JPH11155920A - Self-supporting walk supporting device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To improve safety by providing an obstacle determination means in the lower portion of an upper limb supporting section, the upper portion of a frame or between both, executing downward command prohibition, upward command output at least once, and downward command prohibition cancellation for the frame by detection signals of the obstacle determination means. SOLUTION: A tape switch 20 for determining an obstacle is fixed to the longitudinal direction of the central channel member 17c of the base member of an upper limb supporting section through a fitting device 21. The tape switch 20 is comprised of tape-like upper and lower conductive plates and a backup plate supporting the conductive plates and has a projection provided in the center. If the projection hits an obstacle, and applies a force larger than a prescribed value, the upper and lower conductive plates touch each other and output an obstacle detection signal. Then a control means stops a motor, and stops a downward motion. And then upward movement is executed at least once. If an obstacle ceases to be detected, downward motion prohibition is cancelled. Thus safety can be improved.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a self-supporting walking support device for assisting walking, standing, and sitting motions for persons with lower limb function problems. The present invention relates to a self-sustained walking support device that is not caught and is excellent in safety.

[0002]

2. Description of the Related Art Conventionally, standing up of a person with a disability in lower limb function,
The following devices (1) to (3) are known as devices provided with an electric lifting mechanism for assisting a seating operation.

(1) The rising assist device described in Japanese Patent Application Laid-Open No. 1-284247 has a structure in which a support for supporting a user's body is vertically movably supported by a machine frame. Equipped with a plurality of gears, the up and down operation is to operate an up switch and a down switch provided on a gripping unit above the support unit.

(2) The standing motion support device described in Japanese Utility Model Laid-Open No. 7-31023 discloses a support for supporting the upper limb of a human body,
It consists of a drive mechanism, an operation unit, a base and the like, and the support moves up and down by the drive mechanism. The drive mechanism includes a hydraulic cylinder and a hydraulic supply device, or includes a motor and a plurality of gears, and the elevating operation is performed by operating an operation unit provided on the support.

(3) The electric rising training machine described in Japanese Patent Application Laid-Open No. 8-71114 is composed of a bogie, a support, a movable support, an electric actuator, an upper body holding means for supporting a user's upper body, and the like. The movable column is raised and lowered by the expansion and contraction operation of the electric actuator, and as a result, the upper body holding means moves up and down. The vertical movement is performed by operating an operation switch provided on the upper body holding means.

[0006]

However, the devices of the prior arts (1), (2), and (3) all support a user's body and move up and down, and an electric motor for moving up and down. Although an elevating mechanism is provided, no means for preventing pinching of a part of a body or an obstacle during the elevating operation is employed. Therefore, in the event that the user or a third party accidentally puts a part of the body under the support during the lowering operation,
If the operation of the operation switch is continued, there is a problem that it is very dangerous.

On the other hand, as a means for detecting the above state, there is a method of detecting an overcurrent generated in a motor or the like of the elevating mechanism when the body or an obstacle is pinched, and stopping the elevating mechanism. . However, since the generated overcurrent value differs depending on the state of the pinching, it is assumed that the detection may not be possible even in the state of the pinching, and there is a problem that the reliability is lacking.

The present invention has been made in view of such circumstances, and when a body or an obstacle exists between an upper limb support and a frame or an elevating mechanism, the elevating mechanism is reliably stopped. The aim is to provide a self-sustained walking support machine with excellent safety that minimizes damage to users and third parties, ensures safety, and eliminates the presence of a body or obstacle during descending movement as much as possible. And

[0009]

In order to achieve the above object, the invention according to claim 1 comprises a frame, a moving mechanism comprising a plurality of wheels, an elevating member which can be inserted into and removed from the frame, and an elevating member. A lifting mechanism built in a frame that moves the user's body up and down from a standing position to a sitting position, or from a sitting position to a standing position, and provided at the upper end of a lifting member, and has a substantially U-shape on the user side. An upper limb support portion that opens to the upper limb support portion that supports the upper limb of the user, and a user-operated walking support device that includes an elevating switch that outputs an upward command and a downward command, wherein the lower limb support portion or the frame Obstacle determination means is provided between the upper part or the lower part of the upper limb support part and the upper part of the frame. After the downward direction command is prohibited by the obstacle detection signal of the obstacle determination means, at least one upward direction command and the obstacle By the obstacle non-detection signal of the object determination unit, wherein the prohibition of the downward command is canceled.

The frame includes a left frame including a front leg and a rear leg, a right frame, and a center frame connecting the left and right frames. The moving mechanism includes a front wheel, an intermediate wheel, and a rear wheel, and is attached to a lower portion of the left and right frames. Note that the wheel configuration does not need to be particularly six. Further, the frame configuration may be such that the left and right frames including the front leg and the rear leg are integrated, or the left and right frames and the center frame may be integrated.

The elevating mechanism is constituted by a motor built in the center frame, a plurality of gears, and an elevating member provided in the left and right frames so as to be freely inserted into and removed from the left and right frames. An upper limb support portion for supporting the open upper limb of the user is provided. In addition, although an elevating switch is provided on the front side of the upper limb support portion, the position is not particularly limited, giving priority to user's convenience.

When the user operates the elevating switch, the motor rotates, and the generated force of the motor is transmitted to the elevating member via a plurality of gears. As a result, the upper limb support part is raised and lowered, and the user's body is raised. It is moved up and down from the position to the sitting position or from the sitting position to the standing position.

As an obstacle determining means, a tape switch provided below the upper limb support is used. The tape switch
The base member is fixed in the longitudinal direction of the central channel member via a fixture. The structure of the tape switch is composed of a tape-shaped upper conductive plate, a tape-shaped lower conductive plate, a tape-shaped backup plate supporting the upper conductive plate, an intermediate insulating material for maintaining a gap between the upper conductive plate and the lower conductive plate. , An upper conductive plate, a lower conductive plate, a backup plate, and a covering material that covers the intermediate insulating material, and has a projection at the lower center of the covering material.

Normally, since the lower conductive plate is separated from the upper conductive plate, an off signal (obstruction non-detection signal) is output,
When a force equal to or more than a predetermined value is applied to the protrusion, the lower conductive plate is bent and comes into contact with the upper conductive plate, so that an ON signal (obstacle detection signal) is output.

Therefore, when the tape switch is used as an obstacle judging means, if the body or an obstacle hits the projection while the upper limb support section is descending, the tape switch outputs an obstacle detection signal and a downward command of the elevating switch is issued. Disregard and stopping the elevating mechanism prevents pinching of the body and obstacles.

Further, at least one upward command,
When the obstacle non-detection signal of the tape switch is output, the neglect of the downward command is released.

The obstacle determining means may be constituted by a microswitch provided below the upper limb support. A method of outputting an obstacle detection signal by pressing a push button of the micro switch with the micro switch and a bar member provided further below the micro switch can also be used.

On the other hand, a non-contact sensor such as a photoelectric switch can be used as the obstacle determining means. Among the photoelectric switches, there is a transmission type in which a light receiving element and a light emitting element are used as a pair. The photoelectric switch detects an object between the light receiving element and the light emitting element and outputs a signal. Therefore, for example, by using a light emitting element in the lower part of the upper limb support and a light receiving element in the upper part of the center frame, it is possible to function as an obstacle determining means. Also,
The photoelectric switch has a regression reflection type using a pair of a light receiving and emitting element and a reflection plate in which a light receiving element and a light emitting element are integrated, and a diffuse reflection type using an object itself as a reflection plate. By providing it between the upper part of the center frame or the lower part of the upper limb support part and the upper part of the center frame, it can be used as an obstacle determining means.

By these means, if there is a body or an obstacle between the upper limb support section and the frame or the elevating mechanism, the elevating mechanism is reliably stopped to minimize damage to the user and third parties. As well as ensuring safety and minimizing the presence of bodies and obstacles during the downward movement.

[0020]

BEST MODE FOR CARRYING OUT THE INVENTION Hereinafter, an embodiment of an independent walking support device according to the present invention will be described in detail with reference to the accompanying drawings.

FIG. 1 is a front view of the self-supporting walking support machine, FIG. 2 is a cross-sectional view of a frame portion of the self-supporting walking supporting machine, FIG.
4 is a cross-sectional view of the tape switch in FIG. 3, FIG. 5 is a block diagram showing a configuration of a control means in the self-supporting walking support device, and FIG. It is a flowchart figure which shows the process of.

In FIGS. 1 and 2, the frame is a front leg 1.
a, left frame 1 including rear legs 1b (shown in FIG. 2);
It comprises a right frame 2 and a center frame 3 connecting the left and right frames 1 and 2. The moving mechanism includes a front wheel 4, an intermediate wheel 5, and a rear wheel 6, and is attached to a lower portion of the left and right frames 1, 2. The lifting mechanism includes a motor 7 built in the center frame 3 and a worm 8 mounted on the motor shaft.
A worm wheel 9 meshing with the worm 8, a pinion 10 coaxial with the worm wheel 9, and an elevating member 11 provided to be freely inserted into and removed from the left and right frames 1, 2. The tooth surfaces are meshing.

The upper limb support section 12 includes a left channel member 17.
a, a right channel member 17b, a central channel member 17c (shown in FIG. 3) in a substantially H shape, and a soft member 18 mounted and fixed on the base member 17; The base member 17 is the elevating member 11
Is provided at the upper end portion of the base member with a connection member 19 interposed therebetween.

Although not particularly shown, the soft member 18 has a substantially U-shaped opening on the side of the user. Further, an elevating switch 13 is provided on the front side of the upper limb support portion 12 and a grip 14 for a user to grasp by hand when walking. In this embodiment, the left and right frames 1 and 2 and the center frame 3 are covered with a cover 15, and the outer portions of the left and right frames 1 and 2 of the elevating member 11 are extended and retractable bellows 16. Is covered.

When the user operates the elevating switch 13,
When the motor 7 rotates, the generated force of the motor 7
It is transmitted to the elevating member 11 via 9, 10 to elevate and lower the upper limb support portion 12, and move the user's body from the standing position to the sitting position,
Or, it is moved up and down from the sitting position to the standing position.

As shown in FIG. 3, a tape switch 20 used as an obstacle judging means is provided via a fixture 21 in the longitudinal direction of the central channel member 17c of the base member 17 shown in FIGS. Fixed. As shown in FIG. 4, the tape switch 20 has a tape-shaped upper conductive plate 22, a tape-shaped lower conductive plate 23, a tape-shaped backup plate 24 supporting the upper conductive plate 22, and a tape-shaped backup plate 24. An intermediate insulating material 25 for maintaining the distance between the plate 22 and the lower conductive plate 23, an upper conductive plate 22, a lower conductive plate 23, a backup plate 24, and a coating material 26 covering the intermediate insulating material 25. A projection 27 is provided at the center.
Normally, since the lower conductive plate 23 and the upper conductive plate 22 are separated from each other, an off signal (obstacle non-detection signal) is output, and when a force equal to or more than a predetermined value is applied to the protrusion 27, the lower conductive plate 2
3 is bent and comes into contact with the upper conductive plate 22 to output an ON signal (obstacle detection signal). 141-BP (trade name, manufactured by Tokyo Sensor Co., Ltd.) as the tape switch 20
M type (operating pressure 230 g / cm ² ) was used.

The control means 30 shown in FIG. 2 is housed in the center frame 3. FIG. 5 is a block diagram showing the configuration of the control means 30.

The control means 30 includes a microcomputer 31, a switch detection circuit 32, a motor drive circuit 33, and an obstacle detection circuit 3.
4. In normal use, the up-down switch 13 outputs the rising direction signal (upward command) and the seating direction signal output (downward command) to the microcomputer 31 via the respective switch detection circuits 32 and drives the motor 7. It is done by doing.

When the tape switch 20 is used as an obstacle judging means, the upper limb supporting portion 12 shown in FIGS.
When the body or obstacle hits the protrusion 27 of the tape switch 20 shown in FIG.
0 outputs an obstacle detection signal, and inputs the output to the microcomputer 31 via the obstacle detection circuit 34 to stop the motor 7, thereby ignoring the downward command of the elevation switch 13 and stopping the elevation mechanism. This prevents pinching of the body and obstacles.

Further, at least one upward command,
When the obstacle non-detection signal of the tape switch 20 is output, the neglect of the downward command is canceled.

Next, the processing for ignoring the downward command and canceling the downward command ignorance will be described with reference to the flowchart of FIG.

First, when a downward command is turned on by a lifting switch (step S1), an obstacle is determined. When it is determined that there is no obstacle ("Y" in step S2), the motor is turned on downward (step S3). The determination that there is no obstacle (“N” in step S4) and the determination that there is no lower limit (step S12)
Continue while doing “N”). If it is determined that there is an obstacle ("Y" in step S4), the motor stops (step S5).
I do. When the lower limit is determined (Step S12 “Y”), the motor stops (Step S10).

To release the judgment of the presence of an obstacle, the upward command is turned on by a lifting switch (step S6), the motor is turned on in the upward direction (step S7), and the judgment that there is no obstacle is present (step S8 "Y"). Continue until you do ")). Thereafter, the motor is turned off (step S10) by turning off the elevating switch (step S9), and the apparatus enters a standby state (step S11) for receiving a downward command. This is the case where there is no upper limit determination (Step S13 “N”), and if there is the upper limit determination (Step S13 “Y”),
The motor is turned off (step S10) and enters a standby state (step S11).

Also, in the case of the obstacle determination (step S2 "N") after the lower direction command is turned on by the lift switch (step S1), the upward command is also canceled by the lift switch. Is turned on (step S6).

[0035]

As described above, according to the self-supporting walking support device of the present invention, when there is a part of the body or an obstacle between the upper limb support and the frame or the elevating mechanism, it is possible to ensure that In addition to stopping the lifting mechanism, it is possible to minimize the damage to the user and third parties, ensure safety, and eliminate the effect of the body and obstacles during the lowering operation as much as possible. Have.

Further, when using the self-supporting walking support device, it is safe, so that the user can perform the standing operation and the sitting operation with a sense of security, and can give the user a self-supporting feeling and perform maintenance work. In addition, there is an effect that it is safe even when two people work.

[Brief description of the drawings]

FIG. 1 is a front view showing an embodiment of an independent walking support device according to the present invention.

FIG. 2 is a cross-sectional view of a frame portion of the self-supporting walking support device.

FIG. 3 is a front cross-sectional view of an upper limb support section of the self-supporting walking support device.

FIG. 4 is a sectional view of a tape switch used in the self-supporting walking support device.

FIG. 5 is a block diagram showing a configuration of control means in the self-supporting walking support device.

FIG. 6 is a flowchart showing processing for ignoring a downward command and canceling the downward command ignorance by the control means;

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Left frame 2 Right frame 3 Center frame 4 Front wheel 5 Intermediate wheel 6 Rear wheel 7 Motor 11 Elevating member 12 Upper limb support part 20 Tape switch 13 Elevating switch 30 Control means 31 Microcomputer 32 Switch detection circuit 33 Motor drive circuit 34 Obstacle detection circuit

Claims (1)

[Claims] 1. A moving mechanism comprising a frame, a plurality of wheels, an elevating member provided in the frame so as to be freely inserted and removed, and an elevating operation of the elevating member, whereby a user's body is moved from a standing position to a sitting position or from a sitting position. An elevating mechanism built into the frame that moves up and down to the upright position, an upper limb support provided at the upper end of the elevating member, opening in a substantially U-shape on the user side, and supporting the upper limb of the user. In an independent walking support device equipped with a lift switch that outputs an upper direction command and a lower direction command, the lower limb support section, or the upper frame, or an obstacle determination unit is provided between the upper limb support section and the upper frame, After ignoring the down direction command by the obstacle detection signal of the obstacle determination means, the neglect of the down direction command is canceled by at least one upward command and the obstacle non-detection signal of the obstacle determination means. Independence walking support machine and wherein the Rukoto.