a plurality of positions on the lifting platform, and the lifting platform is lifted and lowered by driving each lifting means. The brushless motor of each lifting / lowering means outputs the rotation amount as a pulse signal to the synchronous operation circuit. The synchronous operation circuit controls the stop and rotation of each brushless motor by detecting and comparing the pulse signals output from each brushless motor.

JP 2002-051579 A

  There is a need for an object moving apparatus that can correct an inclination generated in a moving object with a simple configuration. In this regard, the lifting device described in Patent Document 1 can correct the tilt generated in the lifting platform, but requires a pulse signal output and a synchronous operation circuit. For this reason, a control unit such as an ECU for synchronization and a program are required, resulting in a complicated configuration.

  SUMMARY OF THE INVENTION An object of the present invention is to provide an object moving device that can suppress an inclination generated in a moving object in the middle of an operation with a simple configuration and a walking support device including the same.

  The object moving device of the present invention includes a plurality of moving mechanisms, a moving member connected to each of the plurality of moving mechanisms and moving between a base end side and a terminal end side by driving the plurality of moving mechanisms, Is provided. Each of the plurality of moving mechanisms includes a rail member extending from the base end side toward the terminal end side, extending along a direction in which the rail member extends, and slidable from the base end side to the terminal end side. A sliding member fitted to the member, a wire having one end connected to the moving member, a proximal-side direction changing member fixed to the proximal end side of the sliding member, and a distal end side of the sliding member A terminal-side direction changing member, and a driving mechanism that is connected to the other end of the wire and moves the moving member by winding and unwinding the wire. The wire extends from the moving member toward the terminal-side direction changing member, the wiring direction is changed to the proximal side by the terminal-side direction changing member, and extends toward the base-side direction changing member, The cabling direction is changed to the terminal end side by the base end direction changing member and guided to the driving mechanism. The drive mechanism is arranged such that the wire extending from the drive mechanism has a portion extending in a direction including a direction component from the terminal end side toward the base end side, and the terminal member side direction change of the slide member When the moving member moves from the base end side to the terminal end side by winding the wire between the member and the base end side direction changing member, the moving member comes into contact with the moving member and moves A moving member abutting portion for restricting the movement of the member is provided. The object moving device includes a slide member abutting that abuts against the slide member and regulates the movement toward the proximal end when the slide member slides a predetermined distance from the terminal end side to the base end side. Parts are provided. Each of the slide members applies a load to the moving member when the moving member moves and contacts the moving member abutting portion, so that the moving member abutting on the moving member abutting portion The distance between the part and the part of the moving member that is not in contact with the moving member contact part is configured to be adjustable.

  The walking support device of the present invention includes a base, a movement auxiliary member that is fixed to the base and moves the base, and an object moving device fixed to the base, the object moving device Is an object moving device configured as described above.

  According to the present invention, it is possible to suppress the tilt generated in the moving object during the operation with a simple configuration.

It is a front view of the target object moving apparatus which concerns on embodiment of this invention. It is a side view of the target object moving device concerning an embodiment of the invention, and is a figure showing the state where a moving member is located in the most end side of a movement range. It is the partially notched top view which looked at the target object moving apparatus which concerns on embodiment of this invention from the top. It is a side view of the target object moving device concerning an embodiment of the invention, and is a figure showing the state where the moving member contacted the moving member contact part. It is a side view of the target object moving device concerning an embodiment of the invention, and is a figure showing the state where a moving member is located in the most terminal side of a movement range. In the target object moving apparatus which concerns on embodiment of this invention, it is a figure explaining the 1st example which shows typically a mode that a moving member raises. In the target object moving apparatus which concerns on embodiment of this invention, it is a figure explaining the 2nd example which shows typically a mode that a moving member raises. In the target object moving apparatus which concerns on embodiment of this invention, it is a figure explaining the 3rd example which shows typically a mode that a moving member raises. It is a figure which shows the walk assistance apparatus to which the target object moving apparatus which concerns on embodiment of this invention is applied.

  Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. As shown in FIGS. 1 to 3, the object moving device 1 of the present embodiment is an apparatus that moves the object while suppressing the inclination of the moving object. The object moving device 1 is attached to the frame 2. The frame 2 includes a horizontal base 21 that extends horizontally and support columns 22 and 23 that stand vertically from the horizontal base 21.

  The object moving device 1 includes a moving member 3 and a plurality of moving mechanisms 40 and 40A. The moving member 3 is connected to each of the plurality of moving mechanisms 40, 40A, and moves between the base end side and the terminal end side by driving the plurality of moving mechanisms 40, 40A.

  4 and 5 are side views showing a state in which the moving member 3 is moved in the object moving device 1. FIG. Here, the base end side and the terminal end side are the base end side and the terminal end side of the device in the entire object moving device 1, thereby indicating the moving direction of the moving member 3. Further, the base end side and the terminal end side on which the moving member 3 moves can also be understood as a relative movement range of the moving member moved by the plurality of moving mechanisms 40, 40A. In the present embodiment, the base end side is the lower side of the object moving device 1, and the terminal end side is the upper side of the object moving device 1. Therefore, the moving direction of the moving member 3 in the present embodiment is the vertical direction. Therefore, in the following description, the movement toward the base end side is assumed to be lowered, and the movement toward the terminal end side is assumed to be elevated. In the object moving device 1, as long as the moving member 3 can be moved by the plurality of moving mechanisms 40, 40A, the base end and the end may be arranged in the horizontal direction, and the base end and the end are inclined with respect to the horizontal direction. You may arrange in the direction to do.

  Further, when the moving member 3 of the object moving device 1 moves, the inclination is suppressed, and the moving member 3 moves. The inclination here means that the moving member 3 is inclined from a set angle. For example, it is inclined from the state orthogonal to the moving direction of the moving member 3. To move while suppressing the inclination means to move the moving member 3 back to the set angle during the movement even if the moving member 3 deviates from the set angle. For example, when the set angle of the moving member 3 is an angle orthogonal to the moving direction, even if the moving member 3 is tilted from a state orthogonal to the moving direction, the moving member 3 is orthogonal to the moving direction. It means to move while returning to the state or returning.

<Configuration of moving member>
The moving member 3 moves between the base end side and the terminal end side, and moves the moving object. The moving member 3 moves by driving a plurality of moving mechanisms 40, 40A. The moving member 3 typically moves the moving object by being connected to the moving object. The moving member 3 may be a part of the moving object or the moving object itself.

  The moving member 3 is connected to the moving mechanisms 40, 40A so that when the moving mechanisms 40, 40A are driven, the moving force is transmitted to the moving member 3 so that the moving member 3 moves. In the present embodiment, the moving member 3 is a member extending in the horizontal direction and may be a long member, and the portions 31 and 31A on both end sides thereof are connected to the moving mechanisms 40 and 40A, respectively. Specifically, in the moving member 3, one end of the wire 43 of the moving mechanism 40 and one end of the wire 43A of the moving mechanism 40A are connected to the both ends of the moving member 3, respectively.

  One end of each of the wires 43 and 43 </ b> A connected to the portions 31 and 31 </ b> A on both ends of the moving member 3 is connected via an elastic member 32. The elastic member 32 has one end connected to the spring seat, the other end connected to one end of the wires 43 and 43A, and urges the wire 43 in a direction against the wire tension (downward in FIG. 1). Yes. Thereby, even if elongation occurs in the wires 43 and 43A, this elongation can be adjusted. Further, the elastic member 32 may be configured such that the elastic member 32 can absorb the force in the pulling direction when the moving member 3 is pulled by the wires 43 and 43A. In this case, the elastic member 32 absorbs a part of the tension of the wires 43 and 43A, and moves in accordance with the pulling-up timings of the end portions 31 and 31A that are pulled up and moved by the wires 43 and 43A. The member 3 can also be moved in the horizontal state (set angle state).

<Configuration of moving mechanism>
The moving mechanisms 40 and 40A move the moving member 3 between the base end side and the terminal end side by driving. Each of the plurality of moving mechanisms 40 and 40 </ b> A includes a rail member 41, a slide member 42, a wire 43, a base end side direction changing member 45, a terminal end side direction changing member 46, and a drive mechanism 48. The plurality of moving mechanisms 40, 40A have the same configuration, and each component has the same function. For this reason, only one moving mechanism 40 will be described below, and the description of the other moving mechanism 40A will be omitted.

  In the description of the plurality of moving mechanisms 40, 40A, when it is necessary to use the same components for each of the plurality of moving mechanisms 40, 40A, the rail member 41, the slide member 42, the wire 43, The proximal-side direction changing member 45, the terminal-side direction changing member 46, the drive mechanism 48, and the like are replaced with the rail member 41A, the slide member 42A, the wire 43A, the proximal-side direction changing member 45A, and the terminal-side direction changing member 46A in the moving mechanism 40A. In the following description, “A” is added to the same reference numerals as in the drive mechanism 48A and the like.

  The rail member 41 extends from the base end side toward the terminal end side, and guides the movement of the slide member 42 that moves between the base end side and the terminal end side. In the present embodiment, the rail member 41 is attached to one side surface of each of the columns 22 and 23 of the frame 2 together with the rail member 41A of the moving mechanism 40A. Thereby, the rail members 41 and 41A are arranged to be spaced apart from each other in parallel and to extend in the vertical direction.

  As shown in FIG. 2 etc., the rail member 41 is formed in the cylinder shape by which the slit was formed in one side surface in this Embodiment. The rail member 41 is attached to the support column 22 and fixed to the horizontal base 21. The slit provided in the rail member 41 moves the movable member 3 within a predetermined range with respect to the base 21 by the relative movement between the rail member 41 and the slide member 42 and the relative movement between the slide member 42 and the movable member 3. Provided to be possible. The rail member 41A is the same as the rail member 41.

  As shown in FIG. 1 and the like, in this embodiment, when the slide member 42 slides a predetermined distance from the terminal end side to the base end side, the rail member 41 comes into contact with the slide member 42 and slide member 42. A base end side slide member abutting portion 72 that restricts further movement of the base end side to the base end side is provided. While the rail member 41 and the slide member 42 move relative to each other by a predetermined distance, the moving member 3 moves while the inclination is suppressed between the base end side and the terminal end side. In this embodiment, the base-side slide member abutting portion 72 is provided on the rail member 41. However, when the slide member 42 slides a predetermined distance from the terminal end side to the base end side, the base end-side slide member contact portion 72 contacts the slide member 42. As long as the movement of the slide member 42 toward the proximal end side is regulated, the slide member 42 may be provided anywhere. For example, if the object moving device 1 is configured to include an installation surface, the installation surface is used as the base end side slide member contact portion 72 and the slide member 42 is brought into contact with the base end side slide member contact portion 72. It is good also as a structure which controls the movement to the base end side. Further, a base end side slide member abutting portion may be provided on an attachment target such as the frame 2.

  Further, the rail member 41 is provided with a terminal side movement restricting portion 65 (see FIGS. 4 and 5) that restricts the movement of the slide member 42 toward the terminal side. The end side movement restricting portion 65 may be configured in any way as long as it can restrict the movement of the slide member 42 toward the end side. For example, in the present embodiment, the end side movement restricting portion 65 is the end side (upper side in the figure) of the rail member 41. ) Is an abutting portion that abuts on the end surface (upper end side) of the slide member 42. Note that the end-side movement restricting portion 65 does not need to be formed on the rail member 41 and may be provided on an attachment target such as the frame 2.

  The slide member 42 extends along the direction in which the rail member 41 extends, and is fitted to the rail member 41 so as to be slidable from the base end side to the terminal end side. In the present embodiment, the slide member 42 is restricted from moving in a direction including a direction orthogonal to the direction in which the rail member 41 extends, and is moved between the base end side and the terminal end side. 41 is attached.

  Specifically, the slide member 42 includes a slide main body 421 extending along one side surface of the rail member 41 and a guide protruding from the slide main body 421 into the rail member 41 through a slit of the rail member 41. Member 422. The guide member 422 is slidably disposed along the extending direction of the rail member 41 within the rail member 41, and the slide main body 421 moves along the extending direction of the rail member 41 as the guide member 422 slides. Moving.

  A base end side direction changing member 45 is fixed to the base end side of the slide member 42, and a terminal end direction changing member 46 is fixed to the terminal end side of the slide member 42.

  The proximal side direction changing member 45 and the terminal side direction changing member 46 change the wiring direction of the wire 43 connected to the moving member 3 and the drive mechanism 48. In the moving mechanism 40A, the base end side direction changing member 45 and the terminal end side direction changing member 46 are indicated by a base end side direction changing member 45A and a terminal end side direction changing member 46A.

  The base end side direction changing member 45 and the terminal end side direction changing member 46 include, for example, a pulley around which a wire is wound and a changing member main body that rotatably supports the pulley. The proximal side direction changing member 45 and the terminal side direction changing member 46 are preferably arranged so that the wire 43 is positioned on the same straight line or substantially the same straight line when the object moving device 1 is viewed from the front. . This is because the length of the wire 43 can be shortened.

  The slide member 42 includes a moving member abutting portion 61 (mainly see FIGS. 2 and 4) between the terminal end side direction changing member 46 and the base end side direction changing member 45. As shown in FIG. 4, when the moving member 3 moves from the proximal end side to the terminal end side by winding the wire 43, the moving member abutting portion 61 abuts on the moving member 3 and moves the moving member 3. Restrict movement. In the present embodiment, the moving member abutting portion 61 is formed by notching a portion on the moving path of the moving member 3 in the slide member 42 downward.

  Each of the slide members 42 and 42A is formed by winding the wires 43 and 43A of the drive mechanism 48 in a state where the moving member 3 is in contact with the slide member contact portions 61 and 61A. It moves in a state of abutting 61 and 61A. Further, the moving member 3 moves relative to the slide member 42 in a state where the slide members 42 and 42 </ b> A are in contact with the proximal-side slide member contact portions 72 and 72 </ b> A. Details regarding the movement of the moving member 3 will be described later.

  The slide members 42, 42 </ b> A apply a load to the moving member 3 when the moving member 3 moves and contacts the moving member contact portion 61. Thereby, the distance between the part of the moving member 3 that is in contact with one of the moving member contact parts 61 and 61A and the part of the moving member 3 that is not in contact with the other of the moving member contact parts 61 and 61A Is adjustable. This distance is, for example, the distance from the moving member contact part 61 to the contacted part when one part of the moving member 3 hits one of the moving member contact parts 61, 61A located on the horizontal axis ( It is a distance indicating a difference between the distance from the moving member abutting portion 61A to a portion that has not been hit yet. In this embodiment, for example, the winding speed of the wires 43 and 43A differs depending on the individual difference of the motor for winding the wire around the drum member, so that the sliding member is tilted with respect to the horizontal direction. When the moving member 3 moves to the terminal end side of the moving member 3, even if the moving member 3 comes into contact with the moving member contact portion 61 first, the moving member 3 moves due to the load on the moving member 3 by one slide member 42. At the portion that is in contact with the member contact portion 61, the moving speed of the position of the moving member 3 relative to the base 21 is suppressed. During the state in which the moving speed is suppressed, the load is reduced on the moving member 3 on the other slide member 42 side, so that the other slide than the one slide member 42 side. Since the moving speed of the moving member 3 on the member 42 side is fast, the inclination of the moving member 3 with respect to the horizontal direction is improved.

  Further, the moving member abutting portion 61 is pressed toward the end side as the moving member 3 abutting on the moving member abutting portion 61 moves toward the end side, and the slide member 42 moves toward the end side (FIG. 5). reference).

  The moving member contact portion 61 may be provided at any position between the terminal end side direction changing member 46 and the base end side direction changing member 45 of the slide member 42. The position of the moving member contact portion 61 defines the moving distance of the moving member 3 to the moving member contact portion 61. That is, the moving distance from the position of the most proximal side of the moving member 3 to the moving member abutting portion 61 and the relative moving distance between the slide member 42 having the moving member abutting portion 61 and the rail member 41, The moving distance of the moving member 3 can be set. The position of the most proximal side of the moving member 3 can be arbitrarily set according to the movement range of the moving object, and the moving member 3 and the moving object are placed on the installation surface or the like in order to define the position of the most proximal side. You may contact | abut to the flame | frame 2 grade | etc.,. Moreover, in this Embodiment, the position of the most proximal side of the moving member 3 is called the lowest position.

  The wire 43 has one end connected to the moving member 3 and the other end connected to the drive mechanism 48. The wire 43 is wound and fed by the drive mechanism 48 to move the moving member 3 between the lower side which is the base end side and the upper side which is the terminal end side.

  The wire 43 extends from the moving member 3 toward the terminal-side direction changing member 46, and the wiring direction is changed to the base end side by the terminal-side direction changing member 46. The wire 43 whose wiring direction has been changed to the proximal side by the terminal-side direction changing member 46 extends toward the base-side direction changing member 45. The wire 43 is guided to the drive mechanism 48 by changing the wiring direction to the terminal end side by the base end side direction changing member 45.

  One end of the wires 43, 43 </ b> A or the moving member 3 connected to one end of these wires is suspended from the terminal-side direction changing member 46 when positioned on the base end side such as the lowest position. It is supported and is located below the moving member contact portions 61, 61A (see FIG. 1).

  The drive mechanism 48 is driven to move the moving member 3 by winding and unwinding the wire 43. More specifically, by winding and unwinding the wire 43, the moving member 3 is moved between the lowest position set on the base end side and the upper side on the terminal end side. In FIG. 2, the winding direction of the wire 43 by the drive mechanism 48 is indicated by an arrow.

  The drive mechanism 48 includes, for example, an electric motor (motor) and a drum member (not shown). The drum member attached to the rotating shaft of the electric motor rotates and winds and feeds the wire 43.

  The drive mechanism 48 has a portion B (see FIGS. 2, 4 and 5) in which the wire 43 extending from the drive mechanism 48 extends in a direction including a directional component from the terminal end side toward the base end side, that is, the base end side. It is disposed so as to have a portion on the drive mechanism 48 side from the direction changing member 45 and extending from the base end side to the terminal end side.

  The drive mechanism 48 of this embodiment includes a drive mechanism direction changing member 481 and a drive unit 482.

  The drive mechanism direction changing member 481 is provided closer to the terminal end side than the base end side direction changing member 45, and changes the arrangement direction of the wire 43 extending from the base end side direction changing member 45 toward the terminal end side to the base end side. . The drive mechanism direction changing member 481 is disposed on the terminal end side of the rail member 41, and, for example, rotates a pulley around which a wire is wound and a pulley, like the base end side direction changing member 45 and the terminal end direction changing member 46. It is comprised by the conversion member main body supported freely.

  The drive unit 482 is connected to the other end of the wire 43 and is provided closer to the base end side than the drive mechanism direction changing member 481. The driving unit 482 is connected to a driving source such as a battery (not shown), and an electric motor driven by electric power from the driving source is used.

  The drive mechanism 48 of the present embodiment has a drive mechanism direction changing member 481 and is configured to guide the wire 43 extending from the proximal side direction changing member 45 to the terminal end side to the drive unit 482, and thus the drive unit 482. Can be arranged below the object moving device 1. Thereby, the target object moving apparatus 1 can be installed stably.

  The drive mechanism 48 is provided in any manner as long as the wire 43 extending from the drive mechanism 48 is disposed so as to have a portion extending in a direction including the direction component B from the terminal end side toward the base end side. May be. In the object moving device 1, the drive unit 482 may be configured on the terminal side (upper side) of the base end side direction changing member 46 without providing the drive mechanism direction changing member 481. The drive mechanism 48A is configured similarly to the drive mechanism 48 and has the same function.

[Operation of object moving device]
Below, operation | movement of the target object moving apparatus 1, ie, how the moving member 3 moves, is demonstrated in detail, and also how the inclination of the moving member 3 is suppressed is demonstrated. As described above, in the present embodiment, since the moving member 3 is set to move in the horizontal state, the description will be based on the horizontal state.

  First, the case where the moving member 3 moves from the lowest position (state shown in FIG. 2) to the most end side of the movement range (hereinafter referred to as the highest position; state shown in FIG. 5) is described. First, the driving members 482 and 482A are driven to wind the wires 43 and 43A, whereby the moving member 3 connected to one end of the wires 43 and 43A rises. At this time, both end portions of the moving member 3 which are portions where the ends of the wires 43 and 43A are connected to each other in the moving member 3 are pulled upward by the wires 43 and 43A, so that the moving member 3 rises.

  As the moving member 3 moves upward, the moving member 3 comes into contact with the moving member contact portions 61 and 61A (state shown in FIG. 4). At this time, the timing of contact with the moving member contact portions 61 and 61A may vary depending on individual differences between the members of the moving mechanisms 40 and 40A. For example, there may be a difference in the winding speed of the wires 43 and 43A due to individual differences between the members of the moving mechanisms 40 and 40A, or an elongation of the wires 43 and 43A. In such a case, the distance between the moving member contact portion 61 and the moving member 3 is different from the distance between the moving member contact portion 61A and the moving member 3. As a result, the moving member 3 is inclined more than the set angle, and the timing at which the moving member 3 contacts the moving member abutting portion 61 is different from the timing at which the moving member 3 abuts on the moving member abutting portion 61A.

  In the object moving apparatus according to the present embodiment, the moving member 3 moves after one part contacts the moving member contact part 61 until the other part contacts the other of the moving member contact parts 61 and 61A. The state of contact with one of the member contact portions 61 and 61A is maintained. When both parts of the moving member 3 come into contact with the moving member abutting portions 61 and 61A, respectively, and the moving member 3 becomes horizontal with respect to the moving direction, the moving member 3 moves to the slide members 42 and 42A at both parts. Push up. At this time, both parts of the moving member 3 move upward while pushing the slide members 42 and 42A upward from a horizontal state, that is, from the same height. Thereby, the moving member 3 moves from the base end side to the terminal end side in a state where the inclination is suppressed.

  Further, when the moving member 3 is moved from the terminal end side to the base end side, when the driving unit is a motor, the wire 43, 43A is fed out by driving such as reverse rotation, and one end portion of the wires 43, 43A. Is moved downward. At this time, first, the slide members 42 and 42A move relative to the rail members 41 and 41A and descend. At this time, the moving member 3 is lowered while being in contact with the moving member contact portions 61 and 61A. Then, when the slide members 41 and 41A come into contact with the proximal slide member contact portion 72, the lowering of the slide members 41 and 41A is restricted, and then the moving member 3 moves relative to the slide members 42 and 42A. And descend. At this time, the contact state of the moving member 3 with the moving member abutting portions 61 and 61A is released, and the moving member 3 moves to the position located closest to the base end, in this embodiment, the lowest position. To do.

  In the object moving device configured as described above, the moving member contact portion moves from the base end side to the terminal end side, that is, regardless of the posture of the moving member 3 that moves from the lowest position to the highest position. When abutting 61 and 61A and moving further to the end side, the tilt is suppressed and it moves in a horizontal state.

  The above points will be described in detail with reference to the drawings. For example, as shown in FIG. 6, the moving member 3 located on the proximal end side is in an inclined posture with one part 31 located on the proximal side relative to the other part 31 </ b> A from the beginning of the movement (see FIG. 6). 6A), it is assumed that the movement to the end side is started with the tilted posture. In this case, there is almost no individual difference of each member in the moving mechanisms 40 and 40A, and when there is no difference in the winding speed and the winding force of the winding wires 43 and 43A, the moving member 3 is more than the other portion 31A. While the one part 31 is located on the proximal end side, it moves to the terminal end side (see FIG. 6B). Then, the other part 31A comes into contact with the moving member contact part 61A before the one part 31 (see FIG. 6C). At this time, each of the slide members 42 and 42A applies a load to the moving member 3 so as to contact the other part 31A of the moving member 3 that contacts the moving member contact portion 61A and the moving member contact portion 61. The distance from the one part 31 of the moving member 3 that is not connected is adjusted (see FIG. 6D). When one part 31 comes into contact with the moving member contact part 61, the moving member 3 that comes into contact with the moving member contact parts 61 and 61 </ b> A at both parts 31 and 31 </ b> A pushes up the slide members 42 and 42 </ b> A and moves horizontally. It moves to the terminal side in the state (see FIG. 6E).

  Moreover, the case where the pulling-up speed of the wire 43 pulling up one site | part in the both ends of the moving member 3 located in a base end side differs from that of the other is assumed. For example, as shown in FIG. 7, the posture is inclined from the beginning of movement (see FIG. 7A), or even in a horizontal posture, the wire 43 pulls up one portion 31 from the other portion 31 </ b> A. When the speed is high, one part overtakes the other part (see FIG. 7C) while the moving member 3 is moving toward the terminal end (see FIG. 7B), and the moving member 3 is moved ahead of the other part 31A. It contacts the contact portion 61 (see FIG. 7D). Even in this case, each of the slide members 42 and 42A applies a load to the moving member 3, so that one portion of the moving member 3 that contacts the moving member contact portion 61 and the moving member contact portion 61A contact each other. The distance between the other part 31 </ b> A of the moving member 3 that has not been adjusted is adjusted. When the other part 31A comes into contact with the moving member contact part 61A (see FIG. 7E), the moving member 3 that comes into contact with the moving member contact parts 61 and 61A at both parts 31 and 31A becomes the slide member 42, While pushing up 52, it moves to the end side in a horizontal state (see FIG. 7F).

  Further, even when the moving member 3 moves from the base end side to the terminal end side in the horizontal state, or as shown in FIG. 8, the moving member 3 is inclined from the beginning of the movement (see FIG. 8A). Is in a horizontal state during movement toward the end side (see FIGS. 8B to 8C), and in that posture, the parts 31 and 31A abut against the moving member abutment parts 61 and 61A (see FIG. 8D). Both 31 and 31A abut against the moving member abutting portions 61 and 61A, and move to the end side in a horizontal state (see FIG. 8E).

  As described above, according to the object moving device 1 of the present embodiment, the inclination generated in the moving member 3 by the slide members 42 and 42A can be easily corrected. Therefore, the moving object attached to the moving member 3 can move stably.

  Further, the rail members 41 and 41A have a base that restricts the movement to the proximal end side by contacting the slide members 42 and 42A when the slide members 42 and 42A slide a predetermined distance from the terminal end side to the base end side. End side slide member contact portions 61 and 61A are provided. In addition, the sliding members 42 and 42A are moved out of the moving member abutting portions 61 and 61A by the extension of the wires 43 and 43A of the driving mechanisms 48 and 48A in a state of abutting the sliding member abutting portion 72. The sliding member 42, 42A comes into contact with the base end side sliding member abutting portion 72, and the moving member 3 moves relative to the sliding member 42, 42A and descends. Therefore, it is possible to move up and down with a simple configuration while suppressing the tilt generated in the moving object.

  A walking support device 100 to which the object moving device 1 is applied is shown in FIG. FIG. 9A is a rear view of the walking support device 100 to which the object moving device 1 is applied, and FIG. 9B is a side view of the walking support device 100.

  A walking support device 100 shown in FIG. 9 includes a base 110, a movement assisting member 112 that is fixed to the base 110 and moves the base 110, and the object moving device 1 that is fixed to the base 110. The walking support device 100 includes a handle portion 120.

  The walking support device 100 has a function of supporting the rising when the user stands up from the sitting state and a function of supporting the user's walking.

  In the walking support device 100, the base 110 is formed in a substantially U shape in plan view, and has a shape that allows the user to walk inside the base 110. A base movement assisting member 112 is attached to the lower surface of the base 110. The base movement assisting member 112 allows the base 110 to move smoothly. Examples of the base movement assisting member 112 include a caster that rolls when the base 110 is moved. A frame 130 is attached to the upper surface of the base 110. The frame 130 has struts 22A and 23A arranged at predetermined intervals on the upper surface of the central portion of the base 110, a hollow main pillar 24 arranged between the pillars 22A and 23A, and a main pillar 24. And a moving column portion 25 that is movably arranged in the vertical direction. A slit is formed in the main pillar 24 in the extending direction (not shown). From the slit, the moving column portion 25 disposed inside the main column 24 is exposed. A handle portion 120 is attached to the terminal end side (upper side in the drawing) of the movable column portion 25. Further, the base end side (the lower side in the figure) of the moving column portion 25 is connected to the moving member 3. In the present embodiment, the base end side of the moving column portion 25 is connected to the center of the moving member 3 and the base end side of the moving column portion 25 by a shaft member (not shown). The shaft member is inserted through the slit of the main pillar 24. Thereby, with the movement of the moving member 3, the moving column part 25 connected to the moving member 3 moves. The moving member 3 and the moving column part 25 may be configured so that the moving column part 25 can move in accordance with the movement of the moving member 3, and is not limited to the mechanism shown in the present embodiment.

  The handle portion 120 is formed in a U shape or a substantially U shape in a plan view, and is a part on which a user puts an arm or upper body or grips when walking. In the walking support device 100, the lowest position of the handle part 120, that is, the position placed on the support pillars 22 </ b> A and 23 </ b> A is a position where the user can place both arms or upper body on the handle part 120 in a sitting state. It is the lowest end.

  In the walking support device 100, the moving mechanism 40, 40 </ b> A of the object moving device 1 is driven in a state where the user of the seated body leaves the upper body in the handle portion 120 at the proximal end side position. Then, the moving member 3 moves to the upper end side that is the terminal end side via the wires 43 and 43A. At this time, the moving column portion 25 connected to the moving member 3 also moves, and consequently, the handle portion 120 attached to one end side of the moving column portion 25 moves. Accordingly, the driving force of the moving mechanisms 40, 40A rises against a load applied by the user depositing the upper body and a load applied by the weight of the handle member. Along with this, the upper body placed on the handle portion 120 rises, and the user's feet can naturally stretch and stand up.

  Further, when the handle portion 120 is lowered, the moving member 3 is moved from the terminal end to the base end. At this time, the moving member 3 can be moved to the proximal end side by feeding the wires 43 and 43A.

  In the object moving device 1 in the walking support device 100, the moving mechanisms 40 and 40A that move the moving member 3 include a plurality of driving units 482 that move the moving member 3 via the wires 43 and 43A (FIGS. 1 to 5). See). Since the object moving device 1 includes a plurality of drive units 482 for moving the moving member 3 apart from each other, the walking support device 100 is arranged on the base 110 with the drive unit 482 divided, and the drive unit A sufficient space under the foot can be secured between 482.

  Moreover, in the target object moving apparatus 1, the height position of the moving member 3 can be adjusted according to the winding state of the wires 43 and 43A. Thereby, the height of the handle | steering-wheel part 120 in the walking assistance apparatus 100 can be adjusted in any height within the movement range of the handle | steering-wheel part 120. FIG.

  In the present embodiment, the moving direction of the moving member 3 in the walking support device 100 is the vertical direction. However, if the moving member 3 can be moved by winding and unwinding the wires 43 and 43A, the moving member 3 is inclined with respect to the horizontal direction. Alternatively, the moving member 3 may be moved.

  The embodiment of the present invention has been described above. The description of the configuration of the apparatus and the shape of each part is an example, and it is obvious that various modifications and additions to these examples are possible within the scope of the present invention.

DESCRIPTION OF SYMBOLS 1 Object moving apparatus 3 Moving member 21,110 Base 22,22A, 23,23A Support | pillar 24 Main column 25 Moving column part 31, 31A Part 32 Elastic member 40, 40A Moving mechanism 41, 41A Rail member 42, 42A Slide member 43, 43A Wire 45, 45A Base end side direction changing member 46, 46A End side direction changing member 48, 48A Drive mechanism 61, 61A Moving member abutting portion 65 End side movement restricting portion 72 Base end side sliding member abutting portion 100 Walking support device 112 Base movement assist member 120 Handle portion 130 Frame 421 Slide body portion 422 Guide member 481 Drive mechanism direction changing member 482 Drive portion

Claims (5)

A plurality of moving mechanisms;
A moving member connected to each of the plurality of moving mechanisms and moving between a base end side and a terminal end side by driving of the plurality of moving mechanisms,
Each of the plurality of moving mechanisms is
A rail member extending from the base end side toward the terminal end side;
A slide member that extends along a direction in which the rail member extends, and is fitted to the rail member so as to be slidable from the base end side to the terminal end side;
A wire having one end connected to the moving member;
A base end side direction changing member fixed to the base end side of the slide member;
A terminal-side direction changing member fixed to the terminal side of the slide member;
A drive mechanism connected to the other end of the wire and moving the moving member by winding and unwinding the wire;
The wire is
Extending from the moving member toward the terminal-side direction changing member,
The cabling direction is converted to the base end side by the terminal end direction changing member, and extends toward the base end direction changing member,
The cabling direction is switched to the terminal side by the base end direction changing member and guided to the drive mechanism,
The drive mechanism is arranged such that the wire extending from the drive mechanism has a portion extending in a direction including a directional component from the terminal side toward the base side,
Between the terminal side direction changing member and the base side direction changing member of the slide member, when the moving member moves from the base side to the terminal side by winding the wire, A moving member abutting portion that abuts on the moving member and regulates the movement of the moving member is provided,
The object moving device includes a slide member abutting that abuts against the slide member and regulates the movement toward the proximal end when the slide member slides a predetermined distance from the terminal end side to the base end side. Part is provided,
Each of the slide members applies a load to the moving member when the moving member moves and contacts the moving member abutting portion, so that the moving member abutting on the moving member abutting portion An object moving device configured to be able to adjust a distance between a part and a part of the moving member that is not in contact with the moving member contact part. The slide member contact portion is provided on the rail member, and each of the slide members is
By moving the wire of the drive mechanism in a state of being in contact with the slide member contact portion, the moving member is moved in a state of being in contact with the moving member contact portion,
The object moving device according to claim 1, wherein the moving member is configured to move relative to the slide member when the slide member comes into contact with the slide member contact portion. The drive mechanism is
A drive mechanism direction changing member that is provided closer to the terminal end side than the base end side direction changing member, and changes a wiring direction of the wire extending from the base end side direction changing member toward the terminal end side to the base end side; ,
The object moving device according to claim 1, further comprising: a drive unit connected to the other end of the wire and provided closer to the base end side than the drive mechanism direction changing member.   The object moving device according to any one of claims 1 to 3, wherein the base end side is a lower side and the terminal end side is an upper side. The base,
A movement auxiliary member fixed to the base and moving the base;
An object moving device fixed to the base,
The said object moving apparatus is a walking assistance apparatus which is an object moving apparatus as described in any one of Claims 1-4.

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