JP2002211408A - Independently driven four wheeled motorized wheelchair capable of climbing up and down stairs - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a wheelchair not requiring transfer in climbing up and down stairs where an exclusive lift is developed and partly used for a conventional wheelchair which cannot climb up and down stairs but it is necessary to transfer a user every time. SOLUTION: This independently driven four wheeled motorized wheelchair capable of climbing up and down stairs is composed so that it can climb up and down stairs like an inchworm by attaching each driving wheel 4 and idle wheel 6 to respective links and combining a link motion with a set of the idle wheels 6 and a drive by the driving wheels 4.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a four-wheel independent electric wheelchair which can be used for both normal running and stair running.

[0002]

2. Description of the Related Art In conventional wheelchairs for ascending and descending stairs, those of a caterpillar type or an eccentric wheel type, and those in which each wheel is constituted by three or four wheels in a radial manner have been developed and are partly used. It can be said that it is practically impossible to use these as a wheelchair for normal running.

[0003]

In the conventional wheelchair for climbing stairs, it is practically impossible to use the wheelchair for the normal running as described above. Therefore, from the side of using the wheelchair, it is necessary to change every time. At present, it can not be said that it can be used exhilaratingly, and the development of a wheelchair that can run on stairs and on hills without changing trains has been awaited.

[0004]

In order to solve the above-mentioned problems, a four-wheel independent drive electric wheelchair capable of moving up and down stairs according to the present invention has drive shaft links provided at both ends of a plurality of link drive shafts provided on a base frame. Is fixed at one end and a drive wheel is provided at the other end, the link drive shaft can be driven by each drive device A, and an idler link is rotatably provided at the end of the link drive shaft, By providing an idle wheel at the other end and connecting the intermediate portion between the drive shaft link and the idler link with the actuator A, the drive wheel and the idle wheel maintain and maintain a predetermined distance when going up and down stairs and assist. By doing so, it became possible to go up and down the stairs smoothly like a shading insect.

[0005] When climbing up and down stairs, it is necessary to adjust the angle between the base frame and the wheelchair seat in order to adjust the wheelchair itself to the stairs gradient (about 30 degrees). The seat is configured to be able to hold a horizontal position.

[0006] In order to ensure the safety of the user, strict control is required not only in normal traveling but also in traveling speed and especially in stair climbing and descending, and also in strict control of the attitude control of the vehicle body. The operation unit is separated separately from the one used when the vehicle is running, and the operation is switched by a changeover switch to prevent troubles.

[0007]

Embodiments of the present invention will be described with reference to the drawings. FIG. 1 shows an overall side view of a four-wheel drive electric wheelchair that can be moved up and down stairs. A link drive shaft 2 is rotatably provided so as to penetrate a side plate at both front and rear ends of a box-shaped base frame 1, a drive shaft link 3 is fixed to both ends thereof, and a drive wheel 4 is turned at the other end. It is provided movably. An idler link 5 is rotatably provided at both ends of the link drive shaft 2, and an idle wheel 6 is rotatably provided at the other end, and the drive shaft link 3 and the idler link 5 are provided.
The two intermediate portions are connected by a linear actuator A7 so that the positional relationship between the two links can be adjusted. The adjustment of the positional relationship described above is such that the drive wheel 4 and the idle wheel 6 complement each other when the stairs are climbed up and down, so that the drive wheels 4 and the idle wheels 6 complement each other, so that the steps are surely made one by one in a "shape insect" shape. It is configured to be able to go up and down stairs. The above-described series of operations is shown in a side view of FIG.

By driving each of the link drive shafts 2 with an individual drive unit A8, the inclination of the base frame 1 at the time of ascending and descending the stairs is adjusted so as to be kept close to the stairs inclination (about 30 degrees). In order to adjust the angle of the wheelchair seat portion 12 with respect to the frame 1, a linear actuator B13 is provided between the two to stabilize the sitting position of the user. By doing so, the effect of moving the center of gravity including the user in the upward direction of the stairs is produced, and furthermore, the stairs can be more stably moved up and down, and the user's eyes can be brought closer to the stairs side. The effect of reducing the fear of going up and down the stairs can also be obtained.

FIG. 5 is a block diagram of a control system. In a four-wheel independent drive electric wheelchair in which the positional relationship (angle) of the drive shaft link 3 is adjusted by the link drive shaft 2, the control means 14
Incorporates a microcomputer 15 to show the positional relationship among the base frame 1, the drive shaft link 3, the idler link 5, and the wheelchair seat 12 when going up and down stairs.
The configuration is such that it can be input in advance and output, so that it can respond to the operation steps of each part at the time of going up and down stairs.

In order to ensure the safety of operation when going up and down the stairs, the control system is divided into a normal running mode and a stair running mode.
By making the switch 7 independent and providing the changeover switch 18, it is possible to prevent operation errors due to inexperience in operation, and it is possible to ensure safety especially when going up and down stairs.

In the present invention, the tread surface dimension (2
80 mm) and the kick-up dimension (160 mm), but the drive wheel link 3 and the idler link 5
By connecting the intermediate portions to each other with a linear actuator A7 and adjusting the degree of opening between the two links, it is possible to cope with a staircase having dimensions near the standard staircase.

Since the drive wheel 4 is provided at the end of the drive shaft link 3, the drive shaft link 3 can be used when a user gets on and off the vehicle.
By inclining the wheelchair, the height of the wheelchair seat portion 12 can be adjusted within a predetermined range, so that there is a merit that the passenger can easily get on and off, and it can be said that this is a great gospel for people with disabilities and elderly people. When running during rainfall, dirt on the feet due to raindrops or the like is a concern, but if the vehicle is adjusted to the highest position by the above-described vehicle height adjustment function, dirt due to splashing of raindrops can be prevented.

Since the small charging device 20 is provided inside the base frame 1 to increase charging opportunities, charging on the go is also possible, and restrictions on behavior are reduced, and the effect of expanding the range of behavior can be obtained. It will be.

Since the solar panel 21 can be mounted on the wheelchair seat portion 12 using the backrest and the armrest, auxiliary charging can be performed when the vehicle is running outdoors in fine weather. Of course, the solar panel 21 will also serve as a rain shield during rainfall.

[0015]

The effects obtained by implementing the present invention will be described below. (1) It is possible to go up and down stairs without transferring. Several wheelchairs for stair climbing have been developed for exclusive use, and some of them are in use, but none of them can be used as wheelchairs for traveling on level ground. In the four-wheel independent drive electric wheelchair capable of ascending and descending stairs of the present invention, since the user can ascend and descend stairs without the trouble of changing, the convenience for wheelchair users is greatly improved, and the burden on the attendant is also increased. It is greatly reduced, and it can be said that there is a possibility of single use in a case where the condition of the wheelchair user is favorable.

(2) It is possible to ensure safety when going up and down stairs. Regarding the safety at the time of climbing the stairs, the mutual stabilization and the movement of the link with the idle wheel attached to each of the four independent drive wheels allow the ascending and descending of the stairs to be ensured. Correspondingly, since the configuration is such that the inclination of the wheelchair seat can be adjusted, there is an advantage that the user can maintain a stable sitting position. Further, the operation unit is divided into a normal traveling operation unit and a stair traveling operation unit, and by providing a changeover switch, it is possible to ensure safe and reliable stair climbing.

(3) The fear of climbing up and down stairs can be reduced. When going up and down the stairs, the position of the line of sight of the wheelchair user is significantly higher than in the case of traveling on flat ground due to the stairs gradient, which gives a sense of fear. As a result, the position of the line of sight is kept low when going up and down the stairs, which has the effect of reducing fear, and the effect can be further increased by lowering the backrest of the wheelchair seat. is there.

(4) Restrictions on actions are reduced by reducing the width of the vehicle body. With a normal wheelchair, it is not possible to pass through the door part of the Shinkansen vehicle, so it is necessary to move to the seat without bothering the attendant, but in the present invention, since the entire width of the vehicle is suppressed, it moves directly to the side of the vehicle seat And it becomes very easy to move to the seat. This makes it easy to move in a narrow place even when performing indoors and outdoors, so that there is an advantage that restrictions on the behavior are reduced. Even in the use of `` wheelchair storage '' in Shinkansen vehicles etc. that are expected to be realized soon, in the four-wheel drive electric wheelchair of the present invention, it is possible to `` turn on the spot and back '' taking advantage of the four-wheel independent drive, The ability to park in tight spaces will be utilized

(5) Getting on and off the vehicle is facilitated by adjusting the seat height. By adjusting the angle of the drive shaft link from the reference position in the direction to lie down, the height of the seat surface of the wheelchair seat can be made closer to the floor, so that it is easy to get on and off the wheelchair seat.

(6) It is possible to prevent the feet from being stained when traveling in rainy weather. In the configuration described in the preceding paragraph, the seat surface can be made high, so that the rebound of raindrops or the like during traveling in rainy weather can be reduced, thereby preventing dirt on the feet.

(7) When the vehicle is stopped, a reliable braking effect can be expected. By using a planetary reducer for the drive wheels, a reliable braking effect can be expected when the vehicle is stopped, and it can be particularly effective when parking or stopping on a steep slope.

(8) The range of action can be expanded. By installing a solar panel that also functions as a rain shield, it is possible to charge the power battery device supplementarily, and it is possible to charge on the go by installing a small charging device, which has the advantage of expanding the range of action to be born.

[Brief description of the drawings]

FIG. 1 is an overall side view showing an embodiment.

FIG. 2 is a partial front sectional view showing the embodiment.

FIG. 3 is an overall plan sectional view showing an embodiment;

FIG. 4 is a side view showing each step position when going up and down stairs.

FIG. 5 is a block diagram of a control system.

[Description of Signs] 1 Base frame 2 Link drive shaft 3 Drive shaft link 4 Drive wheel 5 Idle link 6 Idle wheel 7 Linear actuator A 8 Drive device A 9 Drive device B 10 Wheelchair seat support pin 11 Wheelchair seat support Reference Signs List 12 Wheelchair seat 13 Linear actuator B 14 Control means 15 Microcomputer 16 Normal running operation unit 17 Stair climbing operation unit 18 Changeover switch 19 Power supply battery device 20 Small charging device 21 Solar panel

Claims (2)

[Claims] 1. A four-wheel independent drive type electric wheelchair,
A plurality of link drive shafts 2 are rotatably provided so as to penetrate side plates at both front and rear end portions of the box-shaped structure base frame 1, a drive shaft link 3 is fixed to both end portions, and a drive wheel 4 is provided at the other end portion. Are provided rotatably, idler links 5 are rotatably attached to both ends of the link drive shaft 2, and idle wheels 6 are rotatably provided at other ends.
The drive shaft link 3 and the idler link 5 are connected to each other by a linear actuator A7 so that the positional relationship between the two links can be adjusted.
Is driven by an individual driving device A8 so that the positional relationship of the driving shaft link 3 with respect to the base frame 1 can be adjusted when moving up and down stairs. A driving device B9 for rotatably driving the driving wheel 4 is provided. The seat support 11 is tiltably held via a seat support pin 10 provided at a predetermined position on the side plate of the base frame 1, and the mutual positional relationship between the wheelchair seat portion 12 and the base frame 1. A four-wheel independently driven electric wheelchair that can be moved up and down stairs provided with a linear actuator B13 for adjusting the wheelchair. 2. A plurality of link drive shafts 2 and drive shaft links 3.
In a four-wheel independent drive electric wheelchair capable of adjusting the positional relationship of the drive wheel 4 with respect to the base frame 1 and capable of ascending and descending stairs, a microcomputer 15 is incorporated in the control means 14 so that the drive shaft link 3 with respect to the base frame 1 can be adjusted when ascending and descending stairs. And the positional relationship between the idler link 5 and the positional relationship in each step of the ascending and descending steps of the stairs for adjusting the degree of inclination between the base frame 1 and the wheelchair seat 12 are output by inputting and outputting the stairs. It becomes possible to cope with necessary operations at each step when ascending and descending. By providing a normal traveling operation unit 16, a stairs elevating operation unit 17 and a changeover switch 18 in an operation system, an operation error is prevented, and A power supply battery device 19 and a small charging device 20 are provided, and the wheelchair seat portion 1 is provided.
2. The four-wheel independent drive electric wheelchair according to claim 1, wherein the solar panel 21 is detachably attached to the ceiling of the vehicle 2 to enable charging on the go or auxiliary charging in fine weather.