JP2003153962A - Braking device for manual type wheelchair - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a braking device for a manual type wheelchair which prevents moving backward on an upward slope, which requires no large force for moving forward on the upward slope, and which automatically provides speed control on a downward slope. SOLUTION: This device is provided with bearing units 9 with sensors rotatably supporting main wheels to frames and detecting the rotation speed or acceleration and the rotating direction of the main wheels, and a controller 33 to control the main wheels by a brake 7 based on the rotating direction and the rotation speed or acceleration detected by the bearing units 9 with sensors. The controller 33 brakes the main wheels when the rotation speed or acceleration of the main wheels in accordance with the rotating direction reaches a prescribed set value or more.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a brake device for a manual wheelchair.

[0002]

2. Description of the Related Art A user of a manual wheelchair is required to prevent backward movement on an uphill and prevent forward movement of a wheelchair on a downhill at high speed.

As a brake device for a manual wheelchair that meets such requirements, a brake device described in Japanese Patent Laid-Open No. 2001-247029 is known. The brake device described in the above publication includes a brake member, a rod for pressing the brake member against the main wheel, a cam device for converting the swing of the operating lever into a forward / backward movement of the rod, and a direction for separating the brake member from the main wheel. And a reverse movement prevention device for preventing movement of the rod. Then, the rod is moved via the cam device by the operation of the operation lever, whereby the brake member is pressed against the main wheel, and as a result, speed control on a downhill is performed. In addition, even if the user releases his / her hand from the operating member while the brake member is being pressed against the main shaft, the reverse motion preventing device keeps the brake member in the pressed condition and prevents the backward movement of the wheelchair on the uphill. It is designed to be.

However, in the case of the above braking device,
Since the brake member is constantly pressed against the main wheels to prevent the wheelchair from moving backward on an uphill, there is a problem that a large amount of force is required to move forward on an uphill. Further, since a relatively large force is required to operate the operation lever, it is difficult to use the wheelchair depending on the degree of disability.
Furthermore, since the lever operation is required, the use is limited for people with intellectual disabilities and visually impaired people.

An object of the present invention is to solve the above problems, prevent backward traveling on an uphill, do not require a large force for forward traveling on an uphill, and automatically perform speed control on a downhill. The object is to provide a brake device for a manual wheelchair that can be used.

[0006]

A braking device for a manual wheelchair according to the invention of claim 1 is a rotation sensor means for detecting a rotation speed or a rotation acceleration of a main wheel, and a rotation sensor, respectively. And a control means for braking the main wheel by the braking means based on the rotation direction and the rotation speed or the rotation acceleration detected by the means.

According to the brake device for a manual wheelchair of the first aspect of the invention, when the rotation sensor means detects that both main wheels are rotating forward in the forward direction, the control means rotates the main wheel. When the speed or rotational acceleration is higher than the rotational speed or rotational acceleration during normal forward travel, the braking means brakes the main wheels. Therefore, the speed control is automatically performed when the vehicle is traveling downhill, and it is possible to prevent the vehicle from traveling at high speed.

Further, when the rotation sensor means detects that the two main wheels are reversely rotating in the reverse direction, the control means causes the rotation speed or the rotational acceleration of the main wheel to be the rotation speed or the rotational acceleration during the normal reverse movement. If it is larger than the above, the braking means brakes the main wheels. Therefore, when the vehicle moves forward on an uphill, the braking means prevents the vehicle from moving backward only when the vehicle starts moving backward at a constant speed. You don't need much power to move forward.

Further, when the wheelchair turns, it is detected by the rotation sensor means that one main wheel rotates forward in the forward direction and the other main wheel rotates backward in the reverse direction.
The control means brakes the main wheel by the braking means when the rotational speed or rotational acceleration of the main wheel is higher than the rotational speed or rotational acceleration during normal turning. Therefore, when turning, a sharp turn is prevented. Moreover,
Since the main wheels are braked only when a sharp turn starts to prevent the turn, a large amount of force is not required for a normal turn.

A braking device for a manual wheelchair according to a second aspect of the present invention is the braking device for a manual wheelchair according to the first aspect of the invention, when the control means has a rotational speed or rotational acceleration of the main wheels depending on the rotational direction exceeds a predetermined value. It is designed to brake the main wheels.

In the braking device for a manual wheelchair according to the invention of claim 3, in the invention of claim 2, when the control means rotates both main wheels in the forward direction, the rotation speed or rotation of one of the main wheels. Both main wheels are braked when the acceleration exceeds a predetermined set value, and if both main wheels are rotating in reverse, the rotational speed or rotational acceleration of one of the main wheels exceeds the predetermined set value. When both main wheels rotate in different directions, both main wheels are braked when the rotational speed or acceleration of one of the main wheels exceeds a specified value. It is designed to do.

In the invention of claim 3, when both main wheels are forwardly rotating and moving forward, when both main wheels are rotating reversely and moving backward, and when the two main wheels rotate in different rotation directions. In both cases, if the rotational speed or rotational acceleration of both main wheels are different, both main wheels will rotate when the rotational speed or rotational acceleration of the main wheel at high speed exceeds a specified value. Braking the wheels is preferred for safety reasons.

According to a fourth aspect of the present invention, in the brake device for a manual wheelchair according to the third aspect of the invention, the set value when both main wheels are normally rotating is when both main wheels are reversely rotating. And the set value is higher than the set value when the rotation directions of both main wheels are different from each other.

A brake device for a manual wheelchair according to a fifth aspect of the present invention is the brake device according to any one of the first to fourth aspects, wherein the rotation sensor means has a sensor for rotatably supporting the main wheel with respect to the frame. It consists of a rolling bearing unit. In this case, the structure of the rotation sensor means is simplified as compared with the case where the rotation sensor means is provided separately from the rolling bearing that rotatably supports the main wheel with respect to the frame.

In a fifth aspect of the present invention, the rolling bearing unit with a sensor includes a magnetic sensor such as a Hall element or an MR element, and a pulsar ring in which a large number of magnetic poles are alternately formed at equal intervals. It is preferable to use one. In this case, a rotation signal output from low rotation can be expected, which is suitable for a wheelchair with a low speed.

[0016]

BEST MODE FOR CARRYING OUT THE INVENTION Embodiments of the present invention will be described below with reference to the drawings.

FIG. 1 shows the overall structure of a manual wheelchair equipped with a brake device according to the present invention, and FIGS. 2 and 3 show the structure of a portion for rotatably supporting a main wheel on a frame of the manual wheelchair. Reference numeral 4 shows an electrical configuration of the brake device.

In FIG. 1, a manual wheelchair (1) is rotatable on a body frame (2), a step (3) attached to the body frame (2) and a seat (4), and a body frame (2). A pair of main wheels (5) attached to and a pair of auxiliary wheels (6) located in front of both main wheels (5), and a hydraulic brake (which applies braking force to both main wheels (5) 7) and are provided.

Both main wheels (5) are rolling bearing units with a sensor, which constitute the brake device according to the present invention.
It is rotatably attached to the body frame (2) via (9).

As shown in FIG. 2, the rolling bearing unit with a sensor (9) includes a rolling bearing (10), a sensor device (11) provided on the rolling bearing (10), and a pulsar ring (a portion to be detected). 12) and are provided.

The rolling bearing (10) itself is the same as an ordinary sealed bearing provided with a non-contact type shield plate or a sealed bearing provided with a contact type rubber seal, and the inner ring (1
3), an outer ring (14) which is a rotating wheel, and balls (15) and a cage (16) which are a plurality of rolling elements arranged between them. Inner ring (13) is an axle fixed to the body frame (2)
The outer ring (14) is mounted on the outer periphery of (17) and the outer ring (14) is the hub of the main wheel (5).
It is attached to the inner circumference of (18).

An annular seal groove (19) is formed on the left shoulder of the outer peripheral surface of the inner ring (13), and an annular shield groove (2
0) is formed. The inner peripheral edge portion of a normal contact seal (21) is fitted into the left seal groove (19), and the outer peripheral edge portion of the contact seal (21) is in contact with the inner peripheral surface of the outer ring (14).

Non-contact type shield in the right shield groove (20)
The inner peripheral edge of the (22) is fitted, and the outer peripheral edge of the shield (22) is close to the inner peripheral surface of the outer ring (14). And the shield (2
A sensor device (11) is fixed and supported on the outside of 2).

The sensor device (11) includes a case (23) fixed to the shield (22), a synthetic resin holding member (24) closely fitted in the case (23), and a holding member (24). Hall element (25), which is a sensor held by the sensor, and a detection circuit (2) that is also held by the holding member (24) and connected to the hall element (25).
6) and are provided. As the sensor, a semiconductor magnetic sensor such as an MR element or an electromagnetic induction type sensor is also used.

The case (23) has an annular shape as a whole, and its cross-sectional shape is a U-shape opening to the left. The left edge of the inner peripheral wall of the case (23) is bent outward in the radial direction and leftward, and the left bent portion (23a)
Is fixed to the outer peripheral surface of the right bent portion (22a) integrally formed with the inner peripheral edge of the shield (22). The holding member (24) has an annular shape, and an annular recess (27) is formed in the left side surface of the holding member (24) at the center of the width in the radial direction over the entire circumference. The Hall element (25) is an inner peripheral surface of the annular recess (27) of the holding member (24).
The cable (28) connected to the detection circuit (26) is fixed to the case (2) by being embedded in the (27a) and facing outward in the radial direction.
It is pulled out of 3).

A stepped short cylindrical support member (29) is fixed to the right end portion of the inner peripheral surface of the outer ring (14). The small diameter portion (29a) protruding to the right of the outer ring (14) of the support member (29) is
The holding member (24) is located radially outward of the inner peripheral surface (27a) of the annular recess (27). The pulsar ring (12) is fixed to the inner peripheral surface of the small diameter part (29a) of the support member (29), and the hall element
It faces (25) closely from the outside in the radial direction. As shown in FIG. 3, a large number of magnetic poles (N poles and S poles) are alternately formed at equal intervals on the inner peripheral surface of the pulser ring (12) facing the Hall element (25). Balcer Ring (12)
As the above, when an electromagnetic induction type sensor is used, a magnetic plate having slits or punched windows formed in the circumferential direction may be used.

As shown in FIG. 4, the brake device includes a hydraulic brake (7), an electric motor (32) for operating a hydraulic pump (31) for supplying pressure oil to the hydraulic brake (7), and Rolling bearing unit with two sensors for detecting the rotation direction and rotation speed or rotation acceleration of the main wheel (5)
(9), a controller (33) for controlling the electric motor (32) based on the output of each sensor-equipped rolling bearing unit (9), and a sensor-equipped rolling bearing unit (9) via a power supply unit (34)
And a battery (35) for directly supplying current to the electric motor (32) while supplying current to the controller (33). The controller (33) is provided on the lower surface of the seat (4) (see FIG. 1).

Although not shown, the manual wheelchair (1) may be provided with a brake operated by an assistant or a manual brake operated by a user sitting on the seat (4).

In the above-mentioned manual wheelchair (1), for example, when going downhill, it is detected by the rolling bearing unit with sensor (9) that both main wheels (5) are rotating forward in the forward direction. It Then, the controller (33), if the rotational speed or rotational acceleration of both main wheels (5) detected by the rolling bearing unit with sensor (9) is equal, the rotational speed or rotational acceleration of both main wheels (5). However, when the rotational speed or rotational acceleration of both main wheels (5) is different, the electric motor (32 ) Is turned on, which activates the hydraulic pump (31) to release the pressure oil to the hydraulic brake (7).
And the braking force is applied to both main wheels (5) by the hydraulic brake (7). Therefore, speed control is automatically performed during forward movement on a downhill, and forward movement at high speed is prevented.

In addition, when climbing uphill, a manual wheelchair
(1) When the reverse drive starts, the rolling bearing unit with sensor
It is detected by (9) that both main wheels (5) are reversely rotating in the reverse direction. Then, the controller (33), if the rotational speed or rotational acceleration of both main wheels (5) detected by the rolling bearing unit with sensor (9) is equal, the rotational speed or rotational acceleration of both main wheels (5). However, when the rotational speed or rotational acceleration of both main wheels (5) is different, the electric motor (32 ) Is turned on, thereby operating the hydraulic pump (31) to supply pressure oil to the hydraulic brake (7), and the braking force is applied to both main wheels (5) by the hydraulic brake (7). Therefore, when moving forward on an uphill road, the hydraulic brake should be used only when backward movement starts at a constant speed.
Since the backward movement is prevented by (7), the braking force by the hydraulic brake (7) does not act at the time of forward movement, and a large force is not required for forward movement on the uphill.

Further, when the wheelchair (1) turns, the sensor-equipped rolling bearing unit (9) causes one main wheel (5) to rotate forward in the forward direction and the other main wheel (5) to rotate in the reverse direction in the reverse direction. Is detected. Then, the controller (33)
If the rotational speeds or accelerations of both main wheels (5) detected by the sensor-equipped rolling bearing unit (9) are equal, the rotational speeds or accelerations of both main wheels (5) become High-speed main wheels when the rotational speed or rotational acceleration is different
When the rotation speed or rotation acceleration of (5) exceeds the specified setting value, turn on the electric motor (32),
This activates the hydraulic pump (31) to supply pressure oil to the hydraulic brake (7), and to both main wheels (5) the hydraulic brake (7).
The braking force is applied by. Therefore, when turning, a sharp turn is prevented. Moreover, since the main wheel (5) is braked only when a sudden turn starts to prevent the turn, a large amount of force is not required for a normal turn.

[Brief description of drawings]

FIG. 1 is a side view of a manual wheelchair equipped with a brake device according to the present invention.

FIG. 2 is a longitudinal sectional view of a lower half of a rolling bearing unit with a sensor for rotatably supporting a main wheel on a frame of a manual wheelchair.

FIG. 3 is a development view of a part of the pulsar ring of FIG. 2 viewed from the inner peripheral surface side.

FIG. 4 is a block diagram showing an electrical configuration of a brake device.

[Explanation of symbols]

(1): Manual wheelchair (2): Body frame (5): Main wheel (7): Hydraulic brake (9): Rolling bearing unit with sensor (33): Controller

Claims (5)

[Claims] 1. A rotation sensor means for respectively detecting a rotation speed or a rotation acceleration of a main wheel and a rotation direction, and a braking means based on the rotation direction, the rotation speed or the rotation acceleration detected by the rotation sensor means. A braking device for a manual wheelchair, which comprises a control means for braking a wheel. 2. The manual wheelchair according to claim 1, wherein the control means is adapted to brake the main wheels when the rotational speed or rotational acceleration of the main wheels in accordance with the rotational direction exceeds a predetermined set value. Brake equipment. 3. The control means brakes both main wheels when the rotational speed or rotational acceleration of any one of the main wheels is equal to or greater than a predetermined set value when both main wheels are rotating normally. When both main wheels are rotating in reverse, both main wheels are braked when the rotational speed or rotational acceleration of one of the main wheels exceeds a specified value, and the rotation directions of both main wheels are mutually 3. The brake device for a manual wheelchair according to claim 2, wherein if the rotational speeds or rotational accelerations of any one of the main wheels are different from each other, the two main wheels are braked when different. 4. The set value when both main wheels are rotating normally is higher than the set value when both main wheels are rotating in reverse and the rotating directions of both main wheels are different from each other. The brake device for a manual wheelchair according to claim 3. 5. The brake device for a manual wheelchair according to claim 1, wherein the rotation sensor means comprises a rolling bearing unit with a sensor for rotatably supporting the main wheel with respect to the frame.