JP2014183977A - Attitude-variable standing type mobile device and control method therefor - Google Patents

Abstract

An object of the present invention is to support an operation of changing a posture from a standing position to a sitting position or from a sitting position to a standing position.
A posture-variable standing-type moving apparatus 10 is a moving body in which a passenger P moves in a standing posture, and is equipped with a posture support mechanism 20 that supports transfer even for a disabled person whose paralyzed lower limbs. The posture-variable standing-type moving apparatus 10 includes a moving base 30, a pair of drive wheels 40, 50, a pair of driven wheels 60, 62, a control unit 70, a battery 80, a drive wheel support mechanism 90, a slave wheel. And a driving wheel support mechanism 100. The posture support mechanism 20 is configured to support the posture change of the occupant P by the pressing force of the gas spring, and the posture of the occupant P changes from the standing posture to the sitting posture, or changes from the sitting posture to the standing posture. It works so as to support the posture transition action when doing.
[Selection] Figure 1

Description

  The present invention relates to a posture variable standing type moving apparatus and a control method thereof.

  For example, in a medical institution or care facility, when a patient with paralyzed lower limbs is transferred from a bed to a wheelchair, the nurse or caregiver wakes up the patient and lifts the patient from the bed to the wheelchair. . Also, when a patient sitting in a wheelchair is transferred to a bed, a nurse or caregiver lifts the patient and moves it from the wheelchair to the bed.

  In order to reduce the burden on such nurses and caregivers, development of devices that support the standing up of patients with paralyzed lower limbs is underway (see, for example, Patent Document 1).

Japanese Patent Laid-Open No. 2005-02443

  The apparatus of the above-mentioned patent document 1 moves in a state where a patient with paralyzed lower limbs is sitting in a wheelchair, and when moving from the wheelchair to the bed, the seat of the wheelchair is raised to raise the waist of the patient and sit down It has a structure having a mechanism for shifting from a posture to a standing posture. However, if a patient with paralysis of the lower limb moves from the standing posture to the bed even if the one of Patent Document 1 is used, the nurse or caregiver needs to be assisted after the wheelchair is placed on the side of the bed Even when transferring from a bed to a wheelchair, it was difficult for a patient with a paralyzed leg to walk to the wheelchair alone, without the help of a nurse or caregiver.

  In view of the above circumstances, an object of the present invention is to provide an attitude variable standing type moving apparatus that solves the above-described problems and a method for manufacturing the same.

  In order to solve the above problems, the present invention has the following means.

The present invention includes a moving base having wheels,
Wheel driving means for rotationally driving the wheels;
A foot fixing portion for fixing a passenger's foot to the moving base;
Supporting the movement of the passenger along with the weight shift when changing from the sitting posture to the standing posture according to the weight movement in the forward direction of the upper body of the passenger, and when changing from the standing posture to the sitting posture A posture support mechanism,
The wheel driving means moves the moving base in a state where the upper body of the occupant is held in a standing posture by the posture support mechanism.

  According to the present invention, the movement of the occupant is supported when changing from the sitting position to the standing position and changing from the standing position to the sitting position in accordance with the weight shift in the forward direction of the upper body of the occupant. Since it has the posture support mechanism, it is possible to transfer from the bed to the moving base alone or to move from the moving base to the bed by the posture support mechanism without the assistance of the nurse or the caregiver.

It is a perspective view which shows one Embodiment of the attitude | position variable standing type moving apparatus by this invention. It is a side view which shows the state which a passenger can move in a standing posture. It is the perspective view seen from the back side showing the state where a passenger can move in a standing posture. It is a front view which shows the link mechanism and knee support which support a drive wheel. It is a front view which shows the inclination operation | movement of the link mechanism which supports a driving wheel. It is a side view which shows the structure of a posture assistance mechanism. It is a graph which shows the relationship between the generation | occurrence | production moment by each gas spring, and the range of the load moment by a passenger | crew's attitude | position change. It is a perspective view which shows a passenger's sitting posture. It is a side view which shows a passenger's sitting posture. It is a figure which shows typically a posture change at the time of a passenger changing from a standing posture to a sitting posture. It is a block diagram which shows the control system of an attitude | position variable standing type moving apparatus. It is a flowchart for demonstrating the control processing of a control part. It is a front view in the case of moving in a standing posture. It is a front view which shows the movement state which inclined the upper body of the left direction in the standing posture.

  Hereinafter, embodiments for carrying out the present invention will be described with reference to the drawings.

Embodiment 1
FIG. 1 is a perspective view showing an embodiment of a posture variable standing type moving apparatus according to the present invention. FIG. 2 is a side view showing a state in which a passenger can move in a standing posture. FIG. 3 is a perspective view seen from the back side showing a state in which a passenger can move in a standing posture. FIG. 4 is a front view showing a link mechanism and knee support for supporting the drive wheels.

  As shown in FIGS. 1 to 4, the posture-variable standing-type moving device 10 is a moving body in which a passenger P moves in a standing posture, and a posture support mechanism that supports transfer even for a disabled person whose lower limbs are paralyzed. 20 is mounted. Further, the posture variable standing type moving apparatus 10 includes a moving base 30, a pair of driving wheels 40, 50, a pair of driven wheels 60, 62, a control unit 70, a battery 80, and a driving wheel support mechanism 90. And a driven wheel support mechanism 100.

  The movement base 30 is made of a metal plate, and the posture support mechanism 20, the control unit 70, and the battery 80 are mounted in the center. The battery 80 is relatively large and heavy because it drives a motor. By installing the battery 80 on the moving base 30, the center of gravity of the entire apparatus is lowered, and the stability during movement is improved. The left and right side surfaces of the moving base 30 have a pair of drive wheels 40 and 50 and motor units 42 and 52 that are coaxially connected to axles 41 and 51, respectively. The moving base 30 is supported by four wheels so as to be movable. The front wheels are drive wheels 40 and 50, and the rear wheels are driven wheels 60 and 62.

  The posture support mechanism 20 is configured to support the posture change of the occupant P by a pressing force of a gas spring as a pressing unit described later, and the posture of the occupant P changes from a standing posture to a sitting posture, or a sitting posture. Operates to support weight shift when changing from standing to standing posture. Further, the posture support mechanism 20 holds the occupant P in a standing posture, and thus a pair of knee supporters 22 with which the knee of the occupant P abuts and an upper body support unit 24 that holds the waist and the trunk of the occupant P. And have.

  As shown in FIG. 4, the knee supporter 22 is provided at a position where the knee of the occupant P abuts when the occupant P gets on the moving base 30 and takes a standing posture. Acts as a stopper to limit directional movement. The upper body support unit 24 includes an exoskeleton structure 26 that extends from the upper part of the posture support mechanism 20 to the vicinity of the waist of the occupant P, and a lumbar fixation band that is connected to an end of the exoskeleton structure 26. (Upper body fixing band) 28 and a body fixing band (upper body fixing band) 29 connected to the exoskeleton structure body 26 via the connecting member 27.

  Accordingly, the occupant P in the standing posture is integrated with the exoskeleton structure 26 by fixing the waist fixing band 28 and the body fixing band 29 to the waist and the body. Therefore, the occupant P is supported on the upper body by the exoskeleton structure 26 and can easily hold the standing posture. In addition, the exoskeleton structure body 26 is arrange | positioned at the passenger | crew P's both sides back, and is attached so that it may not contact the passenger P directly, even when it is a sitting posture.

  In addition, the exoskeleton structure 26 includes posture detection sensors 170 and 180 that detect the upper body motion by transmitting the motions of the waist and the trunk through the trunk fixing band 29 and the connecting member 27. The posture detection sensors 170 and 180 are composed of, for example, two potentiometers, and monitor movements of two degrees of freedom around the Z axis in the front-rear direction and vertical direction of the occupant P's waist and trunk. The posture detection sensors 170 and 180 only need to be able to detect movements in the front and rear directions of the occupant P and the torso and around the Z axis, and therefore sensors other than potentiometers (such as angle sensors and acceleration sensors). May be used.

  The posture support mechanism 20 stands at the center of the movement base 30. Therefore, the occupant P gets on board with both feet straddling the posture support mechanism 20. The shoes (portions below the ankles of both feet when no shoes are present) are formed on the shoe support surfaces formed on the left and right sides of the posture support mechanism 20 by the foot fixing belt (foot fixing portion) 110 provided on the moving base 30. Fixed. The foot fixing belt 110 is made of, for example, a hook-and-loop fastener, and is configured to be easily attached / detached by bending over the upper body even in the case of a person who has paralyzed lower limbs.

  The motor units 42 and 52 incorporate motors (wheel drive means) 44 and 54 for rotating the drive wheels 40 and 50 and electromagnetic brakes 46 and 56. The motors 44 and 54 and the electromagnetic brakes 46 and 56 are controlled to be energized from the battery 80 based on a control signal calculated by the control process of the control unit 70 as will be described later, and stop, advance, reverse, advance left turn, Driving force and braking force are generated so as to perform forward right turn, reverse left turn, and reverse right turn. At the time of deceleration, regenerative braking is performed by the motors 44 and 54, so that the rotational speeds of the drive wheels 40 and 50 are reduced.

  As shown in FIG. 4, the drive wheels 40, 50 arranged on the left and right sides of the moving base 30 are supported by a link mechanism constituting the drive wheel support mechanism 90 so as to be displaceable at different height positions on the left side and the right side. ing. In other words, the drive wheels 40 and 50 are supported by the drive wheel support mechanism 90 so as to be tiltable in the left-right direction in order to maintain airframe balance when turning in the left-right direction. Therefore, during the movement in the standing posture where the center of gravity becomes high, the occupant P can stably turn left and right while maintaining a balance by the tilting operation of the drive wheel support mechanism 90. The drive wheel support mechanism 90 also operates to adjust the difference in height between the drive wheels 40 and 50 even when the traveling road surface is inclined in the left-right direction.

  The drive wheel support mechanism 90 includes vertical arms 91 and 92 that support the axles 41 and 51 of the drive wheels 40 and 50, an upper horizontal arm 93 that is coupled between the vertical arms 91 and 92, and the vertical arms 91 and 92. And a lower horizontal arm 94 connected to the lower end. Further, the drive wheel support mechanism 90 includes a vertical bracket 95 that rotatably supports an intermediate point between the upper horizontal arm 93 and the lower horizontal arm 94, one end hooked to the lower ends of the vertical arms 91 and 92, and the other end. And coil springs 96 and 97 hooked on the intermediate portion of the upper horizontal arm 93. The vertical bracket 95 is fixed in a state in which the vertical bracket 95 is rotationally restricted by a horizontal shaft 98 penetrating from the front surface to the rear surface of the moving base 30. Further, the driven wheel support mechanism 100 and the front lower link 94 are connected by the shaft 98 and are constrained in the torsional direction and the axial length direction around the shaft, and the vertical bracket 95 rotates around the shaft 98. It is assembled to the moving base 30 as possible.

  4 and 5, the drive wheel support mechanism 90 is composed of vertical arms 91 and 92, an upper horizontal arm 93, and a lower horizontal arm 94, and supports the drive wheels 40 and 50 by a parallel link mechanism. doing. The coil springs 96 and 97 are mounted between the lower ends of the vertical arms 91 and 92 and the intermediate portion of the upper horizontal arm 93, and provide a return direction moment with respect to the axles 41 and 51 of the drive wheels 40 and 50. Make it work. Therefore, the spring force of the coil springs 96 and 97 alleviates the horizontal inclination of the drive wheels 40 and 50 when turning and the vertical movement of the drive wheels 40 and 50 that occur when passing through a step, and the drive wheels 40 and 50 are It can be returned to the same height position.

  As shown in FIGS. 1 to 3, the driven wheel support mechanism 100 is connected to the rear portion of the moving base 30, and has a V-shaped bracket 112 formed in a V shape and a pair of tips of the V-shaped bracket 112. And wheel support portions 114 and 115 connected to each other. The wheel support portions 114 and 115 have upper ends penetrating in a vertical direction with respect to the V-shaped bracket 112 and are supported so as to be rotatable about an axis (turning direction). The lower end portions of the wheel support portions 114 and 115 are formed in a bifurcated shape so as to be connected to both ends of the rotation shafts of the driven wheels 60 and 62.

  The driven wheels 60 and 62 are smaller in diameter than the drive wheels 40 and 50 and are supported at a lower position by the V-shaped bracket 112. Therefore, for example, when the passenger P with a lower limb obstacle uses a toilet, when the posture changeable moving device 10 is retracted toward the toilet, the V-shaped bracket 112 is retracted so as not to contact the base of the toilet. Can do. That is, in the posture changeable standing type moving apparatus 10, the driven wheels 60 and 62 can be moved backward so as to be positioned on both sides of the toilet bowl, so that the passenger P approaches the toilet bowl to a position where the passenger P can sit on the toilet bowl. Is possible.

[Configuration of Posture Support Mechanism 20]
FIG. 6 is a side view showing the configuration of the posture support mechanism 20. As shown in FIG. 6, the posture support mechanism 20 includes a first rotating member 120, a second rotating member 130, first gas springs (first pressing means) 140 and 140A, Two gas springs (second pressing means) 150 and 150A, and an exoskeleton structure 26 (not shown in FIG. 6).

  The first rotating member 120 is supported so that the shaft 122 connected to the lower end can be rotated in the front-rear direction by a support plate 160 standing on the moving base 30. Further, the support plate 160 is provided with an arcuate hole 162 into which the fitting pin 124 of the first rotating member 120 is fitted. The rotation range of the fitting pin 124 of the first rotating member 120 is restricted by the formation position of the inner wall of the arcuate hole 162. Therefore, the rotation range of the first rotation member 120 in the front-rear direction is determined by the fitting pin 124 coming into contact with the inner wall of the arcuate hole 162, and is prevented from being inclined too much in the front-rear direction.

  The rotation range of the fitting pin 136 of the second rotating member 130 is restricted by the formation position of the inner wall of the arcuate hole 126. Therefore, the rotation range of the second rotation member 130 in the front-rear direction is determined by the fitting pin 136 coming into contact with the inner wall of the arc-shaped hole 126, and is prevented from being inclined too much downward due to its own weight. The second rotating member 130 is supported by a shaft 132 connected to the upper end of the first rotating member 120 so as to be rotatable in the vertical direction.

  In addition, the second rotating member 130 has a fixing portion 138 to which the exoskeleton structure 26 is fixed at a lower portion separated from the shaft 132. A description of the mounting structure of the exoskeleton structure 26 is omitted.

  The first gas springs 140 and 140A have lower ends 141 and 141A connected to the support plate 160, and upper ends 143 and 143A connected to the front side of the first rotating member 120. The first gas springs 140, 140 </ b> A give the first rotating member 120 a generated moment that is determined by the pressing force due to the gas pressure and the distance from the upper ends 143, 143 </ b> A to the shaft 122.

  Therefore, the first gas springs 140 and 140A press the first rotating member 120 in the front-rear direction, and assist the occupant P's ankle joint to move in the extending direction during the rising operation. The first gas springs 140 and 140A bend the ankle joint while supporting the passenger P so as to suppress the backward movement of the first rotating member 120 when the occupant P shifts from the standing position to the sitting position. Assist the movement of direction.

  In the second gas springs 150 and 150A, lower ends 151 and 151A are connected to the rear side of the first rotating member 120, and upper ends 153 and 153A are connected to the front end portion and the intermediate portion of the second rotating member 130. ing. Further, the second gas springs 150 and 150 </ b> A give the second rotating member 130 a generated moment determined by the pressing force due to the gas pressure and the distance from the upper ends 153 and 153 </ b> A to the shaft 132.

  Therefore, the second gas springs 150 and 150A press the second rotating member 130 upward, and extend the knee joint of the occupant P during the rising motion that shifts from the sitting posture to the standing posture. Help to work in the direction. Further, the second gas springs 150 and 150A support the lower part of the second gas spring 150 and 150A so as to suppress the lowering operation of the second rotating member when the occupant P moves from the standing position to the sitting position. Supports the movement of the knee joint in the bending direction.

  The gas springs 140 and 150 use free piston type free lock gas springs, and are configured to lock by closing an orifice through which oil sealed in a cylinder passes. That is, the gas springs 140 and 150 have a lock mechanism that locks the expansion and contraction operation by closing the oil flow by the lock release levers 142 and 152, and the lock mechanism unlocks by operating the lock release levers 142 and 152. It is a gas spring with a telescopic fixing function. Accordingly, the posture support mechanism 20 maintains a stable state before the posture support is received because the posture support mechanism 20 is locked and does not operate. When receiving posture support, the posture support mechanism 20 switches to a state in which the support operation can be performed by unlocking the lock release levers 142 and 152 to release the lock mechanism.

  The first gas springs 140 and 140A and the second gas springs 150 and 150A are composed of a piston rod and a cylinder filled with gas, and generate a predetermined pressing force in the direction of expansion and contraction with respect to the load.

  Moreover, although each 1st, 2nd gas spring is demonstrated and mentioned as an example of the structure each arrange | positioned 2 each, if the pressing force corresponding to the magnitude | size of the load moment by the weight of the passenger P can be generated, One by one is acceptable.

  Further, a spring member that generates a spring force may be used instead of the first gas springs 140 and 140A and the second gas springs 150 and 150A.

  Here, the action of the pressing force depending on the mounting position of each gas spring 140, 140A, 150, 150A will be described.

The generated moment M (Nm) of the first gas springs 140 and 140A can be expressed by the following equation. In the following equation, θ is an inclination angle (limb posture) [rad] between axes 122 and 132, g ₁ (θ) is an inclination angle [rad] of the gas spring 140, and g ₂ (θ) is a gas. The inclination angles [rad], l ₁ (θ), and l ₂ (θ) of the spring 140A are extensions [m], and f ₁ (l ₁ (θ)) and f ₂ (l ₂ (θ)) are gas springs 140, The pressing force is 140A. Further, _{x 1} is the horizontal distance between the lower end 141 and the shaft 122 of the gas spring 140 (m), _{x 2} is the horizontal distance between the lower end 141A and the shaft 122 of the gas spring 140A (m).

M = x ₁ f ₁ (l ₁ (θ)) sin (g ₁ (θ)) + x ₂ f ₂ (l ₂ (θ)) sin (g ₂ (θ)) (1)
Further, the generated moments of the second gas springs 150 and 150A can be calculated in the same manner. The moments generated by the first gas springs 140, 140A and the second gas springs 150, 150A are set so as to correspond to the load moment due to the weight of the passenger P. That is, the generated moment determined by the mounting position of each gas spring 140, 140A, 150, 150A and the predetermined pressing force generated is reduced by the weight shift of the occupant P, and is relatively generated by the gas spring. When the moment increases, the knee joint when the passenger P changes from the sitting posture to the standing posture is supported in the extending direction. The operation when the passenger P changes from the standing posture to the sitting posture is similarly supported.

  That is, each of the gas springs 140, 140A, 150, 150A generates a pressing force against a load moment due to the weight shift accompanying the movement of the upper body of the passenger P, and the generated moment due to the pressing force is a load due to the weight shift. It is attached so as to support the movement when the passenger P changes from the sitting position to the standing position when the moment is exceeded.

  FIG. 7 is a graph showing the relationship between the moment generated by each gas spring and the range of the load moment due to the change in the posture of the passenger. As shown in FIG. 7, graph I is the maximum load moment of the knee joint, graph II is the standard load moment of the knee joint, graph III is the generated moment of the knee joint, IV is the maximum load moment of the ankle joint, and graph V is the ankle. The standard load moment of the joint, graph VI, shows the generated moment of the ankle joint. That is, graphs I to III show the moments associated with the movement of the thigh (upper part of the knee) of the passenger P, and graphs IV to VI show the lower leg of the passenger P (ankle part below the knee). The moment accompanying the operation of is shown.

  The second gas springs 150 and 150A are attached so that the generated moment can be obtained with the characteristics along the graph III. Further, the first gas springs 140 and 140A are attached so that the generated moment can be obtained with the characteristics along the graph VI.

  That is, the first gas springs 140 and 140A are applied to the ankle joint, and the second gas springs 150 and 150A are applied to the knee joint, and the generated moment falls within the transition range of the load moment based on the weight of the occupant P. Conditions such as gas pressure, cylinder diameter, piston stroke, and mounting position are set so as to generate pressure.

  Thereby, for example, when the occupant P performs an operation of raising the upper body in the vertical direction and moving the body weight backward, the posture support mechanism 20 can be applied to the transition ranges of the load moment graphs I to II and IV to V. The moment generated by each gas spring 140, 140A, 150, 150A decreases. In this case, since the generated moments of the gas springs 140, 140A, 150, and 150A with respect to the load moment due to the weight of the occupant P are reduced, the operation support of the occupant P is insufficient, so the posture from the standing posture to the sitting posture is insufficient. It will be possible to support change.

  Further, for example, when the passenger P performs an action of moving the weight forward with the upper body tilted forward and floating, the gas springs 140, 140A, 150, The generated moment of 150A increases. In this case, since the generated moments of the gas springs 140, 140A, 150, and 150A with respect to the load moment due to the weight shift of the passenger P are increased, the operation support of the passenger P can be performed. Thereby, even without the help of a nurse or a caregiver, the posture support mechanism 20 can be transferred from the bed or chair to the moving base 30 alone, or can be moved from the moving base 30 to the bed or chair.

  Here, the relationship between the graphs I to VI shown in FIG. 7 and the posture of the passenger P will be described.

In FIG. 7, the area between 20 ° and 80 ° represents the movement of the knee joint (θ1 shown in FIG. 10), and the knee angle shown in FIG. 10 (A) from the knee angle θ1 = 20 ° shown in FIG. 10 (B). This corresponds to θ1 = 80 °. That is, graphs I to III plot the moments when the knee angle θ1 is moved between 20 ° and 80 ° in the standing posture of θ2 = 100 ° in FIG.
Similarly, an area with an angle of 80 ° to 100 ° represents the movement of the ankle joint (θ2 shown in FIG. 10), and the ankle angle shown in FIG. 10C from the ankle angle θ2 = 80 ° shown in FIG. This corresponds to θ2 = 100 °. That is, graphs IV to VI plot the moments when the angle θ2 shown in FIG. 10 is moved between 80 ° and 100 °. At this time, since the first rotating member 120 and the second rotating member 130 are coupled by the first gas spring 140 that is telescopically locked, the knee angle θ1 increases by 20 ° from the ankle angle θ2. Accordingly, the angle changes from 0 ° to 20 °.

  Therefore, in each posture, if the upper body is tilted forward, the load moment decreases to the lower limit graphs II and V, and falls below the gas spring generation moments graphs III and VI (the assist force of the gas spring is When the load is exceeded, a rising motion occurs. Further, if the occupant P makes the upper body vertical, the load moment increases to the upper limit graphs I and IV, and exceeds the graphs III and VI of the generated moment of the gas spring (the load of the occupant P is the assist force of the gas spring) ) Will cause a seating movement.

  The movements of the knee and ankle joints are independent, and during the standing up motion, the first gas spring 140 that locks the ankle joint is first unlocked in the sitting position shown in FIG. As a result, the assist force of the first gas springs 140 and 140A is pulled out, the passenger P gets up so as to rotate around the ankle joint, and reaches the intermediate posture shown in FIG. At this time, the lock of the second gas spring 150 of the knee joint is activated, and the relative posture (angle) between the first rotating member 120 and the second rotating member 130 is maintained.

  When the occupant P reaches the intermediate posture (B), the ankle joint is locked by the first gas spring 140, and then the upper body is raised to unlock the knee joint by the second gas spring 150. When the upper body is tilted forward again, the knee joint is extended by the assist force of the second gas springs 150 and 150A, and shifts to the standing posture (A). Then, the knee joint is locked by the second gas spring 150 and the standing posture is maintained.

  The seating operation can be executed by increasing the load moment by making the upper body vertical while releasing the lock of the gas springs 140 and 150 in the reverse procedure.

  FIG. 8 is a perspective view showing the sitting posture of the passenger P. FIG. FIG. 9 is a side view showing the sitting posture of the passenger P. FIG. As shown in FIGS. 8 and 9, the occupant P can sit on the chair 200 installed at the rear by moving the weight rearward with the foot fixed to the moving base 30. The chair 200 is a commercially available one, and the same applies when sitting on a bed used in daily life or on a park bench.

  In the posture support mechanism 20, the exoskeleton structure 26 is fixed to the second rotating member 130, and the waist fixing band 28 and the body fixing band 29 of the exoskeleton structure 26 are attached to the waist and body of the occupant P. It is fixed. Therefore, when the occupant P lowers the waist and moves the knee joint in the bending direction, the generated moments of the gas springs 140, 140A, 150, 150A with respect to the load moment due to the weight of the occupant P are reduced. Lack of motion support will gradually lower the waist height position. The passenger P can sit on the chair 200 with his / her foot fixed to the moving base 30. In addition, since the occupant P moves in the standing posture, the variable posture standing type moving apparatus 10 is in a stopped state in which the motor is cut off when the occupant P is in the sitting posture.

  In addition, the exoskeleton structure body 26 has the body fixing band 29 fixed to the waist and torso of the occupant P via the lumbar fixing band 28 and the connecting member 27. The movement direction and movement angle of the waist and the trunk can be detected. The posture detection signals of the posture detection sensors 170 and 180 are input to the control unit 70, and a motor control signal is generated in the control unit 70 based on the posture detection signals.

  FIG. 10 is a diagram schematically showing the posture change when the passenger changes from the standing posture to the sitting posture. As shown in FIG. 10A, when the occupant P is in a standing posture, for example, the knee joint angle is θ1 = 80 [deg], and the ankle joint angle is θ2 = 100 [deg].

  As shown in FIG. 10B, when the occupant P is in the intermediate posture when shifting from the standing posture to the sitting posture, the knee joint angle is θ1 = 20 [deg], and the ankle joint angle is θ2. = 100 [deg]. In this intermediate posture, the body moves forward and assumes a forward leaning posture. In this forward tilt posture, the load moment decreases in the range between I and II shown in FIG. 7 (vertical direction in the figure) for the knee joint, and the range between IV and V in the figure (vertical direction in the figure) for the ankle joint. ), The generated moments of the gas springs 140, 140A, 150, and 150A are relatively represented by the graph III for the generated moment at the knee joint in FIG. 7 and the generated moment at the ankle joint by the graph VI. Will rise).

  In this case, since the generated moments of the gas springs 140, 140A, 150, and 150A with respect to the load moment due to the weight shift of the passenger P are increased, the operation support of the passenger P can be performed. As the passenger P moves backward in the upper body, the load moment increases in the transition range between graph I and graph II shown in FIG. 7 (the range in the vertical direction in FIG. 7) for the knee joint. By increasing the load moment in the transition range between the graph IV and the graph V (vertical direction in FIG. 7), the moment generated by the gas springs 140, 140A, 150, 150A is relatively decreased. Thereby, the passenger P can move the upper body backward and change the posture so as to gradually lower the position of the upper body.

  As shown in FIG. 10C, when the occupant P is in the sitting position, the thigh is placed on the chair 200, and for example, the knee joint angle is θ1 = 0 [deg], The angle of the ankle joint is θ2 = 80 [deg]. Further, in the sitting posture sitting on the chair 200, the passenger P takes a posture in which the retracted portion is extended forward in order to prevent interference between the posture-variable standing-type moving device 10 and the chair 200. Therefore, the angle of the ankle joint is, for example, θ2 = 80 [deg].

  Since the lock mechanism of the gas springs 140 and 150 is operated based on the operation of the passenger P in the sitting posture, no pressing force is generated after the posture transition. Therefore, the passenger P can maintain the sitting posture without worrying about the pressing force of the gas spring.

  Further, when the passenger P stands up from the chair 200, weight shift is performed by an operation reverse to the operation when sitting. That is, the occupant P shifts from the posture sitting on the chair 200 shown in FIG. 10C to the forward leaning posture, so that the transition range between the graph I and the graph II shown in FIG. The load moment is reduced in the middle and vertical direction), and the load moment is reduced in the transition range between graph IV and graph V (range in the vertical direction in FIG. 7) for the ankle joint. 140A, 150, and 150A, the generated moment increases. Therefore, the moment generated by the pressing force of the gas springs 140, 140A, 150, 150A is relatively increased at the timing when the occupant P shifts to the forward leaning posture, and the force that lifts the waist and the trunk acts on the occupant P. . As a result, the passenger P is supported by the first gas springs 140 and 140A so that the ankle joint is moved in the extending direction during the movement process from the posture sitting on the chair 200 to the forward leaning posture. Since the second gas springs 150 and 150A are assisted to operate in the extension direction, it is possible to stand up in the same manner as a healthy person despite the paralysis of the lower limbs. In this manner, the passenger P receives the support operation of the posture support mechanism 20 due to the posture change accompanying the body weight movement of the upper body and transfers alone from the bed or chair to the moving base 30 or from the moving base 30 to the bed or the like. It is also possible to move to a chair.

  In addition, since the posture support mechanism 20 can support the posture change of the occupant P without using the driving force of the motor, the power supply is unnecessary, and the operation support of the occupant P can be performed even during a power failure. The posture support mechanism 20 can also be used as a rehabilitation support device that operates each joint between the ankle, knee, and crotch by repeating standing and sitting when the lower limbs of the passenger P are paralyzed.

[Control system configuration]
FIG. 11 is a block diagram showing a control system of the posture variable standing type moving apparatus. As shown in FIG. 11, the control unit 70 is composed of a microcomputer or the like, and is electrically connected to motors 44 and 54, electromagnetic brakes 46 and 56, a battery 80, and posture detection sensors 170 and 180 for detecting the upper body. ing. Further, a knee angle sensor 190 for detecting the knee angle θ1 and an ankle angle sensor 192 for detecting the ankle angle θ2 are electrically connected to the control unit 70. The knee angle sensor 190 is provided on the shaft 132 or a gear connected to the shaft 132 in FIG. 6, and the ankle angle sensor 192 is provided on the shaft 122 or the gear connected to the shaft 122 in FIG. 6. ing. Therefore, the knee angle sensor 190 includes a potentiometer that detects a relative rotation angle between the first rotation member 120 and the second rotation member 130 as a knee joint angle. The ankle angle sensor 192 includes a potentiometer that detects a relative rotation angle of the first rotation member 120 with respect to the support plate 160 as an ankle angle.

  The control unit 70 stores each control program in advance in a memory. As the control program, a control program (posture determination means) 70A for determining the posture of the passenger P, and a control program for determining the intention of movement from the movement of the upper body of the passenger P while the passenger P is in the standing posture. (Movement intention determination means) 70B, a control program (calculation means) 70C for calculating a control signal to the motors 44 and 54 based on the determined movement intention, and movement of the upper body of the passenger in the standing posture Accordingly, a control program (drive control means) 70D for controlling the rotation, stop, rotation direction, and speed of the drive wheels 40 and 50 is provided.

  FIG. 12 is a flowchart for explaining the control process of the control unit. As shown in FIG. 12, the controller 70 turns on the electromagnetic brakes 46 and 56 to brake the drive wheels 40 and 50 in step S11. Thereby, the movement of the posture variable standing type moving apparatus 10 is prohibited, and the movement in the process in which the passenger P shifts from the sitting position to the standing position (see FIG. 13) is prevented.

  In the next step S12, posture detection signals and knee angle sensors 190 for two degrees of freedom around the Z axis in the front and rear direction and vertical direction of the occupant P detected by the posture detection sensors 170 and 180, ankle angle The angle signal of each joint of the passenger P detected by the sensor 192 is read.

  Subsequently, the process proceeds to step S13, and the body of the occupant P is detected based on the posture detection signals for two degrees of freedom around the Z axis in the longitudinal direction and the vertical direction of the occupant P detected by the posture detection sensors 170 and 180. It is determined whether or not it is a standing posture from the posture in each direction around the Z axis. The knee angle sensor 190 and the ankle angle sensor 192 monitor the angles θ1 and 2 of each joint of the passenger P. In step S13, the joint angle information (from the knee angle sensor 190 and the ankle angle sensor 192) ( Standing posture determination is performed based on θ1, θ2) and the body posture. If it is determined in step S13 that the occupant P is not in the standing posture (in the case of NO), it is determined that the occupant P is in the sitting posture or the intermediate posture (see FIGS. 10B and 10C). Returning to S11, the electromagnetic brakes 46, 56 are turned on to brake the drive wheels 40, 50.

  In step S13, as shown in FIG. 10A described above, when the knee joint angle is θ1 = 80 [deg] and the ankle joint angle is θ2 = 100 [deg], the passenger P stands up. It is determined that the posture is in the posture (in the case of YES), the process proceeds to step S14, where the passenger P is detected by the posture detection sensors 170, 180 in the standing posture, the front-rear direction of the trunk of the passenger P, 2 around the Z axis The posture detection signal for the degree of freedom and the angle signal of each joint detected by the knee angle sensor 190 and the ankle angle sensor 192 are read. The posture detection signal and each joint angle signal at this time represent the posture of the upper body (waist and torso) of the occupant P, and mean the moving direction due to the occupant P's intention to move.

[Forward mode]
Then, it progresses to step S15 and it is checked whether the upper body (waist part and trunk | drum part) of the passenger P is a forward leaning posture. If it is determined in step S15 that the upper body (waist and torso) of the passenger P is in a forward leaning posture (in the case of YES), the process proceeds to step S16, where it is determined that the intention to move is forward, and the electromagnetic brake 46 and 56 are turned off, and the braking of the drive wheels 40 and 50 is released. Subsequently, in step S17, the motor control amount is calculated and the left and right motors 44 and 54 are simultaneously driven in the forward direction. Thus, the occupant P can move forward while standing. Thereafter, the process returns to step S12.

[Reverse mode]
In step S15, when the upper body (waist and torso) of the passenger P is not in a forward leaning posture (in the case of NO), the process proceeds to step S20, and the upper body (torso portion) of the passenger P is in a backward leaning posture. It is determined whether or not. In step S20, when it is determined that the upper body (body part) of the passenger P is in the backward tilted posture (in the case of YES), the process proceeds to step S21, and the electromagnetic brakes 46, 56 are turned off to drive wheels 40, 50. Release the brake. Subsequently, in step S22, the motor control amount is calculated and the left and right motors 44 and 54 are simultaneously driven in the backward direction. Thus, the occupant P can move backward while standing. Thereafter, the process returns to step S12.

(Right turn mode)
In Step S20, when it is determined that the upper body (torso part) of the occupant P is not backwardly tilted (in the case of NO), the process proceeds to Step S23, and the upper body (torso part) of the occupant P is tilted to the right. Judge whether the posture. If it is determined in step S23 that the upper body (torso part) of the occupant P is in the right-tilting posture (in the case of YES), the process proceeds to step S24, and the occupant P instructs the intention to move to the right. The electromagnetic brakes 46 and 56 are turned off, and the braking of the drive wheels 40 and 50 is released.

  Subsequently, in step S25, the motor control amount is calculated, the left motor 44 is driven in the forward direction, and the right motor 54 is stopped. Thus, the occupant P can turn right on the spot while standing. Thereafter, the process returns to step S12.

(Left-turn mode)
If it is determined in step S23 that the upper body (torso part) of the passenger P is not in the right tilt position (in the case of NO), the process proceeds to step S26, and the upper body (torso part) of the passenger P is in the left tilt position. It is determined whether or not. If it is determined in step S26 that the upper body (torso part) of the occupant P is tilted to the left (in the case of YES), the process proceeds to step S27, and the occupant P instructs the intention to move left The electromagnetic brakes 46 and 56 are turned off, and the braking of the drive wheels 40 and 50 is released.

  Subsequently, in step S28, the motor control amount is calculated, the right motor 54 is driven in the forward direction, and the left motor 44 is stopped. Thus, the passenger P can turn left on the spot while standing. Thereafter, the process returns to step S12.

(Forward right turn mode)
If it is determined in step S26 that the upper body (torso part) of the passenger P is not tilted to the left (in the case of NO), the process proceeds to step S29, and the upper body (torso part) of the passenger P is tilted forward. It is determined whether or not the posture is right tilt. If it is determined in step S29 that the upper body (torso part) of the occupant P is in a forward tilted right tilt posture (in the case of YES), the process proceeds to step S30, where the occupant P indicates an intention to move forward and turn right Therefore, the electromagnetic brakes 46 and 56 are turned off and the braking of the drive wheels 40 and 50 is released.

  Subsequently, in step S31, the motor control amount is calculated, the left and right motors 44 and 54 are driven in the forward direction, and the left motor 44 is accelerated. In this case, since the left drive wheel 40 is accelerated more than the right drive wheel 50, it can turn right while moving forward. Thus, the passenger P can make a right turn while moving forward while standing. Thereafter, the process returns to step S12.

(Forward left turn mode)
If it is determined in step S29 that the upper body (torso part) of the occupant P is not in the forward leaning posture (in the case of NO), the process proceeds to step S32, and the upper body (torso part) of the occupant P is determined. It is determined whether or not the posture is tilted forward and left. In step S32, when it is determined that the upper body (body part) of the passenger P is in the forward leaning posture (in the case of YES), the process proceeds to step S33, where the passenger P instructs the intention to move forward and turn left. The electromagnetic brakes 46 and 56 are turned off, and the braking of the drive wheels 40 and 50 is released.

  Subsequently, in step S34, the motor control amount is calculated, the left and right motors 44, 54 are driven in the forward direction, and the right motor 54 is accelerated. In this case, since the right driving wheel 50 is accelerated more than the left driving wheel 40, it can turn left while moving forward. Thus, the occupant P can turn left while moving forward while standing. Thereafter, the process returns to step S12.

(Reverse right turn mode)
If it is determined in step S32 that the upper body (torso part) of the occupant P is not in the forward-right-tilting posture (NO), the process proceeds to step S35, and the upper body (body part) of the occupant P is determined. It is determined whether or not the posture is tilted backward and right. If it is determined in step S35 that the upper body (torso part) of the occupant P is in the backward tilted right-tilt posture (in the case of YES), the process proceeds to step S36, and the occupant P instructs the intention to move backward and turn right Therefore, the electromagnetic brakes 46 and 56 are turned off, and the braking of the drive wheels 40 and 50 is released.

  Subsequently, in step S37, the motor control amount is calculated, the left and right motors 44 and 54 are driven in the backward direction, and the left motor 44 is accelerated. In this case, since the left drive wheel 40 is accelerated more than the right drive wheel 50, the vehicle can turn right while moving backward. Thus, the passenger P can turn right while retreating while standing. Thereafter, the process returns to step S12.

[Reverse left turn mode]
If it is determined in step S35 that the upper body (torso part) of the occupant P is not in the rearward tilting right posture (in the case of NO), the process proceeds to step S38, and the upper body (torso part) of the occupant P is determined. Check if it is in a backward leaning posture. If it is determined in step S38 that the upper body (torso part) of the occupant P is in the backward tilted right-tilt posture (in the case of YES), the process proceeds to step S39, where the occupant P instructs the intention to move backward and turn left. Therefore, the electromagnetic brakes 46 and 56 are turned off, and the braking of the drive wheels 40 and 50 is released.

  Subsequently, in step S40, the motor control amount is calculated, the left and right motors 44, 54 are driven in the backward direction, and the left motor 44 is accelerated. In this case, since the right drive wheel 50 is accelerated more than the left drive wheel 40, the vehicle can turn left while moving backward. Thus, the occupant P can turn left while moving forward while standing. Thereafter, the process returns to step S12.

[Stop mode]
If it is determined in step S38 that the upper body (torso part) of the occupant P is not in the backward tilted right tilt position (in the case of NO), the process proceeds to step S41, and the left and right motors are used for the safety of the occupant P. The energization to 44 and 54 is cut off to activate the regenerative brake, and the electromagnetic brakes 46 and 56 are turned on to brake and stop the drive wheels 40 and 50.

  In the above description, the case where the lower limb is used as a means for moving a disabled person has been described. However, the passenger P may be a disabled person with a leg disorder or a normal person.

  Note that in steps S26, S29, S32, S35, and S38, the body posture acquired by the posture detection sensors 170 and 180 is tilted back and forth, and only torsional information about the Z-axis is obtained. It is possible to control on the basis. Further, when the device itself tilts left and right due to the right and left tilt of the occupant P, the tilt angle in the left and right direction is detected by the sensor that monitors the relative posture (angle around the horizontal axis) of the driven wheel support mechanism 100 and the moving base 30. Then, the inclination of the posture of the passenger P may be determined.

DESCRIPTION OF SYMBOLS 10 Posture variable standing type moving apparatus 20 Posture support mechanism 22 Knee supporter 24 Upper body support part 26 Exoskeleton structure 28 Lumbar fixation band 29 Torso fixation band 30 Movement base 40, 50 Drive wheel 41, 51 Axle 42, 52 Motor unit 44, 54 Motor (wheel drive means)
46, 56 Electromagnetic brake 60, 62 Driven wheel 70 Control unit 80 Battery 90 Drive wheel support mechanism 91, 92 Vertical arm 93 Upper horizontal arm 94 Lower horizontal arm 95 Vertical bracket 96, 97 Coil spring 100 Driven wheel support mechanism 110 Foot fixing belt ( Foot fixing part)
112 V-brackets 114 and 115 Wheel support portion 120 First rotating member 122 and 132 Shaft 124 and 136 Fitting pins 126 and 162 Arc-shaped hole 130 Second rotating member 138 Fixing portion 140 and 140A First gas Spring (first pressing means)
150, 150A Second gas spring (second pressing means)
160 Support plates 170 and 180 Posture detection sensor 190 Knee angle sensor 192 Ankle angle sensor 200 Chair

Claims (10)

A moving base having wheels;
Wheel driving means for rotationally driving the wheels;
A foot fixing portion for fixing a passenger's foot to the moving base;
Supporting the movement of the passenger along with the weight shift when changing from the sitting posture to the standing posture according to the weight movement in the forward direction of the upper body of the passenger, and when changing from the standing posture to the sitting posture A posture support mechanism,
The wheel drive means moves the moving base in a state where the upper body of the occupant is held in a standing posture by the posture support mechanism. The posture support mechanism is
A first rotating member that stands on the moving base and is supported so as to be rotatable in the front-rear direction;
A second rotating member connected to the upper end of the first rotating member so as to be rotatable in the vertical direction;
First pressing means for pressing the first rotating member forward;
Second pressing means for pressing the second rotating member upward;
An exoskeleton structure fixed to the upper part of the second rotating member and formed to extend near the waist of the occupant;
An upper body fixing band connected to an end of the exoskeleton structure and fixed to the upper body of the occupant;
The first and second rotating members and the exoskeleton structure transmit the pressing force of the first and second pressing means to the upper body fixing band, and the knee joint in the sitting posture of the occupant. The posture-variable standing-type moving device according to claim 1, wherein the ankle joint is supported in the extending direction.   3. The posture variable standing type moving device according to claim 1, wherein the first and second pressing means are gas springs that generate a predetermined pressing force in a direction of expansion and contraction with respect to a load.   4. The posture variable standing type moving device according to claim 3, wherein the gas spring generates a pressing force corresponding to a transition range of a load moment based on a weight of the occupant acting on the knee joint. .   The gas spring generates a pressing force with respect to a load moment due to weight shift associated with a longitudinal movement of the upper body of the occupant, and when the generated moment due to the pressing force exceeds a load moment due to the weight shift, the occupant The posture-variable standing-type moving device according to claim 3 or 4, wherein the posture-changing standing-type moving device is attached so as to support an operation when changing from a sitting posture to a standing posture.   6. The gas spring according to claim 3, wherein the gas spring has a lock mechanism that locks an expansion / contraction operation, and is a gas spring with an expansion / contraction fixing function that generates a pressing force when the lock mechanism is unlocked. The posture variable standing type moving device as described. Motion detection means for detecting the movement of the upper body of the occupant while the occupant is in a standing posture;
Control means for generating a control signal corresponding to the motion of the upper body detected by the motion detection means;
With
The posture variable moving apparatus according to any one of claims 1 to 6, wherein the wheel driving means rotationally drives the wheel according to the movement of the upper body of the occupant in the standing posture. . The control means includes
Posture determination means for determining the posture of the passenger P;
A movement intention determination means for determining a movement intention from the movement of the upper body of the passenger P when the passenger P is in a standing posture;
A computing means for computing a control signal to the wheel driving means based on the determined intention to move;
The posture-variable standing-type moving device according to claim 7, wherein rotation, stop, and rotation direction of the driving wheel are controlled in accordance with a movement of an upper body of a passenger in the standing posture. The moving base is
Driving wheels driven by the wheel driving means;
A driven wheel that follows the rotational drive of the drive wheel;
The posture-variable standing-type moving device according to any one of claims 1 to 8, wherein the driven wheel has a smaller diameter than the driving wheel and is supported so as to be pivotable at a low position. A control method for a posture variable standing type moving apparatus according to any one of claims 1 to 9,
Step 1 of detecting the movement of the upper body of the passenger to determine the posture of the passenger;
Step 2 of determining the intention to move from the movement of the passenger's upper body while the passenger is in a standing posture;
Calculating a control signal to the wheel driving means based on the determined intention to move; and
Controlling the rotation, stop, rotation direction, and speed of the driving wheel according to the movement of the upper body of the passenger in the standing position;
A control method for a posture-variable standing-type moving apparatus characterized by comprising:

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