JP2006187472A - Device and method for electrically motorizing wheelchair - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a device for electrically motorizing a wheelchair which electrically motorizes a manually operated wheelchair and facilitates the attachment to the manually operated wheelchair and a method for electrically motorizing wheelchair. <P>SOLUTION: An attachment part 16 which is attached to and detached from a front wheel part 8 of the manually operated wheelchair 1, is formed into a shape of a box with a bottom, and has a recessed part 16d for retaining the front wheel 8 is provided. A driving wheel 20 and a driven wheel 18 for driving the manually operated wheelchair 1 by electric power are provided on the attachment part 16. A motor part 22 for driving the driving wheel 20 is provided on the attachment part 16. <P>COPYRIGHT: (C)2006,JPO&NCIPI

Description

  The present invention relates to a wheelchair electrification apparatus and a wheelchair electrification method that can easily electrify a manual wheelchair.

  Conventionally, manual wheelchairs have been widely used for the movement of people with reduced mobility. The manual wheelchair is moved by turning a hand rim attached to a self-supporting walking side ring, which is a rear wheel of the manual wheelchair, or by a caregiver holding the handwheel and pushing the manual wheelchair.

  Such a manual wheelchair requires a lot of labor when climbing a hill, and has a problem that the manual wheelchair has a low degree of freedom of movement and is inconvenient when a rider or a caregiver is weak.

  In order to avoid the above problem, it is conceivable to use an electric wheelchair instead of a manual wheelchair. However, the electric wheelchair is expensive, and the manual wheelchair that has been used up to now must be discarded, resulting in a disadvantage that the burden on the wheelchair is large.

  In order to suppress the economic burden due to such an inconvenience, a motorizing device (Patent Document 1) and an auxiliary driving device (Patent Document 2) that can be attached to a manual wheelchair and electrified have been proposed.

  In the above motorized device, a plate member attached with a motor is detachably attached to the inside of a frame main body having a seat of a manual wheelchair on the upper side, and the driving force of the motor is a self-supporting walking side ring that is a rear wheel of the manual wheelchair. The manual wheelchair is motorized by transmitting directly to the outer periphery of the wheelchair.

In the above auxiliary drive device, an auxiliary frame portion having a drive wheel and a motor for driving the drive wheel and a motor for driving the drive frame between each self-supporting walking side ring at the lower portion of the frame main body of the manual wheelchair is attached to the lower portion of the frame main body. The manual wheelchair is electrified by being attached and being driven by the motor while urging the driving wheel against the running surface by the spring.
JP 11-267157 A (publication date: October 5, 1999) JP 2002-301113 (Publication date: October 15, 2002)

  However, the configuration described in each of the above-mentioned conventional publications has a problem that it takes time to install. That is, in the above-mentioned motorization device, since the plate member to which the motor is attached is installed in the complicated pipe structure of the frame main body whose rigidity is enhanced by a structure such as a chasm structure, there is a problem that it takes time for installation. Further, in the above auxiliary driving device, it is necessary to attach the auxiliary frame part by turning over the frame body having a complicated pipe structure on the relatively heavy rear wheel side. Has produced a point.

  The present invention has been made in view of the above-described problems, and an object thereof is to realize a wheelchair electrification device and a wheelchair electrification method capable of simplifying (facilitating) attachment to a manual wheelchair.

  In order to solve the above-described problem, the wheelchair electrification apparatus according to the present invention electrically drives the manual wheelchair provided in the detachable attachment portion and the attachment portion with respect to the front wheel portion of the manual wheelchair. The drive part is comprised.

  According to the above configuration, the detachable attachment portion is attached to the front wheel portion of the manual wheelchair, the front wheel portion (for example, each front wheel) is separated from the traveling surface of the manual wheelchair, and the drive provided in the attachment portion By the unit, the manual wheelchair can be electrically driven to be electrically driven.

  Moreover, since the said structure is equipped with the attachment part which can be attached or detached with respect to the front-wheel part of a manual wheelchair, with respect to the front wheel part lighter than the rear-wheel side of a manual wheelchair, for example, it uses the rotation axis of each rear wheel as an axis | shaft above Since the front wheel portion can be lifted and the attachment portion can be attached, the attachment can be facilitated.

  In the wheelchair electrification apparatus, it is preferable that the attachment portion is configured to hold the front wheel portion.

  According to the said structure, since an attaching part hold | maintains a front-wheel part, the electric drive of the said manual wheelchair by the drive part provided in the attaching part can be stabilized.

  In the wheelchair electrification apparatus, it is desirable that the attachment portion is formed in a bottomed box shape.

  According to the above configuration, since the attachment portion is formed in a bottomed box shape, the front wheel portion of the manual wheelchair can be stored in the attachment portion, and attachment of the attachment portion to the front wheel portion and holding of the front wheel portion can be performed. Can be assured.

  In the wheelchair electrification device, a recess may be provided in the bottom portion of the attachment portion in order to fit and hold each front wheel of the front wheel portion.

  According to the said structure, since each front wheel is engage | inserted and hold | maintained by providing the said recessed part, attachment of the attaching part to the said front wheel part and holding | maintenance of the said front wheel part can be made still more reliable.

  In the wheelchair electrification device, the recess may be a hole that penetrates the bottom in the thickness direction. According to the said structure, since the recessed part was formed by the hole, the said recessed part can be formed by the process of simple punching, and formation of the said recessed part can be simplified.

  In the wheelchair electrification apparatus, a fitting portion for fitting and holding the front end portion of the front wheel portion from which the front wheel has been removed may be provided at the bottom portion of the attachment portion.

  According to the above configuration, since the front end portion of each front wheel portion is fitted and held by providing the fitting portions, the attachment of the attachment portion to the front wheel portion and the holding of the front wheel portion are further enhanced. Can be assured. In addition, in the above configuration, since the front wheel of the front wheel portion is removed, the length corresponding to the radius of the front wheel can be secured as an adjustment, and the level of the seat of the manual wheelchair can be maintained with respect to the traveling surface.

  In the wheelchair electrification apparatus, it is preferable that the drive unit includes a drive wheel and a driven wheel.

  According to the above configuration, by providing the driving wheel and the driven wheel, it is possible to prevent the mounting portion from sliding or contacting with the traveling surface and impeding driving, and the front wheel portion and the traveling surface are also separated. The above driving can be ensured by ensuring.

  In the wheelchair electrification apparatus, the drive wheel may be provided at a front portion of the attachment portion. In the wheelchair electrification apparatus, the drive wheel may be provided at a rear portion of the attachment portion. In the wheelchair electrification apparatus, the driven wheel may be attached to the attachment portion so as to sandwich the front wheel portion.

  According to the above configuration, the driving wheel is provided at the front part or the rear part of the attachment part, so that the driven wheel is attached to the side part of the attachment part (side part with respect to the traveling direction), with the front wheel part interposed therebetween. Therefore, the drive source (motor or battery) of the drive unit and the installation position of the control unit can be secured between the front wheel units.

  The wheelchair electrification apparatus further includes a control unit for controlling the drive unit, and an external input unit for inputting a control instruction to the control unit, wherein the external input unit includes a joystick, It is preferable to have at least one selected from the group consisting of a button switch and a press switch.

  In order to solve the above-mentioned problem, the wheelchair electrification apparatus according to the present invention attaches a detachable attachment portion to the front wheel portion of the manual wheelchair, separates the front wheel portion from the traveling surface of the manual wheelchair, and The manual wheelchair is electrically driven by a drive portion provided in the attachment portion.

  According to the above method, the detachable attachment part is attached to the front wheel part of the manual wheelchair, the front wheel part (for example, each front wheel) is separated from the traveling surface of the manual wheelchair, and the drive provided in the attachment part By the unit, the manual wheelchair can be electrically driven to be electrically driven.

  Moreover, since the said method attaches a detachable attachment part with respect to the front-wheel part of a manual wheelchair, with respect to the front wheel part lightweight from the rear-wheel side of a manual wheelchair, for example, the said front wheel part centering on the rotating shaft of each rear wheel Since the attachment portion can be attached by lifting the attachment portion, the attachment can be facilitated.

  As described above, the wheelchair electrification apparatus according to the present invention is a detachable attachment portion with respect to the front wheel portion of the manual wheelchair, and a drive portion provided in the attachment portion for electrically driving the manual wheelchair. It is the structure which comprises.

  Therefore, since the above-described configuration includes a detachable attachment portion for the front wheel portion of the manual wheelchair, the attachment portion can be attached to the front wheel portion that is lighter than the rear wheel side of the manual wheelchair. There is an effect that the attachment can be facilitated.

  Each embodiment of the wheelchair electrification device and the wheelchair electrification method according to the present invention will be described below with reference to FIGS. That is, as shown in FIG. 1, the wheelchair electrification apparatus electrically attaches the detachable attachment portion 16 to the front wheel portion 8 of the manual wheelchair 1 and the manual wheelchair 1 provided in the attachment portion 16 by electric drive. A drive wheel (drive unit) 20 for driving is provided.

  First, the configuration of the manual wheelchair 1 will be described below. As shown in FIG. 2, the manual wheelchair 1 is provided with a frame main body 1a made of a pipe or the like so that the outer shape thereof has a substantially rectangular parallelepiped shape. A seat 2, a backrest 3 and armrests 4 for a user to sit on are attached to the upper part of the frame body 1 a.

  In addition, on both side portions of the rear portion of the lower portion of the frame main body 1a, the independent walking side rings 6 that are a pair of rear wheels are rotatably attached independently of each other. The side portion is a side portion with respect to the traveling direction of the manual wheelchair 1. The outer periphery of each self-supporting walking side ring 6 is made of an elastic body such as rubber like a bicycle tire, and has a diameter of 50 cm (20 inches) or 55 cm (22 inches). Each rotation axis of each self-supporting walking side ring 6 is set to be substantially in a straight line and substantially parallel to the traveling surface of the manual wheelchair 1. Each of the self-supporting walking side rings 6 is held by the hub 5 with respect to each of the corresponding rotation shafts. Further, a circular hand rim 7 for independently walking is attached to each independent walking side ring 6 so as to be coaxial with the independent walking side ring 6.

  On the other hand, a pair of front wheel portions 8 are rotatably attached independently of each other at both sides on the front side in the lower part of the frame body 1a. Therefore, the front wheels 8a are respectively attached to the lower portions of the front wheel portions 8 so as to be rotatable about the rotation shafts along the horizontal direction independently of each other. The front wheel 8a has a smaller diameter than the self-supporting walking side ring 6 (for example, a diameter of 20 cm (8 inches)), and its outer periphery is made of an elastic body such as rubber like a bicycle tire. A U-shaped portion 8b that rotatably supports the front wheel 8a is attached to the front portion of the lower portion of the frame body 1a so as to be rotatable in a direction perpendicular to the traveling surface. Accordingly, the pair of front wheel portions 8 are rotatable independently of each other both in a direction parallel to the traveling surface (horizontal direction) and in a direction perpendicular to the traveling surface. Further, the front wheels 8a are set so that their rotation axes are parallel to each other when traveling.

  By providing each of these independent walking side rings 6 and each front wheel 8a so that they can rotate independently of each other, the manual wheelchair 1 controls the rotation of each hand rim 7 so that it can independently walk in any direction. And independent running is possible.

  In the manual wheelchair 1, each footrest 10 is attached to the front of the lower part of the frame body 1a by a hanger bracket 11 that extends downward from the front part of the lower part of the frame body 1a.

  Next, the wheelchair electrification device of the present invention will be described below. As shown in FIGS. 3 and 4, the mounting portion 16 is formed from a metal plate, for example, an aluminum plate, in a bottomed box shape whose outer shape is a substantially rectangular parallelepiped shape so as to hold the pair of front wheel portions 8. Has been. Therefore, the attachment part 16 includes a rectangular plate-shaped bottom part 16a, a pair of front and rear wall parts 16b facing each other and a pair of side wall parts 16c facing each other, which are erected from the four ends of the bottom part 16a. Will be.

  Such a mounting portion 16 has a width (a length in a direction orthogonal to the traveling direction) wider than the pair of front wheel portions 8 or the same width as the pair of front wheel portions 8. The length of the attachment portion 16 (the length in the direction along the traveling direction) is set larger than or equal to the diameter of each front wheel 8a in each pair of front wheel portions 8, and the height of the attachment portion 16 is increased. Is set to about the above-mentioned radius so as to be larger than ½ of the radius of each front wheel 8a, more preferably larger than the radius, smaller than the diameter of each front wheel 8a, and more desirably smaller than 2/3 of the diameter. Has been. Therefore, such an attachment part 16 can accommodate each front wheel 8a in each front wheel part 8 in the inside, and can hold | maintain each front wheel part 8 spaced apart with respect to a running surface.

  Further, as shown in FIG. 5, recesses 16 d are respectively provided in the bottom portion 16 a of the mounting portion 16 in order to fit and hold the front wheels 8 a of the front wheel portion 8. The recess 16d is preferably a hole that penetrates the bottom 16a in the thickness direction because it is easy to process.

  The shape of the opening end at the bottom 16a of the recess 16d is preferably a rectangular shape that can be easily processed. When the shape of the opening end is rectangular, the four sides of the opening end are preferably set substantially parallel to the four sides of the bottom 16a. The size of each side portion along the traveling direction at the opening end is set to be smaller than the diameter of the front wheel 8a. The size of each side portion along the traveling direction at the opening end is preferably larger than ½ of the diameter of the front wheel 8a.

  Furthermore, the size of each side portion orthogonal to the traveling direction at the opening end is set to be smaller than the diameter of the front wheel 8a. The size of each side portion orthogonal to the traveling direction at the opening end is preferably larger than ½ of the diameter of the front wheel 8a. Moreover, it is preferable that the length of the diagonal line of the said opening edge part is smaller than the diameter of the front wheel 8a. By setting the opening end to such dimensions, the front wheel 8a can be prevented from penetrating through the opening end of the recess 16d, and the front wheel 8a can be securely held by the recess 16d.

  In addition, the distance between the opening end portion of one recess 16d facing the side wall portion 16c and the opening end portion of the other recess 16d facing the side wall portion 16c facing each other, that is, the width of each opening end portion Is set according to the width of each front wheel portion 8. The width of each opening end is preferably set wider than the width of each front wheel portion 8, for example, about the width of the front wheel 8 a of the front wheel portion 8.

  In this way, each recess 16d is set at a position corresponding to the width of each front wheel portion 8, and the size of each side perpendicular to the traveling direction at the opening end of each recess 16d is set to the front wheel 8a. The wheelchair electrification device of the present invention can be easily attached to each manual wheelchair 1 in which the width of each front wheel portion 8 is different. For example, the size of the manual wheelchair 1 for children changes according to its growth, and the width of each front wheel portion 8 changes. The wheelchair electrification device can easily cope.

  The mounting portion 16 is provided with driving wheels 20 and driven wheels 18 as driving portions. A motor unit 22 for driving each drive wheel 20 is attached. The motor unit 22 can directly drive the drive wheels 20 by a motor, and is, for example, a servo motor with a reduction gear (continuous rating 100 W). Since each of the driving wheels 20 is driven individually, when the two are driven at the same speed, the manual wheelchair 1 goes straight, and when the two are driven at different speeds, the manual wheelchair is driven. 1 can bend and advance.

  In addition, each drive wheel 20 is provided on the front side of the mounting portion 16 as shown in FIG. Thereby, since the drive part was provided in the front part, it can be ensured that an obstacle is overcome. The battery for the motor unit 22 is preferably a rechargeable secondary battery, but other primary batteries can also be used. Examples of the secondary battery include lead secondary batteries (for example, lead shield type, 30V-10Ah) and fuel cells. Examples of the installation position of the battery include the lower side of each footrest 10, the inside of the hanger bracket 11, the inside of the attachment portion 16, or the inside of the frame body 1 a.

  The pair of driven wheels 18 are rotatably attached independently of each other, for example, on the outside of each side wall portion 16c of the attachment portion 16 so as to sandwich each front wheel portion 8 therebetween. The rotation axes of the driven wheels 18 are set on a straight line, and the directions of the rotation axes are set so as to be along the longitudinal direction of the attachment portion 16. Since each driven wheel 18 is provided on the side portion of the mounting portion 16 in this manner, each driven wheel 18 does not require a drive source, and therefore each front wheel portion is provided on each side portion side in the mounting portion 16. The space which can each accommodate 8 is securable.

  Further, a control unit 24 for controlling each motor unit 22 is provided in the mounting unit 16 by microcomputer control. In the microcomputer control described above, the steering function for setting the traveling direction of the manual wheelchair 1 and the torque condition of each motor unit 22 due to the speed difference of each drive wheel 20 (change in torque when traveling on flat or inclined ground). And at least a speed correction function according to.

  In the wheelchair electrification device of the present invention, as shown in FIG. 1, when the external input unit 40 for inputting a control instruction to the control unit 24 is a right-handed user, the right armrest 4 Is provided on the upper side of the front frame body 1a. When the user is left-handed, the external input unit 40 may be provided on the upper side of the front frame body 1a in the left armrest 4. The external input unit 40 is preferably at least one selected from the group consisting of a joystick, a button switch, and a press switch. In FIG. 1, the example which provided the joystick as the external input part 40 was given.

  As a joystick, the control rod protrudes upward, and the tilt direction of the manual wheelchair 1 can be instructed by tilting the control rod in the desired direction, and the travel speed of the manual wheelchair 1 is instructed by the tilt angle. What can be mentioned.

  As the button switch, a plurality of button switches, for example, four button switches are arranged so as to indicate the direction of progression, and the user selects and pushes one of these button switches to advance, reverse, The thing which can control driving | running | working of the manual wheelchair 1 such as clockwise or counterclockwise is mentioned.

  The press switch can detect displacement, for example, a plurality of pressure sensors using piezoelectric elements are mounted around the user's neck, and the user tilts the neck in the desired direction of travel so that the tilt is applied to each pressure sensor. Can be detected, and the traveling of the manual wheelchair 1 can be controlled based on the detection result. Further, as another external input unit 40, one that can detect the blinking of both eyes of the user, for example, optically, and can control the traveling of the manual wheelchair 1 by the number of blinking of both eyes, for example.

  The wheelchair electrification method using such a wheelchair electrification apparatus is such that a mounting portion 16 detachably attached to the front wheel portion 8 of the manual wheelchair 1 is attached to the front wheel portion 8, and the front wheel portion with respect to the traveling surface of the manual wheelchair 1 is mounted. 8, and the manual wheelchair 1 is electrically driven by the drive wheel 20 provided on the attachment portion 16.

  Thereby, since the wheelchair electrification device and the wheelchair electrification method using the same according to the present invention attach the detachable attachment portion 16 to the front wheel portion 8 of the manual wheelchair 1, For example, the front wheel portion 8 is lifted around the rotation axis of each of the self-supporting walking side rings 6 and attached to the manual wheelchair 1 with respect to the front wheel portion 8 which is lighter than a certain self-supporting walking side ring 6 side. Since it is possible, the attachment can be facilitated.

  In the present embodiment, an example in which the driving wheel 20 is provided at the front portion of the attachment portion 16 has been described. However, as illustrated in FIG. 6, the drive wheel 20 may be provided at the rear portion of the attachment portion 16. As a result, a space can be secured on the front side of the mounting portion 16 (that is, on each footrest 10 side), so that a battery for each motor portion 22 or a front obstacle is located below each footrest 10. Sensors for detecting things can be installed.

  Further, in the present embodiment, it is only necessary to be able to hold each front wheel portion 8, in which an example in which the recessed portion 16 d is provided in the mounting portion 16, and the front wheel 8 a is provided on the bottom portion 16 a of the mounting portion 16 as shown in FIG. 7. The manual wheelchair 1b having the removed front wheel portion 8 may be used, and a fitting portion (not shown) for fitting and holding the tip portion of the front wheel portion 8 may be provided.

  The wheelchair electrification device and the wheelchair electrification method of the present invention can be used suitably in the field of auxiliary equipment that assists the body function because the manual wheelchair can be motorized and can be easily attached to the manual wheelchair.

It is a perspective view of one embodiment in a wheelchair electrification device concerning the present invention. It is a perspective view of the manual wheelchair using the said wheelchair motorization apparatus. It is a perspective view of the above-mentioned wheelchair electrification device. It is an expansion perspective view of the above-mentioned wheelchair electrification device. It is another expansion perspective view of the said wheelchair motorization apparatus. It is a perspective view of other forms of implementation in the wheelchair electrification device concerning the present invention. It is a perspective view of further another form of implementation in the wheelchair electrification device concerning the present invention.

Explanation of symbols

1 manual wheelchair 8 front wheel part 16 attachment part 18 driven wheel (drive part)
20 Drive wheel (drive unit)
22 Motor part (drive part)

Claims (12)

A detachable mounting part for the front wheel part of the manual wheelchair,
A wheelchair electrification apparatus, comprising: a drive unit provided in the attachment unit for electrically driving the manual wheelchair.   The wheelchair electrification device according to claim 1, wherein the attachment portion is configured to hold the front wheel portion.   The wheelchair electrification device according to claim 1, wherein the attachment portion is formed in a bottomed box shape.   4. The wheelchair electrification apparatus according to claim 3, wherein a recess is provided in the bottom portion of the attachment portion so as to fit and hold each front wheel of the front wheel portion.   The wheelchair electrification apparatus according to claim 4, wherein the recess is a hole that penetrates the bottom in the thickness direction.   The wheelchair electrification device according to claim 3, wherein a fitting portion for fitting and holding a front end portion of the front wheel portion from which a front wheel has been removed is provided at a bottom portion of the attachment portion.   The wheelchair electrification apparatus according to any one of claims 1 to 6, wherein the driving unit includes a driving wheel and a driven wheel.   The wheelchair electrification device according to claim 7, wherein the driving wheel is provided at a front portion of the attachment portion.   The wheelchair electrification device according to claim 7, wherein the driving wheel is provided at a rear portion of the attachment portion.   The wheelchair electrification device according to any one of claims 7 to 9, wherein the driven wheels are respectively attached to the attachment portions so as to sandwich the front wheel portion. And a control unit for controlling the drive unit;
An external input unit for inputting a control instruction to the control unit,
The wheelchair electrification device according to any one of claims 1 to 10, wherein the external input unit includes at least one selected from the group consisting of a joystick, a button switch, and a press switch. . Attaching a detachable attachment to the front wheel part of the manual wheelchair, separating the front wheel part from the traveling surface of the manual wheelchair,
The wheelchair electrification method, wherein the manual wheelchair is electrically driven by a drive unit provided in the attachment unit.

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