Movable body

Abstract

To provide a movable boy having a mechanism capable of adjusting inclination and movement of a seat surface.SOLUTION: A movable body 9 includes a first rod 1, a second rod 2, a third rod 3, a chassis 4, a seat surface 5, and a movement mechanism 6. The chassis 4 is an undercarriage to which each component of the movable body 9 is attached. The movement mechanism 6 is a mechanism that moves the chassis 4 along the ground. The seat surface 5 is a seat on which a user using the movable body 9 is seated. The first rod 1 has a lower end connected by a pin to a first position P1 of the chassis 4 and an upper end connected by a pin to a second position P2 of the seat surface 5. The third rod 3 has a lower end connected by a pin to a sixth position P6 of the chassis 4 and an upper end connected by a pin to a fifth position P5 of the seat surface 5. The second rod 2 has a lower end connected by a pin to a third position P3 different from the first position P1 of the chassis 4 and an upper end connected by a pin to a fourth position P4 different from the first position P1 in the first rod 1.SELECTED DRAWING: Figure 3

Description

[Technical field]

[0001] The present invention relates to the technology of moving objects. [Background technology]

[0002] Examples of vehicles that move people seated on the seat include wheelchairs and microcars (minicars). Sitting in the same position for a long period of time places a great burden on people and is said to be a cause of economy class syndrome. Therefore, there is a demand for the development of vehicles that can change the position of the seat.

[0003] As an example of a device that assists a user in standing up, Patent Document 1 discloses a mechanism that pushes up the user's ischium by injecting air into an air bag positioned under the seat and moving the seat upward.

[0004] Patent Document 2 discloses a chair in which the user is placed in an upright position when an upper rail that moves a bent seat plate back and forth is moved upward and the bent seat plate is then moved forward. In this chair, the user is placed in a lying position when the bent seat plate is moved backward and the backrest is tilted backward.

[0005] Moreover, Patent Document 3 discloses a wheelchair in which a movable frame supporting the lower ends of columns is rotated in the forward and backward directions by a rotating means. [Prior art documents] [Patent documents]

[0006] [Patent Document 1] JP 2011-200333 A [Patent Document 2] JP 2016-159134 A [Patent Document 3] JP 2018-99233 A Summary of the Invention [Problem to be solved by the invention]

[0007] The technology described in Patent Document 1, for example, cannot raise or lower the user or move the user forward or backward while the user remains seated. In addition, the technologies described in Patent Documents 2 and 3, for example, cannot raise or lower the user or move the user forward or backward while the user remains lying on his / her back. Furthermore, these technologies may not be able to change the inclination of the seat after the user has raised or lowered or moved forward or backward.

[0008] An object of the present invention is to provide a moving body having a mechanism capable of adjusting both the inclination and the movement of the seat surface. [Means for solving the problem]

[0009] In one embodiment of the present invention, a movable body has a chassis, a seat, a first rod of variable length having one end pin-connected to the chassis at a first position and the other end swingably supporting a second position of the seat, a second rod of variable length having one end pin-connected to the chassis at a third position different from the first position and the other end swingably supporting a fourth position of the first rod different from the first position, and forming a planar truss with the first rod and the chassis when the length is fixed together with the first rod, a third rod of variable length having one end pin-connected to the chassis and the other end swingably supporting a fifth position different from the second position of the seat, and a moving mechanism for moving the chassis. [Brief description of the drawings]

[0010] [Figure 1] 1 is a diagram showing an example of the overall configuration of a moving object 9 according to an embodiment of the present invention. [Diagram 2] FIG. 2 is a diagram showing the chassis 4 and the moving mechanism 6. [Diagram 3] FIG. [Figure 4] FIG. 13 is a diagram for explaining an example of descending while maintaining the seated posture. [Diagram 5] FIG. 13 is a diagram for explaining an example of moving forward while maintaining the seated posture. [Figure 6]FIG. 13 is a diagram for explaining an example of leaning backward while maintaining the seat position. [Figure 7] FIG. 13 is a diagram for explaining an example of leaning forward while maintaining the seat position. [Figure 8] FIG. 13 is a diagram showing an example of rod arrangement in a modified example. [Figure 9] 10A and 10B are diagrams for explaining the raising and lowering of the seat 5 by the moving body 9 shown in the modified example. [Figure 10] 13A and 13B are diagrams for explaining assistance of a standing-up motion by a moving object 9 shown in a modified example. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0011] <Embodiment> <Overall configuration of the moving object> In the diagrams shown below, the space in which each component is arranged is represented as an xyz right-handed coordinate space. Among the coordinate symbols shown in the diagrams, a dot in a circle represents an arrow pointing from the back of the paper to the front, and a circle with two intersecting lines represents an arrow pointing from the front of the paper to the back. The direction along the x-axis in space is called the x-axis direction. Among the x-axis directions, the direction in which the x component increases is called the +x direction, and the direction in which the x component decreases is called the -x direction. For the y and z components, the y-axis direction, +y direction, -y direction, z-axis direction, +z direction, and -z direction are defined according to the above definitions. In the diagrams, the -z direction is the direction of gravity, that is, the downward direction.

[0012] Fig. 1 is a diagram showing an example of the overall configuration of a moving body 9 according to an embodiment of the present invention. Fig. 1 shows the moving body 9 as viewed in the -x direction. Since the forward direction for this moving body 9 is the -y direction, the moving body 9 shown in Fig. 1 is as viewed from the left side of the traveling direction.

[0013] The moving body 9 has a first rod 1, a second rod 2, a third rod 3, a chassis 4, a seat 5, and a moving mechanism 6. The moving body 9 is a vehicle, such as a wheelchair, that enables the seat 5 on which a person sits to be moved up and down, left and right, etc. relative to the chassis 4, and enables the inclination state (posture) of the seat 5, such as tilting forward and backward, to be adjusted relative to the chassis 4.

[0014] The chassis 4 is a vehicle base on which each component of the moving body 9 is attached. The chassis 4 functions as a skeleton of the moving body 9.

[0015] The moving mechanism 6 is attached below the chassis 4 and is a mechanism for moving the chassis 4 along the ground. The moving mechanism 6 shown in FIG.

[0016] <Chassis and movement mechanism configuration> Fig. 2 is a diagram showing the chassis 4 and the moving mechanism 6. Fig. 2(a) shows the chassis 4 and the moving mechanism 6 as viewed from above. Fig. 2(b) shows the chassis 4 and the moving mechanism 6 as viewed from the left side in the direction of travel. As shown in Fig. 2(a), the front wheels 61, the drive wheels 62, and the rear wheels 63 are all attached to the chassis 4 in pairs along the left-right direction, i.e., the x-axis direction.

[0017] The drive wheel 62 is attached to the chassis 4 so as to be rotatable around a shaft (not shown). When a drive device such as a motor (not shown) rotates this shaft, the moving body 9 travels on the ground. The arrow D shown in FIG. 1 indicates the -y direction, which is the direction in which the moving body 9 moves forward. The drive wheel 62 can move not only forward but also backward by changing the rotation direction of the shaft. The drive wheel 62 may also have a function of turning left and right by a steering device (not shown). The front wheel 61 and the rear wheel 63 shown in FIG. 1 are both casters that follow the movement of the drive wheel 62. As shown in FIG. 2(a), the front wheel 61 and the rear wheel 63 are attached to the chassis 4 by a shaft (not shown) parallel to the z axis, and are both configured to be able to turn on the xy plane. The front wheel 61 and the rear wheel 63 support the chassis 4 forward and backward, respectively, from the position supported by the drive wheel 62 of the chassis 4.

[0018] The moving mechanism 6 is not limited to the one shown in Figs. 1 and 2. For example, the moving mechanism 6 may be one using an omni-wheel. The moving mechanism 6 may also be a mechanism other than wheels, such as a multi-legged mechanism having a plurality of legs with one or more joints. In other words, the moving mechanism 6 is an example of a moving mechanism that moves a chassis.

[0019] <Seat configuration> The seat 5 is a seat on which a user sits when using the moving body 9. The seat 5 shown in FIG.

[0020] <Rod configuration> The first rod 1, the second rod 2, and the third rod 3 (hereinafter, when there is no need to distinguish between them, they will simply be referred to as "rods") are all variable-length rod-shaped members with one end attached to the chassis 4. Figure 3 is a diagram showing the arrangement of the rods. These rods shown in Figure 3 are composed of a rod-shaped member and one or more tubular members that house the rod-shaped member. These rods extend and contract in the longitudinal direction as the rod-shaped member slides through the hollow of the tubular member. In other words, these rods are variable-length members.

[0021] Each of these three rods has an actuator (not shown) that enables the rods to expand and contract. These actuators are controlled by a processor (not shown) so that they are driven independently. This processor may be, for example, a field programmable gate array (FPGA) or may include an FPGA. This processor may have an application specific integrated circuit (ASIC) or other programmable logic device and may perform control by using these. This processor may be, for example, a general-purpose processor such as a central processing unit (CPU).

[0022] The first rod 1 and the third rod 3 shown in Fig. 3 each have one rod-shaped member, an inner cylindrical member that houses the rod-shaped member, and an outer cylindrical member that further houses the inner cylindrical member. The second rod 2 shown in Fig. 3 has one rod-shaped member and one cylindrical member that houses the rod-shaped member.

[0023] <First rod configuration> 3, one end of the first rod 1 is pin-connected to the chassis 4 at a first position P1 forward of the drive wheel 62 (see FIG. 1). The direction of the pin used for this pin connection is the x-axis direction. Therefore, the first rod 1 is attached to the chassis 4 so as to be swingable around a pin parallel to the x-axis direction at the first position P1.

[0024] Meanwhile, the other end of the first rod 1 is pin-jointed to a second position P2 below and toward the front of the seat 5. The direction of the pin used for this pin-joint is also in the x-axis direction. Therefore, the first rod 1 supports the seat 5 at the second position P2 so that the seat 5 can swing about the pin parallel to the x-axis direction.

[0025] That is, this first rod 1 is an example of a variable-length first rod, one end of which is pin-connected to the chassis at a first position and the other end of which supports the seat surface at a second position so as to be able to rock.

[0026] <Configuration of the second rod> One end of the second rod 2 shown in Fig. 3 is pin-joined to the chassis 4 at a third position P3 rearward of the rear wheel 63 (see Fig. 1). This third position P3 is a position on the chassis 4 that is different from the first position P1 described above. The direction of the pin used for this pin-joining is the x-axis direction. Therefore, this second rod 2 is a rod attached to the chassis 4 so as to be swingable around a pin parallel to the x-axis direction at the third position P3.

[0027] Meanwhile, the other end of the second rod 2 is pin-joined to a fourth position P4 of the first rod 1, which is different from the first position P1 described above. The fourth position P4 may be any position of the first rod 1 that is different from the first position P1 described above. For example, the fourth position P4 may be the second position P2 described above. In the example shown in FIG. 3, the fourth position P4 is at the upper end of the first rod 1, and is a position different from both the first position P1 and the second position P2 described above.

[0028] The direction of the pin used in this pin joint is also in the x-axis direction. Therefore, the second rod 2 supports the first rod 1 at the fourth position P4 so that the first rod 1 can swing about the pin parallel to the x-axis direction.

[0029] 3, the upper ends of the first rod 1 and the second rod 2 are pin-joined to each other at the fourth position P4 described above. The lower ends of the first rod 1 and the second rod 2 are pin-joined to each other at different positions (the first position P1 and the third position P3) of the chassis 4. That is, the lower end of the second rod 2 is pin-joined to the third position P3, which is different from the first position P1 of the chassis 4, and the upper end is pin-joined to the first rod 1 at a fourth position P4, which is different from the first position P1.

[0030] The distance between the first position P1 and the third position P3 is constant. Therefore, when the lengths of both the first rod 1 and the second rod 2 are fixed, the chassis 4, the first rod 1, and the second rod 2 form a planar truss parallel to the yz plane.

[0031] In other words, the second rod 2 shown in Figure 3 is an example of a variable-length second rod, one end of which is pin-connected to the chassis at a third position different from the first position, and the other end of which is swingably supported at a fourth position different from the first position of the first rod, and which forms a planar truss with the first rod and the chassis when its length is fixed together with the first rod.

[0032] <Configuration of the third rod> One end of the third rod 3 is pin-connected to a certain position on the chassis 4. In the example shown in Fig. 3, the third rod 3 is pin-connected to the chassis 4 at a sixth position P6 between the positions at which the drive wheels 62 and the rear wheels 63 (see Fig. 1) are attached. The direction of the pin used for this pin-connection is the x-axis direction. Therefore, the first rod 1 is a rod attached to the chassis 4 so as to be able to swing around a pin parallel to the x-axis direction at the sixth position P6.

[0033] Meanwhile, the other end of the third rod 3 is pinned to a fifth position P5 below the seat 5 and located rearward of the second position P2 (i.e., a position different from the second position P2). The direction of the pin used for this pinned connection is also in the x-axis direction. Therefore, the third rod 3 supports the seat 5 so that it can rock around the pin parallel to the x-axis direction at the fifth position P5.

[0034] That is, the third rod 3 shown in FIG. 3 is an example of a variable-length third rod, one end of which is pin-connected to the chassis and the other end of which supports the seat surface in a rockable fifth position different from the second position.

[0035] <Degree of freedom of link mechanism> As described above, the three rods, together with the chassis 4 and the seat surface 5, form a link mechanism (also called a two-dimensional link mechanism) on a plane parallel to the yz plane. The degree of freedom of the two-dimensional link mechanism is expressed by the following equation (1). This equation (1) is called Grobler's equation.

[0036] [Number 1] F = 3(n-1)-2 J … (1)

[0037] Here, F is the degree of freedom, n is the total number of links, and J is the total number of moving parts (also called joints) with one degree of freedom.

[0038] For example, the plane truss formed by the above-mentioned first rod 1, second rod 2, and chassis 4 has n=3 and J=3, and therefore is a link mechanism with F, that is, 0 degrees of freedom. Therefore, when the lengths of the first rod 1 and second rod 2 are both fixed, the position of the fourth position P4 that connects them to each other by a pin is fixed with respect to the first position P1 and third position P3 of the chassis 4.

[0039] On the other hand, the above-mentioned seat 5 is supported by the first rod 1 and the third rod 3 extending from the chassis 4. The lower end of the first rod 1 is pin-jointed to the first position P1 of the chassis 4, and the upper end is pin-jointed to the second position P2 of the seat 5. The lower end of the third rod 3 is pin-jointed to the sixth position P6 of the chassis 4, and the upper end is pin-jointed to the fifth position P5 of the seat 5. In the chassis 4, the distance between the first position P1 and the sixth position P6 is constant. In addition, in the seat 5, the distance between the second position P2 and the fifth position P5 is constant. Therefore, when the lengths of the first rod 1 and the third rod 3 are both fixed, the first rod 1, the third rod 3, the seat 5, and the chassis 4 form a four-joint link. In other words, the third rod 3 is an example of a third rod that forms a four-joint link together with the first rod, the seat, and the chassis.

[0040] This four-bar link has n of 4 and J of 4, so it is a link mechanism with F, or one degree of freedom. In this way, the lengths of the three rods are fixed and the lengths of the remaining rods are adjusted to form a link mechanism together with the chassis 4 and seat 5. This link mechanism makes it possible to adjust the inclination and movement of the seat 5 relative to the chassis 4.

[0041] <Example of operation> <Example of descending while maintaining seated posture> Fig. 4 is a diagram for explaining an example of descending while maintaining the seat posture. The first rod 1 shown in Fig. 4 is contracted in the direction of arrow D41 from the state shown in Fig. 3. For example, in the state shown in Fig. 3, the second position P2 is at a position away from the first position P1 by a distance y1 in the +y direction and a distance z1 in the +z direction. Then, when the first rod 1 contracts and reaches the state shown in Fig. 4, the second position P2 moves to a position away from the first position P1 by a distance y2 in the +y direction and a distance z2 in the +z direction.

[0042] Also, the third rod 3 shown in FIG. 4 contracts in the direction of arrow D43 from the state shown in FIG. 3 as the first rod 1 contracts. The contraction in the direction of arrow D43 is the same direction and length as the contraction in the direction of arrow D41. Therefore, the fifth position P5 moves parallel to the same direction as the second position P2. As a result, the seat 5 moves in the direction of arrow D4 from the position shown in FIG. 3. In this case, the seat 5 descends without changing its inclination, that is, while maintaining its posture.

[0043] <Example of moving forward while maintaining seated posture> FIG. 5 is a diagram for explaining an example of moving forward while maintaining the seat posture. The first rod 1 shown in FIG. 5 swings from the state shown in FIG. 3 around the first position P1 in the direction of arrow D51 while keeping its length fixed. The third rod 3 shown in FIG. 5 swings from the state shown in FIG. 3 around the sixth position P6 in the direction of arrow D53 while keeping its length fixed. The second rod 2 extends in the direction of arrow D52 in accordance with the swing of the first rod 1. As a result, the seat 5 moves in the direction of arrow D5 from the position shown in FIG. 3. In this case, the seat 5 moves forward without changing its inclination, that is, while maintaining its posture.

[0044] <Example of leaning back while maintaining seat position> FIG. 6 is a diagram for explaining an example of tilting backward while maintaining the seat position. The third rod 3 shown in FIG. 6 is contracted in the direction of the arrow D63 from the state shown in FIG. 5. At this time, the lengths of the first rod 1 and the second rod are fixed, so they and the chassis 4 form the above-mentioned plane truss. Therefore, the fourth position P4 is fixed at the position shown in FIG. 5 relative to the chassis 4, and the second position P2 is also fixed. Therefore, the third rod 3 swings around the sixth position P6, and the seat 5 swings in the direction of the arrow D6 around the second position P2. That is, the seat 5 tilts backward around the second position P2 while maintaining the front-back and up-down positions from the state shown in FIG. 5.

[0045] <Example of leaning forward while maintaining seat position> FIG. 7 is a diagram for explaining an example of tilting forward while maintaining the seat position. The first rod 1 shown in FIG. 7 is contracted in the direction of the arrow D71 from the state shown in FIG. 5. At this time, the second rod 2 changes its length in accordance with the contraction of the first rod 1 so as not to change the length and inclination of the third rod 3, and swings around the third position P3. As a result, the fifth position P5 is fixed at the position shown in FIG. 5 relative to the chassis 4. Then, the seat 5 swings in the direction of the arrow D7 around the fifth position P5. That is, the seat 5 is tilted forward around the fifth position P5 while maintaining the front-back and up-down positions from the state shown in FIG. 5.

[0046] As explained above, this movable body 9 can adjust the inclination, front-to-back movement, and up-down movement of the seat 5 by adjusting the lengths of the first rod 1, second rod 2, and third rod 3, respectively.

[0047] For example, when this moving body 9 is applied to a wheelchair, it becomes possible to independently adjust the posture and the front-back and up-down position of the user seated on the seat 5. As a result, this moving body 9 can, for example, tilt the seat 5 backward to make it easier for the user to rest, or move the seat 5 forward-backward and up-down while maintaining its posture to make it easier to move to a bed, etc. In addition, this moving body 9 can assist the user in standing up by moving the seat 5 forward while tilting it forward.

[0048] <Modification> The above is a description of the embodiment, but the contents of this embodiment may be modified as follows. In addition, the following modifications may be combined.

[0049] <1> In the above-described embodiment, the third rod 3 intersects with the second rod 2 when viewed along the x-axis direction, but does not intersect with the first rod 1, but may intersect with the first rod 1.

[0050] FIG. 8 is a diagram showing an example of the arrangement of rods in a modified example. The first rod 1 shown in FIG. 8 is pin-joined at its lower end to the first position P1 of the chassis 4 and at its upper end to the second position P2 of the seating surface 5, similar to the first rod 1 shown in FIG. 3. The third rod 3 shown in FIG. 8 is pin-joined at its lower end to the sixth position P6 of the chassis 4 and at its upper end to the fifth position P5 of the seating surface 5, similar to the third rod 3 shown in FIG. 3. The first rod 1 and the third rod 3 shown in FIG. 8 are different from those shown in FIG. 3 in that the positions of the first position P1 and the sixth position P6 at which the lower ends are pin-joined are reversed on the chassis 4. That is, the first position P1 shown in FIG. 8 is located behind the sixth position P6 (in the +y direction).

[0051] Therefore, the first rod 1 and the third rod 3 support the seat 5 in a state where they intersect when viewed along the x-axis direction. In other words, this third rod 3 is an example of a third rod that intersects with the first rod when viewed along the axis that supports the seat so that it can rock. The third rod 3 shown in this modified example and the third rod shown in the above-mentioned embodiment are examples of a third rod that intersects with the first rod or the second rod when viewed along the axis that supports the seat so that it can rock.

[0052] <2> Regardless of whether the third rod 3 intersects with the first rod 1 or not, the moving body 9 can adjust the inclination, forward / backward movement, and up / down movement of the seat 5. Fig. 9 is a diagram for explaining how the seat 5 is raised and lowered by the moving body 9 shown in a modified example. The moving body 9 shown in Fig. 9(a) is a wheelchair, and a user sits on the seat 5. The moving body 9 includes a back seat 7 and a footrest 8, which are omitted in Fig. 1.

[0053] The back seat 7 is attached to the seat surface 5 by a hinge fixed to the rear end of the seat surface 5 so as to be able to swing about an axis parallel to the x-axis. The footrest 8 is attached to the seat surface 5 by a hinge fixed to the front end of the seat surface 5 so as to be able to swing about an axis parallel to the x-axis. Both the back seat 7 and the footrest 8 have actuators (not shown) for enabling the swinging relative to the seat surface 5 as described above. These actuators are controlled, for example, by the above-mentioned processor so as to be driven independently of each other.

[0054] When the back seat 7 and the foot rest 8 are adjusted so as to be parallel to the upper surface of the seat 5, the seat 5, the back seat 7, and the foot rest 8 can be used as a bed parallel to the xy plane. In this case, when the lengths of the first rod 1, the second rod 2, and the third rod 3 are adjusted, the position of the moving body 9 in the z direction can be lowered without changing the posture of the seat 5, as shown in FIG. 9(b).

[0055] 10 is a diagram for explaining assistance of a standing up motion by a moving body 9 shown in a modified example. When the first rod 1 is contracted from the state shown in (a) of FIG. 9, the seat surface 5 tilts forward. Then, with the movement of the first rod 1, the postures of the back seat 7 and the footrest 8 change, so that the moving body 9 can assist the user in standing up motion as shown in FIG. [Explanation of symbols]

[0056] 1...first rod, 2...second rod, 3...third rod, 4...chassis, 5...seat, 6...moving mechanism, 61...front wheel, 62...drive wheel, 63...rear wheel, 7...back seat, 8...footrest, 9...moving body, P1...first position, P2...second position, P3...third position, P4...fourth position, P5...fifth position, P6...sixth position.

Claims

1. A chassis, The seat and A first rod having a variable length, one end of which is pin-connected to the chassis at a first position and the other end of which supports the seat surface at a second position so as to be capable of swinging; A second rod having a variable length, one end of which is pin-connected to the chassis at a third position different from the first position, and the other end of which supports the first rod at a fourth position different from the first position so as to be swingable, and which forms a plane truss with the first rod and the chassis when the length of the second rod is fixed together with the first rod; a third rod having a variable length, one end of which is pin-connected to the chassis and the other end of which supports the seat surface in a swingable manner at a fifth position different from the second position; A moving mechanism that moves the chassis; A mobile object having the above configuration.

2. The third rod intersects with the first rod or the second rod when viewed along an axis that supports the seat surface in a rockable manner. The moving body according to claim 1 .

3. The third rod forms a four-joint link together with the first rod, the seat, and the chassis. The moving body according to claim 1 .

Images