JPS59177049A - Electromotive wheelchair apparatus - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a wheelchair used by a physically handicapped person for transportation, and more particularly to an electric wheelchair device that automatically moves by energizing an electric motor in response to a predetermined driving operation.

Among physically disabled patients, for example, severely ill patients who require an artificial heart cannot exert great force. Therefore, in order for the patient to move, a motorized wheelchair is required.

By the way, when the patient temporarily gets out of the wheelchair and after getting off, it is necessary to completely stop the movement of the wheelchair. The patient cannot walk quickly, and in the case of a wheelchair equipped with an artificial heart drive device, for example, the patient and the artificial heart drive device, or wheelchair, are connected by a tube of limited length, so if the wheelchair moves, the patient's life may be life-threatening. be exposed to the risk of However, in the case of electric wheelchairs, they can be moved by simple operations such as levers, so patients may accidentally use their hands or hands when getting on or off the wheelchair.
Such a dangerous situation can occur if clothing or the like gets caught on the control lever, or if someone who is not knowledgeable about wheelchairs accidentally touches the control lever.

Further, although it is preferable that the wheelchair has armrests, the armrests tend to become an obstacle for the user when getting on and off the wheelchair.

The first object of the present invention is to provide a safe electric wheelchair device that does not move when the user gets on and off the wheelchair and does not move after the user gets on and off. A second object is to provide an electric wheelchair device that is easy to get on and off with less friction.

In order to achieve the above object, the present invention provides a retractable armrest, detects the position of the armrest to determine whether the user is riding, and makes sure that the armrest is in a predetermined position when riding. wheelchair movement is prohibited.

According to this, since the armrests are provided, the user can drive in a comfortable posture, and since the armrests are retracted when getting on and off, the armrests do not become an obstacle to getting on and off. And it is safe because the wheelchair will not be moved by mistake after disembarking.

Users of electric wheelchairs are often unable to use their arms or the like, so it is best to use a wheelchair that can be easily operated using just the hands. Therefore, in one preferred embodiment of the present invention, the wheelchair drive motor is energized in accordance with the operation of one lever, and this operation lever is made detachable.
The presence or absence of this operating lever is detected, and if there is no operating lever, driving of the wheelchair is prohibited).

According to this, the wheelchair does not move when the user or an accompanying person removes the operating levers when getting on and off, and since there are no operating levers when getting on and off, the shape of the operating levers can be easily manipulated. Even if the vehicle is large, it will not pose an obstacle for the user to get on and off the vehicle.

When installing an artificial heart drive device in a wheelchair, the tube that connects the output of the artificial heart drive device and the artificial heart must be long in order to allow patients to get on and off the wheelchair. It is dangerous to move a wheelchair. Therefore, in one preferred embodiment of the present invention, the tube can be pulled out and stored, the position of the tube, etc. is detected, and if the position is not a predetermined storage position, movement of the wheelchair is prohibited.

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

Fig. 1 shows a perspective view of an electric wheelchair equipped with an artificial heart drive device, and Figs. 2a, 2b, and 2c show a first
Figure 3 shows a top view, side view and front view of the device shown in the figure. 1st
2a, 2b and 2c. This electric wheelchair has four wheels.
The front wheel 51a is relatively small and shaped like a caster.

The rear wheels 51b are relatively large, and each axle can be driven by an independent motor via an N speed reduction mechanism (not shown).

Armrests 52L and 52R are provided on the left and right sides, respectively. 53 is a footrest, and 54- is a pack rest.

The numeral 56 visible near the base of the support shaft 55 of the left armrest 52L is a cover for the artificial heart drive tube outlet. When a patient is present, artificial heart drive tubes 57L and 57R protrude from this cover 56. A connector is connected to the tip of the artificial heart drive tube, through which the artificial heart and the artificial heart drive device are connected. Left armrest 52L
The TV on the top surface of the is a small monitor TV.

The reference numeral 58 protruding from the front end surface of the right armrest 5' 2 R is an operating lever for driving the wheelchair.

This operating lever 58 is detachable as described later, and when it is removed, there is no large protrusion on the armrest 52R as shown in FIG.

In addition, as described later, armrests 52L and 52
R is a horizontal direction (52
L is designed to rotate 90 degrees in the counterclockwise IT direction, and 52R is clockwise). Armrests 52L and 52R
The switches 5WIL and 5 provided below each
WIR is an instruction switch for unlocking the armrest. 59 is an alarm display section of the artificial heart drive device, and 60 is an alarm display section of the electric wheelchair. Each of these is equipped with two light emitting diodes, and normally displays green, but when an abnormality occurs, displays red. SW2 is a winding instruction switch of an electric tube winding mechanism to be described later, and when this switch is operated, the artificial heart drive tubes 57L and 57R are wound toward the inside of the wheelchair. 61 is a key switch for the artificial heart, 62 is a connector for connecting an operation board for setting and instructing each control parameter of the artificial heart drive device, and 63 is for connecting an external monitor TV similar to the monitor TV on the arm retort. It is a connector. 64 is an alarm buzzer that issues an alarm in case of abnormality.

Figures 3a and 3b show exploded perspective views of the apparatus of Figure 1. However, please note that these drawings do not show the details. Fig. 3a mainly shows the housing of the device, and Fig. 3b shows the chassis of the wheelchair and the main components of the artificial heart drive device. The main components of the artificial heart drive device and the electric wheelchair will be described with reference to FIGS. 3a and 3b.

71 is a vacuum pump, 72 is a compressor, 73 is a valve unit, 74 is a muffler (silencer), 75 is a wheelchair drive motor control unit, 76a and 76b are batteries for the artificial heart drive device, and 77a and 77b are batteries for the wheelchair It is.

Ml and M2 are motors that respectively drive the right rear wheel and the left rear shaft. Note that these motors are DC motors. 78 is a drum that winds up the artificial heart drive tube.

FIG. 4 shows a cross section of the device. Referring to FIG. 4, 2 is sealed to prevent noise, and is communicated with the atmosphere via a muffler 74.

The members on both sides and the upper surface covering the compressor, the shank 71 and the vacuum pump 72 are made of rubber. The temperature of the space covered by these increases due to the heat generated by the compressor 71 and the vacuum pump 72, so in this example, the fluid inflow side of the compressor 71 is exposed in this space, so that the temperature from the hole 74a of the muffler 74 increases. This allows low-temperature air to circulate within the space. The muffler 74 and the vacuum pump 72 are connected via a pipe (not shown). Pressure output ends of compressor 71 and vacuum pump 72 are connected to valve unit 73 via vibrators 79 and 8o, respectively. 8I and 82 are pressure output terminals of two systems of artificial heart drive devices, respectively. The electronic control devices except the wheelchair drive motor control unit 75 are mounted inside the backrest 54 (on the rear side) in this example.

The structure near the drum 78 is shown in FIGS. 5a and 5b.

This will be explained with reference to FIG. 5d. In the openings 83 and 84, the pressure output ends 8.1 and 8 of the heartbeat device are connected, respectively.
The pipe from 2 is connected.

The first member 85 has a cylindrical shape and includes a groove 85b formed in the circumferential surface and a groove 85a that penetrates in the axial direction. The second member 86 has a cylindrical shape except for the vicinity of the opening 84, and is fitted onto the outside of the first member 85 so that the hole 86b communicating with the opening 84 faces the groove 85b. It is. A third member 89 is rotatably fitted onto the outside of the second member 86 via bearings 87 and 88. The third member 89 has a second member 8 at a position facing the groove 85b of the first member and the six 86a of the second member.
A groove 89a is formed so as to surround the periphery of 6, and this groove 89a
A hole 89b is formed to communicate with the hole 89b. In addition, the third member 8
9 is formed with a hole 89c that communicates with the hole 85a of the first member.

A tube reel 94 is connected to the third member 89.

One ends of the artificial heart drive tubes 57R and 57L are connected to the pressure output ends of the holes 89b and 69C of the third member, respectively, and the drive tubes pulled out from here are brought out along the curve of the tube reel 94 to the outside. 90,9
1.92 and 93 are seal rings.

Figure 5e too! I will refer to and explain. M3 is a motor for winding the tube, and in this example, a Stenpins motor is used. The motor M3 is fixed to a plate-shaped support member 95, and has a reel drive roller 96 on its drive shaft.

The support member 95 is rotatably supported at one end with a force of one point P, and the other end is supported by a plunger 97 of an electromagnetic actuator 97.
It is supported by a.

The electromagnetic actuator 97 normally pulls the support member 95 upward by the force of the compression coil spring 97b, but when the solenoid is energized, the support member 95
is pressed downward to press the reel drive roller 96 against the circumferential surface 94 a Ic of the tube reel.

This will be explained with reference to FIGS. 5a, 5b and 5c. On the outside of the tube reel 94, eight rotatable Teflon rollers 98 are arranged along the curved surface to prevent the artificial heart drive tubes 57R and 57L from coming off the tube reel 94. A pair (two) of artificial heart S drive tubes 57 pulled out from the tube reel 94
R and 57L are two rotatable Teflon rollers 99a and 9 each having a concave central portion so as not to get tangled or caught in the device housing.
9b, 100a/100b and 101a/101b form a tube passage.

In this example, the artificial heart drive tube is guided by gradually tilting the angle of each pair of rollers, and by increasing the size of the rollers as they advance. The passages of the artificial heart drive tubes 57L and 57R are equipped with a proximity switch (sensor) 102 that detects magnetism.
An iron piece 103 is attached to the artificial heart drive tube 57L at a portion facing the proximity switch l'02 when the tube is completely wound up.

FIG. 6a shows the support structure of the armrest support shaft 55 and the like as seen from the line Vla--Vla in FIG. 2c, and FIG. 6b shows a cross section taken from the line ■b--b in FIG. 6a. Chapter 6a
This will be explained with reference to FIG. and FIG. 6b.

The support shaft 55 has a cylindrical shape and is provided with a semicircular flange 55a at the bottom. One end of the flange 55a rotates in one direction of the support shaft 55 through a protrusion 110 on the housing side.
Rotation in the other direction is restricted by the protrusion 111 on the housing side or the protrusion 112a of the arm 112.

The arm 112 is rotatably supported by a pin 113 at one end, and supported by an electromagnetic actuator 114 at the other end. The arm 112 is normally pressed toward the support shaft 112 by the spring 114a, and in this state, that is, the state shown in FIG. 6a.

Flange 55a is locked by housing projection 110 and arm projection 112a.

When the solenoid of the electromagnetic actuator 114 is energized,
The plunger 114b is retracted, the arm 112 rotates clockwise, and the protruding portion 112a is moved to the flange 5'5.
Since the force is released, the support shaft 55 is unlocked. In this state, the movement of the flange 55a is caused by the protrusion 11 of the housing.
Since the rotation angle is regulated by 0 and 111, the support shaft, that is, the armrest 52L can freely rotate within a rotation angle of 90 degrees.

Further, one end of the arm 112 is equipped with a microswitch 5W3L (there is a microswitch 5W3R on the other armrest side) that detects the position of the arm 112, and the switch is turned on when the armrest is locked as shown in FIG. 6a. 1-The switch turns off in the unlocked state. Note that the cords connecting the switches and the like on the armrest to the main body of the device are routed through the inside of the support shaft 55.

The vicinity of the operating lever 58 is shown in FIG. 7a. This will be explained with reference to FIG. 7a. The tip 58a of the operating lever has a reduced diameter, and this portion fits into four parts of the support base 115 below. A hole is formed in the center of the operating lever 58, leaving a part of the tip 58a, passing through in the axial direction, and a rod 116 is attached to the hole. rod 116
Below the swollen part at the bottom is a compression coil spring 1.
17, microspheres 118a and 118b-/J on the upper side
<Each is equipped with one. 1) near the microspheres 118a and 118b of the tip 58a
Slightly more force than the diameter of the balls 118a and 118b; dimension 7J
s Sana Roku is formed.

Therefore, in the state shown in FIG.
a and 118b upward (so that the microsphere 11
8a and], 18b4 and the above-mentioned internal force).
It protrudes slightly outside of 8. At this time, the outer 4L of the operation tip 58a including the microspheres is made to be larger iJ than the dimension above the recess of the support base 115. Therefore, in this state, the control lever 58 is locked, and the control lever 58 cannot be released even if a force is applied to it. When force is applied, there is no force pushing the microspheres 118a and 118b outward, so they are removed from the internal force 1 of the operating lever tip 58a and the locking force 1 is applied.
Once released, the operating lever 58 can be easily pulled out.

The support base 11.5 is equipped with a microswitch SW4 that detects the operating lever 58. When the operating lever 58 is attached as shown in FIG. When it comes out, the contact turns off.

The support stand 115 is supported by a lower spherical portion 115a, and can freely rotate around this portion 115a. A long rod 115b is formed below this spherical portion, and the tip thereof has a configuration as shown in FIG. 7b.

This will be explained with reference to FIG. 7b. Two semicircular thin plates 119 and 120 are stacked at right angles. Board 1
19 and 120 each have a long and continuous six 11
9a and 120a are formed, and a rod 115b is inserted into the intersecting portion of the holes 119a and 120a. Each of the plates 119 and 120 is rotatably supported at both ends and has a rotation shaft connected thereto, and one end of the plate 120 is connected to the rotation shaft of a variable resistor 122.8 In FIG. The external appearance of 73 will be explained with reference to FIG. J-0. The valve unit 73 consists of a large number of electromagnetic valves and pressure detectors.

Holes are formed inside the box-shaped casing to connect the flow paths, eliminating the need for pipes to connect the flow paths of each electromagnetic valve. In this embodiment, 12 solenoid valves having the same configuration may be used.

Although not shown in FIG. 8, there are four pressure detectors. 73a is a negative pressure intake port, 7-3b is a positive pressure intake port,
81 and 82 are pressure output ends of independent systems, and tubes connected thereto are connected to openings 83 and 8-4 of the tube winding mechanism.

In addition, the valve unit 73 has four parts (not shown):
Pressure is output from the same system as 81 and 82, respectively, and a pipe connected to this output end is directly connected to the tube 123 via a tube winding mechanism. This is the artificial heart drive tube 57L or 57
This is used in the unlikely event that something goes wrong with R.1 Normally, the output end of the connector is closed.

FIG. 9a is a plan view, right side view, left side view, and enlarged longitudinal sectional view of the solenoid valve (electromagnetic control valve) shown in FIG. 8;

This is shown in Figures 9b, 9c and 9d. Figure 9a,
This will be explained with reference to FIGS. 9b, 9c, and 9d. A first port 12 and a second port 13 are formed in a valve housing 11 of the electromagnetic control valve. The inner space of the housing 11 is a valve seat 14 and a first valve seat 14 that communicates with the first port 12.
a second inner chamber 1 communicating with the inner chamber 15 of the second port 13;
It is divided into 6. Seal material 1 is installed in the valve housing 11.
A magnetic coil case 18 is fixed via 7.

Inside the case 18 is a coil bobbin 2 on which a coil I9 is wound.
0 is inserted, and this is connected to the magnetic base 2+, 22
is supported. The base 21 is a fixed magnetic core 23
is fixed. The core 23 is hollow, and a non-magnetic guide rod 24 passes through it. A movable magnetic core 25 is fixed to the rod 24 . One end of the rod 24 is pushed to the left by a coil spring 26. The other end of the rod 24 passes through the bearing 27 and the bellows 28,
A valve body 29 is fixed to the end thereof. The interior space of the bellows 28 is connected to the first interior chamber 15 through the small holes 30 and 37.
(as shown) or to the second inner chamber 16 (when the rod 24 is driven to the right).

When the coil 19 is energized, a magnetic flux is generated that circulates through the core 23 - core 25 - base 22 - case 18 - base 21 - core 23, and an attractive force acts on the core 25 toward the core 23, causing the rod 24 However, this attraction force and coil-pulling 2
The valve body 29 moves to the right to a point where the repulsion force of the valve body 29 is balanced with the repulsive force of the valve seat 14, and the valve body 29 moves in front of the valve seat 14 by a distance corresponding to the suction force. The end surface 23a of the core 23 is mountain-shaped, and the end surface 23a of the core 25 is
5a has a concave shape that receives the central protrusion, and the inner surfaces 23b of the chevron-shaped protrusions at both ends are tapered.

Due to the existence of the taper, the energization level and the amount of movement of the rod 24 (the gap between 23a and 25a) are in a proportional relationship over a wide range. Furthermore, this type of solenoid valve has a movable part that has good responsiveness and can perform opening/closing control at high speed.

FIG. 10 shows a schematic configuration of the entire apparatus shown in FIG. 1. 1st
This will be explained with reference to FIG. IR and IL are artificial hearts. In these artificial hearts IR2IL, by alternately applying predetermined positive and negative pressures, the internal diaphragm pulsates, and blood is sent in a predetermined direction determined by the action of the valves. The tubes 2a and 2b that apply pressure to the artificial heart 111i1R and IL are the artificial heart drive tube 5, respectively.
It is connected to 7R and 57L by connectors attached to their tips.

The artificial heart drive mechanism 300 that provides air at a predetermined pressure to the artificial heart IQIR and IL is connected to an artificial heart control unit 400.
electrically controlled by Display control unit 500
generates a composite 1 video signal for displaying information output from the artificial heart control unit 400 on a monitor TV. The display control unit 500 is a commercially available unit that includes a display signal memory, a character generator (ROM), a display control LSI, and the like. Operation board 600
is a switch board for instructing changes to various artificial heart drive parameters, and the artificial heart control unit 400
It is now possible to connect to. However, the most preferable values are preset in the artificial heart control unit 400 as drive parameters in a read-only memory (ROM) inside the unit, and there is almost no possibility of using this switchboard.

The wheelchair drive motor control unit 75 controls DC motors M1 and M2 respectively connected to the two rear wheels 51b of the wheelchair. The system control unit 1-200 reads the status of various switches and controls the artificial heart control unit 4.
00 or turn on/off the wheelchair drive motor control unit 75.

Controls the on/off, etc. of the monitor TV.

Details of the artificial heart drive mechanism 300 shown in FIG. 10 are shown in FIG. 11. This will be explained with reference to FIG. Compressor 71
And the vacuum pump 72 communicates with the atmosphere via a muffler 74. Compressor 71 and vacuum pump 72
Many solenoid valves etc. are connected to the pressure output end of the
These are divided into two systems. One system is the right side artificial heart W
One system drives the aIR, and the other system is a system that drives the left artificial heart IL.

The system on the right will be explained. Reference numeral 131 denotes a pressure regulating valve for regulating the positive pressure applied to the artificial heart, and this is controlled to open or close according to the output of a pressure detector PSI disposed in its output end flow path. 132 turns on/off the application of a predetermined positive pressure obtained by the pressure regulating valve 131 etc. to the artificial heart IR.
Control off.

The solenoid valve 135 connected in parallel with the pressure regulating valve 131 is 1
It is provided to compensate for the pressure drop when the pressure applied to the artificial heart rises. Similarly, a solenoid valve 133 adjusts the negative pressure, a solenoid valve 134 turns on/off the negative pressure to the artificial heart, and a solenoid valve 136 compensates for the pressure. PS3 detects negative pressure in this system. The system on the left is exactly the same, with solenoid valves 137, 138 and 141 being the pressure regulating valve, pressure on/off valve and pressure compensating valve, respectively, for the positive pressure system, and solenoid valves 139, 140 and 142, respectively, for the negative pressure system. pressure regulating valves, pressure on/off valves and pressure compensation valves. PS2 and PS4 detect the pressure of the positive pressure system and the negative pressure system, respectively.

The configuration of the artificial heart control nodes 1 to 400 in FIG. 10 is as follows:
Figures 128 and 2b]. First, the twelfth
This will be explained with reference to figure a. This circuit performs pressure regulation control. That is, the pressure sensor Psi.

PS2. The opening and closing of solenoid valves 131, 137, 133 and 139 are controlled according to signals from PS3 and PS4 and a preset pressure value. This circuit is controlled by microcomputer unit CPU1.

Each pressure sensor Psi, PS2. Analog signals RPP, LPP, RNP and LNP from PS3 and ps4 are connected to analog-to-digital converter 21 via connector J5.
6. The analog-to-digital converter Z16 is
It has eight input channels and a resolution of 12 bits. EOC is the output terminal of the signal indicating the end of conversion, 5TR
OBE is an input terminal that gives a conversion instruction, ENI, EN2 and EN3 are input terminals that control permission/inhibition of output of converted digital data, AI, A2 . A4 and A8 are input channel designation input terminals. Analog-digital converter Z1
6 and the microcomputer unit CPUI are connected via a connector J4.

Pressure adjustment solenoid valve 13'l, 137°1 to connector J3
33 and 1.39 solenoids are connected.

5SRL, SS, R2, 5SR3 and 5SR4 are solid state relays that control on/off of energization of each solenoid, and these are controlled by the output port of the microcomputer unit CPUI via the buffer Z15. A part of the signal line from the operation board 600 is connected to the connector J. The signal applied to Jl is applied to the input port of the microcomputer unit l-CPU 1 via the buffer BFI and the chattering removal circuit CHI. Signals from the system control unit 200 are applied to some input ports of the CPUI. A display control circuit 500 is connected to another port of the CPUI.

This will be explained with reference to FIG. 12b. This circuit includes pressure on/off control solenoid valves 132, 138, 134 and 140.
and pressure compensation solenoid valves 135, 141, 136 and 142. This entire circuit is controlled by a microcomputer unit CPU2. Solenoid valve 1
32,138. ]34 and 140 solenoids are energized by solid state relays 5SR5 and 5SR, respectively.
6°5SR7 and 5SR8 control. Each solid state relay 5SR5, 5SR6, 5SR7 and 5S
R8 is controlled by the output port of microcomputer unit CPU2.

Solid state relay 5SR5, 5SR6, 5SR7
And the output port of CPU2 that controls 5SR8 is
Driver circuit DVI in parallel.

DV’2. DV3 and DV4 are connected.

Driver circuits DVI, DV2. DV3 and DV4 are
All have the same configuration.

A portion of the signal line from the operation board 600 is connected to the connector J6. The signal applied to J6 is applied to the input port of microcomputer unit CPU2 via buffer BF2 and chatter link removal circuit CH2. A system control unit 200 and a display control unit 500 are connected to other ports of the CPU 2.

The driver circuit DVI will be explained. TG detects the falling edge of the input signal) - Trigger circuit, TMl and 1
M2 is a timer.

The operation timing etc. of the driver circuit DVI are shown in FIG. 12c. This will be explained with reference to FIG. 12c.

Solid stay 1 to relay 5SR5 are turned on/off at predetermined intervals.
The solenoid valve 132 is repeatedly turned off, and the solenoid valve 132 opens and closes accordingly. Timers TMI and 1M2 are triggered at the falling edge of the signal controlling 5SR5. The output level of TMI is triggered to flip high and then remains at I4 for the duration of TI.

1M2 is similarly triggered and flips high, then I2
It lasts for a period of time H. However, the setting is TI<I2.

Solid state relay 5SR that controls solenoid valve 135
9 is turned on only when the output level of TMI is higher than the output level of 1M2 or H, that is, only during the period I3 (I2-Tl). At the timing of I3, 5SR5 is off, that is, the solenoid valve +32 is closed, so the high pressure from the compressor 71 is not directly applied to the artificial heart. The pressure at the output end of the solenoid valve 131 becomes somewhat higher than the set pressure after the solenoid valve 135 is opened, but then the pressure at the output end of the solenoid valve 132 becomes higher than the set pressure.
When the pressure is opened, the pressure immediately drops below the predetermined pressure, and the pressure on the artificial heart side will never rise above the set pressure.

In this example, pressure regulating valves 131, 137, 133 and 1
Although no accumulator is provided at the pressure output end of 39,
By opening the solenoid valves 135, 141, 136, and 142 at predetermined timings during the opening period of the solenoid valves 132, 138, 134, and 140, respectively, the artificial heart is provided with a rapidly rising pressure as shown in FIG. 12c. A waveform appears.

Solenoid valves 135, 141, 136 and 14 for pressure compensation
2 is not open, the rise is delayed as shown by the dashed line. In this example, pressure compensating solenoid valves are provided in both the positive pressure system and the negative pressure system, but in reality, favorable results have been obtained even when the compensating solenoid valve is provided only in the positive pressure system.

Microcomputer unit h used in this example
CPU 1 and CPU 2 are 1” single board microcomputer Uninote I-1628C0.
It is 1. FIG. 13 shows an outline of the configuration of the H62SCO]. Referring to FIG. 13, this unit includes a microprocessor 6802. ]/○ port, timer, RAM, RO
Equipped with M etc.

FIG. 14 shows the configuration of the operation board 600. This will be explained with reference to FIG. Each switch SWI.

SW2. SW3. SW4. SW5. SW6. SW7 and SW8 are for issuing pressure setting instructions, respectively: left positive pressure up, left positive pressure down, left negative pressure up, left negative pressure down, right positive pressure up, right positive pressure down,
This is a switch that instructs to increase the negative pressure on the right side and to decrease the negative pressure on the right side. SW.

SWI O, SWI 1 and 5W12 are used to set the duty ratio of positive pressure and negative pressure applied to the artificial heart, and are respectively set to left duty up, left duty down, right duty up and right duty down. This is a switch that instructs utility down. 5W13 and 5W14 are switches that instruct the heart rate to increase and decrease, respectively.

Details of the wheelchair drive motor control unit 75 shown in FIG. 10 are shown in FIG. 15. This will be explained with reference to FIG. Wheelchair drive motors M1 and M2 are connected to independent drive circuits MDI and MD2, respectively. Drive circuit MD
I and MD2 are H-type drive circuits, and by turning on one of the diagonally located switching elements, a current flows in the armature of the motor in a predetermined direction to rotate the motor in a predetermined direction.

A contact point of a relay RLI is connected in parallel to the armature of the motor M1. This contact is of a normally closed type. Therefore, when relay RLl is on, the contacts open, but when RLI is off, the contacts close and dynamic braking is performed. Motor M2 is also equipped with a similar braking circuit.

A microcomputer CPU 3 controls the motor drive port i, MDI and MD2. A motor drive circuit MDI is connected to output ports 01, 02, and 03 of CPtJ3 via buffer BF3, and a motor drive circuit MD2 is connected to output ports 04, 05, and 06 of CPU3 via B and F3. . The power supply ■cc of the microcomputer CPU3 is supplied from the stabilized power supply circuit RPS. A 24V battery is connected to the input end of the stabilized power supply circuit RPS via a relay RI-3.

Relay RL3 is controlled by system control unit 200.

Two potentiometers 1 connected to the operating lever 58
The sliders 21 and 122 are connected to the first channel CHI and second channel CI-12 of the analog-to-digital converter AD2, respectively, and the output terminals DO to D7 of AD2 are connected to the input port of the microcomputer CPU3. has been done.

A predetermined constant voltage is applied to the potentiometers 121 and 1.22 from a stabilized power supply circuit RPS.

The detailed configuration of the system control unit 200 shown in FIG. 10 is shown in FIG. 16. This will be explained with reference to FIG. Control of the system control units 1 to 200 is carried out by a microcomputer unit l-CPU 4. Various switches SWI L, SWI R, 5W3L, 5W3R, SW4 are connected to the input port of the CPU 4 via a buffer BF4.
and +02 are connected.

Reel winding instruction switch SW2 is connected to pulse motor driver PMD and solenoid driver SDI via buffer BF4. PMD drives reel winding motor M3, and SDI drives solenoid SL3 of electromagnetic actuator 97. Solid state relay 5SRI 3,5SR connected to the output port of CPU4
The circuit consisting of I7 etc. is the power supply relay RL shown in Figure +5.
Drive 3. Solid state relays S, S R14 and 5SRI connected to the output port of CPtJ4
5 energizes the solenoids of the left and right armrest locking electromagnetic actuators 114, respectively.

BZ is a warning buzzer. LEI and LE2
is a light emitting diode for warning display of an artificial heart system, and the second
It is provided in the alarm display section 59 shown in FIG. , LE3 and LE4 are wheelchair-type alarm display light emitting diodes, which are provided in the alarm display unit 60. light emitting diode L
EI and LE3 have red emission color, and LE2 and L
E4 has a green emission color.

Solid stay 1- connected to the output port of CPU4
Relay 5SR16 turns on/off the monitor TV TV.
Control off. The switch SW5 is a manual switch for turning on/off the monitor TV.

rFi, IF2. IF3 and IF4 are interface circuits for transmitting signals to other circuits, and IF3 and IF4 are interface circuits for transmitting signals to other circuits.
I and IF2 are connected to C, PUI, and IF3
and ■F4 is connected to CPU2. Each interface circuit IFI, IF2. IF3 and IF4 are
It consists of an inverter, photocoupler PCI, etc.

17a, 17b and 17c, , first
A schematic operation of the microcomputer CPU3 in FIG. 5 is shown, and an example of the operation timing is shown in FIG. 17d. Chapter 17a
17 shows the main routine, FIG. 17b shows the voltage sunblink subroutine, and FIG. 17c shows the interrupt processing routine.

To explain the general operation, in this embodiment, in order to reduce power loss, the DC motors M1 and M2 are switched and controlled, and the pulse width of this switching pulse is controlled by the potentiometer 121 connected to the operating lever 58. and 122, and operates to set the motor speed.

When positive pulses are applied to output ports 1-02 and 05 of CPU3, motors M1 and M2 are driven in the forward rotation, respectively, and when positive pulses are applied to output ports o3 and 06, motors M1 and M2 are driven in reverse, respectively. Sakuru. In this example, driving Ml and M2 forward at the same speed moves the wheelchair forward, driving Ml and M2 backwards at the same speed moves the wheelchair backward, and otherwise curves or rotates forward or backward. Motors M1 and M2
When not driving, relay RLI etc. are turned off, the armatures of motors M1 and M2 are short-circuited, and braking is applied.

Figures 1.7a, 17b, 17c and 17
The operation of the CPU 3 will be explained step by step with reference to FIG. First, turn on the power, that is, relay RL shown in Figure 15.
3 is turned on, CPU 3 sets each output port to the initial level, clears the contents of read/write memory (RAM), and clears the initial parameters previously stored in read-only memory (ROM) and the values assigned to each parameter. Store in register (memory). In the initial state, CP
Output ports 01 and 04 of U3 are set to L to enter braking mode. Also, interrupts are prohibited in this state.

When set to enable interrupts, the timer issues an interrupt request at predetermined intervals. When an interrupt occurs, the CP
U3 executes the process shown in FIG. 17c.

This process will be explained in detail later.

Next, the slider potentials of potentiometers 121 and 1-22 connected to operation lever 58 are read.

Details of this sampling process are shown in Figure 17b. As a result of sampling, if the potential differs from the value of the previous sampling, that is, if the operating lever 58 moves,
The speed command data of each motor is updated and the motor operates as follows.

The speed command data is compared with a predetermined value to determine whether driving or braking is to be performed. That is, in this example, the potentiometer 121
and a constant voltage of 12V is applied to one end of 122,
When the operating lever 58 is in the neutral position (stop position), the slider potential is about 6V. Therefore, in order to consider the range of about 6±0.2V as the stop area, data indicating the upper and lower limits of the area (ie, predetermined values) are compared with the speed command data. If the voltage is higher than the value of the stop region, the drive is in the normal rotation, and if the voltage is lower than the value in the stop region, the drive is in the reverse rotation.

If the speed command data is at the stop level (below a predetermined value),
Disable interrupts, output capo-1-〇2, 03, 05 and 0
6 is set to a low level L to prohibit motor drive, L is set to the output ports 01 and 04 to set the braking mode, and the braking flag is set to '1'.

Further, if the speed command data is at the drive level (a predetermined value or higher), pulse widths (times) LD and RD for driving the motors M1 and M2 are calculated based on the speed command data. When the braking flag is HIIT, the braking mode is canceled as follows. That is, the value of counter COT is cleared to 0, output ports 01 and 04 are set to H (relay RL1 is turned on), and the braking flag is set to rr Or
Clear to r to enable interrupt requests.

The voltage sampling process (FIG. 17b) will be explained. First, the input channel designation of the A/D converter is set to CHI (output voltage of the potentiometer 121), an A/b conversion start instruction (TRIG) is issued, and the signal EOC is output to indicate the end of the A/D conversion. wait for. Once the conversion is complete, the data is read and stored in a predetermined register.

Next, set the input channel designation to CH2 (output voltage of 1'22), issue an A/D conversion start instruction, and start the A/D conversion.
Wait until the D conversion is completed. Once the conversion is complete, the data is read and stored in a predetermined register.

The interrupt processing shown in FIG. 17c will be explained with reference to the operation timing shown in FIG. 17d. The counter COT is designed to count time, specifically 0. l, 2
．． ...N-1, N, 0゜1... It is an N-ary counter that counts by 1 every time an interrupt process is executed.
Each currant is amplified. The time corresponding to this numerical value N is one cycle of the motor drive pulse.

When the value of the counter COT reaches Q, the output port determined according to the drive direction of each motor is set to high level H.
do. In other words, in the case of left motor M1, output port 02 is set to 14 for forward rotation, and output port 03 is set to H for reverse rotation.
In the case of the right motor M2, the output port 1-05 is set to H for forward rotation, and the output port 06 is set to H for reverse rotation. The pulse that drives Ml and the pulse that drives M2 rise at the same timing.

When the value of counter COT becomes the left motor energizing pulse width LD, output ports 02 and 03 are set to L. When the value of counter COT becomes the right motor energizing pulse width RD, output ports 05 and 06 are set to L. Set to .

Therefore, the pulse that energizes the motor M1 is set during the period H when the value of COT is 0 to LD, and is set to L (that is, deenergized) during other periods.

The pulse that energizes motor M2 has a COT value of 0 to RD.
The motors Ml and M2 are set to period 1 (1), and set to L during other periods. Since the motor rotates at a certain speed, changing LD and RD changes the motor speed.

A schematic operation of the microcomputer CPUI shown in FIG. 12a is shown in FIGS. 18a and 18b.

FIG. 18a is the main routine, and FIG. 18b is the interrupt processing routine. This will be explained with reference to FIGS. 1.8a and 18b.

When the power is turned on, the output port is first set to the initial level, the contents of the read/write memory (RAM) are cleared, the data previously stored in the read only memory (ROM) is read out, and the parameters are set to initial values. CPU
I parameters include right side positive pressure target value PI, right side negative pressure target value P2°, left side positive pressure target value P3. Left side negative pressure target value P
4, etc., but in this example, the pressure P1. P2. P3
and P4 initial value +30. -30°+1
00 and -50 (mmHg).

Also, after this processing, interrupts are enabled. In this example, an internal timer causes interrupts to occur periodically at a cycle of 4m5ec. After waiting for an interrupt, pressure data is sampled. This sampling process is similar to the process shown in FIG. 17b, and the sampling targets are the pressure detector outputs RFP, PNP, and LPP.
There are 4 types of LNP, and the number of data bits is 12 bits, so there are 2 types per sampling.
The difference is that the reading process is performed twice.

Check the sampled pressure data and determine whether there is abnormal data. That is, if the detected pressure is abnormally different from the target value, it is regarded as abnormal. In addition, in this embodiment, eight pressure compensation solenoid valves 135, 141, 136, and 142 are provided, and the pressure may become relatively large temporarily, but each pressure is adjusted by sampling multiple times. We try to mask this by averaging the data.

If an abnormality occurs, the abnormality data is converted into numerical code data, and this data and abnormality display data indicating the part where the abnormality has occurred are output to the display control unit 500 and displayed on the monitor TV.

Further, the abnormality occurrence code data is transferred as serial data to the microcomputer CPU4 of the system control unit.

If there is no abnormality, the past m is stored in read/write memory.
The pressure data of the times is averaged, the averaged data is converted into a numerical code, and the code data is displayed on the display control unit 5.
Send to 00. If the microcomputer CPU4 of the system control unit is transmitting data, the data is received and the received data is displayed on the control unit I-500.
send to When the operation board 600 is connected,
The state of the key is read, and if there is a key operation, the right positive pressure target pressure P1. Right side negative pressure target pressure P2. The value of the left side positive pressure target pressure P3 or the left side negative pressure target pressure P4 is updated in predetermined steps. However, upper and lower limits are set, and pressure settings that exceed these limits are not possible.

The interrupt processing in FIG. 18b will be explained. First, check the positive pressure RPP of the right artificial heart drive system. If the pressure is lower than the predetermined pressure P1, the pressure regulating valve 131 is set to open; otherwise, the pressure regulating valve 131 is set to closed. Next, check the negative pressure RNP of the right artificial heart drive system. R.N.
If the value of P (absolute value) is smaller than P2, the pressure regulating valve 13
3 to open cellar 1, otherwise pressure regulating valve 133
Close cents. Subsequently, the left positive pressure LPP and negative pressure LNP are compared with P3 and P4, respectively, and the pressure regulating valves 137 and 139 are set to open or close. That is, in this embodiment, the pressure regulating valve is opened only when the detected pressure (absolute value) becomes smaller than the target pressure.

A schematic operation of the microcomputer CPU2 shown in FIG. 12b is shown in FIGS. 19a and 19b.

FIG. 19a shows the main routine, and FIG. 19b shows the interrupt processing routine. This will be explained with reference to FIGS. 19a and 19b.

When the power is turned on, the microcomputer CPU2
Set the output port to the initial level and read/write memory (
Clears the contents of read-only memory (RO
M) reads the value stored in advance and sets the initial value to the parameter.

The parameters of CPU2 include heart rate PR, duty DL of the left artificial heart, and duty D of the right artificial heart.
In this example, the initial value is PR is 10 Or
pm, DL is 45% (duration 270m5), DR
are set to 55% (duration 330m5).

Next, a processing loop including processing such as waiting for an interrupt, checking the key input from the operation board, and displaying parameters is executed. If you have the key power, you can determine the type of input key and change the upper limit of the desired parameter value.

Comparison with the lower limit value and calculation are performed, and calculation processing of parameters related to the changed parameter is performed.

These processes are performed while executing various subroutines.

Interrupt processing will be explained. The values of the counters COR and C○L are incremented by one each time an interrupt process is performed. Further, when the count]-value reaches PR (a time parameter determined by the heart rate), the respective counters 1-1 are cleared to 0.

When the value of counter COR becomes 0, valve 132 is opened and valve 1 is opened.
34 are set to close (positive pressure application mode), and when the value of counter COR reaches the duty parameter value DR, valve 132 is closed and valve 134 is opened (negative pressure application mode).
Set each. After this process, the counter COR
is counted up.

Similarly, when the value of the counter COL becomes 0, the valve 138 is opened and the valve 140 is set to close (positive pressure application mode), and the value of the counter COL becomes the value of the duty parameter D.
, L, the valves 138 and 40 are opened (negative pressure application mode), respectively.

1.6 [i4 microcomputer unit CP
A schematic operation of U4 is shown in FIG. This will be explained with reference to FIG. When the power is turned on, it sets the output ports to initial levels, clears the contents of read/write memory (RAM), and returns the device to its initial state according to program data stored in read-only memory. This deactivates the light emitting diodes LEI and LE3.
LE2 and LE4 are set to energized, respectively, and green (normal) is displayed on the abnormality display sections 59 and 60 of the wheelchair.

Thereafter, the states of the various switches are periodically checked and operations are performed according to the states. When armrest lock release switches 5WIL and 5WIR are turned on, solenoids SLI and SL2 of electromagnetic actuator 114 are set to energized, and when the switches are turned off, solenoids SL1 and SL2 are set to deenergized, respectively. When solenoid SLI or SL2 is turned on, the lock is released and armrests 1 to 9 on the left or right side are turned on.
It becomes freely rotatable within a range of 0 degrees, and when the armrests 1 to 1 are set to the operating position with the solenoid deenergized, the armrests are locked.

Next, the left armrest position detection switch 5W3L and the right armrest position detection switch 5W3R.

Check the states of the artificial heart drive tube position detection switch 1o2° and the operation lever presence/absence detection switch SW4.

Left armrest 52L and right armrest 52R
is in the operating position (SW3L and 5W3R are on),
When the artificial heart drive tubes 57L and 57R are both in the retracted position (1o2 is on) and the driving operation lever 58 is installed in the predetermined position (SW4 is on), the user is in the wheelchair and the driving position is : Considered as having a will,
Relay RL3 is turned on to turn on the power of wheelchair drive motor control unit 75. In addition, the data that should be displayed when the operation is enabled is sent to the C via the interface NIFI.
Send to PUI. The cpui transfers the sent data to the display control unit 1-.

When the left armrest is in the unlocked position and the right armrest is in the unlocked position, the relay RL is
3 is turned off, and the power to the wheelchair drive motor control unit 75 is turned off.

Therefore, 01,02' to the output capo-1 of CPU3.

03.04, 05 and 06 become low level L, no external power is supplied to motors M1 and M2, and movement of the wheelchair is prohibited. Also, relay RLI is turned off and the contacts of RLI are closed, so motors M1 and M2
armature is shorted and set to dynamic braking mode.

Next, data for displaying operating conditions, such as "Please attach the operation control lever", is sent to the CPol and displayed on the monitor TV.

Further, the light emitting diode LE3 is turned on, the light emitting diode LE4 is turned off, and red is displayed on the wheelchair-related abnormality display section 6o.

When data is transmitted from the CPUI, an interrupt is generated to the CPU 3, and the CPU 3 performs interrupt processing. In the interrupt processing, data is received via the interface circuit IF2, and upon completion of reception, the reception flag is set to tri pr. When the reception flag becomes II17/, the main routine determines the received data, and if an abnormality code has been sent, the following abnormality handling operation is performed.

That is, the light emitting diode LE1 is turned on, the light emitting diode LE2 is turned off, red (abnormality occurrence) is displayed on the artificial heart abnormality display section 59, the warning buzzer BZ is sounded, and the monitor TV T is
Set the V power supply on (SSR16 on) and clear the reception flag to "o".

[Brief explanation of drawings]

FIG. 1 is an external perspective view of an apparatus for implementing the present invention. Figures 2a, 2b and 2c are a top, side and front view, respectively, of the apparatus of Figure 1. Figures 3a and 3b are respectively schematic exploded perspective views of the apparatus of Figure 1; FIG. 4 is a front view showing the internal structure of the device shown in FIG. 1. Figures 5a, 5b, 5c, 5d and 5e
The figure shows the tube winding mechanism 78, and is a sectional view taken along the line Va-Va of FIG. 5d. Vb-Vb cross-sectional view in Figure 5a, Vc in Figure 5a
-Vc line sectional view, Vd-Va line sectional view of FIG. 5a, and Ve-Ve line sectional view of FIG. 5d. Figure 6a is a sectional view taken along the line Vla-Via in Figure 2c, and Figure 6b
The figure is a sectional view taken along the line ■b--b in FIG. 6a. FIG. 7a is a sectional view showing the vicinity of the operation lever 58, and FIG. 7b is a perspective view showing a portion continuing below the mechanism shown in FIG. 7a. FIG. 8 is a perspective view showing the valve unit 73 of FIG. 3b. FIGS. 9a, 9b, 9c, and 9d are plan views showing electromagnetic valves used in the examples, respectively. They are a right side view, a left side view, and an enlarged longitudinal sectional view. FIG. 10 is a block diagram showing a schematic system configuration of the apparatus shown in FIG. 1. FIG. 11 is a block diagram showing the artificial heart drive mechanism 300 of FIG. 10. 12a and 12b are block diagrams of the artificial heart control unit 400 of FIG. 10, and FIG. 12c is a block diagram of the artificial heart control unit 400 of FIG.
3 is a timing chart showing the operation of the circuit shown in the figure. 213Figure 4*, Microcomputer unit t”cPU
FIG. 2 is a block diagram showing the configuration of I and CPU 2. FIG. FIG. 14 is an electrical circuit diagram showing the configuration of the operation board 600. FIG. 15 is a block diagram of the wheelchair drive motor control unit 75 shown in FIG. 10. FIG. 16 shows the system control unit 20 shown in FIG.
0 is a block diagram of 0. 17a, 17b, and 17c are flowcharts showing the general operation of the microcomputer unit CPU3, and FIG. 17d is a flowchart showing the general operation of the microcomputer unit CPU3.
5 is a timing chart I- showing the operation of No. 5. FIGS. 18a and 18b are flowcharts showing the general operation of the microcomputer unit CPUI. FIGS. 19a and 19b are flowcharts showing the general operation of the microcomputer unit CPU2. FIG. 20 is a flowchart 1- showing a schematic operation of the microcomputer unit CPU4. 51a Two front axles 51b: Rear wheels 52L, 52R near-mrest 53: Knot rest 54: Back crest 55: Support shaft 58: Driving operation levers 57 L, 57 R
: Artificial heart wA drive f Yufu 59.60: Alarm display section
7]: Vacuum pump 72: Compressor 73: Valve unit 74: Muffler 75: Wheelchair drive motor control unit 76a, 76b, 77a, 77b: Batteries Ml, M
2. M3: Motor 78 Nidrum 79.80: Pipe 81, 82: Pressure output end 83.84: Opening 85
2nd member asb: s s6: 2nd member 86
b: Hole 87, 88: Bearing 89: Third member 89a Two grooves 89b, 89c: Hole 94: Tube reel 90.9
1,92.93: Seal ring 95: Support member 9
6: Reel drive roller 97.114: Electromagnetic actuator 102: Proximity switch 103: Iron piece 131, 13
2.133.134, 135.136. i37.1
38.139.140.1<1°142: Solenoid valve PS'l, PS2. PS3. PS4: Pressure detector east 5
Figure 6 Chapter 5d Figure 6b Figure 6alK vrbL. Wrong+9a”J Kusaf・)Rede〉8 drops〉

Claims (1)

[Claims] (], )Wheelchair; Armrests movably attached to the wheelchair; A locking mechanism that locks the armrests in a predetermined position; The armrests detect the position; The armrests are a detection means; Drives the wheelchair an electric motor; a driving instruction signal generating means for generating a driving instruction signal; and a detecting means that energizes the electric motor in response to a signal output from the driving instruction signal generating means, and detects that the armrest is in a predetermined position. An electric wheelchair device comprising: an electronic control device that prohibits energization of the electric motor if the electric motor is not detected. (2) The electric wheelchair device according to claim (1), wherein the wheelchair includes an artificial heart drive device. (3) The artificial heart drive device includes a tube winding mechanism that winds up the tube connecting the drive device and the artificial heart, and a tube position detection means that detects the tube position, and the electronic control device detects that the tube is not in a predetermined storage position. The electric wheelchair device according to claim 2, wherein energization of the electric motor is prohibited. (4) The drive instruction signal generating means includes a drive control lever that is detachably attached to a separate hook and a switch means for detecting the presence or absence of the drive control lever, and the electronic control device detects that the electric motor is activated when the drive control lever is not present. The electric wheelchair device according to claim 1, wherein energizing is prohibited. (5) The electric wheelchair device according to claim 1, wherein the driving operation lever includes a rod passing through the center thereof and a lever locking mechanism attached near the tip of the cough rond. (6) The armrest is configured to rotate horizontally around the support shaft, and the locking mechanism includes an engaging member that engages with the support shaft and an electromagnetic actuator that drives the engaging member, and the armrest detects Claim 1, wherein the means detects the position of the engagement member. The electric wheelchair device according to item (2), item (3), item (4), or item (5). (7) When the electronic control device prohibits energization of the electric motor, the electronic control device short-circuits the armature of the electric motor and applies brakes to the movement of the wheelchair.
The electric wheelchair device according to item (3), item (4), or item (5).