JP2004049910A - Electric wheelchair capable of ascending or descending on staircase - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an electric wheelchair which makes a riding person feel safe and enables it to ascend or descend on staircases by keeping the wheelchair body horizontally constantly in passing through steps or running on hills. <P>SOLUTION: This electric wheelchair is constituted of a horizontal holder which is mounted with front and rear wheels suspended individually with link mechanisms 8a, 8b, 8c, 9a, 9b and 9c provided on the left and right of the wheelchair body and drives the link mechanisms with a motor 10 operated with a horizontal detection sensor for keeping the wheelchair body horizontally and by a moving means linked to the motor, a lifting device which has rotatable arms 3c and 4c disposed at an eccentric position of the axle of the wheels inside the front and rear wheels, and comprises motors 6 and 7 to be operated by a sensor for detecting steps and a rotational position detection sensor for arms and a rotation means for driving the arms and a motor 5 for running. <P>COPYRIGHT: (C)2004,JPO

Description

[0001]
[Technical field to which the invention belongs]
The present invention relates to an electric wheelchair, and more particularly, to an electric wheelchair that can keep a vehicle body level and move up and down steps such as stairs when climbing up and down stairs and traveling on slopes.
[0002]
[Prior art]
Conventional electric wheelchairs that can move up and down stairs are devices that can only be used to move up and down stairs, and are not suitable for traveling in general passages. The current situation is not on the market.
[0003]
[Problems to be solved by the invention]
The problem to be solved is to secure stability when going up and down the stairs, and the vehicle body is leveled so that the change in the center of gravity of the vehicle body is minimized when there is a height difference between the front and rear wheels of the wheelchair. The stairs are moved up and down so as to give a sense of security to the passengers, and the same passage as a normal electric wheelchair can be performed in the general aisle.
[0004]
[Means for Solving the Problems]
The present invention suspends a front and rear wheel axle frame by a pair of left and right fixed fulcrums attached to the front and rear of a wheelchair body and a link mechanism pin-coupled thereto, and from a slide rail, a screw shaft, etc. A horizontal holding device that connects the linear moving means to the link mechanism, drives the linear moving means by an electric motor controlled by a horizontal detection sensor for keeping the vehicle body level, and moves a front wheel or a rear wheel up and down; A rotatable arm is provided at an eccentric position above the axles of the front wheel frame and the rear wheel frame, a rotating means and an electric motor for rotating the arm, a sensor for detecting a step, and a rotational position of the arm are detected. It consists of a lifting device that moves up and down the stairs while touching the step with the tip of the arm by rotating or stopping the arm by controlling the sensor That.
[0005]
Also, as a general traveling vehicle body configuration, in this embodiment, each traveling motor is provided on the left and right of the front wheel, and by operating the joystick of the operation panel attached to the armrest tip of the seat part, it is possible to move forward and backward and to the left and right motors. By changing the course by giving a difference in rotation, or by rotating the left and right motors in opposite directions, the vehicle body can be turned around the middle position of the front wheels, and casters are attached to the rear wheels. It is configured to follow freely according to the driving direction of the front wheels.
[0006]
Therefore, in normal driving, it is possible to accurately determine the target by turning the toes of the passenger in the direction of travel, and when raising or lowering the stairs, it is necessary to move up and down while facing the stairs at right angles. In addition, the configuration of the vehicle body can be easily corrected even while the stairs are moving up and down.
[0007]
DETAILED DESCRIPTION OF THE INVENTION
Next, embodiments of the present invention will be described with reference to the drawings. 1 is an elevation view of an embodiment of the electric wheelchair of the present invention, FIGS. 2 and 3 are perspective plan views of the embodiment of the electric wheelchair of the present invention, FIG. It is divided and displayed. 4 to 6 are schematic views showing the main part in the state where the stairs are going up and FIGS. 7 to 9 are the main parts in the state where the stairs are going down. FIG. 10 is a plan view of the operation panel.
[0008]
A seat 1a is disposed at the top of the vehicle body 1 shown in FIG. 1, an operation panel 2 is attached to the tip of the armrest 1b, and a step 1c is provided at the lower part of the front end of the vehicle body. A pair of fixed fulcrums 1d and 1e are disposed on the left and right of the front and rear ends, and links A, 8a and 9a are attached thereto by means of rotatable pin connections. The other end of the link A is connected to the link B, 8b and 9b are pin-coupled to the intermediate positions, and the link B is pin-coupled to the slide blocks 8d and 9d and the front wheel frame 3a and the rear wheel frame 4a, respectively. Are connected to the slide block, the front wheel frame, and the rear wheel frame so as to be parallel to the link B, respectively.
[0009]
In addition, two pairs of slide rails 1f are arranged so as to be horizontal on both side surfaces of the vehicle body 1 (refer to FIG. 2 below), and each slide block is incorporated on the inner surface of the slide rail so as to slide. ,
Further, the screw shaft 10a is arranged at the front end of the bearing 10c and the rear end thereof is connected to the horizontal motor 10 so as to be parallel to the slide rail, and the slide block facing the left and right is connected. A screw shaft 10a is incorporated into a screw nut 10b that is joined by the rods 8e and 9e and integrated with the connecting rod, thereby constituting a link mechanism of the horizontal holding device.
[0010]
In FIG. 1, fixed fulcrums 1d and 1e are set on the extension of the center line of each slide rail 1f, and the pin coupling portions of links B, 8b and 9b on the vertical line of the fixed fulcrum, that is, the front wheel frame 3a. When the slide blocks 8d and 9d move horizontally by the rotation of the horizontal electric motor 10 by setting the connecting portion of the rear wheel frame 4a, the front wheel frame 3a and the rear wheel frame 4a move vertically and are arranged on the vehicle body 1. The level detection sensor 2g provided senses the tilt of the vehicle body. For example, when the front is tilted upward, the rear wheel moves vertically downward to push up the rear of the vehicle body and control the vehicle body to remain horizontal. In addition, a limit switch (not shown) for confirming the origin position is provided so that the front wheel and the rear wheel do not operate simultaneously, thereby constituting a horizontal holding device.
[0011]
In FIG. 3, a front wheel frame 3a has a U-shape, and an axle 3b of a front wheel 3 and a rotation shaft of an arm 3c are disposed on both left and right ends, and a rotation transmission pulley 5b is provided on each shaft. 6b are attached to the vehicle body, and driving motors 5 for driving the front wheels to the left and right of the center of the vehicle body are disposed on the front wheel frame 3a and are coaxial with the axle 3b (refer to FIG. 1 below) through the pulley 5a and the belt 5c. An elevator motor 6 is disposed at the center of the front wheel frame 3a and is connected to the pulley 5b. An arm drive shaft 6d rotated by the motor is pivoted at both ends to a bearing 3d disposed on the front wheel frame 3a. The rotation is transmitted from the pulley 6a supported and integrally attached to the tip of the arm drive shaft to the pulley 6b through the belt 6c, and the arm 3c coaxial with the pulley 6b is driven to rotate.
[0012]
3 is provided with swivelable casters 4e at both left and right end portions of the rear wheel frame 4a. A pair of left and right arms 4c are provided at both end portions of the arm drive shaft 7a inside the swivel range of the rear wheel 4 of the caster. The arm drive shaft is pivotally supported by a bearing 4d disposed on the rear wheel frame 4a, and the arm drive shaft is connected to a lifting motor 7 disposed at the center of the rear wheel frame 4a. Driven by rotation.
[0013]
FIG. 4 shows the operating state when the stairs are raised, and ascending the first step causes a difference in height between the front wheels and the rear wheels, and the horizontal detection sensor 2g is operated to keep the vehicle body 1 horizontal. The rear wheel frame 4a is vertically moved by the drive of the electric motor 10, and is in the state shown in FIG.
[0014]
Further, a lift detection sensor 2h is shown in the upper front part of the front wheel 3 and the rear wheel 4, and the lift detection sensor is attached to a safety cover (not shown) for protecting the rotation range of each arm 3c, 4c for operation. The lift detection sensor is set to be operable when the lift button 2c of the panel 2 (see FIG. 10) is pressed.
[0015]
The arm 3c and the arm 4c are stopped at the standby position shown in FIG. 4 when the traveling button 2b or the ascending button 2c of the operation panel 2 is pressed, and this standby position is set by an encoder inside the lifting motors 6 and 7. ing.
[0016]
In FIG. 4, the front wheel 3 finishes ascending the first step, starts to move forward by the traveling motor 5, the rising step sensor 2 h detects the second step, and the traveling motor 5 stops. At the same time, the arm 3c rotates to the right from the standby position and the tip of the arm 3c is in contact with the upper surface of the step.
[0017]
In FIG. 5, the arm 3 c further rotates clockwise, the front wheel 3 rises with the tip of the arm 3 c as a fulcrum, and at the same time, the horizontal detection sensor 2 g senses the inclination of the vehicle body 1 and further moves the rear wheel frame downward. Keeping level.
[0018]
FIG. 6 shows a state where the second stage stairs has been lifted. The encoder inside the lifting motor 6 senses that the arm 3c has passed the position shown in the figure, and the traveling motor 5 is started to move the wheel 3 to the third stage. The arm 3c rotates to the standby position at the same time.
[0019]
The rear wheel 4 is also operated by raising the step by a rise detection sensor 2h provided in front of the rear wheel and maintaining the level of the vehicle body 1 at the same time, but the situation varies depending on the depth dimension of the stairs. For example, if the rear wheel starts to rise while the front wheel is in the middle of ascending, it is assumed that the horizontal detection sensor slightly swings back and forth due to changes in the rotational angular velocity of the arms of the front and rear wheels. The movement may cause anxiety to the passenger.
[0020]
Therefore, it is possible to adjust the sensitivity setting of the horizontal detection sensor 2g and to adjust the rotation speed of the horizontal electric motor 10, but if possible, the front and rear wheels can be started to rise up the stairs at the same time. Although it is desirable to add a mechanism that can change the distance between axles, it is likely to be selected depending on the selling price.
[0021]
Although not shown in the present embodiment, in order to change the distance between the axles of the front and rear wheels, the fixed fulcrum 1e provided at the rear portion of the vehicle body 1 is configured to be movable in the horizontal direction, that is, the link mechanism is driven. A horizontal electric motor, a screw shaft, a slide rail, and the like are additionally provided, and a control program is created in which this control is linked to a front wheel rear wheel rise detection sensor 2h and a later-described fall detection sensor 2i. In this case, if the rear wheel lift detection sensor 2h detects the front wheel before the front wheel lift detection sensor 2h detects the fourth step, the rear wheel arm 4c is fixed without performing any operation. When the fulcrum 1e moves backward and the front wheel lift detection sensor 2h senses a step, that is, when both the front and rear wheels sense a step, the front and rear arms 3c and 4c simultaneously start to rotate. By this, the horizontal holding device can proceed to the top of the stairs without being activated, and is reset by pressing the travel button 2b of the operation panel 2 when moving to a flat road, and the fixed fulcrum 1e is positioned at the shortest distance. It will return and run on a flat road.
[0022]
FIG. 7 shows the operating state when the stairs are lowered, and the rider presses the lowering button 2d of the operation panel 2 in advance, so that the arms 3c and 4c of the front and rear wheels are encoders inside the respective lifting motors 6 and 7, respectively. The lowering detection sensor 2i is shown on the rear upper part of the front wheel 3 and the rear wheel 4, and the lowering detection sensor protects the rotation ranges of the respective arms 3c and 4c. It is attached to a safety cover (not shown) and is set so that the lowering detection sensor is activated when the lowering button 2d of the operation panel 2 is pressed.
[0023]
In FIG. 7, the center position of the front wheel 3 passes through the step, and the front wheel load moves to the arm 3c. At this time, the descent detection sensor 2i detects the step, and the traveling motor 5 stops rotating at the same time. The lifting / lowering motor 6 operates, and the arm 3c rotates clockwise.
[0024]
FIG. 8 shows the lowering of the staircase. The front wheel descends with the tip of the arm 3c as a fulcrum, and at the same time, the horizontal motor 10 is actuated by the horizontal detection sensor 2g and the vehicle body 1 is kept horizontal.
[0025]
In order to prevent the lifting / lowering motor 6 from rotating at a speed higher than the set speed in order to receive the front wheel load by the arm 3c, a worm gear is used as a speed reducer for the lifting / lowering motor, and the arm standby position is set. In order to increase the stopping accuracy, the built-in brake is provided in the lifting motor, and the brake is set to operate when the lifting motor is stopped.
[0026]
FIG. 9 shows the descending end state of the staircase. A descending end sensor 2j is provided at a position slightly rearward of the arms 3c and 4c, and an overrun sensor 2k is illustrated slightly above the front of the axles 3b and 4b. The lowering end sensor and the overrun sensor are attached to a safety cover (not shown) that protects the rotation range of each arm 3c, 4c, and when the lowering button 2d of the operation panel 2 is pressed, the lowering end sensor and the overrun sensor. The sensor is set to be operable.
[0027]
In FIG. 9, when the fact that the arm 3c has come to the lowering end position is sensed by the encoder inside the lifting motor 6, the vehicle body moves forward by the traveling motor 5, and then the lowering end sensor 2j senses a step. As a result, the arm 3c rotates counterclockwise and moves to the lowering standby position in FIG. 7 and stops. However, if the overrun sensor 2k detects a step before the arm 3c reaches the lowering standby position, the traveling motor 5 stops. When the arm 3c reaches the lowering standby position, the operation proceeds to the next step lowering operation.
[0028]
FIG. 10 is a plan view of the operation panel 2. The direction of travel can be instructed by tilting the joystick 2a in the direction of the arrow. When the hand is released from the joystick 2a, it returns to the neutral position and the motor for traveling stops and brakes. Operates. When driving on a flat road, the front and rear arms 3c and 4c are moved to their respective standby positions by pressing the travel button 2b, ascending the staircase and pressing the ascending button 2c. The sensor is activated. The speed adjustment knob 2e can be adjusted in the range of 2 km to 6 km / h with a travel speed adjustment dial, and 2f is a display lamp indicating the remaining capacity of the battery.
[0029]
The tips of the arms 3c and 4c have a semicircular shape, and even when climbing a step higher than the rotation axis of the arm, the arms 3c and 4c can be hooked and raised at the semicircular neck portion. In order to move forward while rolling on the upper surface, it has a shape that increases the certainty at the time of raising and lowering, and the outer peripheral portion is made of rubber to make it difficult to slip.
[0030]
The above description is one embodiment of the present invention, and the portion for driving the link mechanism of the horizontal holding device is not limited to the screw shaft, but a combination of a chain and sprocket, a belt and a pulley, a rack and a pinion gear, etc. Can achieve the same effect.
[0031]
【The invention's effect】
As described above, the electric wheelchair according to the present invention has the same body size as that of a conventional electric wheelchair for traveling on a flat road, and has the added value of being able to move up and down stairs while being equivalent in terms of usability. Provide additional electric wheelchairs.
[Brief description of the drawings]
FIG. 1 is an elevational view showing an embodiment of an electric wheelchair according to the present invention. FIG. 2 is a perspective plan view of the electric wheelchair shown in FIG.
3 is a perspective plan view of the electric wheelchair of FIG. 1. FIG.
FIG. 4 is an elevational view showing an operating state.
FIG. 5 is an elevational view showing an operating state.
FIG. 6 is an elevational view showing an operating state.
FIG. 7 is an elevational view showing an operating state.
FIG. 8 is an elevational view showing an operating state.
FIG. 9 is an elevational view showing an operating state.
FIG. 10 is a plan view of the operation panel.
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 1 Car body 1a Seat 1d Fixed fulcrum 1e Fixed fulcrum 1f Slide rail 2 Operation panel 2a Joystick 3 Front wheel 3a Front wheel frame 3c Arm 4 Rear wheel 4a Rear wheel frame 4c Arm 5 Driving motor 6 Lifting motor 7 Lifting motor 8a Link A
8b Link B
8c Link C
9a Link A
9b Link B
9c Link C
10 Horizontal motor 10a Screw shaft

Claims (1)

A pair of left and right fixed fulcrums arranged at the front and rear of the vehicle body, a link A that is pin-coupled to the fixed fulcrum, a link B that is pin-coupled to the other end of the link A, and a parallel to the link B The link C is connected to the front wheel frame and the rear wheel frame via pins, and the vehicle body is suspended by a link mechanism in which the other ends of the links B and C are respectively connected to the slide blocks. A horizontal holding device that moves the front wheel or the rear wheel up and down by operating the link mechanism by driving a linear moving means that is controlled by a horizontal detection sensor that senses the front / rear inclination, and the axles of the front wheel frame and the rear wheel frame A rotating means for rotationally driving the arm, a sensor for detecting a step, and a rotational position of the arm attached to the rotating means. Out sensor the arm rotation or stair lift device liftable electric wheelchair stairs, characterized in that configured in performing stopped by control of.

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