JP3101587B2 - Belt hoist - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

The present invention relates to a belt type hoist,
Specifically, the present invention relates to a belt-type hoisting machine suitably used for walking training.

[0002]

2. Description of the Related Art Conventionally, walking training for the purpose of recovering walking of an injured person or a physically handicapped person who has injured a leg has been performed, for example, by slowly holding a trainee while supporting both sides of the trainee. It has been practiced that the trainee walks or walks slowly between the parallel bars separated by a predetermined distance while holding the parallel bars with both hands.

[0003]

However, walking training by a caregiver is labor-intensive, and the caregiver must support the weight of the trainee, which requires a great deal of labor. . In addition, walking training using a parallel bar requires the trainee to support his own weight, which places a heavy burden on the trainee. Therefore, there is a problem that the trainee gets tired before performing sufficient walking training, and the walking training does not proceed smoothly.

[0004] The main object of the present invention is to solve the above-mentioned problems, and it is possible to know the degree of difficulty or recovery of a trainee's walking. An object of the present invention is to provide a belt-type hoist that can adjust a load on a trainee during walking training.

[0005]

In order to achieve the above object, according to the first aspect of the present invention, a belt having a hanger is provided.
In a belt-type hoisting machine, comprising a drum around which the belt is wound and driven to rotate forward and backward, a load detecting unit for continuously detecting a load applied to the hanging member, and the load detecting unit. Load control means for controlling the driving of the drum so that the load detected by the means becomes the input set load.

[0006] With this configuration, the load detecting means includes:
Since the load applied to the hanging device can be continuously detected, the walking behavior of the trainee can be known by performing walking training with the trainer connected to the hanging device.
Therefore, the degree of difficulty or recovery of the trainee's walking can be known from the walking behavior, and the trainee can be lifted by driving the drum so that a load corresponding to the degree is applied. And, for example, when the walking posture of the trainee changes during walking training or when there is a step in the walking route, the load detected by the load detecting means may change. Also in the above, by providing the load control means, the drum can be driven such that a load according to the set load is always detected.

According to a second aspect of the present invention, in the first aspect of the invention, a stop control for stopping the driving of the drum when the load detecting means detects a sudden load change. It is characterized by further comprising means. For example, when an accident such as a trainee falling down occurs during walking training, the load detecting means detects a sudden load change. In such a case, by providing the stop control means, the driving of the drum can be stopped in response to the sudden change in load.

[0008] According to a third aspect of the present invention, in the first or second aspect of the invention, the hanging member is attached to the belt via a idler, and a free end of the belt is The load detecting means is connected. With such a configuration, the load applied to the suspender acts on the belt via the idler and is directly transmitted to the load detecting means connected to the free end of the belt.

According to a fourth aspect of the present invention, in the first aspect of the present invention, the load detecting means is constituted by a load cell. By configuring the load detecting means with a load cell, it is possible to accurately and continuously detect the load applied to the hanging member.

According to a fifth aspect of the present invention, in the first aspect of the present invention, the belt type hoist is used for walking training. In the belt type hoist of the present invention, the load applied to the hanging member can be continuously detected by the load detecting means, and the drum is controlled so that the load according to the set load is always detected by providing the load control means. It can be driven. Therefore, the load on the trainee during walking training can be adjusted according to the degree of difficulty or recovery of the walker's walking.

[0011]

FIG. 1 is a side sectional view of a belt-type hoist according to an embodiment of the present invention, and FIG. 2 is a front sectional view of the belt-type hoist shown in FIG. As shown in FIG. 1, the belt type hoisting machine 1 has a drive shaft 4 rotatably supported via bearings between two side plates 2 and 3 facing each other at a predetermined interval. The shaft 4 has a cylindrical drum 5 in which a shaft hole for the drive shaft 4 is formed at the center.
Is supported. A motor case 9 in which a servomotor 7 having a motor shaft 6 is provided outside one side plate 2.
A gear case 11 having a reduction gear mechanism 10 therein for reducing the drive of the motor shaft 6 and transmitting the drive to the drive shaft 4 is provided outside the other side plate 3. The drive from the servomotor 7 is transmitted from the motor shaft 6 to the reduction gear mechanism 10 via the joint member 12 and the drive shaft 4
The rotation of the drum 5 is transmitted to the drum 5 via the.

As shown in FIG. 2, the drum 5 is disposed at a position slightly displaced outward from the center of the side plates 2 and 3, and the drum 5 At a position opposite to the position where the drum 5 is displaced, a load cell 14 is disposed as load detecting means. A belt fixing portion 15 is connected below the load cell 14, and one end of the flat belt 13 is fixed to the outer peripheral surface of the drum 5 (not shown), and the other end thereof is fixed to the belt fixing portion 15. Are fixed via fixing members 15a and 15b. A hanging member 18 is attached to the flat belt 13 between the drum 5 and the belt fixing portion 15.
A ring-shaped hook 19 is provided below the hanging member 18, and a gripping rod 20 for walking training, which will be described later, is attached to the hook 19 via a wire 8. Further, the hanging member 18 includes a play wheel 16 rotatably supported by a roller shaft 17, and the flat member 13 is hung on the idle wheel 16 so that the hanging member 18 is attached to the idle vehicle 16. Is attached to the flat belt 13.

In this manner, the flat belt 13 stretched between the drum 5 and the belt fixing portion 15 is wound around the drum 5 by the forward rotation of the drive shaft 4, and the lifting member 18 is raised. In addition, the hanging member 18 can be lowered by being sent out of the drum 5 by the reverse rotation driving of the drive shaft 4.

The load cell 14 is supported at its upper part by a fixed shaft 21 provided between the two side plates 2 and 3 so as to be rotatable in the circumferential direction.
5, two rollers 22 and 23 are provided opposite to each other to sandwich the free end of the belt 13 fixed to the belt fixing portion 15, without firmly fixing the load cell 14. It is supported to allow some rotation in the circumferential direction. By supporting the load cell 14 in this manner, even if the hanging member 18 is in a horizontal pulling state and the belt fixing portion 15 is displaced with respect to the load cell 14, the load cell 14 is rotated in the circumferential direction accordingly, and the load cell 14 is rotated. Therefore, the belt fixing portion 15 is not distorted, and the detection accuracy of the load cell 14 is improved.

On the other hand, between the two side plates 2 and 3,
Below the drum 5, a belt guide 24 is provided for smoothly feeding the flat belt 13 from the drum 5 or winding the flat belt 13 around the drum 5. The belt guide 24 has an insertion passage 26 through which the flat belt 13 is freely movable.
And is rotatably supported by a guide shaft 25. By supporting the belt guide 24 in this manner, the flat belt 13 can be smoothly guided to the drum 5 even when the hanging member 18 is in the horizontal pulling state.

Further, between the two side plates 2 and 3,
On the radially outer upper side of the drum 5, a turbulence preventing body 27 for constantly pressing the flat belt 13 against the outer peripheral surface of the drum 5 to prevent turbulence of the flat belt 13 is provided on the pivot shaft 28. It is swingably supported through. This turbulence prevention body 27
Has a roll 29 rotatably supported at the tip,
The roll 29 is constantly urged by a spring (not shown) so as to be pressed against the outer peripheral surface of the drum 5. By providing a limit switch (not shown) on the pivot shaft 28, the limit switch is activated when the winding diameter of the flat belt 13 becomes smaller than a predetermined diameter and when the winding diameter becomes larger than the predetermined diameter. Thus, the driving of the servo motor 7 is stopped.

Further, a photoelectric sensor 30 is provided at the lower end between the two side plates 2 and 3 to
When the vehicle comes too close to the side plates 2 and 3, the photoelectric sensor 30 detects an abnormal approach and stops driving the servo motor 7.

Further, between the two side plates 2 and 3,
A trolley 32 is attached to the upper end via a support shaft 31 provided between the two side plates 2 and 3.
The trolley 32 has two running wheels 34 and 35 and is attached to a walking training rail 33 described later.

As described above, by configuring the belt-type hoisting machine 1, the load applied to the suspender 18 acts on the flat belt 13 via the idle vehicle 16 and is connected to the free end of the flat belt 13. Directly to the loaded load cell 14. For this reason, the load cell 14 accurately and reliably detects the load applied to the hanger, despite the simple configuration. Further, by using the load cell 14 as the load detecting means, it is possible to continuously and accurately detect the load applied to the hanging member 18 while being simple and inexpensive.

The belt type hoist 1 constructed as described above.
Can be suitably used for walking training. Hereinafter, a case where the belt-type hoisting machine 1 is used for walking training will be described together with its operation.

FIG. 3 is a schematic diagram of the entire apparatus when the belt-type hoisting machine 1 is adapted for walking training. In FIG. 3, 33 is a rail attached to the ceiling in the room,
1 is a belt-type hoist attached to the rail 33, 20
Is a gripping rod attached to the hook 19 of the belt-type hoist 1 via the wire 8, 40 is a trainee for walking training, and 41 is an operation unit of the belt-type hoist 1.

The rail 33 is composed of two horizontal rails 36 and 37 arranged at a predetermined interval, and a vertical rail 38 bridged between the two horizontal rails 36 and 37. The vertical rail 38 is provided movably in a direction indicated by an arrow 39 between the two horizontal rails 36 and 37. Further, the belt type hoisting machine 1 is attached via a trolley 32 so as to be movable in the longitudinal direction of the vertical rail 38.

If the trainee 40 walks in the front-back direction when performing the walking training, the trolley 32 is moved along with the trainee 40 along the vertical rail 38, and the trainee 40 walks in the left-right direction. If the vertical rail 38 is 2
It is moved along the horizontal rails 36 and 37 of the book.

FIG. 4 is a front view showing the operation panel 51 of the operation section 41. When starting walking training, the operation unit 41
After turning on the power supply 47, the operation mode switch 43 is turned on. In this operation mode, the load cell 14
Is displayed on the load display section 44, and the lifting and lowering of the flat belt 13 can be performed by the lifting switch 45 and the lowering switch 46. Therefore, in the driving mode, the load application when the trainee 40 walks, that is, the walking behavior can be always known by the load display unit 44. Therefore, it is possible to know the degree of difficulty or recovery of the trainee from the walking behavior. And depending on the degree, the hoist switch 4
5 and the operation of the lowering switch 46, the trainee 40
Is appropriately lifted so that an optimal load is applied to the trainee 40, and the trainee 40 can perform walking training.

Next, when the load control mode switch 48 is turned on, the operation mode is switched to the load control mode. In this mode, the load at which the optimal load is applied to the trainee 40 is set by key input to the load setting unit 49. In the load control mode, the computer 42 serving as load control means provided in the operation unit 41 determines that the load detected by the load cell 14 and the set load keyed in the load setting unit 49 are within a predetermined range. The drum 5 is driven so as to match. That is, when the detected load is lower than the set load, the drum 5 is driven to wind up the flat belt 13, and when the detected load is higher than the set load, the drum 5 is driven to lower the flat belt 13. Drive. By performing such control, for example, when the walking posture of the trainee 40 changes during walking training or when there is a step in the walking path, the load detected by the load cell 14 changes. Even if there is, the trainee 40 is always lifted with the load according to the set load, and the trainee 4
A constant load can always be applied to 0, and walking training can be performed in a stable state.

The computer 42 of the operation unit 41
When the load cell 14 detects a sudden change in load, stop control for stopping driving of the drum 5 is performed. FIG. 5 shows a flowchart of the control. This control is performed by turning on the load control mode switch 48 and comparing the load detected every predetermined time by the load cell 14 with the load detected last time in the state where the load control is being performed. The value obtained by subtracting the previously detected load from the detected load is the predetermined input value,
For example, if it is 10 kg or less, load detection is continued,
If the input value is a predetermined input value, for example, 10 kg or more, it is determined that there has been a sudden change in the load, and the driving of the drum 5 is controlled to be stopped.

As described above, by performing the stop control when the load cell 14 detects a sudden load change,
For example, when an accident such as a fall of the trainee 40 occurs during the walking training, the computer 42 can detect a sudden change in load and stop driving the drum 5. Therefore, by this stop control, an unexpected accident of the trainee 40 can be prevented, and safe walking training can be ensured.

Further, in this operation control mode,
Another stop control is being performed. That is, as shown in FIG. 5, an upper limit load (for example,
110 kg) and a lower limit load (for example, 4 kg) are input, and when there is a detected load between the upper limit load and the lower limit load while load control is being performed,
When the detected load deviates from between the upper limit load and the lower limit load, the control is performed so that the drum 5 is stopped. Further, the detected load is set to the upper limit load and the lower limit load for a predetermined time, for example, 2 seconds. When the state deviating from is maintained, the error is blinked on the load display section 44.

Reference numeral 50 shown in FIG. 4 is an emergency stop switch in an emergency.

In this embodiment, in the operation mode, the detected load is displayed on the load display section 44. However, the detected load is not displayed on the load display section 44, and an XY recorder or the like is connected separately. Alternatively, the walking may be recorded over time. Further, by using a position sensor and a walking analysis device together, it is possible to know more accurate walking behavior.

The load cell 14 includes trolleys 32 and 2
The load detector may be inserted between the two side plates 2 and 3, and the load detecting means may be configured such that a torque meter or the like is attached to the axis of the drum 5 instead of the load cell 14. Further, the suspending tool 18 may be configured as a gripping rod that the trainee 40 can grip as it is, or may be configured as a hanging belt or a bodice that allows the trainee 40 to be hung as it is.

Although the belt type hoist 1 of the present embodiment described above can be suitably used for walking training, it may be used for other purposes.

[0033]

As described above, according to the first aspect of the present invention, the walking behavior of the trainee can be known by the load detecting means, and the difficulty of the trainee's walking can be determined from the walking behavior. The training of the trainee can be performed in such a state that an optimum load is applied to the trainee in accordance with the degree of recovery and the degree of recovery. Therefore, the trainee can be smoothly recovered. In addition, even if the trainee's walking posture changes during walking training, or if there is a step in the walking path, the load detected by the load detecting unit may change, but the load control unit may always change the load. The load according to the set load can be applied to the trainee. Therefore, walking training can be performed in a stable state.

According to the second aspect of the present invention, if an accident such as a fall of a trainee occurs during walking training, the driving of the drum is stopped by the stop control means, and the training is performed. It prevents unexpected accidents of the elderly and ensures safe walking training.

Further, according to the third aspect of the present invention, the load detecting means can accurately and reliably detect the load applied to the hanging member with a simple configuration.

According to the fourth aspect of the present invention, it is possible to accurately and continuously detect the load applied to the hanging member while being simple and inexpensive.

According to the fifth aspect of the present invention, the belt-type hoist is used for walking training, so that the load according to the degree of difficulty of walking and the degree of recovery of the trainee can be reduced. Walking training can be performed.

[Brief description of the drawings]

FIG. 1 is a side sectional view of a belt type hoist showing one embodiment of the present invention.

FIG. 2 is a front sectional view of the belt-type hoist shown in FIG.

FIG. 3 is a configuration diagram of the entire apparatus when the belt-type hoist is adapted for walking training.

FIG. 4 is a front view showing an operation panel of an operation unit.

FIG. 5 is a flowchart illustrating stop control in a state where control is being performed in a load control mode.

[Explanation of symbols]

 Reference Signs List 1 belt-type hoisting machine 5 drum 13 flat belt 14 load cell 16 idle vehicle 18 hanging tool 42 computer

──────────────────────────────────────────────────続 き Continued on the front page (58) Field surveyed (Int. Cl. ⁷ , DB name) B66D 1 / 46,1 / 54,3 / 18 B66F 19/00

Claims (5)

(57) [Claims] 1. A belt having a hanger, and a drum around which the belt is wound and driven to be rotatable forward and backward.
In a belt-type hoist, a load detecting unit for continuously detecting a load applied to the suspending device, and a load detecting unit configured to detect a load of the drum so that a load detected by the load detecting unit is an input set load. A belt-type hoist comprising: a load control unit that controls driving. 2. The belt-type hoist according to claim 1, further comprising stop control means for stopping driving of the drum when the load detection means detects a sudden change in load. . 3. The belt type according to claim 1, wherein the hanging member is attached to the belt via a idler, and the load detecting means is connected to a free end of the belt. Hoist. 4. The belt-type hoist according to claim 1, wherein said load detecting means comprises a load cell. 5. The belt hoist according to claim 1, which is used for walking training.