經濟部中央標準局β：工消費合作社印製 A7 B7 本發明係關於一種電動輪椅。 發明之背景 第1圖表示習知之馬達驅動輪椅。輪椅2具有由管架 構成之車體4。車體4包括具有握柄6之把手8，靠背10， 座墊12,肘墊14，及腳墊16。車體4上設有一對驅動輪18 ，及一對從動輪20。馬達20經由一個齒輪傳動機構（未圖 示）連结於驅動輪18。馬達20可使用·具有齒輪之直流馬達 。各馬達20或各齒輪傳機構上分別設有離合器。當離合器 動作時，各對應之驅動輪18可自由旋轉。各離合器開始動 作後，看護人可握住握柄6,推或拉車體而只靠人力將輪 椅2前後移動。 車體4上又設有控制装置22。控制裝置2 2具有操縱輪 椅之搖桿24。控制裝置2 2控制各馬達2 0將輪椅2移動至對 應於搖稈24倒向之方向。即，此種輪椅只癀馬達20移動。 椅子本體4上設有電池26M便供給電力於馬達20及控制裝 置2 2上。電池2 6可為例如汽車用可充電鉛電瓶。 輪椅2可為馬達20驅動方式，亦可為手推動方式。若 為手推動方式時，使離合器由馬達分雔。 惟通常只靠馬達20之驅動力移動，因此電瓶26之消耗 極快，必須頻繁的充電。 此外亦有一種例如掲示於USP5234066號及W09505141 號之可減低電力消耗之電動輪椅為人所知。 在此等專利案中所提供之輪椅係可从檢出輪椅乘坐人 之施加於驅動輪的扶手圈（hand rims)上之操作力，進而 本纸張尺度適用中國國家標準（CNS ) Α4現格（.210Χ297公釐）Central Standards Bureau of the Ministry of Economic Affairs β: Printed by the Industrial and Consumer Cooperatives A7 B7 The present invention relates to an electric wheelchair. BACKGROUND OF THE INVENTION Fig. 1 shows a conventional motor-driven wheelchair. The wheelchair 2 has a vehicle body 4 composed of a pipe frame. The vehicle body 4 includes a handle 8 having a grip 6, a backrest 10, a seat cushion 12, an elbow cushion 14, and a foot cushion 16. The vehicle body 4 is provided with a pair of driving wheels 18 and a pair of driven wheels 20. The motor 20 is connected to the driving wheels 18 via a gear transmission (not shown). As the motor 20, a DC motor with a gear can be used. Each motor 20 or each gear transmission mechanism is provided with a clutch, respectively. When the clutch is activated, the corresponding driving wheels 18 can rotate freely. After the clutches start to operate, the caregiver can hold the grip 6 and push or pull the car body to move the wheel chair 2 back and forth by human power alone. The vehicle body 4 is further provided with a control device 22. The control device 22 has a rocker 24 for operating a wheel chair. The control device 22 controls each of the motors 20 to move the wheelchair 2 to a direction corresponding to the downward direction of the swinging stalk 24. That is, such a wheelchair moves only by the motor 20. A battery 26M is provided on the chair body 4 to supply power to the motor 20 and the control device 22. The battery 26 may be, for example, a rechargeable lead battery for automobiles. The wheelchair 2 can be driven by a motor 20 or can be pushed by a hand. In the manual mode, the clutch is split by the motor. However, it is usually moved only by the driving force of the motor 20, so the consumption of the battery 26 is extremely fast, and it must be frequently charged. In addition, there is a known electric wheelchair that can reduce power consumption, such as that shown in USP5234066 and W09505141. The wheelchairs provided in these patents can detect the operating force exerted on the hand rims of the drive wheels by the wheelchair occupants, and this paper standard applies the Chinese National Standard (CNS) Α4. (.210 × 297 mm)
五、發明説明（2 ) 由馬達提供與該檢出之驅動力成比例之驅動力，Μ乘坐人 之驅動力及馬達驅動力之合力驅動輪椅。具有此種構成之 輪椅之電瓶的電力消耗比只靠馬達之驅動力驅動輪椅者為 少Ο 然而，此種電動輪椅並非只由乘坐人驅動，亦可由車 外之看護者推動。例如第1鼠之電動輪椅係如上述，具有 可由看護者推動或引拉把手8而使輪椅移動之構成。 由看護者操作輪椅時，為了減輕其負担，可想到利用 馬達之驅動力。然而軍靠馬達之驅動力驅動輪椅時，有電 瓶之電力消耗增大之問題發生。 發明之概要 為解決上述之問題，本發明Μ提供一種電瓶之電力消 耗可減低之備有可藉由車外施加之外力而g電動車輔，即 備有把手之電動輪椅為目的。此目的係藉由提供一種可輕 易的裝設於把手上之驅動力檢涵裝置，使馬達依此驅動力 檢測裝置檢測之上述外力而發生驅動力予Μ達成。 經濟部中央標隼局員工消費合作社印製 即，依照本發明之一個實施例，本發明之電動輪椅備 有：具有把手之車體，裝設於此車體之驅動輪，選擇性的 驅動該驅動輪使車體前後移動之電動驅動装置，及檢测施 加於把手上之手動驅力而選擇性的產生前後控制信號以控 制驅動裝置之手動驅動力檢測裝置。手動驅動力檢測裝置 包括：可沿著把手之長度方向前後移動，並且裝設在把手 端部之可移動握柄；用來檢測可移動握抦之移動及根據握 柄之移動選擇性的產生正方向控制信號或反方向控制信號 -5- 本紙張尺度適用中國國家搮準（CNS )八4規格（2丨0乂297公釐）V. Description of the invention (2) A driving force proportional to the detected driving force is provided by a motor, and the combined force of the driving force of the passenger and the driving force of the motor drives the wheelchair. The power consumption of the battery of a wheelchair with such a structure is less than that of a wheelchair driven by the driving force of a motor. However, this type of electric wheelchair is not only driven by a passenger, but also by a caregiver outside the vehicle. For example, as described above, the first electric mouse wheelchair has a structure in which the caregiver can push or pull the handle 8 to move the wheelchair. When a caregiver operates a wheelchair, in order to reduce the burden, it is conceivable to use a driving force of a motor. However, when the wheelchair is driven by the motor, there is a problem that the power consumption of the battery increases. SUMMARY OF THE INVENTION In order to solve the above-mentioned problems, the present invention provides an electric wheelchair capable of reducing the power consumption of a battery and having an electric vehicle that can be externally applied by an external force, that is, an electric wheelchair equipped with a handle. This object is achieved by providing a driving force detecting device which can be easily installed on the handle, so that the motor generates a driving force to M according to the external force detected by the driving force detecting device. Printed by the Consumer Cooperative of the Central Bureau of Standards of the Ministry of Economic Affairs. According to an embodiment of the present invention, the electric wheelchair of the present invention is provided with a vehicle body having a handle, and a driving wheel mounted on the vehicle body to selectively drive An electric driving device for driving the vehicle body forward and backward, and a manual driving force detection device for selectively generating front and rear control signals by detecting a manual driving force applied to a handle to control the driving device. The manual driving force detection device includes: a movable grip that can be moved forward and backward along the length of the handle, and is installed at the end of the handle; used to detect the movement of the movable grip and selectively generate a positive signal according to the movement of the grip Direction control signal or reverse direction control signal-5- This paper size is applicable to China National Standard (CNS) 8-4 specifications (2 丨 0 乂 297mm)
B 3 /_\ 明説 明發 握施 動將 可可 於置 加裝 施性 將彈 ，該 内。 柄件 握構 動性 可彈 在之 設上 及柄 ;握 置至 裝送 测傳 檢量 動力 移之 之上 至 送 傳 別 分 量 力 之 向 方 反 相 於 加 施 或 量 力 之 向 方 手 把 於 柄加把 上 手 相 互 度 長 之 柄 握 肋 移 著 沿 括 包 置 裝 測 檢 力 驅 肋 手 结括 連包 件又 構置 動裝 止測 個檢 二。 。 端彈 件二放 構之釋 動置動 止装移 個性之 二彈向 之於方 置觸手 配接把 的別，向 隔分朝 間且柄 對 與 端1 之 置 裝 性 而握個 手於„ 把應之 於嚮應 1 裝反 第性相 之彈至 向放縮 方釋壓 手動置 把移裝 至之性 縮向彈 壓方將 置反且 裝相 性向 彈朝 將柄 且握 並於 ，應 觸嚮 接及 之 ， 置置 裝裝 動放之 止釋置 並 件 構 肋 ΠΒΠ 止1 另 與 端1 另 (請先閱讀背面之注意事項再本頁) 本 經濟部中央標準局貝工消费合作社印製 方向之第2釋放裝置。 本發明之另一實施例包括：具有把手之車體；裝設於 此車體之驅動輪；驅動該驅動輪之電動驅動裝置；及檢測 施加於把手上之手動驅動力並產生控制驅動裝置之控制信 號之手動驅動力檢測裝置。手動驅動力檢測裝置包括可沿 着把手之長度方向前後移動之可動握柄，檢測握柄之移動 並產生控制信號之移動檢測装置，及沿着把手之長度方向 設在可動握柄内之彈性裝置。當朝向把手方向及相反方向 之力量施加在位於中立位置之可動握柄時，彈性装置被壓 縮，而該力量消失時回到其中立位置。 手動驅動力檢測装置包括沿着可動握柄之長度方向互 相間隔的設在可動握柄内，並且分別接觸於彈性裝置之兩 端之二個止動裝置。檢測裝置又包括第1及第2驅動構件 本紙張尺度適用中國國家標率（CNS ) Λ4規格（210X297公t ) 經濟部中央標準局員工消費合作社印製 A7 B7 五'發明説明（4) 。第〗驅動構件可嚮應於握柄朝向把手方向之移動而釋放 與把手相反側之彈性裝置之端部與一個止動裝置間之结合 ，並且將彈性裝置壓縮至把手方向。第2驅動裝置嚮應於 握柄朝向離開把手之方向之移動而釋放靠近把手側之彈性 装置之一端與另一止動構件之结合，並且將彈性裝置壓縮 至離開把手之方向。 彈性裝置以當可動握柄未移動至任一方向時，彈性裝 置之二端分別接觸二個止動構件之狀態下預先被壓縮。 本發明之電動輪椅亦可在南側分別設置具有電動驅動 裝置之驅動輪。電動輪椅又包括二個驅動輪用之把手。各 把手具有手動驅動力檢測装置，Μ便產生各驅動輪用之控 制信號。 第2圖表示本發明之第1實施例之電動輪椅30。輪椅 30包括由管架製作之車體32。車體32具有椅背34，椅座36 ，臂墊38,及腳墊40。把手42R，42L從管架背部之左、 右側延伸至後方（Κ後R表示右側，L表示左側。例如把 手42R表示輪椅30右側之把手）。一對左、右從動輪44R ，44L可轉動自如的裝設在管架前方下部之左、右側）。 在管架後部之左、右側装設有一對左、右驅動輪46R、46L 。驅動輪46R, 46L之直徑大於從動輪44R，44L之直徑。 由管子製作之圓形手推緣輪48R，48L經由間隔物200R， 200L固定於各驅動輪之外側。手推緣輪48R, 48L之直徑 稍小於驅動輪46R，46L之直徑。 如第3圖所示，在各驅動輪46R, 46L內，分別設有 -7 - 本紙張尺度適用中國國家標準（CNS ) Α4規格（210Χ 297公漦） (請先閱讀背面之注意事項再_本頁) 裝】 ^ -δ A7 B7 五、發明説明（5 ) 可選擇性的朝向前進方向驅動各驅動輪46 R, 46L Μ便使 輪椅前進之馬達76R, 76L。各馬達76R，76L亦可朝向後 退方向驅動各驅動輪46R, 46L Μ便使輪椅後退。另外又 設有分別控制馬達（M) 76R, 76L之驅動單元（DR) 90R, 90L,信號接受單元（RX) 86R, 86L,及控制軍元88R, 86L,及供給電力於馬達荩各單元之電瓶82R, 82L。 把手42R, 42L上設有一對手動驅動力檢測單元50R, 50L。手動驅動力檢測單元50R檢測施加於其上之手動驅 動力而產生表示施加之手動驅動力之大小及方向之類比電 氣信號flR。該單元50R又將施加之手動驅動力傳送至把 手42R上。同樣的，手動驅動力檢測軍元50L撿测施加於 其上之手動驅動力而產生表示施加之手動驅動力之大小及 方尙之類比電氣信號flL。該單元50L將施加之手動驅動 力傳送至把手42L。亦可在各把手42R, 42L上装設指示輪 椅3 0在前進之指示燈52 Ri 52L,及指示輪椅3 0在後退之指 示燈 54R, 54L。 經濟部中央標準局員工消費合作社印製 在車體32之椅座3 6下方設有將手動驅動力檢测單元 5〇R, 50L所產生之信號變換換成馬達控制信號之信號變 換單元56。如第3圖所示，信號變換單元5 6包括將類比信 號flR及flL變換成數位信號DflR, DflL之A/D變換器 92。數位信號DflR, DflL施加於中央處理單元（CUP)94後 被變換成驅動各馬達76R, 76L之數位驅動信號或數位馬 達轉矩關連信號Df2R, Df2L。數位馬達轉矩關連信號Df2li ，〇{211由放大器3 6放大。信號01211施加於驅動輪4611用 本紙張尺度適用中國國家標準（CNS ) Λ4規枱（210X297公垃） 經濟部中央標準局負工消費合作社印裝 A7 B7 五、發明説明（6 ) 之傳送器（TX)單元98R,信號Df2L施加於驅動輪46L用 之傳送器（TX)單元98L。傳送單元98R, 98L可為例如包 括紅外線發射二極體等發光元件之光傳送器，而發射例如 紅外光信號等光敏信號至接受單元86R, 86L。 接受單元86R, 86L可為包括光敏電晶體等之光接受 元件，可接受及解調從對應之傳送器98R, 98L發射之光 敏信號，並且產生數位馬達轉矩翮建信號Df2R，Df2L。數 位馬達轉矩關連信號Df2R, Df2L施加於控制單元88R, 88L 。控制單元88R, 88L根據轉矩驅動信號Df2R, Df2L調變 施加於馬達76R, 76 L之電壓之脈波寬度，將經過脈波寬 度調變之電壓信號供給於驅動部90R，90L，改變供給於馬 達76R, 76L之電流值而改變馬達76R，76L之轉矩。如此 ，驅動單元90R，90L,及控制單元88R, 88L構成控制裝 置。驅動輪46R，46L根據對應之手動驅動力檢測單元50R ,5 Q L所檢測之手動驅動力分別的被控制。 如第5，6圖所示，右側驅動輪46R包括固定於車體 32之車軸58R。車軸58R上經由軸承60R可旋轉的裝設有 旋轉部62R。旋轉部62R包括具有軸承60R之輪穀64R。許 多輪幅66R輻射狀從輪穀46R延伸而其前端連结於實質上 圓形之逢緣輪68R。輪胎70R裝設在邊緣輪68R上。如第 5圖所示，齒輪72R與車軸58R成為同軸的裝設。如第4 圖所示，加強面板74R1，74R2装設在由2個鄰接之輪幅 66R所界定之直徑上相對之空間内，由夾具73R固定在驅 動輪上，而2個馬達76R1，76R2由螺栓75R固定於各加 -9- 本紙張尺度適用中國國家標準（CNS ) Λ4規格（210X 297公炔） (請先閲讀背面之注意事項再 本頁) 裝· 訂 A7 B7 五、發明説明（7 經濟部中央橾準局員工消費合作社印製 強面板74ΙΠ，74R2。亦可使用2個以上之馬達。此時，各 馬達係設在與車袖5 8β同心之圓周上，互相K相等角度間 隔分隔之位置。例如，若使用3個馬達時，各馬達Μ相距 120度之角度分雛設置。 2個小齒輪80R1，80R2成為同袖的固定在馬達76R1， 76R2之輸出軸78R1，78R2上。各小齒輪80R1, 80R2嚙 合於齒輪7 2R。當馬達76R1，76R2起動後，小齒輪80R1, 80R2沿着齒輪72R之周邊旋轉，使得旋轉部62R旋轉。 馬達76R1, 76R2,齒輪72R,小齒輪80R1, 80R2形成電氣 驅動裝置。 2個電瓶82R1, 82R2經由支持構件84R1, 84R2分別 裝設在2個鄰接之輪幅66R所界定之空間内。各電瓶設在 與車軸58R同心之圓周上，Μ與馬達相同之角度間隔相隔 之位置上。圖中所示之實施例中，角度間隔為180度。電 瓶82R1與對應之馬達76R1 相隔U0度，與另一馬達76R2 相隔120度。另一電瓶82R2與馬達76R2形成60度，與馬 達76R1形成120度。 控制單元88R及驅動單元90R装設在由鄰接之2個輪 幅66R所界定之各空間内。設置控制單元88r與驅動單元 90R之空間之角度間隔等於馬達76R1與76R2間之角度間 隔，圖中為180度。設置控制單元88R與驅動單元90R之 空間與配置馬達或電瓶之空間不同位置。控制單元88R及 驅動單元9QR亦可設在板體上，而將該板體經由裝配件 73R等裝配件（未圖示）在各空間内裝設於各輪幅上。 -1 0 - (請先閲讀背面之注意事項再^本頁) 裝； Ί訂 腺； 本紙張尺度適用中國國家標準（CNS ) A4規格（210X297公资） A7 _ B7 _ 五、發明説明（8 ) 如上述的配置馬達76R1, 76R2，電瓶82R1, 82R2,控 制單元88R,及驅動單元90R,則可使驅動輪46R成為平衡 。馬達76R1，76R2,電瓶82R1, 82R2,控制單元88R,驅 動單元9GR實質上位於與旋轉部62R内之車軸58R成為垂 直之一個平面内。如此，可使驅動輪46R成為更平衡。 如第5圖所示，邊緣輪68R上固定有外部蓋體100及 内部蓋體102R, Μ便收容馬達76R1，76R2,齒輪72R,小 齒輪 78R1 , 78R2。 另一左側驅動輪46L具有相似結構。故相同構件以相 同數字表示，並於其端部ML取代R表示而省略其說明。 如第5，6圖表示，内部蓋體102R之中心部具有與車 軸58R同心之孔1Q4R。沿着其周緣，相距等距維配置構成 接受部86R之例如8個等許多個受光元件，例如光敏電晶 體T1R至T8R。各光敏電晶體T1R至T8R成為並聯連接。 經濟部中央標準局員工消费合作社印製 構成傳送單元98R之許多個（例如2涸）發光元件（例 如發光二極體DIR, D2R經由装設構件106R在較圓形孔 104R更外側之一定位置裝設在車體32之管架上。各發光 二極體DIR, D2R亦並聯的連接。光敏電晶體T1R至T8R 與驅動輪46R —起旋轉而同時接受發光二極體DIR, D2R所 產生之紅外線信號。 如第7圖所示，鄰接之光敏電晶體T1R-T8R間之間隔 P 2係設定為使各光敏電晶體T1R至T8R中之一個Μ上之電 晶體經常位於由發光二極體DIR, D2R之紅外線信號輻射 角度Θ1,光敏電晶T1R至T8R可檢測之受光角度02,及 -11- 本紙張尺度適用中國國家標準（CNS ) Λ4规格（210Χ 297公焓） 經濟部中央標準局員工消費合作社印製 A7 _ B7 五、發明説明（9 ) 光敏電晶體T1R至T8R之軌道及靈敏度所決定之可檢測範 阖R內。具體言之，圖中所示實施例中，最好將鄰接之光 敏電晶體T1R至T8R間之間隔P2與2個發光二極體DiR， D2R間之間隔P1之比設定為Ρ2/Ρ1 = 1·5〜0.5。 第7圖中，當驅動輪46R朝向箭頭所示方向旋轉時， 嚮應於接受之光線流通於接受單元86R之電流I係如第8 圖所示，嚮懕於各光敏電晶體所接受之光線而產生於各光 敏電晶體T1R至T8R中之電流II至18之和。因此，雖然多 少有脈動，但經有電流通過。比率Ρ2/Ρ1愈小，電流之脈 動愈小。雖然較為理想，但可參照成本設定。 接受單元86L及傳送單元98L之结構實質上與接受單 元S6R及傳送單元98R相同，因此不再說明。 在車體32上設置手動驅動力檢測單元50R，50L,變換 單元56，及傳送軍元98R及98L,在驅動輪48R, 48L内裝 設馬達76R, 76L,接受單元86R, 86L,控制單元88R, 88L ，驅動單元90R, 90L,及電瓶82R，88L,即可輕易的將手 動驅動輪椅變更成電動驅動輪椅3 Q。此時，使用之驅動輪 46R，46L愈大，可供設置電瓶之空間愈大。因此可使用 大容量電瓶。 各手動驅動力檢測單元50R，50L檢測施加於其上之 力量之大小及方向，而驅動輪46R，46L依據檢測之力量 驅動。 Μ下參照第9, 9a，9b圖說明手動驅動力檢測單元 5〇L°雖另一手動驅動力檢测單元5〇R之詳细内容及動作 未加Μ說明，但實質上與檢測單元5〇L相同。 -12- 本紙張尺度適用中家標準（CNS ) Α4規;(^210X 297公筇) (請先閲讀背面之注意事項再_本頁) 裝. 線 經濟部中央標準局員工消費合作社印製 A7 __B7 五、發明説明（W ) 第9圖表示未施加力Μ而位於中立位置之手勡騮動力 檢瀏單元50L。檢測單元50L包括一皤插入由管子形成之 把手42L中之圖简形固定部106L。該固定部106L經由螺 栓108L固定於把手42L上。具有收容彌簧等强性撙件136 之空室之圃筒型構件110L之一纗蠼合於固定部106L之另 一颯。沿着固定部106L之長度延伸之掮柄112L内收容固 定部106L及猓簧外般110L。握柄112L可藉著滾動網珠 113L之作用沿着固定部之長度移動。握柄112L之另一蟠 亦即把手42L之相反側之一蠼設有用來覆蓋握柄U2L之 開口之蓋體114L。止動器116設在握柄112L內部，Κ便 卡合於沿着固定部106L之長度設在其周面之溝118L内。 因此，握柄112L可在相等於溝118L之長度之箱圃内，沿 着把手42L之長度方向移動。 在固定部106L內設有例如電位器等移動檢測裝置102L 。螺入具有形成於固定部106L内部表面之嫌纹之部分122L 內之固定環124L將電位器120L固定於固定部106L。圓柱 狀構件123L從蓋體114之内部表面中央突出於霣位器102L 供。直徑小於圆柱型構件123L之直徑之活塞126L從構件 123L沿着彌簧外殼110之長度方向延伸至笛位器120L供 。活塞126L經由鏍栓128L固定在蓋艚114L上。 如第9a圖所示，在画柱型構件123L內，活塞126L结 合於圓柱型構件123L之位置，形成有例如階段部或肩部 127L之彈性構件驅動装置。如活塞126L之前端之直徑較 大，並且設有例如階段部或肩部129L之彌性構件驅動装 -13- (請先閲讀背面之注意事項再®:本頁) -裝· -訂 線· 本纸張尺度適用中國國家標準（CNS ) A4規格（210X297公釐） 經濟部中央標準局員工消費合作社印製 Μ ___Β7五、發明説明（11) 置。如第9 圈所示，活塞126L之放大前蟣部經由逋结網 線132L及装配件134L结合於檢測元件130L。如此，當握 栖112L前後移動時，活塞126L及檢測元件13DL亦一起 移動。 在弹簧外殻UOL之內室中設有例如玀簧136L等猓簧 構件》彈簧136L之兩蝙分別接觸於可滑動於活塞126L上 之狀態装設在活塞126L上之铒簧保持環138L, 140L上。 在彈簧外殻UOL 之內室兩蠼設有例如階段部142L, 144L 等卡止部，如此弾簧保持環13 8L, 140L可與其接觸。環 138L , 140L亦可與活塞126L之肩部127L, 129L -接觸。 當握柄112L未移動時，亦即握柄112L位於其中立位置時 (如第10圏所示},環138L接觸盖醱114L德之空室皤部之 階段部142L 及活塞126L之肩部127L,而環140L接觸固 定部106L之肩部1441·及活塞126L之階段部129L。階段 部142L與144L間之距離等於肩部127L與12料間之距離 。因此握柄112L由彌簧1361·之反彌力限制於一定之中立 位置（第9圓）。在該位置時，握柄112L未起動而環138L, 140L接觸階段部142L, 144L。為了將握柄112L保持於該 預先設定之位置，最好將彌簧136L在其位於彌簧外殼110L 之空室內時予K壓縮。 當手動驅動力F1L以使位於中立位置之握柄112L如 第9b圈所示的朝向輪椅之把手42L方向移動之方向施加於 握柄112L上時，彌簧保持環140L因為接觸彈簧外殼110L 之階段部144L,故不會移動。另一方面，因為弹簧保持環 -14- 本紙張尺度適用中國國家標準（CNS ) A4規格（210X297公釐） (請先閱讀背面之注意事項再ip?本頁) -裝· 訂 • IV- 線 經濟部中央標準局員工消費合作社印製 A7 B7 五、發明説明（12 ) 138L由活塞126L之肩部127L推向把手42L之方向，因 而使彈簧136L之媸部脫鑼階段部142L,彌簧136L被壓嫌 ，同時使活塞126L將檢測元件130L推向把手42L側。在 此同時，因為彌簧136被颳嬸，其壓缩力經由固定部106 L 傳送至把手42L〇 當手動鼷動力F1L廉加於相反方向而使握柄112L朗 向離開把手42L之方向移動時（第9a圈 >，强簧保持環138L 因為接觸弾輦外殼110L之階段部142L,故不會移動。然 而，因為環140L接觸活塞126L之肩部129L,故活塞126L 使彈簧136L之端部離開階段部144L,並且被推向離開把 手4 2L之方向。因此彌簧136L被壓嫌而抽出檢澜元件130L 。在此同時，因為彌簧136L已被懕鏞，故懕嫌力經由弹 簧外般110L及固定部106L傳送至把手42L。 當朝向任一方向之手動鼷動力F1L消失後，亦即朝向 把手.之方向或相反方向之手動驅勡力消失後，單一猓簧 136L之反彌力使握柄112L回到其原來之預先設定之中立 位置〇 如上所述，檢澜元件130L之移動方向係由施加於握 柄112L上之手動驅動力F1L所決定。檢測元件130L之移 動量與手動驅動力F1L之大小成正比。 設在手動驅動力檢澜軍元50L (第3圈）中之具有鬣位 計120L之手動驅動力檢测轚路，例如惠斯登電橋，檢测 手動驅動力F1L之方向及大小，而且產生類比信虢flL。 如第10圈所示，類比信號flL表示朗向把手之方向或離開 -15- 本紙張尺度適用.中國國家標準（CNS ) A4規格（210X297公釐） . ^----批衣-- (請先閲讀背面之注意事項再本頁) 訂 ♦ A 7 B7 五、發明説明（13) 把手之方向，及賍加於握柄112L之力量大小。 第10困中，146表示因為預先壓缩弹簧136L而產生 之不感帶。只有在手動驅動力F1L超通界定不感帶146之 極限之a,及b值時產生類比信號flL。調整彌簧136L之 預先壓綰力大小，即可調整不感帶146之《度。 第10睡中，記號「+」表示手動騸»力F1L之方向係 將握柄112推進之方向，或使握柄112L移動至把手42L供 之方向。記號「一」表示手動驅動力F1L之方向係抽出埋 柄112L之方向，或使其離開把手42L之方向。 雖然未圈示，右手把手42R上亦設有相似之手動驅動 力檢测裝置5QR。手動驅動力檢拥軍元50R產生表示施加 力量F1R之方向及大小之相似之類比信號flR。 信號flR, flL由設在信號變換單元56中之A/D變換 器變換成數位信號DflR, DflL,然後由CPU 94變換成馬 達轉矩翻連信號Df2R, Df2L。數位馬達轉矩期連信號Df2R ,Df2L施加於傳送單元98R及98L Μ便如上述的傳送至 接受單元86R。 經濟部中央標準局員工消費合作社印製 數位信號DflR表示数位馬達轉矩闌遽信號Df2R與手 動糴動力間之鼷係，該信號與手動騸動力F1R成正比 (第11a圔第lib囫表示數位信號DflR與電動輪椅30 之加速間之闞係。 由Ua _可知，當手動驅動力F1R在不感帶146之範 圍內時（第10國），亦即數位信號DflR在對應於不感帶146 之不感帶之範圍内時（第11a圖 >,亦即由對應於如第10鼷 -1 6 - 本紙張尺度適用中國國家標準（CNS ) A4規格（210X297公釐） 經濟部中央標準局員工消費合作社印製 A7 B7 _ 五、發明説明（14 ) 中所示手動驅動力F1R之a及b值之a’及b’值所界定之範 圍時，數位馬達轉矩關連信號Df2R保持0。當手動驅動力 F1R增加而數位信號DflR增加至a’值以上時，數位馬達 轉矩關連信號Df2R係由K· D_flR-a表示，而且與數位信 號DflR成正比，因此亦與手動驅動力F1R成正比。當手 動驅動力F1R小而數位信號DflR小於b’值時，數位馬達 轉矩闞連信號Df2R係由K· DflR +卢表示，而.且與數位信 號DflR成正比，因此亦與手動驅動力F1R成正比K上数 式中，K為係數，α及為常数。 當數位信號DflR係在第11a圖中之C點時，亦即未 產生手驅動力F1R時，馬達轉矩關連數位信號Df2R亦為0 。因此，如第lib圖所示，加速亦為〇。 當數位信號DflR係在不感帶內之B點時，馬達轉矩 關連信號Df2R保持I但加速增加對應於由看護者施加於 輪椅上之手動驅動力flS之數值。在A點時，數位信號 DflR大於a’值，亦即表示產生超過第10圖所示數值之手 動驅動力F1R,由馬達76R產生加速，而將由看護者施加 之手動驅動力F1R所產生之加速馬達76R所產生加速之和 供給於輪椅30。A點及B點表示看護者加速輪椅時之情況。 另一方面，D及E點之數位信號DflR相當於由看護 者施加於輪椅上K便加速輪椅之手動驅動力F1R。馬達轉 矩闞連數位信號Df2R及加速表示MC點為對稱點之點對 稱。 在A點及E點時，輪椅30係由看護者所供給之手動驅 動力F1R及由馬達76R所產生之驅動力加速，而馬達轉矩 -1 7- 本紙張尺度適用中國國家標準（CNS ) A4規格（210 X 297公釐） (請先閱讀背面之注意事項^^^本頁) 裝. '訂 -線- 五、發明説明（15 ) 根據手動驅動力fir之大小改變。因此，輪椅30由於看護 者及馬達76R之共同作用而驅動° 數位信號DflL或手動驅動力F1L與馬達轉矩關連信 號Df2L間亦具有與上述相似之關係。因此，由馬達76R 產生之加速係根據手動驅動力檢测單元5QR所檢測之手動 驅動力F1R控制。由馬達76L產生之加速係根據手動驅動 力檢測單元50L所檢测之手動驅動力F1L控制。 第11 a , 11 b圖表示當輪椅3 Q在水平之平坦通路上行 駛時之馬達轉矩關連信號及加速度。當輪椅30在斜坡上爬 昇或下降時，由馬達76R, 76L產生之加速度根據施加於 重力加速度之相反方向之手動驅動力F1R及F1L之大小而 改變。 設置不感帶之理由為防止馬達7 6 R，7 6 L嚮應於小手 動驅動力FIR, FU而使輪椅3Q之移動變成不穩定。 係數K,常數ct, /S,不感帶146之極限值a,, b,數 位信號DflR, DflL之不感帶之數值a’，b’係設定為可根 據手動驅動力FIR, F1L產生所需加速度之數值。 經濟部中央標準局員工消費合作社印製 因為馬達76R, 76L係根據看護者所提供之手動驅動 力F1R及F1L驅動，故輪椅30可與驅動手動驅動輪椅時相 同的驅動。第12a, 12b圖中將詳细說明。 第12a圖表示輪椅30之速度之時間上變化。第12b圖 表示施加於手動驅動力檢測單元50R之手動驅動力F3LR, F1L假設手動騮動力F1R與F1L相等時，該驅動力可改變 第11a圖所示輪椅30之速度。當手動驅動力為正（+)(亦 -1 8 - 本紙張尺度適用中國國家標準（CNS ) A4規格（210X297公矩） Λ7 B7 五、發明説明（16 ) 即該驅動力使輪椅3 0前進），而其絕對值為如第12b圖之 區域A所示之數值時，其前進速度如第12a _之區域A所 示的急速増加。當手動驅動力為正而其絕對值如第12圖之 區域B所示的小時，則輪椅之進速度如第12a圖所示緩慢 。當施加之手動驅動力如第12b圖之區域C所示的成為0 時，輪椅30之速度不變，輪椅如第12a _中之區域C所示 的因慣性而前進。 當手動驅動力為負（- > 值（亦即使輪椅30後退），而 其絕對值如第12b圖之區域D所示的小時，則如第12a圖 之區域D表示，輪椅30之前進速度緩慢下降。若手動驅動 力為負而其絕對值如區域E所示的大時，其速度急速的下 降。第12a，12b圖表示無摩擦之理想狀態。 上述說明中係說明輪椅3 0加速或減速時之狀態。因為 馬達76R，76L係配合施加於手動操作力檢測單元50R, 50L 之手動操作力FIR, F1L分別控制，故可變換輪椅30之移 動方向。Μ下參照下表說明輪椅30之變換方向動作。 (請先閲讀背面之注意事項:本頁) -裝· 訂 •線- --:-y. iy 經濟部中央標準局員工消費合作社卬製 -19- 本紙張尺度適用中國國家榇準（CNS ) A4規格（210X297公釐） A7 B7 五、發明説明（Γ7 ) 表 狀態 手動驅動力 輪椅之移動 F1L F1R 1 0 0 毽定移動 2 (+ )小 (+ )小 小加速度 3 (+ )大 (+ )大 大加速度 4 ㈠小 (-)小 小減速度 5 (-)大 (-)大 大減速度 6 (+ )小 ⑴大 左轉 7 ㈠小 (+ )大 急速左轉 8 ㈠大 (+ )大 反時針方向轉向 9 ⑴大 (+ )小 右轉 10 (+ )大 (-)小. 急速右轉 11 (+ )大 ㈠大 順時針方向轉向 (請先閲讀背面之注意事項\^||^本頁) 裝- 訂 經濟部中央標準局員工消費合作社印製 表中，狀態1至5為施加於手動驅動力檢測軍元50R ，50L之手動驅動力F1R與F1L相等之狀態。狀態1對應 於第12a圖中之區域C。狀態2對應於區域B，狀態3對應 於區域A，狀態4對應於區域D，狀態5對應於區域E。狀 態2至5中，手動驅動力FIR, F1L之大小在第10圖所示 不感帶146外。該力量足夠產生第12a所示不感帶外之驅 -2 0- 本紙張尺度適用中國國家標準（CNS ) A4規格（210X297公釐） Λ7 B7 經濟部中央標準局員工消費合作社印製 五、發明説明（18 ) 動力大小之信號mflL。 在狀態6至11中，手動驅動力FIR, F1L互不相同。 此時，馬達76R，76L輔助輪椅變換其移動方向。 在狀態6中，手動驅動力F1L為正方向而其大小之絕 對值小。手動驅動力F1R之方向亦為正方向，但其大小之 絕對大。此時，由馬達76L產生之加速度及由看護者施加 於輪椅30而產生之手動驅動力F1L所造成之加速度互相相 加並且施加於驅動輪46L,而馬達76R所產生之加速度及 由看護者施加於輪椅30而產生之手動驅動力F1R所造成之 加速度之和施加於驅動輪46R。雖然手動驅動力F1R及F1L 之方向相同，F1R之大小大於F1L。因此，驅動輪46R之 加速度大於驅動輪46L之加速度。因此，電動輪椅30左轉。 在狀態7時，手動驅動力F1L為負，其絕對值小。手 動驅動力F1R為正而其絕對值大。此時，驅動輪46R之加 速度小於狀態6時之加速度。然而，驅動輪46L之加速度 方向與狀態6時之方向相反。因此，輪椅30急速的左轉。 在狀態8時，手動驅動力F1L為負而其絕對值大。手 動驅動力F1R為正而其絕對值大，驅動輪46R之加速度與 狀態6時相似，驅動輪46L之加速度方向與狀態6時相反 而且大。因此，輪椅30向反時針方向轉向。 在狀態9時，手動驅動力F1L為正而絕對值大。手動 驅動力F1R為負而絕對值小。這種情況與狀態6時相反。 因此輪椅右轉。 當手動驅動力F1L為正而絕對值大，手動驅動力F1R -2 1- 本紙張尺度適用中國國家標準（CNS ) Α4規格（210Χ：297公釐） (請先閱讀背面之注意事項再本頁) •裝· 、?τ 線· 經濟部中央標準局負工消費合作社印製 A7 B7 五、發明説明（I9 ) 為負而絕對值小時，如狀態10所示，輪椅3Q與狀態7時相 反的急速右轉。 在狀態11時，手動驅動力F1L為正而絕對值大，手動 驅動力F1R為負而絕對值大。這種狀態與狀態8時相反， 故輪椅30順時針方向轉向。 如上所述，連结於驅動輪46R，46L之馬達7SR, 76L 之加速度根據手動驅動力F1R，F1L而改變。 為了控制輪椅30之加速度及移動方向，轉換單元56中 之CPD 94進行如第13圖所示流程圖之蓮算動作。 蓮算動作開始之後，將指示需要處理之信號之旗標， 從手動驅動力檢測單元50R產生之信號，或從手動驅動力 檢測單元50L產生之信號設定為例如”1”。如此表示必須 處理從單元50R產生之信號（步驟S2)。然後，決定旗標是 否設定為”1” （步驟S4)。若旗標已設定為”1” （亦即步驟 S4時之判斷為”是”），CPU 94讀取A/D變換器92所產生之 數位信號DflR (步驟S6)，並且做為維後之運算動作用之 資料記憶於CPU 94中（步驟S8)。 若在步驟S4時決定將旗標設定為”1”（亦即步驟S4時 之判斷為否），則CPU 94從A/D變換器92中讀取數位信號 DflL (步驟S10),並且做為繼後之運動作用之資料fl記億 於CPU 94中（步驟S12)。 在步驟S8或S12後，判斷資科fl之大小。若資料fl為 〇，亦即資料fl在不感帶內，則馬達76R，76L不供給輪椅 加速度。 -22- 本紙張尺度適用t國國家標準（CNS ) A4規格（210X297公釐） I----.— -；---1¾衣！ (請先閲讀背面之注意事項再本頁) 訂 線· Λ7 ____ _ B7 __ 五、發明説明（20 ) 然後，為了處理從其他手動驅動力檢測單元產生之信 號，判斷旗標是否設定為”丨”（步驟S16)。若结果為”是” ，則為了接着處理從手動驅動力檢測單元50L產生之信號 而將旗標設定為”0” （步驟S18)。然後回到步驟S4。 若在步驟S16時之判斷為”否”，則為了接着處理從手 動驅動力檢測單元50R產生之信號而將旗標設定為”1”（ 步驟S 2 0 )，然後回到步驟S 4。 若在步驟S14時判斷資料f 1大於0，則進行f2 = K · Π-oc之動作（步驟S22)。然後，控制放大器96 K便產生運算 结果，亦即資料f2,做為馬達轉矩關連數位信號Df2R (步 驟 S24) 〇 另一方面，若在步驟S14時之判斷结果資料fl小於〇 時，進行蓮算動作f2 = K_ fl + /S (步驟S26)，控制放大器96 使得蓮算動作成為结果做為馬達轉矩關連數位信號Df2L之 資料f 2 (步驟S28)。 步驟S24或S28後，繼續進行步驟S16及S18或S16 及S20,然後，進行步驟S4而處理從另一手動驅動力檢測 單元產生之信號。 經濟部中央標準局員工消費合作社印製 如上所述，CPU 94交替的讀取數位信號DflR及 DflL,而且控制馬達76R, 76L Μ便產生由信號DflR,B 3 / _ \ Make it clear that when you make a grip, you will install cocoa on the machine. The grip of the handle can be moved on the device and the handle; hold it above the power of the measurement and transmission to the direction of the transmission of the component force, and it is opposite to the direction of the applied or measured force. In the handle plus, the upper and lower handle grip ribs were moved along the package to install the test force, and the rib drive hand was connected with the package, and then the mobile device was installed to stop the test. . The release of the two ends of the end piece is released. The stopper moves the second piece of personality. The second piece is placed on the side of the tentacle, and the handle is placed toward the partition with the handle paired to the end 1. Reverse the bullet that is loaded with the anti-sexual phase in the response 1 to release the pressure to the shrinking side. Manually set the shrinkage side that is moved to the reversed position and move the elasticity toward the handle and hold it. When it comes to contact, the installation and installation of the non-release parallel ribs ΠΒΠ only 1 and the end 1 (please read the precautions on the back before this page) Printed by the Shell Standard Consumer Cooperative of the Central Standards Bureau of the Ministry of Economic Affairs A second release device in the control direction. Another embodiment of the present invention includes: a vehicle body having a handle; a driving wheel mounted on the vehicle body; an electric driving device for driving the driving wheel; and detecting a manual applied to the handle Manual driving force detection device for driving force and generating a control signal for controlling the driving device. The manual driving force detection device includes a movable grip that can move forward and backward along the length of the handle, and a movement detection that detects the movement of the grip and generates a control signal And the elastic device provided in the movable grip along the length of the handle. When the force toward the handle and the opposite direction is applied to the movable grip in a neutral position, the elastic device is compressed, and the force returns when the force disappears. To the neutral position. The manual driving force detection device includes two stop devices provided in the movable handle spaced apart from each other along the length direction of the movable handle and respectively contacting both ends of the elastic device. The detecting device further includes a first stop device The 1st and 2nd drive components This paper size applies to China's National Standards (CNS) Λ4 specification (210X297gt) The A7 B7 Five 'Invention Description printed by the Employees' Cooperatives of the Central Standards Bureau of the Ministry of Economic Affairs (4). When the grip is moved toward the handle, release the connection between the end of the elastic device on the opposite side of the handle and a stop device, and compress the elastic device to the direction of the handle. The second drive device is moved away from the handle. The movement of the handle releases the combination of one end of the elastic device near the handle and the other stop member, and compresses the elastic device to The direction of the handle. The elastic device is compressed in advance in a state where the two ends of the elastic device respectively contact the two stop members when the movable grip is not moved to any direction. The electric wheelchair of the present invention can also be provided on the south side. The driving wheel of the electric driving device. The electric wheelchair also includes two handles for driving wheels. Each handle has a manual driving force detection device, and M generates a control signal for each driving wheel. Figure 2 shows the first embodiment of the present invention. The electric wheelchair 30. The wheelchair 30 includes a car body 32 made of a pipe frame. The car body 32 has a seat back 34, a seat seat 36, an arm pad 38, and a foot pad 40. The handles 42R, 42L are from the left and right sides of the back of the pipe frame. Extend to the rear (K rear R indicates the right side, L indicates the left side. For example, the handle 42R indicates the right handle of the wheelchair 30). A pair of left and right driven wheels 44R, 44L can be rotatably installed on the left and right sides of the lower part of the front of the pipe frame). A pair of left and right driving wheels 46R and 46L are installed on the left and right sides of the rear of the pipe frame. The diameters of the driving wheels 46R and 46L are larger than the diameters of the driven wheels 44R and 44L. The circular hand-pulled wheels 48R, 48L made of a tube are fixed to the outer side of each drive wheel via spacers 200R, 200L. The diameters of the hand push edge wheels 48R, 48L are slightly smaller than the diameters of the drive wheels 46R, 46L. As shown in Figure 3, each drive wheel 46R, 46L is provided with -7-This paper size is applicable to China National Standard (CNS) A4 specifications (210 × 297 mm) (Please read the precautions on the back before _ (In this page) Installation] ^ -δ A7 B7 V. Description of the invention (5) The drive wheels 46 R, 46L Μ can be selectively driven in the forward direction to drive the motors 76R, 76L of the wheelchair forward. Each of the motors 76R, 76L can also drive the driving wheels 46R, 46L in the backward direction to retreat the wheelchair. In addition, there are driving units (DR) 90R, 90L that control the motor (M) 76R, 76L, signal receiving units (RX) 86R, 86L, and control military units 88R, 86L, and power supply to the motor and each unit. Battery 82R, 82L. The handles 42R and 42L are provided with a pair of manual driving force detection units 50R and 50L. The manual driving force detection unit 50R detects a manual driving force applied thereto and generates an analog electric signal flR indicating the magnitude and direction of the applied manual driving force. The unit 50R transmits the applied manual driving force to the handle 42R. Similarly, the manual driving force detection army 50L picks up the manual driving force applied to it and generates an analog electrical signal flL indicating the magnitude of the applied manual driving force and the square root. This unit 50L transmits the applied manual driving force to the handle 42L. It is also possible to install an indicator wheel 52 Ri 52L for indicating that the chair 30 is moving forward and an indicator lamp 54R, 54L for indicating that the wheelchair 30 is moving backward on each of the handles 42R, 42L. Printed by the Consumer Cooperative of the Central Standards Bureau of the Ministry of Economic Affairs A signal conversion unit 56 for converting the signals generated by the manual driving force detection units 50R, 50L into motor control signals is provided under the seat 36 of the vehicle body 32. As shown in Fig. 3, the signal conversion unit 56 includes an A / D converter 92 which converts the analog signals flR and flL into digital signals DflR, DflL. The digital signals DflR and DflL are applied to the central processing unit (CUP) 94 and converted into digital drive signals or digital motor torque related signals Df2R and Df2L that drive each of the motors 76R and 76L. The digital motor torque related signal Df2li, 〇 {211 is amplified by the amplifier 36. The signal 01211 is applied to the drive wheel 4611. The paper size applies the Chinese National Standard (CNS) Λ4 gauge (210X297). A7 B7 printed by the Consumers ’Cooperative of the Central Standards Bureau of the Ministry of Economic Affairs. 5. Conveyor (6) TX) unit 98R, and the signal Df2L is applied to the transmitter (TX) unit 98L for the driving wheel 46L. The transmitting units 98R, 98L may be optical transmitters including, for example, light emitting elements such as infrared emitting diodes, and transmit photosensitive signals such as infrared light signals to the receiving units 86R, 86L. The receiving units 86R, 86L can be light receiving elements including phototransistors, which can receive and demodulate the light-sensitive signals transmitted from the corresponding transmitters 98R, 98L, and generate digital motor torque build-up signals Df2R, Df2L. The digital motor torque related signals Df2R, Df2L are applied to the control units 88R, 88L. The control units 88R and 88L adjust the pulse widths of the voltages applied to the motors 76R and 76 L according to the torque driving signals Df2R and Df2L, and supply the voltage signals that have undergone the pulse width modulation to the driving units 90R and 90L, and change the The current values of the motors 76R and 76L change the torques of the motors 76R and 76L. In this way, the drive units 90R, 90L, and the control units 88R, 88L constitute a control device. The driving wheels 46R, 46L are respectively controlled according to the manual driving forces detected by the corresponding manual driving force detection units 50R, 5 Q L. As shown in Figs. 5 and 6, the right driving wheel 46R includes an axle 58R fixed to the vehicle body 32. A rotation portion 62R is rotatably mounted on the axle 58R via a bearing 60R. The rotating portion 62R includes a wheel valley 64R having a bearing 60R. Many of the spokes 66R extend radially from the valley 46R and the front end thereof is connected to the substantially circular edge ring 68R. The tire 70R is mounted on the edge wheel 68R. As shown in Fig. 5, the gear 72R and the axle 58R are coaxially mounted. As shown in Figure 4, the reinforcing panels 74R1, 74R2 are installed in a space opposite to each other defined by the diameters of two adjacent spokes 66R, which are fixed to the driving wheels by a clamp 73R, and the two motors 76R1, 76R2 are provided by Bolts 75R are fixed to each plus -9- This paper size applies Chinese National Standard (CNS) Λ4 specification (210X 297 alkyne) (Please read the precautions on the back before this page) Binding and ordering A7 B7 V. Description of the invention (7 Strong consumer panels 74IΠ, 74R2 are printed by the Consumers' Cooperative of the Central Government Bureau of the Ministry of Economic Affairs. Two or more motors can also be used. At this time, each motor is set on a circle concentric with the sleeve 5 8β, separated by an equal angular interval from each other K For example, if three motors are used, each motor M is set at an angle of 120 degrees. The two pinions 80R1 and 80R2 are fixed to the output shafts 78R1 and 78R2 of the motors 76R1 and 76R2 with the same sleeve. Each The pinions 80R1, 80R2 mesh with the gear 7 2R. When the motors 76R1, 76R2 start, the pinions 80R1, 80R2 rotate around the periphery of the gear 72R, so that the rotating portion 62R rotates. The motors 76R1, 76R2, gear 72R, and pinion 80R1, 80R2 forms an electric drive Two batteries 82R1, 82R2 are respectively installed in the space defined by two adjacent spokes 66R via supporting members 84R1, 84R2. Each battery is located on a circle concentric with the axle 58R, and M is separated by the same angular interval as the motor In the embodiment shown in the figure, the angular interval is 180 degrees. The battery 82R1 is U0 degrees from the corresponding motor 76R1 and 120 degrees from the other motor 76R2. The other battery 82R2 and the motor 76R2 form 60 degrees. Form 120 degrees with the motor 76R1. The control unit 88R and the drive unit 90R are installed in the spaces defined by the adjacent two spokes 66R. The angular interval between the space of the control unit 88r and the drive unit 90R is equal to the motors 76R1 and 76R2 The angle interval is 180 degrees in the figure. The space between the control unit 88R and the drive unit 90R is different from the space where the motor or battery is arranged. The control unit 88R and the drive unit 9QR can also be installed on the board and the board The body is mounted on the spokes in various spaces through mounting parts (not shown) such as the mounting part 73R. -1 0-(Please read the precautions on the back before ^ this page) Scale applicable National Standard (CNS) A4 specification (210X297 public capital) A7 _ B7 _ V. Description of the invention (8) If the motors 76R1, 76R2, batteries 82R1, 82R2 are configured as described above, the control unit 88R, and the drive unit 90R, the The driving wheels 46R become balanced. The motors 76R1, 76R2, the batteries 82R1, 82R2, the control unit 88R, and the driving unit 9GR are located substantially in a plane perpendicular to the axle 58R in the rotating portion 62R. In this way, the driving wheels 46R can be made more balanced. As shown in FIG. 5, the outer cover 100 and the inner cover 102R are fixed to the edge wheel 68R, and the motor 76R1, 76R2, the gear 72R, and the pinion gears 78R1, 78R2 are housed. The other left driving wheel 46L has a similar structure. Therefore, the same components are represented by the same numerals, and their end portions ML are replaced by R and their descriptions are omitted. As shown in Figs. 5 and 6, the center portion of the inner cover 102R has a hole 1Q4R which is concentric with the axle 58R. Along the periphery, a plurality of light-receiving elements, such as eight, constituting the receiving portion 86R are arranged at equidistant dimensions, such as the phototransistors T1R to T8R. The phototransistors T1R to T8R are connected in parallel. The Consumer Cooperative of the Central Bureau of Standards of the Ministry of Economic Affairs printed many (for example, 2 涸) light-emitting elements (for example, light-emitting diodes DIR, D2R) constituting the transmission unit 98R at a certain position outside the circular hole 104R via the mounting member 106R It is set on the tube frame of the car body 32. The light-emitting diodes DIR, D2R are also connected in parallel. The phototransistors T1R to T8R and the driving wheel 46R rotate together while receiving the infrared rays generated by the light-emitting diodes DIR, D2R. As shown in Figure 7, the interval P 2 between adjacent phototransistors T1R-T8R is set so that the phototransistor on one of the phototransistors T1R to T8R is often located by the light-emitting diode DIR, D2R's infrared signal radiation angle Θ1, photodetector's light receiving angles T1R to T8R 02, and -11- This paper size applies to China National Standard (CNS) Λ4 specification (210 × 297 enthalpy) Consumption of employees of the Central Standards Bureau of the Ministry of Economic Affairs Printed by the cooperative A7 _ B7 V. Description of the invention (9) Within the detectable range 阖 R determined by the orbit and sensitivity of the phototransistor T1R to T8R. Specifically, in the embodiment shown in the figure, it is better to adjoin it Phototransistor The ratio of the interval P2 between the bodies T1R to T8R to the two light-emitting diodes DiR, and the interval P1 between D2R is set to P2 / P1 = 1.5 to 0.5. In Figure 7, when the driving wheel 46R faces the direction shown by the arrow During rotation, the current I flowing through the receiving unit 86R toward the light received should be the current II generated in each phototransistor T1R to T8R toward the light received by each phototransistor as shown in FIG. 8. The sum is up to 18. Therefore, although there is some pulsation, the current passes. The smaller the ratio P2 / P1, the smaller the current pulsation. Although it is ideal, you can refer to the cost setting. The structure of the receiving unit 86L and the transmitting unit 98L It is basically the same as the receiving unit S6R and the transmitting unit 98R, so it will not be described again. The manual driving force detection units 50R, 50L, the conversion unit 56 and the transmitting military units 98R and 98L are provided on the vehicle body 32, and the driving wheels 48R, 48L are provided. Built-in motors 76R, 76L, receiving units 86R, 86L, control units 88R, 88L, driving units 90R, 90L, and batteries 82R, 88L, you can easily change a manual-driven wheelchair to an electric-driven wheelchair 3 Q. At this time , The larger the driving wheels 46R, 46L, can be set The larger the space of the battery. Therefore, a large-capacity battery can be used. Each manual driving force detection unit 50R, 50L detects the magnitude and direction of the force applied to it, and the driving wheels 46R, 46L are driven according to the detected force. Figures 9, 9a, and 9b illustrate the manual driving force detection unit 50L. Although the detailed content and operation of another manual driving force detection unit 50R have not been described, it is substantially the same as the detection unit 50L. -12- This paper size applies the China Household Standards (CNS) Α4 rule; (^ 210X 297 gong) (Please read the precautions on the back before this page) Packing. Printed by A7, Consumers Cooperative of the Central Bureau of Standards, Ministry of Economic Affairs __B7 V. Description of the invention (W) Fig. 9 shows a hand-held power inspection unit 50L in a neutral position without applying a force M. The detection unit 50L includes a simplified fixing portion 106L inserted into a handle 42L formed of a tube. The fixing portion 106L is fixed to the handle 42L via a bolt 108L. One of the cylindrical tubular members 110L having an empty room accommodating a strong member 136 such as a reed is coupled to the other of the fixed portion 106L. The cymbal handle 112L extending along the length of the fixed portion 106L accommodates the fixed portion 106L and the outside of the cymbal 110L. The grip 112L can be moved along the length of the fixed portion by the function of the rolling mesh beads 113L. The other handle of the handle 112L, that is, one of the opposite sides of the handle 42L, is provided with a cover 114L for covering the opening of the handle U2L. The stopper 116 is provided inside the grip 112L, and K is engaged with the groove 118L provided on the peripheral surface thereof along the length of the fixed portion 106L. Therefore, the grip 112L can be moved along the length of the handle 42L in a box garden having a length equal to the groove 118L. A movement detection device 102L such as a potentiometer is provided in the fixed portion 106L. The potentiometer 120L is fixed to the fixing portion 106L by screwing a fixing ring 124L into a portion 122L having a suspicious pattern formed on the inner surface of the fixing portion 106L. A cylindrical member 123L protrudes from the center of the inner surface of the cover 114 to the positioner 102L. A piston 126L having a diameter smaller than the diameter of the cylindrical member 123L extends from the member 123L to the flute holder 120L along the length direction of the Mi spring housing 110. The piston 126L is fixed to the cap 114L via a pin 128L. As shown in Fig. 9a, in the column-shaped member 123L, the piston 126L is coupled to the position of the cylindrical member 123L, and an elastic member driving device such as a stage portion or a shoulder portion 127L is formed. For example, if the diameter of the front end of the piston 126L is large and it is equipped with a diametrically driven member such as a stage or shoulder 129L (please read the precautions on the back first: this page)-installation ·-ordering · This paper size applies to Chinese National Standard (CNS) A4 (210X297 mm). Printed by the Consumers' Cooperative of the Central Standards Bureau of the Ministry of Economic Affairs. As shown in the ninth circle, the enlarged front crotch portion of the piston 126L is coupled to the detection element 130L via the knotted network cable 132L and the mounting member 134L. In this way, when the grip 112L moves forward and backward, the piston 126L and the detection element 13DL also move together. In the inner chamber of the spring housing UOL, for example, the reed spring members such as the reed spring 136L are provided. The two bats of the spring 136L are in contact with the piston 126L, and the reed spring retaining rings 138L and 140L are installed on the piston 126L. on. Locking parts such as stage parts 142L, 144L are provided on both sides of the inner chamber of the spring case UOL, so that the spring retaining rings 13 8L, 140L can be contacted therewith. The rings 138L, 140L can also contact the shoulders 127L, 129L-of the piston 126L. When the grip 112L is not moved, that is, when the grip 112L is in a neutral position (as shown in Fig. 10), the ring 138L contacts the stage portion 142L of the hollow chamber portion of the cover 酦 114L and the shoulder portion 127L of the piston 126L. While the ring 140L contacts the shoulder 1441 of the fixed portion 106L and the stage 129L of the piston 126L. The distance between the stage 142L and 144L is equal to the distance between the shoulder 127L and the 12 material. Therefore, the grip 112L is composed of the Mi spring 1361. The reaction force is limited to a certain neutral position (circle 9). At this position, the grip 112L is not activated and the rings 138L, 140L contact the stage portions 142L, 144L. In order to maintain the grip 112L at the preset position, It is better to compress the Mi spring 136L in the hollow space of the Mi spring housing 110L. When the manual driving force F1L is used to move the grip 112L in the neutral position toward the handle 42L of the wheelchair as shown in circle 9b. When the direction is applied to the grip 112L, the Mi spring retaining ring 140L does not move because it contacts the stage portion 144L of the spring housing 110L. On the other hand, because the spring retaining ring -14- this paper size applies to the Chinese National Standard (CNS) A4 specification (210X297 mm) (Please read the back first Note on this page again? This page)-Binding · Binding-IV- Printed by the Consumers Cooperative of the Central Standards Bureau of the Ministry of Economic Affairs A7 B7 V. Description of the invention (12) 138L is pushed from the shoulder 127L of the piston 126L to the direction of the handle 42L Therefore, the spring portion of the spring 136L is released from the gong stage portion 142L, and the spring 136L is pressed, and the piston 126L pushes the detection element 130L to the handle 42L side. At the same time, because the spring 136 is scraped, its compression force It is transmitted to the handle 42L through the fixed part 106L. When the manual force F1L is added in the opposite direction and the grip 112L is moved away from the handle 42L (circle 9a >, the strong spring retaining ring 138L contacts 弾 辇The stage portion 142L of the housing 110L does not move. However, because the ring 140L contacts the shoulder portion 129L of the piston 126L, the piston 126L moves the end of the spring 136L away from the stage portion 144L and is pushed away from the handle 4 2L. Therefore, the Mi spring 136L is pressed and the detection device 130L is extracted. At the same time, because the Mi spring 136L has been pinched, the pinch force is transmitted to the handle 42L via the outer 110L and the fixed portion 106L. When facing in any direction The manual 鼷 power F1L disappeared That is, after the manual driving force in the direction of the handle or the opposite direction disappears, the inverse force of the single reed spring 136L returns the handle 112L to its original preset neutral position. As described above, the detection element 130L The moving direction is determined by the manual driving force F1L applied to the grip 112L. The amount of movement of the detection element 130L is proportional to the magnitude of the manual driving force F1L. A manual driving force detection circuit with a hysteresis 120L in 50L (3rd lap) of manual driving force detection Lanjun Yuan, such as a Wheatstone bridge, detects the direction and magnitude of the manual driving force F1L, and Generate an analog letter 虢 flL. As shown in the 10th circle, the analog signal flL indicates the direction of the handle to the left or away. -15- This paper size is applicable. China National Standard (CNS) A4 specification (210X297 mm). ^ ---- batch-( Please read the precautions on the back first, then this page.) ♦ A 7 B7 V. Description of the invention (13) The direction of the handle and the strength of the handle 112L. In the tenth sleeper, 146 indicates the insensitive band caused by the compression of the spring 136L in advance. The analog signal flL is generated only when the manual driving force F1L exceeds the limits a and b of the non-sense band 146. By adjusting the pre-pressing force of the Mi 136L, the degree of the non-sense band 146 can be adjusted. During the 10th sleep, the sign "+" indicates that the direction of the manual force F1L is the direction in which the grip 112 is advanced, or the grip 112L is moved to the direction provided by the handle 42L. The symbol "one" indicates that the direction of the manual driving force F1L is the direction in which the buried handle 112L is withdrawn or the direction away from the handle 42L. Although not shown, a similar manual driving force detection device 5QR is also provided on the right-hand handle 42R. The manual driving force detection military unit 50R generates an analog signal flR indicating a similar direction and magnitude of the applied force F1R. The signals flR, flL are converted into digital signals DflR, DflL by an A / D converter provided in the signal conversion unit 56, and then converted by the CPU 94 into motor torque transfer signals Df2R, Df2L. The digital motor torque timing signals Df2R and Df2L are applied to the transmitting units 98R and 98L Μ and transmitted to the receiving unit 86R as described above. The digital signal DflR printed by the employee's consumer cooperative of the Central Standards Bureau of the Ministry of Economic Affairs indicates the relationship between the digital motor torque signal Df2R and the manual power, which is proportional to the manual power F1R (No. 11a, No. lib) indicates the digital signal The relationship between DflR and the acceleration of electric wheelchair 30. From Ua _, we can know that when the manual driving force F1R is within the range of the non-sensitive band 146 (country 10), that is, the digital signal DflR is in the non-sensitive band corresponding to the non-sensitive band 146. Within the range (Figure 11a >), which is printed by the corresponding Chinese National Standard (CNS) A4 size (210X297 mm) corresponding to the paper size as in Section 10 鼷 -1 6-210X297 mm. A7 B7 _ V. In the range defined by the a 'and b' values of the a and b values of the manual driving force F1R shown in the description of the invention (14), the digital motor torque related signal Df2R remains 0. When the manual driving force When F1R increases and the digital signal DflR increases above a ', the digital motor torque related signal Df2R is represented by K · D_flR-a, and is proportional to the digital signal DflR, so it is also proportional to the manual driving force F1R. When manual drive When F1R is small and the digital signal DflR is less than b 'value, the digital motor torque coupling signal Df2R is expressed by K · DflR + Lu, and is proportional to the digital signal DflR, so it is also proportional to the manual driving force F1R In the formula, K is a coefficient, α and are constants. When the digital signal DflR is at point C in Fig. 11a, that is, when the hand driving force F1R is not generated, the motor torque-related digital signal Df2R is also 0. Therefore, As shown in the lib graph, the acceleration is also 0. When the digital signal DflR is at point B in the insensitive band, the motor torque related signal Df2R remains at 1 but the acceleration increase corresponds to the manual driving force applied by the caregiver to the wheelchair The value of flS. At point A, the digital signal DflR is greater than the value of a ', which means that a manual driving force F1R that exceeds the value shown in Figure 10 is generated by the motor 76R, and the manual driving force F1R applied by the caregiver will be generated. The sum of the acceleration generated by the generated acceleration motor 76R is supplied to the wheelchair 30. Points A and B indicate the situation when the caregiver accelerates the wheelchair. On the other hand, the digital signals DflR at points D and E correspond to the caregiver's application to the wheelchair. Go to K to speed up the wheelchair The dynamic driving force F1R. The motor torque is symmetrical with the digital signal Df2R and the acceleration indicates that the MC point is symmetrical. At points A and E, the wheelchair 30 is a manual driving force F1R provided by the caregiver and a motor 76R The generated driving force accelerates, and the motor torque-1 7- This paper size applies to the Chinese National Standard (CNS) A4 specification (210 X 297 mm) (Please read the precautions on the back first ^^^ this page). 'Order-line-V. Description of the invention (15) Change according to the manual driving force fir. Therefore, the wheelchair 30 is driven by the cooperation of the caregiver and the motor 76R, and the digital signal DflL or the manual driving force F1L and the motor torque-related signal Df2L also have a similar relationship as described above. Therefore, the acceleration generated by the motor 76R is controlled based on the manual driving force F1R detected by the manual driving force detecting unit 5QR. The acceleration generated by the motor 76L is controlled based on the manual driving force F1L detected by the manual driving force detection unit 50L. Figures 11a and 11b show the motor torque related signals and acceleration when the wheelchair 3 Q travels on a horizontal flat path. When the wheelchair 30 climbs or descends on a slope, the acceleration generated by the motors 76R, 76L changes according to the magnitudes of the manual driving forces F1R and F1L applied in the opposite directions to the acceleration of gravity. The reason for setting the non-sensitive band is to prevent the motors 7 6 R and 7 6 L from moving toward the small manual driving force FIR, FU to make the movement of the wheelchair 3Q unstable. Coefficient K, constant ct, / S, limit values a, b of non-inductive zone 146, non-inductive zone values of digital signal DflR, DflL a ', b' are set to produce the required acceleration according to the manual driving force FIR, F1L Value. Printed by the Consumers' Cooperative of the Central Standards Bureau of the Ministry of Economic Affairs. Because the motors 76R and 76L are driven by the manual driving forces F1R and F1L provided by the caregiver, the wheelchair 30 can be driven the same as when driving a manual wheelchair. Figures 12a and 12b are described in detail. Fig. 12a shows the temporal change in the speed of the wheelchair 30. Fig. 12b shows the manual driving force F3LR, F1L applied to the manual driving force detection unit 50R. When the manual driving force F1R and F1L are equal, the driving force can change the speed of the wheelchair 30 shown in Fig. 11a. When the manual driving force is positive (+) (also -1 8-This paper size applies the Chinese National Standard (CNS) A4 specification (210X297 mm) Λ7 B7 V. Description of the invention (16) That the driving force moves the wheelchair 30 forward ), And when its absolute value is the value shown in area A in FIG. 12b, its forward speed is increased rapidly as shown in area A in FIG. 12a_. When the manual driving force is positive and its absolute value is as small as the area B shown in FIG. 12, the advance speed of the wheelchair is slow as shown in FIG. 12a. When the manual driving force applied is 0 as shown in the area C in FIG. 12b, the speed of the wheelchair 30 does not change, and the wheelchair advances due to inertia as shown in the area C in FIG. 12a_. When the manual driving force is negative (-> (even if the wheelchair 30 is backed up) and its absolute value is as small as the area D shown in Figure 12b, then the area D shown in Figure 12a indicates the forward speed of the wheelchair 30 Slow down. If the manual driving force is negative and its absolute value is as large as shown in area E, its speed will drop rapidly. Figures 12a and 12b show the ideal state without friction. The above description has explained that the wheelchair 30 accelerates or The state during deceleration. Because the motors 76R and 76L are controlled by the manual operating forces FIR and F1L applied to the manual operating force detection units 50R and 50L, respectively, the moving direction of the wheelchair 30 can be changed. The following table describes the wheelchair 30 Change the direction of movement. (Please read the note on the back first: this page)-Binding, binding, and threading ---:-y. Iy Employee Cooperative Cooperative System of the Central Standards Bureau of the Ministry of Economics -19- This paper size is applicable to the country of China 榇Standard (CNS) A4 specification (210X297 mm) A7 B7 V. Description of invention (Γ7) Table state Manual driving force Wheelchair movement F1L F1R 1 0 0 Fixed movement 2 (+) Small (+) Small acceleration 3 (+ ) Great (+) Great acceleration 4 ㈠ Small (-) Small deceleration 5 (-) Large (-) Large deceleration 6 (+) Small ⑴ large left turn 7 ㈠ Small (+) large sharp left turn 8 ㈠ large (+) large counterclockwise turn 9 ⑴ Large (+) Small right turn 10 (+) Large (-) Small. Turn right 11 (+) Large ㈠ Large clockwise turn (Please read the precautions on the back first \ ^ || ^ this page) Install- In the printed table of the Consumer Cooperative of the Central Standards Bureau of the Ministry of Economic Affairs, states 1 to 5 are states where the manual driving force F1R and F1L applied to the manual driving force detection army 50R, 50L are equal. State 1 corresponds to the figure in Figure 12a Region C. State 2 corresponds to region B, state 3 corresponds to region A, state 4 corresponds to region D, and state 5 corresponds to region E. In states 2 to 5, the magnitude of the manual driving force FIR, F1L is shown in Figure 10. The outside of the senseless band 146. This force is sufficient to produce the drive outside the senseless band shown in 12a-2 0- This paper size applies to the Chinese National Standard (CNS) A4 specification (210X297 mm) Λ7 B7 Staff Consumer Cooperative of the Central Standards Bureau of the Ministry of Economic Affairs Printed 5. Description of the invention (18) The signal mflL of the power level. In states 6 to 11, the manual driving force FIR, F1L are mutually Same. At this time, the motors 76R and 76L assist the wheelchair to change its moving direction. In state 6, the manual driving force F1L is in the positive direction and its absolute value is small. The direction of the manual driving force F1R is also the positive direction, but its magnitude At this time, the acceleration generated by the motor 76L and the acceleration caused by the manual driving force F1L applied by the caregiver to the wheelchair 30 are added to each other and applied to the driving wheel 46L, while the acceleration generated by the motor 76R and The sum of accelerations caused by the manual driving force F1R generated by the caregiver applied to the wheelchair 30 is applied to the driving wheels 46R. Although the directions of the manual driving forces F1R and F1L are the same, the magnitude of F1R is larger than F1L. Therefore, the acceleration of the driving wheel 46R is greater than the acceleration of the driving wheel 46L. Therefore, the electric wheelchair 30 turns left. In state 7, the manual driving force F1L is negative, and its absolute value is small. The manual driving force F1R is positive and its absolute value is large. At this time, the acceleration of the driving wheel 46R is smaller than the acceleration in the state 6. However, the acceleration direction of the driving wheel 46L is opposite to that in the state 6 state. Therefore, the wheelchair 30 makes a sharp left turn. In state 8, the manual driving force F1L is negative and its absolute value is large. The manual driving force F1R is positive and its absolute value is large. The acceleration of the driving wheel 46R is similar to that in the state 6, and the acceleration direction of the driving wheel 46L is opposite to and large in the state 6. Therefore, the wheelchair 30 turns in the counterclockwise direction. In state 9, the manual driving force F1L is positive and the absolute value is large. The manual driving force F1R is negative and the absolute value is small. This situation is the opposite of state 6. So the wheelchair turns right. When the manual driving force F1L is positive and the absolute value is large, the manual driving force F1R -2 1- This paper size applies to China National Standard (CNS) Α4 specifications (210 ×: 297 mm) (Please read the precautions on the back before this page) ) • Equipment ·,? Τ line · Printed by the Central Standards Bureau of the Ministry of Economic Affairs and Consumer Cooperatives A7 B7 5. The invention description (I9) is negative and the absolute value is small. As shown in state 10, wheelchair 3Q is the opposite of state 7 Make a sharp right turn. In state 11, the manual driving force F1L is positive and the absolute value is large, and the manual driving force F1R is negative and the absolute value is large. This state is the opposite of state 8 so the wheelchair 30 turns clockwise. As described above, the accelerations of the motors 7SR, 76L connected to the driving wheels 46R, 46L change according to the manual driving forces F1R, F1L. In order to control the acceleration and moving direction of the wheelchair 30, the CPD 94 in the conversion unit 56 performs a lotus calculation operation as shown in the flowchart in FIG. After the arithmetic operation is started, a flag indicating a signal to be processed is set to, for example, "1" from a signal generated from the manual driving force detection unit 50R or a signal generated from the manual driving force detection unit 50L. This means that the signal generated from the unit 50R must be processed (step S2). Then, it is determined whether the flag is set to "1" (step S4). If the flag has been set to "1" (that is, the judgment in step S4 is "yes"), the CPU 94 reads the digital signal DflR generated by the A / D converter 92 (step S6), and uses it as the dimension after The data for arithmetic operation are stored in the CPU 94 (step S8). If it is decided to set the flag to "1" in step S4 (that is, the judgment in step S4 is no), the CPU 94 reads the digital signal DflL from the A / D converter 92 (step S10), and acts The data of subsequent movement effects fl are recorded in the CPU 94 (step S12). After step S8 or S12, determine the size of the asset section fl. If the data fl is 0, that is, the data fl is in the non-sensing zone, the motors 76R, 76L do not provide wheelchair acceleration. -22- This paper size applies to the national standard (CNS) A4 specification (210X297 mm) I ----.—-; --- 1¾ clothing! (Please read the cautions on the back first, then this page) Threading · Λ7 ____ _ B7 __ V. Description of Invention (20) Then, in order to process the signals generated from other manual driving force detection units, determine whether the flag is set to "丨"(Step S16). If the result is "YES", the flag is set to "0" in order to continue processing the signal generated from the manual driving force detection unit 50L (step S18). Then it returns to step S4. If the determination at step S16 is "No", the flag is set to "1" (step S20) in order to continue processing the signal generated from the manual driving force detection unit 50R, and then returns to step S4. If it is determined in step S14 that the data f 1 is greater than 0, an operation of f 2 = K · Π-oc is performed (step S 22). Then, the control amplifier 96 K generates an operation result, that is, data f2, which is used as the motor torque-related digital signal Df2R (step S24). On the other hand, if the judgment result data fl at step S14 is less than 0, a lotus is performed. The calculation operation f2 = K_fl + / S (step S26), and the control amplifier 96 controls the lotus calculation operation to be the result as the data f 2 of the motor torque-related digital signal Df2L (step S28). After step S24 or S28, steps S16 and S18 or S16 and S20 are continued, and then step S4 is performed to process a signal generated from another manual driving force detection unit. Printed by the Consumer Cooperative of the Central Standards Bureau of the Ministry of Economic Affairs As mentioned above, the CPU 94 reads the digital signals DflR and DflL alternately, and controls the motors 76R, 76L Μ to generate the signals DflR,
Df 1L所決定之加速度。 上述實施例中係使用二個驅動輪。但亦可在輪椅之四 個角落設置四個從動輪，而在二個後部從動輪間之中央設 置1個驅動輪。 -23- 本紙張尺度適用中國國家標準（CNS ) A4規格（210X297公釐） 經濟部中央標準局員工消費合作社印製 A7 ______B7五、發明説明（21 ) 圖式之簡單說明 第1圖為習知之電動輪椅之透視圖； 第2圖為本發明第1實施例之電動輪椅之透視圖； 第3圖為第2圖所示電動輪椅之方塊圖； 第4圖為第2圖所示電動輪椅之右側驅動輪之右側面 圖； 第5圖為第4圖中沿V-V線之斷面圖； 第6圖為第4圖所示右側驅動輪之左側面圖； 第7圖為第2圖所示電動輪椅中使用之發光二極體與 光敏電晶體間之位置關係之圖； 第8圖為第7圖所示接受光線之光敏電晶體中之電流 及其合成電流之波形圖； 第9圖為第2圖所示電動輪椅在中立位置時之手動驅 動力檢測單元之斷面圖，第9a圖為抽拉輪椅之握柄時，第 9圖所示手動驅動力檢测單元之相似斷面圖，第9b圖推進 握柄時，手動驅動力檢測單元之相似斷面圖； 第10圖為施加於手動驅動力檢测單元之手動驅動力與 手動驅動力檢測單元之移動之醑係圖； 第11a圖為施加於第2圖所示輪椅之手動驅動力與形 成供給於驅動該驅動輪之信號之馬達轉矩關連信號之闞係 圖； 第lib圖為施加於第2圖所示輪椅之手動驅動力與輪 椅之加速度之關係圖； 第12a圖為電動輪椅之速度随着時間之經過而改變之 -2 4 - (請先閱讀背面之注意事項再本頁) # 訂 終— 本紙張尺度適用中國國家標準（CNS ) A4規格（210X297公t > A7 B7 五、發明説明（22 ) 實施例之圖； 第12b圖為施加於電動輪椅之手動驅動力隨着時間之 經過而改變之實施例之圖； 第13圖為第3圖所示輪椅之信號變換單元中之CPU所 處理之蓮算之流程面。 符號說明 30----電動輪椅 32 ....車體 42R、42L...把手 44R、44L...從動輪 46R、46L...驅動輪 50R、50L..·手動驅動力檢測單元 76R、76L··.馬達 88R、88L ...控制單元 9 0 S、9 0 L ...驅動部 經濟部中央標準局員工消費合作社印製 本纸張尺度適用中國國家標準（CNS ) Λ4規格（210X297.公錄）Df 1L acceleration. In the above embodiment, two driving wheels are used. However, it is also possible to set four driven wheels in the four corners of the wheelchair and one driving wheel in the center between the two rear driven wheels. -23- This paper size applies to Chinese National Standard (CNS) A4 (210X297 mm) Printed by the Consumer Cooperatives of the Central Standards Bureau of the Ministry of Economic Affairs A7 ______B7 V. Description of the invention (21) A simple description of the drawing Figure 1 is familiar Perspective view of an electric wheelchair; Fig. 2 is a perspective view of the electric wheelchair of the first embodiment of the present invention; Fig. 3 is a block diagram of the electric wheelchair shown in Fig. 2; Fig. 4 is a diagram of the electric wheelchair shown in Fig. 2 Right side view of the right driving wheel; Figure 5 is a sectional view taken along the line VV in Figure 4; Figure 6 is a left side view of the right driving wheel shown in Figure 4; Figure 7 is shown in Figure 2 Figure 8 shows the positional relationship between light-emitting diodes and phototransistors used in electric wheelchairs; Figure 8 is a waveform diagram of the current and its combined current in a phototransistor that receives light as shown in Figure 7; Figure 9 is Sectional view of the manual driving force detection unit when the electric wheelchair is in the neutral position shown in Fig. 2, and Fig. 9a is a similar sectional view of the manual driving force detection unit shown in Fig. 9 when the handle of the wheelchair is pulled. , Figure 9b. When pushing the grip, the manual driving force detection unit is similar. Figure 10 is a series diagram of the manual driving force applied to the manual driving force detection unit and the movement of the manual driving force detection unit; Figure 11a is the manual driving force and formation applied to the wheelchair shown in Figure 2 The general diagram of the motor torque related signal supplied to the signal that drives the drive wheel; Figure lib is the relationship between manual driving force applied to the wheelchair shown in Figure 2 and the acceleration of the wheelchair; Figure 12a is the electric wheelchair Speed changes over time -2 4-(Please read the precautions on the back before this page) # Finalize — This paper size applies to China National Standard (CNS) A4 specifications (210X297 male > A7 B7 5 2. Description of the invention (22) A diagram of an embodiment; FIG. 12b is a diagram of an embodiment in which a manual driving force applied to an electric wheelchair changes with the passage of time; FIG. 13 is a signal conversion unit of the wheelchair shown in FIG. 3 The processing flow of the lotus processed by the CPU in the CPU. Symbol Explanation 30 ---- Electric Wheelchair 32 .... Body 42R, 42L ... Handle 44R, 44L ... Driven Wheel 46R, 46L ... Drive Wheels 50R, 50L ... Manual driving force detection units 76R, 76L ... Up to 88R, 88L ... control unit 9 0 S, 9 0 L ... driving part of Economic Affairs Bureau of Standards Co-op staff paper printed this scale applicable Chinese National Standard (CNS) Λ4 size (210X297. Public record)