WO2017061623A1 - 移動装置 - Google Patents

移動装置 Download PDF

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Publication number
WO2017061623A1
WO2017061623A1 PCT/JP2016/080021 JP2016080021W WO2017061623A1 WO 2017061623 A1 WO2017061623 A1 WO 2017061623A1 JP 2016080021 W JP2016080021 W JP 2016080021W WO 2017061623 A1 WO2017061623 A1 WO 2017061623A1
Authority
WO
WIPO (PCT)
Prior art keywords
wheel
moving
rotation
moving device
omnidirectional
Prior art date
Application number
PCT/JP2016/080021
Other languages
English (en)
French (fr)
Japanese (ja)
Inventor
奥田　英樹
勝彦 加納
秀 生田
祐一 伴
Original Assignee
株式会社デンソー
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 株式会社デンソー filed Critical 株式会社デンソー
Publication of WO2017061623A1 publication Critical patent/WO2017061623A1/ja

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Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G13/00—Operating tables; Auxiliary appliances therefor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
    • B60B19/00—Wheels not otherwise provided for or having characteristics specified in one of the subgroups of this group
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
    • B60B33/00—Castors in general; Anti-clogging castors

Definitions

  • the present disclosure relates to a moving device having wheels.
  • a moving device having a base on which an object is placed and four omnidirectional wheels attached to the back surface of the base is known (see Patent Document 1).
  • the omnidirectional wheel is a well-known wheel having rotation axes in at least two directions different from each other.
  • this indication is providing the technique which can move the moving apparatus which has a wheel to the direction which a user desires easily.
  • One aspect of the present disclosure is a moving device including a base, a moving wheel, and a limiting mechanism.
  • the base has a placement surface on which an object is placed.
  • Each of the moving wheels is attached to a different position on the back side opposite to the mounting surface of the base.
  • the limiting mechanism limits the rotational direction of the moving wheel so that the rotational direction of the moving wheel is concentric from a reference point that is a specified point.
  • the moving direction of the moving wheel can be limited to an arc centered on the reference point.
  • the direction of movement of the mobile device itself can be restricted, and the movement of the mobile device in a direction not intended by the user can be reduced.
  • the moving device having the wheels can be easily moved in the direction desired by the user.
  • One embodiment of the present disclosure is a moving device including a base, omnidirectional wheels, and a locking mechanism.
  • the base has a placement surface on which an object is placed.
  • the omnidirectional wheels are respectively attached to different positions on the back surface opposite to the mounting surface of the base.
  • the omnidirectional wheel mentioned here has at least two or more rotating shafts that rotate in different directions.
  • the locking mechanism is locked to the contact surface so as to be pivotally supported by the contact surface with which the omnidirectional wheel contacts.
  • the direction in which the omnidirectional wheel can rotate can be limited to the direction of turning about the point pivotally supported by the locking mechanism.
  • the moving direction of the moving device itself can be limited, and the moving device can be prevented from moving in a direction not intended by the user.
  • the moving device having the wheels can be easily moved in the direction desired by the user.
  • symbol in the parenthesis described in the claim shows the correspondence with the specific means as described in embodiment mentioned later as one aspect, Comprising: The technical scope of this indication is limited is not.
  • a moving device 1 shown in FIG. 1 is a device that moves an object.
  • the moving device 1 moves a medical action or a device used for assisting a medical action and an operator.
  • the surgeon is a person who performs medical practice and assistance for medical practice, and includes, for example, a doctor, a dentist, a nurse, and a dental hygienist.
  • the moving device 1 includes a chair 10, a medical device 12, a base 20, and a moving mechanism 30.
  • the chair 10 includes a seat surface on which a person is seated.
  • the medical device 12 is various devices necessary for medical practice or assistance for medical practice. As an example of the medical device 12, two articulated arms that support the implementation of surgery as a medical practice can be considered.
  • the medical device 12 is not limited to a multi-joint arm, and may be, for example, a nerve function monitoring device, a biological monitoring device, a biological examination device, or the like.
  • the base 20 is a base having a placement surface 22 on which an object is placed.
  • the base 20 in the present embodiment includes a main body portion 26 formed in a rectangular shape, and a long projecting portion 28 extending from the main body portion 26.
  • the chair 10 and the medical device 12 are placed on the placement surface 22 of the base 20 as objects.
  • the moving mechanism 30 is a mechanism that moves the moving device 1.
  • the moving mechanism 30 of this embodiment includes a plurality of omnidirectional wheels 32, a plurality of unidirectional wheels 40, and a plurality of movable mechanisms 60. In the present embodiment, “three” omnidirectional wheels 32 and “two” unidirectional wheels 40 are provided.
  • the movable mechanism 60 is provided for each one-way wheel 40.
  • Each of the omnidirectional wheels 32 is a known wheel having at least two or more rotation shafts that rotate in different directions.
  • the omnidirectional wheel 32 includes a main wheel 34 and a sub wheel 36.
  • the main wheel 34 is a wheel having a first rotation shaft that rotates in one rotation direction.
  • the auxiliary wheel 36 has a second rotating shaft that rotates in a direction different from the first rotating shaft of the main wheel 34, and is a wheel having a diameter smaller than the diameter of the main wheel 34.
  • the auxiliary wheel 36 is pivotally supported on the side surface of the main wheel 34 so that the second rotation axis is orthogonal to the first rotation axis.
  • the omnidirectional wheel 32 can rotate in the rotation direction of the main wheel 34 and the rotation direction of the auxiliary wheel 36, and can rotate in all directions by adjusting the rotation speed of the main wheel 34 and the rotation speed of the auxiliary wheel 36.
  • the omnidirectional wheels 32 are attached to different positions on the back surface 24 of the base 20.
  • the back surface 24 of the base 20 is a surface opposite to the placement surface 22.
  • one omnidirectional wheel 32 is attached to each of the rear end portion of the main body portion 26 of the base 20 and the front end portion of the protruding portion 28 of the base 20. It has been.
  • each one-way wheel 40 is a wheel having one rotation axis.
  • Each of the one-way wheels 40 is attached to different positions on the back surface 24 of the base 20 as shown in FIG. Specifically, on the back surface 24 of the base 20, one unidirectional wheel 40 is attached to each of the front end portions of the main body portion 26 of the base 20.
  • the one-way wheel 40 is an example of a moving wheel.
  • each one-way wheel 40 is a so-called caster provided with a wheel 44 and a restriction mechanism 46, respectively.
  • the wheel 44 is a wheel having one rotating shaft that rotates in one direction.
  • the limiting mechanism 46 is a well-known mechanism that supports the rotating shaft of the wheel 44 so that the wheel 44 can rotate, and fixes the one-way wheel 40 to the mounted portion 52 that is a part of the base 20.
  • plate-shaped holding portions 49 and 50 that extend in the same direction from a support portion formed in a rectangular plate shape and support the rotation shaft of the wheel 44, and a mounted portion of the base 20
  • a well-known mechanism including a mounting shaft 54 for fixing the one-way wheel 40 to 52 can be considered.
  • the limiting mechanism 46 is arranged so that the direction of the axis perpendicular to the rotation axis of the wheel 44 coincides with the tangent of the circle centered on the reference point on the xy plane.
  • the rotation direction of the wheel 44 is fixed.
  • the xy plane referred to here is a plane on which the wheel 44 of the one-way wheel 40 contacts and the moving device 1 moves.
  • the reference point mentioned here is one point (that is, a coordinate) defined on the xy plane.
  • match here means that the difference between the tangent of the circle and the direction of the axis orthogonal to the rotation axis of the wheel 44 is “0”, and that the difference can be regarded as “0” in advance. Includes cases that are within the specified tolerance.
  • the limiting mechanism 46 fixes the one-way wheel 40 so that the rotation direction of the one-way wheel 40 is concentric with respect to the reference point.
  • a method for fixing the rotation direction of the wheel 44 for example, a method in which the mounting shaft 54 is configured by screws, bolts / nuts, rivets, pins, etc., and fixed to the mounted portion 52 of the base 20 is conceivable.
  • the method of fixing the rotation direction of the wheel 44 is not limited to this, and for example, the support portion of the caster is joined to the attached portion 52 of the base 20 using welding, brazing, pressure welding, or the like. Can be considered.
  • the movable mechanism 60 is a well-known mechanism that moves each of the unidirectional wheels 40 in a direction perpendicular to the base 20. Specifically, as shown in FIGS. 4 and 5, the movable mechanism 60 includes a down lever 62 and an up lever 64, and moves the one-way wheel 40 between the contact position and the release position.
  • the contact position is a position where the wheel 44 of the one-way wheel 40 contacts the xy plane.
  • the release position is a position where the wheel 44 of the one-way wheel 40 is released from the contact position and is not in contact with the xy plane.
  • the down lever 62 is a link mechanism that moves the one-way wheel 40 in the vertical direction so that the wheel 44 of the one-way wheel 40 is located at the contact position.
  • the up lever 64 is a link mechanism that moves the one-way wheel 40 located at the contact position to the release position.
  • the moving device 1 having wheels can be easily moved in the direction desired by the operator (that is, the user).
  • the rotation direction of the one-way wheel 40 is fixed so that the axis orthogonal to the rotation axis of the one-way wheel 40 coincides with the tangent of a circle centered on the reference point. ing. Thereby, the moving direction of the moving apparatus 1 can be restricted reliably, and the movement of the moving apparatus 1 can be brought close to what the user intended.
  • each of the one-way wheels 40 can be moved to the contact position and the release position by the movable mechanism 60. Thereby, according to the moving apparatus 1, when it is necessary to restrict
  • the one-way wheel 40 may not be used.
  • the limiting mechanism 46 in the above embodiment fixes the one-way wheel 40 to the mounted portion 52 of the base 20, but the limiting mechanism 46 further has a direction in the rotational direction of the wheel 44. May be configured to be changeable.
  • the limiting mechanism 46 may be realized by rotating the mounting shaft 54 to change the direction of the rotation direction of the wheel 44 (that is, the direction of the axis orthogonal to the rotation axis of the wheel 44).
  • the rotation of the mounting shaft 54 may be performed manually by the user, or may be realized by a driving force generated by electricity, air pressure, hydraulic pressure, or the like.
  • the direction in which the moving device 1 moves can be adjusted, and the convenience for the surgeon can be improved.
  • the number of unidirectional wheels 40 included in the moving device 1 is “2”, but the number of unidirectional wheels 40 included in the moving device 1 is “3”. It may be “4” or more.
  • the moving device of the second embodiment is mainly different from the moving device 1 of the first embodiment in the moving mechanism. For this reason, in the present embodiment, the same components as those in the first embodiment are denoted by the same reference numerals, description thereof is omitted, and a description will be given focusing on a moving mechanism different from that in the first embodiment.
  • the moving device 3 of the present embodiment includes a chair 10, a medical device 12, a base 20, and a moving mechanism 70.
  • the moving mechanism 70 is a mechanism that moves the moving device 3.
  • the moving mechanism 70 includes a plurality of omnidirectional wheels 32 and a limiting mechanism 72.
  • Each of the omnidirectional wheels 32 is a known wheel having at least two or more rotating shafts that rotate in different directions, and includes a main wheel 34 and a sub wheel 36. As shown in FIG. 7, the omnidirectional wheels 32 in the present embodiment are attached to different positions on the back surface 24 of the base 20. Specifically, on the back surface 24 of the base 20, one omnidirectional wheel 32 is attached to each of the rear end portion of the main body portion 26 of the base 20 and the front end portion of the protruding portion 28 of the base 20. It has been.
  • the omnidirectional wheel 32 in the present embodiment is an example of a moving wheel.
  • the rear end is the upper side shown in FIG. 7, and the front end is the lower side shown in FIG.
  • the limiting mechanism 72 is a mechanism that limits the rotation of the main wheel 34.
  • the limiting mechanism 72 may be configured as a known brake that applies a braking force to the main wheel 34. With such a limiting mechanism 72, the omnidirectional wheel 32 can be rotated only by the auxiliary wheel 36 contacting the contact surface, and the moving direction of the omnidirectional wheel 32 can be limited to one direction.
  • the limiting mechanism 72 rotates the omnidirectional wheel 32 in the rotational direction so that the direction of the axis orthogonal to the rotational axis of the auxiliary wheel 36 coincides with the tangent of the circle centered on the reference point on the xy plane.
  • the xy plane referred to here is a plane on which the auxiliary wheel 36 of the omnidirectional wheel 32 contacts and the moving device 3 moves.
  • the reference point mentioned here is one point (that is, a coordinate) defined on the xy plane.
  • match here means that the difference between the tangent of the circle and the direction of the axis orthogonal to the rotation axis of the auxiliary wheel 36 is “0”, and the difference can be regarded as “0”. Including the case where it is within a predetermined allowable range.
  • the restricting mechanism 72 fixes the omnidirectional wheel 32 so that the rotational direction of the omnidirectional wheel 32 is concentric with the reference point.
  • the limiting mechanism 72 includes an angle adjustment mechanism.
  • This angle adjustment mechanism sets the rotation direction of each of the auxiliary wheels 36 to be freely changeable.
  • the angle adjustment mechanism in the present embodiment is a known mechanism that adjusts the attachment angle of each omnidirectional wheel 32 to the base 20.
  • the adjustment of the attachment angle to the base 20 may be realized by rotating the attachment shaft of each omnidirectional wheel 32 to the base 20.
  • the rotation of the mounting shaft may be performed manually by the user, or may be realized by a driving force generated by electricity, air pressure, hydraulic pressure, or the like.
  • the moving direction of the moving apparatus 3 can be restrict
  • the rotation of the first rotation shaft of the main wheel 34 is performed so that the axis orthogonal to the rotation axis of the auxiliary wheel 36 coincides with the tangent of the circle centered on the reference point. Restricted.
  • the moving direction of the moving apparatus 3 can be restrict
  • the limiting mechanism 72 can freely change the rotation direction of the auxiliary wheel 36 of the omnidirectional wheel 32. According to such a moving device 3, the moving direction of the moving device 3 can be freely adjusted, and the operator can use it easily.
  • the moving device of the third embodiment is mainly different from the moving device 1 of the first embodiment in the moving mechanism. For this reason, in the present embodiment, the same components as those in the first embodiment are denoted by the same reference numerals, description thereof is omitted, and a description will be given focusing on a moving mechanism different from that in the first embodiment.
  • the moving device 5 of this embodiment includes a chair 10, a medical device 12, a base 20, and a moving mechanism 80.
  • the moving mechanism 80 is a mechanism that moves the moving device 5.
  • the moving mechanism 80 includes a plurality of omnidirectional wheels 32 and one locking mechanism 82.
  • the moving device 5 includes “three” omnidirectional wheels 32.
  • Each of the omnidirectional wheels 32 is a known wheel having at least two or more rotating shafts that rotate in different directions.
  • the omnidirectional wheel 32 includes a main wheel 34 and a sub wheel 36. That is, the omnidirectional wheel 32 can rotate in the rotation direction of the main wheel 34 and the rotation direction of the auxiliary wheel 36, and can rotate in all directions by adjusting the rotation speed of the main wheel 34 and the rotation speed of the auxiliary wheel 36. .
  • the omnidirectional wheels 32 are respectively attached to different positions on the back surface 24 on the opposite side of the mounting surface 22 of the base 20. Specifically, on the back surface 24 of the base 20, one omnidirectional wheel 32 is attached to each of the rear end portion of the main body portion 26 of the base 20 and the front end portion of the protruding portion 28 of the base 20. It has been.
  • the rear end is an upper end portion shown in FIG. 9, and the front end is a lower end shown in FIG. ⁇ Locking mechanism>
  • the locking mechanism 82 pivotally supports the moving device 5 on a contact surface with which the omnidirectional wheel 32 comes into contact.
  • the contact surface referred to here is a plane (for example, an xy plane) on which the wheel 44 of the one-way wheel 40 contacts and the moving device 5 moves.
  • the locking mechanism 82 includes a connecting portion 84, a shaft portion 86, a locking portion 88, a down lever 90, and an up lever 92.
  • the connecting portion 84 connects the locking mechanism 82 to the protruding portion 28 of the base 20.
  • the shaft portion 86 is a shaft that connects the connecting portion 84 and the locking portion 88.
  • the shaft portion 86 has, for example, a piston / cylinder.
  • the locking portion 88 is pivotally connected to one end of the shaft portion 86.
  • a member formed in a plate shape can be considered.
  • the down lever 90 is a link mechanism that moves the locking portion 88 downward along the vertical direction. As the amount of movement from the initial position increases, the down lever 90 pushes the locking portion 88 downward along the vertical direction.
  • the up lever 92 is a link mechanism that moves the locking portion 88 upward along the vertical direction. That is, when the down lever 90 is pushed downward in the locking mechanism 82, the locking portion 88 is pressed against the contact surface. Thereby, the frictional force between the contact surface and the locking portion 88 is increased, and the locking portion 88 is locked to the contact surface. And since the axial part 86 is rotatable with respect to the latching
  • the down lever 90 pushes down the latching
  • the moving direction of the moving device 5 can be limited to the turning direction around the point on the contact surface locked by the locking mechanism 82.
  • the moving direction of the moving device 5 can be set only to the direction intended by the operator, and the movement of the moving device 5 in the direction not intended by the operator can be reduced. (3.2b) Further, according to the moving device 5, the engagement force with the contact surface can be adjusted by the amount by which the down lever 90 is pushed down.
  • the locking mechanism 82 of the third embodiment presses the locking portion 88 formed in a plate shape against the contact surface, the locking portion 88 is locked to the contact surface.
  • the structure of the locking mechanism 82 is not limited to this.
  • the locking part 88 may be locked to the contact surface by forming the locking part 88 with a suction cup and attaching the suction cup to the contact surface.
  • the edge (henceforth a latching end) on the opposite side to the end to which the axial part 86 was connected may be comprised as a pile. If comprised in this way, the axial part 86 can be latched to a contact surface by driving a latching end into a contact surface, and the moving apparatus 5 can turn centering on the latching part 88 as a turning center.
  • this indication is not limited to the above-mentioned embodiment, and can be carried out in various modes in the range which does not deviate from the gist of this indication.
  • the moving devices 1, 3, and 5 of the first embodiment, the second embodiment, and the third embodiment include the chair 10 and the medical device 12, respectively, the moving device includes the chair 10 and the medical device. At least one of the devices 12 may be omitted.
  • the base 20 in the moving device may include only the main body portion 26. That is, the moving device may be configured as a carriage that carries an object. (4b)
  • omitted a part of structure of the said embodiment is also embodiment of this indication.
  • an aspect configured by appropriately combining the above embodiment and the modification is also an embodiment of the present disclosure.
  • all the aspects included in the technical idea specified by the wording described in the claims are embodiments of the present disclosure.

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  • Health & Medical Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Veterinary Medicine (AREA)
  • Biomedical Technology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Mechanical Engineering (AREA)
  • Surgery (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Pathology (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Accommodation For Nursing Or Treatment Tables (AREA)
  • Handcart (AREA)
PCT/JP2016/080021 2015-10-07 2016-10-07 移動装置 WO2017061623A1 (ja)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2015-199656 2015-10-07
JP2015199656A JP2017071314A (ja) 2015-10-07 2015-10-07 移動装置

Publications (1)

Publication Number Publication Date
WO2017061623A1 true WO2017061623A1 (ja) 2017-04-13

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Application Number Title Priority Date Filing Date
PCT/JP2016/080021 WO2017061623A1 (ja) 2015-10-07 2016-10-07 移動装置

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WO (1) WO2017061623A1 (enrdf_load_stackoverflow)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114652448A (zh) * 2022-03-09 2022-06-24 敏捷医疗科技(苏州)有限公司 一种医生控制平台底座

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0755612Y2 (ja) * 1988-02-10 1995-12-20 神鋼電機株式会社 三輪式無人車
JP2001097221A (ja) * 1999-07-27 2001-04-10 Matsushita Electric Works Ltd 全方向移動台車
JP2001233219A (ja) * 2000-02-24 2001-08-28 Matsushita Electric Works Ltd 全方向移動型台車
JP2004344435A (ja) * 2003-05-22 2004-12-09 Japan Science & Technology Agency パワーアシスト型移動台車
JP2012030735A (ja) * 2010-08-02 2012-02-16 Panasonic Corp 全方向車輪および移動装置

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0764205B2 (ja) * 1985-10-30 1995-07-12 カシオ計算機株式会社 全方向移動車のステアリング機構
JPH0698899B2 (ja) * 1985-11-08 1994-12-07 カシオ計算機株式会社 全方向移動装置
JP4147581B2 (ja) * 2003-01-30 2008-09-10 株式会社安川電機 全方向移動車

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0755612Y2 (ja) * 1988-02-10 1995-12-20 神鋼電機株式会社 三輪式無人車
JP2001097221A (ja) * 1999-07-27 2001-04-10 Matsushita Electric Works Ltd 全方向移動台車
JP2001233219A (ja) * 2000-02-24 2001-08-28 Matsushita Electric Works Ltd 全方向移動型台車
JP2004344435A (ja) * 2003-05-22 2004-12-09 Japan Science & Technology Agency パワーアシスト型移動台車
JP2012030735A (ja) * 2010-08-02 2012-02-16 Panasonic Corp 全方向車輪および移動装置

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