JP5099772B2 - Wheelchair drive device - Google Patents

Description

  The present invention relates to a wheelchair drive device that enables a manual wheelchair to be easily and electrically moved by a small device, and also enables carrying of goods and movement of a person.

  Most wheelchairs currently used in hospitals and welfare facilities are manual wheelchairs. This is thought to be due to the high price of electric wheelchairs and the high risk of accidents in the hospital due to misoperation. However, it is considered that if a manual wheelchair is electrified even temporarily during movement in a hospital or facility, it will lead to improvement of convenience for the user and reduction of the physical burden of the caregiver.

  On the other hand, elderly people at home may use electric wheelchairs, and typical examples are electric wheelchairs such as scooters and simple electric wheelchairs with a drive unit attached to a manual wheelchair. Various types of devices have been developed for electrification.

  For example, (1) a drive unit that is operated by a handle like a motorcycle for mounting on a front frame portion of a manual wheelchair (JP 2002-165843, JP 2004-201807, JP 2003-19165, JP 2001-70358). , JP 2000-175970, JP 10-99381), (2) Drive unit mounted on the front caster wheel (JP 2006-187472, JP 2003-116930, JP 2001-286510), (3) Wheelchair rear part (4) Units for driving wheelchair wheels by contact with rollers or the like (Japanese Patent Laid-Open Nos. 10-295737, 10-295732, and 9-122185) JP-A-8-56993, JP-A-6-56993 6790), has been proposed and (5) devices entire wheelchair boarding the platform, such as a motorcycle (JP 2003-88556).

In various conventional devices as described above, (1) to (4) require a work to attach the unit to a manual wheelchair, so it takes time to replace the unit and it is necessary to adjust it according to the form of the wheelchair. There are problems such as becoming. In addition, since (5) is a mechanism in which the entire wheelchair gets in, a size larger than that of the wheelchair is required, and there is a problem that a small space is not used and a large space is occupied.
JP 2002-165843 A JP 2004-201807 A JP 2003-19165 A JP 2001-70358 A JP 2000-175970 A JP-A-10-99381 JP 2006-18747 A JP 2003-116930 A JP 2001-286510 A Japanese Patent Laid-Open No. 10-328246 Japanese Utility Model Publication No. 6-26838 Japanese Patent Laid-Open No. 10-295737 JP-A-10-295732 JP-A-9-122185 JP-A-8-56993 JP-A-6-86790 JP 2003-88556 A

  As described above, the units that have been developed so far to electrically drive manual wheelchairs have problems such as being generally complicated and time consuming to attach and remove, and those that carry the whole wheelchair have a large occupied area.

  Therefore, the main object of the present invention is to provide a motorized unit that functions by simply placing a wheelchair without changing the manual wheelchair and has a small occupation area. In addition, considering the use in hospitals and welfare facilities where barrier-free has advanced, the wheelchair wheel platform can be designed to be low so that the wheelchair can be easily mounted. In addition to electrifying wheelchairs in those facilities, for example, it is possible to automatically drive to the destination by attaching an external sensor, and it can also be used for baggage transport instead of wheelchairs, to carry people An object of the present invention is to provide a wheelchair drive device that can be used as a small vehicle.

  The wheelchair drive device proposed in the present invention is an electric cart that carries only the wheel portion of a manual wheelchair, and is a six-wheel system having a drive wheel on the left and right of the central portion and passive omni wheels on the front and rear. (1) Travel / steering control with a joystick, etc., (2) Trajectory by autonomous travel of the bogie Follow-up control and (3) follow-up control for people and the like by external sensor information are possible. Moreover, it can be used not only for wheelchairs but also for transporting luggage and moving people, and can be used in various ways.

  Although the present invention is a unit for electrifying a manual wheelchair, it can be easily electrified simply by placing the manual wheelchair on the unit and applying a manual brake. Further, since only the wheel of the manual wheelchair needs to be placed on the unit, the front and rear length can be shortened, and the occupation area can be greatly reduced unlike the type in which the entire wheelchair is placed. Therefore, it does not get in the way while traveling and has excellent storage properties. Furthermore, since it is possible to run automatically by attaching an external sensor, and to carry luggage and people, it can be used for various purposes.

In order to solve the above-mentioned problems, the wheelchair drive device according to the present invention functions as a motorized unit having a small occupation area that functions simply by placing a wheelchair without adding a hand to the manual wheelchair. A carriage equipped with means for fixing only the rear wheel, which is a moving wheel, and fixing the rear wheel, driving wheels provided at the left and right center portions of the carriage, each driven by an independently controllable motor, and the carriage And a driven wheel that can be moved up and down by a suspension, and a controller that can independently control each motor that drives the left and right wheels.

  Another wheelchair drive device according to the present invention is characterized in that in the wheelchair drive device, the control device performs control in response to an instruction by a remote control operation.

  Another wheelchair drive device according to the present invention is characterized in that in the wheelchair drive device, the control device performs automatic traveling control.

  Another wheelchair drive device according to the present invention is characterized in that in the wheelchair drive device, the driven wheel is an omni wheel.

  Another wheelchair drive device according to the present invention is characterized in that in the wheelchair drive device, a load or a person is placed on the carriage in addition to the wheelchair.

  Embodiments of the present invention will be described with reference to the drawings. FIG. 1 is a perspective view showing a relationship between a wheelchair drive device 1 of the present invention and a manual wheelchair 2 mounted on the wheelchair drive device 1. The wheelchair drive device 1 is provided with wheel support frames 4 on both sides of a flat carriage 3 and supports two drive wheels 5 provided at the centers on both sides of the carriage 3.

In the illustrated example, the wheel support frame 4 supports four passive omni wheels 6 arranged at the four corners of the carriage. Thus, since the drive wheel 5 and the passive omni wheel 6 are supported by the wheel support frame 4, for example, as shown in the front view of FIG. 2B and the side view of FIG. Regardless of the size of the wheel and the support of the passive omni wheel 6, the carriage 3 can be set sufficiently low to facilitate getting on and off the wheelchair 3 as will be described later, and when the wheelchair is on the carriage Can improve the stability. Incidentally, the passive Omunihoi Le 6 may be one by one back and forth, providing a total of two.

  For example, as schematically shown in the plan view of FIG. 2A, the drive wheels 5 can be independently driven by motors 7 and reduction gears or the like built in each wheel support frame 4, thereby It can be moved in any direction by adjusting the drive speed of both wheels. The passive omni wheels provided at the four corners of the carriage 3 can be of a known structure, and when the moving direction is changed by adjusting the number of rotations of the drive wheels 5 on both sides, the passive omni wheels follow freely. Thus, it can move freely on the XY plane. In addition, although it can be made to function similarly even if it uses a caster wheel instead of this passive omni wheel, the passive omni wheel can move more smoothly.

  Each of the four driven omni wheels 6 is supported by a suspension 8 such as a spring so as to be able to expand and contract in the vertical direction. When the wheelchair 2 is put on the carriage 3 as described later, it sinks due to the weight of the wheelchair and the passenger. So getting on is easy. On the front and rear ends of the carriage 3, a boarding / alighting guide 9 having an inclined upper surface is provided.

  The wheel support frame 4 includes a CPU (not shown) and can be operated by pulling out a controller 10 that can be fixed to a part of the wheel support frame 4 shown in FIG. The wheelchair drive device 1 can be freely driven by an instruction such as advance, travel speed, and travel direction. Although not shown in the wheel support frame 4, a battery is provided to serve as a power source for the motor that drives the drive wheel 5, and also used as a power source for the control device and further to the wheelchair drive device provided with a light. To do.

  On the upper surface of the carriage 3, wheel receivers 12 that are recessed from the upper surface of the carriage 3 are provided on the left and right sides so that a large-diameter rear wheel 11 that is a manual driving wheel of the wheelchair 2 can stably ride. A stopper 13 that can protrude upward is provided in front and rear of the wheel receiver 12. This prevents the wheelchair mounted on the wheel receiver 12 from jumping out of the cart due to acceleration / deceleration or vibration of the cart even when the hand brake is applied. An anti-slip tape may be appropriately attached to the upper surface of the carriage when the wheel receiver 12 or the wheel receiver is not provided.

  In the example shown in FIG. 1, in order to monitor obstacles in the traveling direction of the wheelchair driving device 1 at the front and rear ends of the wheel support frame 4, electromagnetic waves are emitted and the reflected waves from the object are radar-type. Are provided with an electromagnetic wave transmission / reception unit 14 of a surrounding object monitoring device and a camera 15 for monitoring the traveling direction, and a magnetic sensor for detecting ambient magnetism is provided as necessary. Also, the rotation of the left and right wheels is monitored by a rotary encoder, and is output as a feedback signal during traveling steering. In addition, a wheel drive system including a motor, or an external brake is provided, and automatic brake control is also performed according to a user instruction.

  Accordingly, the vehicle can be stopped by automatically monitoring obstacles during traveling of the wheelchair drive device 1 by electromagnetic waves and by a camera, and it is also possible to travel following a person in front by setting by a user. . Further, when a guide line is formed by drawing a travel guide line such as a white line on the floor or the like, or by sticking a magnetic tape or the like, it is also possible to perform travel that guides to a destination according to the line. The function can be effectively used not only when a wheelchair is placed on a carriage but also when a user rides with a chair fixed on the carriage. The various control devices as described above can be arbitrarily selected and installed as required.

  The wheelchair drive device of the present invention using the various devices as described above can be implemented by a control system as shown in FIG. 5, for example. In the illustrated control system, the functions are roughly divided into a CPU and I / O 21, an operation unit 22, a sensor 23, and a wheel drive system 24. The CPU and the I / O 21 have a CPU for performing computation and a digital input for inputting a digital signal. Unit 26, AD conversion unit 27 that performs AD conversion, a counter 28 that receives and counts signals from a wheel encoder, which will be described later, a digital output unit 29 that mainly outputs a digital signal to a motor brake, and an analog signal mainly to a motor driver Is provided with a DA converter 30 for performing DA conversion.

  In addition to the normal mode of traveling with a wheelchair as described above, the operation unit 22 has a mode of traveling with a load on the wheelchair, and a chair mounted on the chair instead of the wheelchair. A mode switching button 31 for switching modes for use in various modes such as traveling mode, and a vehicle speed command unit 32 for commanding the vehicle speed by a joystick or the like are provided. The operation unit 22 may further include various signal input operation units for instructing what the user needs.

  The sensor 23 shown in FIG. 5 includes a magnetic guide sensor 33 that detects a magnetic tape or the like provided on the floor surface, a magnetic position sensor 34 that detects positions of various rotating parts and moving parts, a right wheel encoder 35, and a left wheel. Although an example including the encoder 36 is shown, various sensors can be used as necessary.

  The wheel drive system 24 includes a right wheel motor driver 37 that controls the drive of the right wheel motor and a left wheel motor driver 38 that controls the drive of the left wheel motor, and includes a right wheel motor 39 and a left wheel motor 40, respectively. Driving. These motors are provided with motor brakes, and the right wheel motor brake 41 and the left wheel motor brake 42 are controlled from the digital output unit 29. In addition, if only a joystick that does not perform autonomous traveling is used, a method of independently controlling the voltage values of the two-wheel motors independently using a joystick without using a computer may be used.

Ｔ_Ｒ、Ｔ_Ｌ：右車輪及び左車輪の駆動トルク
Ｋ_ＶＲ、Ｋ_ＶＬ：右車輪及び左車輪の角速度フィードバックゲイン
Ｋ_ＰＲ、Ｋ_ＰＬ：右車輪及び左車輪の角度フィードバックゲイン
θ_Ｒ、θ_Ｌ：右車輪及び左車輪の回転角度

：右車輪及び左車輪の角速度目標値（ジョイスティック等により入力）
なお、前述のように、自律走行を行わないジョイスティックのみの操縦であれば、式（１）、（２）を用いず、単に両輪モータの電圧値をジョイスティックからのアナログ出力で独立に制御する方法でも良い。 About such a left-right drive wheel, the number of rotations is controlled independently by performing the following control. Each speed target value is changed at any time according to the user's intention through an input device such as a joystick.

T _R , T _L : Driving torque of right wheel and left wheel
K _VR , K _VL : Angular velocity feedback gain of right wheel and left wheel
K _PR , K _PL : Angle feedback gain of right wheel and left wheel
θ _R , θ _L : rotation angle of right wheel and left wheel

: Angular velocity target value of right wheel and left wheel (input with joystick etc.)
Note that, as described above, if only a joystick that is not autonomously operated is operated, the voltage values of the two-wheel motors are simply controlled independently by analog output from the joystick without using the equations (1) and (2). But it ’s okay.

  FIG. 3 shows how a wheelchair drive device according to the present invention is used as an electric unit for a manual wheelchair, which is a mode in which a wheelchair, which is the original purpose, is mounted. FIG. 2A shows a sequence when the manual wheelchair wheel unit is placed on the wheelchair drive device 1 while the manual wheelchair is moved forward. First, when the wheelchair drive device 1 is placed in front of the manual wheelchair 2 on which the user is sitting as shown in Fig. 1 (a-1) and the manual wheelchair is moved forward, the manual wheelchair is shown in Fig. 2 (a-2). The front wheel 15 rides on the boarding / alighting guide 9 provided on the front and rear ends of the carriage of the wheelchair drive device, and the top surface of the boarding / alighting guide 9 is inclined.

  At this time, the passive omni wheel 6 adjacent to the getting-on / off guide 9 is similarly pressed against the floor surface by the carriage, and the suspension 8 is contracted by the force at that time, whereby the tip of the getting-on / off guide 9 is in contact with the floor surface. In this state, the tip of the getting-on / off guide 9, the passive omni wheel 15, and the drive wheel 5 are grounded. When the manual wheelchair 2 is further advanced in this state, the front wheel 15 of the wheelchair gets over the carriage 3 as shown in FIG. At this time, the rear wheel 11 of the manual wheelchair is placed at the position of the wheel receiver 12 as described above at a position substantially coincident with the axis of the drive wheel 5 on the carriage 3, where the manual wheelchair 2 is braked, Further, the rear wheel 11 is fixed to the carriage with a stopper as required.

  Thereafter, the cart freely moves by a remote control operated by the user or automatic traveling, and the manual wheelchair operates in the same manner as an electric wheelchair. Further, when the manual wheelchair 2 is lowered from the wheelchair drive device 1, it can be easily lowered by applying a brake to the wheelchair drive device as appropriate and moving the manual wheelchair forward. Thus, since the wheelchair drive device 1 only needs to mount a rear wheel at a minimum, the length in the front-rear direction can be reduced, and the entire device can be made small.

  Although FIG. 3A shows an example in which the manual wheelchair 2 is moved forward and placed on the wheelchair drive device 1, the manual wheelchair 2 is moved backward and placed on the wheelchair drive device 1 as shown in FIG. However, in substantially the same manner as described above, the wheelchair drive device operates in the order of (b-1), (b-2), and (b-3) in the figure, and finally the same as in FIG. (A-3). 1 can be placed. Thereafter, when the manual wheelchair 2 is lowered from the wheelchair drive device 1, the manual wheelchair can be lowered in the same manner as described above.

  Thus, when the manual wheelchair is moved backward and placed on the carriage and moved forward and lowered, there is a large space between the left and right rear wheels 11 of the manual wheelchair 2, so a large battery is mounted on this portion, etc. This space can be used effectively. Note that when riding forward as shown in FIG. 5A, the footrest part is particularly disturbing, and the above space cannot be used.

  The wheelchair drive device 1 according to the invention can be implemented in various ways, which are shown in FIG. That is, FIG. 5A shows the most basic aspect, and in the illustrated example, the user moves by operating the remote controller 10 of the wheelchair drive device 1. At this time, in addition to the illustration, the caregiver may operate the remote controller 10 to move to an arbitrary location. In addition to being connected to the wheelchair drive device 1 by a wired cord as shown in the figure, this remote control can be a wireless or an operation handle that can be stored in the wheelchair drive device 1 and can be erected. There may be a folding operation handle.

  When the manual wheelchair 2 is placed on the carriage of the wheelchair drive device 1, an empty manual wheelchair 2 is used in addition to placing the manual wheelchair on the carriage while the user is on the manual wheelchair as shown in FIG. Can be used on a manual wheelchair after the vehicle is placed on the cart in advance. At that time, since the position of the carriage 3 is extremely low, the user can easily get on the wheelchair on the carriage.

  FIG. 2B shows an example in which a load 17 is placed on the carriage 3 of the wheelchair drive device 1 and the user operates the remote controller 10 of the wheelchair drive device 1 to carry it. It should be noted that when carrying such a package, automatic traveling is also possible in the same manner as in the previous embodiment, except that the user operates with the remote control as described above.

  In FIG. 4 (c), a chair 18 is fixed to the carriage 3 portion of the wheelchair drive device 1, and a user sits on this chair, and the user operates the remote controller 10 in the same manner as in FIG. An example of being able to move to a location is shown. Such a use mode is a mode in which the wheelchair drive device 1 is used as a means for easily moving when the user is not so lame as to use the wheelchair. In order to put such a chair on the carriage 3, a chair fixing member may be provided on the carriage 3 in advance. In this mode of use, automatic running can also be performed.

  The present invention can be used as a motorized unit for a manual wheelchair used in a facility such as a hospital or welfare facility, and can also be used as a luggage transport unit or a human moving means.

It is a perspective view which shows the Example of this invention with a manual wheelchair. It is a figure of the Example, (a) is a top view, (b) is a front view, (c) is a side view. It is a figure which shows the embodiment of the Example, (a) is a mode when mounting a wheelchair to a wheelchair drive device by advance, (b) shows the mode when mounting by the back. It is a figure which shows the various use aspects of this invention, (a) is a normal use aspect, (b) shows the use aspect which uses the apparatus for conveyance of goods, (c) is a person without putting a wheelchair. The usage mode which conveys is shown. It is a figure which shows the example of the control system of this invention.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Wheelchair drive device 2 Manual wheelchair 3 Bogie 4 Wheel support frame 5 Drive wheel 6 Passive omni wheel 7 Motor 8 Suspension 9 Getting on / off guide 10 Controller 11 Rear wheel 12 Wheel receiver 13 Stopper 14 Electromagnetic wave transmission / reception part 15 Camera 16 Front wheel 17 Luggage 18 Chair

Claims (4)

A carriage equipped with means for fixing only the rear wheel, which is a manual wheel of a wheelchair, and fixing the rear wheel ;
Drive wheels that are provided at the left and right sides of the carriage and are driven by independently controllable motors,
A driven wheel that is disposed at the front and rear ends of the carriage and is movable up and down by a suspension;
A wheelchair drive device comprising: a control device capable of independently controlling each motor driving the left and right wheels.   The wheelchair drive device according to claim 1, wherein the control device performs control in response to an instruction by a remote control operation.   The wheelchair drive device according to claim 1, wherein the control device performs automatic traveling control.   The wheelchair drive device according to claim 1, wherein the driven wheel is an omni wheel.

Images