JP4923605B2 - Electric wheelchair - Google Patents

Description

  The present invention relates to an electric wheelchair that enables both a reclining operation and a stand-up operation of a seat.

  Many of the main users of electric wheelchairs have restrictions not only on the lower body but also on the movable parts of the upper body, and it is difficult to remove the pressure by seating conversion, body pressure distribution, sit-up, etc. There are many cases. For this reason, as described in Patent Documents 1 and 2, the backrest portion is configured to be reclined (tilted) by electric power, etc., so that body pressure is dispersed and pressure ulcer (bed slip) and the like can be prevented. There is a wheelchair.

In addition, like the reclining seats and wheelchairs described in Patent Documents 3, 4 and 5, the seat and backrest are configured to stand up (stand up), making it easier for the user to transition from the sitting position to the standing position. There are also things. By providing such a stand-up function and assisting the user in a standing posture, the body pressure distribution (removal of body pressure) as described above can be performed more effectively, and the user wants to stand up. The desire can be fulfilled.
JP-A-5-305112 JP 2005-253535 A Japanese Patent Publication No. 6-98166 Japanese Patent No. 3072463 JP-A-8-275970

  However, when the backrest portion is tilted electrically, as described above, the position of the rotation center (tilting axis) of the backrest portion and the rotation center of the user (rotation near the lower end of the spine and rolling of the buttocks) Because of the difference, the user's back and backrest are displaced, which causes discomfort. For this reason, particularly when shifting from the sitting posture to the standing posture, the user himself / herself needs to adjust the posture, which may be difficult for a user with a high degree of disability.

  Conventionally, there is also a wheelchair in which the backrest portion can be expanded and contracted according to the user's physique, and according to this, when the backrest portion is tilted, the backrest portion is expanded and contracted to cause a shift between the back and the backrest portion. Although the expansion / contraction position adjustment of the backrest was manually performed, and the expansion / contraction operation was fixed when the backrest was tilted, not only can the extension of the backrest be adjusted without a caregiver, There was a problem that it was not possible to sufficiently cope with the difference in the physique of users and the difference in daily sitting. Furthermore, when the backrest portion is expanded and contracted, the relative distance between the user's elbow and the armrest changes, and there is a concern that the elbow cannot be supported stably.

  The present invention has been made to solve the above-described problems, and can perform reclining operation, stand-up operation, and expansion / contraction operation of the backrest portion smoothly and fully automatically at the same time. It is an object to provide an electric wheelchair that can support the vehicle in a stable manner, has a good feeling of use, has a compact structure, and is easy to maintain.

In order to achieve the above object, an electric wheelchair according to the present invention includes a seating part that supports a user's buttocks and thighs, a backrest part that includes a seatback frame and a slide frame that supports a user's back part, and the seating part. And a stand-up reclining mechanism that tilts and extends and retracts the backrest, and the stand-up reclining mechanism tilts the seat from a substantially horizontal seating position to a substantially vertical standing position, and the backrest. A reclining actuator that tilts the seat with respect to the seating portion, a slide actuator that slides the slide frame relative to the seat back frame, the stand-up actuator, the reclining actuator, and the slide And a de actuator individually controllable sheet controllers, Rutotomoni and an operation switch for instructing the sliding operation of the tilting operation and the sliding frame of the seat and the backrest to the seat controller, said stand-up recliner mechanism further the A seating portion tilting angle detecting means for detecting the tilting angle of the seating portion; a backrest tilting angle detecting means for detecting the tilting angle of the backrest portion; and a slide position detecting means for detecting the slide position of the slide frame, Further, the seat controller determines the current tilt angle of the seating portion and the backrest portion and the slide position of the slide frame based on input signals from the seating portion tilt angle detection means, the backrest tilt angle detection means, and the slide position detection means. Calculation unit to calculate The current tilt angle and slide position information calculated by the calculation unit is compared with the tilt operation and slide operation command information by the operation switch, and the stand-up is performed so that the user can obtain the desired tilt angle and slide position. An operation unit for operating the actuator, the reclining actuator, and the slide actuator is provided.

  Furthermore, in the electric wheelchair according to the present invention, the seat controller further includes a memory unit that stores an optimal slide frame slide position with respect to each tilt angle of the seating unit and the backrest unit, and a map stored in the memory unit. Accordingly, a feedback control unit that feedback-controls the slide actuator in accordance with movements of the stand-up actuator and the reclining actuator is provided.

  In the electric wheelchair according to the present invention, the reclining actuator and the slide actuator are arranged side by side in the vehicle width direction on the back side of the seat back frame, while the stand-up actuator is arranged below the seating portion. It is characterized by that.

  In the electric wheelchair according to the present invention, the stand-up actuator is configured as an extendable cylinder, and one end of the stand-up actuator is rotatably connected to the vicinity of the front portion of the main frame and below the front end connecting portion of the seating seat. The end is connected to the lower surface of the seating seat and to the free end so as to be freely rotatable.

Further, in the electric wheelchair according to the present invention, the seat portion is connected to the front end portion of the seat frame so as to be tiltable, while the seat back frame is tilted to the rear end portion of the seat portion. The slide frame is slidably supported up and down with respect to the seat back frame, and fixedly supports the rear ends of a pair of left and right armrests on which the user's elbows are placed, and is in contact with the back of the user A back support member is provided .

  According to the electric wheelchair according to the present invention, the tilting operation of the seating portion, the tilting operation of the backrest portion, and the expansion / contraction operation of the backrest portion can be automatically and individually operated by the three actuators. In addition, since these three operations can be controlled in conjunction with each other, the reclining operation and the stand-up operation can be performed smoothly.

  In the reclining operation and the stand-up operation, the backrest portion can be expanded and contracted at the same time, so that it is possible to prevent a shift between the user's back and the backrest portion and improve the feeling of use.

  In addition, because the armrest is fixedly supported on the slide frame side of the backrest, the armrest moves up and down according to the expansion and contraction of the backrest. The user's elbow can be supported stably.

  Furthermore, since the three actuators are arranged in a space efficient manner, the stand-up reclining mechanism can be made compact. In particular, one end of a stand-up actuator configured in a telescopic cylinder shape is pivotally connected to the lower part of the seating part connected to the vicinity of the front part of the main frame, and the other end is rotated to the lower surface of the seating part and closer to the free end. Because it is movably connected, the stand-up actuator stands up together with the seat during the stand-up operation. For this reason, the upper part of the main frame has a wide opening, which improves the maintainability of equipment such as a power source battery and a controller mounted on the main frame.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings.

  1 is a perspective view showing an example of an electric wheelchair according to the present invention, FIG. 2 is a left side view, and FIG. 3 is a rear (rear) view.

  The electric wheelchair 1 includes a main frame 2 configured by combining, for example, a steel pipe and a steel plate, and a seating seat 3 is mounted on the main frame 2. A pair of left and right steerable front wheels 4 are provided at the front lower part of the main frame 2, and a pair of left and right rear wheels 5 are provided at the rear lower part of the main frame 2. A drive electric motor (drive unit) 6 is disposed inside each of the left and right rear wheels 5, and a battery 7 serving as a power source for the electric motor 6 and a stand-up reclining mechanism 16, which will be described later, is mounted on the front. Electronic devices such as a main controller 8 and a power steering controller 9 are placed on the upper part and the front part, respectively.

  The seat 3 includes a subframe 11, a seat 12 that supports the user's buttocks and thighs, a backrest 13 that supports the back of the user, a pair of left and right armrests 14 on which both elbows are placed, and a footrest 15 on which both feet are placed. And a stand-up reclining mechanism 16 that tilts and retracts the seating portion 12 and the backrest portion 13.

  A pair of left and right standing brackets 18 are firmly fixed to the front upper part of the main frame 2 with bolts or the like, and rise upward and obliquely forward, and are connected by a square pipe-shaped horizontal member 20 (see FIG. 4) between them. Yes.

  On the other hand, as shown in FIGS. 3, 4, and 5, the sub-frame 11 is connected between a pair of left and right steel plate side panels 22 by three lateral members 23, 24, 25 extending in the vehicle width direction. The front end portions of the left and right side panels 22 are connected to the uppermost end portion of the standing bracket 18 via a pivot shaft 26 so as to be rotatable (tilted).

  On the other hand, the seating portion 12 has a configuration in which a seat cushion 29 is stretched on the upper surface of a ladder-like seat underframe 28, and the backrest portion 13 is formed on the seat back frame 31 and the front side of the seat back frame 31. And a slide frame 32 that is slidably supported. A back cushion 33 that contacts the back of the user is provided on the front surface of the slide frame 32, and a headrest cushion 34 that contacts the back of the user's head is provided above the back cushion 33. A pair of left and right hand push handles 35 extending rearward are provided on the upper portion of the seat back frame 31.

  A pair of left and right side plates 37 fixed to both side surfaces of the lower end of the seat back frame 31 are provided with an upper pivot shaft 38 and a lower pivot shaft 39 whose axis extends in the vehicle width direction, and the pivot shaft 38 is a subframe. 11 (side panel 22) is pivotally connected to the rear upper part, and pivot shaft 39 is tiltably connected to the rear end part of seating part 12 (seat underframe 28). The pivot shaft 39 protrudes outward in the width direction and is fitted into a fan-shaped long hole 40 formed in the side panel 22. The movement of the pivot shaft 39 according to the length of the long hole 40, that is, the seat back frame 31 Tilt angle is regulated. The member 41 is a lock lever that fixes relative movement between the seating portion 12 and the backrest portion 13.

  As shown in FIGS. 4 and 5, the front side horizontal pipe 42 constituting the seat under frame 28 has both ends projecting from the left and right sides of the seat under frame 28, and the bearing rollers 43 provided here serve as the sub-frame 11. The side panel 22 is placed on a short inner rail 44 fixed to the inner surface of the front portion so as to be able to move smoothly back and forth. The inner rail 44 is inclined upward in a side view, and its front and rear end portions are wound upward to form a stopper shape, thereby preventing the bearing roller 43 from falling off.

  The pair of left and right armrests 14 are fixedly supported by the slide frame 32 of the backrest 13 at the rear ends thereof. A plurality of armrest bosses 46 are formed on the side surface of the slide frame 32. By fixing the armrest 14 to any one of these armrest bosses 46, the installation height of the armrest 14 can be arbitrarily adjusted.

  For example, a control box 48 is attached to the front end of the right armrest 14. On the upper surface of the control box 48, for example, a joystick lever 49 that allows the user to control the traveling direction and the traveling speed of the electric wheelchair 1 is provided in an upright state, and the remaining amount of the battery 7, the traveling time, etc. are not shown A display unit, switches, and the like are provided.

  The upper end of the footrest 15 is pivotally connected to the extreme end of the seat under frame 28 by a pivot shaft 51. A step board 52 on which a user's foot is placed is provided at the lower end of the footrest 15. Further, as shown in FIG. 4, a pair of left and right link brackets 54 provided on the lateral member 53 constituting the upper part of the footrest 15 and a link bracket 56 provided on the lateral member 25 at the rearmost part of the subframe 11 The space is connected by a pair of left and right link rods 57.

  On the other hand, the stand-up reclining mechanism 16 can individually control the reclining actuator 61, the slide actuator 62, the stand-up actuator 63, and these actuators 61, 62, 63 as shown in the block diagram of FIG. A seat controller 64, an operation switch 65, a reclining sensor 66 (backrest portion 13 tilt angle detection means), a slide sensor 67 (slide position detection means), and a stand-up sensor 68 (seat portion 12 tilt angle detection means) It is prepared for. For example, as shown in FIGS. 1 to 3, the operation switch 65 is arranged behind the control box 48 and includes an upright operation lever 69.

  As shown in FIGS. 7 and 8, the reclining actuator 61 and the stand-up actuator 63 are configured, for example, in a telescopic cylinder shape. The slide actuator 62 has a configuration in which, for example, a motor unit 71 and a worm gear unit 72 are integrated. These actuators 61, 62, 63 are all driven by the power of the battery 7 described above.

  The reclining actuator 61 and the slide actuator 62 are arranged on the back surface of the seat back frame 31 in the width direction, the reclining actuator 61 is installed on the right side, and the slide actuator 62 is fixed to the left side of the seat back frame 31. It is installed on the back of the. Further, the stand-up actuator 63 is disposed below the seating portion 12.

  As shown in FIGS. 2 to 5, 7, and 8, the reclining actuator 61 has a lower cylinder bracket 75 whose lower end is fixed to an intermediate portion of the horizontal member 25 at the rearmost portion of the subframe 11, and an upper end that is The upper cylinder bracket 77 fixed to the middle part of the uppermost horizontal member 76 of the seat back frame 31 is rotatably connected to each other, and serves to tilt the seat back frame 31 with respect to the seating portion 12.

  When the reclining actuator 61 is extended to the maximum, as shown in FIGS. 1 and 2, the backrest portion 13 (seat back frame 31) stands up at a steep angle, and the footrest 15 descends downward. Then, as the reclining actuator 61 contracts, the backrest 13 tilts backward, and at the same time, the footrest 15 is pushed forward by the aforementioned link rod 57 to reach the reclining position.

  When the reclining actuator 61 is contracted the most, as shown in FIG. 9, it rotates until the backrest 13 and the footrest 15 become horizontal, and the entire seating seat 3 becomes a flat bed shape. When shifting to this flat position, the pivot shaft 39 at the rear end of the seat underframe 28 moves from the bottom to the top in the fan-shaped slot 40 at the rear of the side panel 22 and the bearing roller 43 at the front end of the seating portion 12 The vehicle travels obliquely upward on the rail 44 so that the seating portion 12 becomes substantially horizontal. Each part of the seating seat 3 can perform a reclining operation smoothly and smoothly from the normal position of FIGS. 1 and 2 to the flat position of FIG.

  On the other hand, as shown in FIGS. 7 and 8, the slide actuator 62 has a worm gear unit 72 portion fixed to the rear surface of the base plate 73, and a pinion gear 80 projecting from the center of the worm gear unit 72 on the front surface of the base plate 73. It protrudes. The seat controller 64 is disposed above the slide actuator 62, and the slide actuator 62 and the seat controller 64 are covered from behind by a protective cover 81 shown in FIGS.

  A bearing cylinder 82 (see FIG. 8) is fixedly passed through the base plate 73, and a rotating shaft 84 of a slide arm 83 is rotatably supported on the bearing cylinder 82. The slide arm 83 is further provided with a sector gear 85 that is pivotally integrated. The sector gear 85 meshes with the pinion gear 80 of the slide actuator 62. The tip of the slide arm 83 and the slide bracket 88 fixed to the central portion of the lower side member 87 on the lower side of the slide frame 32 are connected via a link plate 89.

  When the motor unit 71 of the slide actuator 62 is operated, the sector gear 85 is driven by the rotation of the pinion gear 80, and the sector gear 85 and the slide arm 83 are rotated together. When the slide arm 83 rotates upward, the slide frame 32 slides in a direction extending with respect to the seat back frame 31 together with the back cushion 33 and the headrest cushion 34, and when the slide arm 83 rotates downward, the slide frame 32 (33 , 34) slides in the direction of contraction with respect to the seat back frame 31.

  Since the armrest 14 is fixedly supported by the slide frame 32, when the slide frame 32 slides with respect to the seat back frame 31, the armrest 14 also moves together with the slide frame 32. Therefore, no matter where the slide frame 32 is located, the distance H (see FIG. 2) from the upper surface of the armrest 14 to the upper end of the slide frame 32 does not change.

  On the other hand, the stand-up actuator 63 has one end (here, the front end) connected to the vicinity of the front portion of the main frame 2 and below the pivot shaft 26 that is the front end connecting portion of the seating seat 3. For example, the front end portion of the stand-up actuator 63 is rotatably connected to a front cylinder bracket 91 (see FIG. 4) provided at an intermediate portion of the lateral member 20 connecting the left and right standing brackets 18. .

  The other end (rear end in this case) of the stand-up actuator 63 is connected to the lower surface of the seating seat 3 and closer to the free end. For example, the rear end portion of the stand-up actuator 63 is rotatably connected to a rear cylinder bracket (not shown) provided at an intermediate portion of the lateral member 24 constituting the subframe 11.

  When the stand-up actuator 63 is contracted the most, the seat 12 is placed at a substantially horizontal seating position A as shown in FIG. 2, and as the stand-up actuator 63 extends, the seat 12 is pivoted as shown in FIG. When the stand-up actuator 63 is extended most, the seat 12 rises to a substantially vertical standing position B as shown in FIG.

  If the control is performed so that the reclining actuator 61 contracts simultaneously with the extension of the stand-up actuator 63, the normal position in FIG. 2 shifts to the stand-up position in FIG. 11 through the state in FIG. According to such a stand-up operation, it is possible to assist the user in a standing posture and to more effectively distribute the user's body pressure (removal of body pressure). FIG. 12 is a perspective view of the stand-up position as viewed obliquely from the rear right.

  The operation switch 65 instructs the seat controller 64 to tilt the seat 12 and the seat back frame 31 and slide the slide frame 32. For example, when the seating portion 12, the backrest portion 13, and the footrest 15 are in the normal position of FIG. 2 and the operation lever 69 of the operation switch 65 is in the upright state, the normal position is maintained, and from this state, the operation switch 65 is illustrated. When the operation mode changeover switch that is not set is set to the reclining mode and the operation lever 69 is continuously tilted backward, the reclining actuator 61 contracts and continuously deforms to the flat position of FIG. In order to return from the flat position to the normal position, the reclining actuator 61 can be extended and returned to the normal position by continuously tilting the operation lever forward.

  Furthermore, if the operation mode changeover switch (not shown) is set to the stand-up mode and the operation lever 69 is continuously tilted forward, the stand-up actuator 63 extends and the reclining actuator 61 contracts as shown in FIG. Deforms continuously until the up position is reached. Note that if the operation lever 69 is released during the deformation operation, all movements are stopped. The slide actuator 62 extends and contracts the slide frame 32 relative to the seat back frame 31 in conjunction with the movement of the reclining actuator 61.

  As shown in FIG. 7, the reclining sensor 66 described above is provided, for example, inside the left side plate 37 of the seat back frame 31. The reclining sensor 66 is a rotary sensor, for example, and includes a sensor driven gear 93. On the other hand, a sector gear-shaped sensor drive gear 94 that meshes with the sensor driven gear 93 is fixed to the left rear portion of the seat underframe 28.

  When the seat back frame 31 tilts due to the expansion and contraction of the reclining actuator 61, the sensor driven gear 93 rotates with respect to the sensor drive gear 94. Therefore, the tilt angle of the backrest 13 (seat back frame 31) is detected by the reclining sensor 66, The information is input to the sheet controller 64.

  Further, as shown in FIG. 8, a slide sensor 67 is provided on the rear surface of the base plate 39. The slide sensor 67 is also a rotary sensor, for example, and includes a sensor driven gear 96. On the other hand, a sector gear-shaped sensor drive gear 97 meshing with the sensor driven gear 96 is fixed to the rotation shaft 84 of the slide arm 83 so as to rotate integrally.

  When the slide frame 32 is slid by the slide actuator 62, the sensor driven gear 96 is rotated with respect to the sensor drive gear 97. Therefore, the slide position of the slide frame 32 is detected by the slide sensor 67, and the information is input to the seat controller 64. . Note that the slide sensor 67 may be replaced with a linear gauge sensor or the like so that the movement of the slide frame 32 is directly detected.

  Further, as shown in FIGS. 10 and 11, the stand-up sensor 68 is directly attached to the stand-up actuator 63, for example. This stand-up sensor 68 is a linear gauge sensor that directly measures the amount of expansion / contraction of the stand-up actuator 63, and information on the amount of expansion / contraction of the stand-up actuator 63 detected by the stand-up sensor 68 is used as the tilt angle of the seating portion 12. Input to the sheet controller 64. Note that the stand-up sensor 68 may be configured as a rotary sensor similar to the reclining sensor 66.

  As shown in FIG. 6, the sheet controller 64 includes a calculation unit 101 and an operation unit 102. The calculation unit 101 calculates the current tilt angle of the seating part 12 and the backrest part 13 and the slide position of the slide frame 32 based on input signals from the reclining sensor 66, the slide sensor 67, and the stand-up sensor 68. The operation unit 102 compares the current tilt angle and slide position information calculated by the calculation unit 101 with the tilt operation and slide operation command information by the operation switch 65 to obtain the tilt angle and slide position desired by the user. Thus, the reclining actuator 61, the slide actuator 62, and the stand-up actuator 63 are individually operated.

  Further, the seat controller 64 includes a memory unit 103 and a feedback control unit 104. The memory unit 103 can store in advance the optimal slide position of the slide frame 32 for the user according to each tilt angle of the backrest unit 13 (seat back frame 31), and the stored information can be arbitrarily determined according to the user. Settings can be changed. Further, the feedback control unit 104 executes feedback control for simultaneously operating the slide actuator 62 in accordance with the movements of the reclining actuator 61 and the stand-up actuator 63 according to the map stored in the memory unit 103.

  According to the electric wheelchair 1 configured as described above, the reclining actuator 61 that tilts the backrest 13, the slide actuator 62 that expands and contracts the backrest 13, and the stand-up actuator 63 that tilts the seat 12. The seat controller 64 can be controlled individually, and the seat controller 64 can link the movements of the actuators 61, 62, and 63, so that the reclining operation and stand-up operation can be performed without causing discomfort or stress to the user. Can be done very smoothly.

  In particular, since the backrest 13 can be expanded and contracted simultaneously with the tilting movement of the seat 12 and the backrest 13, it is possible to prevent a deviation between the user's back and the backrest 13 (back cushion 33). The feeling of use of the electric wheelchair 1 can be significantly improved.

  Further, since the armrest 14 is directly fixed and supported on the slide frame 32, the armrest 14 moves in synchronization with the slide of the slide frame 32, and the distance H from the upper surface of the armrest 14 to the upper end of the slide frame 32 does not change. The user's elbow can be supported stably.

  Furthermore, in this electric wheelchair 1, the reclining actuator 61 and the slide actuator 62 are arranged side by side in the vehicle width direction on the back surface of the seat back frame 31, and the stand-up actuator 63 is arranged below the seating portion 12. The reclining mechanism 16 can be configured compactly. Furthermore, since the seat controller 64 is installed above the slide actuator 62 having a smaller vertical dimension than the reclining actuator 61, the three members 61, 62, 64 can be arranged close to each other to achieve further downsizing.

  Moreover, the front end of the stand-up actuator 63 configured in the form of a telescopic cylinder is connected to the vicinity of the front part of the main frame 2, and the rear end is connected to the lower surface of the seating part 12 and close to the free end so that the stand-up actuator 63 can be rotated. During operation, the stand-up actuator 63 rises together with the seat 12 as shown in FIGS. For this reason, in the stand-up position, the upper part of the main frame 2 is wide open, so that the maintainability of the equipment such as the battery 7 and the controller 8 mounted on the main frame 2 can be remarkably improved.

  In addition, although the structure of the part of the seating seat 3 described in this embodiment is suitable for an electric wheelchair, it can be widely applied not only to an electric wheelchair but also as a reclining seat, a massage chair, a medical chair, etc. it can.

The perspective view which shows an example of the electric wheelchair which concerns on this invention. The left view of the electric wheelchair shown in FIG. The rear view of the electric wheelchair shown in FIG. The perspective view which looked at the stand-up reclining mechanism from diagonally left front. The left view of a stand-up reclining mechanism. The block diagram which shows the structure of a stand-up reclining mechanism. The perspective view which looked at the slide mechanism from the front. The perspective view which looked at the slide mechanism from back. The left view which shows a flat position. The left view which shows the state which is deform | transforming from the normal position to the stand-up position. The left view which shows a stand up position. The perspective view which looked at the stand-up position from diagonally right rear.

Explanation of symbols

1 Electric wheelchair 2 Main frame 3 Seating seat
11 Subframe
12 Seating part
13 Backrest
14 Armrest
15 Footrest
16 Stand-up reclining mechanism
28 Seat under frame
29 Seat cushion
31 Seat back frame
32 Slide frame
33 Back cushion (backing member)
61 Reclining actuator
62 Slide actuator
63 Stand-up actuator
64 seat controller
65 Operation switch
66 Reclining sensor (backrest tilt angle detection means)
67 Slide sensor (slide position detection means)
68 Stand-up sensor (seat tilt angle detection means)
69 Control lever
101 Calculation unit
102 Operation unit
103 Memory section
104 Feedback control part A Seating position B Standing position

Claims (5)

A seating part that supports the user's buttocks and thighs, a backrest part that includes a seat back frame and a slide frame that supports the user's back part, and a stand-up reclining mechanism that tilts and extends and retracts the seating part and the backrest part; The stand-up reclining mechanism includes a stand-up actuator that tilts the seat portion from a substantially horizontal seating position to a substantially vertical standing position, a reclining actuator that tilts the backrest portion with respect to the seat portion, and the slide A slide actuator that slides the frame with respect to the seat back frame, and a seat controller that can individually control the stand-up actuator, the reclining actuator, and the slide actuator. And Ra, Rutotomoni and an operation switch for instructing the sliding operation of the tilting operation and the sliding frame of the seat and the backrest to the seat controller, said stand-up recliner mechanism further seating for detecting the tilt angle of the seating section A seat tilt angle detecting means; a seat back tilt angle detecting means for detecting a tilt angle of the backrest; and a slide position detecting means for detecting a slide position of the slide frame. An arithmetic unit that calculates the tilt angle of the current seating part and the backrest and the slide position of the slide frame based on input signals from the tilt angle detector, the backrest tilt angle detector, and the slide position detector; The current tilt angle and slice calculated by Compared the position of the information and the command information of the tilting operation and the sliding operation by the operation switch, the user operates the above-described stand-up actuator and recline actuator and the slide actuator such that the tilting angle and slide position of desired operating unit An electric wheelchair characterized by comprising: The seat controller further includes a memory unit that stores an optimum slide position of the slide frame with respect to each tilt angle of the seating unit and the backrest unit, and the stand-up actuator and the reclining actuator according to a map stored in the memory unit. The electric wheelchair according to claim 1, further comprising a feedback control unit that feedback-controls the slide actuator in accordance with movement. 3. The reclining actuator and the slide actuator are arranged side by side in the vehicle width direction on the back side of the seat back frame, and the stand-up actuator is arranged below the seating portion. The electric wheelchair described in 1. The stand-up actuator is configured as a telescopic cylinder, and one end of the stand-up actuator is pivotally connected to the vicinity of the front portion of the main frame and below the front end connecting portion of the seating seat, and the other end is close to the lower surface of the seating seat and the free end. The electric wheelchair according to claim 3, wherein the electric wheelchair is rotatably connected to the wheelchair. The seating part is tiltably connected at the front end thereof to the vicinity of the front part of the main frame, while the seat back frame is connected to the rear end part of the seating part so as to be tiltable. A back support member that is supported slidably up and down with respect to the seat back frame, fixedly supports the rear ends of a pair of left and right armrests on which the user's elbows are placed, and is in contact with the back of the user. The electric wheelchair according to claim 1.

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