JPH07136219A - Manual motor-driven wheelchair - Google Patents

Abstract

PURPOSE:To provide a manual motor-driven wheelchair which can be used by executing freely an operation including running straight and turning even by a physically handicapped person whose one arm is disabled. CONSTITUTION:This wheelchair is constituted of a turning will detecting means 80 for detecting a will of turning of an operator, a rotation detecting means for detecting a rotational direction and a rotational speed or a rotation angle of wheels 4L, 4R, a driving means 26 for driving to rotate one wheel, and a control means 70 for controlling the driving means by a combination of the rotational direction of the other wheel and the will of turning of the operator detected by the turning will detecting means.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a manual electric wheelchair developed especially for persons with physical disabilities who have one handicap.

[0002]

2. Description of the Related Art Conventionally, there are two types of wheelchairs used by persons with disabilities as means of transportation, namely, manual wheelchairs and electric wheelchairs, and persons with disabilities currently use one of them depending on the degree of the obstacle. .

[0003] By the way, for a physically handicapped person suffering from a disease in which the muscular strength is gradually reduced, switching from a manual wheelchair to an electric wheelchair is accompanied by great mental distress.

Therefore, a manual electric wheelchair is proposed as an intermediate existence between the manual wheelchair and the electric wheelchair.
This manual electric wheelchair is to reduce the burden on a disabled person by detecting the human power (operation force) applied to the wheel and applying a driving force of a magnitude corresponding to the human power to the wheel as auxiliary power. According to this, the physically handicapped person can operate as if he / she were in a wheelchair, and the mental distress was alleviated.

[0005]

However, in such a manual electric wheelchair and the current manual wheelchair, it is premised that the handicapped person turns the left and right wheels with an equal force, so that, for example, one arm is paralyzed. It is not easy for a disabled person who cannot use the wheelchair to go straight to the wheelchair or turn left or right, and was excluded from the users of the wheelchair.

The present invention has been made in view of the above problems. The object of the present invention is to use a person with a handicapped person who has a disability in one arm by freely performing operations including straight forward movement and turning. It is to provide a manual electric wheelchair that can be used.

[0007]

[Means for Solving the Problems] In order to achieve the above object,
A first aspect of the present invention is a turning intention detecting means for detecting the turning intention of an operator, a rotation detecting means for detecting a rotation direction and a rotation speed or a rotation angle of a wheel, a driving means for rotationally driving one wheel, and the other. The manual electric wheelchair is configured to include control means for controlling the drive means in accordance with a combination of the rotation direction of the wheel and the intention of the operator's turning detected by the turning intention detecting means.

A second aspect of the present invention is a turning intention detecting means for detecting the turning intention of the operator, an input detecting means for detecting the direction and magnitude of the human power applied to one wheel by the operator, and at least the other wheel. Drive means for rotationally driving, and control means for controlling the drive means by a combination of the turning intention of the operator detected by the turning intention detecting means and the direction and magnitude of the human power detected by the input detecting means. It is characterized by configuring a manual electric wheelchair with.

[0009]

[Function] When a physically handicapped person with a disability in one arm advances straight ahead in the manual electric wheelchair, the handicapped person indicates his / her intention to go straight using his / her feet or other healthy hand, and at the same time, uses one of his / her healthy hands and arms. When the wheel is rotated, in the first aspect of the invention, the other wheel is rotationally driven by the drive means so that the rotation of the other wheel follows the rotation of the other wheel.
In the invention, by rotating the other wheel in the same direction with a force equivalent to the human power applied to one wheel, the wheelchair moves straight by the motion as if the handicapped person turned the left and right wheels with both hands and arms. .

When a handicapped person who has a disability in one arm wants to turn the manual electric wheelchair to the left or right, the handicapped person indicates his / her intention to turn using his / her foot or the other healthy hand, and If you turn one wheel with your hands and arms,
In the invention, with respect to the combination of the intentionally displayed turning direction and the rotation direction of the wheel driven by the disabled person,
In the second aspect of the invention, the driving direction of the driving means (the rotation direction of the other wheel), the driving force, and the like are set with respect to the turning direction indicated by the intention and the direction and magnitude of the human power applied to one wheel by the handicapped person. Is controlled so that the wheelchair can be turned in a desired direction depending on a difference in rotation direction or rotation speed of the left and right wheels.

Therefore, according to the present invention, even a physically handicapped person who has a disability in one arm can freely use the hand-operated electric wheelchair by freely performing operations including straight-ahead and turning.

[0012]

【Example】

[First Invention] An embodiment of the first invention will be described below with reference to the accompanying drawings.

<First Embodiment> FIG. 1 is a side view of a manual electric wheelchair according to a first embodiment of the first invention, and FIG. 2 is a plan view of the same.
3 is a rear view of the same, FIG. 4 is a side view showing the configuration of the auxiliary power unit (electric motor and power transmission mechanism), FIG. 5 is a plan view of the same, and FIG. 6 is a side view of the brake unit. Is a front view of the same, and FIG. 8 is a perspective view showing another embodiment of the battery installation structure.

The manual electric wheelchair 1 according to this embodiment is an auxiliary power unit (Power Assi
st System), which is for people with disabilities who have a left handicap.

As shown in FIG. 1, the manual electric wheelchair 1 according to this embodiment has a pipe frame-shaped frame 2, and the front and rear parts of the frame 2 are a pair of left and right casters 3L. , 3R and wheels 4L, 4R are movably supported.

Further, a cloth seat 5 (see FIGS. 2 and 3) on which a person with a physical disability should sit is stretched at the center of the frame 2, and the same lower surface of the seat 5 is also made of cloth. A bag-shaped box 6 is provided, and a battery 7 is stored in the box 6. As shown in FIGS. 3 and 8, the thin battery 7 ′ may be detachably attached to the pair of front and rear cross members 2a of the frame 2 via the hooks 7a ′.

Further, as shown in FIGS. 1 to 3, the upper ends of the pair of left and right handle arms 2b which are erected upward from the rear of the frame 2 are bent backward, and an assistant is provided at the bent portion. A grip 8 is attached. A pair of left and right armrests 9 for the physically handicapped are attached to the upper center of the frame 2, and a step 10 is attached to the lower front end of the frame 2. As shown in FIG. 2, a foot switch 80 is provided in the right side step 10, and the foot switch 80 is operated by a disabled person with his / her foot to mean a “straight” position which means going straight and a turn. To the "turn" position.

Further, another arm 2 is provided at the rear end of the pair of left and right arms 2c extending in the front-rear direction at the lower part of the frame 2.
d is fitted so as to be movable in the front-rear direction, and each arm 2
A roller 11 is rotatably supported at the rear end of d. It should be noted that the arm 2d is the pin 1 protruding from the arm 2c.
It is configured to be movable in the front-rear direction by engaging with the elongated hole 2 and is always urged rearward by a spring (not shown) that is contracted between the arm 2c and the arm 2c.

By the way, the left and right wheels 4L, 4R are rotatably supported by an axle 14 supported by a bracket 13 attached to the frame 2, but the right wheel 4R is supported.
A ring-shaped hand rim 16 to be turned by a handicapped person is provided on the outer side of the. The hand rim 16 is supported by the axle 14 via the four spokes 17, and the wheel 4 is supported by the four connecting rods 22.
It is connected to R.

On the other hand, as shown in FIGS. 1 and 2, at the upper position of the wheel 4L on the left side of the frame 2, the electric motor 26 constituting the power generation source of the auxiliary power unit and the driving force of the electric motor 26 are provided. The power transmission mechanism 27 for transmitting the power to the wheels 4L is attached, and details of these configurations are shown in FIG.
And shown in FIG. The electric motor 26 is rotationally driven by being supplied with electric power from the battery 7.

That is, in FIG. 4 and FIG. 5, 28 is a bracket fixed to the frame 2, another bracket 29 is bonded to the bracket 28, and the operating lever 30 is attached to the bracket 29. The shaft 31 is rotatably pivoted, and one end of the transmission case 32 is pivotally pivoted on a shaft 33.

As shown in FIG. 4, an arc-shaped engagement groove 32a is formed at one end of the transmission case 32, and a guide pin 34 protruding from the bracket 29 is formed in the engagement groove 32a. It is slidably engaged.

By the way, the electric motor 26 is attached to the transmission case 32, and the output shaft 26a of the electric motor 26 faces the inside of the transmission case 32, and a gear 35 is attached to the end thereof.

Further, in the transmission case 32, the worm 36
A worm shaft 37 formed integrally with is rotatably housed, and a gear 38 meshing with the gear 35 is connected to the worm shaft 37. Furthermore, the transmission case 32
A drive shaft 39 is housed therein at a right angle to the worm shaft 37 and rotatably accommodated therein. A worm wheel 40 meshing with the worm 36 is attached to one end of the drive shaft 39. Then, the transmission case 32 of the drive shaft 39
A roller 41 that is brought into contact with and separated from the tire 4b of the wheel 4 is attached to the other end extending outward. The worm gear mechanism composed of the worm 36 and the worm wheel 40 constitutes a reverse drive prevention mechanism that blocks the transmission of power from the wheel 4 to the electric motor 26.

Further, one end of a link 42 is pivotally attached to the transmission case 32 by a pin 43, and the other end of the link 42 is attached to an arm 44 integrally attached to the tip of the operating lever 30 by a pin 45. Are linked by. A spring 46 is stretched between the pin 43 and the vicinity of the shaft 31 of the operation lever 30.

Thus, when the operating lever 30 is pushed upward as shown by the solid line in FIG. 4, the operating lever 30 is urged clockwise by the urging force of the spring 46 to move upward. The roller 41 held in contact with the stopper 48 is stationary, and at this time, the roller 41 held by the transmission case 32 is pressed by the tire 4b of the wheel 4L with a predetermined force as illustrated.

When the operating lever 30 is pushed downward from the position shown by the solid line in FIG. 4, as shown by the chain line in FIG.
The bending direction of the link 42 and the arm 44 is reversed, and the operation lever 30 receives a counterclockwise urging force from the spring 46 and comes into contact with the lower stopper 47 to stand still, and the transmission case 32 is rotated about the shaft 33. It rotates in the clockwise direction, whereby the roller 41 separates from the tire 4b of the wheel 4L. The counterclockwise rotation of the transmission case 32 is restricted by the engagement of the guide pin 34 with the engagement groove 32a.

By the way, when the operation lever 30 is operated to disengage the roller 41 from the tire 4b of the wheel 4L as described above, the application of the auxiliary power from the electric motor 26 to the wheel 4L is cut off. The disengagement of 41 is necessary when the caregiver pushes the wheelchair 1, when the wheelchair 1 is run manually, when the battery 7 is exhausted, and the like.

On the other hand, as shown in FIG. 1, a brake device 50 is provided in front of the left and right wheels 4L and 4R of the frame 2.

Here, details of the configuration of each of the brake devices 50 will be described with reference to FIGS. 6 and 7.

In the figure, reference numeral 51 is a case fixed to the frame 2, and an electric motor 52 is provided in the case 51.
Is stored, and a gear 53 is attached to an end portion of the output shaft 52a of the electric motor 52.

In addition, rotating shafts 54 and 55 are housed in the case 51 so as to be parallel to each other and rotatable, and gears 56 and 57 having different sizes are connected to the rotating shaft 54.
The gear 56 meshes with the gear 53, and the gear 57 meshes with a gear 58 connected to one end of the rotary shaft 55.

A brake lever 59 is attached to the other end of the rotary shaft 55 extending outside the case 51.

On the other hand, one end of an arm 60 is pivotally attached to the case 51 via a shaft 61, and the other end of the arm 60 is brought into contact with and separated from a tire 4b of a wheel 4L (4R). The brake shoes 62 are mounted at a right angle. The middle portion of the arm 60 is connected to one end of the brake lever 59 by a link 63. The pin 64 protruding from the brake lever 59 and the link 6
A spring 66 is stretched between a shaft 65 that connects the arm 3 to the arm 60.

When the brake lever 59 is pushed forward (to the left in FIG. 6) as shown by the solid line in FIG. 6, the brake lever 59 is counterclockwise by the urging force of the spring 66. Is pushed forward by the stopper 6
The brake shoe 62 connected to the tip of the arm 60 is pressed against the tire 4b of the wheel 4L (4R) with a predetermined force as shown in the figure.

When the brake lever 59 is pulled rearward from the solid line position in FIG. 6 manually or electrically, the bending directions of the brake lever 59 and the link 63 are reversed as shown by the chain line in FIG. The lever 59 receives a urging force in the clockwise direction from the spring 66 and abuts against the stopper 67 at the rear to stand still, and the arm 60 rotates in the clockwise direction around the shaft 61, so that the brake shoe 62 is wheel 4L (4R). The tire 4b.

The electric operation of the brake lever 59 will now be described with reference to FIG.
When the electric motor 52 is rotationally driven by receiving electric power from the electric motor 52, the rotation of the electric motor 52 is transmitted to the rotary shaft 55 through the gears 53, 56, 57 and 58, and the rotary shaft 55 and the brake attached thereto. The lever 59 is rotated by a predetermined angle.

Further, as shown in FIG. 1, the electric motor 2 is provided below the one brake device 50 of the frame 2.
A control device 70 for controlling the driving of 6, 48 is attached. The control device 70 is also driven by the supply of electric power from the battery 7.

Here, the configuration of the control device 70 will be described with reference to FIG.

FIG. 9 is a block diagram showing the configuration of the control device 70. The control device 70 includes encoders 24L, which are rotation detecting means for detecting the rotation direction and rotation speed or rotation angle of the left and right wheels 4L, 4R. 24R and the encoder 2
Left and right counters 73L and 73R that count the number of input pulses from 4L and 24R, and the counters 73L and 73R
It includes a difference circuit 74 for obtaining the difference between the number of pulses counted by each of the above, and a motor control means 75 for driving and controlling the electric motor 26. As shown in the figure, the encoder 24R and the right counter 73 are included.
A reversing circuit 76 is provided between the R and R.

The following table shows combinations of various operations with respect to the operation of the wheelchair 1 according to this embodiment.

[0042]

[Table 1] In Table 1, "F" is forward rotation (rotation in the direction in which the wheelchair 1 moves forward), "R" is backward rotation (rotation in the direction in which the wheelchair 1 moves backward), "foot SW" is the foot switch 80,
“Straight” means straight ahead, and “turn” means turning.

When a person with a disability who does not have a left arm at all wants to go straight ahead, as shown in Table 1, the person with a disability sets his foot switch 80 to the "straight" position with his foot, and then his normal right arm and right hand. When the hand rim 16 provided on the right wheel 4R side is normally rotated, the electric motor 26 is also normally rotated, and the left wheel 4L follows the right wheel 4R and both wheels 4L and 4R rotate at the same speed. The driving force required to drive the electric motor 2 provided on the left wheel 4L side as auxiliary power.
6 to the left wheel 4L.

Therefore, when the wheelchair 1 is moved straight ahead, the human power (driving force) F _M applied to the hand rim 16 is applied.
Since auxiliary power (driving force) F _{A of a} magnitude corresponding to is given to the left wheel 4L and the wheel 4L is rotationally driven similarly to the right wheel 4R, as shown in FIG. The wheelchair 1 is as if a handicapped person has both hands and arms and the left and right wheels 4
The vehicle moves straight ahead as if turning L and 4R.

Next, when the physically handicapped person wants to go straight backward, as shown in Table 1, the physically handicapped person keeps the foot switch 80 in the "straight" position with his / her foot and keeps the right wheel with the right arm and right hand. The hand rim 1 provided on the 4R side
When 6 is reversed, the electric motor 26 is also reversed by the action of the reverse circuit 76, the left wheel 4L follows the right wheel 4R, and the driving force F required for both wheels 4L and 4R to rotate at the same speed. _{Since A} is given to the left wheel 4L from the electric motor 26 provided on the left wheel 4L side as auxiliary power, the wheelchair 1 is, as shown in FIG. Wheels 4L, 4R
Moves straight backward as if you turned.

When it is desired to turn the wheelchair 1 in the forward movement to the left, as shown in Table 1, after the disabled person switches the foot switch 80 to the "turn" position with his / her foot, the wheel 4R is moved to the right side. When the provided hand rim 16 is normally rotated, the electric motor 26 is reversed by the action of the reverse circuit 76, and the wheelchair 1 turns left on the spot as shown in FIG. 10 (b).

Similarly, when the user wants to turn the wheelchair 1 in the reverse state to the left, as shown in Table 1, the disabled person switches the foot switch 80 to the "turn" position with his foot, and then the wheel 4R on the right side. When the hand rim 16 provided on the wheelchair is rotated in the normal direction, the electric motor 26 is rotated in the reverse direction and the wheelchair 1 is
Turn left on the spot as shown in 0 (e).

On the other hand, when it is desired to turn the wheelchair 1 in the forward state to the right, as shown in Table 1, after the handicapped person switches the foot switch 80 to the "turn" position with his / her foot, the right wheel 4R side When the hand rim 16 provided on the wheelchair is rotated in the reverse direction, the electric motor 26 is rotated in the normal direction, and the wheelchair 1 is rotated as shown in FIG.
Turn right on the spot as shown in (c).

Similarly, when the user wants to turn the wheelchair 1 in the reverse state to the right, as shown in Table 1, the handicapped person switches the foot switch 80 to the "turn" position with his foot, and then the wheel 4R on the right side. When the hand rim 16 provided on the wheelchair is rotated in the reverse direction, the electric motor 26 is rotated in the normal direction, and the wheelchair 1 is rotated as shown in FIG.
Turn right on the spot as shown in (f).

As described above, according to the present embodiment, even a physically handicapped person who cannot use his left arm at all can freely use the manual electric wheelchair 1 by performing operations including straight traveling and turning. You can

In this embodiment, the manual electric wheelchair for the physically handicapped person having a disability in the left arm is described. On the contrary, in the manual electric wheelchair for the physically handicapped person having the right arm, the hand rim 16 is placed on the left side. The auxiliary power unit including the electric motor 26 is provided on the right side.

<Second Embodiment> Next, a second embodiment of the first invention will be described with reference to Table 2 and FIGS. 11 and 12. still,
Table 2 is a table showing combinations of various operations with respect to the operation of the wheelchair, FIG. 11 is a configuration diagram of the control device according to the present embodiment, and FIG.
2 is a schematic diagram showing the operation of the wheelchair with respect to the operations shown in Table 2. FIG. The manual electric wheelchair 1 according to the present embodiment is also for a physically handicapped person with a left arm disability, and the basic configuration thereof is the same as that of the first embodiment, but the foot switch 8 is used.
0 can be set to the “N” position, which means straight ahead, the “L” position, which means left turn, and the “R” position, which means right turn, and as shown in FIG. The difference from the first embodiment is that switches b and a are provided between the encoders 24L and 24R and the left and right counters 73L and 73R, respectively.

The following table shows combinations of various operations with respect to the operation of the wheelchair 1 according to this embodiment.

[0054]

[Table 2] In Table 2, "-" indicates that the electric motor 26 is in a non-operating state. When a disabled person who has no left arm at all wants to go straight ahead, as shown in Table 2, when the disabled person sets his foot switch 80 to the "N" position with his foot, both switches a and b are turned on. . In this state, when the handicapped person normally rotates the hand rim 16 provided on the right wheel 4R side with his or her right hand and right arm, the electric motor 2
6 is also rotated in the normal direction, and the driving force required for the left wheel 4L to follow the right wheel 4R so that both wheels 4L, 4R rotate at the same speed is an electric motor provided on the left wheel 4L side as auxiliary power. 26 to the left wheel 4L. As a result, as shown in FIG. 12A, the wheelchair 1 goes straight forward as if the handicapped person turned the left and right wheels 4L and 4R with both arms and both arms.

Next, when the physically handicapped person wants to go straight to the rear, as shown in Table 2, the physically handicapped person keeps the foot switch 80 at the "N" position with his / her right arm and the right wheel with the right arm. The hand rim 1 provided on the 4R side
Reverse 6 Then, the switches a and b are both turned on, the electric motor 26 is also reversed, and the left wheel 4L follows the right wheel 4R so that the driving force necessary for both wheels 4L and 4R to rotate at the same speed is auxiliary power. Since the wheelchair 1 is applied to the left wheel 4L from the electric motor 26 provided on the left wheel 4L side as shown in FIG. 4R
Moves straight backward as if you turned.

Further, when it is desired to turn the wheelchair 1 in the forward traveling state to the left, as shown in Table 2, when a person with a disability switches the foot switch 80 to the "L" position with his / her foot, both the switches a and b are turned off. Therefore, the detection signals of the encoders 24L and 24R are not input to the left and right counters 73L and 73R, so that the electric motor 26 is not driven and the left wheel 4L is not rotated. In this state, if the handicapped person normally rotates the hand rim 16 provided on the right wheel 4R side with the right hand and the right arm, only the right wheel 4R normally rotates, so as shown in FIG. 12 (b), Wheelchair 1 turns left.

Similarly, when it is desired to turn the wheelchair 1 to the left while moving backward, as shown in Table 2, when a person with a disability sets his foot switch 80 to the "L" position with his foot, both switches a and b are turned on. OFF, encoders 24L, 24
The R detection signal is not input to the left and right counters 73L and 73R, so that the electric motor 26 is not driven and the left wheel 4L is not rotated. In this state, when the handicapped person reverses the hand rim 16 provided on the right wheel 4R side with his / her right hand and right arm, only the right wheel is reversed, so as shown in FIG. Turn left.

On the other hand, when it is desired to turn the wheelchair 1 to the right while moving forward, as shown in Table 2, when the handicapped person sets the foot switch 80 to the "R" position with his / her foot, the switch a is turned on, The switch b is turned off. For this reason, only the detection signal of the right encoder 24R is input to the right counter 73R, and the deviation of the number of pulses counted by the left and right counters 73L and 73R becomes large, so that a large amount of auxiliary power is generated in the electric motor 26. .

Therefore, when the handicapped person uses the hand rim 16 to normally rotate the right wheel 4R, the left wheel 4L is normally rotated by the auxiliary power that is larger than the human power applied to the hand rim 16, so that the left and right wheels are rotated. There is a difference in rotation between 4L and 4R, and the wheelchair 1 turns right while moving forward, as shown in FIG. 12 (c).

When it is desired to turn the wheelchair 1 to the right while moving backward, as shown in Table 2, when the handicapped person sets the foot switch 80 to the "R" position with his / her foot, the switch a is turned on, The switch b is turned off. For this reason,
Only the detection signal of the right encoder 24R is the right counter 7
A large auxiliary power is generated in the electric motor 26 because the deviation of the number of pulses input to the 3R and counted by the left and right counters 73L and 73R becomes large.

Therefore, when the handicapped person reverses the right wheel 4R using the hand rim 16, the left wheel 4L is reversed by the auxiliary power that is greater than the human power applied to the hand rim 16, so that the left and right wheels 4L, A difference occurs in the rotation of 4R, and as shown in FIG. 12 (f), the wheelchair 1 turns right while moving backward.

As described above, also in the present embodiment, even a physically handicapped person who cannot use his left arm at all can freely use the manual electric wheelchair 1 by freely performing the operations including straight running and turning. it can.

In this embodiment, the manual electric wheelchair for the physically handicapped person having a left arm inconvenience has been described. On the contrary, in the manual electric wheelchair for the physically handicapped person having a right arm disability, the hand rim 16 is placed on the left side. As in the first embodiment, the auxiliary power unit including the electric motor 26 is provided on the right side.

<Third Embodiment> Next, a third embodiment of the first invention will be described with reference to Table 3 and FIGS. 13 and 14.
In addition, Table 3 is a table showing combinations of various operations for the operation of the wheelchair, FIG. 13 is a configuration diagram of the control device according to the present embodiment,
FIG. 14 is a schematic diagram showing an operation of the wheelchair corresponding to the operation shown in Table 3.

The manual electric wheelchair 1 according to the present embodiment is basically the same as that of the first embodiment, but the foot switch 80 has the "N" position which means straight ahead and the "N" position which means left turn. It can be set to the “L” position and the “R” position which means a right turn. As shown in FIG. 13, in the control device 70, the right encoder 24R and the counter means 73R are provided.
And the duty controller 77R for thinning out the detection pulse of the encoder 24R is provided between the left side encoder 24L and the counter means 73L, and the duty controller 77L for thinning out the detection pulse of the encoder 24L is provided between the left side encoder 24L and the counter means 73L. Different from 1.

Here, the combinations of various operations for the operation of the wheelchair 1 according to this embodiment are shown in the table below.

[0067]

[Table 3] In Table 3, “F” is forward rotation (rotation in the direction in which the wheelchair 1 moves forward), “R” is backward rotation (rotation in the direction in which the wheelchair 1 moves backward), and “foot SW” is the foot switch 80 and thinning. The rates A and B indicate the thinning rates of the duty controllers 77R and 77L, respectively.

When a disabled person who has no left arm at all wants to go straight ahead, as shown in Table 3, when the disabled person sets the foot switch 80 to the "N" position with his / her foot, the duty controllers 77R and 77L are set. Both thinning rates A and B are set to 1 (A = B = 1), and the hand rim 16 provided on the right wheel 4R side with the right hand and the right arm is used by the physically handicapped person as in the first embodiment. When it is rotated in the normal direction by hand, the electric motor 26 is also rotated in the normal direction, and the left wheel 4 is rotated by the right wheel 4R.
The driving force necessary for L to follow both wheels 4L and 4R to rotate at the same speed is given from the left electric motor 26 to the left wheel 4L as auxiliary power.

Therefore, when traveling straight ahead, auxiliary power (driving force) F _{A of a} magnitude commensurate with the human power (driving force) F _M applied to the hand rim 16 is applied to the left wheel 4L and the wheel 4L. Is driven to rotate in the same manner as the right wheel 4R, as shown in FIG. 14 (a), the hand-operated electric wheelchair 1 is as if the handicapped person has left and right wheels 4L, with both hands and arms.
Go straight ahead as if turning 4R.

Next, when the disabled person wants to go straight backward, as shown in Table 3, when the disabled person sets the foot switch 80 to the "N" position with his / her foot, the decimation rate by the duty controllers 77R and 77L. Both A and B are set to 1 (A = B = 1), and the right wheel 4R with a healthy right hand and right arm.
When the hand rim 16 provided on the side is rotated in the reverse direction, the electric motor 26 is also rotated in the reverse direction, and the left wheel 4L follows the right wheel 4R so that the driving force necessary for the both wheels 4L and 4R to rotate at the same speed is obtained. The manual electric wheelchair 1 is applied to the left wheel 4L from the left electric motor 26 as auxiliary power, and the hand-operated electric wheelchair 1 is, as shown in FIG. By moving as if turning 4L, 4R, the vehicle goes straight backward.

Further, when it is desired to turn the wheelchair 1 to the left while moving forward, as shown in Table 3, when a person with a disability sets the foot switch 80 to the "L" position with his / her foot, the thinning rate of the duty controllers 77R and 77L is set. A and B are A = 0.5, B
= 1, so the electric motor 2 provided on the left side
The auxiliary power (driving force) F _A generated at 6 is smaller than the human power F _M applied to the right wheel 4R (F _A
<F _M ), and as a result, the rotation speed of the right wheel 4R becomes greater than the rotation speed of the left wheel 4L, as shown in FIG.
As shown in, the wheelchair 1 turns left while moving forward.

Similarly, when it is desired to turn the wheelchair 1 to the left while moving backward, as shown in Table 3, when the disabled person sets the foot switch 80 to the "L" position with his / her foot, the duty controllers 77R and 77L are thinned out. The rates A and B are A = 0.
5, B = 1, so auxiliary power (driving force) F _A generated by the electric motor 26 provided on the left side
Is smaller than the human power F _M applied to the right wheel 4R (F _A <F _M ), and as a result, the rotation speed of the right wheel 4R is larger than that of the left wheel 4L, and FIG.
As shown in (e), the wheelchair 1 turns left while moving backward.

On the other hand, when it is desired to turn the wheelchair 1 to the right while moving forward, as shown in Table 3, when the person with disabilities sets the foot switch 80 to the "R" position with his / her foot, the duty controllers 77R and 77L are thinned out. The rates A and B are A = 1 and B =
Since it is set to 0.5, the auxiliary power (driving force) F _A generated by the electric motor 26 provided on the left side is larger than the human power F _M applied to the right wheel 4R (F F
_A > F _M ), and as a result, the rotation speed of the left wheel 4L becomes higher than that of the right wheel 4R.
As shown in (c), the wheelchair 1 turns right while moving forward.

When it is desired to turn the wheelchair 1 to the right while moving backward, as shown in Table 3, when the disabled person sets the foot switch 80 to the "R" position with his / her foot, the duty controllers 77R and 77L are thinned out. The rates A and B are A = 1 and B =
Since it is set to 0.5, the auxiliary power (driving force) F _A generated by the electric motor 26 provided on the left side is larger than the human power F _M applied to the right wheel 4R (F F
_A > F _M ), and as a result, the rotation speed of the left wheel 4L becomes higher than that of the right wheel 4R.
As shown in (f), the wheelchair 1 makes a right turn without moving backward.

As described above, also in this embodiment, the same effect as that of the first and second embodiments can be obtained.

In this embodiment, the wheelchair for the physically handicapped person having a left arm in particular is described, but a wheelchair for the physically handicapped person having a right arm handicap can be similarly constructed.

<Fourth Embodiment> Next, a fourth embodiment of the first invention will be described with reference to Table 4 and FIG. In addition, Table 4 is a table showing combinations of various operations for motions of the wheelchair, and FIG. 15 is a configuration diagram of the control device according to the present embodiment.

The manual electric wheelchair 1 according to the present embodiment is basically the same as that of the third embodiment, but as shown in FIG. An adjusting device 78 for adjusting the detection value of the encoder 24R is provided between the encoder 24R for detecting the rotation speed or the rotation angle and the right counter 73R for counting the number of pulses of the detection signal of the encoder 24R. Has been done.

The following table shows combinations of various operations with respect to the operation of the wheelchair 1 according to this embodiment.

[0080]

[Table 4] In Table 4, “F” is forward rotation (rotation in the direction in which the wheelchair 1 moves forward), “R” is backward rotation (rotation in the direction in which the wheelchair 1 moves backward), and “foot SW” is the foot switch 80 and adjustment. The value A is set in the adjuster 78 by the encoder 24R
The adjustment values of the detected values of are shown respectively.

When a person with a disability who has no left arm at all wants to go straight ahead, as shown in Table 4, the person with a disability sets the foot switch 80 to the "N" position with his / her foot and adjusts it with the adjuster 78. The value A is set to 1 (A = 1), and when the handicapped person manually rotates the hand rim 16 provided on the right wheel 4R side with his / her right hand and right arm, the electric motor 26 is also rotated normally. The driving force necessary for the left wheel 4L to follow the wheel 4R and the wheels 4L and 4R rotate at the same speed is given from the left electric motor 26 to the left wheel 4L as auxiliary power. As a result, as shown in FIG. 14A, the hand-operated electric wheelchair 1 goes straight forward as if the handicapped person turned the left and right wheels 4L and 4R with both arms and both arms.

Next, when the disabled person wants to go straight backward, as shown in Table 4, when the disabled person sets the foot switch 80 to the "N" position with his / her foot, the adjustment value A in the adjuster 78 is 1 (A = 1), and when the hand rim 16 provided on the right wheel 4R side with the right hand and the right arm is reversed by hand, the electric motor 26 is also reversed, and the right wheel 4R has the left wheel 4L. Both wheels 4L and 4R follow
The driving force necessary for the vehicle to rotate at the same speed is given as auxiliary power from the left electric motor 26 to the left wheel 4L, and the manual electric wheelchair 1 is operated in the same manner as described above.
As shown in (d), the person with a disability moves straight backward as if he or she were turning the left and right wheels 4L and 4R with both hands and arms.

When it is desired to turn the wheelchair 1 to the left while moving forward, as shown in Table 4, when the disabled person sets the foot switch 80 to the "L" position with his / her foot, the adjustment value A by the adjuster 78 is Since it is set to 0.5 (A = 0.5),
The auxiliary power (driving force) F _A generated by the electric motor 26 provided on the left side becomes smaller than the human power F _M applied to the right wheel 4R (F _A <F _M ), and as a result, the right side The rotation speed of the wheel 4R is higher than that of the left wheel 4L, and the wheelchair 1 turns left while moving forward as shown in FIG. 14 (b).

Similarly, when it is desired to turn the wheelchair 1 to the left while moving backward, as shown in Table 4, when a person with a disability sets the foot switch 80 to the "L" position with his / her foot, the adjuster 7
Since the adjustment value A in 8 is set to 0.5 (A = 0.5), the auxiliary power (driving force) F _A generated by the electric motor 26 provided on the left side is applied to the right wheel 4R. It becomes smaller than the applied human power F _M (F _A <F _M ), and as a result, the rotation speed of the right wheel 4R becomes higher than that of the left wheel 4L, as shown in FIG. 14 (e). Then, the wheelchair 1 turns left while moving backward.

On the other hand, when it is desired to turn the wheelchair 1 to the right while moving forward, as shown in Table 4, when the handicapped person sets the foot switch 80 to the "R" position with his / her foot, the adjuster 78
Since the adjustment value A at 1.5 is set to 1.5 (A = 1.5), the auxiliary power (driving force) F _A generated by the electric motor 26 provided on the left side is applied to the right wheel 4R. It becomes larger than the human power F _M (F _A > F _M ). As a result, the rotation speed of the left wheel 4L becomes larger than that of the right wheel 4R, as shown in FIG. 14 (c). The wheelchair 1 turns right while moving forward.

When it is desired to turn the wheelchair 1 to the right while moving backward, as shown in Table 4, when a person with disabilities sets the foot switch 80 to the "R" position with his / her foot, the adjustment value A by the adjuster 78 is set. Is set to 1.5 (A = 1.5),
The auxiliary power (driving force) F _A generated by the electric motor 26 provided on the left side is larger (F _A > F _M ) than the human power F _M applied to the right wheel 4R, and as a result, the left side is obtained. 14L becomes larger than the rotation speed of the right wheel 4R, and as shown in FIG. 14 (f), the wheelchair 1 makes a right turn without moving backward.

As described above, also in this embodiment, the hand-operated electric wheelchair 1 can be used by a person with a disability who has no left arm at all by performing operations including straight running and turning.

Although the wheelchair for the physically handicapped who has a left arm inconveniently has been described in the present embodiment, a wheelchair for the physically handicapped person who has a right arm incapacitate can be similarly constructed.

<Fifth Embodiment> Next, a fifth embodiment of the first invention will be described with reference to Table 5 and FIG. In addition, Table 5 is a table showing combinations of various operations with respect to the operation of the wheelchair, and FIG. 16 is a schematic diagram of the manual electric wheelchair according to this embodiment.

The manual electric wheelchair 1 according to this embodiment is for a physically handicapped person who has a left arm disability. As shown in FIG. 16, the right wheel 4R has two hand rims H ₁ and H ₂ and an encoder. 24R is provided and the left wheel 4L
Is provided with an auxiliary power unit M including an encoder 24L and an electric motor 26.

The following table shows combinations of various operations with respect to the operation of the wheelchair 1 according to this embodiment.

[0092]

[Table 5] In Table 5, “F” indicates forward rotation (rotation in the direction in which the wheelchair 1 moves forward), “R” indicates backward rotation (rotation in the direction in which the wheelchair 1 moves backward), and “−” indicates a non-operating state. .

If a disabled person who has no left arm at all wants to go straight ahead, as shown in Table 5, the disabled person can rotate both hand rims H ₁ and H ₂ forward with both the right hand and the right arm.
The electric motor 26 is also rotated in the normal direction, and the driving force necessary for the left wheel 4L to follow the right wheel 4R and both wheels 4L and 4R rotate at the same speed is used as auxiliary power to the left electric motor 26.
To the left wheel 4L. As a result, FIG.
As shown in (a), the hand-operated electric wheelchair 1 goes straight ahead as if the handicapped person turned the left and right wheels 4L and 4R with both hands and both arms.

Next, when the physically handicapped person wants to go straight backward, as shown in Table 5, the physically handicapped person has both hand rims H ₁ , H.
_{If 2} is reversed with both right hand and right arm, electric motor 26
The left wheel 4L follows the right wheel 4R and the driving force necessary for both wheels 4L and 4R to rotate at the same speed is applied from the left electric motor 26 to the left wheel 4L as auxiliary power. The manual electric wheelchair 1 is shown in FIG.
As shown in (d), the person with a disability moves straight backward as if he or she were turning the left and right wheels 4L and 4R with both hands and arms.

Further, when the wheelchair 1 in the forward traveling state is desired to turn to the left, as shown in Table 5, when the handicapped person rotates only _one hand rim H ₁ in the forward direction, the electric motor 26 is not driven and the wheel on the right side is not driven. Since only 4R is rotated normally,
As shown in (b), the wheelchair 1 turns left on the spot.

Similarly, when it is desired to turn the wheelchair 1 in the reverse state to the left, as shown in Table 5, when the handicapped person reverses only _one hand rim H ₁ , the electric motor 26 is not driven and the wheel on the right side is not driven. Since only 4R is reversed,
As shown in (e), the wheelchair 1 turns left on the spot.

On the other hand, when it is desired to turn the wheelchair 1 in the forward state to the right, as shown in Table 5, when the handicapped person normally rotates only one hand rim H ₂ , the right wheel 4R is not rotated and the left wheel 4R is not rotated. Since the wheels 4L of the wheelchair are normally rotated by the electric motor 26, the wheelchair 1 turns right on the spot as shown in FIG.

Further, when it is desired to turn the wheelchair 1 in the reverse state to the right, as shown in Table 5, when the handicapped person reverses only one hand rim H ₂ , the right wheel 4R is not rotated and the left wheel 4R is not rotated. Since the wheels 4L are reversed by the electric motor 26, the wheelchair 1 turns right on the spot as shown in FIG. 12 (f).

As described above, also in this embodiment, the hand-operated electric wheelchair 1 can be used by a person with a disability who cannot use his / her left arm by the operation including straight running and turning.

Although the present embodiment has described the wheelchair for the physically handicapped who has a disability in the left arm, a wheelchair for the physically handicapped who has a disability in the right arm can be similarly constructed.

<Sixth Embodiment> Next, a sixth embodiment of the first invention will be described with reference to Table 6 and FIG. In addition, Table 6 is a table showing combinations of various operations with respect to the operation of the wheelchair, and FIG. 17 is a schematic view of the manual electric wheelchair according to the present embodiment.

The hand-operated electric wheelchair 1 according to this embodiment is for a physically handicapped person with a disabled left arm. As shown in FIG. 17, the right wheel 4R has two hand rims H ₁ and H ₂ and a brake. A device 50 and an encoder 24R are provided, and an auxiliary power unit M including an encoder 24L and an electric motor 26 is provided on the left wheel 4L.

Here, the combinations of various operations for the operation of the wheelchair 1 according to this embodiment are shown in the table below.

[0104]

[Table 6] In Table 6, "F" indicates forward rotation (rotation in the direction in which the wheelchair 1 moves forward), "R" indicates backward rotation (rotation in the direction in which the wheelchair 1 moves backward), and "-" indicates inactive state. Show.

Thus, when a disabled person who has no left arm at all wants to go straight ahead, as shown in Table 5, the disabled person can rotate both hand rims H ₁ and H ₂ forward with his right hand and his right arm.
The brake device 50 is turned off, the electric motor 26 is normally rotated, the left wheel 4L follows the right wheel 4R, and the driving force necessary for both wheels 4L and 4R to rotate at the same speed is used as auxiliary power. It is given to the left wheel 4L from the left electric motor 26.

Therefore, when traveling straight ahead, auxiliary power (driving force) F _{A of a} magnitude commensurate with the human power (driving force) F _M applied to the hand rim H ₁ is applied to the left wheel 4L and the wheel 4L is driven. Since 4L is driven to rotate in the same manner as the right wheel 4R, as shown in FIG. 12 (a), the hand-operated electric wheelchair 1 is as if the handicapped person has left and right wheels 4L, with both hands and both arms.
Go straight ahead as if turning 4R.

Next, when the physically handicapped person wants to go straight backward, as shown in Table 5, the physically handicapped person has both hand rims H ₁ , H.
_{If 2} is reversed with both right hand and right arm, brake device 5
0 is turned off, the electric motor 26 is also rotated in reverse, and the driving force necessary for the left wheel 4L to follow the right wheel 4R so that both wheels 4L and 4R rotate at the same speed is the left electric motor. The manual electric wheelchair 1 is given to the left wheel 4L from the motor 26, and the handheld electric wheelchair 1 is, as shown in FIG.
It moves straight backward as if turning L and 4R.

Further, when it is desired to turn the wheelchair 1 in the forward movement to the left, as shown in Table 5, when the handicapped person rotates only _one hand rim H _{1 in} the normal direction, the brake device 50 is turned off.
At the same time, the electric motor 26 is not driven and only the right wheel 4R is normally rotated, so that the wheelchair 1 turns left on the spot as shown in FIG. 12 (b).

Similarly, when it is desired to turn the wheelchair 1 in the reverse state to the left, as shown in Table 5, when the handicapped person reverses only _one hand rim H ₁ , the brake device 50 is turned off.
While being FFed, the electric motor 26 is not driven and only the right wheel 4R is reversed, so that the wheelchair 1 turns left on the spot as shown in FIG. 12 (e).

On the other hand, when it is desired to turn the wheelchair 1 in the forward state to the right, as shown in Table 5, when the handicapped person rotates only one of the hand rims H ₂ forward, the brake device 50 is turned on.
As a result, the right wheel 4R is stopped and the left wheel 4L is normally rotated by the electric motor 26.
As shown in 2 (c), the wheelchair 1 turns right on the spot.

Further, when it is desired to turn the wheelchair 1 in the reverse state to the right, as shown in Table 5, when the handicapped person reverses only one hand rim H ₂ , the brake device 50 is turned on and the right wheel 4R. 12 is stopped and the left wheel 4L is reversed by the electric motor 26.
As shown in (f), the wheelchair 1 turns right on the spot.

As described above, also in this embodiment, the hand-operated electric wheelchair 1 can be used by a person with a disability who has no left arm at all by performing operations including straight running and turning.

Although the wheelchair for the physically handicapped who has a left arm inconveniently has been described in the present embodiment, the wheelchair for the physically handicapped person who has a right arm can be similarly constructed. [Second Invention] An embodiment of the second invention will be described below with reference to the accompanying drawings.

<First Embodiment> Table 7 is a table showing combinations of various operations for motions of a wheelchair, FIG. 18 is a schematic view of a manual electric wheelchair according to this embodiment, and FIG. 19 is a configuration diagram of a control device. .

The manual electric wheelchair 1 according to this embodiment is for a physically handicapped person with a left arm disability and is basically the same as that shown in the first embodiment of the first invention (FIG. 1). Figure ~
(See FIG. 7), as shown in FIG.
0 can be set to the “N” position which means straight ahead, the “L” position which means left turn and the “R” position which means right turn, and the hand rim 16 (the wheel on the right side) can be set by the right hand and right arm of the handicapped person. 4R) is provided on the right wheel 4R with an input detecting means 79 for detecting the magnitude of human power applied to the left wheel 4R, and an auxiliary power unit M including an electric motor 26 is provided on the left wheel 4L.

Further, as shown in FIG. 19, in the control device 70, the input detection means 79, the human power applied to the right wheel 4R by the detection signal detected by the input detection means 79, and the human power Comprising a calculation means 81 for calculating the (equal) auxiliary power, a polarity changing means 82 for changing the polarity (rotational direction) of the electric motor 26, and a motor control means 75.

The following table shows combinations of various operations with respect to the operation of the wheelchair 1 according to this embodiment.

[0118]

[Table 7] In Table 7, “F” is forward rotation (rotation in the direction in which the wheelchair 1 moves forward), “R” is backward rotation (rotation in the direction in which the wheelchair 1 moves backward), “foot SW” is the foot switch 80,
"+" Indicates that the polarity of the electric motor is positive (the electric motor is the right wheel 4
R rotates in the same direction as R), and "-" indicates that the polarity of the electric motor is negative (the electric motor rotates in the opposite direction to the right wheel 4R).

When a physically handicapped person who has no left arm at all wants to go straight ahead, as shown in Table 7, when the person with the disabled hand sets the foot switch 80 to the "N" position, the polarity of the polarity changing means 82 is set. Is set to "+". And
When the handicapped person manually rotates the hand rim 16 provided on the right wheel 4R side with a normal right hand and right arm, the human power applied from the hand rim 16 to the right wheel 4R is detected by the input detection means 79, and The size is the calculation means 81
The auxiliary power of the same magnitude as the human power is generated in the electric motor 26, and the left wheel 4L is normally rotated by the auxiliary power of the same magnitude as the human power applied to the right wheel 4R. As shown in (a), the hand-operated electric wheelchair 1 goes straight ahead as if the handicapped person turned the left and right wheels 4L and 4R with both hands and both arms.

Next, when the disabled person wants to go straight backward, as shown in Table 7, the disabled person sets the foot switch 80 to the "N" position with his / her foot, and the polarity changing means 82
Is set to "+". Then, when the handicapped person manually reverses the hand rim 16 provided on the right wheel 4R side with a healthy right hand and right arm, the human power applied from the hand rim 16 to the right wheel 4R is detected by the input detection means 79, The magnitude thereof is calculated by the calculating means 81, and the auxiliary power of the same magnitude as human power is generated in the electric motor 26, so that the left wheel 4L is the right wheel 4R.
10D, the manual electric wheelchair 1 is operated by the handicapped wheelchair 1 as if the handicapped person has left and right wheels 4L, 4 with both arms.
It moves straight backward as if turning R.

Further, when it is desired to turn the wheelchair 1 in the forward state to the left, as shown in Table 7, when the disabled person sets the foot switch 80 to the "L" position with his / her foot, the polarity of the polarity changing means 82 becomes " − ”Is set. When the handicapped person manually rotates the hand rim 16 provided on the right wheel 4R side with his / her right hand and right arm, the hand rim 16
Is applied to the right wheel 4R from the input detection means 79.
Is detected by the calculation means 81 and the auxiliary power of the same magnitude as the human power is generated in the electric motor 26, and the left wheel 4L has the same magnitude as the human power applied to the right wheel 4R. The wheelchair 1 is reversed by the auxiliary power of the wheelchair, and as shown in FIG. 10B, the wheelchair 1 turns left on the spot.

Similarly, when it is desired to turn the wheelchair 1 in the reverse state to the left, as shown in Table 7, when a person with a disability sets the foot switch 80 to the "L" position with his / her foot, the polarity of the polarity changing means 82 is changed. Set to "-". Then, when the handicapped person manually rotates the hand rim 16 provided on the right wheel 4R side with his / her right hand and right arm, the human power applied from the hand rim 16 to the right wheel 4R is detected by the input detection means 79. , The magnitude of which is calculated by the computing means 81, and the electric motor 26 generates auxiliary power of the same magnitude as human power, and the left wheel 4L has the same magnitude of human power applied to the right wheel 4R. The wheelchair 1 is reversed by the power, and as shown in FIG.
Turns left on the spot.

On the other hand, when it is desired to turn the wheelchair 1 in the forward movement to the right, as shown in Table 7, when a person with a disability sets the foot switch 80 to the "R" position with his / her foot, the polarity of the polarity changing means 82 is changed. Set to "-". When the handicapped person manually reverses the hand rim 16 provided on the right wheel 4R side with his / her right hand and right arm, the hand rim 1
The human power applied to the right wheel 4R from 6 is input detection means 7
9 and the magnitude thereof is calculated by the calculating means 81, and auxiliary power of the same magnitude as human power is generated in the electric motor 26, and the left wheel 4L is the same as the human power applied to the right wheel 4R. The wheelchair 1 is normally rotated by a large amount of auxiliary power, and as shown in FIG. 12 (c), the wheelchair 1 turns right on the spot.

Further, when it is desired to turn the wheelchair 1 in the reverse state to the right, as shown in Table 7, when the handicapped person sets the foot switch 80 to the "R" position with his / her foot, the polarity of the polarity changing means 82 is changed. Set to "-". Then, when the handicapped person manually reverses the hand rim 16 provided on the right wheel 4R side with his or her right hand and right arm, the hand rim 16
Is applied to the right wheel 4R from the input detection means 79.
Is detected by the calculation means 81 and the auxiliary power of the same magnitude as the human power is generated in the electric motor 26, and the left wheel 4L has the same magnitude as the human power applied to the right wheel 4R. 12A, the wheelchair 1 turns right by the auxiliary power of the wheelchair, and as shown in FIG.

As described above, also in the present embodiment, even a handicapped person who cannot use his left arm at all can use the manual electric wheelchair 1 by freely performing operations including straight running and turning. .

Although the wheelchair for the physically handicapped who has a left arm inconveniently has been described in the present embodiment, a wheelchair for the physically handicapped person who has a right arm for the handicapped can be similarly constructed.

In this embodiment, one wheel (the left wheel 4
The example in which the auxiliary power unit M is provided only in L) has been described, but when the auxiliary power unit M is provided on the left and right wheels 4L and 4R, the wheelchair 1 can be moved straight and turn by the same control as above. You can

<Second Embodiment> Next, a second embodiment of the second invention will be described with reference to Table 8 and FIG. Table 8 is a table showing combinations of various operations with respect to wheelchair operations, and FIG. 20 is a configuration diagram of the control device according to the present embodiment.

The manual electric wheelchair 1 according to this embodiment is also for a physically handicapped person who has a left arm inconvenience. In this embodiment, as shown in FIG. A distribution ratio changing means 83 is provided instead of the polarity changing means 82 (see FIG. 19). The distribution ratio changing means 83 is means for changing the ratio A (= F _A / F _M ) of the auxiliary power F _A to the human power F _M applied to the right wheel 4R.

The following table shows combinations of various operations with respect to the operation of the wheelchair 1 according to this embodiment.

[0131]

[Table 8] In Table 8, "F" indicates forward rotation (rotation in the direction in which the wheelchair 1 moves forward), "R" indicates backward rotation (rotation in the direction in which the wheelchair 1 moves backward), and "foot SW" indicates the foot switch 80, respectively. Show.

When a physically handicapped person who has no left arm at all wants to go straight ahead, as shown in Table 8, the physically handicapped person sets the foot switch 80 to the "N" position with his / her foot, and the distribution ratio changing means 83 causes The distribution ratio A is set to A = 1. When the handicapped person manually rotates the hand rim 16 provided on the right wheel 4R side with his / her right hand and right arm, the human power applied from the hand rim 16 to the right wheel 4R is input detection means 79 (FIG. 18). (Refer to FIG. 4), the magnitude thereof is calculated by the calculation means 81, and the auxiliary power of the same magnitude as the human power is generated in the electric motor 26, so that the left wheel 4L becomes the human power applied to the right wheel 4R. It is normally rotated by the same amount of auxiliary power,
As shown in FIG. 14 (a), the hand-operated electric wheelchair 1 goes straight forward as if the handicapped person turns the left and right wheels 4L, 4R with both arms and both arms.

Next, when the disabled person wants to go straight backward, as shown in Table 8, when the disabled person sets the foot switch 80 to the "N" position with his / her foot, the distribution ratio changing means 83 changes the distribution ratio A. A = 1 is set. Then, when the handicapped person manually reverses the hand rim 16 provided on the right wheel 4R side with a healthy right hand and right arm, the human power applied from the hand rim 16 to the right wheel 4R is detected by the input detection means 79, The magnitude thereof is calculated by the calculation means 81, and auxiliary power of the same magnitude as human power is generated in the electric motor 26, so that the left wheel 4
L is reversed by auxiliary power of the same magnitude as the human power applied to the right wheel 4R, and as shown in FIG. 14 (d),
The hand-operated electric wheelchair 1 goes straight backward as if the handicapped person turned the left and right wheels 4L and 4R with both hands and both arms.

Further, when it is desired to turn the wheelchair 1 to the left while moving forward, as shown in Table 8, when the disabled person sets the foot switch 80 to the "L" position with his / her foot, the distribution ratio changing means 83 causes the distribution ratio A Is set to A <1. Then, when the handicapped person manually rotates the hand rim 16 provided on the right wheel 4R side with his / her right hand and right arm,
The human power applied to the right wheel 4R from the hand rim 16 is detected by the input detection means 79, the magnitude thereof is calculated by the calculation means 81, and the electric motor 26 has auxiliary power F _A (smaller than the human power F _M ). <F _M ) is generated, the left wheel 4L is normally rotated by the auxiliary power F _A smaller than the human power F _M , and as a result, the right wheel 4L is generated.
The rotation speed of R becomes higher than the rotation speed of the left wheel 4L, and as shown in FIG. 14B, the manual electric wheelchair 1 turns left while moving forward.

Similarly, when it is desired to turn the wheelchair 1 to the left while moving backward, as shown in Table 8, when the disabled person sets the foot switch 80 to the "L" position with his / her foot, the distribution ratio changing means 83 causes the distribution ratio to change. A is set to A <1. Then, when the handicapped person manually reverses the hand rim 16 provided on the right wheel 4R side with a healthy right hand and right arm, the human power applied from the hand rim 16 to the right wheel 4R is detected by the input detection means 79, The magnitude thereof is calculated by the calculation means 81, and the electric motor 26 has auxiliary power F _A (<F _M ) smaller than the human power F _M.
14 is generated, the left wheel 4L is reversed by the auxiliary power F _A smaller than the human power F _M , and as a result, the rotation speed of the right wheel 4R becomes higher than that of the left wheel 4L. As shown in (e), the manual electric wheelchair 1 turns left while moving backward.

On the other hand, when it is desired to turn the wheelchair 1 rightward while moving forward, as shown in Table 8, when the disabled person sets the foot switch 80 to the "R" position with his / her foot, the distribution ratio changing means 83 distributes the distribution ratio. A is set to A> 1.
Then, the disabled person has a healthy right hand and right arm with the right wheel 4R.
When the hand rim 16 provided on the side is normally rotated by hand, the human power applied from the hand rim 16 to the right wheel 4R is detected by the input detection means 79, and the magnitude thereof is calculated by the calculation means 81, Electric motor 2
Since the auxiliary power F _A (> F _M ) larger than the human power F _M is generated at 6, the left wheel 4L is normally rotated by the auxiliary power F _A larger than the human power F _M , and as a result, the left wheel 4L is rotated. The rotation speed of 4L becomes higher than the rotation speed of the right wheel 4R, and as shown in FIG. 14C, the manual electric wheelchair 1 turns right while moving forward.

When it is desired to turn the wheelchair 1 to the right while moving backward, as shown in Table 8, when a person with a disability sets the foot switch 80 to the "R" position with his / her foot, the distribution ratio changing means 83 distributes the distribution ratio. A is set to A> 1. Then, when the handicapped person manually reverses the hand rim 16 provided on the right wheel 4R side with his / her right hand and right arm,
The human power applied from the hand rim 16 to the right wheel 4R is detected by the input detection means 79, the magnitude thereof is calculated by the calculation means 81, and the electric motor 26 has an auxiliary power F _A (greater than the human power F _M ). > F _M ) is generated, the left wheel 4L is reversed by the auxiliary power F _A larger than the human power F _M , and as a result, the left wheel 4L is generated.
The rotation speed of L becomes higher than the rotation speed of the right wheel 4R, and as shown in FIG. 14 (f), the manual electric wheelchair 1 turns right while moving backward.

As described above, also in this embodiment, the hand-operated electric wheelchair 1 can be used by a person with a disability who cannot use his / her left arm at all by operations including straight running and turning.

Although the wheelchair for the physically handicapped who has a left arm inconveniently has been described in the present embodiment, a wheelchair for the physically handicapped person who has a right arm inconveniently can be similarly constructed.

In this embodiment, one wheel (the left wheel 4
Although the example in which the auxiliary power unit M is provided only in L) has been described, when the auxiliary power unit M is provided on the left and right wheels 4L and 4R, the wheelchair can be moved straight and turn by controlling in the same manner as above. You can

<Third Embodiment> Next, a third embodiment of the second invention will be described with reference to Table 9 and FIG. In addition, Table 9 is a table showing combinations of various operations for the movement of the wheelchair, and FIG.
1 is a schematic view of a manual electric wheelchair according to the present embodiment.

The manual electric wheelchair 1 according to this embodiment is for a physically handicapped person who has a left handicap, and is the first embodiment of the present invention.
Although it is basically the same as that shown in the embodiment, a hand switch 84 is provided outside the hand rim 16 in this embodiment in place of the foot switch 80 in the first embodiment. Therefore, the operation for various operations of the wheelchair 1 is the same as that of the first embodiment.

The following table shows combinations of various operations with respect to the operation of the wheelchair 1 according to this embodiment.

[0144]

[Table 9] In Table 7, “F” is forward rotation (rotation in the direction in which the wheelchair 1 moves forward), “R” is backward rotation (rotation in the direction in which the wheelchair 1 moves backward), “Hand SW” is the hand switch 84,
"+" Indicates that the polarity of the electric motor is positive (the electric motor is the right wheel 4
R rotates in the same direction as R), and "-" indicates that the polarity of the electric motor is negative (the electric motor rotates in the opposite direction to the right wheel 4R).

When a physically handicapped person who has no left arm at all wants to go straight ahead, as shown in Table 9, if the handicapped person does not hold the hand switch 84, the hand switch 84 is kept in the OFF state and the polarity is changed. The polarity of the means 82 is “+”
Is set to. Then, when the handicapped person manually rotates the hand rim 16 provided on the right wheel 4R side with his / her right hand and right arm, the human power applied from the hand rim 16 to the right wheel 4R is detected by the input detection means 79. , Its size is calculated by the calculating means 81,
The electric motor 26 generates auxiliary power of the same magnitude as human power, and the left wheel 4L is normally rotated by auxiliary power of the same magnitude as human power applied to the right wheel 4R.
As shown in (a), the hand-operated electric wheelchair 1 goes straight ahead as if the handicapped person turned the left and right wheels 4L and 4R with both hands and both arms.

Next, when the handicapped person wants to go straight backward, as shown in Table 9, unless the handicapped person holds the hand switch 84, the hand switch 84 is kept in the OFF state and the polarity of the polarity changing means 82 is maintained. Is set to "+".
Then, the disabled person has a healthy right hand and right arm with the right wheel 4R.
When the hand rim 16 provided on the side is reversely rotated by hand, the human power applied from the hand rim 16 to the right wheel 4R is detected by the input detection means 79, the magnitude thereof is calculated by the calculation means 81, and Motor 2
6 generates auxiliary power of the same magnitude as human power, the left wheel 4L is reversed by auxiliary power of the same magnitude as human power applied to the right wheel 4R, and as shown in FIG. The hand-operated electric wheelchair 1 goes straight backward as if the handicapped person turns the left and right wheels 4L and 4R with both hands and both arms.

When the wheelchair 1 in the forward traveling state is desired to turn left, as shown in Table 9, when the handicapped person holds the hand switch 84 with his right hand, the hand switch 84 is turned on.
Then, the polarity of the polarity changing means 82 is set to "-".
Then, the disabled person has a healthy right hand and right arm with the right wheel 4R.
When the hand rim 16 provided on the side is normally rotated by hand, the human power applied from the hand rim 16 to the right wheel 4R is detected by the input detection means 79, and the magnitude thereof is calculated by the calculation means 81, Electric motor 2
6 generates auxiliary power of the same magnitude as human power, the left wheel 4L is reversed by auxiliary power of the same magnitude as human power applied to the right wheel, and as shown in FIG. Turns left on the spot.

Similarly, when it is desired to turn the wheelchair 1 in the reverse state to the left, as shown in Table 9, when the handicapped person holds the hand switch 84 with his right hand, the hand switch 84 is turned on and the polarity changing means 82 is turned on. Is set to "-". Then, when the handicapped person manually rotates the hand rim 16 provided on the right wheel 4R side with his / her right hand and right arm, the human power applied from the hand rim 16 to the right wheel 4R is detected by the input detection means 79. , The magnitude of which is calculated by the computing means 81, and the electric motor 26 generates auxiliary power of the same magnitude as human power, and the left wheel 4L has the same magnitude of human power applied to the right wheel 4R. The wheelchair 1 is reversed by power, and the wheelchair 1 turns left on the spot as shown in FIG.

On the other hand, when it is desired to turn the wheelchair 1 in the forward state to the right, as shown in Table 9, when the handicapped person holds the hand switch 84 with his right hand, the hand switch 84 is turned off.
Then, the polarity of the polarity changing means 82 is set to "-". Then, when the handicapped person manually reverses the hand rim 16 provided on the right wheel 4R side with a healthy right hand and right arm, the human power applied from the hand rim 16 to the right wheel 4R is detected by the input detection means 79, The magnitude thereof is calculated by the computing means 81, and the auxiliary power of the same magnitude as the human power is generated in the electric motor 26, and the left wheel 4L has the same magnitude of the human power applied to the right wheel 4R. Then, the wheelchair 1 turns right on the spot as shown in FIG.

Further, when it is desired to turn the wheelchair 1 in the reverse state to the right, as shown in Table 9, when the handicapped person holds the hand switch 84 with the right hand, the hand switch 84 is turned on.
Then, the polarity of the polarity changing means 82 is set to "-".
Then, the disabled person has a healthy right hand and right arm with the right wheel 4R.
When the hand rim 16 provided on the side is normally rotated by hand, the human power applied from the hand rim 16 to the right wheel 4R is detected by the input detection means 79, and the magnitude thereof is calculated by the calculation means 81, Electric motor 2
6, auxiliary power of the same magnitude as human power is generated, and the left wheel 4L is reversed by auxiliary power of the same magnitude as human power applied to the right wheel 4R. As shown in FIG. 1 turns left on the spot.

On the other hand, when it is desired to turn the wheelchair 1 in the forward state to the right, as shown in Table 9, when the handicapped person holds the hand switch 84 with his right hand, the hand switch 84 is turned off.
Then, the polarity of the polarity changing means 82 is set to "-". Then, when the handicapped person manually reverses the hand rim 16 provided on the right wheel 4R side with a healthy right hand and right arm, the human power applied from the hand rim 16 to the right wheel 4R is detected by the input detection means 79, The magnitude thereof is calculated by the computing means 81, and the auxiliary power of the same magnitude as the human power is generated in the electric motor 26, and the left wheel 4L has the same magnitude of the human power applied to the right wheel 4R. Then, the wheelchair 1 turns right on the spot as shown in FIG.

Further, when the user wants to turn the wheelchair 1 in the reverse state to the right, as shown in Table 7, when the handicapped person holds the hand switch 84 with his right hand, the hand switch 84 is turned on.
Then, the polarity of the polarity changing means is set to "-". Then, when the handicapped person manually reverses the hand rim 16 provided on the right wheel 4R side with a healthy right hand and right arm, the human power applied from the hand rim 16 to the right wheel 4R is detected by the input detection means 79, The magnitude thereof is calculated by the calculation means 81, and auxiliary power of the same magnitude as human power is generated in the electric motor 26, so that the left wheel 4
L is normally rotated by auxiliary power of the same magnitude as the human power applied to the right wheel 4R, and as shown in FIG.
Wheelchair 1 turns right on the spot.

As described above, also in this embodiment, even a handicapped person who cannot use his left arm at all can use the manual electric wheelchair 1 by freely performing the operations including the straight running and turning. .

In this embodiment, the wheelchair for the physically handicapped having a left arm is particularly described, but a wheelchair for the physically handicapped having a right arm can be similarly constructed.

[0155]

As is apparent from the above description, according to the present invention, even a physically handicapped person who has a disability in one arm can freely perform operations including straight traveling and turning to use a manual electric wheelchair. The effect of being able to do is obtained.

[Brief description of drawings]

FIG. 1 is a side view of a manual electric wheelchair according to a first embodiment of the first invention.

FIG. 2 is a plan view of the manual electric wheelchair according to the first embodiment of the first invention.

FIG. 3 is a rear view of the manual electric wheelchair according to the first embodiment of the first invention.

FIG. 4 is a side view showing the configuration of the auxiliary power unit (electric motor and power transmission mechanism) of the manual electric wheelchair according to the first embodiment of the first invention.

FIG. 5 is a cutaway plan view showing a configuration of an auxiliary power unit (electric motor and power transmission mechanism) of the manual electric wheelchair according to the first embodiment of the first invention.

FIG. 6 is a side view of the brake device portion of the manual electric wheelchair according to the first embodiment of the first invention.

FIG. 7 is a cutaway front view of the brake device portion of the manual electric wheelchair according to the first embodiment of the first invention.

FIG. 8 is a perspective view showing another embodiment of the battery installation structure.

FIG. 9 is a diagram showing a configuration of a control device for a manual electric wheelchair according to the first embodiment of the first invention.

FIG. 10 is a schematic diagram for explaining the operation of the manual electric wheelchair according to the first embodiment of the first invention.

FIG. 11 is a configuration diagram of a control device for a manual electric wheelchair according to a second embodiment of the first invention.

FIG. 12 is a schematic diagram for explaining the operation of the manual electric wheelchair according to the second embodiment of the first invention.

FIG. 13 is a configuration diagram of a control device for a manual electric wheelchair according to a third embodiment of the first invention.

FIG. 14 is a schematic diagram for explaining the operation of the manual electric wheelchair according to the third embodiment of the first invention.

FIG. 15 is a configuration diagram of a control device for a manual electric wheelchair according to a fourth embodiment of the first invention.

FIG. 16 is a schematic view of a manual electric wheelchair according to a fifth embodiment of the first invention.

FIG. 17 is a schematic view of a manual electric wheelchair according to a sixth embodiment of the first invention.

FIG. 18 is a schematic view of a manual electric wheelchair according to the first embodiment of the second invention.

FIG. 19 is a configuration diagram of a control device for a manual electric wheelchair according to the first embodiment of the second invention.

FIG. 20 is a configuration diagram of a control device for a manual electric wheelchair according to a second embodiment of the second invention.

FIG. 21 is a schematic view of a manual electric wheelchair according to a third embodiment of the second invention.

[Explanation of symbols]

 1 Manual Electric Wheelchair 4L, 4R Wheels 24L, 24R Encoder (Rotation Detection Means) 26 Electric Motor (Drive Means) 70 Control Device 74 Difference Circuit 75 Motor Control Means 76 Reverse Circuit 77L, 77R Duty Controller 78 Adjuster 79 Input Detection Means 80 Foot switch (turning intention detecting means) 81 Computing means 82 Polarity changing means 83 Distribution ratio changing means 84 Hand switch (turning intention detecting means)

Claims (2)

[Claims] 1. A turning intention detecting means for detecting an operator's intention of turning, a rotation detecting means for detecting a rotation direction and a rotation speed or a rotation angle of wheels, a driving means for rotationally driving one wheel, and another A hand-operated electric wheelchair characterized by including control means for controlling the drive means in accordance with a combination of a rotation direction of wheels and a turning intention of an operator detected by the turning intention detecting means. 2. A turning intention detecting means for detecting an operator's intention of turning, and an input detecting means for detecting a direction and a magnitude of a human power applied to one wheel by the operator,
The driving means is controlled by a driving means for rotating at least the other wheel, and a combination of the operator's intention of turning detected by the turning intention detecting means and the direction and magnitude of the human power detected by the input detecting means. A manual electric wheelchair characterized by being configured to include a control means.