JP2018100701A - Driving device and wheelchair - Google Patents

Abstract

PROBLEM TO BE SOLVED: To reduce the size in a rotary shaft direction of a device which rotates a wheel rotating around a rotary shaft by motors.SOLUTION: A planetary gear mechanism 20 is a transmission mechanism which converts rotation of an input shaft B2 into rotation of an output shaft B3 and rotates a wheel 11 by rotation force of the output shaft B3. The planetary gear mechanism 20 includes: a sun gear 21; four planetary gears 22; an internal tooth gear 23; and a planetary carrier 24. The sun gear 21 rotates around the input shaft B2 while the planetary carrier 24 rotates around the output shaft B3. A driven gear 18 is connected to the sun gear 21 and rotates around the input shaft B2. All of a plurality of motors 14 are arranged in a radial direction A2 of the wheel 11 of the planetary gear mechanism 20. A rotation force transmission gear 15 is a flat gear having teeth engaged with teeth of the driven gear 18 and transmits rotation force generated by the motors 14 to the driven gear 18.SELECTED DRAWING: Figure 2

Description

  The present invention relates to an apparatus for rotating a wheel using a motor.

  Japanese Patent Application Laid-Open No. 2004-228561 describes a technique for engaging a plurality of drive gears rotated by a plurality of motors with an internal gear that forms a planetary gear mechanism and applying a rotational force.

JP 2012-244810 A

The invention of Patent Document 1 is an in-wheel motor that is driven by a so-called gear reduction method in which a motor that is not directly connected to the sun gear transmits rotational force to the planetary gear mechanism. Since they are arranged side by side in the direction of the rotation axis, the size in the direction of the rotation axis tends to increase.
Accordingly, an object of the present invention is to reduce the size of the device in the direction of the rotation axis in a device that rotates a wheel that rotates about the rotation axis with a motor.

  The present invention includes a wheel that rotates about a rotation axis, a first rotation member that is disposed inside the wheel as viewed from the direction of the rotation axis, and that rotates about an input shaft and a rotation that rotates about an output shaft. A transmission mechanism that converts the rotation of the input shaft into the rotation of the output shaft and rotates the wheel by the rotational force of the output shaft; and the input device coupled to the first rotating member. Provided is a drive device that includes a driven gear that rotates about an axis, a motor that is arranged in a radial direction of the wheel of the speed change mechanism, and a rotational force transmission gear that transmits the rotational force of the motor to the driven gear. .

  The speed change mechanism is a planetary gear mechanism having a sun gear, a planetary gear, an internal gear, and a planet carrier, the first rotating member is the sun gear, and the second rotating member is the planet carrier. It may be.

  Further, the rotational force transmission gear may be a flat gear, a helical gear or a mountain gear.

  The rotational force transmission gear may be a worm gear.

  And a connecting member for connecting the set by contacting each of the set of the first rotating member and the driven gear, or the set of the second rotating member and the wheel, and moving the connecting member. And a release mechanism for releasing the connection by separating from at least one of the sets.

  A braking force transmission gear that meshes with the driven gear; and a brake that is disposed in the radial direction of the transmission mechanism and that reduces the rotation speed of the driven gear by suppressing the rotation of the braking force transmission gear. May be.

  The present invention also provides a wheelchair comprising the above-described driving device and a seat on which a user is seated, the seat being attached to the driving device and moving as the wheel rotates.

  ADVANTAGE OF THE INVENTION According to this invention, in the apparatus which rotates the wheel rotated centering around a rotating shaft with a motor, the size of the rotating shaft direction of the apparatus can be made small.

The figure showing the appearance of the wheelchair of an example The figure showing the section of the wheelchair drive device seen in the front-back direction of the wheelchair The figure showing the wheelchair drive device seen in the direction of the axis of rotation of the wheel Diagram showing planet carrier and wheel in unconnected state The figure showing the section of the wheelchair drive device of a modification The figure showing the wheelchair drive device seen in the direction of the axis of rotation of the wheel

[1] Embodiment FIG. 1 shows an appearance of a wheelchair 1 according to an embodiment. The wheelchair 1 is a wheelchair that travels by driving a wheel 11 with a motor. The wheelchair 1 includes a seating portion 2, a backrest 3, an armrest 4, a battery storage portion 5, a controller 6, two front wheels 7, and two wheelchair drive devices 10.

  The seating part 2 is a part (also called a seat) where a user who uses the wheelchair 1 sits. The backrest 3 is a portion on which the user seated on the seating portion 2 holds his / her back and is provided on the back side of the wheelchair 1. The armrest 4 is a portion that the user who is seated on the seating portion 2 holds his arm. The battery storage unit 5 is a box-shaped member disposed below the seating unit 2, and stores a battery that supplies power to the wheelchair drive device 10.

  The controller 6 is a device that controls the operation of the wheelchair drive device 10. The controller 6 is provided on the upper side of the armrest 4 and is connected to the wheelchair drive device 10 by wiring. The controller 6 has an operation element that receives an operation for driving the wheelchair 1, and is operated by a user sitting on the wheelchair 1. The driving of the wheelchair 1 here means that the wheelchair 1 is moved forward, backward, and turned. The front wheel 7 is a wheel provided on the front side of the wheelchair 1 and rotates while supporting a load generated on the front side of the wheelchair 1.

  The wheelchair drive device 10 is provided on the side of the wheelchair 1 and behind the center in the front-rear direction of the wheelchair 1, and drives the wheelchair 1 while supporting a load generated from the center to the rear side of the wheelchair 1. The wheelchair drive device 10 includes a wheel 11 to which a tire is attached and a motor, and transmits the rotational force generated by the motor to rotate the wheel 11 and the tire to drive the wheelchair 1. The wheelchair drive device 10 is an example of the “drive device” in the present invention.

  The wheelchair drive device 10 is attached to the battery storage unit 5. The seating part 2, the backrest 3, the armrest 4 and the battery storage part 5 are an example of the “seat” of the present invention that the user sits and moves when the wheelchair driving device 10 is attached and the wheel 11 rotates. The configuration of the wheelchair drive device 10 will be described with reference to FIGS.

  FIG. 2 shows a cross section of the wheelchair drive device 10 as viewed in the front-rear direction of the wheelchair 1. FIG. 3 shows the wheelchair drive device 10 as viewed in the rotation axis direction A1 of the wheel 11. The rotation axis direction A1 here refers to the direction from the outside to the inside of the wheelchair 1 among the directions along the rotation axis B1 of the wheel 11 (the direction from right to left in the example of FIG. 2). To do. The wheelchair drive device 10 includes a wheel 11, a tire 12, a support member 13, three motors 14 (motors 14-1, 14-2, 14-3), and three rotational force transmission gears 15 (rotational force transmission). Gears 15-1, 15-2, 15-3), a brake 16, a braking force transmission gear 17, a driven gear 18, a planetary gear mechanism 20, and a switching mechanism 30.

  The wheel 11 is a hollow wheel and rotates around the rotation axis B1. The wheel 11 includes a cylindrical portion 111 having a cylindrical shape and a disk portion 112 provided so as to close one opening of the cylindrical portion. A tire 12 shown in FIG. 2 (not shown in FIG. 3) is attached to the outer peripheral side of the cylindrical portion 111. Further, inside the wheel 11 as viewed from the direction along the rotation axis B1 (rotation axis direction A1), each part other than the tire 12 (three motors 14, three torque transmission gears 15, brakes 16, braking force transmission). A gear 17, a driven gear 18, a planetary gear mechanism 20 and a switching mechanism 30) are arranged. Here, the inside of the wheel 11 means a space closer to the rotation axis B1 than the cylindrical portion 111 when viewed from the rotation axis direction A1.

  The support member 13 is a member that rotatably supports the wheel 11 via a gear group such as the driven gear 18 and the planetary gear mechanism 20. The support member 13 is fixed to the battery storage unit 5 and receives a reaction caused by the rotation of the wheel 11 or the like. Three motors 14 and a brake 16 are fixed to the support member 13.

  The motor 14 has a shaft 141, and a rotational force transmission gear 15 is attached to the shaft 141. The motor 14 rotates the rotational force transmission gear 15 by rotating the shaft 141. The rotational force transmission gear 15 is a flat gear having teeth that mesh with the teeth of the driven gear 18, and transmits the rotational force generated by the motor 14 to the driven gear 18. The plurality of motors 14 are all arranged in the radial direction A2 of the wheel 11 of the planetary gear mechanism 20.

  Here, the radial direction A2 of the wheel 11 refers to the direction along the diameter of the wheel 11, and more specifically refers to the direction along the radius or diameter of the inner or outer periphery of the cylindrical portion 111 of the wheel 11. . Since the center of the inner periphery or outer periphery of the cylindrical part 111 is the rotation axis B1, the radial direction A2 includes various directions from the rotation axis B1 toward the cylindrical part 111. For example, the wheelchair drive device 10 illustrated in FIG. 2 can be said to be the wheelchair drive device 10 viewed in the radial direction A2.

  The planetary gear mechanism 20 is a mechanism having various gears to be described later, and there is no space in which the motor 14 can be disposed. Therefore, the arrangement in the radial direction A2 of the planetary gear mechanism 20 means that the planetary gear mechanism 20 is arranged outside the planetary gear mechanism 20, that is, at a position farther from the rotation axis B1 than the planetary gear mechanism 20. 2, when the wheelchair drive device 10 is viewed in the radial direction A2, the range of the position in the rotation axis direction A1 where the plurality of motors 14 exist and the rotation axis direction A1 where the planetary gear mechanism 20 exists. The position range overlaps at least partly.

  The brake 16 has a shaft 161, and a braking force transmission gear 17 is attached to the shaft 161. The brake 16 is an electromagnetic brake, for example, and suppresses the rotation of the braking force transmission gear 17 by suppressing the rotation of the shaft 161. The braking force transmission gear 17 is a flat gear having teeth that mesh with the teeth of the driven gear 18, and transmits the braking force generated by the brake 16 to the driven gear 18.

  That is, the brake 16 reduces the rotation speed of the driven gear 18 by suppressing the rotation of the braking force transmission gear 17. The brake 16 is disposed in the radial direction A2 of the planetary gear mechanism 20 similarly to the motor 14, and when the wheelchair drive device 10 is viewed in the radial direction A2, the position of the rotation axis direction A1 is the planetary gear mechanism 20. And at least partly overlaps.

  The planetary gear mechanism 20 is a speed change mechanism that converts the rotation of the input shaft B2 into the rotation of the output shaft B3 and rotates the wheel 11 with the rotational force of the output shaft B3. The planetary gear mechanism 20 includes a sun gear 21, four planetary gears 22, an internal gear 23, and a planet carrier 24. In the present embodiment, the sun gear 21 rotates about the input shaft B2, and the planet carrier 24 rotates about the output shaft B3. The sun gear 21 is an example of the “first rotating member” in the present invention, and the planet carrier 24 is an example of the “second rotating member” in the present invention.

  In the planetary gear mechanism 20, both the input shaft B <b> 2 and the output shaft B <b> 3 overlap with the rotation shaft B <b> 1 of the wheel 11. That is, the wheel 11, the sun gear 21, and the planet carrier 24 are rotating members that rotate about the same axis. The sun gear 21 rotates around the rotating shaft member 211. The teeth of the sun gear 21 are engaged with the teeth of the four planetary gears 22 respectively. Each planetary gear 22 rotates about each rotation shaft member 221. The teeth of the four planetary gears 22 mesh with the sun gear 21 on the rotation axis B1 side, and mesh with the teeth of the internal gear 23 on the opposite side.

  The internal gear 23 includes a cylindrical portion 231 having internal teeth and a lid portion 232 that closes one opening of the cylindrical portion 231. The lid 232 has a hole through which the rotating shaft member 211 of the sun gear 21 passes, and supports the rotating shaft member 211 so as to be rotatable. The lid portion 232 is fixed to the support member 13 so that the internal gear 23 does not rotate. Therefore, when the sun gear 21 rotates, each planetary gear 22 rotates about the rotation shaft member 211 in the direction opposite to the rotation direction of the sun gear 21 and the periphery of the sun gear 21 is the same as the rotation direction of the sun gear 21. Rotate in the direction. This is called revolution of the planetary gear 22.

  A planet carrier 24 is fixed to the rotating shaft member 211 of each planet gear 22. The planet carrier 24 rotates in accordance with the revolution of the planet gear 22. In the state shown in FIG. 2, the planet carrier 24 is connected to the wheel 11 by the switching mechanism 30. Therefore, when the planet carrier 24 rotates, the wheel 11 rotates and the wheelchair 1 is driven.

  The driven gear 18 disposed in the rotation axis direction A1 of the planetary gear mechanism 20 is fixed to the rotation shaft member 211 of the sun gear 21. That is, the driven gear 18 is connected to the sun gear 21 and rotates around the input shaft B2. In this embodiment, the driven gear 18 is a flat gear having a larger diameter (radius and diameter) than the internal gear 23, and the teeth of the plurality of rotational force transmission gears 15 and the braking force transmission gear 17 are included in the teeth. The teeth are engaged with each other.

  When the plurality of motors 14 rotate, the rotational force is transmitted to the driven gear 18 via the plurality of rotational force transmission gears 15, and the driven gear 18 rotates. When the driven gear 18 rotates, the sun gear 21 rotates and the wheel 11 rotates through the planetary gear mechanism 20. Thus, in the wheelchair drive device 10, the rotational force of the plurality of motors 14 is transmitted to the wheel 11 via the plurality of rotational force transmission gears 15, the driven gear 18 and the planetary gear mechanism 20.

  Further, when the brake 16 functions to suppress the rotation of the braking force transmission gear 17, the rotational speed of the driven gear 18 decreases and the rotational speed of the wheel 11 also decreases. As a result, the wheelchair 1 is decelerated. In the present embodiment, the plurality of rotational force transmission gears 15, the braking force transmission gears 17, and the driven gears 18 are arranged in a space surrounded by the support member 13 and the lid portion 232 of the internal gear 23. That is, the support member 13 is formed in a shape that bypasses these gears. Thereby, the support member 13 supports the plurality of motors 14, the brakes 16, and the internal gears 23 without interfering with the rotation of these gears.

  The switching mechanism 30 is a mechanism that switches between a connected state in which the set of the planetary gear 22 and the wheel 11 is connected and a non-connected state in which the set is not connected. The switching mechanism 30 includes a connecting member 31 and an operation member 32. The connection member 31 is a member that connects the set (the planet carrier 24 and the wheel 11) by contacting each of the set of the planet carrier 24 and the wheel 11. In this embodiment, the connecting member 31 has a rectangular parallelepiped shape, and the wheel 11 is provided with a hole 113 having the same shape as the cross section of the connecting member 31. By passing the connecting member 31 through the hole 113, the connecting member 31 contacts the wheel 11, and the wheel 11 rotates in accordance with the rotation of the connecting member 31.

  Further, the planetary carrier 24 is provided with a hole 241 for inserting and fixing the tip of the connecting member 31. In the state of FIG. 2, a state where the connecting member 31 is inserted into the hole 241 and fixed is shown. In this state, the connecting member 31 is rotated in accordance with the rotation of the planet carrier 24. That is, FIG. 2 shows a connected state in which the connecting member 31 contacts and connects each of the planet carrier 24 and the wheel 11.

  The operation member 32 is a member operated by the user when the switching mechanism 30 switches between a connected state and a non-connected state. The operating member 32 is a disk-shaped member fixed to the end opposite to the tip of the connecting member 31. When the operating member 32 is rotated in the circumferential direction, the connecting member 31 also rotates. When the user operates the operation member 32 to rotate the connecting member 31 and remove the tip of the connecting member 31 from the hole 241 of the planet carrier 24, the connecting member 31 is not in contact with the planet carrier 24, that is, the connecting member 31. However, the planetary carrier 24 and the wheel 11 are not connected.

  FIG. 4 shows the planet carrier 24 and the wheel 11 in a disconnected state. In the example of FIG. 4, in the rotation axis direction A3 (direction opposite to the rotation axis direction A1 shown in FIG. 2. When the user performs an operation of moving the switching mechanism 30, the connecting member 31 is moved and is not in contact with the planet carrier 24, that is, in a non-connected state.

  As described above, the switching mechanism 30 is a mechanism for releasing the connection by moving the connecting member 31 so as to be separated from at least one of the set of the planet carrier 24 and the wheel 11. The switching mechanism 30 is an example of the “release mechanism” in the present invention. On the other hand, when the user performs an operation of moving the switching mechanism 30 in the rotation axis direction A1, the connection member 31 moves and comes into contact with the planet carrier 24, that is, the connection state shown in FIG. As described above, the switching mechanism 30 switches between a connected state and a non-connected state.

  As described above, the wheelchair drive device 10 is a device that drives the wheel 11 that rotates about the rotation axis B <b> 1 with the plurality of motors 14. In the direction along the diameter of). On the other hand, the driven gear 18 is arranged in the rotational axis direction A1 of the planetary gear mechanism 20 (the direction along the rotational axis B1 of the wheel 11). The driven gear 18 is larger than the motor 14 in the rotational axis direction A1. Is small. Therefore, for example, the size of the apparatus in the rotation axis direction A1 can be reduced as compared with the case where the plurality of motors 14 are arranged in the rotation axis direction A1 of the planetary gear mechanism 20.

  As an apparatus for rotating a wheel using a motor, there is an apparatus in which a rotation axis of a motor is matched with a rotation axis of a wheel. In that case, in order to generate a necessary torque, the motor may be enlarged or may have a special shape so as to fit inside the wheel. On the other hand, the motor 14 provided in the wheelchair drive device 10 of the present embodiment does not need to be a special motor, and for example, a commercially available ordinary motor can be adopted. In addition, by providing a plurality of motors (three in this embodiment), even if one motor malfunctions, the rotation of the wheel can be continued as long as the remaining motors are operating. In that case, it is only necessary to replace the failed motor.

  In this embodiment, the planetary gear mechanism 20 is used as a speed change mechanism for rotating the wheel by converting the rotation of the input shaft into the rotation of the output shaft. Thereby, a torque larger than the torque input to the input shaft can be output from the output shaft. In the present embodiment, the planetary carrier 24 and the wheel 11 are disconnected by operating the switching mechanism 30. Thereby, for example, when the motor 14 and the brake 16 etc. break down or when it is desired to operate the wheelchair manually when the controller for pushing the wheelchair is not provided like the wheelchair 1, the switching mechanism 30 is provided. Compared to the case where the wheelchair is not provided, the wheelchair can be easily operated manually.

  In the present embodiment, the wheelchair 1 is decelerated by the brake 16 reducing the rotational speed of the driven gear 18 via the braking force transmission gear 17. Thereby, in order to decelerate the wheelchair 1, the space which provides a brake pad and a brake disc, for example can be made unnecessary. Further, since the brake 16 is also arranged in the radial direction A2 of the planetary gear mechanism 20 similarly to the motor 14, the rotation axis of the device is compared with the case where the brake 16 is arranged in the rotation axis direction A1 of the planetary gear mechanism 20. The size in the direction A1 can be reduced.

[2] Modifications The above-described embodiments are merely examples of the present invention and may be modified as follows. Moreover, you may implement an Example and each modification in combination as needed.

[2-1] Rotational Force Transmission Gear In the embodiment, a flat gear is used as the rotational force transmission gear that transmits the rotational force of the motor 14 to the driven gear 18, but the present invention is not limited to this. For example, there are helical gears that have helically cut teeth with respect to the rotation axis, and helical gears that combine two helical gears with opposite torsional directions. It may be used as a rotational force transmission gear.

Further, a worm gear in which a screw gear (worm) and a helical gear (worm wheel) matching the screw gear (worm) are combined may be used as the rotational force transmission gear.
FIG. 5 shows a cross section of the wheelchair drive device 10a of this modification. FIG. 5 shows the wheelchair drive device 10a viewed in the rotation axis direction A1.

  The wheelchair drive device 10a includes a wheel 11, a tire 12, a support member 13a, three motors 14a (motors 14a-1, 14a-2, 14a-3), and three rotational force transmission gears 15a (rotational force transmission). Gears 15a-1, 15a-2, 15a-3), a brake 16a, a braking force transmission gear 17a, a driven gear 18a, a planetary gear mechanism 20, and a switching mechanism 30.

  The motor 14 a includes a shaft 141 a and is supported by the support member 13 a in a state where the rotation axis of the shaft 141 a is directed in the rotation direction of the wheel 11. The rotational force transmission gear 15a includes a worm 151a (151a-1, 151a-2, 151a-3 shown in FIG. 6) and a worm wheel 152a. The worm 151a is a screw gear attached to the shaft 141a. The worm wheel 152a is a helical gear that meshes with the teeth of the worm 151a and also meshes with the teeth 181a of the driven gear 18a, and is rotatably supported by the support member 13a.

  The driven gear 18a is connected to the sun gear 21 and rotates around the input shaft B2. The driven gear 18a is formed of a disk-shaped member, and teeth 181a that mesh with the teeth of the worm 151a are provided on the outer peripheral side of the surface on the sun gear 21 side. The teeth of the braking force transmission gear 17a are also engaged with the teeth 181a. The braking force transmission gear 17a is a worm gear like the rotational force transmission gear 15a, and includes a worm 171a that is a screw gear and a worm wheel 172a that is a helical gear.

  The brake 16a includes a shaft 161a, and is supported by the support member 13a in a state where the rotation axis of the shaft 161a is directed in the rotation direction A4 of the wheel 11. The worm 171a is attached to the shaft 161a. The worm wheel 172a has teeth that mesh with the teeth of the worm 171a and also mesh with the teeth 181a of the driven gear 18a, and is rotatably supported by the support member 13a.

  Thus, in the wheelchair drive device 10a, the motor 14a and the brake 16a are connected to the driven gear 18a via the worm gear. In the worm gear, since it is difficult to transmit the rotational force from the worm wheel to the worm, for example, when electric power is not supplied to the motor 14a and the brake 16a and they are stopped, the worm wheel stops rotating and the worm wheel The meshed driven gear 18 also stops rotating. Therefore, the rotation of the wheel 11 is locked (stopped), and even when the wheelchair is on a slope, for example, it can be prevented from falling down.

  Further, in the wheelchair drive device 10 a, the motor 14 a and the brake 16 a are arranged with the rotation axes of the respective shafts facing the rotation direction A <b> 4 of the wheel 11. These motors 14a and brakes 16a are smaller in dimensions in the direction perpendicular to the direction than dimensions in the direction along the rotation axis of the shaft (including the shaft). Therefore, according to this modification, the size of the rotation axis direction A1 of the device is reduced as compared with the case where the motor and the brake are arranged with the rotation axis of each shaft directed toward the rotation axis direction A1 of the wheel 11. Can do.

  It should be noted that when a flat gear is used as the rotational force transmission gear as in the embodiment, or when a helical gear or a splint gear is used as described in this modification, compared to the case where a worm gear is used. Since the number of gears interposed between the motor and the driven gear is small, and the slip of the tooth surface between the gears is small, the transmission efficiency of the rotational force of the motor can be increased.

[2-2] Input shaft and output shaft In the embodiment, the internal gear 23 of the planetary gear mechanism 20 is fixed to the support member, the sun gear 21 rotates about the input shaft B2, and the planetary carrier 24 rotates to the output shaft B3. However, the present invention is not limited to this. For example, the internal gear 23 may be fixed, the planet carrier 24 may rotate about the input shaft B2, and the sun gear 21 may rotate about the output shaft B3.

  Further, when the sun gear 21 is fixed to the support member, the internal gear 23 rotates around the input shaft B2 (or output shaft B3), and the planet carrier 24 rotates the output shaft B3 (or input shaft B2). You may rotate to the center. When the planetary carrier 24 is fixed to the support member, the sun gear 21 rotates around the input shaft B2 (or output shaft B3), and the internal gear 23 rotates the output shaft B3 (or input shaft B2). You may rotate to the center.

  In either case, the planetary gear mechanism functions as a speed change mechanism that rotates the wheel 11 by converting the rotation of the input shaft B2 into the rotation of the output shaft B3. Which member of the sun gear 21, the internal gear 23, and the planetary carrier 24 is used as the input shaft B2 and the output shaft B3 may be determined according to a required gear ratio.

[2-3] Speed Change Mechanism In the embodiment, the planetary gear mechanism 20 is used as the speed change mechanism, but the present invention is not limited to this. For example, a transmission mechanism having a clutch mechanism may be used, or a belt-type transmission mechanism may be used. In any case, the speed change mechanism has a first rotation member that rotates about the input shaft B2 and a second rotation member that rotates about the output shaft B3, and the motor is arranged in the radial direction A2 of the wheel of the speed change mechanism. The rotational force of the motor is transmitted as the rotational force of the input shaft B2 through the driven gear and the rotational force transmission gear which are arranged and connected to the first rotational member and rotates around the input shaft B2. That's fine.

[2-4] Switching mechanism 30
In the embodiment, the switching mechanism switches between a connected state in which the set of the planetary gear 22 and the wheel 11 is connected and a non-connected state in which the set is not connected, but is not limited thereto. The switching mechanism may switch, for example, between a connected state in which a set of sun gears and driven gears is connected and an unconnected state in which the set is not connected.

  In addition, a mechanism for moving the rotational force transmission gear and the braking force transmission gear is provided, and by separating the gear and the driven gear, the connected state and the non-connected state of the driven gear and those gears are switched. Also good. Further, the speed change mechanism may have a structure for switching the connected state and the non-connected state of the first rotating member and the second rotating member, and the switching may be performed by the switching mechanism.

  In short, when the motor and the wheel are connected via a plurality of gears or the like to form a path for transmitting the rotational force of the motor to the rotational force of the wheel, at least one of the paths is interrupted. Thus, a mechanism for switching between a connected state in which the motor and the wheel are connected and a non-connected state in which they are not connected may be provided as a switching mechanism.

[2-5] Motors and brakes In the embodiment, the wheelchair drive device includes three motors and one brake. However, the number of motors and brakes is not limited to this. For example, even if there is only one motor. The number of brakes may be two or more. Further, if there is enough space, a disc brake may be provided instead of the brake described in the embodiment. Alternatively, a motor that can control the number of revolutions such as a stepping motor may be provided to reduce the speed instead of the brake, and the worm gear may be provided to lock the wheel at the time of stop instead of the brake. Thus, the wheelchair drive device should just be provided with the motor of at least 1 or more.

[2-6] Driving Target The target driven by the driving device that rotates the wheel using the motor as in the wheelchair driving device 10 is not limited to the wheelchair. For example, the vehicle may be a passenger vehicle such as a bicycle, a motorcycle, or an automobile, or may be an electric cart for carrying cargo. In short, any vehicle may be used as a driving target as long as the vehicle travels by rotating the wheel.

DESCRIPTION OF SYMBOLS 1 ... Wheelchair, 2 ... Seating part, 5 ... Battery storage part, 6 ... Controller, 10 ... Wheelchair drive device, 11 ... Wheel, 12 ... Tire, 13 ... Support member, 14 ... Motor, 15 ... Rotary force transmission gear, 16 DESCRIPTION OF SYMBOLS ... Brake, 17 ... Braking force transmission gear, 18 ... Driven gear, 20 ... Planetary gear mechanism, 21 ... Sun gear, 22 ... Planetary gear, 23 ... Internal gear, 24 ... Planetary carrier, 30 ... Switching mechanism, 31 ... Connection Member, 32 ... operation member.

Claims (7)

A wheel that rotates about a rotation axis;
A first rotating member that is disposed inside the wheel as viewed from the direction of the rotating shaft and that rotates about the input shaft; and a second rotating member that rotates about the output shaft; A speed change mechanism that converts the rotation of the output shaft and rotates the wheel with the rotational force of the output shaft;
A driven gear coupled to the first rotating member and rotating about the input shaft;
A motor disposed in a radial direction of the wheel of the speed change mechanism;
A driving device comprising: a rotational force transmission gear for transmitting the rotational force of the motor to the driven gear. The speed change mechanism is a planetary gear mechanism having a sun gear, a planetary gear, an internal gear and a planet carrier,
The first rotating member is the sun gear;
The drive device according to claim 1, wherein the second rotating member is the planet carrier. The driving device according to claim 1, wherein the rotational force transmission gear is a flat gear, a helical gear, or a mountain gear. The drive device according to claim 1, wherein the rotational force transmission gear is a worm gear. The first rotating member and the driven gear set, or the second rotating member and the wheel set each having a connecting member that connects the set by contacting each other. The drive device according to any one of claims 1 to 4, further comprising a release mechanism that releases the connection by being separated from at least one of the sets. A braking force transmission gear meshing with the driven gear;
The drive according to any one of claims 1 to 5, further comprising: a brake that is disposed in the radial direction of the speed change mechanism and that reduces a rotation speed of the driven gear by suppressing rotation of the braking force transmission gear. apparatus. The drive device according to any one of claims 1 to 6,
A wheelchair comprising: a seat on which a user is seated, and the seat that moves when the driving device is attached and the wheel rotates.

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