JP2007143788A - Power assisting wheelchair - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a simple wheelchair which makes riding comfortable and safer for a riding person as compared with the conventional wheelchair in a power assisting wheelchair with the riding person and a caregiver interposed. <P>SOLUTION: As shown in Fig. 5, the power assisting wheelchair is provided with the function of making the operation by the riding person preferential even when a preferential selection switch 22 for the riding person or the caregiver is on the side of the attendant, when the caregiver does not make operation or when its degree of operation is limited and within the non-sensitive zone. On the contrary, it is also provided with a function of making the operation by the caregiver preferential for securing the safety of the riding person even if the preferential selection switch 22 is on the side of the riding person, when the riding person does not make the operation or its degree of operation is limited. The number of parts is reduced as much as possible for the operating device for the caregiver and herein, a simple structure composed of a compression spring and a double-structured member for supporting it is supplied. Furthermore, the function for storing operation amount of the operating device before and after the unit time calculating the amount of assisting and damping for driving the motor. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention relates to a power-assisted wheelchair that can be driven manually or electrically by a rider alone or by an assistant.

  Patent documents 1 and 2 are steering control devices for electric wheelchairs, and the driver's steering is always given priority over the presence / absence of the driver's steering device and the switch operation.

  Patent Document 3 is an operating device for an electric vehicle, and generates an electric signal for driving a motor attached to a handle for an assistant.

Japanese Utility Model Publication No. 55-106407 Japanese Utility Model Publication No. 57-19144 JP 10-118125 A

  According to Patent Documents 1 and 2, the passenger cannot reflect his / her intention. For example, when the assistant is away from the wheelchair or when the assistant operates against the intention of the passenger , There is a drawback that the passenger can not be operated at all.

  Further, according to Patent Document 3, an operating device that generates an electrical signal is composed of many components and a complicated structure, and there is a problem from the viewpoint of mechanical reliability and manufacturability. In addition, since the operation position and the electric assist force are unambiguously related, for example, when a sudden operation is performed, the occupant feels an unpredictable force and is in a dangerous state.

  The present invention aims to solve the above drawbacks and problems.

  From the viewpoint that the occupant is a wheelchair user and must maximize its convenience, the present invention is independent of the left and right wheels in the motor-driven electric assist wheelchair operated by the occupant and the assistant. A controller having a motor, a driver for a passenger, and a two-hand handle portion for an assistant, and having a function of prioritizing the function of the passenger's controller over the function of the assistant driver And a program built in the controller.

  In addition, the left and right handle portions are independently provided with an operator's operating device, the handle portion is constituted by a hollow square member, and a sliding member constituted by a similar hollow square member is inserted outside the hollow square member. A notch is provided on one surface where the members overlap, a compression spring is accommodated in the hollow rectangular member of the handle portion, a part of the sliding member is brought into contact with the compression spring protruding from the notch, and the sliding member is The handle member is configured to be slidable, and a potentiometer is linked to the slide member.

  Further, the assist force by the motor changes smoothly with respect to the time change of the operation amount of the passenger and the assistant, and the passenger can select and set the smoothness.

  Further, the passenger's seat is provided with a detector for detecting presence / absence, and a circuit for turning on / off the battery according to a signal of the detector is provided.

  According to the present invention, since the operator can be determined according to the intention of the passenger, a sense of security is given to the passenger and safety is ensured. In addition, the assistant's control device can be collected with a small number of parts, and the reliability is improved. Furthermore, a smooth assist amount is calculated with respect to the operation amount of the controller, and the ride comfort of the passenger can be improved.

  The best mode of the present invention includes a pilot for a passenger and a handle in a two-hand handle portion for an assistant, and the function of the passenger's pilot is prioritized over the function of the assistant's pilot. It has a function to make it.

  Even if the passenger's / assistant priority selection switch is on the assistant's side, when the assistant is not operating, or when the operation amount is small and within the dead zone, it has a function to give priority to the passenger's operation, On the other hand, even if the priority selection switch is on the passenger side, if the passenger does not operate, or if the operation amount is small and within the dead zone, assistance is required to ensure the safety of the passenger. A function that prioritizes the user's operation.

  In addition, a driver's control device is provided inside the left and right handles, and the number of parts is reduced as much as possible to improve reliability and manufacturability, thereby providing a simple structure. A coiled push spring is placed in a handle member having a notch for stopping the end of the spring, and another sliding member that slides outside the member is provided, and a potentiometer is connected to the sliding member. Provide structure.

  Furthermore, although the operation amount is determined by the position of the potentiometer, the position before and after the unit time is stored, and the motor is driven by calculating the assist amount and the damping amount from the position before the operation and the movement amount per unit time. Equipped with electrical circuits and software.

  Hereinafter, specific examples of the present invention will be described with reference to the drawings.

  FIG. 1 shows an external view of an electric assist wheelchair. The passenger sits on the seat 16 and normally operates the left and right hand rims 12 manually. When electric assist is performed, the lever 14 c provided on the left and right boxes 14 b is operated to press the assist shaft rubber portion 14 a against the tire 13. A passenger's pilot 10a is provided on either the left or right armrest portion 10b of the passenger. The left and right handle portions 11a for the assistant are provided with assistant controls 11b, and a rubber or plastic cover 11c is inserted in the direction of the arrow 11d. The electrical signals generated by the controllers 10a and 11b are processed by the controller 15, converted into power, and supplied to 14a.

  Details of the passenger control device 10a according to the present invention are shown in FIGS. 2a and 2b. The upper part of the housing is provided with a joystick 20 that moves left and right and back and forth, and generates an electrical signal corresponding to the operation amount. A power switch 21 is provided on the side surface of the housing to turn on and off the battery power. The remaining capacity of the battery can be recognized by the lamp 23. That is, the remaining amount is large in the order of “green” “orange” “red”. In addition, the priority selection switch 22 selects whether the piloting subject is the passenger or the assistant. Details of the operation mode in the operation 22 will be described with reference to FIGS. A hidden panel 24 is further provided on the side of the housing, and an assist force setting switch 25a and a smoothness setting switch 25b are provided inside. It is possible to make an optimal setting that is comfortable for the passenger based on the weight of the passenger or the arm strength of the passenger or the assistant. Details of the operation of 25a and 25b will be described with reference to FIG. The setting switch can be replaced with a variable resistor.

  The operation and operation details of the priority selection switch 22 in the present invention are shown in FIG. Both the passenger and assistant controls have a sensor dead zone with respect to the operation amount, and an electric signal is generated when the sensor dead zone is exceeded. First, (1) shows a case where 22 is a passenger priority. When the rider operates beyond the dead zone, the rider's operation is given priority regardless of the operation amount of the assistant. That is, priority is given to the passenger's will. However, when there is no passenger operation or when the dead zone is not exceeded, the operator's operation can be prioritized to ensure the safety of the passenger according to the surrounding situation.

  Next, (2) shows a case where 22 is given priority to the assistant. When the assistant operates beyond the dead zone, priority is given to the operation of the assistant regardless of the operation amount of the passenger, and the safety of the passenger is ensured. However, when there is no operation by the assistant or when the dead zone is not exceeded, the passenger's will is prioritized and the intention of the passenger is reflected.

  An example of an operation according to the present invention is shown in FIG. The operation amount level of the passenger and the assistant is 41, and the dead zone is 42. In the case of Example 1, the operation amount level 41 does not exceed the dead zone 42 for both the passenger and the assistant, and the assist force does not operate. In the cases 2 and 3, the operation amount level 41 exceeds the dead zone 42, and the operation of the passenger or the assistant is given priority according to the option of the priority selection switch 22. In Example 4, since the operation amount level 41 of the assistant does not exceed the dead zone 42, the passenger's operation has priority regardless of the options of the priority selection switch 22. Example 5 is the reverse case of Example 4, and the operator's operation has priority. Although not shown, the operations of Examples 2, 3, 4, and 5 are the same when the operation amount level 41 is on the reverse side. Examples 6 and 7 are cases where the operation amount level 41 of the passenger and the assistant exceeds the dead zone 42 and the direction of the forward and backward movements is reversed. According to the options, the operation of the passenger or the assistant takes precedence.

  The electric signal system and the internal circuit of the controller 15 according to the present invention are shown in FIG. In the vicinity of the controller 15, a battery power source 50, a pressure sensor 51 provided in the passenger's seat 16, a sensor switch 52 connected in series to the power switch 21 corresponding to 51, and a passenger control The instrument 10a, the assistant controller 11b, the assist force setting switch 25a, the smoothness setting switch 25b, and motors 56a and 56b for driving the left and right wheels are provided.

  The presence or absence of a passenger is determined by the pressure sensor 51. If “present”, 52 is turned on, and if “not present”, it is turned off. Thereby, even when the power switch 21 is ON, wasteful consumption of the battery can be suppressed. The pressure sensor 51 can be replaced with an optical sensor. The passenger's controller 10a is functionally composed of a priority selection switch 22, front and rear operation force sensors 53a and left and right operation force sensors 53b coupled to the joystick 20. On the other hand, the assistant's pilot 11b includes operation force sensors 54a and 54b corresponding to the left and right handles. From these four sensor signals and the signal of the priority selection switch, a signal to be prioritized is discriminated by the signal selection unit 55a in the controller 15, and the value of the discriminated sensor signal is sent to the output calculation unit 55b and stored. Stored in the unit 55c. The output calculation unit 55b calculates signal parameters necessary for the left and right motors 56a and 56b from the discrimination signal value from 55a, the stored value of 55c, and the set values of the setting switches 25a and 25b. Details of the calculation will be described with reference to FIG. As for the output of 55b, the left and right output waveform generators 55d and 55e generate the drive waveforms of the motors 56a and 56b. Further, the output of 55b determines the rotation direction of the motors 56a and 56b by the rotation direction instruction section 55f. Signals 55d, 55e, and 55f generate power signals for driving the motors 56a and 56b by the left and right motor drivers 55g and 55h.

  FIG. 6 shows the details of the assistant's pilot 11b according to the present invention. FIG. 6a is a plan view of the entire control device, and FIG. 6b is a front sectional view thereof. The handle member 60 for the assistant is a hollow member having a square cross section, and a cutout portion 60a that is approximately equal to the natural length of the compression spring 63 and a cutout portion that corresponds to the moving range of the slider portion 64b of the linear potentiometer 64a. Part 60b. The linear potentiometer 64a corresponds to the operating force sensors 54a and 54b shown in FIG. The sliding member 61 is outside the handle member 60 and can be moved in the left-right direction in the drawing, and has a notch 61 a that is substantially equal to the natural length of the compression spring 63. The guide plate 62 is fixed to the sliding member 61 and is coupled to the slider portion 64b. The cover 11c covers the sliding member 61 and the guide plate 62, and fits gently on the palm of the caregiver, and also serves to protect the inside from the external environment. The compression spring 63 is housed in the handle member 60, and a part of the compression spring 63 protrudes from the notch 60a, and the protruded part is held by the notch 61a.

  6a and 6b are neutral cases where no operation is performed, and FIG. 6c is a case where the cover 11c is pushed in the right direction 65. FIG. The compression spring 63 is compressed by the right end surface portion of the notch 60a and the left end surface portion of the notch 61a. The guide plate 62 proceeds to the right while receiving the restoring force of the compression spring 63 and obtains an electrical signal in the forward direction from the linear potentiometer 64a via the slider portion 64b. FIG. 6d shows a case where the operation is performed in the opposite direction 66 to FIG. 6c, and an electric signal in the reverse direction can be obtained from the linear potentiometer 64a.

FIG. 7 shows the relationship between the operating force (movement amount) by the passenger and the assistant maneuvering according to the present invention and the assisting force generated by the operating force. FIG. 7a shows a relationship between the operation force and the assist force, which is in a proportional relationship, but is a dead zone until the operation force reaches 0 to A, and the assist force is not generated. When the operating force reaches a certain magnitude D, the assist force is saturated for safety. FIG. 7b is an example of the time course of the operating force. The time 0 to t ₁ is within the dead zone, the time t ₁ to t ₂ is the upper limit of the dead zone, the time t ₂ to t ₃ is the level B higher than the dead zone, and after t _{3 the} higher level C is applied. Yes.

FIG. 7c shows a change in the magnitude of the conventional assist force corresponding to FIG. 7b. From time 0 t ₂ is to be in the range or the upper limit of the dead zone, but not the assist force is generated, the t ₃ and t ₃ or later from t _2, respectively assist force B 'and C' correspond to FIGS. 7a generated To do. Assist force equations of Figure 7e, according to F = kx _1. x ₁ is the operating force sensor 53a corresponding to the final operating force, 53b, 54a, 54b or a signal level from. The solid line shown in FIG. 7c is a standard assist force change, and the assist force can be increased as shown by the broken line by setting the coefficient k larger than the standard. Although not shown, the assist force can be reduced by setting k smaller than the standard. In any case, the assist force is generated in a stepped manner with respect to the operation, so that the shock felt by the passenger is increased, the ride comfort is deteriorated, and danger may be felt.

FIG. 7d shows the change in the magnitude of the assist force according to the present invention. The assist force follows the equation of FIG. 7f, and a damping factor Δf = c (x ₁ −x ₀ ) is added to the second term of the equation. x ₀ and _{x 1} are before and after the unit to the operating time, the operating force sensor 53a, 53b, 54a, 54b or a signal level from. The storage unit 55c shown in FIG. 5 to store the amount of _{x 0} and _{x 1,} computes an assist force according to Figure 7f at output calculation unit 55b. As a result, as shown by the solid line in FIG. 7d, the assist force changes smoothly. By setting the coefficient c larger than the standard, the damping factor Δf can be increased, and smoother control can be performed as shown by the broken line in FIG. 7d. Although not shown, Δf can be reduced by setting c smaller than the standard. In any case, since the assist force is smoothly generated with respect to the operation, the shock felt by the passenger is small, and the riding comfort is improved.

signal amount of x ₀ and _{x 1} are sequentially stored in the storage unit 55c of FIG. 5, with reference to the value of the coefficient k and c are set setting switch 25a, by 25b, at the output calculation unit 15b, the The assist force is obtained according to the equation F = kx ₁ −Δf. The coefficients k and c can be set to a state in which the rider feels most comfortable depending on the weight of the rider, the arm strength of the driver, the road surface condition, and the like.

External view of the electric assist wheelchair Detailed view of passenger controls Relationship between operation and operation of priority selection switch Example of operation Internal circuit diagram of electrical signal system and controller Detailed view of the driver's pilot Relationship diagram between operation force and assist force

Explanation of symbols

10a; Passenger controller 10b; Armrest part 11a; Handle part 11b; Assistant controller 11c; Cover 11d; Cover insertion direction 12; Hand rim 13; Tire 14a; Assist shaft rubber part 14b; Controller 16; Seat 20; Joystick 21; Power switch 22; Priority selection switch 23; Lamp 24; Hidden panel 25a, 25b; Setting switch 41; Operation amount level 42; Dead band 50; Power source 51; 53b, 54a, 54b; operation force sensor 55a; signal selection unit 55b; output calculation unit 55c; storage unit 55d, 55e; output waveform generation unit 55f; ;handle Material 60a; sliding member 61a;; notch sliding member 62; the guide plate 63; compression spring 64a; linear potentiometer 64b; slider 65, 66; operation direction notch 61 of the handle member

Claims (9)

  A motor-driven electric assist wheelchair operated by a passenger and an assistant includes a motor independent of the left and right wheels, a driver for the passenger, and a driver in a two-hand handle portion for the assistant, A motor-assisted wheelchair comprising a controller having a function of giving priority to the function of the vessel over the function of the assistant controller, and a program built in the controller.   The electric assist wheelchair according to claim 1, wherein a right lever or a left hand portion of an armrest on which an occupant sits has a control lever, a priority selection switch for prioritizing any one of the occupant and the assistant, and an assist signal. An electrically assisted wheelchair comprising a controller.   In the electrically assisted wheelchair described in claim 1 and claim 2, when the priority selection switch is selected by the occupant, the occupant's operation is given priority if the occupant control lever is operated beyond the dead zone. If the passenger's control lever is within the dead zone, the assistant's operation is given priority. On the other hand, when the priority selection switch is selected by the assistant, the assistant's steering handle is operated more than the dead zone. In this case, the power assist wheelchair is characterized in that priority is given to the operation of the assistant and priority is given to the operation of the passenger if the steering handle for the assistant is within the dead zone.   2. The electric assist wheelchair according to claim 1, wherein the controller includes a signal selection unit from the priority selection switch, and an output calculation unit to the motor in accordance with operation amounts of the passenger control lever and the assistant control handle. An electric assist wheelchair comprising: a rotation direction instruction unit for the motor; an output waveform generation unit for the motor; and a driver for the motor.   2. The electric assist wheelchair according to claim 1, further comprising a mechanism for mechanically attaching and detaching a coupling portion between the drive shaft of the motor and the tire of the wheel.   In a motor-driven electrically assisted wheelchair operated by a passenger and an assistant, the operator's controller is provided independently on the left and right handle parts, the handle parts are constituted by hollow square members, and the outside of the hollow square members is the same. A sliding member composed of a hollow square member is inserted, a notch portion is provided on one surface where both members overlap, a compression spring is accommodated in the hollow square member of the handle portion, and the compression spring protruding from the notch portion is A power-assisted wheelchair characterized in that a part of a sliding member is brought into contact, the sliding member is configured to be slidable on the handle member, and a potentiometer is interlocked with the sliding member.   In a motor-driven electric assist wheelchair operated by a passenger and an assistant, the assist force by the motor changes smoothly with respect to the time change of the operation amount of the passenger and the assistant, and the smoothness is boarded. A motor-assisted wheelchair that can be selected and set by a person.   8. The electric assist wheelchair according to claim 7, wherein operation positions of the passenger and the assistant are stored before and after unit time, and the assist force is calculated as a function of the position. A motor-driven electric assist wheelchair operated by a passenger and an assistant includes a detector for detecting presence / absence in a seat of the passenger, and a circuit for turning on / off a battery according to a signal of the detector An electric assist wheelchair characterized by comprising.

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