Stair climbing assistance device

Abstract

To provide a stairway ascending / descending assisting device capable of appropriately supporting a user to ascend / descend stairs even when the user is on either an upper floor or a lower floor.SOLUTION: The stair climbing assist device 10 includes the first handle side Ep1 (corresponding to the first moving body) disposed on one side 20A of the stairs S and movable along the climbing direction of the stairs S, the second handle side Ep2 (corresponding to the second moving body) disposed on the other side 20B of the stairs S and movable along the climbing direction, and the drive unit 40 that moves the first handle side 20A and the second handle side 20B along the climbing direction. When one handle 20 of the first handle side 20A and the second handle side 20B is located on the upper end side Ep3 of the staircase S along the vertical movement direction, the other handle 20 is located on the lower end side Ep4 of the staircase S along the vertical movement direction.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a stair-climbing assist device, and more particularly to a stair-climbing assist device that supports a user in ascending and descending stairs. [Background technology]

[0002] Technologies for supporting users going up and down stairs have already been developed, and the technology described in Patent Document 1 is one example of such technologies. The stair climbing assist device described in Patent Document 1 includes a guide groove arranged along the stairs, a threaded rod rotated in the guide groove by a reversible motor, a sliding body threaded onto the threaded rod, a grip bar connected to the sliding body, and an on / off switch attached to the grip bar. When a user presses the on / off switch while gripping the grip bar, the reversible motor rotates in either the forward or reverse direction. This rotates the threaded rod, causing the sliding body to move along the threaded rod. As a result, the grip bar moves along the guide groove. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 10-314247 Summary of the Invention [Problem to be solved by the invention]

[0004] In the above-mentioned stair-climbing assistance device, the floor where the handle (handle) is located varies depending on the usage situation of the previous user. For example, if a user who wants to use the stair-climbing assistance device is on a lower floor but the handle is located on an upper floor, the user cannot receive appropriate support from the stair-climbing assistance device.

[0005] Therefore, the present invention has been made in consideration of the above-mentioned problems, and its purpose is to provide a stair climbing assistance device that can appropriately support a user going up and down stairs, regardless of whether the user is on an upper or lower floor. [Means for solving the problem]

[0006] The above-mentioned object is achieved by the stair climbing assistance device of the present invention, which comprises a first movable body arranged on one side of the stairs and movable along the ascending and descending direction of the stairs, a second movable body arranged on the other side of the stairs and movable along the ascending and descending direction, and a drive unit that moves the first movable body and the second movable body along the ascending and descending direction, and in that when one of the first movable body and the second movable body is arranged at the upper end of the stairs in the ascending and descending direction, the other movable body is arranged at the lower end of the stairs in the ascending and descending direction.

[0007] With the stair climbing assistance device of the present invention, the user can use either the first moving body or the second moving body regardless of whether the user is on an upper or lower floor, thereby providing appropriate support for the user as they climb and descend stairs.

[0008] The drive unit may also raise one of the moving bodies along the ascending / descending direction toward the top of the stairs, while lowering the other moving body along the ascending / descending direction toward the bottom of the stairs. With the above configuration, it is possible to appropriately realize a state in which one moving body is located at the top end of the stairs and the other moving body is located at the bottom end of the stairs.

[0009] The stair climbing assist device may further include a first handrail disposed on one side of the stairs and extending in the ascending / descending direction, and a second handrail disposed on the other side of the stairs and extending in the ascending / descending direction. The first movable body may be a first handle, the second movable body may be a second handle, the first handle may be engaged with the first handrail so as to be movable in the ascending / descending direction, and the second handle may be engaged with the second handrail so as to be movable in the ascending / descending direction. With the above configuration, the movable body is a handle, so the movable body can be configured simply, and the user can receive appropriate support from the stair climbing assistance device without any hassle by simply grabbing the handle when going up or down stairs.

[0010] In addition, in the stair climbing assistance device, when the first handle is positioned at the upper end portion of the first handrail in the ascending / descending direction, the second handle is positioned at the lower end portion of the second handrail in the ascending / descending direction, and when the first handle is positioned at the lower end portion of the first handrail in the ascending / descending direction, the second handle may be positioned at the upper end portion of the second handrail in the ascending / descending direction. With the above configuration, the user can use either the first handle or the second handle regardless of whether the user is on an upper floor or a lower floor.

[0011] At least one of the first handle and the second handle may be rotatable around a base end of the handle. With the above configuration, when a user who does not use the handle goes up or down the stairs, the handle can be retracted so as not to interfere with the user going up or down the stairs.

[0012] The drive unit may also include a motor for moving the first handle and the second handle in the up-and-down direction. With the above configuration, the first handle and the second handle can be automatically moved in the up and down direction.

[0013] Furthermore, operation switches for moving and stopping the first and second handles may be provided on the first and second handles, respectively. With the above configuration, the user can move and stop the handle as needed even while going up and down the stairs.

[0014] In addition, there may be multiple first handles and multiple second handles, and when one of the multiple first handles moves, one of the multiple second handles that is paired with the first handle may move in conjunction with the first handle. With the above configuration, even when there are multiple users, each user can be appropriately supported in going up and down stairs.

[0015] Furthermore, when the first and second handles stop midway up the stairs and a predetermined time has elapsed, one of the first and second handles may move to the top of the stairs, and the other may move to the bottom of the stairs. With the above configuration, even if the handles are left stopped midway up the stairs, it is possible to properly achieve a state in which one handle is positioned at the top end of the stairs and the other handle is positioned at the bottom end of the stairs. [Effects of the Invention]

[0016] According to the present invention, it is possible to provide a stair climbing assistance device that can appropriately support a user going up and down stairs, regardless of whether the user is on an upper or lower floor. [Brief explanation of the drawings]

[0017] [Figure 1] 1 is a view of a staircase on which a staircase climbing assistance device according to an embodiment of the present invention is installed, viewed from the lower floor side. [Figure 2] 1 is a diagram showing a user ascending and descending stairs using a stair climbing assistance device according to one embodiment of the present invention; [Figure 3] 1 is a view of a stair climbing assist device according to one embodiment of the present invention, viewed from the direction of ascending and descending the stairs. [Figure 4] 1 is a block diagram of an operation switch, a control device, and a drive unit according to an embodiment of the present invention. [Figure 5] FIG. 1 is a diagram showing a procedure of a movement flow according to an embodiment of the present invention. [Figure 6] 10 is a diagram showing a state in which a plurality of users go up and down stairs using a stair-climbing assist device according to Modification 1 of the present invention. FIG. [Figure 7] FIG. 10 is a block diagram of an operation switch, a detection unit, a control device, and a drive unit according to a second modification of the present invention. [Figure 8] FIG. 10 is a diagram showing a procedure of a return flow according to Modification 2 of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0018] One embodiment of the present invention (hereinafter referred to as the present embodiment) will be described in detail below with reference to a preferred embodiment shown in the accompanying drawings. Note that the following embodiment is merely an example given to facilitate understanding of the present invention and is not intended to limit the present invention. In other words, the configuration of the present invention may be modified or improved from the following embodiment without departing from the spirit of the present invention. In addition, the drawings show each component somewhat simplified and schematic to make the explanation easier to understand, and the size (dimensions) of each component and the spacing between components shown in the drawings may differ from the actual ones. Furthermore, unless otherwise specified, the material and shape of each member used to implement the present invention can be set arbitrarily depending on the application of the present invention and the state of the art at the time of implementing the present invention. In addition, in the following embodiments, a "house" is given as an example of a building, but the present invention can be implemented in buildings other than houses, such as nursing homes, offices, stores, hospitals, schools, and other facilities, as well as buildings for various purposes, such as buildings within factories. In addition, in this specification, the concept of "device" includes a single device that performs a specific function by itself, as well as a combination of multiple devices that are distributed and exist independently but work together (in cooperation) to perform a specific function.

[0019] <<Configuration of the staircase climbing assistance device according to this embodiment>> A staircase ascending / descending assist device according to this embodiment (hereinafter referred to as "staircase ascending / descending assist device 10") will be described with reference to FIGS. The staircase climbing assistance device 10 is used when a user uses stairs S provided in a multi-story house, supports the user in ascending and descending the stairs S, and is installed in association with the stairs S. The term "user" refers to a user of the stair-climbing assist device of the present invention, more specifically, a person who uses the stair-climbing assist device to ascend and descend stairs. Examples of "users" include elderly people and people receiving care who have difficulty ascending and descending stairs S on their own, people who feel stressed when ascending and descending stairs S in their daily lives, and children. The "stairs S" extend in a direction inclined with respect to the horizontal direction from one floor to the other between two adjacent floors. Specifically, as shown in FIG. 1, the stairs S are configured to include a plurality of treads S1 (boards on which users place their feet) arranged in a direction inclined with respect to the horizontal direction. The direction in which the plurality of treads S1 are arranged is referred to as the "ascending / descending direction of the stairs S," and will be simply referred to as the "ascending / descending direction" in the following explanation. As shown in FIG. 2, the "treads S1" are elongated boards extending in a direction perpendicular to the ascending / descending direction when viewed vertically (up and down), and are, for example, rectangular. In addition, in the following explanation, the "side portions Ep1, Ep2" of the stairs S refer to the end portion of the tread S1 in the longitudinal direction (extension direction) or a part of the side wall adjacent to that end portion, the "upper end portion Ep3" of the stairs S refers to the end portion of the stairs S in the ascending / descending direction adjacent to the floor surface of the upper floor, and the "lower end portion Ep4" of the stairs S refers to the end portion of the stairs S in the ascending / descending direction adjacent to the floor surface of the lower floor.

[0020] As shown in Figure 1, the stair climbing assistance device 10 includes a first handle 20A (corresponding to the first moving body) and a second handle 20B (corresponding to the second moving body), a first handrail 30A and a second handrail 30B, a drive unit 40, an operation switch 50, and a control device 60.

[0021] <First and second handles> The first handle 20A and the second handle 20B are parts that the user grasps with their hands when going up and down the stairs S. In the following description, the first handle 20A and the second handle 20B will be referred to as "handle 20" for convenience when describing the common configurations and the like.

[0022] 1, the first handle 20A is disposed on one side Ep1 of the staircase S. The first handle 20A is movable in the ascending and descending direction, and more specifically, is engaged with a first handrail 30A (described later) so as to be movable in the ascending and descending direction. The second handle 20B is disposed on the other side Ep2 of the stairs S. The second handle 20B is movable in the ascending and descending direction, and more specifically, is engaged with a second handrail 30B (described later) so as to be movable in the ascending and descending direction. The handle 20 is not particularly limited in configuration, shape, size, etc., as long as it can be moved along the lifting direction. An example of the configuration of the handle 20 will be described below with reference to FIG.

[0023] In the example shown in Fig. 3, the handle 20 is rotatable, for example, around its base end 21. This allows the handle 20 to be switched between a first state P1 in which it extends in the longitudinal direction of the tread S1 and a second state P2 in which it is bent in a direction perpendicular (intersecting) to the extension direction of the tread S1. In the example shown in Fig. 3, the "second state P2" is a state in which the handle main body 22, which will be described later, is positioned as shown by the dashed line in Fig. 3, i.e., the handle 20 is bent upward in the vertical direction. In this embodiment, a user who requires support from the stair-climbing assist device 10 simply places the handle 20 in the first state P1 when ascending or descending the stairs S using the stair-climbing assist device 10. This allows the handle 20 to be positioned in an easy-to-grasp position for the user. On the other hand, a user who does not require support from the stair-climbing assist device 10 simply places the handle 20 in the second state P2 when ascending or descending the stairs S. This allows the handle 20 to be retracted so as not to interfere with the user's ascending or descending the stairs S, and also ensures the effective width of the stairs S in the longitudinal direction of the tread S1.

[0024] However, users living in a home vary in height, and for example, even if the handle 20 is easy to grasp in the first state P1 for an adult, the position of the handle 20 may be too high for a child in the first state P1. Also, even if the handle 20 is easy to grasp in the first state P1 for an adult woman, the position of the handle 20 may be too low for an adult man in the first state P1. For this reason, the handle 20 may be switchable to a third state P3 in which it is bent in a direction inclined relative to the extension direction of the step S1 when viewed from the lifting / lowering direction, as shown in Fig. 3. In the example shown in Fig. 3, the "third state P3" is a state in which the handle main body 22, which will be described later, is located as indicated by the two-dot chain line in Fig. 3. In other words, when viewed from the lifting / lowering direction, the handle 20 is located lower than its position in the first state and is bent in a direction inclined relative to the longitudinal direction of the step S1. This allows the handle 20 to be positioned in a way that is easy for a child to grasp, for example.

[0025] In this embodiment, the description is based on the assumption that both the first handle 20A and the second handle 20B are rotatable around the base end 21 of the handle 20 as a base point, but this is not limited to this, and for example, at least one of the first handle 20A and the second handle 20B may be rotatable around the base end 21 of the handle 20 as a base point.

[0026] In the example shown in FIG. 3, the handle 20 includes, for example, a base end portion 21, a handle body 22, and a shaft 23 that rotatably connects the base end portion 21 and the handle body 22 together. The base end portion 21 is a member made of, for example, metal, resin, or the like. More specifically, the base end portion 21 is composed of an engaging portion 21a and a protruding portion 21b. The engaging portion 21a is located within the groove portion 32 of the handrail 30 described below and engages with the groove portion 32. More specifically, it has a shape that corresponds to the inner shape of the groove portion 32, and is capable of moving in the ascending and descending direction while being guided by the inner surface of the groove portion 32. The engaging portion 21a also engages with a transmission member 42 (described later) of the drive unit 40. If the transmission member 42 is, for example, a threaded rod connected to a motor 41 (described later) and the engaging portion 21a is threadedly engaged with the transmission member 42, the rotation of the motor 41 rotates the transmission member 42, and the engaging portion 21a, which is threadedly engaged with the transmission member 42, moves in the lifting / lowering direction. As shown in Figure 3, the protruding portion 21b protrudes from the engaging portion 21a to the outside of the groove portion 32 toward the center of the tread S1 in the longitudinal direction of the tread S1, and its protruding tip is provided with an engaging portion (e.g., a through hole) not shown for engaging with the shaft 23.

[0027] The handle body 22 is an extending member made of, for example, metal, resin, etc., and the cross-sectional shape perpendicular to the extending direction thereof is, for example, circular so as to be easy for the user U to grip. However, without being limited thereto, the cross-sectional shape of the handle body 22 may be oval, rectangular, quadrangle other than a rectangle, polygon other than a rectangle, irregular shape, etc. An engagement portion (e.g., a through hole) (not shown) for engaging with the shaft 23 is provided at the end of the handle body 22 on the base end 21 side. This allows the handle body 22 to rotate relative to the base end 21 around the shaft 23 as the rotation center.

[0028] <First handrail and second handrail> 1, the first handrail 30A is located on one side Ep1 of the stairs S and extends in the ascending and descending direction. The second handrail 30B is located on the other side Ep2 of the stairs S and extends in the ascending and descending direction. In the following explanation, the first handrail 30A and the second handrail 30B will be referred to as "handrail 30" for convenience when describing the common configurations and the like. Like the handle 20, the handrail 30 is a part that the user grasps with their hands when ascending or descending the stairs S. On the other hand, the handrail 30 also serves as a guide for guiding the handle 20 in the ascending or descending direction.

[0029] More specifically, the handrail 30 has a handrail main body 31 and a groove portion 32, as shown in FIG. The handrail main body 31 is made of metal, resin, etc., and is an extending member that extends in the ascending / descending direction, and the cross-sectional shape perpendicular to the extending direction is, for example, circular so that it is easy for the user U to grip. However, it is not limited to this, and the cross-sectional shape of the handrail main body 31 may be oval, rectangular, quadrangle other than rectangular, polygon other than quadrangle, irregular shape, etc. Both end portions of the handrail main body 31 in the extension direction extend to the upper end Ep3 and lower end Ep4 of the stairs S. In other words, the upper end portion 33 of the handrail 30 in the ascending / descending direction is located near the upper end Ep3 of the stairs S, as shown in Figure 1, and the lower end portion 34 of the handrail 30 in the ascending / descending direction is located near the lower end Ep4 of the stairs S. The handrail main body 31 is fixed to the side portions Ep1 and Ep2 of the stairs S by support portions (not shown). As mentioned above, the side portions Ep1 and Ep2 of the stairs S correspond to the longitudinal end of the tread S1 or a part of the side wall adjacent to that end. Therefore, the handrail main body 31 is considered to be fixed to the longitudinal end of the tread S1 or a part of the side wall adjacent to that end by support portions (not shown).

[0030] As shown in Fig. 3, the groove 32 is a groove that is open toward the center of the tread S1 in the longitudinal direction of the tread S1. The groove 32 extends in the ascending / descending direction, and the cross-sectional shape perpendicular to the extending direction is, for example, rectangular. However, the cross-sectional shape of the groove 32 is not limited to this, and may be circular, elliptical, quadrangle other than a rectangle, polygon other than a rectangle, or irregular shape. 1, both ends of the groove 32 in the extension direction extend to the upper end portion 33 and the lower end portion 34 of the handrail 30. Therefore, the handle 20 that engages with the handrail 30 can move along the groove 32 to the upper end portion 33 and the lower end portion 34 of the handrail 30 in the ascending / descending direction.

[0031] <Drive unit> The drive unit 40 moves the first handle 20A and the second handle 20B in the lifting direction. Specifically, as shown in Figure 2, when one of the first handle 20A and the second handle 20B is positioned at the upper end Ep3 of the staircase S in the ascending / descending direction, the drive unit 40 moves the first handle 20A and the second handle 20B along the ascending / descending direction so that the other handle 20 is positioned at the lower end Ep4 of the staircase S in the ascending / descending direction. More specifically, as shown in the upper diagram of Figure 2, when the first handle 20A is located at the upper end 33 of the first handrail 30A in the elevation direction, the drive unit 40 moves the first handle 20A and the second handle 20B along the elevation direction so that the second handle 20B is located at the lower end 34 of the second handrail 30B in the elevation direction. On the other hand, as shown in the lower diagram of Figure 2, when the first handle 20A is located at the lower end 34 of the first handrail 30A in the elevation direction, the drive unit 40 moves the first handle 20A and the second handle 20B along the elevation direction so that the second handle 20B is located at the upper end 33 of the second handrail 30B in the elevation direction.

[0032] In this embodiment, the drive unit 40 raises one handle 20 along the ascending / descending direction toward the upper end Ep3 of the stairs S, while lowering the other handle 20 along the ascending / descending direction toward the lower end Ep4 of the stairs S. In other words, the first handle 20A and the second handle 20B move in unison toward opposite directions. That is, while the first handle 20A is moving, the second handle 20B is also moving, and the first handle 20A and the second handle 20B move simultaneously. However, this is not limiting, and for example, the drive unit 40 may stop one of the first and second handles 20A and 20B while moving the other handle 20. After the drive unit 40 positions one handle 20 at either the upper end Ep3 or the lower end Ep4, it may start moving the other handle 20 and position the other handle 20 at the other of the upper end Ep3 and the lower end Ep4.

[0033] The drive unit 40 is not particularly limited in terms of its configuration, and may be configured using a known mechanism, as long as the above-described movement by the first handle 20A and the second handle 20B can be realized. 1, the drive unit 40 may be configured with one motor 41, two transmission members 42 (see FIG. 3), and a transmission mechanism 43 that transmits driving force from the one motor 41 to each of the two transmission members 42. Note that only one of the two transmission members 42 is shown in FIG. 3.

[0034] The motor 41 is, for example, a motor for moving the first handle 20A and the second handle 20B in the up and down direction, such as a rotary motor. The transmission member 42 is, for example, a threaded rod (feed screw). The transmission mechanism 43 is a known mechanism for transmitting the rotation of the motor 41 to each of the two transmission members 42, and may be composed of, for example, gears, belts, pulleys, etc. Note that if the two transmission members 42 (threaded rods) have the same thread orientation (for example, if both are right-handed), the rotation directions of the two transmission members 42 may be different from each other. Alternatively, if the two transmission members 42 (threaded rods) have different thread orientations (for example, if one is a right-handed thread and the other is a left-handed thread), the rotation directions of the two transmission members 42 may be the same.

[0035] <Operation switch> The operation switch 50 is a switch for moving and stopping the first handle 20A and the second handle 20B. The operation switch 50 is provided on each of the first handle 20A and the second handle 20B, and more specifically, as shown in Fig. 3, it is provided on the handle main body 22 of the handle 20. The operation switch 50 may have any configuration as long as it moves the handle 20 up and down in the lifting and lowering direction. The operation switch 50 may have, for example, an up button for raising the handle 20 and a down button for lowering the handle 20, and the handle 20 may move while the up button or the down button is pressed and stop while the up button or the down button is not pressed. Alternatively, the operation switch 50 may further have, for example, a stop button, and once the up button or the down button is pressed, the movement of the handle 20 may continue until the stop button is pressed. The operation switch 50 may also have a speed setting button for setting the movement speed of the handle 20, and for example, the user may set the movement speed of the handle 20 using the speed setting button.

[0036] <Control device> As shown in FIG. 4, the control device 60 drives and stops the motor 41 that constitutes the drive unit 40 in response to operation information from the operation switch 50. The "operation information" includes information that indicates that the movement of the handle 20 has started, information regarding the direction of movement of the handle 20 (upward or downward), information regarding the movement speed of the handle 20, and the like. When the control device 60 receives the operation information, it rotates the motor 41 in a rotation direction and at a rotation speed according to the operation information. The control device 60 may be connected to the operation switch 50 and the control device 60 either by wire or wirelessly. Furthermore, the movement speed of the handle 20 may be determined using a value preset in the storage of the control device 60, for example. In this case, the control device 60 may rotate the motor 41 at a rotational speed according to information from the storage of the control device 60, rather than operation information from the operation switch 50.

[0037] The control device 60 is made up of a computer, such as a personal computer (PC). The control device 60 may be made up of a single computer, or may be made up of multiple computers distributed in parallel. The computer that makes up the control device 60 has a processor, memory, storage, and the like. The processor is made up of, for example, a central processing unit (CPU), a micro-processing unit (MPU), a microcontroller unit (MCU), a graphics processing unit (GPU), a digital signal processor (DSP), a tensor processing unit (TPU), or an application specific integrated circuit (ASIC). The memory is made up of, for example, semiconductor memory such as read only memory (ROM) and random access memory (RAM). The storage may be configured by, for example, a flash memory, an HDD (Hard Disc Drive), an SSD (Solid State Drive), an FD (Flexible Disc), an MO disk (Magneto-Optical disc), a CD (Compact Disc), a DVD (Digital Versatile Disc), an SD card (Secure Digital card), or a USB memory (Universal Serial Bus memory), etc. The storage may be built into the computer main body that configures the control device 60, or may be attached to the computer main body in an external format.

[0038] The computer constituting the control device 60 has installed therein, as software, a program for an operating system (OS) and a program for a movement process that moves the handle 20. When these programs are read and executed by a processor, the computer constituting the control device 60 performs the functions of the control device 60, and specifically, executes a series of information processes related to the movement flow shown in FIG. 5, which will be described later.

[0039] <<About the movement flow according to this embodiment>> Next, the movement flow using the stair climbing assist device 10 will be described with reference to Figures 2 and 5. The movement flow proceeds according to the flow shown in Figure 5. Note that the movement flow shown in Figure 5 is merely an example, and new steps may be added within the scope of the present invention. The movement flow is initiated, for example, when a user in a house turns on the power of the stair-climbing assistance device 10 and a signal is generated in response to this. At each step of the movement flow, a processor of a computer constituting the control device 60 (hereinafter simply referred to as "processor") executes processing corresponding to each step. As for the initial positions of the first handle 20A and the second handle 20B, for example, as shown in the upper diagram of Figure 2, the first handle 20A is positioned at the upper end Ep3 of the staircase S in the ascending / descending direction, and the second handle 20B is positioned at the lower end Ep4 of the staircase S in the ascending / descending direction.

[0040] First, as shown in Fig. 5, the processor determines whether or not operation information has been acquired from the operation switch 50 (S001). In the example shown in Fig. 2, as shown in the upper diagram of Fig. 2, when a user U on an upper floor operates the operation switch 50 of the first handle 20A located at the top end Ep3 of the staircase S, the processor determines that operation information has been acquired from the operation switch 50. Note that when neither the operation switch 50 of the first handle 20A nor the second handle 20B has been operated, the processor determines that operation information has not been acquired from the operation switch 50, and ends the movement flow with the handle 20 stopped (S003). When the processor determines that it has acquired operation information from the operation switch 50, it drives the motor 41 of the drive unit 40 in accordance with the acquired operation information, and moves the handle 20 in the ascending / descending direction (S002). In the example shown in FIG. 2, as shown in the lower diagram of FIG. 2, the processor moves the first handle 20A down toward the bottom end Ep4 of the staircase S. Note that the processor may acquire information about the movement speed of the handle 20 that is preset in the control device 60, instead of information about the movement speed of the handle 20 as operation information. The processor determines that operation information is being acquired while the user U continues to operate the operation switch 50 (S001), and continues to move the first handle 20A (S002). On the other hand, when the user U reaches the lower floor and stops operating the operation switch 50, the processor determines that operation information has not been acquired (S001) and stops the movement of the first handle 20A (S003), thereby ending the movement flow.

[0041] 2, when the above movement flow is completed, first handle 20A is positioned at a bottom end Ep4 of staircase S in the ascending / descending direction, and second handle 20B is positioned at a top end Ep3 of staircase S in the ascending / descending direction. Therefore, when another user on an upper floor attempts to descend stairs S using stair-climbing assistance device 10, that user can use second handle 20B positioned at the top end Ep3 of stairs S. Also, when a user on a lower floor (including user U) attempts to ascend stairs S using stair-climbing assistance device 10, that user can use first handle 20A positioned at the bottom end Ep4 of stairs S.

[0042] <<Effectiveness of this embodiment>> As described above, with the stair-climbing assist device 10, the user can ascend and descend the stairs S by using the force of the handle 20 moving up and down. Therefore, the user can ascend and descend the stairs S with less force than when not using the stair-climbing assist device 10. 2, in the stair-climbing assist device 10, when one of the first handle 20A and the second handle 20B is located at an upper end Ep3 of the staircase S in the ascending / descending direction, the other handle 20 is located at a lower end Ep4 of the staircase S in the ascending / descending direction. More specifically, when the first handle 20A is located at an upper end 33 of the first handrail 30A in the ascending / descending direction, the second handle 20B is located at a lower end 34 of the second handrail 30B in the ascending / descending direction, and when the first handle 20A is located at the lower end 34 of the first handrail 30A in the ascending / descending direction, the second handle 20B is located at the upper end 33 of the second handrail 30B in the ascending / descending direction. This allows the user to use either the first handle 20A or the second handle 20B regardless of whether the user is on an upper or lower floor, thereby providing appropriate support for the user going up and down the stairs S.

[0043] Furthermore, while the drive unit 40 raises one handle 20 along the ascending / descending direction toward the upper end Ep3 of the stairs S, it lowers the other handle 20 along the ascending / descending direction toward the lower end Ep4 of the stairs S. This makes it possible to appropriately realize a state in which one handle 20 is disposed at the upper end Ep3 of the stairs S and the other handle 20 is disposed at the lower end Ep4 of the stairs S. Furthermore, in this embodiment, the movable body that moves along the ascending and descending direction is the handle 20, so the movable body can be configured simply, and the user can receive appropriate support from the stair ascending and descending assistance device 10 without any hassle by simply grabbing the handle 20 when ascending or descending the stairs S. In addition, the drive unit 40 includes a motor 41 for moving the first handle 20A and the second handle 20B in the lifting and lowering direction, so that the first handle 20A and the second handle 20B can be automatically moved (self-propelled) in the lifting and lowering direction. In addition, an operating switch 50 for moving and stopping the first handle 20A and the second handle 20B is provided on each of the first handle 20A and the second handle 20B, so the user can move and stop the handle 20 as appropriate even while going up or down the stairs S.

[0044] <<Other embodiments>> In the following modified examples, the configuration, operation, and effect that are different from the above embodiment will be mainly described, and the description of the configuration, operation, and effect that are common to the above embodiment will be omitted. Furthermore, in the following modified examples, components that have the same functions as the components in the above embodiment will be denoted by the same reference numerals for convenience.

[0045] In the above embodiment, the movable body that moves along the ascending and descending direction is the handle 20, but there is no particular limitation as long as the movable body can support the user in ascending and descending the stairs S, and it may be, for example, a chair that can move along the ascending and descending direction.

[0046] Furthermore, in the above embodiment, the drive unit 40 has one motor 41. However, this is not limited thereto, and the drive unit 40 may have a plurality of motors 41. For example, the drive unit 40 may have two motors 41, and each of the two motors 41 may be coupled to each of the two transmission members 42. In this case, the control device 60 may drive and stop each of the two motors 41 in accordance with operation information from the operation switch 50.

[0047] Furthermore, the drive unit 40 does not necessarily have to include the motor 41. The drive unit 40 may have a coupling mechanism that, for example, when one of the first handle 20A and the second handle 20B is manually moved, the other handle 20 moves in conjunction with the first handle 20A. The coupling mechanism may be configured using a known mechanism. This allows the user to manually raise one of the handles 20 in the ascending / descending direction toward the upper end Ep3 of the stairs S, while the other handle 20 is lowered by the coupling mechanism in the ascending / descending direction toward the lower end Ep4 of the stairs S.

[0048] In the above embodiment, the first handle 20A and the second handle 20B are provided one by one. However, the present invention is not limited to this. For example, as in the stair climbing assist device 10A shown in Fig. 6, a plurality of first handles and a plurality of second handles may be provided, and when one of the plurality of first handles moves, a second handle paired with the one of the plurality of second handles may move in conjunction with the first handle. In the example shown in FIG. 6, first handles 20A and 20C are provided as the plurality of first handles, and second handles 20B and 20D are provided as the plurality of second handles. When the first handle 20A moves, the second handle 20B that is paired with the first handle 20A moves in conjunction with it, and the first handle 20C and the second handle 20D do not move. Furthermore, when the first handle 20C moves, the second handle 20D that is paired with the first handle 20C moves in conjunction with it, and the first handle 20A and the second handle 20B do not move.

[0049] 6, when a user U1 on an upper floor moves down the stairs S, the user U1 operates the operation switch 50 on the first handle 20A located at the upper end Ep3 of the stairs S to descend the stairs S. This causes the first handle 20A and the second handle 20B to move in opposite directions in the ascending / descending direction in an interlocking manner. Here, while user U1 is descending the stairs S, both first handle 20A and second handle 20B are located midway up the stairs S and are not positioned at the upper end Ep3 or the lower end Ep4. Therefore, while user U1 is descending the stairs S, other users other than user U1 cannot use first handle 20A and second handle 20B.

[0050] In this regard, the stair-climbing assistance device 10A is further provided with a first handle 20C and a second handle 20D. Therefore, as shown in the upper diagram of Fig. 6, for example, a user U2 on an upper floor can descend the stairs S using the first handle 20C located at the upper end Ep3 of the stairs S, even while a user U1 is descending the stairs S using the first handle 20A. Furthermore, although not shown in Fig. 6, for example, a user on a lower floor can ascend the stairs S using the second handle 20D located at the lower end Ep4 of the stairs S, even while a user U1 is descending the stairs S using the first handle 20A. In this way, the stair climbing assist device 10A can appropriately support each user going up and down the stairs S even when there are multiple users. In the above description, the first handle 20C and the second handle 20D move in conjunction with each other. However, this is not limited to this, and as long as at least one first handle 20A moves and the second handle 20B paired with that first handle 20A also moves in conjunction with each other, the first handle 20C and the second handle 20D do not have to move in conjunction with each other, and may move independently of each other, for example.

[0051] 2, the user U using the stair-climbing assist device 10 moves the handle 20 to the upper end Ep3 or the lower end Ep4 of the stairs S, and then stops using the stair-climbing assist device 10. Therefore, a user who uses the stair-climbing assist device 10 after the user U can receive support from the stair-climbing assist device 10 from the upper end Ep3 or the lower end Ep4 of the stairs S. On the other hand, for some reason, unlike the lower diagram of Figure 2, it is conceivable that user U may leave handle 20 stopped at a position halfway up the stairs S. In this case, a user who uses stair-climbing assistance device 10 after user U will have to ascend and descend the stairs S by themselves, for example, up to a position halfway up the stairs S, and then receive support from that position from the stair-climbing assistance device 10, which is undesirable.

[0052] In this regard, in the stair climbing assist device 10B shown in Figure 7, when the first handle 20A and the second handle 20B stop midway up the stairs S and a predetermined time has passed, one of the first handle 20A and the second handle 20B moves to the upper end Ep3 of the stairs S, and the other moves to the lower end Ep4 of the stairs S. In the following explanation, this operation of automatically returning the position of the handle 20 from the midway up the stairs S to the upper end Ep3 or the lower end Ep4 will be referred to as the "return operation."

[0053] More specifically, the stair climbing assistance device 10B further includes a detection unit 70 as shown in FIG. The detection unit 70 detects, for example, whether the handle 20 is located at the upper end Ep3 or the lower end Ep4 of the stairs S and transmits the detection information to the control device 60. The detection unit 70 is, for example, a sensor, and the type of the detection unit 70 is not particularly limited. As described above, the first handle 20A and the second handle 20B move in conjunction with each other. Therefore, when one handle 20 is located at the upper end Ep3 of the stairs S, the other handle 20 is located at the lower end Ep4 of the stairs S. Therefore, the control device 60 can estimate the position of the other handle 20 by detecting only the position of one of the first handle 20A and the second handle 20B. Therefore, the detection unit 70 may detect only the first handle 20A, for example. Specifically, the detection unit 70 may have a first sensor that detects the first handle 20A at the upper end Ep3 of the stairs S and a second sensor that detects the first handle 20A at the lower end Ep4 of the stairs S.

[0054] The return operation of the stair climbing assist device 10B will be described in more detail with reference to Fig. 8. The return flow for the return operation proceeds according to the flow shown in Fig. 8. Note that the return flow shown in Fig. 8 is merely an example, and new steps may be added within the scope of the present invention. The return flow is started when the movement flow described in the above embodiment ends. At each step of the return flow, the processor of the computer constituting the control device 60 executes the process corresponding to each step.

[0055] First, the processor acquires detection information from the detection unit 70 (S101) and determines whether the detection unit 70 has detected the handle 20 (S102). If the processor determines that the detection unit 70 has detected the handle 20, it determines that one handle 20 is located at an upper end Ep3 of the staircase S and the other handle 20 is located at a lower end Ep4 of the staircase S, and the return flow ends. On the other hand, if the processor determines that the detection unit 70 has not detected the handle 20, the processor determines whether a predetermined time has elapsed (S103). The "predetermined time" is, for example, a time that is preset in the storage of the control device 60 when the stair-climbing assist device 10 is installed, and the start point is the time when the first detection information is acquired in this return flow. The processor repeats steps S101 to S103 until a predetermined time has elapsed.

[0056] If the predetermined time has elapsed, the processor determines that the predetermined time has elapsed since the handle 20 stopped midway up the stairs S, and starts moving the handle 20 (S104). Specifically, the processor moves one handle 20 to an upper end Ep3 of the stairs S, and moves the other handle 20 to a lower end Ep4 of the stairs S. It is assumed that which of the first handle 20A and the second handle 20B corresponds to one handle 20 and which corresponds to the other handle 20 is preset in the storage of the control device 60. The processor then acquires detection information from the detection unit 70 (S105) and continues to move the handles 20 while determining whether the detection unit 70 has detected the handles 20 (S106) until the detection unit 70 detects the handles 20. If the processor determines that the detection unit 70 has detected the handles 20, it determines that one handle 20 is located at the upper end Ep3 of the staircase S and the other handle 20 is located at the lower end Ep4 of the staircase S, and stops the movement of the handles 20 (S107). This ends the return flow.

[0057] As described above, with the stair climbing assist device 10B, even when the first handle 20A and the second handle 20B are stopped midway up the stairs S, it is possible to properly realize a state in which one handle 20 is located at the upper end Ep3 of the stairs S and the other handle 20 is located at the lower end Ep4 of the stairs S. This makes it possible to properly support the user going up and down the stairs S, regardless of whether the user is on an upper floor or a lower floor. [Explanation of symbols]

[0058] 10, 10A, 10B Stair climbing assist device 20 Toride 20A, 20C First handle (corresponding to the first moving body) 20B, 20D Second handle (corresponding to second moving body) 21 Proximal end 21a Engagement part 21b Projecting part 22 Handle body 23 axes 30 Handrail 30A First Handrail 30B 2nd handrail 31 Handrail body 32 Groove 33 Upper end part 34 Lower end part 40 Drive unit 41 Motor 42 Transmission member 43 Transmission Mechanism 50 Operation switch 60 Control device 70 Detection unit Ep1, Ep2 side Ep3 top end Ep4 bottom end P1 First state P2 Second state P3 Third state S stairs S1 Treadboard U, U1, U2 users

Claims

1. a first moving body disposed on one side of the stairs and movable along the ascending and descending direction of the stairs; a second moving body disposed on the other side of the stairs and movable along the ascending and descending direction; a drive unit that moves the first moving body and the second moving body along the lifting direction, A stair climbing assistance device in which, when one of the first moving body and the second moving body is positioned at the upper end of the stairs in the ascending / descending direction, the other moving body is positioned at the lower end of the stairs in the ascending / descending direction.

2. 2. The stair climbing assistance device of claim 1, wherein the drive unit raises one of the moving bodies toward the upper end of the stairs along the ascending / descending direction while lowering the other moving body toward the lower end of the stairs along the ascending / descending direction.

3. a first handrail disposed on the one side of the staircase and extending in the ascending / descending direction; a second handrail disposed on the other side of the staircase and extending in the ascending / descending direction; the first movable body is a first handle, the second movable body is a second handle, the first handle is engaged with the first handrail so as to be movable in the ascending / descending direction, The stair-climbing assist device according to claim 1 or 2, wherein the second handle is engaged with the second handrail so as to be movable in the ascending / descending direction.

4. When the first handle is positioned at an upper end portion of the first handrail in the ascending / descending direction, the second handle is positioned at a lower end portion of the second handrail in the ascending / descending direction, 4. The stair climbing assistance device according to claim 3, wherein when the first handle is positioned at the lower end portion of the first handrail in the ascending / descending direction, the second handle is positioned at the upper end portion of the second handrail in the ascending / descending direction.

5. The stair climbing assist device according to claim 3 , wherein at least one of the first handle and the second handle is rotatable about a base end of the handle.

6. The stair climbing assist device according to claim 3 , wherein the drive unit includes a motor for moving the first handle and the second handle in the ascending and descending direction.

7. 7. The stair climbing assist device according to claim 6, wherein operation switches for moving and stopping the first and second handles are provided on the first and second handles, respectively.

8. a plurality of the first handles and a plurality of the second handles are provided, 4. The stair climbing assist device of claim 3, wherein when one of the plurality of first handles moves, one of the plurality of second handles that is paired with the one first handle moves in conjunction with the one first handle.

9. 4. The stair climbing assist device of claim 3, wherein when the first handle and the second handle stop at a midpoint on the stairs and a predetermined time has elapsed, one of the first handle and the second handle moves to the top end of the stairs and the other moves to the bottom end of the stairs.

Images