JP2017131610A - Electric wheelchair moved by shift of centroid - Google Patents

Electric wheelchair moved by shift of centroid Download PDF

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JP2017131610A
JP2017131610A JP2016028370A JP2016028370A JP2017131610A JP 2017131610 A JP2017131610 A JP 2017131610A JP 2016028370 A JP2016028370 A JP 2016028370A JP 2016028370 A JP2016028370 A JP 2016028370A JP 2017131610 A JP2017131610 A JP 2017131610A
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electric wheelchair
seat
center
gravity
sensor
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JP6255591B2 (en
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谷島　昇
Noboru Yajima
昇 谷島
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Cosmotec KK
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Cosmotec KK
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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
    • A61G5/06—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs with obstacle mounting facilities, e.g. for climbing stairs, kerbs or steps
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
    • A61G5/10—Parts, details or accessories
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
    • A61G5/10—Parts, details or accessories
    • A61G5/1056—Arrangements for adjusting the seat
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G2200/00—Information related to the kind of patient or his position
    • A61G2200/10—Type of patient
    • A61G2200/20—Type of patient with asymmetric abilities, e.g. hemiplegic or missing a limb
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G2203/00—General characteristics of devices
    • A61G2203/10—General characteristics of devices characterised by specific control means, e.g. for adjustment or steering
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G2203/00—General characteristics of devices
    • A61G2203/30—General characteristics of devices characterised by sensor means
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G2203/00—General characteristics of devices
    • A61G2203/30—General characteristics of devices characterised by sensor means
    • A61G2203/42—General characteristics of devices characterised by sensor means for inclination

Abstract

PROBLEM TO BE SOLVED: To provide an electric wheelchair being operable even at an inclined place without any incorrect operation in the electric wheelchair operated by a driver moving a center of gravity.SOLUTION: The electric wheelchair includes: a seat sensor 16 at a seat; an inclination sensor 17 at an electric wheelchair body 1; a mechanism for inclining the seat 15 to the front/back and the left/right; and driving wheels moving to the left/right independently. The electric wheelchair detects movement of a center of gravity by an inclination of the seat, further corrects a position of the center of gravity detected by the seat sensor according to the inclination detected by an inclination sensor mounted on the electric wheelchair body, and controls a wheel driving motor as a manipulated variable of the electric wheelchair.SELECTED DRAWING: Figure 1

Description

本発明は、操縦者の重心移動によって前後走行、左右旋回、加速減速を操作する事が出来る電動車椅子に関するものである。  The present invention relates to an electric wheelchair that can be operated to move forward and backward, turn left and right, and accelerate and decelerate by moving the center of gravity of a driver.

従来、重心移動で走行する乗り物は健常者向けの乗り物として提案されている。  Conventionally, a vehicle that travels by moving its center of gravity has been proposed as a vehicle for healthy persons.

特開平１１−２３６１３号公報Japanese Patent Laid-Open No. 11-23613 特許第４６９１９１２号公報Japanese Patent No. 469912

重心移動で移動体を操作する為に、特許文献１においては電動車椅子の座席の座面に圧力センサーを配置している為、傾斜した場所で電動車椅子が傾いた時でも重心が傾いてしまう、また操縦者の無意識な動作でも圧力センサーが検出してしまい誤動作してしまう可能性がある。特許文献２においては重心移動で操作できるが体の不自由な人を考慮したものではない。  In order to operate the moving body by moving the center of gravity, the pressure sensor is arranged on the seating surface of the seat of the electric wheelchair in Patent Document 1, so that the center of gravity tilts even when the electric wheelchair tilts in an inclined place. In addition, the pressure sensor may detect even a driver's unintentional movement and may malfunction. In Patent Document 2, the operation can be performed by moving the center of gravity, but this does not consider a person with a physical disability.

本発明で解決しようとする課題は、体の不自由な人でも重心移動で操作でき、傾斜した場所において電動車椅子が傾いた場合でも、重心移動で安定して操作できる重心移動電動車椅子を構成する事である。  The problem to be solved by the present invention is to construct a center-of-gravity-moving electric wheelchair that can be operated by center of gravity movement even by a handicapped person and can be stably operated by center-of-gravity movement even when the electric wheelchair tilts in an inclined place It is a thing.

課題を解決する為の手段Means to solve the problem

本発明は上記課題を解決する為に、座席の傾きを検出する座席センサー又はハンドルの傾きを検出するハンドルセンサーと、電動車椅子本体に傾斜センサーを設け、左右独立に動作する駆動車輪を設ける。  In order to solve the above-mentioned problems, the present invention provides a seat sensor for detecting the tilt of a seat or a handle sensor for detecting the tilt of a handle, a tilt sensor in an electric wheelchair body, and driving wheels that operate independently on the left and right.

重心移動を座席センサー又はハンドルセンサーで検出し、更に電動車椅子本体に取り付けられた傾斜センサーで検出した傾きに応じて座席センサー又はハンドルセンサーから検出する重心の位置に補正を加えて電動車椅子の操作量として車輪駆動モータを制御する。  The amount of operation of the electric wheelchair is detected by detecting the movement of the center of gravity with the seat sensor or the handle sensor, and further correcting the position of the center of gravity detected from the seat sensor or the handle sensor according to the inclination detected by the inclination sensor attached to the main body of the electric wheelchair. As the wheel drive motor is controlled.

発明の効果Effect of the invention

本発明によれば、傾斜した場所でも誤動作なく重心移動で安定して操作可能な電動車椅子が実現できる。  According to the present invention, an electric wheelchair that can be stably operated by moving the center of gravity without malfunctioning even in an inclined place can be realized.

本発明の実施形態１における重心移動電動車椅子の全体図である。1 is an overall view of a center-of-gravity movement electric wheelchair according to Embodiment 1 of the present invention. 本発明の実施形態２における重心移動電動車椅子の全体図である。It is a general view of the center-of-gravity movement electric wheelchair in Embodiment 2 of the present invention.

発明を実施する為の形態BEST MODE FOR CARRYING OUT THE INVENTION

以下、この発明にかかる好適な実施形態を図面に基づいて説明する。  DESCRIPTION OF EXEMPLARY EMBODIMENTS Hereinafter, preferred embodiments of the invention will be described with reference to the drawings.

図１において、この発明にかかる重心移動電動車椅子の実施形態１の全体図を示すと、重心移動電動車椅子本体１の左右平行に左駆動車輪１０、右駆動車輪８を設け、該左駆動車輪１０は左駆動モータ９で駆動され、該右駆動車輪８は右駆動モータ７で駆動される。  In FIG. 1, an overall view of the first embodiment of the gravity center moving electric wheelchair according to the present invention is shown. The left driving wheel 10 and the right driving wheel 8 are provided in parallel to the left and right of the center of gravity moving electric wheelchair body 1. Is driven by a left drive motor 9, and the right drive wheel 8 is driven by a right drive motor 7.

前記左駆動モータ９と右駆動モータ７は重心移動電動車椅子本体１に固定されている。  The left driving motor 9 and the right driving motor 7 are fixed to the electric wheelchair body 1 that moves the center of gravity.

左前キャスター５は左キャスター取り付けフレーム４に固定され、該左キャスター取り付けフレーム４は前記重心移動電動車椅子本体１の前部左側に設けられている。また、右前キャスター３は右キャスター取り付けフレーム２に固定される。該右キャスター取り付けフレーム２は前記重心移動電動車椅子本体１の前部右側に設けられている。  The left front caster 5 is fixed to the left caster mounting frame 4, and the left caster mounting frame 4 is provided on the left side of the front part of the electric wheelchair body 1 that moves the center of gravity. The right front caster 3 is fixed to the right caster mounting frame 2. The right caster mounting frame 2 is provided on the right side of the front portion of the electric wheelchair body 1 that moves the center of gravity.

ステップ６は左キャスター取り付けフレーム４と右キャスター取り付けフレーム２の間で前記重心移動電動車椅子本体１の前部に設けられている。  Step 6 is provided between the left caster mounting frame 4 and the right caster mounting frame 2 at the front portion of the electric wheelchair body 1 that moves the center of gravity.

左後キャスター１４は左後キャスター取り付けフレーム１３に固定され、該左後キャスター取り付けフレーム１３は前記重心移動電動車椅子本体１の後部左側に設けられている。また、右後キャスター１２は右後キャスター取り付けフレーム１１に固定され、該右後キャスター取り付けフレーム１１は前記重心移動電動車椅子本体１の後部右側に設けられている。前記左後キャスター１４と右後キャスター１２は転倒防止目的に設けられており、通常時は接地していない。  The left rear caster 14 is fixed to the left rear caster mounting frame 13, and the left rear caster mounting frame 13 is provided on the left side of the rear part of the electric wheelchair body 1 that moves the center of gravity. The right rear caster 12 is fixed to the right rear caster mounting frame 11, and the right rear caster mounting frame 11 is provided on the right side of the rear portion of the electric wheelchair body 1 that moves the center of gravity. The left rear caster 14 and the right rear caster 12 are provided for the purpose of preventing overturning, and are not normally grounded.

座席１５は、前後左右に自在に傾く事が出来る機構で前記重心移動電動車椅子本体１の上部に設けられ、該座席１５には該座席１５の傾きを検出する座席センサー１６が設けられている。  The seat 15 is provided at the upper part of the electric wheelchair main body 1 that moves in the center of gravity by a mechanism that can be freely tilted forward, backward, left, and right. The seat 15 is provided with a seat sensor 16 that detects the tilt of the seat 15.

前記重心移動電動車椅子本体１には、前記左駆動モータ９と前記右駆動モータ７に電気を供給するバッテリー１８と、前記重心移動電動車椅子本体１の傾きを検出する傾斜センサー１７と、全体の動作を制御する制御ユニット１９が設けられている。  The center-of-gravity movement electric wheelchair body 1 includes a battery 18 that supplies electricity to the left drive motor 9 and the right drive motor 7, a tilt sensor 17 that detects the tilt of the center-of-gravity movement electric wheelchair body 1, and the overall operation. A control unit 19 is provided for controlling the above.

前記座席センサー１６の出力信号が前記制御ユニット１９に伝えられ、センサーの信号に応じて前記左駆動モータ９と、前記右駆動モータ７の回転を制御する。  An output signal of the seat sensor 16 is transmitted to the control unit 19, and the rotation of the left drive motor 9 and the right drive motor 7 is controlled according to the signal of the sensor.

本体が水平な場所にある時は、傾斜センサー１７の出力が変化しない。この場合は、前記座席センサー１６の出力信号に応じて、前記制御ユニット１９が前記左駆動モータ９と前記右駆動モータ７を前進、後退させる。つまり、前記座席１５が前に傾けば前進し、後に傾けば後退する。  When the main body is in a horizontal place, the output of the tilt sensor 17 does not change. In this case, according to the output signal of the seat sensor 16, the control unit 19 moves the left drive motor 9 and the right drive motor 7 forward and backward. That is, if the seat 15 is tilted forward, the seat 15 moves forward.

また、前記座席１５が右に傾けば、前記左駆動モータ９を回転させ右へ方向転換し、前記座席１５が左に傾けば、前記右駆動モータ７を回転させ左へ方向転換する。  If the seat 15 is tilted to the right, the left drive motor 9 is rotated to change the direction to the right. If the seat 15 is tilted to the left, the right drive motor 7 is rotated to change the direction to the left.

本体が進行方向に対して上り坂にある時は、傾斜センサー１７の出力が変化して傾き角度によって出力される電圧が大きくなる。同時に座席センサー１６も傾き角度によって出力される電圧が大きくなる。この場合は傾斜センサー１７の出力相当分を座席センサー１６の出力から差し引いた分を操作量として、前進、後退を行う。  When the main body is on an uphill with respect to the traveling direction, the output of the tilt sensor 17 changes and the voltage output according to the tilt angle increases. At the same time, the output voltage of the seat sensor 16 increases depending on the tilt angle. In this case, the forward and backward movements are performed using the amount corresponding to the output of the tilt sensor 17 subtracted from the output of the seat sensor 16 as the operation amount.

本体が進行方向に対して下り坂にある時は、傾斜センサー１７の出力が変化して傾き角度によって出力される電圧が小さくなる。同時に座席センサー１６も傾き角度によって出力される電圧が小さくなる。この場合も傾斜センサー１７の出力相当分を座席センサー１６の出力から差し引いた分を操作量として、前進、後退を行う。  When the main body is downhill with respect to the traveling direction, the output of the tilt sensor 17 changes and the voltage output according to the tilt angle becomes smaller. At the same time, the output voltage of the seat sensor 16 is reduced depending on the tilt angle. Also in this case, the amount corresponding to the output of the tilt sensor 17 subtracted from the output of the seat sensor 16 is used as the operation amount to move forward and backward.

図２において、この発明にかかる重心移動電動車椅子の実施形態２の全体図を示すと、重心移動電動車椅子駆動部３１の左右平行に左駆動車輪３５、右駆動車輪３３を設け、該左駆動車輪３５は左駆動モータ３４で駆動され、該右駆動車輪３３は右駆動モータ３２で駆動される。  In FIG. 2, an overall view of the second embodiment of the gravity center moving electric wheelchair according to the present invention is shown. The left driving wheel 35 and the right driving wheel 33 are provided in parallel to the left and right of the gravity center moving electric wheelchair drive unit 31. 35 is driven by the left drive motor 34, and the right drive wheel 33 is driven by the right drive motor 32.

前記左駆動モータ３４と右駆動モータ３２は重心移動電動車椅子駆動部３１に固定されている。  The left drive motor 34 and the right drive motor 32 are fixed to the gravity center moving electric wheelchair drive unit 31.

左後キャスター３９は左後キャスター取り付けフレーム３８に固定され、該左後キャスター取り付けフレーム３８は前記重心移動電動車椅子駆動部３１の後部左側に設けられている。また、右後キャスター３７は右後キャスター取り付けフレーム３６に固定される。該右後キャスター取り付けフレーム３６は前記重心移動電動車椅子駆動部３１の後部右側に設けられている。  The left rear caster 39 is fixed to the left rear caster mounting frame 38, and the left rear caster mounting frame 38 is provided on the left side of the rear portion of the electric wheelchair drive unit 31 that moves the center of gravity. Further, the right rear caster 37 is fixed to the right rear caster mounting frame 36. The right rear caster mounting frame 36 is provided on the right side of the rear part of the electric wheelchair drive unit 31 that moves the center of gravity.

前記重心移動電動車椅子駆動部３１には、ハンドル４０が設けられている。該ハンドル４０は前後左右に倒れる機構になっており、内部に傾きを検出するハンドルセンサー４１が設けられている。  The center-of-gravity movement electric wheelchair drive unit 31 is provided with a handle 40. The handle 40 has a mechanism that tilts forward, backward, left, and right, and a handle sensor 41 that detects inclination is provided inside.

座席台４３は、前記左後キャスター取り付けフレーム３８と、前記右後キャスター取り付けフレーム３６の上に設けられ、該座席台４３の上部に座席４２が設けられている。  The seat base 43 is provided on the left rear caster attachment frame 38 and the right rear caster attachment frame 36, and a seat 42 is provided above the seat base 43.

前記重心移動電動車椅子駆動部３１には、前記左駆動モータ３４と前記右駆動モータ３２に電気を供給するバッテリー４５と、前記重心移動電動車椅子駆動部３１の傾きを検出する傾斜センサー４４と、全体の動作を制御する制御ユニット４６が設けられている。  The center-of-gravity movement electric wheelchair drive unit 31 includes a battery 45 that supplies electricity to the left drive motor 34 and the right drive motor 32, an inclination sensor 44 that detects the inclination of the center-of-gravity movement electric wheelchair drive unit 31, and the whole A control unit 46 is provided for controlling the operation.

前記ハンドルセンサー４１と、前記傾斜センサー４４の出力信号が前記制御ユニット４６に伝えられ、各センサーの信号に応じて前記左駆動モータ３４と、前記右駆動モータ３２の回転を制御する。  Output signals of the handle sensor 41 and the tilt sensor 44 are transmitted to the control unit 46, and the rotation of the left drive motor 34 and the right drive motor 32 is controlled according to the signals of the sensors.

本体が水平な場所にある時は、傾斜センサー４４の出力が変化しない。この場合は、前記ハンドルセンサー４１の出力に応じて、前記制御ユニット４６が前記左駆動モータ３４と前記右駆動モータ３２を前進させる。つまり、前記ハンドル４０が前に傾けば前進し、後に傾けば後退する。  When the main body is in a horizontal place, the output of the tilt sensor 44 does not change. In this case, the control unit 46 advances the left drive motor 34 and the right drive motor 32 in accordance with the output of the handle sensor 41. That is, when the handle 40 is tilted forward, it moves forward, and when it tilts backward, it moves backward.

また、前記ハンドル４０が右に傾けば、前記左駆動モータ３４を回転させ右へ方向転換し、前記ハンドル４０が左に傾けば、前記右駆動モータ３２を回転させ左へ方向転換する。  When the handle 40 is tilted to the right, the left drive motor 34 is rotated to change the direction to the right, and when the handle 40 is tilted to the left, the right drive motor 32 is rotated to change the direction to the left.

本体が進行方向に対して上り坂にある時は、傾斜センサー４４の出力が変化して傾き角度によって出力される電圧が大きくなる。同時にハンドルセンサー４１も傾き角度によって出力される電圧が大きくなる。この場合は傾斜センサー４４の出力相当分をハンドルセンサー４１の出力から差し引いた分を操作量として、前進、後退を行う。  When the main body is on the uphill with respect to the traveling direction, the output of the tilt sensor 44 changes and the voltage output according to the tilt angle increases. At the same time, the output voltage of the handle sensor 41 also increases depending on the tilt angle. In this case, the forward and backward movements are performed with the amount corresponding to the output of the tilt sensor 44 subtracted from the output of the handle sensor 41 as the operation amount.

本体が進行方向に対して下り坂にある時は、傾斜センサー４４の出力が変化して傾き角度によって出力される電圧が小さくなる。同時にハンドルセンサー４１も傾き角度によって出力される電圧が小さくなる。この場合も傾斜センサー４４の出力相当分をハンドルセンサー４１の出力から差し引いた分を操作量として、前進、後退を行う。  When the main body is on the downhill with respect to the traveling direction, the output of the tilt sensor 44 changes and the voltage output according to the tilt angle becomes smaller. At the same time, the output voltage of the handle sensor 41 is reduced depending on the tilt angle. Also in this case, the forward and backward movements are performed using the operation amount corresponding to the output of the tilt sensor 44 subtracted from the output of the handle sensor 41.

上記構成によって、傾斜した場所でも操縦者が重心移動しながらハンドル４０を前後左右に傾ける事によって電動車椅子を誤動作なく操作する事が出来る。  With the above-described configuration, the electric wheelchair can be operated without malfunction by tilting the handle 40 back and forth and right and left while the center of gravity moves while tilting.

なお、本発明は、前記実施形態に限定されるものではなく、本発明の目的を達成出来る範囲における構成や形態をも含むものである。  In addition, this invention is not limited to the said embodiment, The structure and form in the range which can achieve the objective of this invention are also included.

本発明は、操縦者が重心を移動する事によって操作する電動車椅子に適している。  The present invention is suitable for an electric wheelchair that is operated by the operator moving the center of gravity.

１ 重心移動電動車椅子本体
２ 右キャスター取り付けフレーム
３ 右前キャスター
４ 左キャスター取り付けフレーム
５ 左前キャスター
６ ステップ
７ 右駆動モータ
８ 右駆動車輪
９ 左駆動モータ
１０ 左駆動車輪
１１ 右後キャスター取り付けフレーム
１２ 右後キャスター
１３ 左後キャスター取り付けフレーム
１４ 左後キャスター
１５ 座席
１６ 座席センサー
１７ 傾斜センサー
１８ バッテリー
１９ 制御ユニット
３１ 重心移動電動車椅子駆動部
３２ 右駆動モータ
３３ 右駆動車輪
３４ 左駆動モータ
３５ 左駆動車輪
３６ 右後キャスター取り付けフレーム
３７ 右後キャスター
３８ 左後キャスター取り付けフレーム
３９ 左後キャスター
４０ ハンドル
４１ ハンドルセンサー
４２ 座席
４３ 座席台
４４ 傾斜センサー
４５ バッテリー
４６ 制御ユニット1 center of gravity electric wheelchair body 2 right caster mounting frame 3 right front caster 4 left caster mounting frame 5 left front caster 6 step 7 right drive motor 8 right drive wheel 9 left drive motor 10 left drive wheel 11 right rear caster installation frame 12 right rear caster 13 Left rear caster mounting frame 14 Left rear caster 15 Seat 16 Seat sensor 17 Tilt sensor 18 Battery 19 Control unit 31 Center of gravity electric wheelchair drive unit 32 Right drive motor 33 Right drive wheel 34 Left drive motor 35 Left drive wheel 36 Right rear caster Mounting frame 37 Right rear caster 38 Left rear caster mounting frame 39 Left rear caster 40 Handle 41 Handle sensor 42 Seat 43 Seat base 44 Tilt sensor 45 Battery 46 Control unit

Claims (2)

左右に平行した２個以上の車輪と、該車輪を左右独立に駆動するモータが前記車輪により走行する電動車椅子本体に設けられ、電動車椅子本体前側に前キャスター取り付けフレームが設けられ、該前キャスター取り付けフレームに前記前キャスターが設けられ、電動車椅子本体後側に後キャスター取り付けフレームと転倒防止後キャスターが設けられ、該転倒防止後キャスターは通常走行時には接地しない位置に設けられ、前記電動車椅子本体中央上部に座席が設けられ、該座席は前後と左右に自在に傾く構成とされ、該座席には座席傾斜センサーが設けられ、前記電動車椅子本体の内部にバッテリーと、制御ユニットと傾斜センサーが設けられた重心移動により移動可能な電動車椅子。  Two or more wheels parallel to the left and right, and a motor that independently drives the wheels on the left and right are provided on the electric wheelchair body that is driven by the wheels, a front caster attachment frame is provided on the front side of the electric wheelchair body, and the front caster attachment The front caster is provided on the frame, and a rear caster mounting frame and a fall-prevention caster are provided on the rear side of the electric wheelchair body. A seat is provided, and the seat is configured to freely tilt forward and backward, left and right, the seat includes a seat tilt sensor, and a battery, a control unit, and a tilt sensor are provided inside the electric wheelchair body. Electric wheelchair that can be moved by moving the center of gravity. 左右に平行した２個以上の車輪と、該車輪を左右独立に駆動するモータが前記車輪により走行する電動車椅子駆動部に設けられ、該電動車椅子駆動部上部中央に操作ハンドルが設けられ、該ハンドルの中に傾きを検出するハンドルセンサーが設けられ、電動車椅子駆動部後側に２個以上の後キャスター取り付けフレームが設けられ、該後キャスター取り付けフレームに左右２個以上の前記後キャスターが設けられ、該後キャスター取り付けフレームの上部に座席台が設けられ、該座席台に座席が設けられ、前記電動車椅子駆動部の内部にバッテリーと、制御ユニットと傾斜センサーが設けられたハンドルを使用し重心移動により移動可能な電動車椅子。  Two or more wheels parallel to the left and right, and a motor that independently drives the wheels on the left and right are provided in an electric wheelchair drive unit that is driven by the wheels, and an operation handle is provided in the upper center of the electric wheelchair drive unit. A steering wheel sensor is provided for detecting inclination, two or more rear caster mounting frames are provided on the rear side of the electric wheelchair drive unit, and two or more rear casters on the left and right are provided on the rear caster mounting frame, A seat base is provided on the upper part of the rear caster mounting frame, a seat is provided on the seat base, and a battery, a control unit and a tilt sensor are provided inside the electric wheelchair drive unit to move the center of gravity. A movable electric wheelchair.
JP2016028370A 2016-01-29 2016-01-29 Electric wheelchair that moves by moving the center of gravity Expired - Fee Related JP6255591B2 (en)

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