JP2018034933A - Object moving device and walking support device comprising same - Google Patents

Abstract

PROBLEM TO BE SOLVED: To achieve an object moving device which is hard to occur inclination when moving a movement object.SOLUTION: An object moving device comprising a move member, a drive mechanism for moving the move member, and an inclination prevention mechanism for preventing inclination of the move member. The inclination prevention mechanism has an elastic member which is telescopically moved along a direction of movement of he move member, and a connection member which is connected to the move member and one end of the elastic member, the elastic member has plural connection member fixation parts, and the other end of the elastic member is fixed so that the elastic member is telescopically moved in association with movement of the move member. When the elastic member becomes inclined when the move member is moved and a balance of an energization force which is applied to the connection member by each of the plural connection member fixation parts becomes lost, the elastic member increases at least one of energization forces for energizing the plural connection member fixation parts so as to return the energization force applied to the connection member by each of the plural connection member fixation parts to a balanced state, so that inclination of the move member is prevented via the connection member.SELECTED DRAWING: Figure 1

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, the operating force input to the operating member is amplified by the booster mechanism and output toward the lifting platform. Further, a spring force output from the spring mechanism is applied to the link mechanism provided between the booster mechanism and the lifting platform as an auxiliary force that acts in the direction of supporting the load applied to the lifting platform.

JP 2005-059988 A

  For example, in order to prevent the object placed on the loading platform from falling or to smoothly open and close the door, the object moving device is less likely to tilt with respect to the moving direction when moving the moving object. It has been demanded. In this respect, since the lifting device described in Patent Document 1 does not have a mechanism for suppressing the tilt when moving the moving object, the tilt is likely to occur.

  Therefore, an object of the present invention is to provide an object moving device that is less likely to tilt when moving a moving object.

  An object moving device according to the present invention includes a moving member that moves between a base end side and a terminal end side, a connecting portion that is connected to the moving member, a drive mechanism that moves the moving member, and the moving member An inclination prevention mechanism for preventing the inclination of the apparatus. The moving member is moved by driving the driving mechanism, and the tilt preventing mechanism is formed by an elastic member that expands and contracts along a moving direction of the moving member, the moving member, and one end of the elastic member. A connecting member to be fixed. The elastic member has a connecting member fixing portion to which the connecting member is fixed, and the other end is fixed so that the elastic member expands and contracts according to the movement of the moving member, and when the moving member moves By trying to incline, if the balance of the urging force applied to the elastic member by each of the plurality of connecting member fixing portions is about to be lost, the urging force of the elastic member urging the plurality of connecting member fixing portions is reduced. The inclination of the moving member is prevented via the connecting member by increasing / decreasing at least one and returning the biasing force applied to the connecting member by each of the plurality of connecting member fixing portions.

  The walking support device of the present invention includes a movable base, a base movement assisting member fixed to the base and assisting the movement of the base, and an object moving device fixed to the base. The object moving device is an object moving device having the above configuration.

  According to the present invention, when the moving member is moved, it is difficult to cause an inclination, and as a result, it is easy to suppress the inclination of the moving object.

It is a front view which shows the walk assistance apparatus provided with the target object moving apparatus which concerns on embodiment of this invention. It is a side view which shows the walk assistance apparatus provided with the target object moving apparatus which concerns on embodiment of this invention. It is AA arrow sectional drawing of FIG. It is a figure which shows the state which prevented the inclination of the moving member in the target object moving apparatus which concerns on embodiment of this invention. It is a perspective view which shows the outline of the walk assistance apparatus provided with the target object moving apparatus which concerns on embodiment of this invention.

  1, 2, and 5 show an entire walking support device 100 including the object moving device 1 of the present embodiment. The object moving device 1 of the present embodiment is a device that moves the object while suppressing the inclination of the moving object. In the walking support device 100, the moving object that is moved by the moving member 20 included in the object moving device 1 includes a support column 62 connected to the moving member 20, and a handle attached to the terminal side (upper side) of the support column 62. The unit 64 and a user described later. 1 and 2, each part in a state where the moving member 20 is located closest to the base end side is indicated by a solid line, and each part in a state where the moving member 20 is located closest to the terminal end is indicated by a broken line. However, in FIGS. 1 and 2, members whose positions and shapes do not change due to the movement of the moving member 20, such as portions (support cylinder portions 74 and 75) to which the object moving device 1 is attached, are indicated by solid lines for convenience. In FIGS. 1, 2, and 4, a part of the structure is shown in a transparent manner so that the internal structure can be explained.

  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 20. Further, the base end side and the terminal end side indicating the moving range of the moving member 20 may be recognized as the moving range of the moving member moved by the drive mechanism 30 described later. 1 and 2, 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, but the base end and the terminal end are arranged in the horizontal direction, or the base end and the terminal end are arranged. May be arranged in a direction inclined with respect to the horizontal direction.

  Further, the inclination of the moving member 20 means that the moving member 20 is inclined with respect to the initial movement state of the moving member 20, for example, in a direction in which the moving member 20 extends with respect to a reference direction such as a horizontal direction or a vertical direction. The angle formed is to change. Moving without tilting means that the moving member 20 moves between the base end side and the terminal end side while maintaining the posture of the moving member 20 with respect to the moving direction. For example, even if the moving member 3 moving in the direction orthogonal to the moving direction is inclined, it means that the moving member 3 is moved in a state orthogonal to the moving direction.

  Below, the target object moving apparatus 1 is demonstrated first, and the walking assistance apparatus 100 provided with this target object moving apparatus 1 is demonstrated after that. The object moving device 1 includes a moving member 20, a driving mechanism 30 that moves the moving member 20, and an inclination preventing mechanism 40 that prevents the moving member from being inclined.

<Configuration of moving member>
The moving member 20 moves between the base end side and the terminal end side, and moves the moving object. The moving member 20 moves by driving the drive mechanism 30. The moving member 20 can move the moving object by being connected to the moving object. The moving member 20 may be a part of the moving object or may be integrated with the moving object. The moving member 20 is combined with a supporting column 62. In the object moving device 1, the supporting column 62 is disposed outside the moving member 20, and the moving member 20 is moved by the drive mechanism 30 on the inner surface of the moving member 20. It is configured as possible.
The support column 62 is provided so as to be movable with respect to the rail unit 72, and the handle unit 64 is fixed to the upper end. The support column 62 is disposed outside the rail unit 72. However, if the support unit 62 is configured to move when the moving member 20 moves relative to the rail unit 72, the support unit 62 is arranged inside the rail unit 72. May be provided.
In this embodiment, the moving member 20 is a slider that slides in the long rail portion 72 so as to be movable in the longitudinal direction along the rail portion 72. The moving member 20 is disposed in the rail portion 72 in a state where movement of the rail portion 72 in a direction other than the longitudinal direction is restricted by the inner wall of the rail portion 72. In the present embodiment, as shown in FIG. 3, an interval is provided between the support column 62 attached to the moving member 20 and the rail portion 72 so as to be slidable in a direction orthogonal to the axial direction. ing. As shown in FIG. 2, on the upper end side of the rail portion 72, the moving member 20 is restricted from moving to the upper end side by the upper end side movement restricting portion 78, and on the lower end side, the lower end restricting portion of the base moves to the lower end side. Is restricted from moving. The upper end side movement restricting portion 78 closes the guide portion of the rail portion 72 on the upper end side.

The moving member 20 is connected to the connection portion 32 of the drive mechanism 30. More specifically, when the driving mechanism 30 is driven, the connection between the moving member 20 and the driving mechanism 30 is such that the driving force is transmitted to the moving member 20 via the connection portion 32 and the moving member 20 moves. The unit 32 is connected. In the present embodiment, the moving member 20 is connected to the connecting portion 32 so that the connecting portion 32 moves linearly and the moving portion also moves linearly by driving of the drive mechanism 30.
The moving member 20 is connected at the connecting portion 32 and is also connected to a nut member 38 of the drive mechanism 30 described later, but in the present embodiment, it is configured integrally with the nut member 38. The connecting portion 32 is a portion that is connected to the moving member 20 and transmits a driving force to the moving member 20.
The moving member 20 is connected to the tilt prevention mechanism 40.

<Configuration of drive mechanism>
The drive mechanism 30 has a connection portion 32 connected to the moving member 20 and moves the moving member 20. In the present embodiment, the drive mechanism 30 is driven to move the moving member 20 connected via the connection portion 32 between the base end side and the terminal end side. The drive mechanism 30 may be configured in any manner as long as it can be driven to move the moving member 20. Examples of the drive body that is driven by the drive mechanism include a motor, an electric motor (motor), and the like. In the present embodiment, an electric motor 34 is provided.
In addition to the electric motor 34, the drive mechanism 30 includes a spindle member 36 that rotates by driving the electric motor 34 and a nut member 38. In the drive mechanism 30, the connection portion 32 is configured as a nut member 38.

The electric motor 34 is connected to a driving source such as a battery (not shown) and is driven by electric power from the driving source.
In the present embodiment, as shown in FIGS. 1 and 2, the electric motor 34 is disposed on the proximal end side of the object moving device 1, and the rotating shaft of the electric motor 34 and the spindle member 36 are coaxially connected. Yes. As long as the electric motor 34 is connected to the spindle member 36 so that the spindle member 36 is rotationally driven by the driving of the electric motor 34, the electric motor 34 may be connected directly or via a transmission. Specifically, the electric motor 34 is attached to the lower surface of the gantry in which the rail portion 72 is erected on the upper surface. The electric motor 34 is fixed via the coupling portion 35 so as to be coaxial with the spindle member 36 in the rail portion 72 and aligned with the rotation axis.

  The spindle member 36 is disposed so as to extend in the moving direction of the moving member 20. In the present embodiment, the spindle member 36 is disposed in the rail portion 72 along the extending direction of the rail portion 72 and is screwed into the nut member 38. The rail portion 72 suppresses the rotation of the moving member 20 around the axis of the spindle member 36 and guides the moving member 20 in the longitudinal direction of the spindle member 36 (the extending direction of the rail portion 72). The rail portion 72 has a length corresponding to the length of the spindle member 36 in order to move the moving member 20 while suppressing rotation over the entire length of the spindle member 36. In the present embodiment, the protruding portion that protrudes from the moving member 20 and connects to the connecting member 44 is configured to interfere with the rail portion 72 in the direction around the axis of the rail portion 72. It moves in the axial direction of the rail without rotating. Specifically, the nut member 38 and the connecting member 44 are connected from the inner side of the rail portion 72 to the outer side of the slit extending in the axial direction of the rail portion 72, and the protruding member is connected to the end of the slit. Rotation is restricted by contacting the part. The nut member 38 is screwed with the spindle member 36 and moves in the axial direction of the spindle member 36 by rotation around the axis of the spindle member 36. Thereby, with the movement of the nut member 38, the moving member 20 connected to the nut member 38 moves, and consequently, the moving object connected to the moving member 20 moves. The nut member 38 and the moving member 20 may be separate members or may be integrated. For example, a through hole having a thread groove to be screwed with the spindle member 36 may be formed in the moving member 20, and the thread groove may be used as a connection portion. In the present embodiment, the nut member 38 has a female screw portion, is screwed with a spindle member 36 having a male screw portion, and moves in the axial direction of the spindle member 36 by rotating around the axis of the spindle member 36. When the spindle member 36 does not rotate, the movement of the moving member 20 is suppressed by the self-restraining function of the spindle member 36 and the nut member 38.

<Configuration of tilt prevention mechanism>
The inclination prevention mechanism 40 is a mechanism that suppresses the inclination of the moving member 20, and particularly prevents the inclination of the moving member 20 with respect to the moving direction during movement. The tilt prevention mechanism 40 includes an elastic member 42 and a connecting member 44. When the inclination preventing mechanism 40 tries to incline when the moving member 20 moves, if the urging force balance received by the elastic member 42 from each of the plurality of connecting member fixing portions 42a tends to be lost, the elastic member 42 By increasing / decreasing at least one urging force of the plurality of connecting member fixing portions, each of the plurality of connecting member fixing portions returns to a state where the urging forces received from the connecting member 44 are balanced, and the connecting member 44 is interposed. Thus, the inclination of the moving member 20 is suppressed. Therefore, in the tilt prevention mechanism 40, when the moving member 20 and the elastic member 42 are connected via the connecting member 44 and the moving member 20 tilts, for example, it is horizontal with respect to an axis (moving axis L) along the moving direction. The tilt of the moving member 20 can also be corrected by the urging force of the elastic member 42 even when moving in the direction or around the axis.

The elastic member 42 expands and contracts along the moving direction of the moving member. The elastic member 42 has a connecting member fixing portion 42a to which the connecting member 44 is fixed (see FIG. 1 and the like). Further, the other end of the elastic member 42 is fixed so that the elastic member 42 expands and contracts in accordance with the movement of the moving member 20. More specifically, the elastic member 42 is fixed to the moving member 20 at one end side, and is fixed to a portion that does not move relative to the moving member 20 such as a frame or an installation surface at the other end side. The elastic member 42 biases the connecting member 44 by the connecting member fixing portion 42a. In the present embodiment, the elastic member 42 contracts when the moving member 20 moves from the base end side to the terminal end side, and extends when the moving member 20 moves from the terminal end side to the base end side. The plurality of connecting member fixing portions 42a are preferably configured to sandwich the moving member 20. This is because the inclination of the moving member 20 can be further suppressed as compared with the case where the connecting member 44 and the elastic member 42 are fixed so as to be arranged on one side of the moving member 20. The elastic member 42 is disposed so as to urge the moving member 20 toward the distal end side at a plurality of fulcrums located on the connecting member 44. The elastic member 42 maintains a balance by supporting the moving member 20 at each of the plurality of fulcrums via the plurality of fulcrums, and takes a posture along the axis in the movement direction without being inclined with respect to the axis in the movement direction. As shown in FIG.
Specifically, the plurality of fulcrums are located at positions spaced by a predetermined interval from the axis, with the moving member 20 sandwiching an axis along the moving direction passing through the center of gravity. The plurality of fulcrums do not necessarily have to be symmetrical positions as long as the fulcrum positions are balanced with respect to the axis.

  In the present embodiment, the plurality of elastic members 42 are disposed in a plurality of cylindrical support tube portions 74 and 75 that are disposed apart from the rail portion 72 so as to sandwich the rail portion 72. The support cylinder portions 74 and 75 function as a support body that supports the elastic member 42, and are arranged at symmetrical positions with the rail portion 72 interposed therebetween in the present embodiment. The support cylinder portions 74 and 75 are spaced apart from each other and support the elastic member 42 so that it can expand and contract along the moving direction of the moving member 20. In the present embodiment, the support cylinder portions 74 and 75 have a C-shaped cross section in which the surface portion on the side sandwiching the rail portion 72 is opened, and have a space in which the elastic member 42 can be accommodated. . The elastic member 42 is accommodated in the support cylinder portions 74 and 75, and the other end is connected to one end portion of the support cylinder portions 74 and 75, respectively, and one end extends from the rail portion 72 side. It is connected to the end portions 44 a on both sides of the connecting member 44 extending into the support cylinder portions 74 and 75. In the present embodiment, the connecting member fixing portion 42a which is the other end of the elastic member 42 is connected to the connecting member 44 in the support cylinder portions 74 and 75, and a plurality of connecting member fixing portions 42a to be connected to the connecting member 44 are provided. Will exist. In the present embodiment, since the elastic member 42 has the same urging force, the position of the end portion 44 a that functions as the elastic member fixing portion or the fulcrum is arranged at a symmetrical position with respect to the moving member 20. However, as long as the structure prevents the moving member 20 from tilting, for example, a position corresponding to the urging force of the elastic member 42, that is, an asymmetric position may be used.

  The connecting member 44 is a member that connects the moving member 20 and the elastic member 42, and one end of the elastic member 42 is fixed. In the present embodiment, the connecting member 44 may be integrally fixed to the moving member 20 via a bolt, and is fixed so as to be inclined together with the moving member 20, and when a force acts on the connecting member 44. Is fixed so that the force is also applied to the moving member 20. In the present embodiment, the elastic member 42 is configured to bias the moving member 20 toward one moving side. For example, from the proximal end side of the rail portion 72 to the terminal end side on which the support column portion 62 extends. Configured to be energized. As the elastic member 42, for example, a tension coil spring is used. One end of the elastic member 42 is fixed to the upper end side of the support cylinder portions 74 and 75. In the present embodiment, when the moving member 20 moves in a predetermined moving direction, the support cylinder is attached to the base on which the rail portion 72 is provided so that the elastic member 44 can bias the moving member 22 in the moving direction. The parts 74 and 75 are provided as a support, and the elastic member 44 is provided so as to expand and contract between the portion fixed to the support and the moving member 22. However, instead of the elastic member 44 fixed to the support (support cylinder portions 74 and 75) urging the moving member 22, the elastic member 44 provided on the base moves the moving member 22 in a predetermined moving direction. You may comprise so that it may bias.

The elastic member 42 can be expanded and contracted as long as it is configured to urge the moving member 20 from the base end side to the terminal end side. In addition to the coil spring, the gas spring air damper or oil can be used. A damper such as a damper may be used.
For example, if the elastic member has a structure in which both ends are biased away from each other, such as a damper, one end of the elastic member 42 on the base end side is fixed to the terminal end side of the device, and the elastic member 42 If the other end portion on the terminal side is connected to the moving member 20 via the connecting member 44, the moving member 20 can be prevented from being tilted by pressing and urging the moving member 20.

In the present embodiment, the configuration in which the moving member 20 is urged toward the end side is configured to urge the moving member 20 by the two elastic members 42. However, the number may be three or more or one. Good.
In the configuration using one elastic member 42, a tension coil spring having a diameter that can be disposed so as to surround the moving member 20 is used as the elastic member, and the upper end of the coil spring is fixed to the terminal side, and the lower end is connected to the connecting member 44. The structure connected with the moving member 20 via is mentioned. For example, a coil spring is inserted into the spindle member, the terminal end side (base end side) is fixed, and the base end side (terminal end side) is connected to the moving member. In this case, the end of the coil spring, which is an elastic member, is connected in a circumferential direction to a connecting member integrally formed with the moving member, and is connected in a plurality of radial directions to the shaft. It will be energized at.

<Operation of moving member>
First, the drive mechanism 30 is driven in a state where the moving member 20 is positioned on the proximal end side. Specifically, the motor 34 of the motor unit of the drive mechanism 30 is driven to rotate the spindle member 36. The spindle member 36 rotates a nut member 38 that is screwed into a male screw portion formed on the outer periphery of the spindle member 36.

Since the movement of the moving member 20 connected to the nut member 38 by the connecting portion 32 is restricted by the rail portion 72 around the axis, which is the rotational direction of the spindle member 36, the nut member 38 is spindle driven on the spindle member 36. As the member 36 moves in the axial direction, the moving member 20 also moves.
When the moving member 20 moves along the rail portion 72, the connecting member 44 also moves. In the present embodiment, the other end of the elastic member 42 is fixed so that the elastic member 42 contracts from a state where the elastic member 42 extends beyond the natural length in accordance with the movement of the moving member 20 from the base end side to the terminal end side. Therefore, the elastic member 42 contracts when the moving member 20 moves to the end side.

In the movement toward the terminal end, a force in a direction crossing the moving direction may be applied to the moving member 20. For example, a force that causes the moving member 20 to tilt may be applied to the moving member 20 due to a change in the center of gravity of the moving object or characteristics of the drive mechanism. When the moving member 20 is tilted, it is difficult to stably move the moving object. Further, such a force for inclining the moving member is a load on the moving member 20 not only when the moving member 20 is visually inclined but also when the moving member 20 does not appear to be inclined. As a result, the friction with the rail portion 72 is increased, which may hinder the movement of the moving member 20.
As described above, when the moving member 20 tries to tilt when moving, the balance of the urging states of the plurality of urging members to the connecting member 44 tends to be lost. For example, when the moving member 20 is rotated clockwise in the drawing so that the support 62 and the moving member 20 are inclined so as to be in a state indicated by a two-dot chain line in FIG. 4, the connecting member 44 is also inclined in the same direction. At this time, the length of the elastic member 42-2 on the right side in the drawing is longer than the length of the elastic member 42-1 on the right side in the drawing. Therefore, the magnitude of the urging force of the elastic member 44-2 is further increased by the restoring force due to elastic deformation, and is larger than that of the elastic member 42-1. Therefore, the connecting member 44 receives a counterclockwise force opposite to the applied force from the elastic member 42-2, and tries to return to the original horizontal state. When the connecting member 44 returns to the horizontal state, the magnitude of the force that the elastic member 44 tends to contract is equal between the elastic member 42-1 and the elastic member 42-1. In this way, at least one of the urging forces for urging the plurality of connecting member fixing portions 42a is increased or decreased to return the urging force applied to the connecting member 44 by each of the plurality of connecting member fixing portions 42a to a balanced state. Thus, since the balance of the urging force can be maintained, the moving member 20 can move in a stable state.

  In the above embodiment, the plurality of elastic members have the same urging force, but the elastic forces of the plurality of elastic members may be different. Moreover, although the position of the connection member fixing | fixed part was also made into the same position in the moving direction, it may differ. That is, the plurality of elastic members are configured so that the respective biasing forces maintain a certain relationship, and when the relationship is about to break, the elastic members bias the plurality of connecting member fixing portions. What is necessary is just to be comprised so that the biasing force which each of several connection member fixing | fixed part gives to a connection member can be returned to the original fixed relationship by increasing / decreasing at least one of the urging | biasing force.

When the object moving device 1 moves the moving member 20, the moving member 20 is less likely to be inclined, and consequently the moving object is less likely to be inclined. Therefore, it is easy to stably move the moving object, and for example, it is possible to suppress the fear of the person or the object placed on the moving member 20 from falling.
Further, since the movable member 20 can move in a state where the tilting of the movable member 20 is suppressed, a load that intersects the screwed shaft is applied to the screwed portion of the spindle member 36 and the nut member 38 during driving. In addition, the load applied to the threaded portion can be reduced.

  In addition, since the load on the spindle member 36 or the rail portion 72 along the moving direction is reduced in the movement of the moving member 20, smooth movement of the moving member 20 can be realized. Here, since the moving member 20 moves between the upper and lower terminal ends and the proximal end, the moving member 20 moves while holding the upper surface horizontally by the elastic member 42 connected through the connecting member 44. To do.

Since the connecting member 44 is connected to the elastic member 42 that biases toward the end side, the elastic member 42 assists the movement of the moving member 20 moving toward the end side to the end side via the connecting member 44. doing.
As a result, when the moving member 20 moves from the base end side to the terminal end side by driving the driving mechanism 30, it is stably moved while reducing the driving force of the driving mechanism as compared with the case where there is no urging force. be able to. In other words, since the elastic member 42 assists the movement of the moving member 20 toward the terminal end, which is the direction in which the elastic member 42 is urged, the driving force of the electric motor 34 when the moving member 20 moves in the urging direction can be reduced. In addition, since the load due to the inclination of the moving member 20 can be suppressed, the electrical energy to the electric motor can also be reduced. In other words, it is possible to give a degree of freedom to a configuration in which a battery is mounted to supply electric energy to the electric motor 34, and the range of design as a drive mechanism is widened, so that the size and weight can be reduced.

  When the electric motor 34 of the drive mechanism 30 is driven to rotate the spindle member 36 in the reverse direction, the nut member 38 moves from the terminal end side to the base end side, and accordingly, the moving member 20 also moves from the terminal end side to the base end side. Move to the side. At this time, the moving member 20 moves against the urging force of the elastic member 42. When the moving member 20 moves to the proximal end side, the elastic member 42 becomes a resistance, so that a sudden drop such as when a load is placed on the moving member 20 can be prevented. Such an effect is the same even when the urging direction of the elastic member is reversed.

  When the spindle member 36 does not rotate, the movement of the moving member 20 is suppressed by the self-restraining function of the spindle member 36 and the nut member 38, and the moving member 20 is held at the stopped position.

<Walking support device>
Next, the walking support device 100 to which the object moving device 1 is applied will be described with reference to FIG.
A walking support device 100 shown in FIG. 5 includes a movable base 110, a base movement assisting member 112 that is fixed to the base 110 and assists the movement of the base 110, and an object that is fixed to the base 110. The mobile device 1 is provided.
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, a hollow support column 62 having a handle portion 64 attached to the upper end portion is movably attached to the outside of the rail portion 72, and the lower end portion is provided in the rail portion 72 in the rail portion 72. The moving member 20 (see FIGS. 1 to 3) is fixed. The support 62 supports the handle 64 and moves the handle 64. The walking support device 100 is used by a user by placing an arm, upper body, or the like on the handle portion 64.

  The base 110 is formed in a substantially U shape in plan view. The base 110 is provided so as to be concave on the user side, and has a space in which the user can walk inside the base 110 while the base 110 surrounds the user. The base movement assisting member 112 is a member 112 that smoothly moves the base 110, and is a rolling member such as a caster, and is attached to the lower surface of the base 110. When the base 110 is moved, the base 110 rolls to make the base 110 move smoothly.

  As an example of a method of using the walking support device 100, the driving mechanism 30 of the object moving device 1 is driven in a state where the user of the seat-like body leaves the upper body on the handle portion 64 at the proximal end position. Then, the moving member 20 moves to the upper end side, which is the terminal side, and accordingly, the handle portion 64 fixed to the moving member 20 via the support column 62 rises in a state where a load is applied by the user. At this time, the handle portion 64 is lifted by receiving the driving force of the driving mechanism 30 and the urging force of the elastic member 42, so that the handle portion 64 is loaded by the load applied by the user depositing the upper body or the weight of the handle member. Move to the terminal side against the load. For this reason, the upper body placed on the handle portion 64 rises, and the user can easily stand up with his legs extended. The user who has stood up can walk while being held by the handle portion 64.

  Further, when the handle portion 64 is lowered, when the moving member 20 is moved from the terminal end to the base end, the rotation of the spindle member 36 by the electric motor 34 of the drive mechanism 30 is set in the direction opposite to the upward direction. Then, the moving member 20 moves to the proximal end side against the urging force of the elastic member 42. Therefore, since the elastic member 42 becomes resistance, it is possible to prevent a sudden drop such as when the user puts weight on the moving member 20 or when a load is placed.

  In the object moving device 1, when the drive mechanism 30 is not driven, specifically, when the spindle member 36 is not rotated, the moving member 20 is moved by the self-restraining function of the spindle member 36 and the nut member 38. The moving member 20 is held at the stopped position. Thereby, the height of the handle | steering-wheel part 64 in the walk assistance apparatus 100 can be adjusted in any height within the movement range of the handle | steering-wheel part 64. FIG.

  Even when the moving member 20 is moving or stopped, the elastic member 42 prevents the moving member 20 from tilting with respect to the moving direction, specifically, the axis indicating the moving direction. Therefore, even when the user puts weight on the handle portion 64 and tries to incline with respect to the rail portion 72 by applying a load to the handle portion 64, the inclination of the moving member 20 is caused by the biasing of the elastic member 42. Is prevented.

In the present embodiment, the moving direction of the moving member 20 in the walking support device 100 is the vertical direction, but the horizontal direction may be applied to a door opening / closing mechanism or the like.
The tilt prevention mechanism 40 is connected to the moving member 20 and the elastic member 42 via the connecting member 44, and prevents the moving member 20 itself from being tilted by the urging force of the elastic member 42. Thereby, the inclination of the handle part 64 arranged at a position away from the moving member 20 via the support column part 62 can be prevented. Further, the elastic member 42 can be expanded and contracted, so that the load applied to the handle portion 64 can be reduced. As a result, the load applied to the drive mechanism 30 can be reduced.

  In the present embodiment, the drive mechanism 30 is configured to move the moving member 20 using the spindle member 36 that is rotated by the electric motor 34. However, the drive mechanism 30 is configured to move the moving member 20 to the base end side and the terminal end side. Any configuration may be used as long as it is configured to move between the two. For example, a chain or belt is wound around sprockets provided on the base end side and the terminal end side, and a moving member is fixed to the chain or belt. The moving member 20 may be configured to move.

  The embodiment of the present invention has been described above. The above description is an example of the embodiment of the present invention, and the scope of the present invention is not limited to this. That is, it is obvious that various modifications and additions to the above example are possible within the scope of the present invention.

DESCRIPTION OF SYMBOLS 1 Object moving apparatus 20 Moving member 30 Drive mechanism 32 Connection part 34 Electric motor 36 Spindle member 38 Nut member 40 Tilt prevention mechanism 42, 42-1, 42-2 Elastic member 42a Connecting member fixing | fixed part 44 Connecting member 44a End part (elasticity Member fixing part)
62 Strut part 64 Handle part 72 Rail part 74, 75 Support cylinder part 78 Upper end side movement control part 100 Walking support device 110 Base 112 Base movement assisting member L Moving shaft

Claims (5)

A moving member that moves between a base end side and a terminal end side;
A drive mechanism for connecting the moving member and moving the moving member;
An object movement apparatus comprising an inclination prevention mechanism for preventing the movement member from being inclined,
The moving member moves by driving the drive mechanism,
The tilt prevention mechanism is
An elastic member that expands and contracts along the moving direction of the moving member;
A connecting member fixed to the moving member and one end of the elastic member;
The elastic member is
A plurality of connecting member fixing portions to which the connecting member is fixed;
The other end is fixed so that the elastic member expands and contracts according to the movement of the moving member,
The elastic member is fixed to the plurality of connecting members when the balance of the urging forces applied to the connecting members by each of the plurality of connecting member fixing portions tends to be lost by trying to tilt when the moving member moves. By increasing / decreasing at least one of the urging forces for urging the portion and returning the urging forces applied to the linking member by each of the plurality of linking member fixing portions to the balanced state, An object moving device that prevents tilting. The drive mechanism is
A spindle member extending in the moving direction of the moving member;
A nut member that is screwed with the spindle member and moves in the axial direction of the spindle member by rotating around the axis of the spindle member;
The connecting portion is connected to the nut member;
2. The object moving device according to claim 1, wherein when the spindle member does not rotate, the movement of the moving member is suppressed by a self-restraining function by the spindle member and the nut member. A plurality of the elastic members;
The object moving device according to claim 1, wherein each of the plurality of elastic members has the connecting member fixing portion.   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. A movable base;
A base movement assisting member fixed to the base and assisting the movement of the base;
An object moving device fixed to the base,
The said object moving apparatus is a walking assistance apparatus which is the object moving apparatus in any one of Claims 1-4.

Images