JP2024019000A - Wheelchair control method - Google Patents

Abstract

An object of the present invention is to provide a method for controlling a wheelchair that allows a wheelchair to be comfortably lifted while preventing a cared person from slipping down during use. A method for controlling a wheelchair, comprising: a backrest, a seating section, a first actuator that causes the backrest to perform a reclining operation, and a second actuator that causes the seating section to perform a tilting operation. The method further includes an interlocking step of simultaneously performing the reclining operation and the tilting operation. [Selection diagram] Figure 12

Description

The present invention relates to the technical field of nursing care equipment, and specifically relates to a method of controlling a wheelchair.

Wheelchairs are generally used for the movement (including horizontal movement and lifting and lowering of the cared person) of people who require care, such as physically disabled people, elderly people, or injured people (hereinafter referred to as "care recipients"). be done.

Patent Document 1 discloses a wheelchair in which a seat portion including a cushion member can be rotated rearward and tilted in order to reduce pressure on the buttocks when a cared person is sitting for a long time. However, when the legs are lifted to rotate and tilt the seat portion including the cushion member backwards, the backrest moves downward, the cared person's head becomes lower than horizontal, and the cared person shifts from the backrest. There is a risk of falling, and furthermore, if the backrest is lower than horizontal, it may cause discomfort to the care recipient and may even pose a health risk.

China Patent Application Publication No. 111067726

The present invention takes into consideration the above-mentioned problems in the prior art, and provides a method for controlling a wheelchair that allows the backrest portion to be lifted comfortably while preventing the cared person from slipping down during use.

The wheelchair includes a backrest portion, a seating portion, a first actuator that causes the backrest to perform a reclining operation, and a second actuator that causes the seating portion to perform a tilting operation, and the wheelchair control provided by the present invention The method includes interlocking steps of simultaneously performing a reclining motion and a tilting motion.

According to the technical solution, when lifting the backrest of the wheelchair, the wheelchair performs the following interlocking steps. The first actuator is driven to perform a reclining operation in which the backrest part is rotated around its rotation center and lifted up, and at the same time, the second actuator is driven to rotate the seat part around its rotation center and tilted downward. By performing the tilt operation, the upward rotation of the backrest due to the reclining operation and the downward rotation of the backrest due to the tilting operation are offset. As a result, only the legs can be raised without substantially moving the backrest of the wheelchair, thereby avoiding the risk of the cared person's body slipping forward or backward.

As a preferred technical solution, in the interlocking step, the magnitude of the back-raising angular velocity due to the reclining operation is approximately the same as the magnitude of the back-lowering angular velocity due to the tilting operation.

As a preferable technical solution, in the interlocking step, the reclining angle due to the reclining operation and the tilt angle due to the tilting operation are approximately the same.

As a preferred technical solution, both the reclining angle and the tilting angle are within the range of 0 to 30 degrees.

As a preferred technical solution, the center of rotation of the backrest during the reclining motion and the center of rotation of the seating section during the tilting motion are approximately at the same position.

According to this technical proposal, when performing the interlocking step, only the legs can be raised without moving the backrest of the wheelchair, thereby reducing the risk of the cared person's body slipping forward or backward. can be avoided more reliably.

As a preferred technical solution, after the interlocking step, it further includes a reclining step of individually performing the reclining operation.

According to this technical proposal, after only the legs are raised by the interlocking step without substantially moving the backrest, only the backrest can be raised individually by the reclining operation, so that the cared person's body is in the front or rear position. You can raise the backrest further while avoiding the risk of it slipping down.

As a preferred technical solution, in the reclining step, the reclining motion is performed at a reclining angle of 80 degrees or less without performing a tilting motion.

According to this technical proposal, if the reclining angle is 80 degrees or less, the angle between the backrest portion and the seating portion will be 100 degrees or more, allowing the cared person to maintain a comfortable posture.

As a preferred technical solution, after the reclining step, a tilting step is further provided to individually perform a tilting operation.

According to this technical proposal, by raising the backrest to an appropriate angle and then individually performing a tilt step, the backrest can be further raised, making it easier for the cared person to see the situation in front of them. At the same time, it is possible to take a posture suitable for eating.

FIG. 2 is a schematic structural diagram of a wheelchair and a bed body provided in an embodiment of the present invention in a combined state. FIG. 2 is a schematic structural diagram of a wheelchair and a bed body provided in an embodiment of the present invention in a separated state. 1 is a schematic structural diagram of a wheelchair provided in an embodiment of the present invention in a flat state; FIG. 1 is a structural schematic diagram of a wheelchair provided in an embodiment of the present invention in a seated state; FIG. FIG. 2 is a schematic structural diagram of a wheelchair provided in this embodiment, which is in a flat position and whose main body is omitted. FIG. 2 is a schematic diagram of the structure of a wheelchair provided in this embodiment, with a tilt angle ∠a and a reclining angle ∠b of 15 degrees. FIG. 2 is a schematic diagram of the structure of a wheelchair provided in this embodiment, with a tilt angle ∠a and a reclining angle ∠b of 30 degrees. FIG. 2 is a schematic structural diagram of a wheelchair provided in this embodiment, in which the tilt angle ∠a is 30 degrees and the reclining angle ∠b is 45 degrees. FIG. 2 is a schematic structural diagram of a wheelchair provided in this embodiment, in which the tilt angle ∠a is 30 degrees and the reclining angle ∠b is 80 degrees. FIG. 2 is a schematic structural diagram of a wheelchair provided in this embodiment, in which the tilt angle ∠a is 0 degrees and the reclining angle ∠b is 80 degrees. FIG. 2 is a schematic structural diagram of a wheelchair provided in this embodiment, in which the tilt angle ∠a is 15 degrees and the reclining angle ∠b is 0 degrees. 3 is a flowchart of a wheelchair control method provided in an embodiment of the present invention. 5 is another flowchart of a wheelchair control method provided in an embodiment of the present invention. FIG. 2 is a schematic structural diagram of a wheelchair provided in the above embodiment, in which the tilt angle ∠a is 0 degrees and the reclining angle ∠b is 15 degrees. FIG. 2 is a structural schematic diagram of a wheelchair provided in the above embodiment, in which the tilt angle ∠a is 0 degrees and the reclining angle ∠b is 30 degrees. FIG. 3 is a structural schematic diagram of a wheelchair provided in the above embodiment, in which the tilt angle ∠a is 0 degrees and the reclining angle ∠b is 45 degrees. FIG. 3 is a schematic structural diagram of a wheelchair provided in the above embodiment, in which the tilt angle ∠a is 0 degrees and the reclining angle ∠b is 60 degrees. FIG. 3 is a structural schematic diagram of a wheelchair provided in the above embodiment, in which the tilt angle ∠a is 0 degrees and the reclining angle ∠b is 80 degrees. FIG. 2 is a structural schematic diagram of a wheelchair provided in the above embodiment, in which the tilt angle ∠a is 15 degrees and the reclining angle ∠b is 0 degrees. FIG. 2 is a structural schematic diagram of a wheelchair provided in the above embodiment, in which the tilt angle ∠a is 30 degrees and the reclining angle ∠b is 0 degrees.

Hereinafter, specific embodiments of the present invention will be described with reference to the drawings. Note that the embodiments of the present invention are not limited to the following embodiments, and various embodiments within the scope of the technical idea of the present invention can be adopted.

Furthermore, each figure is a schematic diagram and is not necessarily strictly illustrated. In each figure, substantially the same components are denoted by the same reference numerals, and overlapping explanations will be omitted or simplified.

[Wheelchair structure]
Hereinafter, the structure of the wheelchair 1 to which the method for controlling the wheelchair 1 provided by the present invention is applied will be described. The structure of the wheelchair 1 in the embodiment of the present invention is described in conjunction with the drawings to more specifically explain the control method of the wheelchair 1 of the present invention so that those skilled in the art can better understand the control method of the present invention. This is not intended to limit the structure of the wheelchair 1 to which the method of the present invention is applied.

(1) Schematic structure combining a wheelchair and a bed body First, FIG. 1 shows a nursing care bed including a wheelchair 1 and a bed body 2 provided in an embodiment of the present invention. It is a structural schematic diagram in a state in which the two are combined. FIG. 2 is a schematic structural diagram of the wheelchair 1 and the bed body 2 provided in the embodiment of the present invention in a separated state.

As shown in FIG. 1, a complete nursing care bed is formed by combining a wheelchair 1 and a bed body 2. As shown in FIG. 2, the wheelchair 1 can be separated from the bed body 2 from the side surface of the bed body 2. Furthermore, the nursing care bed formed by combining the wheelchair 1 and the bed body 2 may be an electric nursing care bed used by a cared person in, for example, a hospital, a nursing care facility, or a general home.

As shown in FIG. 1, with the wheelchair 1 and the bed main body 2 combined, a cared person lying in the center of the nursing care bed is moved to the wheelchair 1, and then, as shown in FIG. By separating the wheelchair 1 from the bed body 2, the cared person can easily be assisted in transferring from the bed body 2 to the wheelchair 1.

(2) Structure of the bed body Next, the structure of the bed body 2 will be explained with reference to FIGS. 1 and 2. As shown in FIGS. 1 and 2, the bed main body 2 includes a frame 21, a bottom 22, and an operating mechanism (not shown).

Among them, the frame 21 is formed of, for example, a metal pipe, and has a rectangular shape that is long in the X-axis direction as a whole, and a plurality of wheels 23 for moving the bed body 2 are provided at the lower end of the frame 21. is provided. Furthermore, a recess 24 is formed in the side of the frame 21 to accommodate the main body 11 (described later) of the wheelchair 1.

The bottom 22 is for supporting the body of the cared person who is lying down, and is installed on the frame 21. As shown in FIG. 2, the bottom 22 is installed in one half of the frame 21 in the transverse direction (Y-axis direction). The bottom 22 includes a bed main body backrest part 221, a bed main body seating part 222, a bed main body shin part 223, and a bed main body foot bottom part 224, which are connected to each other so as to be tiltable (rotatable) by a hinge or the like.

Among them, the bed main body backrest portion 221 is for supporting the head and back of the cared person. The bed main body seating portion 222 is for supporting the buttocks and thighs of the cared person. The bed body shin portion 223 is for supporting the shin of the care recipient. The bed body foot bottom portion 224 is for supporting the feet of the care recipient. Furthermore, a bendable cushion member (not shown) is attached above the bottom 22.

The actuation mechanism is generally installed under the frame 21 and includes, for example, an actuator and a controller for controlling the actuator. Therein, the controller is used to control the actuator to perform a telescopic operation or a rotational operation according to a remote control signal sent from a remote controller, and the actuator is connected to the lower side of the bottom 22 through a link mechanism. , drive different parts of the bottom 22 to perform reclining or tilting movements.

The operating mechanism may, for example, raise the bed main body backrest 221 from the flat position of the bottom 22 (see FIG. 1) or raise the bed main body seating part 222 and the bed in response to a remote control instruction from the cared person. The connection point with the main body shank portion 223 can be raised. Among them, the flat posture means that the bed main body backrest part 221, bed main body seating part 222, bed main body shin part 223, and bed main body foot bottom part 224 are in a substantially horizontal position (i.e., with respect to the horizontal direction (X-axis direction)). By setting the bottom 22 in a parallel or substantially parallel posture, the entire bottom 22 is in a flat posture.

(3) Structure of the wheelchair (3-1) Overall structure of the wheelchair Next, the overall structure of the wheelchair 1 will be explained with reference to FIGS. 1 to 4. FIG. 3 is a schematic structural diagram of the wheelchair 1 provided in the embodiment of the present invention in a flat state. FIG. 4 is a schematic structural diagram of the wheelchair 1 provided in the embodiment of the present invention in a seated state. Note that in FIG. 4, illustration of the pair of armrests 13 is omitted for convenience of explanation.

The wheelchair 1 provided in the embodiment of the present invention is a wheelchair 1 on which a cared person can lean, and by separating the wheelchair 1 from the bed body 2, it can function as a means of transportation for the cared person. I can do it. As shown in FIGS. 2 to 4, the wheelchair 1 provided in the present invention includes a main body 11, a seat 12 supported by the main body 11, and an actuation mechanism for changing the posture of the seat 12. Equipped with

The main body portion 11 is formed of, for example, a metal pipe, and functions as the main frame of the wheelchair 1. A pair of front wheels and a pair of rear wheels (an example of the wheels 23) for moving the wheelchair 1 are provided at the lower end of the main body 11. Each of the pair of front wheels and the pair of rear wheels may be, for example, a swivel caster.

As shown in FIG. 3, a pair of guide posts 131 extending in the vertical direction (Z-axis direction) are attached to both sides of the main body 11, respectively. A pair of armrests 13 are respectively attached to the pair of guide posts 131 so as to be slidable in the vertical direction. The pair of armrests 13 are arranged on both sides of the seating section 122, respectively. The pair of armrests 13 each have a pair of armrests 13 between a storage position located below the seating portion 122 (see FIG. 1) and a use position located above the seating portion 122 (see FIG. 2). It slides vertically along the guide post 131. When the wheelchair 1 and the bed body 2 are combined, the pair of armrests 13 are slid to the storage position, and when the wheelchair 1 is used separated from the bed body 2, the pair of armrests 13 are slid to the use position. let

The seat portion 12 is for supporting the body of the cared person who is seated (or lying down), and is supported by the main body portion 11 . The seat portion 12 includes a backrest portion 121, a seat portion 122, a shin portion 123, and a foot bottom portion 124, which are connected to each other so as to be tiltable (rotatable) by a hinge or the like. Among them, the backrest portion 121 is for supporting the head and back of the cared person, and is supported by a third link mechanism 103 (described later). The seating part 122 is for supporting the buttocks and thighs of the cared person, and one end is fixed to the upper end of the main body part 11, and the other end is supported by the second link mechanism 102 (described later). . The shin portion 123 is for supporting the calf of the cared person, and is supported by a fourth link mechanism 104 (described later). The foot bottom portion 124 is for supporting the foot portion of the cared person, and is supported by a fifth link mechanism 105 (described later), and the fifth link mechanism 105 is connected to the seating portion 122 by a sixth link mechanism 106. and is rotatably connected. Furthermore, a bendable cushion member (not shown) is attached to the seat portion 12.

The operating mechanism of the wheelchair 1 is a mechanism for changing the posture of the seat portion 12 between the flat posture (see FIG. 3) and the chair posture (see FIG. 4), and the operating mechanism and a link mechanism. Note that the flat posture is a posture in which the entire seat portion 12 of the wheelchair 1 is made flat by placing the backrest portion 121, the seat portion 122, the shin portion 123, and the foot bottom portion 124 in a substantially horizontal posture. The chair posture is a posture in which each of the backrest portion 121, seat portion 122, shin portion 123, and foot bottom portion 124 is tilted or rotated with respect to the horizontal direction. The specific structure of the operating mechanism of the wheelchair 1 will be described in detail later.

As shown in FIG. 1, when combining the wheelchair 1 and the bed body 2, the wheelchair 1 is placed in the bed body with the seat 12 of the wheelchair 1 and the bottom 22 of the bed body 2 in a flat position. 2, and attach the main body 11 to the recess 24 of the frame 21. At this time, the seat surface portion 12 is located on the other half of the frame 21 in the lateral direction. Thereby, the backrest part 121, the seat part 122, the shin part 123, and the foot bottom part 124 of the wheelchair 1 are replaced by the bed main body back part 221, the bed main body seating part 222, the bed main body shin part 223, and the bed main body foot bottom part, respectively. 224 adjacent to the nursing care bed in the lateral direction. In addition, when the wheelchair 1 and the bed body 2 are combined, the seat portion 12 of the wheelchair 1 is controlled by the operating mechanism of the bed body 2 so that it operates integrally with the bottom 22 of the bed body 2. become.

On the other hand, as shown in FIG. 2, when separating the wheelchair 1 from the bed body 2, first the body portion 11 is removed from the recess 24 of the frame 21 of the bed body 2. Thereafter, with the cared person lying down on the seat 12, the posture of the seat 12 is changed from the flat posture to the chair posture.

(3-2) Structure of Wheelchair Operating Mechanism Next, the operating mechanism of the wheelchair 1 provided by the present invention will be described with reference to FIGS. 5 to 10. FIG. 5 is a schematic structural diagram of the wheelchair 1 in a flat state, with the main body portion 11 omitted. FIG. 6 is a schematic structural diagram of the wheelchair 1 with the main body 11 omitted in a state where the legs are lifted. FIG. 7 is a structural schematic diagram of the wheelchair 1 with the main body 11 omitted in a state where the legs are further lifted than the state shown in FIG. FIG. 8 is a structural schematic diagram of the wheelchair 1 with the main body 11 omitted in a state where the backrest is further lifted from the state shown in FIG. Further, FIGS. 14 to 20 are structural schematic diagrams of the wheelchair 1 in which the main body portion 11 is omitted in a state where the tilt angle ∠a and the reclining angle ∠b are changed little by little.

As shown in FIGS. 5 to 8, the operating mechanism of the wheelchair 1 includes an actuator (not shown), a first link mechanism 101, a second link mechanism 102, a third link mechanism 103, a fourth link mechanism 104, and a fifth link mechanism. It includes a link mechanism 105 and a sixth link mechanism 106.

Among them, the type and structure of the actuator are not particularly limited. Various actuators have already been disclosed in the prior art. In some embodiments, the actuator may be a motor, while in other embodiments a cylinder or hydraulic cylinder may be used as the drive source. Further, as the operating method of the actuator, rotational drive or linear drive may be selected and used as required. Any simple replacement of the type or structure of the actuator does not go beyond the protection scope of the present invention. A plurality of actuators may be installed, for example, a first actuator that drives the backrest portion 121 and a second actuator that drives the seat portion 122, and the number and operation method thereof are not limited.

The first link mechanism 101 can rotate within a plane formed by the X direction and the Z direction (XZ plane) under the drive of an actuator. The second link mechanism 102 has an upper end fixedly connected to the seating part 122 of the wheelchair 1, and a lower end rotatably connected to the main body part 11. The upper end of the second linkage 102 can rotate around the lower end of the second linkage 102 under the drive of the actuator. Taking FIGS. 5 to 10 as an example, when the second link mechanism 102 rotates around its lower end counterclockwise in the drawings, the seating portion 122 of the wheelchair 1 also rotates and rises accordingly. Conversely, when the second link mechanism 102 rotates clockwise in the figure, the seating portion 122 of the wheelchair 1 also rotates and falls accordingly.

Both ends of the third link mechanism 103 are attached and fixed to the middle part of the first link mechanism 101 and the middle part of the backrest part 121, respectively. When the first link mechanism 101 rotates under the drive of the actuator, it can drive the third link mechanism 103 and support the backrest part 121 so that the backrest part 121 performs a reclining operation. The middle part here does not refer to the center point in the strict sense of the term, but refers to positions other than both end points. Taking FIGS. 7 to 9 as an example, when the first link mechanism 101 rotates clockwise in the drawings under the drive of the actuator, the third link mechanism 103 rotates the backrest part so that the backrest part 121 tilts upward. I support 121. When the first link mechanism 101 rotates counterclockwise in the figure under the drive of the first actuator, the third link mechanism 103 supports the backrest part 121 so that the backrest part 121 tilts downward.

Both ends of the fourth link mechanism 104 are rotatably connected to fixing mechanisms extending from the middle part of the first link mechanism 101 and the lower end of the shank portion 123, respectively. When the wheelchair 1 is in a flat state, the fourth link mechanism 104 and the seat surface part 12 of the wheelchair 1 are substantially parallel, and when the backrest part 121 is tilted upward or the seat part 122 is rotated upward, the fourth link mechanism 104 and the seat surface part 12 of the wheelchair 1 are substantially parallel. The distance between the middle part of the first link mechanism 101 and the lower end of the shank part 123 increases, and as a result, the fourth link mechanism 104 moves the shank part 123 with its tip (the connection point between the shank part 123 and the seating part 122) as the center ( (clockwise direction in the figure).

The fifth link mechanism 105 is relatively fixed to the foot bottom part 124 of the wheelchair 1, and one end of the fifth link mechanism 105 is rotatably connected to one end of the sixth link mechanism 106.

The sixth link mechanism 106 has one end rotatably connected to the fifth link mechanism 105 and the other end rotatably connected to the middle part of the seating section 122 . The fifth link mechanism 105 and the sixth link mechanism 106 operate integrally, so when the shin section 123 of the wheelchair 1 rotates relative to the seating section 122, the fifth link mechanism 105 moves the foot bottom section 124 upward. It can be driven to rotate.

[Wheelchair control method]
With reference to FIG. 11, the prior art will be described with reference to the structure of the present invention. Assume that the wheelchair is in a flat position. In the prior art, when the seat 122 is rotated downward by a certain angle with the point P shown in FIG. 11 as the center of rotation of the seat 122, the backrest 121 also tilts downward and the legs rise accordingly. In this case, the backrest portion 121 is lower than horizontal. FIG. 11 is a structural schematic diagram when the tilt angle ∠a of the seat portion 122 is 15 degrees and the reclining angle ∠b of the backrest portion 121 is 0 degrees. Become. The inventor of the present application was the first to notice this problem and proposed a new control method.

Hereinafter, an embodiment of the method for controlling the wheelchair 1 provided by the present invention will be described based on the structure of the wheelchair 1 described above.

First, each term will be explained.

Unless otherwise specified, the term "tilt operation" refers to an operation in which the seating section 122 rotates with respect to the horizontal direction L with the point P as the center of rotation.As long as the above operation can be realized, the specific operation method is There are no particular restrictions.

The term "reclining motion" refers to the motion in which the backrest portion 121 rotates about the point P as the center of rotation relative to the plane extension M of the seating portion 122.As long as the above motion can be realized, the specific operating method is There are no particular restrictions.

In this application, the rotation center of the tilting operation and the rotation center of the reclining operation will be described as the same point P, but they may be different.

The term "tilt angle" refers to the angle at which the seat 122 rotates. Taking FIGS. 5 and 6 as an example, when the seating portion 122 rotates from the flat position shown in FIG. 5 to the position shown in FIG. 6, the tilt angle becomes ∠a in the figures. "Tilt angular velocity" is the change value of "tilt angle" per unit time, and in general, "tilt angular velocity" may be instantaneous angular velocity or average angular velocity, and in this application, Unless otherwise specified, "tilt angular velocity" refers to average angular velocity.

The term "recline angle" refers to the angle at which the backrest portion 121 rotates. Taking FIGS. 5 and 6 as an example, when the backrest portion 121 rotates from the flat position shown in FIG. 5 to the position shown in FIG. 6, the reclining angle becomes ∠b in the figures. "Reclining angular velocity" is the change value of "reclining angle" per unit time, and generally, "reclining angular velocity" may be instantaneous angular velocity or average angular velocity, and in this application, Unless otherwise specified, "reclining angular velocity" refers to average angular velocity.

(Example 1)
In Embodiment 1 of the present invention, a wheelchair control method is provided. The control method is applied to the wheelchair 1 having the above-described structure, or includes a backrest portion, a seating portion, a first actuator that causes the backrest to perform a reclining operation, and a second actuator that causes the seating portion to perform a tilting operation. , also applies to any wheelchair equipped with.

The method for controlling the wheelchair 1 in this embodiment includes an interlocking step of simultaneously performing a reclining operation and a tilting operation.

Specifically, in this embodiment, the care recipient or other operator can transmit the first execution instruction through external equipment (not shown), and the external equipment is not particularly limited, and may be a remote control. It may also be a mobile phone application. A processor (not shown) of the wheelchair 1 responds to the first execution instruction. A processor may include a controller and memory. Among them, the memory stores a first control instruction corresponding to the control method of this embodiment, and is used to combine an execution instruction for external equipment with the control instruction and send the combined first control instruction to the controller. The controller controls the first actuator and the second actuator to perform interlocking steps.

Hereinafter, the method of moving the wheelchair when performing the interlocking steps will be specifically explained in conjunction with the drawings.

As shown in FIGS. 5 to 7, FIG. 5 is a structural diagram of the wheelchair in a flat position provided in this embodiment, and FIG. FIG. 7 is a structural schematic diagram of a wheelchair in which both angles ∠b are 15 degrees, and FIG. 7 is a structural schematic diagram of a wheelchair in which both tilt angle ∠a and reclining angle ∠b are 30 degrees, provided in this example. It is a diagram.

Specifically, for the wheelchair 1 in the flat position in FIG. 5, the reclining angle ∠b = tilt angle ∠a = 0 degrees, and when the wheelchair 1 executes the interlocking step The actuator and the second actuator are activated in synchronization, and the first actuator controls the backrest portion 121 to perform a reclining operation so that the reclining angle becomes ∠b and the reclining angular velocity becomes v1. The second actuator controls the seating portion 122 to perform a tilt operation so that the tilt angle becomes ∠a and the tilt angular velocity becomes v2. The structure and operation method of the first actuator and the second actuator are not particularly limited as long as the above operations can be performed.

When the reclining angle ∠b = tilt angle ∠a = 15 degrees, the wheelchair 1 changes from the flat position shown in Fig. 5 to the position shown in Fig. 6, and at this time, the backrest 121 does not move and remains horizontal to the ground. The seating part 122 is rotated with respect to the ground and raised by 15 degrees, so that the legs are slightly raised. When the reclining angle ∠b = tilt angle ∠a = 30 degrees, the wheelchair 1 changes to the posture shown in FIG. The robot is rotated 30 degrees and its legs are raised. Note that although the backrest portion 121 is kept horizontal to the ground, the angle with respect to the seating portion 122 has changed, so the reclining angle is 30 degrees.

Thereby, the backrest part 121 and the seat part 122 are driven in synchronization, and the problem that the backrest part 121 becomes lower than horizontal when the seat part 122 is lifted is solved.

Among these, as a preferred technical solution, in this embodiment, the reclining angle ∠b due to the reclining operation and the tilt angle ∠a due to the tilting operation are approximately the same in the interlocking step. In this case, before and after performing the interlocking step, the backrest portion 121 does not move and is kept almost horizontal to the ground, and the care recipient can lower the backrest portion 121 from the horizontal direction. I don't feel any discomfort due to this. Not only that, the cared person can lift their legs without changing the position of their head and back relative to the ground, which positions the cared person's feet above the heart and eliminates swelling of the legs. It is effective to

Preferably, in the interlocking step, the magnitude of the back-raising angular velocity due to the reclining operation and the magnitude of the back-lowering angular velocity due to the tilting operation are approximately the same.

The angular velocity at which the seat part 122 rotates downward around its rotation center is equal to the angular velocity at which the backrest part 121 rotates downward, and at this time, by rotating the backrest part 121 upward at the same angular velocity around its rotation center, The backrest part 121 does not move and remains horizontal to the ground, and the shin part 123 and foot bottom part 124 connected to the seat part 122 are lifted, so the cared person's head and back remain relatively stationary. You can lift your legs while still in this position.

Note that keeping the backrest part 121 horizontal to the ground does not mean that the backrest part 121 does not move; instead, when the seat part 122 rotates, the backrest part 121 is slightly lowered. This means that the user returns to a position where the seat is held horizontally to the ground by a reclining operation, so it is basically possible to maintain the seat horizontally to the ground.

Referring to FIG. 7, when the reclining angle ∠b = tilt angle ∠a = 30 degrees, the backrest portion 121 remains horizontal to the ground, and the seat portion 122 is raised 30 degrees to the ground. At this time, if the linked step is continued, the cared person's legs and feet will be raised too much, which may cause discomfort. Therefore, as a preferred embodiment, in this example, the reclining angle is b and the tilt angle ∠a are both set within the range of 0 to 30 degrees.

(Example 2)
In a second embodiment of the present invention, a method for controlling a wheelchair 1 with a reclining step is provided. FIG. 12 is a flowchart of the control method provided in this embodiment. As shown in FIG. Be prepared for more.

In this embodiment, the care receiver or other operator can send the second execution instruction through external equipment, and the external equipment is not particularly limited and may be a remote control or a mobile phone application. Good too. The wheelchair processor is responsive to the second execution instruction. A processor can be a controller and a memory. Among them, the memory stores a second control instruction corresponding to the control method of this embodiment, and is used to combine the execution instruction of the external equipment with the control instruction and send the combined second control instruction to the controller. used, the controller controls the first actuator and the second actuator to perform the interlocking step, and after performing the interlocking step, the first actuator continues to perform the reclining step, and the second actuator performs the actuation. Control to stop.

Hereinafter, the method of moving the wheelchair when performing the reclining step will be specifically explained in conjunction with the drawings.

As shown in FIGS. 7 to 9, FIG. 7 is a structural schematic diagram of a wheelchair provided in this embodiment with a tilt angle ∠a and a reclining angle ∠b of 30 degrees, and FIG. 8 is a structural diagram of a wheelchair provided in this embodiment. FIG. 9 is a structural schematic diagram of a wheelchair in which the tilt angle ∠a is 30 degrees and the reclining angle ∠b is 45 degrees, provided in the example; FIG. is 30 degrees, and the reclining angle ∠b is 80 degrees.

Specifically, when the wheelchair 1 executes the interlocking step and assumes the posture shown in FIG. 7 (tilt angle ∠a and reclining angle ∠b are 30 degrees), the second actuator stops operating, and the first actuator individually It operates. At this time, the backrest part 121 no longer rotates downward due to the tilting action of the seating part 122, so if the reclining action is performed individually, the backrest part 121 is lifted upward relative to the ground and The caregiver's back will also be lifted accordingly. When the reclining angle of the backrest portion 121 reaches 45 degrees, the wheelchair 1 assumes the posture shown in FIG. When this happens, the wheelchair assumes the posture shown in Figure 9.

In this embodiment, in the interlocking step, the backrest portion 121 is continuously raised while the legs are lifted, so that the raised seating portion 122 suppresses the tendency of the cared person to slip forward from the seating portion 122. , the backrest can be raised, reducing the effects of bedsores and the like caused by misalignment.

Preferably, in the reclining step, the reclining operation is performed at a reclining angle ∠b of 80 degrees or less without performing a tilting operation. If the reclining angle ∠b is 80 degrees or less, the angle between the back and legs of the cared person will be 100 degrees or more, and at this time, the cared person can maintain a comfortable posture.

(Example 3)
In the third embodiment of the present invention, a method for controlling a wheelchair with a tilt step is provided. FIG. 13 is a flowchart of the control method provided in this embodiment, and as shown in FIG. It further includes a tilt step.

In this embodiment, the cared person can transmit the third execution instruction through external equipment, and the external equipment is not particularly limited and may be a remote control or a mobile phone application. The wheelchair processor responds to the third execution instruction. A processor can be a controller and a memory. Among them, the memory stores a third control instruction corresponding to the control method of the present embodiment, and is used to combine the execution instruction of the external equipment with the control instruction and send the combined third control instruction to the controller. used, the controller controls the first actuator and the second actuator to perform the interlocking step, and after performing the interlocking step, the second actuator stops operating and the first actuator continues to perform the reclining step. After finally executing the reclining step, the first actuator is controlled to stop its operation, and the second actuator is controlled to execute the tilt step.

Hereinafter, a method of moving the wheelchair when performing a tilt step will be specifically explained in conjunction with the drawings.

As shown in FIGS. 9 and 10, FIG. 9 is a structural schematic diagram of a wheelchair provided in this embodiment, in which the tilt angle ∠a is 30 degrees and the reclining angle ∠b is 80 degrees. 10 is a structural schematic diagram of a wheelchair provided in this embodiment, in which the tilt angle ∠a is 0 degrees and the reclining angle ∠b is 80 degrees.

Specifically, the first actuator of the wheelchair 1 stops operating, and the second actuator drives the seat portion 122 to raise the backrest portion and lower the leg portions, so that the backrest portion can be further raised. Therefore, the cared person can see the situation in front of him more easily and can take a posture suitable for eating.

Although the present invention has been described above with reference to embodiments, the present invention is not limited to the above-described embodiments, and the execution timing of each step may be adjusted as necessary.

For example, in the embodiment, a case has been described in which the wheelchair 1 is applied to a care bed, but the present invention is not limited to this, and can also be applied to a case where the wheelchair 1 is used alone.

In addition, although the technical solution of the present invention has been described in conjunction with the drawings, those skilled in the art will easily understand that the protection scope of the present invention is not limited to these specific embodiments. Without departing from the principle of the present invention, a person skilled in the art can make equivalent changes or substitutions to the relevant technical features, and any technical solutions after these changes or substitutions will not be covered by the protection of the present invention. Included in the range. It should be noted that the protection scope of the present invention also includes arbitrary combinations of two or more claims from among the plurality of claims stated in the scope of claims as of the filing of this application, within the scope of technical contradiction. For example, when a dependent form claim stated in the scope of claims as of the filing of the present application is made into a multiple claim or multiple multi-claim so as to cite all of the superordinate claims to the extent not technically contradictory, the multiple A claim or a combination of all claims included in multiple claims also falls within the protection scope of the present invention.

1 Wheelchair 101 First link mechanism 102 Second link mechanism 103 Third link mechanism 104 Fourth link mechanism 105 Fifth link mechanism 106 Sixth link mechanism 11 Main body part 12 Seat part 121 Backrest part 122 Seat part 123 Shin part 124 Leg bottom Part 13 Armrest 131 Guide post 2 Bed main body 21 Frame 22 Bottom 221 Bed main body backrest part 222 Bed main body seating part 223 Bed main body shin part 224 Bed main body foot bottom part 23 Wheel 24 Recessed part

Claims (8)

A method for controlling a wheelchair, comprising a backrest, a seating section, a first actuator for causing the backrest to perform a reclining motion, and a second actuator for causing the seating to perform a tilting motion, the method comprising: A method for controlling a wheelchair, comprising an interlocking step of simultaneously performing the tilting operations. 2. The wheelchair control method according to claim 1, wherein in the interlocking step, the magnitude of the back-raising angular velocity due to the reclining operation is approximately the same as the magnitude of the back-lowering angular velocity due to the tilting operation. 3. The wheelchair control method according to claim 1, wherein in the interlocking step, a reclining angle due to the reclining operation and a tilting angle due to the tilting operation are substantially the same. The wheelchair control method according to claim 3, wherein the reclining angle and the tilt angle are within a range of 0 to 30 degrees. 4. The method of controlling a wheelchair according to claim 3, wherein the center of rotation of the reclining motion and the center of rotation of the tilting motion are at substantially the same position. 4. The wheelchair control method according to claim 3, further comprising a reclining step of individually performing the reclining operation after the interlocking step. 7. The wheelchair control method according to claim 6, wherein in the reclining step, the reclining operation is performed at a reclining angle of 80 degrees or less without performing the tilting operation. 7. The wheelchair control method according to claim 6, further comprising a tilting step of individually performing the tilting operation after the reclining step.

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