JP4630984B2 - Operation unit structure for direction operation - Google Patents

Description

  The present invention relates to an operation unit structure for direction operation in which an operation member is slid in a plane.

Conventionally, an operation unit (operation box) that is selectively attached to the armrest or footrest of an electrically powered wheelchair and that can be operated to move the vehicle forward, backward, left and right, etc. It is already known (for example, Patent Document 1).
This wheelchair operation unit is manufactured on the premise that it is mounted on the armrest and operated by hand, so a vertical bar-shaped operation lever is supported at the upper end so that it can rotate in the box body, and the lower end is supported as a fulcrum. In addition, the spherical grip at the upper end is configured to move back and forth and right and left on the spherical surface.

When the operation unit is mounted on the footrest, the operation unit is mounted in a state of being covered by a foot operation member support member having a foot operation member. At this time, the foot operation member is inserted into the engagement connecting hole formed in the upper plate surface of the foot operation member support member with the downward projecting portion integrally formed on the back side, and is loosely fitted to the spherical grip of the operation lever. The operation is linked to each other.
As a result, when the user puts his / her foot on the foot operation member and operates his / her foot forward / backward / left / right, the operation lever can be rotated in the same direction via the downward projecting portion, depending on the rotation direction and rotation angle. The wheelchair can be operated in the same manner as that mounted on the armrest portion.
JP 2000-14713 A

  The operation unit manufactured on the premise of the above-described manual operation has an advantage that it can be attached to the footrest so that the foot operation is possible. However, since the operation lever is formed long to facilitate the spherical rotation operation, the structure for covering the operation unit with the foot operation member support member is increased in size, and the cooperation structure between the foot operation member and the operation lever is complicated. There are drawbacks. Further, there are disadvantages such as that the position of the foot operation member becomes higher with respect to the seat where the seating surface is desired to be lowered, and that the posture becomes inconvenient, and that it is difficult to perform a minute steering operation of the foot operation member by the foot.

  The operation unit attached to the footrest differs in the amount of rotation of the operation lever whose upper part is rotated spherically with the lower end as a fulcrum in the box body with respect to the planar slide amount of the foot operation member operated in a plane. Therefore, there is a drawback that the maneuvering feeling that the user slides the foot operation member does not match the actual steering amount and the maneuverability is impaired. For this reason, conversion detecting means for converting the planar slide amount of the foot operation member into the rotation amount of the operation lever and detecting it is provided.

  Further, since the conversion detection means is complicated in structure and is difficult to put into practical use if it is mechanically configured, an electric software is used so that the rotation angle of the operation lever is corrected to coincide with the planar movement of the foot operation member. Although it is configured by control, in this case as well, there is a problem that complicated software is required for conversion correction and the cost is increased.

Operation unit structure for direction operation of the present invention in order to solve the above problems, the first, the X-axis through the X-axis direction of the slide mechanism 30a is a lateral direction to pivot relative to mounting base 33 provided with an X-axis direction operation table 32 to be movable in a direction, movable through a sliding mechanism 30b in the Y-axis direction is a longitudinal direction for forward and backward movement with respect to the X-axis direction control console 32 in the Y-axis direction The Y-axis direction operation table 31 is provided, the operation member 3 is provided on the Y-axis direction operation table 31 side, and the X-axis direction operation table 32 and the Y-axis direction operation table based on the operation of the operation member 3 are provided. the detecting means 7, 8 for detecting 31 in the Y-axis direction of the slide amount of each is provided, the slider 36 of the X-axis direction of the slide mechanism 30a, the slider 36 in the Y-axis direction of the slide mechanism 30b, the slide mechanisms 30a, 3 It is characterized in that biasing so as to return to operation neutral position by a spring 40 provided in each of b.

  Second, the intermediate portion of the mounting base 33 and the X-axis direction operating table 32 is mounted and supported by the slider 36 of the X-axis direction sliding mechanism 30a and the guide 35 slidably guided by the slider 36. The intermediate portion of the base 32 and the Y-axis direction operation base 31 is mounted and supported by the slider 36 of the Y-axis direction slide mechanism 30b and the guide 35 slidably guided by the slider 36, and the X-axis is mounted on both sides of the mounting base 33. The direction operation table 32 is supported so as to be movable in the X axis direction, and the Y axis direction operation table 31 is supported on both sides of the X axis direction operation table 32 so as to be movable in the Y axis direction.

Third, the operating member 3b formed of the footrest board of the operating member 3a and foot manipulation made from the grip for manual, selectably in the Y-axis direction control console 31 or the slider 36 in the Y-axis direction of the slide mechanism 30b It is characterized by providing.

Fourth, it is characterized in that the operating unit 1 provided with the operation member 3b formed of the footrest plate, provided on the footrest 15 of the wheelchair 2 electric driving type.

Fifth , the operation unit 1 including the operation member 3b made of a footrest plate is placed on the footrest 15, and the footrest 15 is sandwiched and fixed between the operation unit 1 and the auxiliary mounting seat 25.

The present invention can produce the following effects. Means for detecting a planar operation amount of the operation member in the X-axis direction and the Y-axis direction through the mounting base, the X-axis direction operation table, and the Y-axis direction operation table via a slide mechanism in the X-axis direction and the Y-axis direction, respectively. Therefore, the planar movement amount of the operation member can be increased without increasing the operation unit 1. Further, since the amount of planar sliding of the operation member becomes the operation amount as it is, an accurate operation can be performed.
Therefore, it is possible to provide an operation unit that can be easily operated even by a user who is difficult to perform a minute amount of operation accurately. Further, since the operation unit can be compactly gathered with a simple and inexpensive configuration, the operation member can be provided at a position where the operation member can be easily operated even with respect to the footrest of the wheelchair, etc., and the planar operation can be smoothly performed. it can.

  Since both sides of the X-axis direction operation table and the Y-axis direction operation table are supported by the slide mechanism with the intermediate part supported by the slide mechanism, the operation of the X-axis direction and the Y-axis direction by the operation member is stable. It can be done smoothly with a good slide support structure. Further, the X-axis direction slide mechanism and the Y-axis direction slide mechanism can prevent the X-axis direction operation table and the Y-axis direction operation table from rattling in different directions, and the operation member can be operated accurately.

  The slider of the X-axis direction sliding mechanism and the slider of the Y-axis direction sliding mechanism are provided so as to return to the operation neutral position by springs, respectively, so that the hand or foot can be moved from the position operated in the X-axis direction and the Y-axis direction. Even if released, the operation member can be automatically returned to the operation neutral position to facilitate the operation.

  Installation of each operation member by directly providing an operation member comprising a grip for manual operation or an operation member comprising a footrest plate for foot operation on a slider of a Y-axis direction operation table or a slide mechanism in the Y-axis direction The structure can be simplified and the height of the operation member can be reduced.

  When an operation unit provided with an operation member composed of a footrest plate is provided on a footrest of a wheelchair, the footrest can be provided at a height at which the footrest plate can be easily operated, and a large stepping operation force is supported with strength. Therefore, the planar operation of the footrest plate can be performed smoothly.

  An operation unit with a footrest is placed on the footrest, and the footrest is clamped and fixed between the operation unit and the auxiliary mounting seat. The unit can be installed easily.

  An embodiment of the present invention will be described with reference to the drawings. Reference numeral 1 in FIG. 1 denotes an operation unit (direction operation device) according to the invention that can be installed in an electric travel type wheelchair 2 shown as an example of a moving vehicle. The operation unit 1 can be attached to the armrest part 2a or the footrest part 2b by attachment means described later, and is electrically connected to a control device (control box) having a microcomputer and an electric motor to move the operation member 3 forward, backward, left, and right. By operating in the combined direction, the steering operation of the wheelchair 2 can be performed as follows.

When the operation member 3 included in the operation unit 1 is operated in the front-rear direction (Y-axis direction) by hand or foot, the wheels 4 and 4 are rotated forward and backward so that the speed can be changed based on the operation amount in the front-rear direction. it can. Further, when the operation member 3 is operated in the left-right direction (X-axis direction), the speed is set based on the turning direction and the operation amount.
The control means for controlling and rotating the wheels 4 and 4 of the operation unit 1 is preferably configured as follows. In other words, the control structure of the operation unit 1 can change the forward / reverse speed to a high / low conversion speed in proportion to the planar movement operation amount in which the operation member 3 is operated in the Y-axis direction. The setting can be configured to be arbitrarily changed.

  In this way, the X and Y axes can be moved independently and can be moved in any direction of 360 ° by combining them. Moreover, by moving in the X-axis direction without the Y component, the left and right wheels are reversed and turn on the spot.

  The operation unit 1 is slidable in the X-axis direction via the Y-axis operation unit 5 and the Y-axis operation unit 5 that can be slid in the Y-axis direction based on the operation of the operation member 3. As a detection means that includes an axis operation unit (second operation unit) 6 and detects the directions and slide amounts (movement amounts) of the Y-axis and the X-axis by operations of the first operation unit 5 and the X-axis operation unit 6 Devices 7 and 8 are provided on the Y-axis operation unit 5 and the X-axis operation unit 6, respectively. Each of the detectors 7 and 8 sends the detected value to the control box, and the control box controls the rotation of the wheels 4 and 4 via a drive motor by control means as will be described later.

Next, the configuration of each part will be described in detail. The wheelchair 2 in the illustrated example is an electric traveling type in which a control box and a drive motor (not shown) associated with the operation unit 1 are attached to a general hand-held type. The wheelchair 2 is provided with a seat 10 on a chassis frame 9 having left and right wheels 4 and 4 and casters 4a and 4a.
The armrest portion 2a is connected to left and right handle rods 11 and 11 that extend from the chassis frame 9 to the rear of the seat 10, and is formed in a horizontal portion of the vertical frame 12 that is bent toward the front side.

The footrest portion 2b is configured to attach a footrest 15 via a joint portion 16 to a lower portion of a foot arm 13 extending from the vertical frame 12 toward the front side. The illustrated joint portion 16 includes a vertical axis 17 that supports the footrest 15 so as to be rotatable in the vertical direction, and a horizontal axis 19 that supports the footrest 15 so as to be rotatable in the front-rear direction.
As a result, the footrest 15 can switch between a footrest posture that is substantially horizontal around the vertical axis 17 and a non-footrest posture that is pivoted and retracted upward. The angle can be set to be easy to use by adjusting the inclination in the front-rear direction at the center.

  The mounting means of the operation unit 1 to the wheelchair 2 having the above-described configuration can be mounted on the armrest portion 2a by using a mounting tool 23 including a mounting bar 22 having a mounting seat (base material) 21 and the like. Further, it is desirable that the mounting means of the operation unit 1 to the footrest 15 is mounted using a mounting tool 23a including the mounting seat 21 and the auxiliary mounting seat 25 for holding the footrest.

That is, the mounting tool 23 in the illustrated example can attach the mounting rod 22 to the vertical rod portion of the vertical frame 12 so that the position of the mounting rod 22 can be adjusted, making it easy to operate the operation member 3 with the armrest portion 2a hung on the elbow. be able to. Further, the mounting seat 21 and the mounting rod 22 can be connected by an unillustrated universal joint so that the mounting angle of the operation unit 1 can be adjusted.
On the other hand, as shown in FIG. 7, the fixture 23a is fastened with a plurality of bolts 26 and nuts 26a to a mounting seat 21 placed on the footrest 15 and an auxiliary mounting seat 25 to be brought into contact with the back side of the footrest 15. By this, the footrest 15 can be clamped and the operation unit 1 can be attached and supported stably.

  In addition, a spherical joystick-type operation member 3a for manual operation and a flat-shaped operation member 3b for foot operation are provided on an operation attachment portion 56, which will be described later, which includes, for example, a screw rod or an attachment hole provided in the operation unit 1. It is selectively attached according to the use mode. In addition, the manual operation member 3a and the foot operation member 3b can be selectively attached to the Y-axis direction operation table 31 of the Y-axis operation unit 5 according to the use mode.

  The Y-axis operation unit 5 and the X-axis operation unit 6 of the operation unit 1 are provided with slide mechanisms 30a and 30b having the same configuration, respectively, and the operation member 3 can be slid in a plane in the Y-axis direction and the X-axis direction. To support. That is, the Y-axis direction slide mechanism 30a is installed between the Y-axis direction operation table 31 of the Y-axis operation unit 5 and the X-axis direction operation table 32 of the X-axis operation unit 6, and the X-axis direction slide mechanism 30b is The mounting base 33 is configured to be attachable to the mounting base 21 and the X-axis direction operation table 32. As a result, the X-axis operation unit 6 and the Y-axis operation unit 5 have a laminated structure that is stacked on the upper and lower stages with respect to the mounting base 33, and can have a simple and inexpensive structure with sufficient strength. Further, there is a feature that a thin and compact unit structure can be obtained without making the operation unit 1 thick.

  Next, the slide mechanisms 30a and 30b will be described. Both the slide mechanisms 30a and 30b have a guide 35 attached and fixed to a predetermined position on the X-axis direction operation table 32 and the attachment base 33 side by attachment means such as welding or screwing, and an upper portion of the Y-axis direction operation table 31 or Mounted and fixed on the X-axis direction operation table 32 side, a lower part is guided by the guide 35 and slides, and a support guided by a long hole-shaped guide part 37 formed by drilling the slider 36 in the guide 35. It comprises springs 40, 40, etc. that are pulled and urged to return to the operation neutral position in the state shown in FIGS.

In the illustrated guide 35, a slider 36 formed in a rectangular block shape by a plastic material is loosely fitted in an inside formed in an upward U-shape so as to be slidable.
The guide 35 defines a state in which the slider 36 is positioned at substantially the center in the longitudinal direction as an operation neutral position, and inserts support pins 39 into both sides of the operation neutral position in the longitudinal direction of the standing pieces to make a slide movement. The guide portion 37 is formed.

  The distance between the guide portions 37 formed on both sides of the guide 35 in the longitudinal direction and the inner end distance between the guide portions 37 is substantially equal to the length of the slider 36. Further, the support pins 39, 39 inserted into the respective guide portions 37, 37,... Are removably engaged with the lateral concave grooves formed on both end surfaces of the slider 36. The support pins 39, 39 are connected to each other by protruding both ends of the pulling springs 40, 40 at both ends protruding outside the guide portions 37.

  In the slide mechanisms 30 a and 30 b configured as described above, when the slider 36 is slid in one direction by the operation of the operation member 3, the support pin 39 in the other direction remains in contact with and locked to the inner end of the guide portion 37. The support pin 39 on the side moved in this state can extend the springs 40, 40 at both ends. As a result, the user can slide the operation member 3 on the plane against the tension of the springs 40, 40. When the operation is stopped at an arbitrary position, the slider 36 automatically returns to the original operation neutral position by the tension of the springs 40, 40, so that the return operation of the operation member 3 can be facilitated.

  Next, the Y-axis operation unit 5 and the X-axis operation unit 6 will be described with reference to FIGS. First, the X-axis operation unit 6 is provided with an X-axis direction operation slide mechanism 30a having the above-described configuration, fixed to the guide 35 side, in an intermediate portion near the front side of the mounting base 33 having a substantially square shape in plan view. . The mounting base 33 is provided with leg portions 45 formed of a vibration-proofing member made of rubber or the like at the four corners on the back side, and the operation unit 1 is connected to the mounting seat 23 or any mounting base material via the leg portions 45. It can be supported in such a way as to be capable of vibration isolation.

The X-axis direction operation table 32 is formed by a flat plate member in a downward U shape in a side view, and supports rollers 46, 46 vertically on the lower portions of both legs bent downward. Is inserted between the rollers 46 and 46 and is slidably supported. As a result, the X-axis direction operation table 32 is supported by the stable three-point support structure in which the intermediate portion is supported by the slide mechanism 30a and both sides are supported by the mounting base 33 via the rollers 46 and 46. It can slide accurately without tilting in different directions.
The upper end surface of the slider 36 of the slide mechanism 30 a is attached and fixed to the back side of the X-axis direction operation table 32. The operation member 3 is attached and fixed to the central portion of the slider 36 at the operation neutral position.

  In this configuration, a detector 8 is provided between the mounting base 33 and the X-axis direction operation table 32 as detection means for detecting the amount of slide in the X-axis direction of the X-axis direction operation table 32 with respect to the mounting base 33. . As shown in FIGS. 4 and 6, the detector 8 is mounted on the surface of the mounting base 33 and fixed to the surface of the mounting base 33 so as to be substantially parallel to the slide mechanism 30 and the X-axis direction operating table 32 side. The potentiometer 52 includes a pinion 51 that meshes with the rack 50. 53 is a terminal of the potentiometer 52 and is connected to the control box.

  The X-axis operation unit 6 is configured in a state where the Y-axis direction operation table 31 is superimposed on the X-axis direction operation table 32 via a slide mechanism 30b. That is, the Y-axis direction operation base 31 formed so as to have a downward U-shape when viewed from the front is the operation neutral position of the slide mechanism 30 in which the center of the left and right sides on the back side is attached and fixed to the X-axis direction operation base 32. Is fixedly attached to the upper surface of the slider 36. In this supported state, the Y-axis direction operation base 31 is configured to contact rollers 46a and 46a pivotally supported at the lower portions of both downwardly facing legs so as to be able to roll on the back sides of the left and right sides of the X-axis direction operation base 32. The three-point support structure can be positioned in the vertical direction, and the slide movement in the Y-axis direction can be performed stably and accurately.

Then, the slider 36 of the slide mechanism 30b on which the guide 35 is attached and fixed to the X-axis direction operation table 32 is fitted with a bolt-shaped operation portion (operation rod) 56 from the lower portion, and the screw portion is operated in the Y-axis direction. It protrudes upward from the through hole of the base 31. Then, a gripping operation member 3 a having a spherical head portion is attached to the screw portion of the operation mounting portion 56.
In this configuration, the detector 7 that detects the amount of slide in the Y-axis direction of the Y-axis direction operation table 31 relative to the X-axis direction operation table 32 is detected between the Y-axis direction operation table 31 and the X-axis direction operation table 32. The same configuration as that of the vessel 8 is provided.

The detector 7 has a configuration in which a rack 50 is mounted and fixed along the slider 36 on the back side of the Y-axis direction operation table 31, and a potentiometer 52 having a pinion 51 that meshes with the rack 50 is mounted and fixed to the X-axis direction operation table 32. It has become.
The operation unit 1 having the above structure is covered with a box cover-shaped unit cover 57 from above the Y-axis direction operation table 31 and the lower side is fixed to the mounting base 33. The unit cover 57 is provided with an operation hole 59 at the center of the upper surface thereof, which allows the operation member 3a attached to the operation attachment portion 56 to move in all operation directions.

Next, an example of use in which the operation unit 1 configured as described above is mounted on the armrest portion 2a of the wheelchair 2 will be described. In this case, the user sits on the seat 10 and operates the operating member 3 with his / her hand while the elbow is placed on the armrest portion 2a.
When the operation member 3a is operated from the operation neutral position to the front side in the Y-axis direction, the Y-axis direction operation base 31 slides forward relative to the X-axis direction operation base 32 via the slide mechanism 30b, and the slide detected by the detector 7 is detected. The wheels 4 and 4 are rotated based on the direction and slide amount signals, and the wheelchair 2 can be moved forward at an arbitrary operation speed.

  Further, when the operation member 3 is operated from the operation neutral position to the rear side, the wheels 4 and 4 are rotated based on the slide direction and the slide amount detected by the detector 7, and the wheelchair 2 can travel backward at the operation speed. When the operation member 3 is operated to the left or right, the X-axis direction operation table 32 is moved to the left or right via the slide mechanism 30a in which the guide 35 is attached and fixed to the attachment base 33, and is detected. The wheelchair 2 can be turned and steered in the operation direction by differentially rotating the left and right wheels 4 and 4 based on the slide direction and slide amount signals detected by the device 8.

  At this time, the operation unit 1 has the X-axis operation unit 6 provided with the X-axis direction operation table 32 with respect to the mounting base 33 via the X-axis direction slide mechanism 30 a and the Y-axis direction with respect to the X-axis direction operation table 32. Since the Y-axis operation unit 5 provided with the Y-axis direction operation table 31 is overlapped via the slide mechanism 30b, the operation amount of the operation member 3 in the X-axis direction and the Y-axis direction is increased. The operation amount of the operation member 3 can be easily increased by a simple configuration in which each of the above members is extended in a plane without increasing the unit height (thickness) and the operation member 3.

In addition, the amount of flat slide of the operation member 3 detected by the detectors 7 and 8 can be set to the operation amount as it is without requiring operation amount correction software or the like as in the prior art. Can be done. Further, even a user who is difficult to accurately perform a small amount of steering operation becomes easy to operate.
Accordingly, the operation unit 1 can be freely provided at a position where the operation unit 1 can be easily operated with respect to the armrest part 2a and the footrest part 2b, and there is an advantage that an easy operation posture in which a hand or foot is placed and supported can be taken. .

  As shown by the dotted line in FIG. 5, the operation member 3a can receive and support the hand gripping the grip portion 3c below the small spherical grip portion 3c formed at the grip height position at the upper center. The large diameter bowl-shaped hand receiving portion 3d can be integrally formed. In this case, even a user who has difficulty grasping the gripping part 3c at all times or has a weak gripping force can grip the gripping part 3c while placing it on the hand receiving part 3d without lifting his hand. The operation of 3a can be performed easily. Further, the hand receiving portion 3d is characterized in that it can be formed so as to cover the operation hole 59 from above.

Next, a usage example in which the operation unit 1 is mounted on the footrest 2b of the wheelchair 2 will be described. In addition, description is abbreviate | omitted about the structure and effect | action similar to the thing of the said embodiment.
In this case, the footrest operation member 3b provided in the Y-axis operation unit 5 is provided with anti-slip means such as irregularities on a flat surface. The operation member 3b is attached to the operation attachment portion 56 or a disk-like attachment bracket formed integrally with the base portion of the operation member 3b on the Y-axis direction operation base 31 from which the operation attachment portion 56 is removed as shown in FIG. 60 is screwed and fixed directly.

As shown in FIG. 7, the operation unit 1 having the operation member 3 b is configured such that the mounting seat 21 is placed on the footrest 15 and the auxiliary mounting seat 25 is brought into contact with the back side of the footrest 15. Bolts 26 are inserted from a plurality of locations on the side, fastened via nuts 26a, and fixed to the footrest 15.
According to this mounting means, the footrest 15 is sandwiched between the mounting seat 21 and the auxiliary mounting seat 25 without processing the mounting holes or the like in the footrest 15, and the operation unit 1 is attached to the ready-made wheelchair 2 by a retrofitting operation. Also, it can be firmly fixed by a simple configuration. The mounting base 21 can be omitted, and the mounting base 33 can also be provided as the mounting seat.

  Further, the operation unit 1 having an operation member 3b formed so as to be able to operate the foot by receiving the weight of the foot has a wide mounting bracket 60 in which an operation load is fixedly mounted on the X-axis direction operation table 32, and slides in a plane. Since the Y-axis operation unit 5 and the X-axis operation unit 6 receive the large stepping operation force with sufficient strength, the planar operation of the operation member 3b can be smoothly performed. is there.

Further, since the footrest plate 3b for the foot operation can be provided close to the Y-axis direction operation base 31 as shown in the drawing, the footrest plate 3b can be placed at a low position where it can be easily operated.
The unit cover 57 can be omitted when a skirt-like cover is provided from the outer periphery of the footrest plate 3b instead of the unit cover 57.

  The operation unit 1 that can be used as described above is an embodiment in which the operation member 3 is operated in the plane direction by the slide mechanisms 30a and 30b that slide the block-like slider 36 in the U-shaped guide 35. Although the form is illustrated, the present invention is not limited to this. That is, the slide mechanisms 30a and 30b can be configured to slide the slider through a sliding means such as a bearing on a round bar-shaped guide provided in the X-axis direction and the Y-axis direction, for example. In addition, the slide support structure of the X-axis direction operation table 32 with respect to the mounting base 33 and the Y-axis direction operation table 31 with respect to the X-axis direction operation table 32 may be a sliding support structure with engagement means that does not use the rollers 46 and 46a. it can.

  The control means for controlling and rotating the wheels 4 and 4 based on the direction operation of the operation unit 1 is preferably configured as follows. That is, the control structure of the operation unit 1 changes the forward / reverse speed to a high / low speed in proportion to the planar movement operation amount of the operation member 3 operated in the Y-axis direction, and sets the high / low speed control of the speed. It is configured so that it can be changed arbitrarily.

  In the illustrated example, the position detection in the X-axis direction and the Y-axis direction is performed by using the output of the potentiometer 52 based on the rotation of the pinion 51 meshing with the rack 50 as a detection signal. The position of the operation table 31 or the operation member 3 in the 32 and Y axis directions can be detected by optical reading, analog detection force by a linear potentiometer or other displacement meter, or digital output by a linear encoder, rotary encoder, or the like. . In this case, the displacement amount in each axial direction is input to the microcomputer through an A / D conversion or other interface, and is output to a voltage motor drive circuit corresponding to preset input output characteristics.

  In this case, the input / output characteristics of the microcomputer are programmed in both a personal computer (not shown) in which a specific basic function is programmed and the microcomputer, and each is connected by a communication cable or wireless communication means. While looking at the graph on the screen, set individual functions to suit each user and write the constants to the microcomputer. This program can also write the constants previously set in the microcomputer.

By adopting a method in which the control characteristics are set by the personal computer in this way, if each user operates and uses the wheelchair 2, if the above settings are saved as a file, the change in control characteristics over time for each user Can also be recorded. In addition, there is an advantage that the characteristics can be changed according to the change of the state, such as the user becoming familiar with the operation of the vehicle.
The operation unit structure for directional operation configured as described above can be widely used as a general steering operation device that moves at a low speed in addition to the wheelchair 2. Moreover, it can be used not only as a moving vehicle but also as a remote controller for various actuators.

It is a perspective view which shows the whole wheelchair provided with the operation unit concerning this invention. It is a front perspective view which shows the structure of the operation unit of FIG. FIG. 3 is a plan view showing the operation unit of FIG. FIG. 4 is a rear view of FIG. 3. FIG. 4 is a side view showing the operation unit of FIG. FIG. 4 is a plan view showing the first operating part of FIG. 3 removed and partially broken. It is a front view which shows a structural example which mounts an operation unit to a footrest, and is partially broken.

DESCRIPTION OF SYMBOLS 1 Operation unit 2 Wheelchair 3 Operation member 5 Y-axis operation part 6 X-axis operation part 7, 8 Detector (detection means)
DESCRIPTION OF SYMBOLS 10 Seat 21 Mounting seat 23, 23a Mounting tool 25 Auxiliary mounting seat 30b Y-axis direction slide mechanism 30a X-axis direction slide mechanism 31 Y-axis direction operation table 32 X-axis direction operation table 33 Mounting base 35 Guide 36 Slider 37 Guide Portion 39 Support pin 40 Spring 50 Rack 51 Pinion 52 Potentiometer

Claims (5)

Through a lateral direction to pivot relative to the mounting base (33) X-axis direction of the slide mechanism (30a) X-axis direction control console to be movable in the X-axis direction is provided with the (32), X axial control console (32) via a slide mechanism (30b) in the Y axis direction is the longitudinal direction for forward and backward movement with respect to the Y-axis direction control console that can be moved in the Y-axis direction (31) is provided, The operation member (3) is provided on the Y-axis direction operation table (31) side, and the X-axis direction and the Y-axis operation table (31) of the X-axis operation table (32) based on the operation of the operation member (3). Detecting means (7) and (8) for detecting the amount of sliding in the Y-axis direction, respectively , the slider (36) of the sliding mechanism (30a) in the X-axis direction and the slider of the sliding mechanism (30b) in the Y-axis direction (36) with the slide mechanism (30a), ( Operation unit structure for directional operation for urging so as to return to operation neutral position by a spring (40) provided in each 0b).   An intermediate portion between the mounting base (33) and the X-axis direction operation table (32) is supported by a slider (36) of the slide mechanism (30a) in the X-axis direction and a guide (35) slidably guided by the slider (36). The intermediate portion of the X-axis direction operation table (32) and the Y-axis direction operation table (31) is slid and guided by the slider (36) of the Y-axis direction slide mechanism (30b) and the slider (36). The guide (35) is attached and supported, and the X-axis operation table (32) is supported on both sides of the mounting base (33) so as to be movable in the X-axis direction, and both sides of the X-axis operation table (32). The operation unit structure according to claim 1, wherein the Y-axis direction operation table (31) is supported so as to be movable in the Y-axis direction. An operation member (3a) made of a grip for manual operation and an operation member (3b) made of a footrest plate for foot operation are connected to the slider (30) of the Y-axis direction operation stand (31) or the Y-axis direction slide mechanism (30b). The operation unit structure for directional operation according to claim 1 or 2 , provided to be selectable in 36). The operation unit structure for directional operation according to claim 1, 2 or 3, wherein the operation unit (1) provided with the operation member (3b) made of a footrest plate is provided on the footrest (15) of the electric travel type wheelchair (2). . An operation unit (1) having an operation member (3b) made of a footrest plate is placed on the footrest (15), and the footrest (15) is clamped and fixed between the operation unit (1) and the auxiliary mounting seat (25). The operation unit structure for directional operation according to claim 1 or 2 or 3 or 4 .

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