JP5312550B2 - Walking aid chair - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a walking aid chair usable either as a wheelchair or a walker, and to appropriately aid walking of a user. <P>SOLUTION: The walking aid chair includes: a vehicle part 2; a seat lifting/lowering device 24 that liftably/lowerably disposes a lifting/lowering seat face 18 supported by the vehicle part 2, at a wheelchair position, or disposes it at a walker position in an upper side of the wheelchair position; and a seat face retracting device 51. The seat face retracting device 51 is configured to fix a plurality of retractable seat faces 19-1 and 19-2 at prescribed positions with respect to the lifting/lowering seat face 18 such that, when the lifting/lowering seat face 18 is fixed to the wheelchair position, the lifting/lowering seat face 18 and the plurality of retractable seat faces 19-1 and 19-2 form a wheelchair seat face 14, and, when the lifting/lowering seat face 18 is fixed to the walker position, to dispose the plurality of retractable seat faces 19-1 and 19-2 at different positions from the prescribed positions with respect to the lifting/lowering seat face 18. When using this device as the walker, a user can form the seat face into a shape smaller than that if the seat face 14 for the wheel chair so as to reduce a part inhibiting the walking of the user. <P>COPYRIGHT: (C)2013,JPO&amp;INPIT

Description

  The present invention relates to a walking assistance chair, and more particularly to a walking assistance chair that can be used as a wheelchair or a walker.

  2. Description of the Related Art A walker that assists the user's walking by supporting the user's upper body standing up is known. The walker may be used for rehabilitation of a user having a walking disorder. A sitting user needs to stand up before using the walker. A user who uses the walker needs to move to the vicinity of the chair when he / she wants to sit on the chair due to fatigue or the like. Such a walker is desired to further reduce such a burden, and is desired to more appropriately assist the user to walk.

  Japanese Patent Application Laid-Open No. 2001-321404 discloses a handheld walker-equipped wheelchair with a hand rim that can be used alone as a wheelchair and can also be used as a walker. The wheelchair / wheelchair has a seat for a user to sit on, and the seat can be moved up and down, and can be used as a wheelchair when the seat is positioned below. When the seat is positioned above, it is configured to be usable as a walker.

  Japanese Patent Application Laid-Open No. 10-179644 discloses a standing auxiliary chair in which a conventional chair as a base is assembled with a mechanism for assisting standing. The standing auxiliary chair has a backrest at the upper rear part of the leg and has armrests on the left and right, and the seat is divided into a front seat with a shorter depth and a rear seat with a longer depth. And connecting the front end lower part of the rear seat part and the rear end part of the front seat part by a bendable hinge, connecting the front end lower part of the rear seat part and the leg side by a front link and the rear seat part. The rear end lower part and the leg side are connected by a rear link to form a parallel link, and the intermediate part in the front-rear direction of the rear seat part and the rear lower part of the leg are connected by a gas spring, and when the gas spring is extended The rear seat part moves substantially in parallel and rises, and the front part of the front seat part hangs forward due to its own weight.

  Japanese Patent Application Laid-Open No. 2011-87611 discloses that the care recipient can easily shift from a sitting posture to a standing posture, and can avoid an increase in weight and an increase in manufacturing cost. An upright support chair is disclosed that is optimal for expecting an improvement. The standing assistance chair is composed of a seat for seating a care recipient, a chair having a backrest that supports the back of the care recipient continuously, and a chair connected to the chair by driving means. In the standing support chair having an elevating mechanism for moving up and down, the raised position in the rear side portion adjacent to the backrest of the seat portion in the chair raised by the elevating mechanism is a seat in the chair. It is characterized by being higher than the ascending position in the front side part away from the backrest of the part.

JP 2001-321404 A JP-A-10-179644 JP 2011-87611 A

The subject of this invention is providing the walk assistance chair which assists a user's walk more appropriately.
Another object of the present invention is to provide a walking assist chair that does not interfere with the user's foot travel when the user walks.
Still another object of the present invention is to provide a walking assistance chair that more appropriately assists the user to stand up comfortably or to sit down.
Still another object of the present invention is to provide a walking assist chair that can hold the entire waist and sit for a long time in the same manner as a normal chair.
Still another object of the present invention is to provide a walking assist chair that a user can use more easily.
Still another object of the present invention is to provide a walking assistance chair that continuously assists the stability of the user's legs and legs when the user is standing.

  In the following, means for solving the problems will be described using the reference numerals used in the modes and examples for carrying out the invention in parentheses. This symbol is added to clarify the correspondence between the description of the claims and the description of the modes and embodiments for carrying out the invention. Do not use to interpret the technical scope.

  The walking aid chair according to the present invention includes a vehicle part (2) that moves on the floor, a lift seat surface (18) that is supported by the vehicle part (2) so as to be able to move up and down, and a lift seat surface that is disposed at a wheelchair position. (18) is fixed to the vehicle part (2), and the lift of the seat surface is fixed to the vehicle part (2) so that the lifted seat surface (18) is positioned at the walker position vertically above the wheelchair position. A device (24), a retracting seat surface (19-1 to 19-2), and a seating surface retracting device (51) are provided. In the seat retraction device (51), when the elevating seat surface (18) is fixed at the position of the wheelchair, the elevating seat surface (18) and the retracting seat surface (19-1 to 19-2) are for a wheelchair. The retreat seat surface (19-1 to 19-2) is fixed to a predetermined position with respect to the elevating seat surface (18) so as to form the seat surface (14). The seating surface retracting device (51) is configured such that when the lifting seat surface (18) is fixed at the walker position, the seating surface retracting device (51) is retracted to another position different from the predetermined position with respect to the lifting seat surface (18). (19-1 to 19-2) are arranged. The retreat seat surface (19-1 to 19-2) may be connected in front of the elevating seat surface (18).

  When the user uses such a walking assistance chair as a walker, the user can sit on the lifting seat surface (18) with a slight drop of his / her waist, or put his / her weight on the lifting seat surface (18). While walking. When such a walking assistance chair is used as a walker, it further forms a lift seat surface (18) so as to be smaller than a wheelchair seat surface (14) formed when used as a wheelchair. It is possible to reduce the portion that hinders the user's walking. For this reason, such a walking assistance chair can assist a user to walk more appropriately.

  The retracting seat surface (19-1 to 19-2) includes a left retracting seat surface (19-1) and a right retracting seat surface (19-2). The lifting seat surface (18) is disposed between the left retracting seat surface (19-1) and the right retracting seat surface (19-2) when the lifting seat surface (18) is fixed at the wheelchair position. Is done. When the user is using such a walking assistance chair as a walker, he walks across the lifting seat surface (18), and when the user drops his / her waist a little more reliably, the user moves to the lifting seat surface (18). I can sit down. When such a walking assistance chair sits straddling the lift seat surface (18), the user can stand up or be seated by raising and lowering the lift seat surface (18). Can be supported more appropriately.

  The seat surface elevating device (24) moves the elevating seat surface (18) up and down to place the elevating seat surface (18) at the wheelchair position or the elevating seat surface (18) at the walker position. Or Such a walking assistance chair is more appropriate for the user to stand up or to be seated by raising and lowering the elevating seat surface (18) when the user is sitting on the elevating seat surface (18). Can assist.

  The walking assist chair according to the present invention has a grip bar (17) that can be fixed to and removed from the lift seat surface (18), and the grip bar (17) with respect to the lift seat surface (18). A gripping bar sensor (66) for measuring whether it is fixed, and a seating surface so that the lifting seating surface (18) does not move up and down relative to the vehicle part (2) when the gripping bar (17) is not fixed. And auxiliary units (82, 84) for controlling the lifting device (24). According to such a walking assistance chair, the user can stand up or sit down while grasping the grasping bar (17). Such a walking assistance chair is more appropriate for the user to stand up or sit down by not raising or lowering the elevating seat surface (18) when the user is not grasping the grasping bar (17). Can assist.

  The seat lifting device (24) includes an actuator (25) that moves the movable member (36) relative to the fixed member (5) and a movement of the movable member (36) relative to the fixed member (5) in the vehicle portion (2). And a pantograph (26) that converts the movement of the lifting and lowering seating surface (18). Such a walking auxiliary chair can further reduce the size of the seat lifting device (24) when the moving range of the movable member (36) is smaller than the moving range of the lifting and lowering seat surface (18).・ Parts that obstruct seating can be reduced.

  The seating surface retracting device (51) converts the movement of the lifting seat surface (18) relative to the vehicle portion (2) into the movement of the retracting seat surface (19-1 to 19-2) relative to the lifting seat surface (18). The link mechanism is preferably a link mechanism that moves the retreat seat surface (19-1 to 19-2) with respect to the lift seat surface (18).

  The walking assistance chair according to the present invention includes a user motion sensor (67) for measuring a user's movement, a propulsion device (62-1 to 62-2) for propelling the vehicle portion (2), and a lifting seat (18). A walking assist unit that controls the propulsion devices (62-1 to 62-2) so that the vehicle portion (2) moves in the direction calculated based on the movement when the walker is disposed at the walker position. (83). Such a walking assistance chair can reduce the force with which the user presses the walking assistance chair when used as a walker, and can more appropriately assist the user to walk.

  The walking assist chair according to the present invention includes a receiver (63) that receives a signal transmitted from a transmitter (72) and a propulsion device (2) so that the vehicle part (2) moves as indicated by the signal. And a remote control unit (85) for controlling 62-1 to 62-2). Such a walking assistance chair can move the walking assistance chair freely by operating the transmitter (72) even when the user gets off the walking assistance chair, and assists the user more appropriately. be able to.

  The walking assist chair according to the present invention supports a user with a relatively large seat when used as a wheelchair, and supports the user with a relatively small seat when used as a walker. Can be supported more appropriately.

FIG. 1 is a perspective view showing a walking assistance chair according to the present invention. FIG. 2 is a perspective view showing a walking assistance chair used as a walker. FIG. 3 is a cross-sectional view showing the seat lifting device. FIG. 4 is a cross-sectional view showing a seat lifting device in which the lifting seat surface is slightly raised. FIG. 5 is a cross-sectional view showing the seating surface retracting device. FIG. 6 is a cross-sectional view showing the seating surface retracting device in which the retracting seating surface is slightly lowered. FIG. 7 is a block diagram showing a walking assistance chair according to the present invention. FIG. 8 is a block diagram showing the controller.

  With reference to the drawings, an embodiment of a walking assistance chair according to the present invention will be described. The walking assist chair includes a walking assist chair body and a controller. The walking auxiliary chair body 1 includes a vehicle portion 2 as shown in FIG. The vehicle portion 2 is configured to be movable on the floor, and includes a vehicle frame 5, a plurality of front wheels 6-1 to 6-2, and a plurality of rear wheels 7-1 to 7-2. The plurality of front wheels 6-1 to 6-2 and the plurality of rear wheels 7-1 to 7-2 support the vehicle frame 5 so that the vehicle frame 5 does not contact the floor. Each of the plurality of front wheels 6-1 to 6-2 is a so-called universal caster, is formed on a wheel, and is supported by the vehicle frame 5 so as to be rotatable about a rotation axis. The rotation axis is perpendicular to the vertical direction and is rotatable about another rotation axis that is parallel to the vertical direction. The plurality of rear wheels 7-1 to 7-2 are each formed on a wheel and supported by the vehicle frame 5 so as to be rotatable about a rotation axis. The rotation axis is perpendicular to the vertical direction and perpendicular to the traveling direction 10. At this time, the vehicle portion 2 can move on the floor as the wheels of the plurality of front wheels 6-1 to 6-2 and the plurality of rear wheels 7-1 to 7-2 rotate.

  The walking assist chair body 1 further includes a hand bar 8. The hand bar 8 is fixed to the vehicle frame 5. A user or a caregiver can move the walking assist chair body 1 freely on the floor by pressing the hand bar 8.

  The walking assist chair body 1 further includes an elevating frame 12, a seating surface 14, a backrest 15, a plurality of armrests 16-1 to 16-2, a grip bar 17, and a plurality of foot steps 11-1 to 11-2. Yes. The elevating frame 12 is supported by the vehicle frame 5 so as to be movable in the vertical direction. The seat surface 14 is formed in a plate shape and is formed on a seat surface on which a user who uses the walking assist chair according to the present invention as a wheelchair sits. The seat surface 14 is supported by the elevating frame 12.

  The backrest 15 is formed in a plate shape, and is arranged so that the user's back contacts when the user sits on the seating surface 14. The backrest 15 is supported by the elevating frame 12 so as to be rotatable about a rotation axis. The rotation axis is perpendicular to the vertical direction and perpendicular to the traveling direction 10. The backrest 15 further includes a lever and a reclining mechanism (not shown). The reclining mechanism supports the backrest 15 on the elevating frame 12 so that the backrest 15 can be rotated by a user operation when the lever is pulled by the user. The reclining mechanism fixes the backrest 15 to the elevating frame 12 so that the backrest 15 does not rotate about the rotation axis when the user's hand is away from the lever.

  The plurality of foot steps 11-1 to 11-2 are each formed in a plate shape, and a footrest surface is formed. Each of the plurality of foot steps 11-1 to 11-2 is supported by the frame so as to be rotatable about the rotation axis so as to be arranged in any one of a plurality of postures. The plurality of postures include a wheelchair posture and a walker posture. When the plurality of foot steps 11-1 to 11-2 are arranged in the wheelchair posture, the footrest surface faces vertically upward, that is, the user's foot seated on the seating surface 14 It is arranged so that it can be placed on the footrest surface. When the plurality of foot steps 11-1 to 11-2 are arranged in the posture for the walker, the footrest surface faces the horizontal direction, that is, the plurality of feet of the user seated on the seating surface 14 are present. It is arranged so that it can be placed on the floor without hitting the foot steps 11-1 to 11-2.

  The plurality of armrests 16-1 to 16-2 are arranged and supported by the elevating frame 12 so that the user's elbow seated on the seat surface 14 can be put on.

  The grip bar 17 is formed in a bar shape. The grip bar 17 is disposed so as to cross the front of the user seated on the seating surface 14, and is removably supported by the plurality of armrests 16-1 to 16-2.

  The walking assist chair body 1 further includes a joystick 22 and an operation panel 23. The joystick 22 is fixed to the right armrest 16-2 so that the right hand of the user sitting on the seating surface 14 can reach. The joystick 22 creates one piece of information from a plurality of pieces of information when operated by the user. The plurality of information includes movement information, brake information, and brake release information. The movement information indicates the direction and speed. The operation panel 23 is fixed to the left armrest 16-1 so that the left hand of the user sitting on the seating surface 14 can reach. The operation panel 23 creates information indicating one of a plurality of pieces of information when operated by the user. The plurality of information includes start-up assistance and seating assistance. Note that the joystick 22 and the operation panel 23 can be attached to the plurality of armrests 16-1 to 16-2 by switching left and right.

  The seat surface 14 includes an elevating seat surface 18 and a plurality of retreat seat surfaces 19-1 to 19-2. The elevating seat surface 18 is formed in a substantially rectangular shape that is long in the traveling direction 10, and is formed in the center portion of the seat surface 14. The elevating seat surface 18 is fixed to the elevating frame 12. That is, the lift seat surface 18 can be arranged at a plurality of positions as the lift frame 12 moves up and down. The plurality of positions includes a wheelchair position and a walker position. The wheelchair position is the position on the lowest vertical side among the plurality of positions. The walker position is a position vertically above the wheelchair position among the plurality of positions, and is a position suitable for the user set based on the user's physique.

  The plurality of retracting seat surfaces 19-1 to 19-2 are each formed in a plate shape. Of the plurality of retreat seat surfaces 19-1 to 19-2, the left retreat seat surface 19-1 is formed on the left portion of the seat surface 14. Of the plurality of retracting seat surfaces 19-1 to 19-2, the right retracting seat surface 19-2 is formed on the right portion of the seating surface 14. That is, the seat surface 14 is formed by arranging the elevating seat surface 18 so as to be sandwiched between the plurality of retreat seat surfaces 19-1 to 19-2.

  The plurality of retreat seat surfaces 19-1 to 19-2 are further supported by the elevating frame 12 so as to be rotatable around a rotation shaft 21 fixed to the elevating frame 12. The rotation shaft 21 is perpendicular to the vertical direction, is perpendicular to the traveling direction 10, and is disposed on the opposite side of the traveling direction 10 of the seat surface 14.

  The plurality of retreat seat surfaces 19-1 to 19-2 are configured as described above, and are thus arranged vertically below the lift seat surface 18 as shown in FIG. 2. Can do.

  As shown in FIG. 2, the walking assist chair body 1 further includes a seat lifting device 24. The seat lifting device 24 includes an actuator 25 and a pantograph 26.

  FIG. 3 shows the pantograph 26. The pantograph 26 includes a plurality of members 31 to 39. The member 31 is fixed to the vehicle frame 5. The member 32 is supported by the member 31 so as to be rotatable about a rotation shaft 40 fixed to the member 31. The rotating shaft 40 is perpendicular to the vertical direction and perpendicular to the traveling direction 10. The member 33 is supported by the member 31 so as to be rotatable about a rotation shaft 41 fixed to the member 31. The rotating shaft 41 is parallel to the rotating shaft 40 and is disposed so as to be separated from the rotating shaft 40 in the traveling direction 10 by a predetermined distance.

  The member 34 is supported by the member 32 so as to be rotatable about a rotation shaft 42 fixed to the member 32. The rotating shaft 42 is parallel to the rotating shaft 40. The member 35 is supported by the member 33 so as to be rotatable about a rotation shaft 43 fixed to the member 33. The rotating shaft 43 is parallel to the rotating shaft 41. At this time, the member 33 is formed so that the distance from the rotating shaft 41 to the rotating shaft 43 is equal to the distance from the rotating shaft 40 to the rotating shaft 42. The member 36 is supported by the member 34 so as to be rotatable around a rotation shaft 44 fixed to the member 34, and is supported by the member 35 so as to be rotatable around a rotation shaft 45 fixed to the member 35. Yes. The rotating shaft 44 is parallel to the rotating shaft 42. The rotating shaft 45 is parallel to the rotating shaft 43. At this time, the member 35 is formed so that the distance from the rotating shaft 43 to the rotating shaft 45 is equal to the distance from the rotating shaft 42 to the rotating shaft 44.

  The member 37 is supported by the member 32 so as to be rotatable around a rotation shaft 46 fixed to the member 32. The rotation shaft 46 is parallel to the rotation shaft 40. At this time, the member 32 is formed so that the distance from the rotating shaft 40 to the rotating shaft 46 is longer than the distance from the rotating shaft 40 to the rotating shaft 42. The member 38 is supported by the member 33 so as to be rotatable around a rotation shaft 47 fixed to the member 33. The rotating shaft 47 is parallel to the rotating shaft 41. At this time, the member 33 is formed so that the distance from the rotating shaft 41 to the rotating shaft 47 is equal to the distance from the rotating shaft 40 to the rotating shaft 46.

  The member 39 is fixed to the lifting frame 12. Further, the member 39 is supported by the member 37 so as to be rotatable around a rotation shaft 48 fixed to the member 37, and is supported by the member 38 so as to be rotatable around a rotation shaft 49 fixed to the member 38. Has been. The rotation shaft 48 is parallel to the rotation shaft 46. The rotation shaft 49 is parallel to the rotation shaft 47. At this time, the member 38 is formed so that the distance from the rotating shaft 47 to the rotating shaft 49 is equal to the distance from the rotating shaft 46 to the rotating shaft 48.

  By forming the pantograph 26 in this way, when the member 36 is moved by a predetermined distance parallel to the vertical direction, the member 39 can be moved in the vertical direction by a distance longer than the predetermined distance. .

  The actuator 25 moves the member 36 parallel to the vertical direction with respect to the vehicle frame 5 by being controlled by the controller.

  By forming the pantograph 26 in this way, when the member 36 is moved vertically upward by the actuator 25 by a predetermined distance, as shown in FIG. 4, the pantograph 26 is longer than the predetermined distance. Only the member 39 moves vertically upward. At this time, the distance that the member 39 has moved corresponds to the distance that the member 36 has moved one to one, and is, for example, directly proportional to the distance that the member 36 has moved. Therefore, the actuator 25 can indirectly measure the position of the lift seat surface 18 by measuring the amount by which the member 36 is moved. The actuator 25 is controlled by the controller to measure the position of the lift seat surface 18 and outputs the position to the controller.

  The walking auxiliary chair body 1 further includes a seat surface retracting device 51 as shown in FIG. The seat surface retracting device 51 includes a car 52 and a chair seat base 53. The chair seat base 53 is fixed to the left retreat seat surface 19-1. The chair seat base 53 is formed with guide rails 55. The vehicle 52 is disposed so as to contact the guide rail 55. The vehicle 52 is supported by the vehicle frame 5 so as to be rotatable about a rotation shaft 54 fixed to the vehicle frame 5. The rotating shaft 54 is parallel to the rotating shaft 21.

  As shown in FIG. 6, the vehicle 52 moves along the guide rail 55 when the elevating frame 12 moves vertically upward with respect to the vehicle frame 5. The chair seat base 53 rotates around the rotation shaft 21 so that the left retreat seat surface 19-1 is arranged vertically below the lift seat surface 18 as the vehicle 52 moves along the guide rail 55. To do.

  The walking assist chair body 1 further includes another seating surface retracting device (not shown). In the same manner as the seating surface retracting device 51, the seating surface retracting device is linked to the movement of the elevating frame 12 in the vertical direction with respect to the vehicle frame 5, so Rotate 2

  As shown in FIG. 7, the walking assist chair body 1 further includes a battery 61, a plurality of motors 62-1 to 62-2, a receiver 63, a foot step sensor 64, an obstacle sensor 65, and a grip bar sensor 66. And a user motion sensor 67. The plurality of motors 62-1 to 62-2, the receiver 63, the foot step sensor 64, the obstacle sensor 65, the grip bar sensor 66, and the user motion sensor 67 are each connected to the controller 60 so as to be able to transmit information. .

  The battery 61 is formed of a secondary battery and is supported by the vehicle frame 5 or the lifting frame 12. The battery 61 is connected to the lifting device 24, the plurality of motors 62-1 to 62-2, and the controller 60 so as to be able to supply power. At this time, the actuator 25 of the elevating device 24 moves the member 36 using the electric power supplied from the battery 61. The battery 61 is charged by being electrically connected to the charger 71.

  The plurality of motors 62-1 to 62-2 are fixed to the vehicle frame 5, respectively. The left motor 62-1 of the plurality of motors 62-1 to 62-2 is controlled by the controller 60, and uses the power supplied from the battery 61, thereby using the plurality of rear wheels 7-1 to 7-. The left rear wheel 7-1 of 2 is rotated at a predetermined rotational speed, or the rotation of the left rear wheel 7-1 is stopped. The right motor 62-2 of the plurality of motors 62-1 to 62-2 is controlled by the controller 60, and uses the power supplied from the battery 61, thereby using the plurality of rear wheels 7-1 to 7-. The right rear wheel 7-2 of 2 is rotated at a predetermined rotational speed, or the rotation of the right rear wheel 7-2 is stopped.

  At this time, the walking auxiliary chair main body 1 has a plurality of motors 62-1 to 62-2 that rotate the left rear wheel 7-1 and the right rear wheel 7-2 in the same direction at the same speed, thereby moving in the traveling direction. 10 can be moved in parallel. The walking auxiliary chair body 1 further rotates or curves by rotating the left rear wheel 7-1 and the right rear wheel 7-2 at different rotational speeds by the plurality of motors 62-1 to 62-2. You can draw and move.

  The receiver 63 is supported by the vehicle frame 5 or the lifting frame 12. The receiver 63 is controlled by the controller 60 to receive a radio wave transmitted from the transmitter 72 and outputs information indicated by the radio wave to the controller 60. The transmitter 72 transmits a radio wave indicating one piece of information among a plurality of pieces of information when operated by the user. The plurality of information includes movement information and charging information. The movement information indicates the direction and speed. The radio wave can be replaced with another information transmission medium capable of transmitting the information. Infrared rays are exemplified as the information transmission medium.

  The foot step sensor 64 is supported by the vehicle frame 5. The foot step sensor 64 is controlled by the controller 60 to measure the postures of the plurality of foot steps 11-1 to 11-2 and outputs the postures to the controller 60.

  The obstacle sensor 65 is supported by the vehicle frame 5. The obstacle sensor 65 is controlled by the controller 60 to measure the presence / absence of an obstacle that inhibits the movement of the walking assist chair body 1 by transmitting infrared rays and receiving reflected waves of the infrared rays. Is output to the controller 60. The infrared ray can be replaced with another medium that can detect the presence or absence of the obstacle. As the medium, an ultrasonic wave is exemplified.

  The grip bar sensor 66 is supported by a plurality of armrests 16-1 to 16-2. The grip bar sensor 66 is controlled by the controller 60 to measure the open / close state of the grip bar 17 and outputs the open / close state to the controller 60. The open / close state indicates whether the grip bar 17 is fixed to the plurality of armrests 16-1 to 16-2.

  The user motion sensor 67 is supported by the vehicle frame 5. The user motion sensor 67 is controlled by the controller 60 to irradiate infrared rays to the feet of the user who uses the walking assist chair body 1 as a walker, and receives the reflected waves of the infrared rays. The movement is measured and the movement is output to the controller 60. Based on this, the movement of the walking assist chair body 1 is caused to follow. Note that the user motion sensor 67 can be replaced with another user motion sensor that measures the motion of another part different from the user's foot. As the part, the upper body of the user is exemplified. At this time, the user movement sensor can also measure the movement of the upper body based on the movement of the seat belt that restrains the user to the lift seat surface 18 or the backrest 15.

  FIG. 8 shows the controller 60. The controller 60 is a computer, and includes a CPU, a storage device, and an interface (not shown), and operates using electric power supplied from the battery 61. The CPU controls the storage device and the interface by executing a computer program installed in the computer. The storage device records the computer program and temporarily records information created by the CPU.

  The interface outputs information generated by an external device connected to the computer to the CPU, and outputs information generated by the CPU to the external device. Examples of the external device include an input device, an output device, a communication device, and a removable memory drive. The input device creates information by being operated by the user, and outputs the information to the CPU. Examples of the input device include a keyboard, a pointing device, and a touch panel. The output device outputs information generated by the CPU so that the user can recognize the information. Examples of the output device include a display and a touch panel. The communication device transmits information created by the CPU via a communication network to another computer, and outputs information received from the other computer via the communication network to the CPU. The communication device is further used to download a computer program installed in the computer from another computer. The removable memory drive is used to read data recorded on the recording medium when the recording medium is inserted. The removable memory drive is further used when the computer program is installed in the computer when a recording medium in which the computer program is recorded is inserted. Examples of the recording medium include a magnetic disk (flexible disk, hard disk), an optical disk (CD, DVD), and a flash memory.

  The controller 60 is connected to the joystick 22, the operation panel 23, and the receiver 63 through the interface. The controller 60 is further connected to a foot step sensor 64, an obstacle sensor 65, a grip bar sensor 66, and a user motion sensor 67 via the interface. The controller 60 is further connected to the lifting device 24 and the plurality of motors 62-1 to 62-2 via the interface.

  The computer program installed in the controller 60 is formed of a plurality of computer programs that cause the controller 60 to realize a plurality of functions. The plurality of functions include a wheelchair control unit 81, a rising assistance unit 82, a walking assistance unit 83, a seating assistance unit 84, and a remote control unit 85.

  The wheelchair control part 81 controls the actuator 25 so that the position where the raising / lowering seating surface 18 is arrange | positioned is measured. The wheelchair control unit 81 controls the joystick 22 so as to collect information input by the user via the joystick 22 when the elevating seat surface 18 is disposed at the wheelchair position. The wheelchair control unit 81 controls the obstacle sensor 65 so that the presence or absence of an obstacle disposed around the walking assist chair body 1 is measured when the information indicates movement information. The wheelchair control unit 81 includes a plurality of motors so that when there is no obstacle around the walking assistance chair body 1, the walking assistance chair body 1 moves in the direction indicated by the movement information at the speed indicated by the movement information. Control 62-1 to 62-2. The wheelchair control unit 81 controls the plurality of motors 62-1 to 62-2 so that the walking assistance chair body 1 does not move when there is an obstacle around the walking assistance chair body 1.

  When the information indicates brake information, the wheelchair control unit 81 prevents the plurality of rear wheels 7-1 to 7-2 from rotating, that is, prevents the walking assist chair body 1 from moving. -1 to 62-2 are controlled. When the information indicates brake release information, the wheelchair control unit 81 is configured so that the plurality of rear wheels 7-1 to 7-2 rotate freely, that is, by pushing the hand push bar 8, The plurality of motors 62-1 to 62-2 are controlled so that the motor can move.

  The rising assistance unit 82 is configured to measure the posture of the left foot step 11-1 and the posture of the right foot step 11-2 when the information input via the operation panel 23 indicates the assistance of rising. The step sensor 64 is controlled. The rising assist part 82 controls the grip bar sensor 66 so that the open / close state of the grip bar 17 is measured. When the plurality of foot steps 11-1 to 11-2 are arranged in the posture for a walker, respectively, the rising assist part 82 is fixed to the plurality of armrests 16-1 to 16-2. The actuator 25 is controlled so that the lifting / lowering seating surface 18 rises when the vehicle is on. The stand-up assisting unit 82 controls the actuator 25 so that the position where the elevating seat surface 18 is arranged is measured. The stand-up assisting unit 82 controls the actuator 25 so that the elevating seat surface 18 is fixed at the walker position when the elevating seat surface 18 is disposed at the walker position.

  The walking assistance part 83 controls the actuator 25 so that the position where the raising / lowering seating surface 18 is arrange | positioned is measured. The walking assist unit 83 controls the grip bar sensor 66 so that it is measured whether the grip bar 17 is fixed to the plurality of armrests 16-1 to 16-2. The walking assistance unit 83 controls the obstacle sensor 65 so that the presence or absence of an obstacle arranged around the walking assistance chair body 1 is measured. The walking assistance unit 83 controls the user movement sensor 67 so that the movement of the user's foot is measured. The walking assistant 83 calculates the direction and speed based on the movement.

  The walking assist unit 83 is configured to walk when the lifting / lowering seating surface 18 is disposed at the position of the walker and when the gripping bar 17 is fixed to the plurality of armrests 16-1 to 16-2. When there is no obstacle around the auxiliary chair main body 1, the plurality of motors 62-1 to 62-2 are controlled so that the walking auxiliary chair main body 1 moves in that direction at that speed.

  The seating assistance unit 84 is configured to measure whether or not the grip bar 17 is fixed to the plurality of armrests 16-1 to 16-2 when the information input via the operation panel 23 indicates seating assistance. The grab bar sensor 66 is controlled. The seating assisting part 84 uses a plurality of motors 62-1 to 62-2 to prevent the walking assisting chair body 1 from moving when the grip bar 17 is fixed to the plurality of armrests 16-1 to 16-2. Control. The seating assistance part 84 controls the actuator 25 so that the elevating seat surface 18 is further lowered when the gripping bar 17 is fixed to the plurality of armrests 16-1 to 16-2.

  The remote control unit 85 controls the receiver 63 so as to receive a signal transmitted from the transmitter 72. When the signal transmitted from the transmitter 72 indicates movement information, the remote control unit 85 includes a plurality of motors such that the walking assist chair body 1 moves in the direction indicated by the movement information at the speed indicated by the movement information. Control 62-1 to 62-2. The remote control unit 85 controls the obstacle sensor 65 so that the position where the charger 71 is disposed is measured when the signal transmitted from the transmitter 72 indicates the charging information. The remote control unit 85 is configured so that the battery 61 is electrically connected to the charger 71 by the movement of the walking assistance chair body 1 when the charger 71 is disposed around the walking assistance chair body 1. That is, the plurality of motors 62-1 to 62-2 are controlled so that the battery 61 is charged.

  The operations performed by the walking assist chair according to the present invention include a wheelchair operation, a standing assist operation, a walking assist operation, a seating assist operation, and a remote control operation.

  The wheelchair operation is executed when the joystick 22 is operated by the user. When the joystick 22 is operated by the user, the controller 60 controls the actuator 25 to measure the position where the lift seat surface 18 is disposed. The controller 60 collects information input by the user via the joystick 22 when the lifting / lowering seat surface 18 is located at the wheelchair position. When the information indicates movement information, the controller 60 controls the obstacle sensor 65 to measure the presence or absence of obstacles arranged around the walking assist chair body 1. The controller 60 controls the plurality of motors 62-1 to 62-2 at a speed indicated by the movement information in the direction indicated by the movement information when there is no obstacle around the walking assist chair body 1. The walking assist chair body 1 is moved. The controller 60 controls the plurality of motors 62-1 to 62-2 when there are obstacles around the walking assist chair body 1 so that the walking assist chair body 1 does not move. Stop.

  Further, the controller 60 controls the plurality of motors 62-1 to 62-2 so that the walking assist chair body 1 does not move when the information input via the joystick 22 indicates brake information. The rotation of the plurality of rear wheels 7-1 to 7-2 is stopped. When the information input via the joystick 22 indicates brake release information, the controller 60 controls the plurality of motors 62-1 to 62-2, thereby pushing the hand push bar 8 so as to control the walking assist chair body 1. The plurality of rear wheels 7-1 to 7-2 are allowed to rotate freely so that can move.

  According to such a wheelchair control operation, when the user uses the walking assist chair body 1 as a wheelchair, the user is relatively formed by the lift seat surface 18 and the plurality of retreat seat surfaces 19-1 to 19-2. You can sit comfortably on a large seat and sit longer. According to such a wheelchair control operation, the user can move more comfortably by further operating the joystick 22. According to such a wheelchair control operation, even when the user operates the joystick 22 by mistake, the user is prevented from hitting an obstacle and can move more comfortably. According to such a wheelchair control operation, when the brake release information is input via the joystick 22, the caregiver who cares for the user (caregiver) sitting on the seat 14 presses the hand bar 8. The walking auxiliary chair main body 1 can be freely moved on the floor, and the walking auxiliary chair main body 1 can be used as a so-called wheelchair.

  The startup assistance operation is executed when startup assistance is input through the operation panel 23 by the user. The controller 60 controls the foot step sensor 64 when the information input via the operation panel 23 indicates the assistance for rising, thereby controlling the posture of the left foot step 11-1 and the posture of the right foot step 11-2. Measure. The controller 60 further measures the open / close state of the grip bar 17 by controlling the grip bar sensor 66. When the plurality of foot steps 11-1 to 11-2 are arranged in the walker posture, and the grip bar 17 is fixed to the plurality of armrests 16-1 to 16-2 Further, the lift seat surface 18 is raised by controlling the actuator 25. At this time, the plurality of evacuation seat surfaces 19-1 to 19-2 are moved by the seat surface evacuation device 51 so as to be arranged vertically below the elevating seat surface 18. The controller 60 controls the actuator 25 to measure the position where the elevating seat surface 18 is disposed. The controller 60 fixes the lifting / lowering seat surface 18 to the walker position by controlling the actuator 25 when the lifting / lowering seat surface 18 is disposed at the walker position.

  According to such a stand-up assisting operation, when the user stands up from the state of sitting on the lifting / lowering seat surface 18 arranged at the position of the wheelchair, the user's buttocks are pushed up to the lifting / lowering seating surface 18 with a smaller force. You can stand up and stand up more easily. That is, the walking assistance chair according to the present invention can assist the user to stand up so that the user can stand up with a smaller force. According to such a stand-up assisting operation, the walking assist chair according to the present invention further moves the user's buttocks with the lifting / lowering seating surface 18 while the user puts his / her feet on the plurality of foot steps 11-1 to 11-2. It is possible to prevent the user from being pushed up, to guide the user to stand up with their feet on the floor, and to assist the user in starting up more appropriately. According to such a standing assistance operation, the walking assistance chair according to the present invention can further prevent the walking assistance chair body 1 from moving when the user stands up, and can assist the user to stand up more appropriately. .

  The walking assist operation is executed when the elevating seat surface 18 is disposed at the walker position. That is, the controller 60 controls the actuator 25 to measure the position where the lifting / lowering seat surface 18 is disposed. The controller 60 further controls whether or not the grip bar 17 is fixed to the plurality of armrests 16-1 to 16-2 by controlling the grip bar sensor 66. The controller 60 controls the obstacle sensor 65 to measure the presence or absence of an obstacle arranged around the walking assist chair body 1. The controller 60 controls the user movement sensor 67 to measure the movement of the foot of the user who uses the walking assist chair body 1 as a walker.

  The controller 60 calculates the direction and speed based on the movement. The controller 60 is used when the lifting / lowering seat surface 18 is disposed at the position of the walker and when the grip bar 17 is fixed to the plurality of armrests 16-1 to 16-2. When there is no obstacle around the main body 1, the walking assist chair main body 1 is moved in that direction at the speed by controlling the plurality of motors 62-1 to 62-2.

  According to such a walking assist operation, when the user uses the walking assist chair body 1 as a walker, the user can sit on the lifting seat surface by dropping his / her waist a little, or the lifting seat surface 18. You can walk with your weight on. For this reason, such a walking assistance chair can also be utilized for assisting a user's standing work. When such a walking assistance chair is used as a walker, it can further form its lifting seat surface to be smaller than the wheelchair seat surface formed when used as a wheelchair, The part which inhibits a user's walk can be reduced. For this reason, such a walking assistance chair can assist a user to walk more appropriately. According to such a walking assist operation, the walking assist chair according to the present invention can prevent the user from colliding with an obstacle even when the user walks in the wrong direction, and can assist the user's walking more appropriately. .

  The seating assistance operation is executed when seating assistance is input via the operation panel 23. When the information input via the operation panel 23 indicates seating assistance, the controller 60 controls the grip bar sensor 66 to determine whether the grip bar 17 is fixed to the plurality of armrests 16-1 to 16-2. Measure how. The controller 60 controls the plurality of motors 62-1 to 62-2 when the gripping bar 17 is fixed to the plurality of armrests 16-1 to 16-2, so that the plurality of rear wheels 7-1 to 7-1 are controlled. 7-2 is stopped so as not to rotate, and the walking auxiliary chair body 1 is prevented from moving. The controller 60 controls the actuator 25 to lower the elevating seat surface 18 when the gripping bar 17 is fixed to the plurality of armrests 16-1 to 16-2. At this time, when the elevating seat surface 18 is lowered, the seat surface retracting device 51 rotates the plurality of retracting seat surfaces 19-11 to 19-2, and the elevating seat surface 18 is disposed at the wheelchair position. The plurality of retracting seat surfaces 19-11 to 19-2 are arranged so as to sandwich the lifting seat surface 18, that is, the seating surface 14 is formed. Fix 19-2.

  According to such a seating assisting operation, when the user further sits down from the state of sitting on the lifting / lowering seating surface 18 arranged at the position of the walker, the user's buttocks are slowly lowered by the lifting / lowering seating surface 18. You can sit with less force and sit more easily. That is, the walking assistance chair according to the present invention can assist the user in sitting so that the user can sit with a smaller force. According to such stand-up assisting operation, the walking assist chair according to the present invention can further prevent the walking assist chair body 1 from moving when the user sits down, and can assist the user in sitting more appropriately. .

  The remote control operation is executed when a signal transmitted from the transmitter 72 is received. When the signal transmitted from the transmitter 72 indicates movement information, the controller 60 controls the motors 62-1 to 62-2 at a speed indicated by the movement information in the direction indicated by the movement information. The walking assist chair body 1 is moved. The controller 60 measures the position where the charger 71 is disposed by controlling the obstacle sensor 65 when the signal transmitted from the transmitter 72 indicates the charging information. The controller 60 controls the plurality of motors 62-1 to 62-2 when the charger 71 is disposed around the walking assist chair body 1 so that the walking assist chair body 1 moves to move the battery. The walking assist chair body 1 is moved so that 61 is electrically connected to the charger 71, that is, the battery 61 is charged.

  According to such a remote control operation, the user can freely move the walking assistance chair body 1 by operating the transmitter 72 even when the user gets off the walking assistance chair body 1.

  The seating surface retracting device 51 can be replaced with another seating surface retracting device that rotates the plurality of retracting seating surfaces 19-1 to 19-2 without linking to the movement of the elevating frame 12. The seating surface retracting device is controlled by the controller 60 to move the plurality of retracting seating surfaces 19-1 to 19-2 in the same manner as the seating surface retracting device 51. The walking assistance chair according to the present invention can assist the user's walking more appropriately in the same manner as the walking assistance chair in the above-described embodiment even when such a seating surface retracting device is applied.

  The plurality of retracting seat surfaces 19-1 to 19-2 can be supported so as to be rotatable around another rotating shaft different from the rotating shaft 21. As the rotation axis, a rotation axis that is parallel to the traveling direction 10 and that is disposed on both sides of the lift seat surface 18 is exemplified. When the walking assist chair body 1 is used as a walker by movement other than rotational movement, the plurality of retreat seat surfaces 19-1 to 19-2 move to other positions that do not hinder the user's walking. Can be replaced with a retractable seating surface. Examples of the movement include parallel movement and a combination of parallel movement and rotational movement. As the position, the side opposite to the traveling direction 10 of the lift seat surface 18 is exemplified. The walking assistance chair according to the present invention can assist the user's walking more appropriately in the same manner as the walking assistance chair in the above-described embodiment even when such a plurality of retreat seating surfaces are applied. .

  Note that the seat lifting device 24 can be replaced with a chair damper. The chair damper includes a lever, and when the lever is pulled, the user places the weight on the lifting / lowering seat surface 18 to lower the lifting / lowering seating surface 18 and the user lifts his / her waist from the lifting / lowering seating surface 18. As a result, the elevating seat surface 18 is raised. Even when such a chair damper is applied, the walking assistance chair according to the present invention can assist the user's walking more appropriately in the same manner as the walking assistance chair in the embodiment described above.

  The walking assist chair body 1 includes any one of a controller 60, a plurality of motors 62-1 to 62-2, a receiver 63, a foot step sensor 64, an obstacle sensor 65, a grip bar sensor 66, and a user motion sensor 67. These parts can be omitted. The walking assist chair according to the present invention cannot operate using the component when the component is omitted, but assists the user more appropriately in the same manner as the walking assist chair in the embodiment described above. can do.

1: Walking auxiliary chair body 2: Vehicle portion 5: Vehicle frame 6-1 to 6-2: Multiple front wheels 7-1 to 7-2: Multiple rear wheels 8: Hand push bar 10: Traveling direction 11-1 to 11 -2: Multiple foot steps 12: Elevating frame 14: Seat surface 15: Backrest 16-1 to 16-2: Multiple armrests 17: Grasp bar 18: Elevating seat surface 19-1 to 19-2: Multiple retraction seats Surface 21: Rotating shaft 22: Joystick 23: Operation panel 24: Lifting device 25: Actuator 26: Pantograph 31-39: Multiple members 40-49: Rotating shaft 51: Seat surface retracting device 52: Car 53: Chair seat base 54 : Rotating shaft 55: Guide rail 60: Controller 61: Battery 62-1 to 62-2: Multiple motors 63: Receiver 64: Foot step sensor 65: Fault Object sensor 66: Grasping bar sensor 67: User movement sensor 71: Charger 72: Transmitter 81: Wheelchair control unit 82: Standing assistance unit 83: Walking assistance unit 84: Seating assistance unit 85: Remote control unit

Claims (4)

A vehicle part moving on the floor;
An elevating seat surface supported by the vehicle portion so as to be capable of elevating;
The lifting / lowering seating surface is fixed to the vehicle portion so as to be disposed at a wheelchair position, or the lifting / lowering seating surface is fixed to the vehicle portion so as to be disposed at a walker position vertically above the wheelchair position. A seat lifting device;
A retraction seat;
A seating surface retractor;
A grab bar,
With a grab bar sensor,
An auxiliary part,
The seating surface retracting device is:
When the lifting / lowering seat surface is fixed at the wheelchair position, the retracting seat is in a predetermined position with respect to the lifting / lowering seat surface so that the lifting / lowering seat surface and the retracting seat surface form a wheelchair seating surface. Fixing the seating surface,
When the lifting seat surface is fixed at the walker position, the retracting seat surface is disposed at another position different from the predetermined position with respect to the lifting seat surface,
The seat lifting device is configured to raise and lower the lifting seat surface to place the lifting seat surface at the wheelchair position, or to place the lifting seat surface at the walker position,
The grip bar can be fixed to or removed from the lifting seat surface,
The grip bar sensor measures whether the grip bar is fixed with respect to the lift seat surface,
The auxiliary portion is a walking auxiliary chair that controls the seat lift device so that the lift seat surface does not move up and down relative to the vehicle portion when the grip bar is not fixed. A vehicle part moving on the floor;
An elevating seat surface supported by the vehicle portion so as to be capable of elevating;
The lifting / lowering seating surface is fixed to the vehicle portion so as to be disposed at a wheelchair position, or the lifting / lowering seating surface is fixed to the vehicle portion so as to be disposed at a walker position vertically above the wheelchair position. A seat lifting device;
A retraction seat;
A seating surface retracting device,
The seating surface retracting device is:
When the lifting / lowering seat surface is fixed at the wheelchair position, the retracting seat is in a predetermined position with respect to the lifting / lowering seat surface so that the lifting / lowering seat surface and the retracting seat surface form a wheelchair seating surface. Fixing the seating surface,
When the lifting seat surface is fixed at the walker position, the retracting seat surface is disposed at another position different from the predetermined position with respect to the lifting seat surface,
The retracting seat surface includes a left retracting seat surface and a right retracting seat surface,
The lifting seat surface is disposed between the left retracting seat surface and the right retracting seat surface when the lifting seat surface is fixed at the wheelchair position,
The seat surface elevating device is disposed at a lower portion of the elevating seat surface, supports a lower portion of the elevating seat surface, and raises and lowers the elevating seat surface, thereby arranging the elevating seat surface at the wheelchair position. Or placing the elevating seating surface at the walker position,
The seating surface retracting device includes a vehicle disposed rotatably in a vehicle frame of the vehicle part, and a guide rail disposed on the retracting seat surface side, and moves the lifting seat surface with respect to the vehicle part. By converting the movement of the retracting seat surface relative to a surface, the retracting seat surface is moved relative to the lifting seat surface,
An outer periphery of the vehicle is in rolling contact with the guide rail, and the retracting seat is moved as the lifting seat is raised and lowered. In claim 1 or 2 ,
The seat lift device is
An actuator for moving the movable member relative to the fixed member;
A walking assist chair, comprising: a pantograph that converts movement of the movable member relative to the fixed member into movement of the lift seat surface relative to the vehicle portion. In any one of Claims 1-3 ,
A receiver for receiving a signal transmitted from a transmitter;
A walking assistance chair further comprising a remote control unit for controlling the propulsion device so that the vehicle portion moves as indicated by the signal.

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