WO2008072729A1

WO2008072729A1 - Electric assisting device

Info

Publication number: WO2008072729A1
Application number: PCT/JP2007/074122
Authority: WO
Inventors: Takahide Ichimaru; Mitsuyuki Wakabayashi; Hiroshi Ochiai
Original assignee: Nifco, Inc.
Priority date: 2006-12-15
Filing date: 2007-12-14
Publication date: 2008-06-19

Abstract

An electric assisting device for varying the moving speed of a movable object in response to the demand of the user. When a cabinet of an electric suspended closet (10) is moved, a microcomputer (82) derives a target rotational speed from the level of the voltage outputted from a strain sensor (72) provided to a handle part and rotates the rotary shaft of a motor (40) at the target rotational speed by feedback control. In consequence, the arm of the electric suspended closet (10) is rotated to rotate the cabinet. Thus, the lowering or raising of the cabinet by the user is assisted. That is to say, if the load needed to move the cabinet is heavy (the load of the cabinet is heavy or the cabinet is fast moved), the speed of the movement of the cabinet is high, and the assisting force by the motor (40) is strong. Therefore, in response to the demand of the user, the moving speed of the cabinet can be varied.

Description

Specification

Electric auxiliary device

Technical field

[0001] The present invention relates to an electric auxiliary device for moving a moving body.

Background art

[0002] In order to move a moving body at a predetermined position, for example, in a system kitchen or the like, a cabinet that is a moving body is moved up and down by an electric lifting mechanism with respect to an outer box attached to the upper wall of the kitchen. An electric lifting and hanging cupboard is provided. Specifically, in Patent Document 1, the cabinet is supported by an elevating mechanism so as to be movable up and down with respect to the outer box, and the cabinet is moved up and down by a motor.

[0003] However, simply using a motor in this way results in the same speed of ascending and descending movement of the cabinet, and when the one stored in the cabinet is used, the cabinet is lowered. I feel that time is long and I'm worried about using it!

[0004] On the other hand, some doors for entrance can be automatically opened and closed using a motor (Patent Documents 2 to 4). Move the front door at the moving speed.

Patent Document 1: Japanese Unexamined Patent Publication No. 2005-21298

Patent Document 2: JP 2000-80859 A

Patent Document 3: JP 2006-125164 A

Patent Document 4: Japanese Patent Application Laid-Open No. 11 303508

Disclosure of the invention

Problems to be solved by the invention

[0005] In view of the above facts, an object of the present invention is to provide an electric auxiliary device that can change the moving speed of a moving body according to a user's request.

Means for solving the problem

[0006] The present invention relates to a moving means for moving a moving body, and the moving body in an electric auxiliary device. A moving member that controls the moving means based on the magnitude of the load acting on the handle detected by the detecting means, the detecting means for detecting the load acting on the grip, And control means for changing the speed.

In the aspect of the present invention, the load acting on the force moving body in which the moving body is moved by the moving means is detected by the detecting means. Based on the load acting on the moving body, the moving means is controlled by the control means so as to change the moving speed of the moving body.

[0008] Therefore, when the load (stress) acting when moving the moving body is small (the load of the moving body is small or the moving body is moved slowly), the moving speed of the moving body is decreased. The assisting force (assisting force) by the moving means is reduced.

[0009] On the other hand, when the load (stress) acting when moving the moving body is large (the load of the moving body is large or the moving body is moved quickly), the moving speed of the moving body is increased. Increase the assisting force by the moving means.

In other words, the moving speed of the moving body (assist force by the moving means) can be changed according to the force applied by the person (in response to the user's request).

[0011] Further, according to the present invention, the detection means includes: an elastic member that is provided on the handle and elastically deforms with a load acting on the handle; and a deformation amount detection unit that detects a deformation amount of the elastic member. It is characterized by comprising.

[0012] In the above aspect, the handle is provided with an elastic member, and the amount of elastic deformation of the elastic member is detected by the deformation amount detection unit. When the elastic deformation amount of the elastic member is small, the assisting force by the moving means is small and the moving speed of the moving body is slow. On the other hand, when the elastic deformation amount of the elastic member is large, the assist force by the moving means is large, and the moving speed of the moving body is fast.

[0013] In the present invention, the deformation amount detection unit detects a direction of a load acting on the handle, and the control unit moves the moving body in the direction of the load detected by the deformation amount detection unit. It is characterized by that.

[0014] In the above aspect, the deformation amount detection unit detects the direction of the load acting on the handle. Then, the control means moves the moving body in the direction of the load detected by the deformation amount detection unit. For example, when moving a moving body that reciprocates, the forward and backward paths of the moving body

Assist force by each moving means can be obtained.

[0015] Further, according to the present invention, the deformation amount detection unit is a strain sensor, the strain sensor is disposed on the elastic member, and the elastic member is elastic by a lever that moves following the movement of the handle. It is characterized by being deformed.

[0016] In the above aspect, the deformation amount detection unit is a strain sensor, and the strain sensor is disposed on the elastic member, and the elastic member is elastically deformed by a lever that moves following the movement of the handle. That is, when the handle is moved, the elastic member is deformed by the lever. Since a correlation is obtained between the strain and the stress within the elastic deformation range of the elastic member, the stress acting on the handle can be obtained according to the voltage level output from the strain sensor.

[0017] Further, the present invention is provided with a load direction detection unit that detects a direction of a load acting on the moving body, and the control means places the moving body in a load direction detected by the load direction detection unit. It is made to move.

[0018] In the above aspect, the load direction detection unit that detects the direction of the load acting on the moving body is provided, and the control unit moves the moving body in the direction of the load detected by the load direction detection unit. Thus, substantially the same effect as that of the invention of claim 3 can be obtained.

[0019] Further, the present invention is characterized in that the control means increases or decreases the moving speed of the moving body stepwise in accordance with the magnitude of the load acting on the handle.

[0020] In the above aspect, the moving body is controlled according to the user's request by controlling by the control means so as to gradually increase or decrease the moving speed of the moving body according to the magnitude of the load acting on the handle. Can change the speed.

[0021] Further, the present invention is characterized in that the moving body is a rotating member that rotates and moves around a shaft portion.

[0022] Further, the present invention is characterized in that the moving body is a linearly moving member that slides.

[0023] Further, according to the present invention, the moving unit rotates to move the rotating member, an arm rotating unit to rotate the arm, and a driving force to the arm rotating unit. And a driving means. [0024] In the above aspect, the driving force from the driving unit is transmitted to the arm by the arm rotating unit, and the arm rotates. The pivot member is pivoted by this arm.

[0025] In the present invention, the rotating member is a door, is provided so as to be able to enter and exit from a free end surface of the door, and is capable of swinging along the moving direction of the door, and the door A hole portion into which the latch member can be inserted, and a lock means for restricting the swing of the latch member in a state where the latch member is inserted into the hole portion, The driving force from the driving means is not transmitted to the arm rotating means until the lever moves and the lock means releases the swing restriction of the latch member.

[0026] In the above aspect, the rotating member is a door, and a latch member is provided so as to be able to enter and exit from the free end surface of the door, and is provided so as to be swingable along the moving direction of the door. On the other hand, a hole portion into which the latch member can be inserted is provided on the frame side of the door, and the swinging of the latch member is regulated by the lock means in a state where the latch member is inserted into the hole portion. .

[0027] Then, until the state where the swing of the latch member is restricted by the locking means is released, the driving force from the driving means is prevented from being transmitted to the arm rotating means, so that the latch member The excessive stress is not applied to prevent the latch member from being damaged.

[0028] Further, the present invention is characterized in that the arm rotating means is provided with a clutch means for cutting off or transmitting a driving force from the driving means.

[0029] In the above aspect, the arm turning means is provided with clutch means, and the clutch means transmits the driving force from the driving means to the arm, or interrupts the transmission of the driving force to the arm. Thus, for example, only the movement of the door in one direction can be obtained by the force S to obtain the assist force by the moving means.

[0030] Further, the present invention is provided with a closer for returning the opened door to the closed position, and when the door is moved in the closing direction by the closer, the clutch means drives the driving force from the driving means. Is cut off.

[0031] In the above aspect, there is provided a closer for returning the opened door to the closing position, and when the door is moved in the closing direction by the closer, the driving force from the driving means is cut off by the clutch means. I have to. [0032] By providing the closer, when the door is opened, a force is applied to return the door to the closed position by the closer, so that the load for moving the door increases accordingly. In this case, since the assisting force by the moving means is obtained by the control means, the load for moving the door is reduced.

[0033] On the other hand, in the state where the door is opened, the door can be returned to the closed position by the closer, so the driving force from the driving means is interrupted by the clutch means. As a result, the driving means can be driven only in the door opening direction.

In other words, power can be divided according to the moving direction of the door, such as using the driving force (assist force) of the driving means when opening the door and using the closer when closing the door. .

[0035] Further, according to the present invention, the rotating member is a hanging cupboard, the moving means rotates and suspends the hanging cupboard so as to be movable up and down, and a power transmission means for transmitting a rotational force to the arm. And a motor capable of rotating in the forward and reverse directions for applying a driving force to the power transmission means.

[0036] In the above aspect, the power transmission means is driven by the driving force from the motor that can rotate forward and reverse to rotate the arm. With this rotation of the arm, the hanging cabinet suspended by the arm moves up and down, but with the force S to obtain the assist force by the motor in the ascending and descending movement of the hanging cabinet.

[0037] In the present invention, the handle includes a metal plate in which both end portions are supported and the deformation amount detection unit is disposed in a central portion, and an outer cylinder provided outside the metal plate. And a support part for supporting both surfaces of the metal plate is provided at the center of the outer cylinder.

[0038] In the above aspect, both end portions of the metal plate having the deformation amount detection portion disposed at the center portion are supported, and the outer cylinder is provided outside the metal plate. A support portion for supporting both surfaces of the metal plate is provided at the center of the outer cylinder. Since the handle is supported at both ends, the deformation acting on the center of the handle where the amount of stagnation is the largest is arranged in the center of the handle so that the load acting on the handle can be accurately measured. Can be sought.

[0039] In addition, the direction of the load acting on the handle is substantially vertical, and it deforms on the surface of the metal plate. By disposing the amount detection unit, the deformation amount detection unit is arranged in a state substantially orthogonal to the direction of the applied load, so that the load acting on the handle can be obtained more accurately. .

[0040] Furthermore, the deformation amount detector is protected by providing an outer cylinder outside the metal plate. And by providing the support part which supports both surfaces of a metal plate in the center part of an outer cylinder, if the center part of a handle is gripped, a metal plate will be pressed via an outer cylinder and a support part, and a metal plate will be elastically deformed. .

[0041] Further, the present invention is characterized in that an urging means is provided between the outer cylinder and the metal plate to keep a constant distance between the outer cylinder and the metal plate.

[0042] In the above aspect, the positional relationship between the outer cylinder and the metal plate can be maintained by providing the urging means that keeps the distance between the outer cylinder and the metal plate constant between the outer cylinder and the metal plate.

[0043] Further, the present invention is characterized in that contact detection means for detecting whether or not the handle is touched and for transmitting a signal to the control means is provided.

[0044] In the above aspect, when the handle provided on the moving body comes into contact, the contact detection means detects the contact with the handle and transmits a signal to the control means. And in the control means

In addition to receiving the signal sent from the contact detecting means, the moving speed of the moving body is controlled based on the load acting on the handle detected by the detecting means.

[0045] Further, according to the present invention, the linear moving member is a sliding door, and the moving means includes a rack provided on the sliding door, and a power transmission means for transmitting a rotational force to a pinion that mates with the rack. And a motor capable of forward and reverse rotation that applies a driving force to the power transmission means.

[0046] In the above aspect, the power transmission means is driven by the driving force from the motor that can rotate forward and reverse to rotate the pinion. By this rotation of the pinion, a force that moves the sliding door linearly through the rack. In the reciprocating movement of the sliding door, an assist force by the motor can be obtained.

The invention's effect

[0047] Since the present invention has the above configuration, the moving speed of the moving body is changed according to the user's request. The power S

Brief Description of Drawings

FIG. 1 is a perspective view showing a state in which the electric hanging cabinet according to the first embodiment is stored in a storage unit.

FIG. 2 is a perspective view showing a state where the electric hanging cabinet according to the first embodiment is lowered.

FIG. 3 is a perspective view showing a configuration of a power transmission device for an electric wall cabinet according to the embodiment of the first embodiment.

FIG. 4A is a cross-sectional view showing a configuration of a grip portion of the electric hanging cabinet according to the first embodiment.

FIG. 4B is a cross-sectional view taken along the line AA of FIG. 4A showing the configuration of the gripping portion of the electric hanging cabinet according to the first embodiment.

FIG. 5 is a block diagram showing the configuration of the electric assist device for the electric hanging cabinet according to the first embodiment.

FIG. 6 is a table showing a potential difference target rotation speed conversion table stored in the microcomputer of the electric hanging cabinet according to the first embodiment. It is a schematic plane sectional view shown.

FIG. 7A is a schematic sectional side view showing the operation of the electric hanging cabinet according to the first embodiment and an explanatory view showing the state of the gripping portion of the electric hanging cabinet corresponding to this.

FIG. 7B is a schematic sectional side view showing the operation of the electric hanging cabinet according to the first embodiment and an explanatory view showing the state of the gripping portion of the electric hanging cabinet corresponding to this.

FIG. 7C is a schematic sectional side view showing the operation of the electric hanging cabinet according to the first embodiment and an explanatory view showing the state of the gripping portion of the electric hanging cabinet corresponding to this.

FIG. 8 is an explanatory view showing the operation of the power transmission device when lowering the electric hanging cabinet according to the first embodiment.

FIG. 9A is a schematic sectional side view showing the operation of the electric hanging cabinet according to the first embodiment and an explanatory view showing the state of the gripping portion of the electric hanging cabinet corresponding to this.

FIG. 9B is a schematic sectional side view showing the operation of the electric hanging cabinet according to the first embodiment and an explanatory view showing the state of the gripping portion of the electric hanging cabinet corresponding to this.

FIG. 9C is a schematic sectional side view showing the operation of the electric hanging cabinet according to the first embodiment and an explanatory view showing the state of the gripping portion of the electric hanging cabinet corresponding to this. FIG. 10] is an explanatory diagram showing the operation of the power transmission device when raising the electric hanging cabinet according to the first embodiment.

FIG. 11 is a perspective view showing a configuration of an open / close door according to a second embodiment.

12A] is a front view showing the configuration of the latch unit of the open / close door according to the second embodiment.

FIG. 12B is a front view showing a configuration of a latch unit of the open / close door according to the second embodiment, and shows a latch unlocked state.

FIG. 13 is a front view showing a configuration of a sensing unit for an open / close door according to a second embodiment.

FIG. 14 is a plan view showing a configuration of an electric assist device for an opening / closing door according to a second embodiment.

FIG. 15 is a cross-sectional view showing a configuration of an electric assist device for an opening / closing door according to a second embodiment.

FIG. 16A is a cross-sectional view showing the action of the electromagnetic clutch of the electric assist device for an open / close door according to the second embodiment, showing a state in which the driving force from the motor is transmitted.

FIG. 16B is a cross-sectional view showing the operation of the electromagnetic clutch of the electric assist device for an open / close door according to the second embodiment, and shows a state in which the driving force from the motor is interrupted.

FIG. 17 is an explanatory view showing a configuration of an opening / closing door according to a second embodiment.

FIG. 18 is a block diagram showing a configuration of an electric assist device for an opening / closing door according to a second embodiment.

FIG. 19 is a graph showing the relationship between loads acting on the open / close door according to the second embodiment.

FIG. 20 is a perspective view showing a configuration of a modification of the open / close door according to the second embodiment. BEST MODE FOR CARRYING OUT THE INVENTION

Hereinafter, the first embodiment of the present invention will be described in detail with reference to the drawings.

[0050] (First embodiment)

1 and 2 show an electric hanging cabinet 10 as an electric auxiliary device according to the first embodiment of the present invention. This electric hanging cabinet 10 is used for the system kitchen as an example. The electric hanging cabinet 10 is provided with a box-shaped cabinet (moving body) 12, and tableware can be stored in the cabinet 12. The cabinet 12 can be stored in a box-shaped storage part 14 whose front side is open.

Yes

[0051] A shaft support pin 18 is provided on the side plate 16 of the storage portion 14, and one end of an arm 20 is rotatably supported on the shaft support pin 18. An arcuate guide hole 22 is formed in the side plate 16 of the storage portion 14 around the pivot pin 18, and a guide pin 24 attached to the arm 20 is passed through the guide hole 22. Yes. Therefore, the guide pin 24 is guided along the guide hole 22 around the pivot pin 18.

Here, the other end portion of the arm 20 is attached to a mounting portion 28 provided on the rear upper side of the side plate 26 of the cabinet 12, and the pivot pin 18 is centered through the arm 20. The cabinet 12 can swing.

Further, shafts 32 and 34 are bridged between the side plate 16 and the side plate 16 in the storage unit 14. The shaft 34 is disposed on the front side of the side plate 16 and cannot rotate with respect to the side plate 16. Further, one end portion of an arm 36 is rotatably supported on the shaft 34, and the other end portion of the arm 36 is attached to a mounting portion 38 provided on the center side of the side plate 26 of the cabinet 12, and the arm 36 is Following 20 and rotating around the shaft 34, the cabinet 12 can swing.

On the other hand, the shaft 32 is rotatably supported with respect to the side plate 16 and can be rotated by a power transmission device 33 as a moving means. The power transmission device 33 includes a motor 40 that can rotate forward and backward, and the driving force of the motor 40 is transmitted to the shaft 32 via a gear train 42 described later.

As shown in FIG. 3, a worm 44 constituting a gear train 42 is directly connected to the rotating shaft 40 A of the motor 40, and the driving force from the motor 40 is transmitted to the worm 44. The worm wheel 46A meshes with the worm 44, and the small gear 46B provided integrally with the worm wheel 46A rotates by the rotation of the worm wheel 46A. The rotation of the small gear 46B causes the large gear 48A that meshes with the small gear 46B to rotate. [0056] The large gear 48A is provided with a small gear 48B on the body, and the small gear 48B is rotated by the rotation of the large gear 48A. Then, by the rotation of the small gear 48B, the large gear 50A that meshes with the small gear 48B rotates, and the bevel gear 50B that rotates integrally with the large gear 50A rotates.

The force, the bevel gear 50B is in mesh with the force fixed to the shaft 32, the bevel gear 52, and the shaft 32 is rotated by the rotation of the bevel gear 52. Yes. Here, the motor 40 is provided with an encoder 41, and the encoder 41 outputs a noise corresponding to the forward / reverse rotation and the rotation speed.

As shown in FIG. 2, a power transmission gear 54 is fixed to both ends of the shaft 32.

On the other hand, the side plate 16 of the storage portion 14 is provided with a disk-like arm swinging shaft plate 56 that rotates about the shaft support pin 18. The arm swinging shaft plate 56 has a guide pin 24 therethrough, and an arm swinging gear 56A is formed on the outer peripheral surface of the arm swinging shaft plate 56.

[0059] The arm swinging gear 56A is in mesh with the power transmission gear 54, and the rotation of the power transmission gear 54 causes the arm swinging shaft plate 56 to rotate around the shaft support pin 18, thereby rotating the arm swinging gear 56A. While moving the guide pin 24 along the guide hole 22 through the shaft plate 56, the arm 20 is rotated to move the cabinet 12 up and down. Then, following the movement of the cabinet 12, the arm 36 rotates.

By the way, a pair of support plates 60 hang down from the lower part of the front surface of the cabinet 12, and a rod-shaped gripping portion 62 is supported on the support plates 60. By raising and lowering the grip 62, the cabinet 12 can be raised and lowered (oscillated) via the support plate 60 (described later).

[0061] As shown in Figs. 4A and 4B (Fig. 4B is a cross-sectional view taken along the line A-A in Fig. 4A), the gripping portion 62 includes a cylindrical grip 64 made of resin, Inside the grip 64, a flat metal plate 66 is provided. The metal plate 66 is formed longer than the grip 64, and both ends of the metal plate 66 are fixed to the support plate 60.

[0062] Here, a gap is provided between the grip 64 and the metal plate 66, and the center portion in the longitudinal direction of the grip 64 faces the front and back surfaces of the metal plate 66, respectively. A convex portion (support portion) 64A is provided on the surface. For this reason, the gripping part 62 is When the hand grips the grip 64 by hand and moves it up and down, the convex portion 64A comes into contact with the metal plate 66 to cause distortion (stagnation) in the metal plate 66.

[0063] Further, at both ends of the grip 64, a plate spring (biasing means) 68 is disposed in a gap provided between the grip 64 and one end thereof is the front or back surface of the metal plate 66. The other end abuts against the inner peripheral surface of the grip 64 and urges the grip 64 outward. Thereby, the positional relationship between the grip 64 and the metal plate 66 is maintained.

[0064] Here, since it is only necessary to maintain the positional relationship between the grip 64 and the metal plate 66, it is not always necessary to be the leaf spring 68. The gap between the grip 64 and the metal plate 66 is not necessary. It is also possible to provide a support member!

Furthermore, a metal part 70 is provided at the center part of the grip 64, and a touch sensor (detection means) 71 (see FIG. 5) is connected to the metal part 70. The touch sensor 71 is connected to a microcomputer 82 (see FIG. 5), which will be described later, and detects a change in capacitance that occurs when the user contacts the metal part 70. In addition, since the metal part 70 should just be an electroconductive member, it does not necessarily need to be a metal and may be electroconductive resin.

[0066] On the other hand, at the central portion in the longitudinal direction of the metal plate 66, the strain sensor faces the convex portion 64A.

(Detection means) 72 is provided. Since the center portion of the gripping portion 62 has the largest amount of strain, the load (stress) acting on the gripping portion 62 can be obtained more accurately by disposing the strain sensor 72 at the center portion of the gripping portion 62. To be able to. The strain sensor 72 is protected by providing a grip 64 outside the strain sensor 72.

[0067] By the way, the direction of the load acting on the gripping portion 62 is substantially vertical, and by disposing the strain sensor 72 on the surface of the metal plate 66, the state is substantially perpendicular to the direction of the acting load. Thus, since the strain sensor 72 is arranged, the load acting on the grip portion 62 can be obtained more accurately.

[0068] The strain sensor 72 includes a strain gauge (not shown). The strain gauge has a force S that changes its resistance value according to the direction of strain and the magnitude of the strain S. Since the change in this resistance value is extremely small, the resistance change of the strain gauge is replaced with a change in voltage and amplified. I am trying to output.

[0069] Then, within the range of elastic deformation of the metal plate 66, the correlation between stress and strain is obtained. As a result, the stress acting on the gripping part 62 can be obtained from the voltage level of the signal output from the strain sensor 72. The voltage level of the output signal changes according to the strain direction and strain amount of the metal plate 66.

That is, when the strain sensor 72 is distorted in the downward direction, the voltage level output from the strain sensor 72 is decreased, and when the strain sensor 72 is distorted in the upward direction, the voltage level is increased. Thus, by detecting the voltage output from the strain sensor 72, not only the magnitude of the load acting on the grip 64 but also the direction can be detected.

[0071] Here, the configuration of the electric system for controlling the operation of the electric hanging cabinet 10 according to the first embodiment will be described.

[0072] As shown in FIG. 5, the electric assist device 78 as a control means of the electric hanging cabinet 10 includes an amplifier circuit 80, a microcomputer (hereinafter referred to as "microcomputer") 82, and a drive circuit 84. The voltage level of the signal output from the strain sensor 72 is amplified by the amplification circuit 80 by a predetermined factor (in this embodiment, it can be amplified from 5,000 times the power of IX 10 ⁶ ). The

[0073] Then, the microcomputer 82 obtains the rotational speed and rotational direction of the motor 40 based on the two-phase pulse input from the encoder 41, and the rotational speed, rotational direction, and amplified signal from the amplification circuit 80 are obtained. A speed control signal for controlling the rotation speed of the motor 40 is output based on the voltage level. In response to this speed control signal, the drive circuit 84 controls the rotational speed of the motor 40.

[0074] The signal output from the strain sensor 72 has several voltage levels, and the S / N ratio with the noise generated in the wiring through which the signal is transmitted cannot be increased. Therefore, in the electric hanging cabinet 10 according to the present embodiment, the amplification circuit 80 is provided at a position close to the strain sensor 72, the distance between the amplification circuit 80 and the strain sensor 72 is shortened, and the amount of noise generated in the wiring is reduced. However, the effect of noise is suppressed to a minimum by performing amplification within a short period.

In addition, the microcomputer 82 has a CPU, ROM, RAM, and the like integrated on one chip, and previously stores a drive control program, a potential difference target rotation speed conversion table, and the like.

The drive circuit 84 changes the rotation speed of the motor 40 by changing the duty ratio of the drive signal output to the motor 40 in accordance with the speed control signal. FIG. 6 shows an example of the potential difference target rotation speed conversion table stored in the microcomputer 82 according to the present embodiment.

[0078] As shown in the figure, the potential difference target rotation speed conversion table stores the target rotation speed for each potential difference, and the value is set so that the target rotation speed increases as the absolute value of the potential difference increases. Has been. In this embodiment, when the rotating shaft 40A force S of the motor 40 is rotated in the direction in which the cabinet 12 is lowered, the rotational speed of the motor 40 is a negative value, and in the direction in which the cabinet 12 is rotated in the upward direction. The direction of rotation is also shown as a positive value. Then, the drive circuit 84 changes the rotation speed of the motor 40 by changing the duty ratio of the drive signal output to the motor 40 according to the speed control signal.

[0079] (Action 'effect)

Next, the operation and effect of the electric hanging cabinet 10 according to the first embodiment will be described.

[0080] As shown in Figs. 7A to 7C (in addition, Figs. 7A to 7C are schematic side sectional views showing the operation of the electric hanging cabinet 10 and the state of the gripping portion 62 of the electric hanging cabinet 10 corresponding thereto. When the cabinet 12 stored in the storage unit 14 is lowered, the force for gripping the metal part 70 of the gripping part 62 by hand. At this time, the capacitance of the metal part 70 exceeds a predetermined value. Then, the motor 40 can be rotated via the microcomputer 82.

[0081] When a downward load is applied to the gripping portion 62, the metal plate 66 is strained downward via the convex portion 64A (see Fig. 4) provided inside the gripping portion 62. The strain sensor 72 is distorted downward according to the strain of the metal plate 66 (see FIG. 7B).

At this time, the voltage level output from the strain sensor 72 rises above a reference potential described later. The microcomputer 82 (see FIG. 5) stores the voltage level output from the instantaneous strain sensor 72 in which the metal part 70 is gripped, and the metal part 70 is gripped with the stored voltage level as a reference potential. The potential difference from the voltage level output from the strain sensor 72 is detected.

Then, the microcomputer 82 derives the target rotational speed from the potential difference target speed exchange table (see FIG. 6) based on this potential difference, and performs the target rotational speed by so-called feedback control. Then rotate the rotating shaft 40A of the motor 40 in the direction of arrow A (see Fig. 8).

Accordingly, as shown in FIGS. 2 and 8, the shaft 32 rotates in the arrow A direction via the gear train 42, and the power transmission gear 54 rotates in the arrow A direction. Then, the arm swinging shaft plate 56 rotates about the shaft support pin 18 in the direction of arrow A via the arm swinging gear 56A meshing with the power transmission gear 54.

As shown in FIGS. 7B and 7C, the rotation of the arm swinging shaft plate 56 causes the guide pin 24 to guide the guide hole 22 around the shaft support pin 18 through the arm swinging shaft plate 56 as shown in FIGS. 7B and 7C. Rotating the arm 20 in the direction of arrow A while moving along the direction of the arm 12, and moving the cabinet 12 downward through the arms 20 and 36, the user 12 moves down the cabinet 12.

On the other hand, as shown in FIGS. 9A to 9C (note that FIGS. 9A to 9C are schematic side cross-sectional views showing the operation of the electric hanging cabinet 10 and the gripping portion 62 of the electric hanging cabinet 10 corresponding thereto. When the lowered cabinet 12 is stored in the storage part 14, the metal part 70 of the grip part 62 is gripped by hand. As a result, the motor 40 can be rotated via the microcomputer 82.

[0087] When an upward load is applied to the gripping portion 62, the metal plate 66 is strained upward via the convex portion 64A of the gripping portion 62, and is distorted according to the strain of the metal plate 66. Sensor 72 is distorted upward (see Figure 9B).

[0088] At this time, the voltage level output from the strain sensor 72 rises above the reference potential. For this reason, the microcomputer 82 derives the target rotation speed based on the potential difference between the voltage level output from the strain sensor 72 and the reference potential when the metal part 70 is gripped, and feeds it. The rotation shaft 40A of the motor 40 is rotated in the direction of arrow B at the target rotation speed by the control (see FIG. 10).

Accordingly, as shown in FIGS. 2 and 10, the shaft 32 rotates in the direction of arrow B and the power transmission gear 54 rotates in the direction of arrow B via the gear train 42. Then, the arm swinging shaft 56 rotates about the shaft support pin 18 in the direction of arrow B via the arm swinging gear 56A.

As the arm swinging shaft plate 56 rotates, the arm swinging shaft plate 56 passes through the arm swinging shaft plate 56 as shown in FIG. B, as shown in Fig. 9C, the arm 20 is rotated in the direction of the arrow B while moving the guide pin 24 along the guide hole 22 around the pivot pin 18, and the cabinet 20 The user's cabinet 12 is lifted by rotating the cabinet 12 in the direction of lifting.

As described above, in the present invention, the magnitude of the load acting on the gripping portion 62 is detected, and the target rotational speed of the motor 40 is changed according to the magnitude of the load. That is, the speed at which the cabinet 12 is moved is changed according to the size of the load acting on the gripping portion 62.

[0092] Therefore, when the load required when moving the cabinet 12 is small (the load on the cabinet 12 is small or the cabinet 12 is moved slowly), the speed at which the cabinet 12 is moved becomes slow, and the power transmission device 33 Assist force by (Motor 40) is small

[0093] On the other hand, when the load required when moving the cabinet 12 is large (the load on the cabinet 12 is large or the cabinet 12 is moved quickly), the speed at which the cabinet 12 is moved increases and power is transmitted. The assist force by the device 33 is increased. That is, the moving speed of the cabinet 12 can be changed according to the request of the user.

In addition, when the touch sensor 71 detects contact with the grip portion 62 and a signal is transmitted to the microcomputer 82, the microcomputer 82 can force the motor 40 into a rotatable state by receiving the signal. . That is, when contact with the gripping part 62 is not detected, the motor 40 is unable to rotate, and when the hand is released from the gripping part 62, the motor 40 stops moving.

In addition, the configuration (see FIG. 5) of the electric assist device 78 described in the present embodiment is an example, and can be appropriately changed without departing from the gist of the present invention.

[0096] For example, although not shown, a position sensor that detects the position of the cabinet 12 is provided, and when the cabinet 12 is stored in the storage unit 14, the grip unit 62 contacts when the cabinet 12 reaches a predetermined position. The cabinet 12 may be completely stored in the storage portion 14 by the driving force of the motor 40 regardless of the presence or absence.

[0097] Here, the strain sensor 72 is used to detect the strain of the metal plate 66. However, the strain sensor 72 only needs to be able to determine the amount of strain acting on the metal plate 66. is not. In addition, a member that can be elastically deformed by an acting load Of course, the member inside the grip 64 may be other than the metal plate 66.

[0098] (Second Embodiment)

FIG. 11 shows an opening / closing door 100 as an electric auxiliary device according to the second embodiment of the present invention. Note that description of parts similar to those of the first embodiment is omitted.

Yes

[0099] The open / close door 100 is pivotally supported by the rectangular door frame 102 so as to be rotatable about one end side in the width direction as an axis, and the open / close door 100 is closed inside the open / close door 100. A closer (returning means) 104 is provided for biasing in the direction.

[0100] Further, the open / close door 100 is provided with a latch-cut 106 to maintain the open / close door 100 in a closed state. Further, the opening / closing door 100 is provided with a sensing unit 108 so that the opening / closing of the opening / closing door 100 can be detected. The electric assist device 110 can be driven in conjunction with the sensing unit 108.

[0101] These details are described below.

[0102] (Closer 104)

A closer 104 is disposed at the upper part of the opening / closing door 100 on the shaft side. The closer 104 is provided inside the opening / closing door 100. One end of a link arm 112 is fixed to the closer 104, and the other end of the link arm 112 is fixed to a door frame 102.

[0103] By opening and closing the link arm 112, the open / close door 100 can be opened and closed. The link arm 112 is provided with a spring (not shown) and biases the door 100 in a direction to close the door 100. For this reason, when the opening / closing door 100 is opened, the spring is extended and the elastic force is accumulated. If the hand is released from the open / close door 100 with the open / close door 100 open, the spring is restored and the open / close door 100 moves in the closing direction via the link arm 112.

[0104] (Latch unit 106)

On the other hand, the opening / closing door 100 is provided with a substantially rod-shaped door handle 114. At the top and bottom of the door handle 114, mounting portions 116, 118 are provided. The door handle 114 is attached to the open / close door 100.

[0105] Further, on the end surface of the open / close door 100 on the free end side, the lock case 12 corresponds to the mounting portion 116.

0 is inserted. As shown in FIGS. 11, 12A, and 12B, the lock case 120 can accommodate a substantially triangular latch 122 in plan view (note that FIG. 12 is a front view of the lock case 120). The movement is restricted by the shaft 128 that is urged by the spring 124 and protrudes from the hole 126 formed on the side end surface of the lock case 120 in the vertical direction at the base of the latch 122. .

[0106] A rectangular concave strike (not shown) is formed on the door frame 102 side. A latch 122 can be inserted into this strike. When the door 100 is closed, the latch 122 is inserted.

122 is inserted into the strike.

[0107] The latch 122 is swingable in the depth direction in FIG. 12 around the shaft plate 128, swings in accordance with the moving direction of the open / close door 100, and strikes when the open / close door 100 is opened / closed. Reduce the impact force on the latch 122 that touches the edge!

On the other hand, in the lock case 120, a stopper 130 having an inverted T shape can swing around the shaft portion 132. One end of the stopper 130 can be brought into contact with the shaft plate 128 of the latch 122, and the other end of the stopper 130 is in contact with the upper surface of the lower wall 134A of the substantially rectangular lifting member 134.

In addition, an L-shaped piece 138 that swings around the shaft portion 136 is provided above the stopper 130, and a pin 140 force S formed at one end of the L-shaped piece 138 and the stopper 130 It is inserted into a hole 142 formed in the vertical piece 130A.

[0110] For this reason, when the stopper 130 swings, the force that the hole 142A of the vertical piece 130A tries to move in a circular arc around the shaft 132 is accompanied by the pin 140 via the pin 140. Shaft 13

L-shaped piece 138 swings around 6.

[0111] The torsion spring 144 is in contact with the L-shaped piece 138, and the L-shaped piece 1 around the shaft 136.

38 is urged in the direction of arrow A. A stopper wall 146 is provided on the other end portion side of the L-shaped piece 138. When the other end portion of the L-shaped piece 138 comes into contact with the strobe wall 146, the rocking movement of the L-shaped piece 138 is restricted. The

In this state, the pin 140 moves to the position shown in FIG. , The lever 122 abuts against the shaft plate 128 of the latch 122, and the locked state of the latch 122 is maintained. That is, when the latch 122 is inserted into the strike, the one end force of the stagger 130 abuts against the shaft plate 128 of the latch 122, and the latch 122 swings with respect to the movement of the opening / closing door 100 in the opening direction. Regulated (the locked state of the latch 122).

[0113] On the other hand, when the stopper 130 is moved to the position shown in FIG. 12B, one end of the stopper 130 is not in contact with the shaft plate 128 of the latch 122, and the latch 122 moves toward the opening direction of the door 100. It can swing with respect to the movement (the latch 122 is unlocked).

[0114] A handle handle lever 148 (lever) is in contact with the lower surface of the upper wall 134B of the elevating member 134. When the door handle 114 shown in FIG. 11 is pulled or pushed to open the door 100, the door handle 114 swings around one end in the width direction as the shaft before the door 100 moves. It has become. At this time, following the operation of the door handle 114, the handle handle lever 148 swings upward at the other end (front end) with the one end in the longitudinal direction as a support shaft.

Thereby, the upper wall 134B of the elevating member 134 is pressed via the handle handle lever 148, and the elevating member 134 moves upward. For this reason, the force by which the stopper 130 swings around the shaft portion 132 through the lower wall 134A of the elevating member 134 is formed in the hole 142 formed in the vertical piece 130A of the stopper 130 and the hole 142 by this swing. Through the inserted pin 140, the stopper 130 swings around the shaft portion 132, one end of the stopper 130 moves away from the shaft plate 128 of the latch 122, and the latch 122 can swing (the latch 122 is locked). Release state), open / close door 100 can be opened.

Here, the optical sensor 150 is provided at the corner of the lock case 120. When the latch 122 is unlocked, a part of the stopper 130 covers the front surface of the optical sensor 150, and the optical sensor The light incident on 150 is blocked!

[0117] That is, the position of the stopper 130 can be determined by the presence or absence of light incident on the optical sensor 150, and the latch 122 can be determined to be in a locked state or an unlocked state.

[0118] (Sensing unit 108)

On the free end side of the open / close door 100, a sensing unit 108 is arranged corresponding to the mounting part 118. However, the sensing unit 108 is provided with a cantilevered elastic member 152 as shown in FIG. The elastic member 152 is disposed on the movement locus of the handle handle lever 148 that moves when the door handle 114 is to be opened, and a strain sensor 72 is provided on the upper surface of the elastic member 152.

[0119] By the movement of the handle knob lever 148, the resistance value of the strain gauge built in the strain sensor 72 via the elastic member 152 changes according to the magnitude of the strain. Then, within the range of elastic deformation of the elastic member 152, the stress acting on the door handle 114 can be obtained by the voltage level of the signal output from the strain sensor 72 by the correlation between the stress and the strain. The voltage level of the output signal changes according to the strain amount of the elastic member 152.

Here, since the elastic member 152 receives only an upward force and a load from the bottom to the top, the strain sensor 72 cannot measure the direction of the applied load. Therefore, a separate door-opening encoder 160 is used as the load direction detection unit.

[0121] (Electric assist device 110)

As shown in FIG. 11, an electric assist device 110 is disposed above the door frame 102. A guide groove 154 is formed in the upper end surface of the opening / closing door 100 along the width direction of the opening / closing door 100, and a roller 156 is disposed in the guide groove 154 and can roll along the guide groove 154. It is said that.

[0122] One end of an arm 158 is attached to the shaft 132 of the roller 156, and the other end of the arm 158 is disposed in the electric assist device 110 as shown in FIGS. It is fixed to a shaft 162 of an open / close door encoder 160 described later. By rotating the shaft 162, the arm 158 rotates about the shaft 162, and the driving force in the direction of opening the opening / closing door 100 is transmitted to the opening / closing door 100 via the arm 158.

The electric assist device 110 is provided with a motor 164 that can rotate in one direction, and the driving force of the motor 164 is transmitted to the shaft 162. The motor 164 is supported by a shaft support plate 166 so that a shaft 168 directly connected to the motor 164 can rotate.

[0124] A synchronous gear 172 is fixed to one end side of the shaft 168 of the motor 164, and the same is fixed to the shaft 176 provided in the motor encoder 174 supported by the shaft support plate 166. It is in good standing with the gear 178. As a result, the shaft 176 is synchronized with the shaft 168, and the motor encoder 174 measures the rotation speed of the motor 164.

A worm 182 constituting a gear train 180 is directly connected to the other end of the shaft 168 of the motor 164, and the driving force from the motor 164 is transmitted to the worm 182. A worm wheel 184 is held in the worm 182, and a rotating shaft 186 to which the worm wheel 184 is fixed is rotatable together with the worm wheel 184.

[0126] An engagement portion 123 constituting an electromagnetic clutch 122 (described later) is attached to the rotary shaft 186 so as to be rotatable integrally with the rotary shaft 186 and capable of thrust movement with respect to the rotary shaft 186.

[0127] The shaft support 188 that rotatably supports the rotary shaft 186 is provided with a bent bracket 190 that projects horizontally from the shaft support 188 and covers the side surface of the worm wheel 184. Yes. A coil portion 125 that constitutes the electromagnetic clutch 122 is fixed to the distal end portion of the bracket 190 so as to be accommodated in a small diameter portion 192 provided on the upper side of the coupling portion 123.

[0128] A transmission gear 194 is rotatably provided on the lower portion of the electromagnetic clutch 122 with respect to the rotary shaft 186. On the upper surface of the transmission gear 194, a tooth portion 123A (Fig. 16A, 194A is formed with a tooth portion (not shown) that meshes with the tooth portion (see FIG. 16B).

When the coil portion 125 of the electromagnetic clutch 122 is fed, as shown in FIG. 16B, it is separated from the meshing portion 123 force S coil portion 125 and can mesh with the meshing portion 123 of the transmission gear 194. . When the power supply to the coil portion 125 is stopped, as shown in FIG. 16A, the engagement portion 123 is returned to the coil portion 125 side by a return spring (not shown), and the engagement state with the engagement portion 194A of the transmission gear 194 is released. The

On the other hand, the lower side of the transmission gear 194 has a small diameter, and a small gear 196 is formed. The small gear 196 is meshed with a large gear 202 of a gear member 200 that is rotatably attached to a fixed shaft 198 erected in parallel with the rotating shaft 186. A small gear 204 is formed at the lower part of the large gear 202, and the gear portion 206 of the encoder 160 for the door is engaged. [0131] The moving speed and moving direction (direction of the acting load) of the open / close door 100 are obtained based on the two-phase no-less input from the open / close door encoder 160. A speed control signal for controlling the rotation speed is output (described later).

[0132] Here, when the opening / closing door 100 is moving in the opening direction, the coil portion 125 of the electromagnetic clutch 122 is supplied with power, and the engagement portion 123 of the electromagnetic clutch 122 is connected to the engagement portion 1 94A of the transmission gear 194. The balance (see FIG. 16B), the rotational force of the motor 164 is transmitted to the shaft 162. As a result, the shaft 162 rotates by force S, and as a result, the arm 158 rotates as shown in FIG. 14, and the roller 156 rolls in the guide groove 154 and opens and closes via the guide groove 154. Open door 100.

On the other hand, when the opening / closing door 100 is moving in the closing direction, power supply to the coil portion 125 of the electromagnetic clutch 122 is stopped, and the engagement portion 123 of the electromagnetic clutch 122 and the engagement portion of the transmission gear 194 are stopped. The meshing state with 194A is released (see FIG. 16A), and the driving force as much as the motor 164 is not transmitted to the transmission gear 194. That is, the transmission gear 194 is in a state where the transmission gear 194 is idle with respect to the rotating shaft 186. In this state, the closer 104 applies a force for moving the opening / closing door 100 in the closing direction.

[0134] Here, it is only necessary that the electromagnetic clutch 122 can be used to cut off or transmit the driving force from the motor 164 using the force that cuts off or transmits the driving force from the motor 164! / ヽTherefore, it is not limited to this!

Here, the configuration of the electric system that controls the operation of the open / close door 100 according to the second embodiment will be described.

[0136] The configuration of the electric system that controls the operation of the electric assist device 110 is basically the same as the configuration of the electric assist device 78 (see Fig. 5) that operates the electric hanging cabinet 10, and the amplification circuit 80 and The microcomputer 82 and the drive circuit 84 are provided, and the voltage level of the signal output from the strain sensor 72 is amplified by a predetermined factor by the amplifier circuit 80.

In this embodiment, as shown in FIGS. 17 and 18, in addition to the motor encoder 174, the door encoder 160 is connected to the microcomputer 82, and the door encoder 160 is used by the door encoder 160. The movement speed and direction of the open / close door 100 are now required. Based on the moving speed and moving direction of the opening / closing door 100 and the voltage level of the signal amplified by the amplifier circuit 80, a speed control signal for controlling the rotation speed of the motor 164 is output. In response to this speed control signal, the drive circuit 84 controls the rotational speed of the motor 164.

Further, when the electromagnetic clutch 122 is connected to the microcomputer 82 and the opening / closing door 100 is moved in the opening direction, the coil portion 125 of the electromagnetic clutch 122 is supplied with power, and the opening / closing door 100 is turned on. When moving in the closing direction, power supply to the coil portion 125 of the electromagnetic clutch 122 is stopped.

Here, the microcomputer 82 is a force that drives the motor 164 according to the voltage level of the signal output from the strain sensor 72. The microcomputer 82 is connected to the optical sensor 150 and is incident on the optical sensor 150. After the light to be cut off, the motor 164 is driven. That is, the motor 164 is driven after the latch 122 is released from the locked state.

[0141] (Action 'effect)

Next, the operation and effect of the opening / closing door 100 according to the present embodiment will be described. When the door handle 114 is pulled or pushed to open the door 100 shown in FIG. 11, before the door 100 moves, the door handle 114 swings around one end side in the width direction. Force Following the movement of the door handle 114, the tip of the handle handle lever 148 swings upward.

[0142] As a result, the elevating member 134 in the lock case 120 shown in Fig. 12A moves upward via the handle handle lever 148, and as shown in Fig. 12B, the stopper 130 is centered on the shaft portion 132. By swinging, one end of the stopper 130 is separated from the shaft plate 128 of the latch 122, the locked state of the latch 122 is released, and the opening / closing door 100 can be opened.

[0143] On the other hand, the movement of the handle grip lever 148 causes the resistance value of the strain gauge built in the strain sensor 72 to change according to the magnitude of the strain via the elastic member 152 shown in Fig. 13, and the motor 164 is driven. After confirming that the locked state of the latch 122 is released by the force light sensor 150 to be performed, the motor 164 is driven.

That is, as shown in FIG. 19, a time lag t is generated until a signal is output from the strain sensor 72 and the motor 164 is driven. This breaks the latch 122. Prevent loss.

[0145] Based on the voltage level of the signal output from the strain sensor 72! /, The force that controls the rotational speed of the motor 40 according to the speed control signal that controls the rotational speed of the motor 40. Is moved in the direction in which the clutch is released, the coil portion 125 of the electromagnetic clutch 122 is supplied with power, the meshing portion 123 of the electromagnetic clutch 122 meshes with the meshing portion 123 of the transmission gear 194, and the rotational force of the motor 164 is applied to the shaft. 162 is transmitted.

[0146] As a result, the shaft 162 is rotated by force S, and the arm 158 is rotated along with this, and rolls in the roller 156 force S guide groove 154, and the opening / closing door 100 is opened via the guide groove 154. Let That is, the opening operation of the user's opening / closing door 100 is assisted.

[0147] Here, the open / close door 100 is provided with a closer 104, which urges the open / close door 100 in the closing direction. Therefore, when the open / close door 100 is opened, this biasing force (closing force) is applied. The load (opening force) must be applied in a direction that resists the pressure (Note that when the room is under negative pressure by an indoor ventilation fan, etc., the closing force increases, and the opening force must be increased accordingly. Force S Force to be generated For convenience of explanation, closing force due to negative pressure in the room is not considered).

On the other hand, when the opening / closing door 100 is moving in the closing direction, the feeding of the coil portion 125 of the electromagnetic clutch 122 is stopped, and the engagement portion 123 of the electromagnetic clutch 122 and the engagement portion of the transmission gear 194 are stopped. The meshing state with 194A is released, and the driving force from the motor 164 is not transmitted to the transmission gear 194.

That is, the transmission gear 194 is in a state in which the transmission gear 194 is idle with respect to the rotating shaft 186.

In this state, the closer 104 applies a force to move the opening / closing door 100 in the closing direction.

[0150] After the opening operation of the opening / closing door 100 stops, when the user releases the hand, the opening / closing door 100 moves in the closing direction, but when the opening operation of the opening / closing door 100 stops, the rotation speed of the motor 164 decreases. It is like that. As a result, the electromagnetic clutch 122 is smoothly transferred from the transmission state to the cutoff state.

[0151] In the second embodiment, the force S described for the open / close door 100 pivotally supported with the one end side in the width direction as a shaft portion with respect to the door frame 102 is used to move the moving body. Essential Since it is sufficient if the necessary load can be reduced (assist), it is not limited to doors and can be applied to any movable body that can rotate.

[0152] Further, the present invention is not limited to the rotational movement, and may be applied to the sliding door 210 as a moving body that moves linearly as shown in FIG. In this case, a rack 212 is formed on the sliding door 210 side, and a pinion 214 that meshes with the rack 212 is rotatably provided on the frame side of the sliding door 210, and the rotational force from the motor 218 is reduced by the reduction gear train 216. To be transmitted.

Thus, when the pinion 214 rotates, it is possible to force the sliding door 210 to slide through the rack 212. Here, by making the motor 218 rotatable forward and backward, it is possible to reduce the load S required to move the sliding door 210 in the forward path and the backward path of the sliding door 210.

[0154] In this case, the electromagnetic clutch 122 is unnecessary force. If this sliding door 210 is provided with return means for returning the sliding door 210 in the closing direction, the electromagnetic clutch 122 is used.

[0155] Further, in the case of the sliding door 210, the latch unit 106 is unnecessary, and thus the handle 220 is preferably configured substantially the same as the grip portion 62 (see Fig. 4) described in the first embodiment.

[0156] Furthermore, the present invention is applicable when moving a moving body with a large load, such as moving a movable gate that closes the entrance of a building, moving a seat used in a car for nursing care, and a bus. · Can be used for raising and lowering handrails used in toilets, etc.

Explanation of symbols

[0157] 10 Electric hanging cabinet (Electric auxiliary equipment)

12 cabinets (rotary moving members, moving objects, hanging cupboards)

14 storage

20 arms (moving means)

32 shaft (moving means)

33 Power transmission device (power transmission means, moving means)

40 motor (driving means, moving means)

41 encoder (control means)

42 gear train (power transmission means, movement means) Worm (power transmission means, moving means)

A worm wheel (power transmission means, movement means)

B small gear (power transmission means, movement means)

A large gear (power transmission means, movement means)

B force, bevel gear (power transmission means, moving means)

A large gear (power transmission means, movement means)

Force, bevel gear (power transmission means, moving means)

Power transmission gear (power transmission means, moving means)

A arm swing gear (power transmission means, movement means)

Grip part (detection means)

A convex part (support part)

Metal plate (elastic member, detection means)

Touch sensor (contact detection means)

Strain sensor (deformation amount detection unit, load direction detection unit, detection means) Electric assist device (control means)

Microcomputer (control means)

0Open / close door (door, rotating member, moving body)

4 closer (returning means, moving means)

6 latch units

8 Sensing unit (deformation amount detection unit, detection means)

0Electric assist device (control means, moving means)

2 link arm (arm)

4-door handle

2Latch (Latch member)

2 Electromagnetic clutch (clutch means, arm turning means, moving means) 0 Spaper (locking means)

8 Handle handle lever (lever) 152 elastic member (detection means)

158 arms (moving means)

160 Open / close door encoder (load direction detector, detector)

162 shaft (arm rotating means, moving means)

164 motor (driving means, moving means)

174 motor encoder (control means)

180 gear train (arm turning means, moving means)

182 worm (arm rotating means, moving means)

184 worm wheel (arm rotating means, moving means)

194 transmission gear (arm turning means, moving means)

196 small gear (arm turning means, moving means)

200 gear members (arm turning means, moving means)

202 large gear (arm rotating means, moving means)

204 small gear (arm turning means, moving means)

206 gear section (arm rotating means, moving means)

210 sliding door (linear moving member, moving body)

212 racks (arm turning means, moving means)

214 pinion (arm turning means, moving means)

216 reduction gear train (arm rotation means, moving means)

218 motor (arm turning means, moving means)

220 handle

Claims

The scope of the claims

[1] moving means for moving the moving body;

A handle provided on the movable body;

Detecting means for detecting a load acting on the handle;

Control means for controlling the moving means based on the magnitude of the load acting on the handle detected by the detecting means and changing the moving speed of the moving body;

A motor-driven auxiliary device comprising:

[2] The detection means includes

An elastic member provided on the handle and elastically deformed by a load acting on the handle; a deformation amount detection unit for detecting a deformation amount of the elastic member;

The electric auxiliary device according to claim 1, comprising:

[3] The deformation amount detection unit detects a direction of a load acting on the handle, and the control unit moves the moving body in the direction of the load detected by the deformation amount detection unit. The electric auxiliary device according to claim 2.

[4] The deformation amount detection unit is a strain sensor,

3. The electric auxiliary device according to claim 2, wherein the strain sensor is disposed on the elastic member, and the elastic member is elastically deformed by a lever that moves following the movement of the handle.

[5] A load direction detection unit that detects a direction of a load acting on the moving body is provided, and the control unit moves the moving body in the direction of the load detected by the load direction detection unit. The electric auxiliary device according to claim 2.

[6] The control unit according to any one of [1] to [4], wherein the control unit increases or decreases the moving speed of the moving body in a stepwise manner in accordance with a magnitude of a load acting on the handle. The electric auxiliary device as described.

[7] The electric auxiliary apparatus according to any one of [6] to [6], wherein the moving body is a rotating member that rotates about the shaft portion.

8. The electric auxiliary apparatus according to any one of claims 1 to 6, wherein the moving body is a linear moving member that slides.

[9] The moving means includes an arm that rotates to move the rotating member, an arm rotating means that rotates the arm, and a driving means that applies a driving force to the arm rotating means. The electric auxiliary device according to claim 7, comprising:

[10] The rotating member is a door,

A latch member provided so as to be able to enter and exit from a free end surface of the door and swingable along a moving direction of the door;

A hole provided on the frame side of the door, into which the latch member can be inserted;

A capping means for restricting swinging of the latch member in a state where the latch member is inserted into the hole;

Is provided,

10. The driving force from the driving means is not transmitted to the arm rotating means until the lever moves and the locking means releases the swing restriction of the latch member. Electric auxiliary device.

11. The electric auxiliary device according to claim 9 or 10, wherein the arm rotating means is provided with a clutch means for interrupting or transmitting a driving force from the driving means.

[12] There is a closer to return the opened door to the closed position,

12. The electric assist device according to claim 11, wherein when the door is moved in the closing direction by the closer, the driving force from the driving means is interrupted by the clutch means.

[13] The rotating member is a hanging cupboard,

The moving means rotates and suspends the suspension cabinet so as to be able to move up and down; power transmission means for transmitting a rotational force to the arm; and a motor capable of forward and reverse rotation for applying a driving force to the power transmission means The electric auxiliary device according to claim 7, comprising:

[14] The handle includes a metal plate having both ends supported and the deformation amount detection unit disposed in the center, and an outer cylinder provided outside the metal plate, 4. The electric auxiliary device according to claim 3, wherein a support portion that supports both surfaces of the metal plate is provided at a central portion of the outer cylinder.

15. The electric auxiliary apparatus according to claim 14, wherein a biasing means is provided between the outer cylinder and the metal plate to maintain a constant distance between the outer cylinder and the metal plate.

[16] The electric motor according to any one of [1] to [7], further comprising contact detection means for detecting whether or not the handle is touched and transmitting a signal to the control means. Auxiliary equipment.

[17] The linear moving member is a sliding door,

The moving means includes a rack provided on the sliding door, a power transmission means for transmitting a rotational force to a pinion that mates with the rack, and a motor capable of forward and reverse rotation for applying a driving force to the power transmission means. The electric auxiliary device according to claim 8, comprising: