JP2012210377A - Electric wheelchair - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an electric wheelchair wherein a travel is prevented without becoming aware that a turnover prevention bar is in a storage position by allowing an occupant to distinguish a state of the turnover prevention bar without consciously viewing the rear of the electric wheelchair.SOLUTION: This electric wheelchair 1 includes a turnover prevention device 10L installed to a rearward end part of a frame 2. The turnover prevention device 10L includes: the turnover prevention bar 20L installed to the rearward end part of the frame 2; a changeover means 22L changing over a position of the turnover prevention bar 20L between an operation position and the storage position; a photosensor 27L outputting a position signal to a drive control part 40L in the operation position of the turnover prevention bar 20L; and a display part 31 warning the occupant that the turnover prevention bar 20L is not in the operation position when the occupant tries to drive a drive device in a state that the turnover prevention bar is not in the operation position.

Description

  The present invention relates to an electric wheelchair including a fall prevention bar.

  As a conventional technology, a fall prevention bar is provided from the rear of the vehicle body toward the rear, and is supported so as to be rotatable about the vertical direction of the upper end of the fall prevention bar. The fall prevention bar takes an operating position and a storage position. In the wheelchair overturn prevention device obtained, the fixing means for fixing the overturn prevention bar to the fall prevention function position and the fixing of the overturn prevention bar by the fixing means are released by the rotation operation to the storage position of the overturn prevention bar. There is known a wheelchair overturn prevention device provided with a releasing means (see, for example, Patent Document 1).

JP 2001-224636 A

  However, the electric wheelchair of Patent Document 1 has a configuration in which a fall prevention bar is provided from the rear part to the rear side of the electric wheelchair. For this reason, it is difficult for the occupant to determine whether or not the fall prevention bar is in the operating position, and there is a risk of traveling without noticing that the fall prevention bar is not in the operating position.

  Therefore, the present invention has been made in view of the above problems, and it is an object of the present invention to provide an electric wheelchair in which a passenger can check the state of the fall prevention bar without consciously looking at the back of the electric wheelchair. .

  The first problem-solving means of the present invention includes a frame, a wheel rotatably attached to the frame, a caster attached in front of the frame and determining a traveling direction, and a drive device for electrically driving the wheel. An electric wheelchair comprising: a control device that controls the drive device; an operation position that is provided behind the frame and prevents the vehicle from overturning; A position detection means for detecting a state of the apparatus; and a notification means for notifying an operator when the fall prevention device does not have a normal function by an output from the position detection means; When the abnormality notification is made by the notification means, the driving of the drive device is prohibited.

  In this case, the fall prevention device includes a fall prevention bar attached to an end portion of the frame, and a switching unit capable of switching the position of the fall prevention bar between the operating position and the storage position. It is preferable that the non-contact position detecting means is provided adjacent to the position.

  Further, the switching means is provided with a hole in a part of the rotating part that rotates in conjunction with the fall prevention bar that rotates with respect to the supporting part, with respect to the supporting part provided on the frame side, It is preferable to provide the position detecting means for detecting the state of the fall prevention bar based on the light passing state at the position of the hole.

  The position detection means may be provided between the frame and the switching means.

  Further, the position detection means may be a photosensor comprising a light emitting part and a light receiving part.

  Further, the photosensor is preferably attached to the frame, and the light from the light emitting part of the photosensor penetrates a part of the rotating part only when the fall prevention bar is in the operating position.

  According to the present invention, the above-described electric wheelchair is provided with a position detection unit that detects the state of the fall prevention device, and an operator when the fall prevention device does not function normally due to an output from the position detection unit. And the control device prohibits driving of the drive device when the abnormality notification is made, so that the occupant can check whether or not the fall prevention device is in the operating position. It is possible to easily determine the state of the fall prevention device using the notification means without consciously looking at the back of the vehicle. Therefore, the passenger can prevent the vehicle from traveling without noticing that the fall prevention device is not in the operating position, and can improve safety during traveling.

  The electric wheelchair according to the present invention is controlled so that the driving device is not driven in a state where the fall prevention bar is not in the operating position, so that the occupant can be surely prevented from traveling in a state where the fall prevention bar is not in the operating position.

  The fall prevention device of the present invention comprises a fall prevention bar attached to the end of the frame, and a switching means capable of switching the position of the fall prevention bar between the operating position and the storage position, and is adjacent to the switching means. If the configuration is such that non-contact position detecting means is provided, safety during traveling can be ensured with a simple configuration.

  In this case, it is easy to detect the state of the fall prevention bar in a non-contact manner only by providing a hole in a part of the rotating part that rotates in conjunction with the fall prevention bar, based on the light passing state at the position of the hole. In addition, the position of the fall prevention bar can be detected by an inexpensive configuration, and safety can be improved.

  The electric wheelchair according to the present invention can be structured to be less susceptible to the influence of a foreign object or the like than before by using a photosensor for the position detection unit.

  In the electric wheelchair according to the present invention, the photosensor is attached to the frame, so that the wiring connected to the photosensor can be prevented from being disconnected by repeating the operation of switching the fall prevention bar between the operating position and the storage position.

  In the electric wheelchair of the present invention, the number of parts can be reduced by providing a through hole in the frame and the fall prevention bar so that light from the light emitting portion of the photosensor penetrates into the fall prevention bar.

It is a side view of the electric wheelchair which concerns on embodiment of this invention. It is explanatory drawing which shows the operating state of the fall prevention apparatus installed in the frame rear part shown in FIG. It is explanatory drawing which shows the accommodation state of the fall prevention apparatus installed in the frame rear part shown in FIG. It is a block diagram which shows the structure of the electric wheelchair which concerns on embodiment of this invention. It is a flowchart which shows the control flow which the control part shown in FIG. 4 performs.

  Embodiments of the present invention will be described below with reference to the drawings.

  FIG. 1 is a side view showing a configuration of an electric wheelchair 1 according to an embodiment of the present invention. The electric wheelchair 1 includes an aluminum frame 2 and a left wheel 3L that is attached to the frame 2 at the rear of the electric wheelchair 1 and includes an iron wheel and a rubber tire (the front side is the left side and the back side is the right side in FIG. 1). The right wheel 3R and a pair of left and right casters 4 attached to the frame 2 in front of the electric wheelchair 1 so as to be able to control the traveling direction are freely movable. In the following description, it means R: right side and L: left side described at the end of the number on the drawing, but in the electric wheelchair 1 of the present invention, the main components are basically the same in the left and right configurations. Therefore, only one configuration will be described in detail, and the description of the other will be omitted.

  The electric wheelchair 1 includes a cloth seat 5 stretched so that a passenger can sit on the center of the frame 2, a rubber grip 6 attached to the frame 2 at the upper rear end, and the frame 2 in front of the electric wheelchair 1. A resin-made operation box 7 attached to the upper left side and a resin-made joystick 8 (only the left side with respect to the seating surface) provided on the operation box 7 so as to be tiltable in the front-rear and left-right directions are provided.

  Furthermore, the electric wheelchair 1 includes a driving device 9L that drives a wheel 3L attached to the frame 2 and a tipping prevention device 10L attached to the frame 2 on the lower rear side of the electric wheelchair 1.

  FIG. 2 is a state explanatory view showing an operating state of the overturn prevention device 10L provided in the rear of the frame according to the embodiment of the present invention (a state in which the overturn prevention device 10L protrudes rearward). The fall prevention device 10L includes a fall prevention bar 20L made of iron or aluminum that is displaced behind the electric wheelchair 1 to an operating position and a storage position in front of the electric wheelchair 1 (on the frame side), and a frame of the fall prevention bar 20L. 2, a resin-made rotatable caster 21 </ b> L provided at the opposite end of the engaging portion.

  Further, a hole (through hole) penetrating through a part of the side surface of the hollow cylindrical support part of the frame 2 extending in the vertical direction shown in FIG. 2A, and the fall prevention bar 20L has a through hole (through hole) corresponding to the position of the through hole 2A formed in the cylindrical support portion at the rear of the frame when the fall prevention device 10L is in the operating position shown in FIG. Hole) 20A in part. Moreover, the support part of the fall prevention bar 20L has an inner wall (rotation part) 20B formed integrally from the fall prevention bar 20L inside, and the outer diameter thereof is formed at the rear end of the frame 2. It is constituted by the outer wall 20C.

  Furthermore, the fall prevention device 10L includes a switching unit 22L that switches the position of the fall prevention bar 20L between the operation position and the storage position in the support portion. The switching means 22L contacts the notch 23L provided below the support part and the notch 23L curved upward when the left fall prevention bar 20L is in the operating position or the storage position, and the vertical direction of the frame 2 The first iron pin 24L that is attached so as to pass horizontally through the pipe center of the pipe constituting the frame 2 and the first pin that is attached so as to pass horizontally through the center of the vertical pipe of the fall prevention bar 20L. The second pin 25L made of iron provided in the vertical direction of the pin 24L, the first pin 24L and the second pin 25L are connected, and the first pin 24L is brought into contact with the notch 23L by a biasing force. And an iron spring 26L.

  Further, the fall prevention device 10L has a state signal depending on the light passing state when the fall prevention bar 20L is in the storage position shown in FIG. 3 where the fall prevention bar 20L is stored toward the frame side and when it is in the operation position shown in FIG. A photo sensor 27L (position detection means) that outputs a position detection signal 50L (see FIG. 4) that changes, and a resin cap 28L that is attached above the first pin 24L so that foreign matter does not enter the support portion. Prepare. In addition, the photo sensor 27L is provided in the vicinity of the switching means 22L in a state where the periphery is covered with a case at a height position where the through hole 2A is formed, and inside the support portion, that is, the frame through hole 2A. A light emitting unit (for example, LED, photosensor) 27A that emits light toward the center and a light receiving unit (for example, phototransistor) 27B that receives reflected light of the light emitted from the light emitting unit 27A are provided in close proximity.

  FIG. 3 is an explanatory view showing a stored state of the overturn prevention device 10L provided at the rear of the frame according to the embodiment of the present invention. 2 represents the operating position behind the electric wheelchair 1, whereas the anti-fall bar 20L in FIG. 3 is about to move from the state of FIG. 2 to the inside of the frame (the back side of FIG. 2). The storage position rotated 180 degrees is shown.

  FIG. 4 is a block diagram showing the configuration of the electric wheelchair 1 according to the embodiment of the present invention. The operation box 7 on which the rider operates is such that the rider drives the drive device 9L in a state where at least one of the control unit 30 that performs overall control of the electric wheelchair 1 and the left and right fall prevention bars 20L is not in the operating position. If it is going to make it, it has the display part 31 (transmission means) which performs a warning or alert | report visually, and the buzzer 32 (communication means) which a passenger | crew alerts or alert | reports audibly. The joystick 8, the display unit 31, and the buzzer 32 are electrically connected to the control unit 30.

  A drive control unit 40L that controls the drive device 9L and a motor 41L that rotates the wheels 3L are included, and the drive control unit 40L is electrically connected to the motor 41L.

  Further, the control unit 30 is electrically connected to the left and right drive control units 40L, and the drive control unit 40L is electrically connected to a photosensor 27L (position detection unit) that performs non-contact detection of the position of the fall prevention bar 20L. Connected to.

  Next, the operation of the fall prevention device 10L of the present invention will be described. From the state where the fall prevention bar 20L is in the operating position shown in FIG. 2, if the assistant operates the fall prevention bar 20L with his / her foot downward, the spring 26L is extended by the downward operating force and the first pin 24L is fitted. The first pin 24L is separated from the notch 23L in the state, and the fall prevention bar 20L is released from the fixed state shown in FIG. 2 and can be rotated. In this state, the helper rotates the fall prevention bar 20L to the inside of the frame 2 (in the back direction in FIG. 2) by a rotation operation with the foot by about 180 degrees. When the first pin 24L is aligned with the notch 23L, the spring 26L that has been pulled downward contracts, the notch 23L and the first pin 24L come into contact with each other, and the fall prevention bar 20L 3 is in the storage position shown in FIG. 3, and in this state, the fall prevention bar 20L is in a fixed state in which it does not rotate.

  On the other hand, if the assistant operates the fall prevention bar 20L with his / her foot downward from the state in which the fall prevention bar 20L is fixed at the storage position shown in FIG. 3, the spring 26L extends downward and is cut. The first pin 24L is separated from the notch portion 23L, and the fall prevention bar 20L is released from the fixed state and can be rotated. Next, the fall prevention bar 20L is rotated about 180 degrees by rotating the frame 2 inward (frontward in FIG. 3), and when the first pin 24L is aligned with the notch 23L, the spring 26L contracts and the notch The portion 23L and the first pin 24L come into contact with each other, and the fall prevention bar 20L is fixed at the operating position.

  Next, the operation of the photosensor 27L will be described below. In the photo sensor 27L, when the fall prevention bar 20L is in the operating position, the light emitted from the light emitting part 27A such as an LED is provided on the through hole 2A provided in the support part of the frame 2 and the fall prevention bar 20L side as shown in FIG. By passing through the through-hole 20A provided in the inner wall, reflecting off the inner wall 20B on the left fall prevention bar side and reflecting, attenuates to become weak light, and the weakened light passes through the through-hole 20A and the through-hole 2A again. The weakened light is received by the light receiving unit 27B such as a phototransistor. Conversely, in the photosensor 27L, if the fall prevention bar 20L is not in the operating position as shown in FIG. 2, the light emitted from the light emitting portion 27A passes through the through-hole 2A, but the left fall prevention bar side support portion The light is reflected at a short distance on the side of the outer wall 20C at a short distance, returns from the through hole 2A with strong light, and is received by the light receiving portion.

  Next, control of the electric wheelchair 1 of the present invention will be described with reference to a flowchart shown in FIG. “S” shown below indicates a step of the program.

  In the first S1, whether or not both the left and right fall prevention bars 20L and 20R are in the operating position is determined based on the detection signal detected by the light receiving unit 27B. Judgment is made based on whether it is above. If YES in S1, the process proceeds to S2. If NO, the process proceeds to S3. In S <b> 2, a normal operation (normal processing) is performed in which a traveling operation is performed in the front / rear and left / right directions depending on the operation direction of the joystick 8. In S3, since at least one of the fall prevention bars 20L is not normally in the operating position (a state in which no normal function is provided), a warning is given by the display unit 31 and the buzzer 32. At the same time, a stop signal 51 is output from the control unit 30, a stop command is issued for the traveling operation of the wheelchair, an abnormality process for prohibiting traveling is performed, and then the process proceeds to S4. In S4, the assistant or the passenger checks the current position of the fall prevention lever 20L after the abnormality process, and if it is not in the normal position (operating position or storage position), the fall prevention bar is operated by foot or hand operation. The act of correcting the position of 20L is performed. Thereafter, it is determined whether or not the normal process has been restored. If YES, the state of the toppling prevention bar 20L has returned to the normal position, so that the process proceeds to S2 to return to the normal process. On the other hand, if NO, the warning indicating that the position of the fall prevention bar 20L is strange is continued.

  The control of the electric wheelchair 1 of the present invention will be described with reference to the block diagram of FIG.

(During abnormal processing)
The photo sensor 27L outputs a position detection signal 50L at a Hi level or a predetermined voltage or higher when the fall prevention bar 20L is at a position other than the operating position. When the position detection signal 50L is output to the operation box control unit 30 via the drive control unit 40L, the display unit 31 displays a warning, the buzzer 32 sounds a warning sound, and the command from the joystick 8 is not accepted. Then, a stop signal 51 is output to the drive control unit 40L. When receiving the stop signal 51, the drive unit control unit 40L outputs a motor stop signal 52 to the motor 41L to stop the left motor 41L.

  The photosensor 27R outputs a position signal 50R when the fall prevention bar 20R is at a position other than the operating position. When the position signal 50R is output to the control unit 30 via the drive unit control unit 40R, the display unit 31 displays a warning, the buzzer 32 sounds a warning sound, does not accept a command from the joystick 8, and is driven. A stop signal 51 is output to the control unit 40L. When the stop signal 51 is output, the drive control unit 40L outputs a motor stop signal 52 to the left motor 41L to stop the left motor 41L.

(When returning to normal processing)
When the fall prevention bar 20L is set to the operating position, a position signal 60L is output. When the position signal 60L is output to the control unit 30 via the drive unit control unit 40L, the display unit 31 stops the warning display, the buzzer 32 stops the warning sound, and accepts a command from the joystick 8. The stop cancellation signal 61 is output to the drive control unit 40L. When the driving unit control unit 40L outputs the stop cancellation signal 61, the driving unit control unit 40L outputs a motor stop cancellation signal 62 to the motor 41L so that the motor 41L can be driven.

  Alternatively, when the warning is canceled by the operation box 7, the display unit 31 stops displaying the warning, the buzzer 32 stops the warning sound, and receives a command from the joystick 8, and the drive control unit 40L releases the stop. The signal 61 is output. When the drive control unit 40L outputs the stop release signal 61, the drive control unit 40L outputs a motor stop release signal 62 to the motor 41L so that the motor 41L can be driven.

  The effect of the embodiment of the present invention will be described.

  Since the electric wheelchair 1 of the present invention includes the photo sensor 27L, the photo sensor 27R, the display unit 31, and the buzzer 32, the occupant determines whether the fall prevention bar 20L and the fall prevention bar 20R are in the operating position. The state of the fall prevention bar 20L and the fall prevention bar 20R can be determined without consciously looking at the back of the wheelchair 1. Therefore, the passenger can prevent traveling without noticing that the fall prevention bar 20L and the fall prevention bar 20R are not in the operating positions.

  In addition, the electric wheelchair 1 of the present invention is controlled so that the drive device 9L and the drive device 9R are not driven in a state where the fall prevention bar 20L and the fall prevention bar 20R are not in the operating position, so that the passenger can It is possible to reliably prevent the fall prevention bar 20R from traveling in a state where it is not in the operating position.

  Moreover, the electric wheelchair 1 of this invention can be made into the structure which is hard to receive the influence of a foreign material etc. conventionally by using a photo sensor for a position detection part.

  In the electric wheelchair 1 of the present invention, the photo sensor 27L and the photo sensor 27R are attached to the frame 2, and the operation is switched by switching the fall prevention bar 20L and the fall prevention bar 20R between the operation position and the storage position. It is possible to prevent the wiring (not shown) connected to the sensor 27L and the photosensor 27R from being disconnected.

  The electric wheelchair 1 of the present invention has a frame through hole 2A in the frame 2 and a fall prevention bar through hole 20A in the left fall prevention bar 20L so that the light from the light emitting portion 27A penetrates into the fall prevention bar. By providing, the number of parts can be suppressed.

  In addition, this invention is not limited to the said embodiment, You may change into the aspect shown below.

-In this embodiment, although the operation box is attached to the left side, you may attach to the right side.

In this embodiment, the photosensor outputs a position signal to the control device when the anti-tip bar is in the operating position, and drives the motor when the control device outputs the position signal, but outputs a position signal to the control device in other than the operating position. If the control device outputs a position signal, the motor may be stopped.

-In this embodiment, it is controlled so that the drive device of an electric wheelchair is not driven at the time of abnormality processing, but it may be possible to drive only by giving a warning.

-In this embodiment, the frame and the fall prevention bar are engaged with a coil spring, and the structure is such that the fall prevention bar is rotated by expanding and contracting. However, for example, it is a structure that is rotated using another urging member. Or a structure that is rotated using a screw.

In this embodiment, a photo sensor is used for the position detection unit, but a micro switch may be used.

-In this embodiment, although the position detection part is attached to the frame side, you may attach to the fall prevention bar side.

DESCRIPTION OF SYMBOLS 1 Electric wheelchair 2 Frame 3L Left wheel 3R Right wheel 4 Caster 9L Left drive device 9R Right drive device 10L Left fall prevention device 10L Fall prevention device 20B Inner wall (turning part)
20C outer wall (supporting part)
20L fall prevention bar 22L switching means (supporting part)
27A Light emitting unit 27B Light receiving unit 27L Photo sensor (position detecting means)
30 Control unit (control device)
31 Display (notification means)
32 Buzzer (notification means)
40L drive controller (control device)

Claims (6)

Frame,
A wheel rotatably mounted on the frame;
A caster that is attached to the front of the frame and determines a traveling direction;
A driving device for electrically driving the wheel;
A control device for controlling the driving device;
In the electric wheelchair provided at the rear of the frame and provided with an anti-falling device displaceable between an operating position for preventing the overturning and a storage position for storing the electric wheelchair,
Position detecting means for detecting the state of the fall prevention device;
A notification means for notifying an operator when the fall prevention device does not have a normal function by an output from the position detection means;
The control device is an electric wheelchair that prohibits driving of the drive device when an abnormality notification is made by the notification means. The fall prevention device is
A fall prevention bar attached to an end of the frame;
Switching means capable of switching the position of the overturn prevention bar between the operating position and the storage position;
An electric wheelchair provided with the non-contact position detecting means adjacent to the switching means.   The switching means is provided with a hole in a part of the rotating part that rotates in conjunction with the overturn prevention bar that rotates with respect to the support part provided on the frame side, and the hole The electric wheelchair according to claim 1, wherein the position detection means is provided for detecting a state of the fall prevention bar based on a light passing state at the position of the electric wheelchair.   The electric wheelchair according to claim 2, wherein the position detection unit is provided between the frame and the switching unit.   The electric wheelchair according to any one of claims 1 to 4, wherein the position detecting means is a photosensor including a light emitting unit and a light receiving unit.   The electric motor according to claim 5, wherein the photosensor is attached to the frame, and light from the light emitting portion of the photosensor penetrates a part of the rotating portion only when the fall prevention bar is in the operating position. wheelchair.

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