JP2001070376A - Movement assisting tool - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a movement assisting tool which can safely assist the walking of an aged person by selecting a fast mode when the person walks on a flat ground and a slow mode when the person ascends a slope and, in addition, can prevent the occurrence of the impact of abrupt starting by rotating a motor at a high speed after the motor is rotated at a slow speed for a shot time when the person starts to move. SOLUTION: In a silver assisting vehicle in which rear wheels which are arranged in parallel with each other in an oppositely faced state are supported by both end sections of an axle which is rotatably driven by means of a motor 40 which can be rotated in both the normal and reverse directions through a one-way clutch, the driving electric circuit 45 of the motor 40 is provided with a controller 56 which PWM-controls a power transistor 52. The controller 56 is constituted to switch the normally rotating speed of the rear wheels in the forward direction in two stages of a fast mode and a slow mode. When the silver assisting vehicle is set to the fast mode when the aged person using the vehicle starts to move, the controller 56 rotates the motor 40 at a high speed after rotating the motor 40 at a low speed for a short time.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a movement assisting device for assisting the movement of a person, and more particularly to a technique for assisting movement assisting by a driving force of a motor. The present invention relates to a technology that is effective for so-called silver cars widely used in Japan.

[0002]

2. Description of the Related Art A silver car is used as an alternative to a walking stick by an elderly person holding a horizontal handle of a vehicle body constructed like a baby carriage and walking while pushing the same. Widely used as. Since this silver car assists the walking of the elderly, it is preferable to reduce the burden of walking as much as possible.

[0003] In view of this, a silver car of this type is configured to further reduce (assist) the burden of walking for the elderly when walking uphill or when carrying heavy luggage by driving the wheels by a motor (hereinafter referred to as "assist"). , Referred to as a silver assist car).

[0004] Japanese Utility Model Registration No. 305881 is known as a document that describes a silver assist vehicle that assists the burden of walking on the elderly by the driving force of a motor.

[0005]

By the way, since a silver car is a movement assisting tool that an elderly person walks while holding on to a handle instead of a cane, a silver assist vehicle that assists the elderly person walking by the driving force of a motor. It is preferable that the moving speed of the vehicle coincide with the walking speed of the elderly as much as possible.

[0006] For example, when climbing a hill, the walking speed should be slow even if the user holds on to the silver assist vehicle, so it is preferable that the movement speed of the silver assist vehicle is also low. In addition, since there is an individual difference in the walking speed of the elderly, it is not preferable to uniformly define the moving speed of the silver assist vehicle.

[0007] It is an object of the present invention to provide a movement aid that can change the moving speed.

[0008]

Means for solving the above-mentioned problem is that a pair of wheels, which are arranged in parallel to face each other, are provided at both ends of an axle driven by a motor that rotates normally and reversely. Each is supported via a direction clutch, and the speed of the forward rotation of rotating the wheels of the motor in the forward direction is configured to be switched in two or more stages of a fast mode and a slow mode. I do.

According to the above-described means, the speed at which the motor wheel rotates forward can be selected from a fast mode and a slow mode. For example, when walking on level ground, the fast mode is selected, and You can choose a slow mode when climbing. As a result, it is possible to assist the walking of the elderly and the like more safely.

Further, when the motor is set to the fast mode at the time of starting, the motor is rotated at a low speed for a short period of time and then at a high speed, so that it is possible to prevent the occurrence of a sudden starting shock. It is possible to prevent the elderly and the like from feeling uncomfortable when suddenly starting.

[0011]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS One embodiment of the present invention will be described below with reference to the drawings.

In the present embodiment, the movement assisting device according to the present invention is configured as a silver assist vehicle, and is configured to be able to assist a so-called silver car as required by the driving force of a motor.

As shown in FIGS. 1 and 2, each of the silver assist vehicles 10 includes four frames 11, 12, 13, and 14 formed of steel, aluminum, or the like into a round pipe shape. . The first frame 11 arranged on the outside on the left and the third frame 13 arranged on the inside on the left are assembled in an X-shape, and the second frame 12 arranged on the outside on the right and the inside on the right The arranged fourth frame 14 is assembled in an X-shape. The handle 15 is integrally formed between the upper end of the first frame 11 and the upper end of the second frame 12 by bending so that the handle 15 is horizontally crosslinked. The upper end of the third frame 13 is bent rearward in the horizontal direction, and a left armrest 16 is mounted thereon.
The upper end of the fourth frame 14 is bent rearward in the horizontal direction, and a right armrest 17 is mounted thereon.

An upper surface is provided between a portion where the first frame 11 and the third frame 13 are assembled in an X shape and a portion where the second frame 12 and the fourth frame 14 are assembled in an X shape. The storage box 18 with the opening is sandwiched and fixed. A lid 19 is attached to the opening on the upper surface of the storage box 18 so as to be openable and closable, and the lid 19 is configured to be able to sit on the upper surface. At the rear end of the storage box 18, a backrest 20 is set up.

The lower end of the first frame 11 and the second frame 1
A pair of left and right front wheels 21 and 21 are rotatably attached to the lower end of 2, respectively, and both front wheels 21 and 21 can swing right and left.

As shown in FIG. 2, between the lower end of the third frame 13 and the lower end of the fourth frame 14, a support frame 23 formed in a round pipe shape of steel, aluminum or the like is horizontally bridged. Has been fixed
An axle 24 is inserted into the hollow portion of the support frame 23. The left and right ends of the axle 24 protrude from the left and right ends of the support frame 23, respectively. Supported. The two-way clutch 25, 25 has an axle 24 of a silver assist vehicle 10
The clutch is operated when rotating in the forward direction, and is disengaged when rotating in the opposite direction.

As shown in FIGS. 2 and 3, a support plate 27 is fixed to a lower end of the third frame 13 by a fastening member 26 such as a bolt. It is arranged to overhang. The support plate 27 is provided with an axle insertion hole 28, a bolt insertion hole 29, a bearing hole 30, and a pair of guide holes 31 and 31, respectively.
Reference numerals 1 and 31 are formed in arc-shaped long holes centered on the bolt insertion holes 29, respectively. A motor (hereinafter, referred to as a motor) 40 with a worm speed reducer is provided on an end surface of the support plate 27 opposite to the rear wheel 22, and the motor 40 can rotate the axle 24 as desired. Have been.

That is, one end of the axle 24 is inserted through the axle insertion hole 28 outside the support plate 27, and the driven gear 32 is fitted to the insertion end so as to rotate integrally with the axle 24, and is removed by the clip 33. It has been stopped. In the main body 41 of the motor 40, three female screw holes 42 are formed corresponding to the bolt insertion holes 29 of the support plate 27 and the two guide holes 31, and each of the female screw holes 42 is provided with the bolt insertion holes 29. With the respective collars 34 interposed between the guide holes 31, 31, the bolts 35 are inserted from the inside of the support plate 27 into the bolt insertion holes 29, the two guide holes 31, 3.
1 is inserted and screwed. A driving gear 44 is fitted to the output shaft 43 of the motor 40 so as to rotate integrally. One end of the driving gear 44 is slidably fitted in the bearing hole 30. The driving gear 44 is opposed to the driven gear 32 so as to mesh therewith. That is, when the main body 41 of the motor 40 is rotated with respect to the support plate 27 within the range of the rotation angle Θ shown in FIG. 3, the driving gear 44 slides in the bearing hole 30 and Each bolt 35 is a guide hole 3
1, the driving gear 44 meshes with the driven gear 32.

The motor 40 is configured as a commutator type motor, and is connected to a drive electric circuit 45 shown in FIG. The drive electric circuit 45 is configured to be able to perform forward / reverse rotation drive, and a speed control transistor (hereinafter, referred to as “below”) including a forward / reverse rotation relay 47 and a power MOS transistor is provided between the motor 40 and the battery 46. And a power transistor 52).
The forward / reverse rotation relay 47 includes a forward rotation relay switch 48, a forward rotation relay coil 49, and a reverse rotation relay switch 5.
0 and a relay coil 51 for reverse rotation. A forward rotation control transistor 53 is provided in the forward rotation relay coil 49.
The reverse rotation relay coil 51 is connected to a reverse rotation control transistor 54. A speed control transistor 55 is connected to the power transistor 52.

The three control transistors 53, 54, 5
Reference numeral 5 denotes an output terminal of a controller 56 composed of a microcomputer or the like, and an input terminal of the controller 56 is connected to a forward switch 57, a backward switch 58, and a speed changeover switch 59. A fast mode indicator 60 and a slow mode indicator 61 for displaying the state of the speed mode are connected to the output terminal of the controller 56. The controller 56 is connected to a power supply circuit 62 and an oscillation circuit 63. The controller 56 is configured to execute an operation to be described later based on data from the forward switch 57, the reverse switch 58, the speed switch 59, and the like.

As shown in FIG. 1, a control box 64 is provided at the center of the handle 15 of the silver assist vehicle 10, and a control box 6 is provided.
4 includes a drive electric circuit 4 including a controller 56.
5 are installed. A forward switch 57, a backward switch 58, and a speed changeover switch 59 are connected to the surface of the control box 64. A fast mode indicator 60 and a slow mode indicator 61 for displaying the state of the speed mode are connected to the output terminal of the controller 56.

The drive electric circuit 45 built in the control box 64 is electrically connected to the motor 40 by a cord (not shown). The battery 46 is housed in a battery housing 36 formed on the rear surface of the housing box 18, and is electrically connected to the drive electric circuit 45 by a cord (not shown).

Next, the operation will be described.

When the silver assist vehicle 10 is used like a normal silver car, the driving gear 44 is separated from the driven gear 32 by erecting the motor 40. In this case, since the axle 24 is disconnected from the motor 40, the axle 24 can rotate in either the forward or reverse direction, and the silver assist vehicle 10 moves in any of the front and rear directions. be able to.

When the elderly want to be assisted by the motor 40, the driving gear 44 is engaged with the driven gear 32 by rotating the motor 40 with respect to the support plate 27. In this state, when the forward switch 57 is pressed in the mode in which the speed changeover switch 59 is slow, the forward rotation control transistor 53 is turned on, and the forward rotation relay switch 48 is turned on via the forward rotation relay coil 49. As a result, the motor 40 is rotated forward. At this time, the controller 56
Is applied to the speed control transistor 55, so that the power transistor 52 rotates the motor 40 at a low speed in a slow mode.

When the motor 40 is rotated forward, the axle 24 is rotated forward through the driving gear 44 and the driven gear 32, so that the two rear wheels 22, 22 are rotated forward by the one-way clutches 25, 25, and The assist vehicle 10 is advanced at a low speed. For example, as a slow speed, 0.75k
m / h is preferable. As described above, since the silver assist vehicle 10 runs by the drive of the motor 40, the elderly person can use the silver assist vehicle 10 instead of the stick by holding on to the handle 15 without pressing the silver assist vehicle 10.

At this time, one-way clutches 25, 25 are interposed between the rear wheels 22, 22 and the axle 24, so that the left and right rear wheels 22, 22 are independent of each other in the forward direction. Therefore, the silver assist vehicle 10 can change the left and right directions.

When the motor 40 is connected to the axle 24 via the one-way clutch 25, the driven gear 32 and the driving gear 44, the one-way clutch 25 is configured to prevent the axle 24 from rotating in the reverse direction. As a result, when the motor 40 is stopped, the motor 40 acts as an electromagnetic brake and acts on the axle 24, so that the rear wheel 22 cannot rotate in the reverse direction, and the silver assist vehicle 10 can retreat. Can not.

Therefore, when the elderly using the silver assist vehicle 10 wants to retreat, the retreat switch 58 is pressed. When the reverse switch 58 is turned on, the reverse rotation control transistor 54 is turned on. Therefore, the reverse rotation relay switch 50 is turned on via the reverse rotation relay coil 51, the motor 40 is rotated in the reverse direction, and the axle 24 is rotated. The rotation is reversed via the driving gear 44 and the driven gear 32. Since the one-way clutch 25 is released from the cracking action by the reverse rotation of the axle 24, the two rear wheels 22, 22 are in a state where they can rotate in the reverse direction. Therefore, the elderly can retreat the silver assist vehicle 10 by themselves.

To drive the silver assist vehicle 10 at a high speed, the elderly using the silver assist vehicle 10 switches the speed changeover switch 59 to a high speed mode. For example, as a high speed, 1.5 km / h
The degree is preferred. The state of the fast mode is displayed by the fast mode indicator 60. The controller 56 outputs a signal corresponding to the fast mode to the speed control transistor 55.
To control the power transistor 52 to rotate the motor 40 at a higher speed than in the slow mode.

By the way, when the silver assist vehicle 10 starts in the fast mode, an elderly person who is caught by the steering wheel 15 of the silver assist vehicle 10 feels a sudden start and feels strange.

Therefore, in the present embodiment, when the silver assist vehicle 10 starts in the fast mode,
The controller 56 controls the motor 40 to drive the rear wheel 22 at a low speed for a short time and then shift to a high speed, thereby preventing a sense of discomfort in the high speed mode. Next, Embodiment 1 of the impact generation prevention control at the time of starting will be described with reference to FIGS. 5, 6, and 7. FIG.

As shown in the flowchart of FIG. 5, in the first step S1, the controller 56 determines whether or not the vehicle is moving forward based on the state of the forward switch 57. If it is determined that the vehicle is not moving forward (NO), the controller 56 ends the process. If it is determined that the vehicle is moving forward (YES), the controller 56 proceeds to the second step S2.

In the second step S 2, the controller 56 determines “whether the mode is the slow mode” based on the state of the speed changeover switch 59. If it is determined that the mode is the slow mode (YES), the controller 56 proceeds to the third step S3 to rotate the motor 40 at a slow speed. Thereafter, the controller 56 rotates the motor 40 at a high speed until the forward switch 57 is pressed again and turned off, and the process ends. If it is determined that the mode is not the slow mode (NO), the controller 56 performs the fourth step S4
Proceed to.

In the fourth step S4, the controller 56 determines "whether the mode is the fast mode" based on the state of the speed changeover switch 59. If it is determined that the mode is not the fast mode (NO), the controller 56 ends the processing. If it is determined that the mode is the fast mode (YES),
The controller 56 proceeds to a fifth step S5.

In the fifth step S5, the controller 56 rotates the motor 40 at a low speed for a predetermined short time. As the predetermined short time, for example, about 0.5 seconds is preferable.

Subsequently, in a sixth step S6, the controller 56 rotates the motor 40 at a high speed. After shifting to the fast mode, the controller 56 controls the motor 4 until the forward switch 57 is pressed again and turned off.
0 is rotated at a high speed, and the process ends.

FIG. 6 shows a case where the motor is rotated at a high speed after the forward switch 57 is turned on.
FIG. 7 shows the first embodiment of the above-described impact generation prevention control at the time of starting.
Is shown. 6 and 7, (a)
Shows the output waveform of the controller 56, (b) shows the gate voltage waveform of the power transistor 52, and (c) shows the motor 40
2 shows the input voltage waveforms.

In the fifth step S5, as shown in FIGS. 7 (a) and 7 (b), the controller 56 outputs the power transistor 52 with an output of 70% load only for 0.5 second at the beginning of the start. After that, in the sixth step S6, the power transistor 52 is controlled with the output of duty 100%. By this control, the input voltage waveform of the motor 40 is in the state shown in FIG. 7C, so that the motor 40 rotates at a low speed for only 0.5 second at the start and then operates at a high speed. The occurrence of a shock at the time of starting is prevented.

FIG. 8 is a flow chart of the second embodiment of the control for preventing the occurrence of impact at the time of starting, and FIG. 9 is a time-series waveform diagram thereof. 9A shows an output waveform of the controller 56, FIG. 9B shows a gate voltage waveform of the power transistor 52, and FIG. 9C shows an input voltage waveform of the motor 40.

As shown in the flowchart of FIG. 8, in the first step S1, the controller 56 determines "whether or not it is forward" based on the state of the forward switch 57. If it is determined that the vehicle is not moving forward (NO), the controller 56 ends the process. If it is determined that the vehicle is moving forward (YES), the controller 56 proceeds to the second step S2.

In the second step S2, the controller 56 determines "whether the mode is the fast mode" based on the state of the speed changeover switch 59. If it is determined that the mode is not the fast mode (NO), the controller 56 ends the processing. If it is determined that the mode is the fast mode (YES),
The controller 56 proceeds to a third step S3.

In the third step S3, the controller 56 sets the duty 70% for a short time (for example, 0.5 seconds).
, The motor 40 is rotated at a low speed. Thereafter, the controller 56 proceeds to a fourth step S4.

In the fourth step S4, the controller 56 determines "whether the operation has been performed for 0.5 seconds" based on the input voltage waveform of the motor 40 shown in FIG. 9C. If it is determined that it is not operating (NO), the controller 56 returns to the third step S3. If it is determined that the operation has been performed (YES), the controller 56 proceeds to a fifth step S5.

In the fifth step S5, the controller 56 rotates the motor 40 at a high speed. After shifting to the fast mode, the controller 56 rotates the motor 40 at a high speed until the forward switch 57 is pressed again to be turned off, and the process ends.

In the third step S3, as shown in FIGS. 9 (a) and 9 (b), the controller 56 outputs the power transistor 52 with an output of 70% load only for 0.5 seconds at the beginning of the start. After that, in a fifth step S5, the power transistor 52 is controlled with an output of duty 100%. According to this control, the input voltage waveform of the motor 40 is in the state shown in FIG. 9C, so that the motor 40 rotates at a low speed for only 0.5 second at the beginning of the start and then operates at a high speed. The occurrence of a shock at the time of starting is prevented. The increase from the duty 70% to the duty 100% may be performed stepwise or steplessly.

As described above, according to the present embodiment, when the silver assist vehicle starts in the fast mode setting, the control to shift to the fast speed mode after starting in the slow speed mode at the initial stage of the start is performed by the controller. Since the automatic execution is performed, it is possible to prevent the elderly from feeling uncomfortable when starting in the fast mode.

[0048]

As described above, according to the present invention,
By configuring the motor so that the rotation speed of the motor can be switched in two or more stages of a fast mode and a slow mode, it is possible to change the moving speed of the movement assisting device, thereby improving the safety and convenience of the moving assisting device. be able to. In particular, when the motor is set in the fast mode at the time of starting, the motor is rotated at a slow speed for a short time and then at a high speed, so that the vehicle is running in the slow mode and then starts in the fast mode after stopping once. Since the impact at the beginning of starting can be prevented, the safety of the movement assisting device can be further improved.

[Brief description of the drawings]

FIG. 1 is a perspective view showing a silver assist vehicle according to an embodiment of the present invention.

FIG. 2 is a partially omitted front sectional view showing a rear wheel portion.

FIG. 3 is an exploded perspective view of the same.

FIG. 4 is an electric circuit diagram.

FIG. 5 is a flowchart of a first embodiment of impact generation prevention control at the time of starting.

FIG. 6 is a waveform chart of a comparative example for explaining the operation.

FIG. 7 is a waveform chart for explaining the operation.

FIG. 8 is a flowchart of a second embodiment of impact generation prevention control at the time of starting.

FIG. 9 is a waveform chart for explaining the operation.

[Explanation of symbols]

10 ... Silver assist car (movement aid), 11, 1
2, 13, 14 ... frame, 15 ... handle, 16 ... left armrest, 17 ... right armrest, 18 ... storage box, 19 ...
Lid, 20 backrest, 21 front wheel, 22 rear wheel, 23
... Support frame, 24 ... Axle, 25 ... One-way clutch,
26 ... fastening member, 27 ... support plate, 28 ... axle insertion hole, 29 ... bolt insertion hole, 30 ... bearing hole, 31 ... guide hole, 32 ... driven gear, 33 ... clip, 34 ... collar,
35 ... bolt, 36 ... battery storage section, 40 ... motor, 41 ... body, 42 ... female screw hole, 43 ... output shaft, 44
… Drive gear, 45… drive electric circuit, 46… battery,
47: Forward / reverse rotation relay, 48: Forward rotation relay switch, 49: Forward rotation relay coil, 50: Reverse rotation relay switch, 51: Reverse rotation relay coil, 52: Power transistor, 53: Forward rotation control Transistors, 5
4: reverse rotation control transistor, 55: speed control transistor, 56: controller, 57: forward switch,
58 backward switch, 59 speed switch, 60
Fast mode indicator, 61: slow mode indicator, 62: power supply circuit, 63: oscillation circuit, 64: control box.

 ──────────────────────────────────────────────────続 き Continued on the front page F term (reference) 3D050 AA04 DD01 EE15 KK14 5H115 PA01 PA08 PC06 PG04 PG10 PI13 PI29 PU08 PV23 QE01 QE02 QE03 QE04 QE13 QH02 QH06 QH08 QI03 QN03 QN12 RB08 RB22 SF02 TZ07 UB05 UI

Claims (3)

[Claims] A pair of wheels disposed in parallel to each other are supported via a one-way clutch at both ends of an axle that is rotationally driven by a forward / reverse rotating motor. A movement assisting tool characterized in that the forward rotation speed of rotating the wheel in the forward direction can be switched in two or more stages of a fast mode and a slow mode. 2. The movement assisting device according to claim 1, wherein when the fast mode is set at the time of starting, the motor is rotated at a low speed for a short time and then at a high speed. . 3. The movement assisting tool according to claim 1, wherein the rotation speed of the motor is controlled by pulse width modulation of a controller.