JP2018000852A - Wheelchair getting on/off device - Google Patents

Abstract

A wheelchair getting-on / off device capable of stably getting on and off a cared person with a wheelchair with respect to a vehicle is provided.
A wheelchair getting-on / off device is a device for getting on / off a wheelchair from the side of a vehicle by lifting the wheelchair, and is installed on a floor of the vehicle and extends in a vertical direction. A portion 20A, an arm portion 30A extending laterally from the column portion 20A and displaceable in the vertical direction with respect to the column portion 20A, and an actuator 60A for moving the arm portion 30A up and down relative to the column portion 20A .
[Selection] Figure 2

Description

  The present invention relates to a technique for getting a vehicle into and out of a wheelchair.

  As a device for getting a cared person from the side of a vehicle in a welfare vehicle, Patent Document 1 discloses that the cared person gets on a seat in the vehicle using a hammock.

JP 2004-173925 A

  In the technique described in Patent Document 1, a caregiver sitting in a wheelchair is moved to a hammock and further moved to a seat in the vehicle, and thus the burden on the caregiver is large. Moreover, in the technique described in Patent Document 1, it is necessary to accommodate the wheelchair in another space of the vehicle. If the cared person is to be on the wheelchair with the technique described in Patent Document 1, the wheelchair and the cared person are lifted by a motor provided at the tip of the arm. For this reason, the hammock is shaken due to the weight balance of the wheelchair and the cared person being lost, and the boarding / alighting operation becomes unstable.

  This invention is made | formed in view of the said point, and makes it a subject to provide the wheelchair boarding / alighting apparatus which can get on and off a cared person stably with respect to a vehicle for every wheelchair.

  In order to solve the above-described problem, the present invention is a wheelchair getting-on / off device for getting on and off the wheelchair by lifting the wheelchair, which is installed on the floor of the vehicle and extends vertically. A supporting column part, an arm part that extends laterally from the supporting column part, and is displaceable in the vertical direction with respect to the supporting column part, and an actuator that moves the arm part up and down relative to the supporting column part, It is characterized by providing.

  According to such a configuration, it is not necessary to provide an actuator, a rope, or the like at the distal end of the arm portion, and the cared person can be stably moved on and off the wheelchair from the side of the vehicle.

  The wheelchair getting-on / off device includes a wheelchair attaching portion which is provided at a distal end portion of the arm portion and can attach the wheelchair, and when getting on and off the wheelchair, the arm portion includes the arm portion, the wheelchair attaching portion, It may be configured to move up and down while maintaining a constant distance.

  According to such a configuration, it is possible to stably get on and off the wheelchair without shaking the wheelchair as compared with the case where a wire or the like is used.

  The arm portion may be configured to move up and down while maintaining a constant angle with respect to the column in front view and side view.

  According to this configuration, it is possible to prevent interference with an arm portion such as a wheelchair wheel.

  The arm unit includes a plurality of arms connected via a joint unit, and the wheelchair getting-on / off device further includes a motor that drives the joint unit and a control unit that controls the motor. There may be.

  According to this structure, a wheelchair can be boarded / alighted automatically or semi-automatically.

  The wheelchair boarding / alighting device may include a base plate fixed to a seat mounting portion formed on the floor of the vehicle, and the strut portion may be fixed on the base plate.

  According to this configuration, the present invention can be applied without special modification to the vehicle.

  According to the present invention, it is possible to stably get on and off a cared person with a wheelchair with respect to a vehicle.

It is a side view which shows the wheelchair getting on / off apparatus which concerns on 1st embodiment of this invention, and is a figure which shows the state in which the wheelchair is boarding the vehicle. It is the elements on larger scale of FIG. It is a top view which shows the wheelchair getting on / off apparatus which concerns on 1st embodiment of this invention, and is an enlarged view which shows the state in which the wheelchair is getting off from the vehicle. It is a figure which shows an example of the attachment method of the wheelchair to a wheelchair attachment part. It is a functional block diagram which shows the wheelchair getting on / off apparatus which concerns on embodiment of this invention. It is a top view which shows the wheelchair getting on / off apparatus which concerns on 1st embodiment of this invention, and is a figure for demonstrating an example of the operation | movement method in XY plane. It is a top view which shows the wheelchair getting on / off apparatus which concerns on 1st embodiment of this invention, and is a figure for demonstrating an example of the operation | movement method in XY plane. It is a top view which shows the wheelchair getting on / off apparatus which concerns on 1st embodiment of this invention, and is a figure for demonstrating an example of the operation | movement method in XY plane. It is a side view which shows the wheelchair getting on / off apparatus which concerns on 1st embodiment of this invention, and is a figure which shows the state in which the wheelchair is getting off from the vehicle. It is a top view which shows the wheelchair getting on / off apparatus which concerns on 1st embodiment of this invention, and is a figure which shows the state in which the wheelchair is getting off from the vehicle. It is a top view which shows the wheelchair boarding / alighting apparatus which concerns on 1st embodiment of this invention, and is a figure which shows the intermediate state of boarding and alighting of a wheelchair. It is a top view which shows the wheelchair getting on / off apparatus which concerns on 1st embodiment of this invention, and is a figure which shows the state in which the wheelchair is in the vehicle. It is a side view which shows the wheelchair getting on / off apparatus which concerns on 2nd embodiment of this invention, and is an enlarged view which shows the state in which the wheelchair is boarding the vehicle. It is a side view which shows the wheelchair getting on / off apparatus which concerns on 2nd embodiment of this invention, and is a figure which shows the state in which the wheelchair is getting off from the vehicle. It is a top view which shows the wheelchair getting on / off apparatus which concerns on 2nd embodiment of this invention, and is a figure which shows the state in which the wheelchair is getting off from the vehicle. It is a top view which shows the wheelchair getting on / off apparatus which concerns on 2nd embodiment of this invention, and is a figure which shows the state in which the wheelchair is boarding the vehicle.

  The embodiment of the present invention will be described in detail with reference to the drawings, taking as an example the case of getting on and off a wheelchair from the side of a vehicle. In the description, the same elements are denoted by the same reference numerals, and redundant description is omitted. Note that “front and rear” indicated by arrows in each figure indicates the longitudinal direction of the vehicle body, “up and down” indicates the vertical direction of the vehicle body, and “left and right” indicates the left and right direction (vehicle width direction) viewed from the driver's seat. Show. The vehicle width (left and right) direction is the X axis, the vehicle body longitudinal direction is the Y axis, and the vehicle vertical direction is the Z axis. In addition, the origin O of the XY plane coordinates is set to the column part of the wheelchair getting on / off device.

<First embodiment>
As shown in FIG. 1, a wheelchair entry / exit device 5A according to the first embodiment of the present invention includes a front seat (driver seat and front passenger seat) 2X, a middle seat (left seat and right seat) 2Y, and a rear seat (horizontal seat). It applies to a so-called three-row seat vehicle 1 having a seat 2Z. In the present embodiment, the middle seat 2Y on the door opening 3 side of the left and right middle seats 2Y is removed. The wheelchair getting-on / off device 5A places the wheelchair 100 on the place where the removed middle seat 2Y was located.

  The vehicle 1 includes a door opening 3 formed on the side opposite to the driver's seat (side surface of the vehicle body) and a slide door 4 that opens and closes the door opening 3. The door opening 3 is provided on the side of the middle seat 2Y. The slide door 4 is in an open state by moving along the rear part of the side door opening 3.

<Structure of wheelchair entry / exit device>
As shown in FIGS. 2 and 3, the wheelchair getting-on / off device 5 </ b> A includes a base plate 10, a support 20 </ b> A, an arm 30 </ b> A, and a wheelchair attachment 40.

<Base plate>
The base plate 10 is a metal plate-like member for providing the column portion 20 </ b> A on the floor 6 of the vehicle 1. In the present embodiment, a pair of left and right slide rails 6a, 6a to which one middle seat 2Y is slidable in the front-rear direction and detachably attached are formed on the floor 6 of the vehicle 1. The base plate 10 is placed on the floor 6 where the middle seat 2Y is removed, and is fixed to the pair of left and right slide rails 6a, 6a with bolts or the like.

<Stand>
The column portion 20A is a metal member that is installed on the floor 6 of the vehicle 1 and extends in the vertical direction. In the present embodiment, the column portion 20 </ b> A is erected upward from the base plate 10. The support column 20 </ b> A is provided in the vicinity of the rear end of the door opening 3. The column portion 20A includes a fixed column portion 21 and a rotating column portion 22A.

≪Fixed column≫
The fixed column portion 21 constitutes the base portion of the column portion 20A. The lower end portion of the fixed column portion 21 is fixed on the base plate 10 with a bolt or the like. A first motor 71 described later is provided in the fixed column portion 21.

≪Rotating column≫
The rotating column portion 22 </ b> A extends upward from the upper end portion of the fixed column portion 21 via the joint portion 51. The rotating column portion 22A is rotatable around the Z axis with respect to the fixed column portion 21. The rotating column portion 22A includes a first rotating column portion 22a and a second rotating column portion 22b.

  The first rotating column portion 22 a extends upward from the upper end portion of the fixed column portion 21 via the joint portion 51. An actuator 60A described later is provided in the first rotating column portion 22a.

  The second rotating column portion 22b extends upward from the upper end portion of the first rotating column portion 22a. The arm part 30A is attached to the second rotating column part 22b so as to be movable up and down between the upper and lower stoppers 22c and 22c.

<Arm part>
The arm portion 30A is a metal member that extends in the horizontal direction from the support column. The arm part 30 </ b> A includes a former arm part 31 </ b> A and a leading arm part 32.

≪Former arm part≫
The former arm portion 31A is an arm that constitutes the base end portion side of the arm portion 30A. The base end portion of the former arm portion 31A is attached to the second rotating column portion 22b so as to be movable up and down. The distal end portion of the former arm portion 31 </ b> A is attached to the proximal end portion of the former arm portion 32 from below. The attachment site between the former arm part 31A and the former arm part 32 constitutes a joint part 52 that allows the former arm part 32 to rotate around the Z axis with respect to the former arm part 31. A second motor 72 to be described later is provided on the upper portion of the joint portion 52.

≪Past arm part≫
The leading arm portion 32 is an arm that constitutes the distal end side of the arm portion 30. The base end portion of the tip arm portion 32 is attached to the tip portion of the original arm portion 31A from above. The distal end portion of the front arm portion 32 is attached to the central portion of the wheelchair attachment portion 40 from above. The attachment part of the front arm part 32 and the wheelchair attachment part 40 constitutes a joint part 53 in which the wheelchair attachment part 40 can rotate around the Z axis with respect to the front arm part 32. A third motor 73 to be described later is provided on the upper portion of the joint portion 53. The attachment relationship between the base end portion of the front arm portion 32 and the distal end portion of the original arm portion 31A may be upside down, and the front arm portion 32 and the original arm portion 31A have the same height (that is, one In the XY plane).

<Wheelchair mounting part>
The wheelchair attachment part 40 is a part where the wheelchair is detachably attached. The central portion of the wheelchair mounting portion 40 is attached to the distal end portion of the tip arm portion 32 from below. In the present embodiment, the wheelchair mounting portion 40 is a metal bar that extends from the distal end portion of the front arm portion 32 in a straight line direction in the XY plane.

<Various settings>
The stopper 22c below the second rotating column portion 22b is set to a height at which the wheelchair 100 reliably contacts the ground outside the vehicle in a state where the arm portion 30A is in contact with the stopper 22c. The stopper 22c on the second rotating column portion 22b is set to a height at which the wheelchair 100 floats with respect to the floor 6 with the arm portion 30A in contact with the stopper 22c. That is, the arm portion 30 </ b> A is configured to be higher than the pair of left and right wheels 104 and the armrest portion 105 of the wheelchair 100. Further, the stopper 22c on the second rotating column portion 22b is set to a height at which the head of the cared person U sitting on the wheelchair 100 does not hit the ceiling surface of the vehicle 1 and the upper edge of the door opening 3. ing.

  The former arm portion 31A is longer than the distance between the column portion 20A and the rear end portion of the door opening 3, and shorter than the distance between the column portion 20A and the front end portion of the door opening 3 and the adjacent middle seat 2Y. The arm length is set. Further, the tip arm portion 32 is set to an arm length shorter than the former arm portion 31.

  The movable range of the joint portions 51 to 53 is defined by the control of the motors 71 to 73 by the mechanical stopper and / or the control unit 90.

<Wheelchair mounting method>
Here, an example of the attachment method of the wheelchair 100 to the wheelchair attachment part 40 is demonstrated. As shown in FIG. 4, the wheelchair 100 includes a pair of left and right frames (for example, arch portions) 103 and 103 that are installed between the footrest portion 101 and the backrest portion 102. The wheelchair mounting portion 40 is configured to be longer than the distance between the pair of left and right frames 103 and 103. The wheelchair entry / exit device 5 </ b> A can lift the wheelchair 100 when the wheelchair mounting portion 40 is bridged between the pair of left and right frames 103, 103 by an operation by a caregiver.

<Drive mechanism of wheelchair entry / exit device>
As shown in FIGS. 2 and 5, the wheelchair getting-on / off device 5 </ b> A includes an actuator 60 </ b> A, a first motor 71, a second motor 72, and a third motor 73 as a drive mechanism.

<Actuator>
The actuator 60A is a mechanism that moves the arm portion 30A up and down relative to the support column portion 20A. Actuator 60A may be a hydraulic type, and may be a system including a motor and a power transmission mechanism that converts the rotation of the motor into a vertical motion and transmits it to arm portion 30A. In the present embodiment, the power source of the actuator 60A is provided in the first rotating column portion 22a.

<First motor>
The first motor 71 is a drive unit that rotates the original arm unit 31 </ b> A around the Z axis with respect to the column unit 20 </ b> A (specifically, the fixed column unit 21) in the joint unit 51. In other words, the first motor 71 swings the former arm portion 31A, the leading arm 32, and the wheelchair mounting portion 40 in the XY plane with the proximal end portion of the former arm portion 31A as an axis.

<Second motor>
The second motor 72 is a drive unit that rotates the distal arm 32 around the Z axis with respect to the original arm 31 </ b> A in the joint 52. In other words, the second motor 72 swings the front arm portion 32 and the wheelchair mounting portion 40 in the XY plane with the proximal end portion (that is, the joint portion 52) of the front arm portion 32 as an axis.

<Third motor>
The third motor 73 is a drive unit that rotates the wheelchair mounting part 40 around the Z axis with respect to the front arm part 32 in the joint part 53. In other words, the third motor 73 rotates the wheelchair mounting portion 40 in the XY plane with the central portion (that is, the joint portion 53) of the wheelchair mounting portion 40 as an axis.

<Sensor and control unit of wheelchair entry / exit device>
As shown in FIGS. 2 and 5, the wheelchair getting-on / off device 5A includes an XY-axis sensor 81, a Z-axis sensor 82, a torque sensor 83, an actuator state sensor 84, encoders 85 to 87, a control unit 90, Is provided.

<XY axis sensor>
The XY axis sensor 81 is a force sensor that is provided in the joint portion 53 and detects an external force in the XY plane that acts on the joint portion 53. The detection result of the XY axis sensor 81 is output to the control unit 90.

<Z-axis sensor>
The Z-axis sensor 82 is a force sensor that is provided in the joint portion 53 and detects an external force in the Z-axis direction that acts on the joint portion 53. The detection result of the Z-axis sensor 82 is output to the control unit 90.

<Torque sensor>
The torque sensor 83 is a force sensor that is provided in the joint portion 53 and detects torque from the outside around the Z axis that acts on the joint portion 53. The detection result of the torque sensor 83 is output to the control unit 90.

<Actuator status sensor>
The actuator state sensor 84 is a sensor that detects the drive state of the actuator 60A. The actuator state sensor 84 is a sensor that detects the amount of oil that determines the vertical position of the arm portion 30A by hydraulic pressure when the actuator 60A is hydraulic, and when the actuator 60A is motor-type, It is an encoder that detects the rotation angle of the motor. The detection result of the actuator state sensor 84 is output to the control unit 90.

  The encoder 85 is a sensor that detects the rotation angle of the first motor 71. The encoder 86 is a sensor that detects the rotation angle of the second motor 72. The encoder 87 is a sensor that detects the rotation angle of the third motor 73. The detection results of the encoders 85 to 87 are output to the control unit 90.

<Control unit>
As shown in FIG. 5, the control unit 90 controls the actuator 60 and the motors 71 to 73 based on the operation result of the remote controller (not shown) and / or the detection results of the sensors 81 to 87. Based on the detection results of the actuator state sensor 84 and the encoders 85 to 87 (not shown) and the arm lengths of the arm portions 31A and 32 stored in advance, the control unit 90 performs the tertiary processing of the joint portions 52 and 53. Calculate original coordinates. Here, in the control unit 90, the relationship between the detection result of the actuator state sensor 84 and the height of the arm unit 30A or the wheelchair mounting unit 40 is stored in advance as a map or the like. The control unit 90 can calculate the coordinates (height) in the Z-axis direction of the arm unit 30A and the wheelchair mounting unit 40 using the relationship.

<Operation method in XY plane>
Next, an example of an operation method in the XY plane of the wheelchair getting on / off device 5A will be described with reference to FIGS. First, when the caregiver pushes (or pulls) the wheelchair mounting portion 40 or the wheelchair 100 in a certain direction in the XY plane, the control unit 90 calculates the manual input vector F based on the detection result of the XY axis sensor 81. , based on manual input vector F, to calculate the target point P ₁ of the coordinates (two-dimensional coordinates in the XY plane).

Subsequently, the control unit 90 sets the arc length R ₁ whose radius is the arm length of the original arm portion 31A around the origin O (the column portion 20A) and the arm length of the tip arm portion 32 around the target point P ₁ as the radius. calculating the coordinates of intersection point _{P 2} between the arc _{R 2} to.

Subsequently, the control unit 90 calculates the rotation angle θ ₁ and the rotation speed of the first motor 71 based on a straight line passing through the origin O and the intersection P ₂ . Further, the control unit 90 calculates the rotation angle θ ₂ and the rotation speed of the second motor 72 based on a straight line passing through the target point P ₁ and the intersection point P ₂ .

Subsequently, the control unit 90 rotates the first motor 71 by the rotation angle θ ₁ at the calculated rotation speed and rotates the second motor 72 by the rotation angle θ ₂ at the calculated rotation speed.

In addition, when the caregiver rotates the wheelchair mounting part 40 or the wheelchair 100, the control unit 90 calculates the rotation angle θ ₃ and the rotation speed of the third motor 73 based on the detection result of the torque sensor 83.

Subsequently, the control unit 90 adjusts the direction of the wheelchair 100 by rotating the third motor 73 by the rotation angle θ ₃ at the calculated rotation speed.

  In the above description, the driving of the motors 71 and 72 and the driving of the motor 73 have been described separately. However, in an actual operation method, the motors 71 to 73 can be driven simultaneously.

  The control unit 90 controls the motors 71, 72, and 73 based on the magnitude and direction of the manual input vector F by the caregiver or the like. The control unit 90 controls each of the motors 71, 72, 73 so that the larger the corresponding component of the manual input vector F, the higher the rotational speed of the motors 71, 72, 73 corresponding to the component. Further, when the corresponding component of the manual input vector F becomes zero, the control unit 90 stops the motors 71, 72, and 73 corresponding to the component (rotation speed zero).

<Operation method in the Z-axis direction>
Next, an example of an operation method in the Z-axis direction of the wheelchair getting on / off device 5A will be described. In a state where the wheelchair 100 is in contact with the ground outside the vehicle or the floor 6 inside the vehicle, the caregiver pushes (or pulls) the wheelchair mounting portion 40 or the wheelchair 100 upward. The control unit 90 drives the actuator 60 </ b> A based on the detection result of the Z-axis sensor 82 to float the wheelchair 100 from the ground or the floor 6 and acts on the wheelchair mounting unit 40 (weight of the wheelchair and care recipient). The arm portion 30A is stopped at a desired height by generating an upward thrust that balances with the above. In such a state, when the caregiver manually inputs a load in the vertical direction with respect to the arm portion 30A, the wheelchair mounting portion 40, or the wheelchair, the arm portion 30A can move up and down.

  More specifically, in a state where the wheelchair mounting portion 40 is attached to the wheelchair 100 that is grounded to the ground or the floor 6, the caregiver turns on an operation start switch (not shown). Based on the ON operation, the control unit 90 drives the actuator 60A to move the arm unit 30A upward to float the wheelchair. At this time, the detection result of the Z-axis sensor 82 gradually increases from zero, and becomes a constant value when the wheelchair 100 is completely lifted. The control unit 90 stops the actuator 60A when the detection result of the Z-axis sensor 82 becomes a constant value. In the present embodiment, the actuator 60A is a drive mechanism using a worm gear or the like and does not reverse by an external force, so that the wheelchair 100 is held at the height at the time of stop when the actuator 60A is stopped. Such height maintenance can also be realized by an actuator using a hydraulic drive mechanism.

The control unit 90 stores the detection result when the detection result of the Z-axis sensor 82 becomes a constant value as a reference load W ₀ that is the total weight of the wheelchair 100 and the cared person.

Subsequently, the control unit 90 drives the actuator 60A based on the difference (W ₀ −W) between the reference load W ₀ and the detection result W of the Z-axis sensor 82 in a state where the load is manually input by the caregiver. .

When the manual input is upward (W ₀ −W> 0), the control unit 90 raises the arm unit 30A. The control unit 90 controls the actuator 60A so that the rising speed of the arm unit 30A increases as W ₀ -W increases. When the manual input is downward (W ₀ −W <0), the control unit 90 lowers the arm unit 30A. The control unit 90 controls the actuator so that the lowering speed (absolute value) of the arm unit 30A increases as W ₀ -W decreases. When the manual input becomes zero and the detection result of the Z-axis sensor 82 becomes W ₀ , the control unit 90 stops the actuator 60A (zero movement of the arm unit 30A).

<Operation example>
Subsequently, an operation example of the wheelchair getting-on / off device 5A will be described with reference to FIGS. 1 and 9 to 12, taking as an example the case of getting on the wheelchair 100. First, as shown in FIGS. 9 and 10, the cared person U in the wheelchair 100 waits backward near the door opening 3 outside the vehicle. The caregiver pulls out the arm portion 30 </ b> A and the wheelchair attachment portion 40 of the wheelchair getting-on / off device 5 </ b> A to the outside of the vehicle, and attaches the wheelchair attachment portion 40 to the wheelchair 100.

  Subsequently, the caregiver turns on an operation start switch (not shown). The control unit 90 drives the actuator 60A based on the ON operation of the operation start switch, thereby moving the arm unit 30A upward and causing the wheelchair 100 to float. In this state, the caregiver moves the arm portion 30 </ b> A to the upper limit by inputting an upward load to the wheelchair mounting portion 40 or the wheelchair 100.

  Subsequently, the caregiver inputs a load (manual input vector) in a direction in which the wheelchair 100 is directed toward the door opening 3 with respect to the wheelchair mounting portion 40 or the wheelchair 100. The controller 90 moves the wheelchair 100 from the outside of the vehicle to the door opening 2 of the vehicle 1 mainly by driving the second motor 72 based on the detection result of the XY axis sensor 81 (FIG. 10 → FIG. 11). ). Here, the control unit 90 also drives the first motor 71 and the third motor 73 as assistance based on the detection results of the XY axis sensor 81 and the torque sensor 83.

  Subsequently, the caregiver inputs a load (a manual input vector) in a direction in which the wheelchair 100 is placed in the internal space of the vehicle 1 to the wheelchair mounting unit 40 or the wheelchair 100. Based on the detection result of the XY axis sensor 81, the control unit 90 drives the wheelchair 100 forward in the passenger space of the vehicle 1 mainly by driving the first motor 71 (FIG. 11 → FIG. 12). Here, the control unit 90 also drives the second motor 72 and the third motor 73 as assistance based on the detection results of the XY axis sensor 81 and the torque sensor 83.

  Subsequently, the caregiver moves the arm portion 30A downward by inputting a downward load to the wheelchair mounting portion 40 or the wheelchair 100, and moves the wheelchair 100 on the floor 6 (or on the plate 10). (Fig. 1).

  In addition, when getting off the wheelchair 100, the operation | movement of the procedure contrary to an above-described operation example is performed.

In the wheelchair entry / exit device 5A according to the first embodiment of the present invention, the arm portion 30A can be displaced in the vertical direction with respect to the support column portion 20A. Therefore, the wheelchair getting-on / off device 5 </ b> A does not need to provide an actuator, a rope, or the like at the distal end of the arm portion 30 </ b> A, and the cared person U can stably get on and off the wheelchair 100 from the side of the vehicle 1.
Further, in the wheelchair getting-on / off device 50A, the arm part 30A can be displaced in the vertical direction with respect to the column part 20A, so that the lifting height can be changed according to the type of the wheelchair 100.
Further, in the wheelchair entry / exit device 50A, the actuator 60A is provided not on the tip of the arm 30A but on the support 20A. Therefore, the wheelchair getting-on / off device 5A can realize the weight reduction on the arm part 30A side, and can reduce the load caused by the load applied to the column part 20A.

  Further, in the conventional technology, the cared person (and the wheelchair) is lifted by the wire, so the distance between the arm part and the cared person (and the wheelchair) changes when getting on and off. On the other hand, in the wheelchair getting-on / off device 50A, the arm portion 30A moves up and down while keeping the distance from the wheelchair mounting portion 40 constant. Therefore, the wheelchair getting-on / off device 50 </ b> A can get on and off the wheelchair 100 stably without shaking the vehicle 1 even when the vehicle 1 is inclined due to the weight of the cared person U and the wheelchair 100.

  Further, in the wheelchair entry / exit device 50A, the arm portion 30A moves up and down while keeping the angle with respect to the column 20A in a front view and a side view constant. Therefore, the wheelchair entry / exit device 50 </ b> A can prevent interference with the arm unit 30 </ b> A such as the wheel 104 of the wheelchair 100.

  Moreover, since wheelchair getting-on / off apparatus 50A is provided with motors 71-73 and control part 90 which drive joint parts 51-53, wheelchair 100 can be got on and off automatically or semi-automatically.

  Moreover, since the baseplate 10 is fixed to the slide rail 6a, the wheelchair getting-on / off device 50A can be applied to the vehicle 1 without special modification. Further, the wheelchair getting-on / off device 50A can be used as a normal vehicle of the vehicle 1 because the support 20A and the like can be removed together with the base plate 10.

<Second Embodiment>
Next, the wheelchair boarding / alighting device according to the second embodiment will be described focusing on differences from the wheelchair boarding / alighting device 5A according to the first embodiment. As shown in FIG. 13, the wheelchair getting-on / off device 5B according to the second embodiment of the present invention replaces the column portion 20A, the arm portion 30A, the actuator 60A, and the actuator state sensor 84A, with the column portion 20B, the arm portion 30B, An actuator 60B and an actuator state sensor 84B (see FIG. 5) are provided.

<Stand>
The support column 20 </ b> B is provided in the vicinity of the front end of the door opening 3. This is because, when the column portion 20B is provided near the rear end of the door opening 3, the wheel 104 of the wheelchair 100 may interfere with the former arm portion 31B described later in a state where the wheelchair 100 is on board. Because there is. The column portion 20B includes a rotating column portion 22B instead of the rotating column portion 22A.

  The rotating column portion 22 </ b> B extends upward from the upper end portion of the fixed column portion 21 via the joint portion 51. The rotating column portion 22B can rotate around the Z axis with respect to the fixed column portion 21. An actuator 60B, which will be described later, is provided in the rotating column portion 22B.

<Arm part>
The arm part 30B includes a former arm part 31B instead of the former arm part 31A. The former arm portion 31B includes a pair of upper and lower horizontal arm portions 31a and 31a and a vertical arm portion 31b. The base end portions of the pair of upper and lower horizontal arm portions 31a, 31a are attached to the rotating column portion 22B so as to be rotatable around an axis in the XY plane (an axis perpendicular to the Z axis). The rotating column portion 22B is configured to be rotatable about an axis in the XY plane (an axis orthogonal to the Z axis) with respect to the fixed column portion 21 with the base end portion of the rotating column portion 22B as an axis. Also good. The tip ends of the pair of upper and lower horizontal arm portions 21a, 21a are attached to the upper and lower end portions of the vertical arm portion 21b so as to be rotatable around an axis in the XY plane (an axis perpendicular to the Z axis). . That is, the rotating column portion 22B, the pair of upper and lower horizontal arm portions 31a and 31a, and the vertical arm portion 31b constitute a four-bar linkage mechanism. In such a four-bar linkage mechanism, the vertical arm portion 31b extends in the vertical direction and maintains a posture parallel to the rotating column portion 22B. Therefore, even when the four-bar linkage mechanism is deformed, the leading arm portion 32 maintains the posture of extending in the direction in the XY plane. The upper limit position and the lower limit position of the vertical arm portion 31 b of the original arm portion 31 </ b> B are defined by a mechanical stopper and / or control by the control unit 90.

<Actuator>
The actuator 60B is a motor that drives one joint part of the four-bar linkage mechanism of the original arm part 31B. In the present embodiment, the actuator 60B is provided in the rotating column portion 22B.

<Actuator status sensor>
As shown in FIG. 5, the actuator state sensor 84B is an encoder that detects the rotation angle of the actuator 60B that is a motor. The detection result of the actuator state sensor 84B is output to the control unit 90.

<Operation example>
Subsequently, an example of the operation of the wheelchair getting-on / off device 5B will be described with reference to FIGS. First, as shown in FIGS. 14 and 15, the cared person U who rides on the wheelchair 100 waits forward in the vicinity of the door opening 3 outside the vehicle. The caregiver pulls out the arm portion 30B and the wheelchair mounting portion 40 of the wheelchair getting-on / off device 5B to the outside of the vehicle, and attaches the wheelchair mounting portion 40 to the wheelchair 100.

  Subsequently, the caregiver turns on an operation start switch (not shown). The control unit 90 drives the actuator 60B based on the ON operation of the operation start switch, thereby moving the arm unit 30B upward and causing the wheelchair 100 to float. In this state, the caregiver moves the arm portion 30 </ b> B to the upper limit by inputting an upward load to the wheelchair mounting portion 40 or the wheelchair 100.

  Subsequently, the caregiver inputs a load in a direction in which the wheelchair 100 is directed toward the door opening 2 with respect to the wheelchair mounting portion 40 or the wheelchair 100. The controller 90 drives the first motor 71, the second motor 72, and the third motor 73 based on the detection results of the XY axis sensor 81 and the torque sensor 83, so that the wheelchair 100 faces forward and the vehicle 1. Board the passenger space (FIG. 15 → FIG. 16).

  Subsequently, the caregiver inputs a downward load to the wheelchair mounting portion 40 or the wheelchair 100 to move the arm portion 30B downward, and the wheelchair 100 is on the floor 6 (or on the plate 10). (Fig. 1).

  In addition, when getting off the wheelchair 100, the operation | movement of the procedure contrary to an above-described operation example is performed.

In the wheelchair entry / exit device 5B according to the second embodiment of the present invention, the arm portion 30B is displaceable in the vertical direction with respect to the support column portion 20B. Therefore, the wheelchair getting-on / off device 5B does not need to provide an actuator, a wire, or the like at the tip of the arm portion 30B, and can stably get on and off the cared person U from the side of the vehicle 1 together with the wheelchair 100.
Moreover, since the arm part 30B can be displaced to the up-down direction with respect to the support | pillar part 20B, the lifting height can be changed according to the kind of wheelchair 100.
In the wheelchair entry / exit device 50B, the actuator 60B is provided not on the tip of the arm 30B but on the support 20B. Therefore, the wheelchair getting-on / off device 5B can realize the weight reduction on the arm part 30B side, and can reduce the load caused by the load applied to the column part 20B.

  Further, in the wheelchair entry / exit device 50B, the arm portion 30B moves up and down while maintaining a constant distance from the wheelchair attachment portion 40. Therefore, the wheelchair getting-on / off device 50B can stably get on and off the wheelchair 100 without shaking the vehicle 1 even when the vehicle 1 is inclined due to the weight of the care receiver U and the wheelchair 100.

  As mentioned above, although embodiment of this invention was described, this invention is not limited to the said embodiment, In the range which does not deviate from the summary of this invention, it can change suitably. For example, the wheelchair attaching part 40 may be configured to include a pair of bent parts that extend from both ends of the bar shape described above in a direction orthogonal to the bar shape in the XY plane. In this case, the pair of bent portions are respectively set along the frame (for example, armrest portion) 105 of the wheelchair 100, and the bent portion and the frame 105 are fixed at two or more places using a belt or the like. Is possible.

  The wheelchair entry / exit devices 5A and 5B may be configured such that the motors 71 to 73 are omitted, and the joint portions 51 to 53 are manually displaced (bent or extended) by a caregiver.

  The control unit 90 may be configured to prohibit the driving of the motors 71 to 73 when the actuators 60A and 60B are driven and controlled. Further, the control unit 90 may be configured to prohibit the driving of the actuators 60A and 60B when the motors 71 to 73 are driven and controlled.

  The controller 90 may be configured to limit the drive range of the actuators 60A and 60B and / or the motors 71 to 73 based on the detection results of the actuator state sensors 84A and 84B and / or the encoders 85 to 87. For example, there may be a case where the detection results of the actuator state sensors 84A and 84B and / or the encoders 85 to 87 indicate that the wheelchair 100 is located outside the vehicle and below the floor 6. In this case, the control unit 90 can control the motors 71 to 73 so that the wheelchair 100 does not have a rotation angle positioned in the vehicle.

The wheelchair getting-on / off device is a wheelchair getting-on / off device for getting on / off the wheelchair with respect to the vehicle by lifting the wheelchair, and is installed on the floor of the vehicle, An arm portion extending in a lateral direction from the support column and displaceable in the vertical direction with respect to the support column, an actuator for moving the arm unit up and down with respect to the support column, and a tip of the arm unit Provided with a wheelchair placement portion on which the wheelchair can be placed, and when the wheelchair is loaded and unloaded, the arm portion keeps the distance between the arm portion and the wheelchair placement portion constant. The structure which moves up and down may be sufficient. This wheelchair placement part is a kind of wheelchair attachment part.
In this case, the arm portion is constituted by the above-described former arm portion and the tip arm portion, and the joint portion is also formed between the tip arm portion and the wheelchair placement portion, so that the wheelchair is stopped at the stop position before riding. The wheelchair can be put forward in the traveling direction of the vehicle regardless of the direction. Therefore, compared with the conventional lifter which can move only in one direction, the caregiver and the cared person can have a degree of freedom in getting on and off the vehicle.
Further, the base end portion of the tip arm portion is connected to the tip end portion of the former arm portion via the vertical axis portion, and the tip arm portion is positioned below the original arm portion by the length of the vertical axis portion. . Thereby, it is possible to make a wheelchair mounting part contact each of the ground outside a vehicle, and the floor in a vehicle.

  Further, the seat attachment portion to which the base plate 10 is attached is not limited to the slide rails 6a and 6a described above. In other words, the seat attachment portion has an arbitrary structure in which a vehicle seat is detachably attached, and the base plate 10 is detachably attached to the seat attachment portion.

  Further, the wheelchair getting-on / off device is not limited to a configuration for getting on and off the wheelchair from the side of the vehicle, and may be a configuration for getting on and off the wheelchair from the rear of the vehicle (a rear opening opened and closed by a back door or the like).

DESCRIPTION OF SYMBOLS 1 Vehicle 3 Door opening part 4 Sliding door 5A, 5B Wheelchair getting on / off device 6 Floor 6a Slide rail (seat attachment part)
DESCRIPTION OF SYMBOLS 10 Base plate 20 Support | pillar part 30A, 30B Arm part 31A, 31B Former arm part 32 Former arm part 40 Wheelchair attachment part 51-53 Joint part 60A, 60B Actuator 71 1st motor 72 2nd motor 73 3rd motor 90 Control Department 100 Wheelchair U Caregiver

Claims (5)

A wheelchair getting-on / off device for getting on and off the wheelchair by lifting the wheelchair,
A column that is installed on the floor of the vehicle and extends vertically,
An arm portion that extends in a lateral direction from the column portion and is displaceable in the vertical direction with respect to the column portion;
An actuator for moving the arm part up and down relative to the support part;
A wheelchair boarding / exiting device comprising: Provided at the tip of the arm portion, equipped with a wheelchair mounting portion capable of mounting the wheelchair,
The wheelchair getting on and off device according to claim 1, wherein the arm part moves up and down while keeping a distance between the arm part and the wheelchair attaching part constant when getting on and off the wheelchair. The wheelchair getting on and off device according to claim 1 or 2, wherein the arm portion moves up and down while maintaining a constant angle with respect to the column in front view and side view. The arm portion includes a plurality of arms connected via joint portions,
A motor for driving the joint part;
A control unit for controlling the motor;
The wheelchair entry / exit device according to any one of claims 1 to 3, further comprising: A base plate fixed to a seat mounting portion formed on the floor of the vehicle;
The wheelchair boarding / alighting device according to any one of claims 1 to 4, wherein the support column is fixed on the base plate.

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