JPH0315468A - Wheelchair - Google Patents

Abstract

PURPOSE:To attain running in accordance with a condition of a road surface with easy operation further to prevent reckless running by connecting a pair of operating wheels to a pair of drive wheels through a torque detecting means and providing a controller which controls a drive motor being based on a detection value of the torque detecting means. CONSTITUTION:Operating wheels 15, 15 are connected to the outside of drive wheels 9, 9 through torque detecting means 16, 16. When the operating wheel 15 is operated, an input shaft 17 is rotated, but the drive wheel 9 is not rotated, so that an output shaft 25 is not rotated, accordingly a torsion bar 19 is twisted, and a relative rotational angle is generated between these shafts 17, 25. A twist of the torsion bar 19 is detected by a strain gage 36 as operation torque through a torque sensor 37 and output to a controller 39, and the motor current of a drive motor 13 is controlled. Rotation of the drive motor 13 is transmitted to the output shaft 25 through a reduction gear 11 to rotate the drive wheel 9, while the rotation is transmitted to also the operating wheel 15.

Description

Detailed Description of the Invention (Field of Industrial Application) The present invention relates to a wheelchair, and in particular, the present invention relates to a wheelchair, and in particular, detects an operating torque input through an operating wheel by a torque detection means, and thereby detects an operating torque inputted through an operating wheel. This invention relates to a device that controls a moving drive motor.

(Prior Art) A conventional example will be described with reference to FIGS. 12 and 13. FIG. 12 is a plan view of the wheelchair, and FIG. 13 is a side view.

The heavy chair body 101 includes a seating portion 103 and an armrest portion 104.
, 104, and a backrest portion 106 are provided.

Further, a pair of adjustment wheels 105 are provided at the rear of the wheelchair body 101.
, 105 are attached, and driven wheels 107, 107 are attached to the front part.

The drive wheels 105, 105 and cantering motors 109, 109
are connected via reducers 111, 111,
Each drive wheel 105, 105 is adapted to be driven independently.

A control rod 115 is attached to one armrest 104 of the wheelchair F-Honkyu 101. By tilting this 1511 control rod 1-15 back and forth, right and left, a pair of drive motors 109 are activated via a controller (shown in FIG. 13) 117.
, 109, thereby traveling in a desired direction and at a desired speed.

That is, the vehicle travels forward by tilting the control rod 115 forward, and at that time, the traveling speed is adjusted depending on the amount by which the control rod 115 is tilted.

The same applies when traveling backwards.

Further, when making a turn, the control rod 115 is tilted forward or backward and tilted a predetermined distance k to the right, thereby creating a difference in the amount of rotation of the drive wheels 105, 105 provided at the norlj. This allows the wheelchair to turn in the desired direction.

Note that the reference numeral 119 in FIG. 13 is a paddeley.

(Problems to be solved by the present invention) According to the conventional configuration, there were the following problems.

First, there is a problem in that it is not easy to operate the control rod 115 to achieve a desired running, and it takes a long time to learn how to operate the control rod 115.

In addition, when operating the control rod 115, the road surface condition is not taken into account at all, and the vehicle is configured to travel in a relationship with the road surface, such as when running on a large road surface. There were times when it was dangerous.

Furthermore, if the control rod 115 is left in a fallen state, there is also the problem that the wheelchair may run out of control.

The purpose of this invention is to provide a clean car that is easy to operate, can be aware of road conditions, and does not cause accidents such as runaway.

(Means for Solving the Problems) In order to achieve the above objects, the East Chair of the present invention includes a wheelchair, a pair of drive wheels attached to the left and right sides of the wheelchair body, and a wheelchair. and a pair of drive motors that move the pair of drive wheels separately, and a pair of operating wheels are connected to the pair of drive wheels via a torque detection means, The present invention is characterized in that a controller is provided which detects the input operating torque by a torque detection means and controls the drive motor based on the detected value.

(Action of the present invention) When the operating wheel is operated, the operating torque at that time is detected by the torque detection means. Based on the detected operating torque, the steering motor is controlled to apply a desired assist force to the drive wheels.

For example, when the detected torque is large, a large motor current flows, and conversely, when the detected torque is small, a small motor current flows.

When the operating force on the operating wheel is removed, the operating torque becomes 0, so the drive motor stops and the drive wheel also stops.

By adjusting the operating torque on the left and right operating wheels, the vehicle turns in the desired direction.

The road surface resistance applied to the driving wheels also acts on the operating wheels, so it is possible to know the road surface conditions.

Even if an inadvertent force is applied to the operating wheel, the canter wheel will only rotate by an amount commensurate with the operating torque generated by the force, thereby preventing further inadvertent running.

(Embodiment of the present invention) Hereinafter, a first embodiment of the present invention will be described with reference to FIGS. 1 to 9.

The wheelchair wooden body 1 is provided with a seating part 3, armrest parts 5, and a backrest part 7.

At the rear of the middle chair body 1 and on its left IT, there is a shame drive wheel 9.
, 9 are respectively attached, and these drive wheels 9, 9
The drive motors 13, 1 are connected to each other via the reducer 11.11.
3 are connected.

At the front part of the wheelchair body 1, driven wheels 14, 1 are provided on the left and right sides.
4 are installed respectively.

Operating wheels 15, 15 are connected to the outer sides of the cantering wheels 9, 9 via torque detecting means 16, 16. Its configuration will be explained with reference to FIGS. 3 to 7.

First, the input shaft 17 is attached to the operating wheels 15, 15.
The input shaft 17 is hollow, and one end of a torsion bar 19 is inserted into the input shaft 17. As shown in FIG. 4, this torsion bar 19 has a pin hole 21 formed at one end of the torsion bar 19.
The input shaft 17 is connected to the input shaft 17 by pressing a pin (not shown) into a pin hole 23 formed in the input shaft 17.

On the other hand, an output shaft 25 is formed on the drive wheel 9 side, and the output shaft 25 is also hollow, into which the other end of the torsion bar 19 is inserted. As shown in FIG.
It is connected to the output shaft 25 by pressing a bottle (not shown) inside.

Further, at the end of the input shaft 17, as shown in FIGS. 4 to 6, projections 31, 31 are provided at 180° positions.
is formed, and on the other hand, the outer and butt shaft 25
As shown in FIGS. 4 and 5, notches 33, 33 are formed on the sides at 180° positions. and,
As shown in FIG. 5, the protrusions 31, 31 have gaps 47. They are mated together.

4. Relative rotation between the input shaft 17 and the output shaft 25 is allowed within the range of the clearance. Furthermore, further relative rotation is regulated by the engagement between the protrusion 31 and the notch 33, whereby the torsion bar 1
9. Prevent excessive twisting.

The other end of the torsion bar 19 is cut off at a position of 180°, and as shown in Fig. 7, distortion case mounting surfaces 35, 35 are mounted thereon. Strain gauges 36, 36 are attached. Further, a torque sensor 37 is arranged near it, as shown in FIG. 3, and is connected to the strain gauge 36 via a cable 38. - A controller 39 provided separately from the torque sensor 37 is also connected via a cable 41.

A battery 43 is connected to the controller 39, and the drive motor 13 mentioned above is connected to the cable 4.
It is connected to a controller 39 via 5.

Further, as shown in FIG. 8, a switch 42 is provided so that an off signal can be output to the controller 39 by manual operation.

Next is the reducer 11, which consists of a gear 4 fixed to the rotating shaft 44 of the canter motor 13, as shown in FIG.
6, a gear 47 that meshes with this gear 46, and this gear 4
7 and output shaft 2.
5 and a gear 49 coaxially fixed to the gear 5.

Incidentally, the above-mentioned configuration is the same on the opposite side (not shown).

The operation will be explained based on the above configuration.

First, the operating wheel 15 is operated. This causes the input shaft 17 to rotate in the same direction.

On the other hand, since the drive wheel 9 does not rotate, the output shaft 25 does not rotate, so the torsion bar 19 is twisted and a relative rotation angle is generated between the input shaft 17 and the output shaft 25.

Twisting of the Kamikita torsion wheel 19 is detected by the strain gauge 36 and detected as operating torque via the torque sensor 37.

The detected signal {X} from the torque sensor 37 is output to the controller 39, and the controller 39 controls the motor current of the rotary motor 13 based on the signal.

That is, as shown in FIG. 9, the motor current is set to increase as the operating torque increases. Note that the motor current does not necessarily have to increase in a curved manner, and may be increased linearly.

The rotation of the cantering motor 13, whose motor current is controlled, is transmitted to the output shaft 1/25 via the reduction gear 11, thereby rotating the drive wheel 9, and the rotation is transmitted to the operating wheel 15. is also transmitted.

In other words, if the operating torque is applied via the operating wheel 15,
Thereafter, the drive wheel 9 is automatically rotated by the canter motor 13, which is controlled to a 9 1 0 motor current corresponding to the magnitude of the operating torque.

Then, when the operating torque is removed and the torsion bar 19 is untwisted, the canter motor 13 stops. If you want to run continuously, you can continue applying the operating torque to the operating wheel 15, and if you want to stop it, you can stop applying the operating torque to the operating wheel 15. .

Also, if you want to turn, use the operating wheels 15 provided on the left and right sides.
, 15 can be adjusted, thereby creating a difference between the motor currents of the left and right drive motors 13, 13, so that the vehicle can turn in a desired direction.

At this time, road resistance etc. applied to the driving wheels 9 also act on the operating wheels 15. For example, as the road resistance increases, the operating torque also increases, and conversely, if the road resistance decreases,
The operating torque is also small.

Next, the switch 42 is turned off. In this case, by manually operating the operating wheels 15, 15, the canter wheels 9, 9 can be rotated, and the vehicle can travel.

According to this embodiment, the following effects can be achieved.

First, it is easier to operate, like the conventional control rod operation, f-? It doesn't really take a long time. This is because the pair of operating wheels 15, 15 can be operated at the same intervals as in a manual wheelchair, thereby providing an operating torque suitable for desired travel.

In addition, the operating force at that time is lower than that of a manual wheelchair.
significantly reduced. This is because the drive motor 13 automatically provides the desired assist blade.

In addition, road surface conditions etc. are also taken into consideration. In other words, since the operating torque applied to the operating wheel 15 naturally changes depending on the road surface condition, it is possible to be aware of the road surface condition.

Furthermore, careless recklessness can be eliminated.

11 1 2 For example, if an abnormal force is applied to the operating arm 15, the drive wheel 9 will rotate by the amount of twisting of the torsion lever 19 caused by it, or it will rotate no more if the twist is resolved. 1- It is possible to prevent out of control without saying a word.

Since the pair of left and right cantering wheels 9, 9 are independently provided with a similar configuration, by changing the operating torque for the left and right operating wheels 15, 15, it is possible to turn into a white mountain.

Next, a second embodiment will be described with reference to FIGS. 10 and 11.

In the case of the first embodiment, the operating wheel 15 is
were attached coaxially, but in this embodiment they are mounted on separate axes.

That is, the operating wheels 51, 51 have a torque detection stage 53.
, 53, chain drive wheels 55, 55 are connected. The above-mentioned chain drive wheels 55, 55, and the drive wheel 9,
Chains 59, 59 are wound between subrockets 57, 57 which are coaxially fixed to 9.

The relationship between the operating wheel 51 and the chain driving wheel 55 is the same as the relationship between the operating wheel 15 and the driving wheel 9 in the first embodiment.

In this case as well, the same effects as in the first embodiment can be achieved.

In addition, when the operating wheel is placed on a separate axis from the drive wheel, a configuration using a boot and a belt, a configuration using a plurality of gears, etc.
A similar effect can be achieved with a configuration using groups.

Further, various configurations of the torque detection means are conceivable.

(Effects of the Present Invention) As detailed above, the wheelchair according to the present invention can be easily operated, can stop in accordance with the road surface conditions, and can prevent runaway behavior. can.

[Brief explanation of the drawing]

1 to 9 are diagrams showing a first embodiment of the present invention,
Figure 1 is a plan view of the East Chair, Figure 2 is a side view of the wheelchair, Figure 3 is a sectional view showing the relationship between the operating wheels and drive wheels, and Figure 4 is the input shaft and torsion harness. , an exploded perspective view of the output shaft, FIG. 5 is a sectional view taken along V-V in FIG. 3, FIG. 6 is a sectional view taken along Vl-Vl in FIG. 3, and FIG. 7 is a sectional view taken along Figure 8 is a configuration diagram of the control system, Figure 9 is a characteristic diagram showing the relationship between motor current and operating torque, Figures 10 and 11 are diagrams showing the second embodiment, and Figure 10 is a plane view of the wheelchair. Figure 11 is a side view of the wheelchair, Figures 12 and 13 are views showing conventional examples, and Figure 12 is a side view of the wheelchair.
The figure is a plan view of the wheelchair, and FIG. 13 is a side view of the wheelchair. DESCRIPTION OF SYMBOLS 1...Wheelchair body, 9...Drive wheel, 13...Drive motor, 15...Operation wheel, 16...Torque detection means, 36...Strain gauge, 37...Torque sensor, 3
9...Controller.

Claims (1)

[Claims] A wheelchair comprising a wheelchair body, a pair of drive wheels attached to the left and right sides of the wheelchair body, and a pair of drive motors that separately drive the pair of drive wheels attached to the wheelchair body. A controller is provided which connects a pair of operating wheels to the drive wheels of the controller via a torque detection means, detects an operating torque input via the operating wheels by the torque detection means, and controls the drive motor based on the detected value. A wheelchair that features: