JP4603607B2 - Wheel drive wheel drive swivel - Google Patents

Wheel drive wheel drive swivel Download PDF

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Publication number
JP4603607B2
JP4603607B2 JP2008239633A JP2008239633A JP4603607B2 JP 4603607 B2 JP4603607 B2 JP 4603607B2 JP 2008239633 A JP2008239633 A JP 2008239633A JP 2008239633 A JP2008239633 A JP 2008239633A JP 4603607 B2 JP4603607 B2 JP 4603607B2
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wheel
rotation
reverse rotation
conical friction
friction wheel
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JP2010069005A (en
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半田康延
関和則
高橋隆行
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国立大学法人東北大学
国立大学法人福島大学
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  The invention of this application belongs to the field of wheelchairs. It is not intended for a type in which the wheel is directly rotated by hand, but is suitable for a wheelchair that is self-propelled by the driving force of a foot pedal. However, it does not exclude application to a wheelchair that is self-propelled by an electric motor. And the feature point is that the rotation speed of the left and right wheels is continuously variable from the forward rotation region to the stop region, and further to the reverse rotation region, and the device that drives and turns the wheels with the steering of the self-propelled wheelchair. Belonging to the field.

  The mechanism that enables super-revolution in a mobile trolley with a steering mechanism is “single-wheel drive / single-wheel steering”, and super-revolution can only be performed in one direction or driven. The wheel on the non-side was in a free state, and stable running was difficult when crossing a slope. In addition, turning by changing the angles of wheels and casters by a steering operation has a drawback that a small turn does not work.

On the other hand, a continuously variable transmission using a conical friction wheel and a friction roller is well known as described in, for example, Patent Document 1 (Japanese Utility Model Publication No. 37-12420), but a conical friction wheel. It is unknown that the stepless speed change from the normal rotation region to the stop region through the reverse rotation region can be performed by using.

Of course, a continuously variable transmission using a friction wheel, which enables continuously variable transmission from the forward rotation region to the reverse rotation region, is disclosed in, for example, Patent Document 2 (Japanese Patent Publication No. 7-74667). ).
Japanese Utility Model Publication No. 37-12420 Japanese Patent Publication No. 7-74667

  The first object of the invention of this application is to provide a transmission and turning device suitable for a wheelchair of a type that self-propels with the driving force of a foot pedal. The wheelchair itself is never aimed at high-speed driving from the viewpoint of danger prevention. In particular, in a rehabilitation foot-operated wheelchair used indoors, it is preferable that turning by steering is possible. Accordingly, a second object is to provide a drive and turning device that obtains a desired turning characteristic in accordance with the amount of operation of the steering wheel, from smooth turning to super turning, as well as smooth turning.

In order to solve the above-described problems, the present invention provides a wheelchair drive / swivel device configured to independently output the power of a single drive source to a left wheel and a right wheel via a pair of continuously variable transmissions. In both of the continuously variable transmissions , the conical friction wheels for forward rotation and reverse rotation are opposed to each other with a floating wheel for zero rotation, and the rotation of the conical friction wheel for reverse rotation is conical friction for forward rotation. Both friction wheels are connected via a transmission mechanism that rotates in reverse to the car, and the drive friction roller that is moved by the steering operation is connected to the conical friction wheel for forward rotation, the floating wheel, and the conical friction wheel for reverse rotation. In order to continuously operate the forward rotation region, the stop region, and the reverse rotation region by sequentially bringing them into contact with each other and taking out the rotation of the drive friction roller as normal rotation, zero rotation, and reverse rotation. Features.

Furthermore, the present invention provides a conical friction wheel for forward rotation and a cylindrical friction wheel that are integrated so that rotation is transmitted from the cylindrical friction wheel to a wheel, and a drive friction roller that is moved by a steering operation is provided with the cylindrical friction wheel. , A conical friction wheel for forward rotation, a floating wheel, and a conical friction wheel for reverse rotation are successively brought into contact with each other, and the drive friction roller is taken out to the wheel side as normal rotation, zero rotation and reverse rotation. characterized in that was.

Further, according to the present invention, as a transmission mechanism, a conical friction wheel for reverse rotation and a sun gear are integrally provided, a planetary gear is loosely fitted on a fixed shaft integral with a floating wheel, and an internal tooth is attached to the conical friction wheel for forward rotation. A simple planetary gear unit is configured by the sun gear, the planetary gear, and the internal gear, and a one-way clutch is interposed between the conical friction wheel for reverse rotation and the floating wheel. characterized in that was.
Further, according to the present invention, as a transmission mechanism, a conical friction wheel for reverse rotation and a sun gear are integrally provided, and a planetary gear is loosely fitted on a fixed shaft integrated with an angle integrated with an external fixing portion. An internal gear is fixed to the diverting conical friction wheel, and the sun gear, the planetary gear, and the internal gear constitute a simple planetary gear unit, and the floating wheel is idled to the reverse conical friction wheel. It may be characterized by being fitted.

Further, according to the present invention, in the neutral position of the steering operation, the pair of continuously variable transmissions is selected to have a gear ratio in the same normal rotation region, and as the steering operation proceeds to the right, the continuously variable transmission connected to the left wheel The speed change ratio is gradually increased, and the speed change ratio of the continuously variable transmission connected to the right wheel is gradually lowered while entering the reverse rotation area beyond the stop area, and the reverse speed change ratio is gradually increased. As the steering operation proceeds to the left, the gear ratio of the continuously variable transmission connected to the right wheel gradually increases, and the gear ratio of the continuously variable transmission connected to the left wheel gradually decreases while the stop region is reduced. The present invention is characterized in that the reverse gear ratio is gradually increased beyond the reverse rotation region .

  The wheelchair of the present invention allows a stepless turning radius of a wheelchair that is steered by steering operation to be obtained steplessly from a large to a small one by applying a simple continuously variable transmission mechanism, Since it can be as close as possible to ultra-superficial turning, it is particularly suitable for application to a stepping wheelchair for rehabilitation used indoors. Of course, because of its excellent steering performance, application to an electric wheelchair is not excluded.

This is a drive turning device for a wheelchair that outputs power of a single drive source independently to a left wheel and a right wheel via a pair of continuously variable transmissions . In both of the pair of continuously variable transmissions , a conical friction wheel for forward rotation and a reverse rotation are opposed to each other with a floating wheel for zero rotation therebetween, and the rotation of the conical friction wheel for reverse rotation is conical friction wheel for forward rotation. Both friction wheels are connected via a transmission mechanism that rotates in reverse, and the drive friction roller that is moved by the steering operation is continuously connected to the conical friction wheel for forward rotation, the floating wheel, and the conical friction wheel for reverse rotation. In order to continuously operate the forward rotation region, the stop region, and the reverse rotation region by taking out the rotation of the drive friction roller as normal rotation, zero rotation and reverse rotation .

Furthermore, a cylindrical friction wheel is integrated with a conical friction wheel for normal rotation, and rotation is transmitted from the cylindrical friction wheel to a wheel. A drive friction roller that is moved by a steering operation is used as a cylindrical friction wheel for normal rotation. It is preferable that the conical friction wheel, the floating wheel, and the conical friction wheel for reverse rotation are successively brought into contact with each other in succession, and the drive friction roller is rotated so as to be taken out to the wheel side as normal rotation, zero rotation and reverse rotation. .

Further, as a transmission mechanism, a conical friction wheel for reverse rotation and a sun gear are provided integrally, a planetary gear is loosely fitted on a fixed shaft integrated with the floating wheel, and an internal gear is fixed to the conical friction wheel for forward rotation. The sun gear, the planetary gear, and the internal gear constitute a simple planetary gear device, and a one-way clutch is preferably interposed between the reverse conical friction wheel and the floating wheel. .
  Also, as a transmission mechanism, a conical friction wheel for reverse rotation and a sun gear are integrally provided, and the planetary gear is loosely fitted on a fixed shaft integral with an angle integrated with an external fixing portion, so that a conical shape for forward rotation An internal gear is fixed to the friction wheel, and the sun gear, the planetary gear, and the internal gear constitute a simple planetary gear device, and the floating wheel can be loosely fitted to the conical friction wheel for reverse rotation. preferable.

At the neutral position of the steering operation, the pair of continuously variable transmissions are selected to have the same forward rotation region gear ratio, and as the steering operation proceeds to the right, the gear ratio of the continuously variable transmission connected to the left wheel is As the gear ratio of the continuously variable transmission connected to the right wheel gradually decreases, it is configured to enter the reverse rotation region beyond the stop region while gradually increasing the reverse rotation gear ratio. As the vehicle progresses to the left, the gear ratio of the continuously variable transmission connected to the right wheel gradually increases, and the gear ratio of the continuously variable transmission connected to the left wheel gradually decreases and reverses beyond the stop region. It is preferable to enter the region so that the reverse gear ratio gradually increases.

The first embodiment will be described below. The term “speed ratio” is used to mean (output side rotational speed) / (input side rotational speed).
As shown in FIG. 1, the driving force from the pedal is simultaneously transmitted from the belt or chain 1 (hereinafter referred to as a belt) to the driving friction rollers 2 and 2 ′. The drive friction rollers 2 and 2 ′ are supported on the mount 7, and these slide together along the guide 8. The configuration of the driven friction wheel is composed of a conical friction wheel 3, 3 ′ for normal rotation, a cylindrical friction wheel 5, 5 ′ integrated therewith, and a conical friction wheel 4, 4 ′ for reverse rotation. Gears 9, 9 'are fixed to the tip of the cylindrical friction wheels 5, 5', and power is transmitted to the left and right wheels 11, 11 'via the gears 10, 10'. As shown in FIG. 2, internal gears 13 and 13 ′ are integrally formed on the conical friction wheels 3 and 3 ′, and the sun gear 14 and the floating wheels 6 and 6 integrated with the conical friction wheel 4. A simple planetary gear mechanism is constituted by the planetary gear 12 loosely fitted on the fixed shaft of '. A one-way clutch 15 is disposed between the conical friction wheel 4 and the floating wheels 6 and 6 '.

  Next, the operation of the drive turning device will be described. In the region B, the left and right wheels 11 and 11 ′ are both rotated forward. In the area A, the left wheel 11 ′ rotates forward and the right wheel 11 rotates backward. The area C is an area in which the right wheel 11 rotates forward and the left wheel 11 ′ rotates backward. A boundary region between the A region and the B region is a region where the left wheel 11 ′ rotates forward and the right wheel 11 stops. The boundary area between the B area and the C area is an area where the right wheel 11 rotates forward and the left wheel 11 ′ stops.

  In the state shown in FIG. 1, the power transmitted from the belt 1 to the drive friction rollers 2 and 2 'rotates the conical friction wheels 3 and 3' for forward rotation and is integrated with the conical friction wheels 3 and 3 '. Are transmitted to the left and right wheels 11, 11 ′ through the gears 9, 9 ′ and the gears 10, 10 ′. Since the gear ratios of the conical friction wheels 3 and 3 ′ are arranged at the same position, the left and right wheels 11 and 11 ′ rotate forward at the same speed, and as a result, the wheelchair moves straight.

  When the mount 7 is moved along the guide 8 toward the left wheel 11 'in the region B, the gear ratio between the conical friction wheel 3' and the drive friction roller 2 'increases, and the conical friction wheel increases. 3 and the drive friction roller 2 become lower, the rotation speed of the left wheel 11 ′ increases and the rotation speed of the right wheel 11 decreases. As a result, the wheelchair turns to the right with characteristics corresponding to the forward rotation speed of the left and right wheels 11, 11 ′. As the speed ratio difference increases, the turning radius decreases and a small turning state is achieved.

  Next, the operation when the mount 7 is moved along the guide 8 to the boundary region between A and B will be described. In this state, the driving friction roller 2 transmits the rotation to the floating wheel 6, and the driving friction roller 2 'transmits the rotation to the cylindrical friction wheel 5'. Then, the cylindrical friction wheel 5 'is driven at the highest gear ratio, but the rotation given to the floating wheel 6 only causes the conical friction wheel 4 for reverse rotation to idle, and the cone for forward rotation. Since the rotational force cannot be extracted from the mold friction wheel 3, the right wheel 11 is stopped. In this state, the wheelchair turns right about the right wheel 11, and is in a so-called belief turning state.

  Further, when the mount 7 is moved along the guide 8 and reaches the area A, the drive friction roller 2 'transmits rotation to the cylindrical friction wheel 5'. The mold friction wheel 4 is rotated. Then, the sun gear 14 and the floating wheel 6 integral with the reverse conical friction wheel 4 are allowed to rotate in directions opposite to each other by the action of the one-way clutch 15, so that they are loosely fitted on the fixed shaft of the floating wheel 6. The planetary gear 12 rotates while revolving on the sun gear 14 to rotate the internal gear 13 in the reverse direction. Since the internal gear 13 is provided integrally with the conical friction wheel 3 for normal rotation, the conical friction wheel 3 for normal rotation reverses. Then, while the left wheel 11 ′ rotates forward, the right wheel 11 rotates backward. If the forward rotation speed of the left wheel 11 ′ and the reverse rotation speed of the right wheel 11 are set equal, the wheelchair can perform a super turn.

  When entering the C region from the B region, the left wheel 11 'is now shifted from the stopped state to the reverse rotation, and during this time, the right wheel 11 is rotated forward, so that the wheelchair can turn left. Since the operation is almost the same as that of turning right, the description is omitted.

  The second embodiment will be described below. Although the basic configuration is not significantly different from that of the first embodiment, there is a difference in the configuration of the simple planetary gear device. In the first embodiment, the planetary gear 12 is loosely fitted on a fixed shaft integral with the floating wheel 6, so that the floating wheel 6 also serves as a planet carrier. Therefore, in order to obtain a desired action, the one-way clutch 15 is interposed between the reverse conical friction wheel 4 and the floating wheel 6, but the second embodiment is fixed integrally with the angle 16. Since the planetary gear 12 is loosely fitted to the shaft, and the angle 16 is integrated with the external fixing portion, the angle 16 plays a role of a fixed planet carrier. Further, the floating wheel 6 is in a loose relationship with the conical friction wheel 4 for reverse rotation. According to this configuration, the one-way clutch 15 is not required.

  Next, the operation of the drive turning device will be described. In the region B, the left and right wheels 11 and 11 ′ are both rotated forward. In the area A, the left wheel 11 ′ rotates forward and the right wheel 11 rotates backward. The area C is an area in which the right wheel 11 rotates forward and the left wheel 11 ′ rotates backward. A boundary region between the A region and the B region is a region where the left wheel 11 ′ rotates forward and the right wheel 11 stops. The boundary area between the B area and the C area is an area where the right wheel 11 rotates forward and the left wheel 11 ′ stops.

  In the state shown in FIG. 1, the power transmitted from the belt 1 to the drive friction rollers 2 and 2 'rotates the conical friction wheels 3 and 3' for forward rotation and is integrated with the conical friction wheels 3 and 3 '. Are transmitted to the left and right wheels 11, 11 ′ through the gears 9, 9 ′ and the gears 10, 10 ′. Since the gear ratios of the conical friction wheels 3 and 3 ′ are arranged at the same position, the left and right wheels 11 and 11 ′ rotate forward at the same speed, and as a result, the wheelchair moves straight.

  When the mount 7 is moved along the guide 8 toward the left wheel 11 'in the region B, the gear ratio between the conical friction wheel 3' and the drive friction roller 2 'increases, and the conical friction wheel increases. 3 and the drive friction roller 2 become lower, the rotation speed of the left wheel 11 ′ increases and the rotation speed of the right wheel 11 decreases. As a result, the wheelchair turns to the right with characteristics corresponding to the forward rotation speed of the left and right wheels 11, 11 ′. As the speed ratio difference increases, the turning radius decreases and a small turning state is achieved.

  Next, the operation when the mount 7 is moved along the guide 8 to the boundary region between A and B will be described. In this state, the driving friction roller 2 transmits the rotation to the floating wheel 6, and the driving friction roller 2 'transmits the rotation to the cylindrical friction wheel 5'. Then, the cylindrical friction wheel 5 ′ is driven at the highest gear ratio, but the rotation given to the floating wheel 6 only causes the floating wheel 6 to rotate idly, so that the conical friction wheel 3 for forward rotation is changed. Since the rotational force cannot be extracted, the right wheel 11 is stopped. In this state, the wheelchair turns right about the right wheel 11, and is in a so-called belief turning state.

  Further, when the mount 7 is moved along the guide 8 and reaches the area A, the drive friction roller 2 'transmits rotation to the cylindrical friction wheel 5'. The mold friction wheel 4 is rotated. Then, the rotation of the sun gear 14 integrated with the conical friction wheel 4 for reverse rotation causes the internal gear 13 to move to the sun gear via the planetary gear 12 loosely fitted to the fixed shaft of the angle 16 integrated with the external fixing portion. 14 is rotated in the opposite direction. Since the internal gear 13 is provided integrally with the conical friction wheel 3 for normal rotation, the conical friction wheel 3 for normal rotation reverses. Then, while the left wheel 11 ′ rotates forward, the right wheel 11 rotates backward. If the forward rotation speed of the left wheel 11 ′ and the reverse rotation speed of the right wheel 11 are set equal, the wheelchair can perform a super turn.

  When entering the C area from the B area, the left wheel 11 'is now in a stopped state and then shifts to the reverse rotation. During this time, the right wheel 11 is in the forward rotation area, so the wheelchair can turn left. Since the operation is almost the same as that of turning right, the description is omitted.

A reference example will be described below. In FIG. 4, the power transmitted to the input shaft 30 is transmitted to the right continuously variable transmission 31 and the left continuously variable transmission 32 at the same speed, and the output shifted by the continuously variable transmissions 31 and 32 is output to the right. It is transmitted to the wheel 33 and the left wheel 34. The continuously variable transmissions 31 and 32 can perform a continuously variable transmission from the forward rotation region to the reverse rotation region through the zero shift region by moving the transmission rings 35 and 36 in the axial direction. In FIG. 4, the transmission rings 35 and 36 are set so that the same transmission ratio can be obtained in the forward rotation region of the continuously variable transmissions 31 and 32, and the handle 38 is in the neutral position. This state indicates a straight traveling state of the wheelchair, and both the right wheel 33 and the left wheel 34 rotate in the forward direction at the same speed.

  When the handle 38 starts to be turned to the right, the transmission ring 35 and the transmission ring 36 are aligned and moved to the right by the operation rod 37. As a result, the gear ratio of the right continuously variable transmission 31 decreases, and conversely the gear ratio of the left continuously variable transmission 32 increases, so the forward speed of the right wheel 33 decreases, while the forward speed of the left wheel 34 decreases. As the wheelchair increases, the wheelchair starts turning right with a large turning radius. As the turning angle of the handle 38 increases, the turning radius gradually decreases.

  When the steering wheel is further turned off, the right continuously variable transmission 31 enters a zero speed change state, the transmission ratio of the left continuously variable transmission 32 becomes larger, and the wheelchair turns around the right wheel stopped.

  When the steering wheel is further turned, the right continuously variable transmission 31 enters the reverse rotation region, and the right wheel 33 starts to rotate backward, so that it approaches the super-trust turning state rather than the trust turning state. If the handle 38 is fully turned, the reverse gear ratio of the continuously variable transmission 31 on the right side is increased, and a small turn almost similar to super turning can be obtained.

  The above description describes an example in which the steering angle of the handle 38 is gradually changed while continuing the stepping drive. However, since the stepping drive and the steering can be performed independently by hand and foot, for example, It is also possible to perform only turning by stepping after the handle 38 is set to the belief turning state. Of course, other turning characteristics can be obtained from the stop state. This invention is intended for a stepped wheelchair for rehabilitation and acquisition of mobility ability for people with gait disabilities caused by stroke, spinal cord injury and other traumas and diseases. However, its excellent steering performance is not impaired at all.

  Next, the details of the continuously variable transmission will be described with reference to FIG. This continuously variable transmission is well known, and the friction wheel 23 fixed to the input shaft 21 is in frictional contact with a transmission surface 27 having a concave cross section integral with the conical roller 26. On the other hand, the track ring 24 disposed on the output shaft 22 side is in frictional contact with the bottom surface of the conical roller 26. The conical roller 26 is supported by a carrier 28 and can revolve while rotating, and the transmission ring 25 is in frictional contact with the conical surface of the conical roller 26. The variable speed rotation obtained in the track ring 24 by moving the speed change ring 25 in the axial direction is taken out to the output shaft 22 via a cam-type pressure contact force generator.

  INDUSTRIAL APPLICABILITY The present invention is effective as a stepping wheelchair for rehabilitation and acquisition of mobility ability for persons with gait disorders caused by stroke, spinal cord injury and other traumas and diseases. Application to electric wheelchairs can be sufficiently expected from its excellent steering performance.

The external view of the drive and turning apparatus which concerns on a 1st, 2nd Example. Sectional drawing of the main transmission part which concerns on a 1st Example. Sectional drawing of the main transmission part which concerns on a 2nd Example. The schematic diagram of the drive and turning apparatus which concerns on a reference example . Sectional drawing of the main transmission part which concerns on a reference example .

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Belt or chain 2, 2 'Drive friction roller 3, 3' Conical friction wheel 4 for forward rotation transmission, 4 'Conical friction wheel 5, 5' for reverse rotation transmission Cylindrical friction wheel 6, 6 'Floating wheel 7 mount 8 guide 9, 9 'gear 10, 10' gear 11, 11 'wheel 12 planetary gear 13 internal gear 14 sun gear 15 one-way clutch 16 angle 21 input shaft 22 output shaft 23 friction wheel 24 on input shaft 24 track Ring 25 Transmission ring 26 Conical roller 27 Conical transmission surface 28 Carrier 29 Operation shaft 30 Input shaft 31 Right continuously variable transmission 32 Left continuously variable transmission 33 Right wheel 34 Left wheel 35 Right continuously variable transmission Shifting ring 36 Shifting ring 37 of the left continuously variable transmission Operating rod

Claims (5)

  1. In a wheelchair drive swivel device that outputs power from a single drive source to left and right wheels independently via a pair of continuously variable transmissions, both the pair of continuously variable transmissions are used for forward rotation and reverse rotation. Friction through a transmission mechanism that causes the conical friction wheel for the counter to face each other across the floating wheel for zero rotation and transmits the rotation of the conical friction wheel for reverse rotation to the conical friction wheel for normal rotation The drive friction roller, which is connected by the vehicle and moved by the steering operation, is successively brought into contact with the forward-rotating conical friction wheel, the floating wheel, and the conical friction wheel for reverse rotation in order. A wheel drive wheel-driven turning device for a wheelchair characterized in that a forward rotation region, a stop region, and a reverse rotation region can be operated continuously by taking out as rotation, zero rotation and reverse rotation .
  2. A conical friction wheel for normal rotation is integrated with a cylindrical friction wheel so that rotation is transmitted from the cylindrical friction wheel to the wheel. The friction wheel, the floating wheel, and the conical friction wheel for reverse rotation are successively brought into contact with each other, and the drive friction roller is rotated so as to be taken out to the wheel side as normal rotation, zero rotation and reverse rotation. The wheel drive turning device for a wheelchair according to claim 1.
  3. As a transmission mechanism, a conical friction wheel for reverse rotation and a sun gear are integrally provided, a planetary gear is loosely fitted on a fixed shaft integrated with a floating wheel, and an internal gear is fixed to a conical friction wheel for forward rotation. The sun gear, the planetary gear, and the internal gear constitute a simple planetary gear device, and a one-way clutch is interposed between the conical friction wheel for reverse rotation and the floating wheel. The wheel drive turning device for a wheelchair according to claim 1 or 2.
  4. As a transmission mechanism, a conical friction wheel for reverse rotation and a sun gear are integrally provided, and a planetary gear is loosely fitted on a fixed shaft that is integral with an angle integrated with an external fixing portion, so that a conical friction wheel for normal rotation is provided. An internal gear is fixedly mounted on the inner gear, a simple planetary gear device is constituted by the sun gear, the planetary gear, and the internal gear, and a floating wheel is loosely fitted on a conical friction wheel for reverse rotation. The wheel drive turning device for a wheelchair according to claim 1 or 2.
  5.   In the neutral position of the steering operation, the pair of continuously variable transmissions are selected to have the same forward rotation region gear ratio, and as the steering operation proceeds to the right, the gear ratio of the continuously variable transmission connected to the left wheel gradually increases. As the gear ratio of the continuously variable transmission connected to the right wheel gradually decreases, it is configured to enter the reverse rotation region beyond the stop region while gradually increasing the reverse rotation gear ratio, and the steering operation to the left As the vehicle progresses, the transmission ratio of the continuously variable transmission connected to the right wheel gradually increases, and the transmission ratio of the continuously variable transmission connected to the left wheel gradually decreases while exceeding the stop region to the reverse rotation region. 5. The wheelchair drive swivel device according to claim 1, wherein the reverse gear ratio is gradually increased.
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