WO2013047756A1 - Wheelchair motorization device - Google Patents
Wheelchair motorization device Download PDFInfo
- Publication number
- WO2013047756A1 WO2013047756A1 PCT/JP2012/075101 JP2012075101W WO2013047756A1 WO 2013047756 A1 WO2013047756 A1 WO 2013047756A1 JP 2012075101 W JP2012075101 W JP 2012075101W WO 2013047756 A1 WO2013047756 A1 WO 2013047756A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- wheelchair
- pair
- drive unit
- rotating
- connecting member
- Prior art date
Links
Images
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
- A61G5/04—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs motor-driven
- A61G5/047—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs motor-driven by a modular detachable drive system
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
- A61G5/10—Parts, details or accessories
- A61G5/1054—Large wheels, e.g. higher than the seat portion
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G2203/00—General characteristics of devices
- A61G2203/10—General characteristics of devices characterised by specific control means, e.g. for adjustment or steering
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
- A61G5/06—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs with obstacle mounting facilities, e.g. for climbing stairs, kerbs or steps
Definitions
- the present invention relates to a wheelchair electrification device.
- the drive parts can be easily attached / detached only by the user's own power. This is because the physical burden on the user is reduced, or the mental burden that a third party must be in the vicinity and ask the third party to attach or detach the wheelchair when using it. As a result, the user is freed from troublesomeness such as a relationship with a third party, and can act relatively freely without relying on the third party.
- Patent Document 1 a method of attaching the motorization apparatus to a front wheel portion in front of the wheelchair or the like (see, for example, Patent Document 1)
- Patent Document 2 a method of attaching the motorization apparatus to a front wheel portion in front of the wheelchair or the like.
- Patent Document 1 since the technique disclosed in Patent Document 1 is a front wheel drive system, the center of gravity of the entire wheelchair is separated from the actual drive part, and the drive wheel slips in situations such as climbing up a hill. As a result, sufficient climbing ability cannot be obtained. Furthermore, it is possible to change the direction of a general wheelchair by turning the pair of rear wheels opposite to each other, but if this front wheel drive system is used, the turning radius when turning the wheelchair will increase. , I can't move around.
- the present invention has been made in view of the above-described circumstances, and is detachable by a user alone, can obtain sufficient climbing ability, and can be turned with a small turning radius. It is an object of the present invention to provide a detachable wheelchair electrification device.
- a wheelchair electrification device is detachable from a pair of wheels provided in a wheelchair, and includes a drive unit that is a power source that generates a rotational force, a drive unit, and a pair of wheels around an axle of the wheel. And a connecting portion that transmits the rotational force of the driving portion to the pair of wheels, a holding portion that holds the driving portion, and an engaging portion that engages the holding portion and the wheelchair body.
- the drive unit is coupled to the pair of wheels included in the wheelchair around the wheel axle.
- a pair of wheels front wheels
- the wheelchair equipped with the wheelchair electrification device is driven by the rear wheel, so that sufficient climbing ability and turning performance are provided. can get.
- the user can attach or detach the wheelchair electrification device of the present invention alone.
- the drive unit includes a pair of motors that generate torque, and the holding unit holds a pair of frames that hold the pair of motors, and a pair of frames. And an arch-shaped outer shape whose both ends are connected to each other. By doing so, the wheelchair can be moved forward as if the wheelchair is placed between a pair of frames connected to the arch-shaped outer portion, and can be attached and detached as it is. Positioning can be performed easily.
- the connecting portion is rotated by the rotational force of the driving portion, and is connected to or detached from the connecting groove provided in the connecting component that can be attached to the wheel.
- a rotation connecting member and a locking member for preventing the rotation connecting member from rotating with respect to the connecting component in a state where the rotating connecting member is connected to the connecting component.
- the rotary connecting member is connected to or detached from the screw-like connecting groove provided in the connecting part, and is connected to the rotating shaft of the rotary connecting member.
- a pair of connecting members including tip portions that protrude in a direction parallel to the rotation axis and engage with the connecting grooves are provided at symmetrical positions, the tip portions are inserted into the connecting grooves, and the rotary connecting member is connected to the connecting component.
- the rotating connecting member may be pulled in a direction approaching the connecting component by meshing between the distal end portion and the connecting groove in accordance with the rotation in the direction of rotation.
- tip part of the connection member which protrudes in the rotating shaft direction with which a rotation connection member is provided is inserted with respect to the screw-shaped connection groove provided in the connection component, and a rotation connection member becomes a connection component.
- the tip portion and the connecting groove are engaged with each other in accordance with the rotation in the connecting direction.
- the rotary connecting member is pulled in a direction approaching the connecting component. Therefore, the rotation connecting member can be pulled in a direction approaching the connecting component by using the rotational force by which the driving unit rotates the rotating connecting member.
- the pair of connecting members are provided at positions symmetrical with respect to the rotation axis of the rotating connecting member, the rotating shaft of the rotating connecting member and the rotation of the connecting component are connected in a state where the rotating connecting member is connected to the connecting component. It is possible to match the axis.
- the outer shape portion may include an adjustment mechanism capable of adjusting the distance between the pair of motors. By doing in this way, it becomes possible to change the distance between a pair of motors according to the size of a wheelchair.
- the wheelchair electrification device includes a stand that can adjust the height of the pair of connecting portions from the ground. By doing in this way, when the wheelchair electrification apparatus and a wheelchair are attached and detached, it becomes unnecessary for the passenger
- the wheelchair electrification device includes a detection unit that detects an inclination angle of the wheelchair electrification device, and a control unit that controls the rotation of the drive unit so that the front wheel of the wheelchair floats. And have. By doing in this way, a wheelchair can be made to run with the front wheel of a wheelchair floating, and thereby a step and a difficult road can be easily traversed.
- the wheelchair electrification device of the sixth aspect of the present invention is arranged in the outer portion, and according to the force sensor that outputs a signal corresponding to the force applied by the wheelchair passenger, and the signal output by the force sensor, And a control unit that controls rotation of the drive unit.
- FIG. 1 It is a figure showing the state where the wheelchair electrification device concerning a 1st embodiment of the present invention was equipped to the wheelchair. It is a block diagram explaining the structure of the detachable wheelchair motorization apparatus of FIG. It is the figure which showed the detailed structure about the connection part of FIG. It is a figure at the time of connecting with the connection component by the side of the wheelchair by the connection part of FIG. It is a figure explaining arrangement
- (A) It is a figure which shows the shape of the adjustment mechanism before mounting
- FIGS. 12A and 12B are partial cross-sectional views of the connecting portion and the connecting component shown in FIG. 12, wherein FIG. 12A is a cross-sectional view taken along line AA in FIG. 12A and FIG. 12B is a cross-sectional view taken along line BB in FIG.
- FIG. 12 (c) is a CC cross-sectional view of FIG. 12 (c). It is a side view which shows a drive part and a locking member, (a) is the state before the movement of the locking member, (b) is the state during the movement of the locking member, (c) is the movement of the locking member. Each subsequent state is shown. It is a disassembled perspective view which shows the rotation connection member with which the connection components fixed to the rear wheel of a wheelchair, and the wheelchair motorization apparatus are provided. It is a perspective view which shows the state which the connection components fixed to the rear wheel of a wheelchair, and the rotation connection member with which a wheelchair motorization apparatus is connected.
- FIG. 1 It is a perspective view which shows the process in which a rotation connection member is connected with a connection component, (a) is a state before a rotation connection member is connected with a connection component, (b) is a rotation connection member connected with a connection component. (C) shows a state where the rotary connecting member is connected to the connecting part.
- FIG. 1 is a diagram illustrating a state in which the wheelchair electrification device 1 according to the present embodiment is mounted on a wheelchair.
- the wheelchair includes a wheelchair main body 100 that holds a wheelchair portion, and a front wheel 101 and a rear wheel 102 that are respectively provided on the wheelchair main body 100 via axles. Further, a connecting part 103 for fixing the wheelchair electrification device 1 to the wheelchair is attached around the axle of the rear wheel 102 on the wheelchair side.
- the wheelchair electrification apparatus 1 mounted on the wheelchair has a pair of rotating parts including a drive part 2 and a connecting part 3 and is connected to the periphery of the axle of the rear wheel 102. Further, a pair of frames 4 are formed so as to hold the rotating portion from the outside, and engaging portions 5 respectively formed on the pair of frames 4 are engaged with the wheelchair body. The frame 4 on one side is provided with a steering section 6 for the user to operate. Furthermore, the wheelchair electrification apparatus 1 includes a storage battery (not shown) that supplies power to the drive unit 2 and a control unit 7, which will be described later.
- the drive unit 2 is an outer rotor type motor in which a rotor is disposed outside the drive coil and the rotor outside the drive coil rotates.
- the rotation direction, the rotation speed, and the torque of each of the pair of motors are controlled by the control unit 7.
- the control unit 7 is provided with a wireless transmission mechanism
- the drive unit 2 is provided with a wireless reception mechanism, and the drive unit 2 is controlled using radio.
- the driving unit 2 is held by the frame 4 through the rotation shaft 2a.
- the drive unit 2 is an outer rotor type motor, and the outer rotor rotates with the rotating shaft stationary.
- the frame 4 is engaged with the wheelchair main body 100 by the engaging portion 5. Therefore, even if the drive unit 2 performs a rotational motion, the position of the frame 4 remains fixed with respect to the wheelchair, and the drive unit 2 and the connecting unit 3 can rotate about the rotation shaft 2a.
- This frame is formed of, for example, a plastic material such as FRP or a metal material such as aluminum.
- a hook-shaped part is formed on the frame 4, and the frame 4 is engaged with the wheelchair main body 100 by being hooked on the main body side of the wheelchair as the engaging portion 5.
- the drive unit 2 can be rotated while the frame 4 is fixed to the wheelchair body 100 even if the rotating unit rotates in a state where the wheelchair electrification device 1 and the wheelchair are connected. Then, the rear wheel 102 can be rotated by transmitting the rotational motion of the drive unit 2 via the connecting part 3 that is connected around the axle of the rear wheel 102 of the wheelchair.
- the connecting portion 3 is connected around the axle of the rear wheel 102 to transmit the rotation of the driving portion 2 to the rear wheel 102. Since the wheelchair rear wheels are thus electrified, sufficient climbing ability and turning performance can be obtained. In addition, since the area around the axle of the rear wheelchair wheel is within the reach of the user's hand, the user can attach or detach the wheelchair electrification device of this embodiment alone.
- the connecting portion 3 includes a ring-type rotary connecting member 3a having at least one or more bolt-type pins 3b on the side opposite to the surface facing the driving portion 2, and a surface facing the driving portion 2.
- a ring-type locking member 3c having at least one lock pin 3d on the opposite side and outside the diameter of the rotary connecting member 3a, and a pin driving portion 3e for moving the locking member 3c.
- the connecting component 103 that can be mounted on the rear wheel 102 has a connecting groove 103a formed in a portion facing the bolt-type pin 3b, and a lock pin hole 103b formed in a portion facing the lock pin 3d. It is a disk-shaped member.
- FIG. 3 shows a detailed view of the connecting portion 3 and the connecting component 103.
- the connecting portion 3 is arranged in the order of the locking member 3 c and the rotating connecting member 3 a from the drive portion 2 side.
- the rotation connecting member 3 a is fixed to the wheel side surface of the drive unit 2 with a bolt and rotates in accordance with the rotational movement of the drive unit 2. Further, the connecting groove 103a of the connecting part 103 is cut into a screw shape.
- the bolt-type pin 3b When the rotary connecting member 3a is rotated in the forward direction by the drive unit 2 while being in contact with the connecting component 103, the bolt-type pin 3b enters the inside along the screw-like groove with respect to the connecting groove 103a. When rotating in the reverse direction, the bolt-type pin 3b operates so as to come out of the connecting groove 103a.
- the bolt-type pin 3b since the bolt-type pin 3b has a shape in which the tip swells, when it enters the coupling groove 103a, the movement in the direction parallel to the rotation axis is limited.
- FIG. 11 is a perspective view showing a state before the connecting portion 3 is connected to the connecting component 103.
- the rotary connecting member 3a includes a pair of bolt-type pins (connecting members) 3b protruding in the direction of the rotating shaft 2a at positions symmetrical to the rotating shaft 2a of the rotating connecting member 3a.
- the bolt-type pin 3b includes a tip portion that protrudes in a direction parallel to the rotation shaft 2a and engages with the connecting groove 103a.
- FIG. 12 is a diagram illustrating a connection state between the connecting portion 3 and the connecting component 103.
- FIG. 12A is a diagram showing a state where the tip of the bolt-type pin 3b is inserted into the connecting groove 103a.
- FIG. 12B is a diagram showing a state where the tip of the bolt-type pin 3b is being connected to the connecting groove 103a.
- FIG. 12C is a diagram showing a state where the tip of the bolt-type pin 3b is connected to the connecting groove 103a.
- FIG. 13 is a partial cross-sectional view of the connecting portion 3 and the connecting component 103 shown in FIG.
- FIG. 13A is a cross-sectional view taken along the line AA of FIG. 12A, and shows a state where the tip of the bolt-type pin 3b is inserted into the connecting groove 103a.
- FIG. 13B is a cross-sectional view taken along the line BB of FIG. 12B, showing a state in which the tip of the bolt-type pin 3b is being connected to the connecting groove 103a.
- FIG. 13C is a cross-sectional view taken along the line CC of FIG. 12C, and shows a state where the tip of the bolt-type pin 3b is connected to the connecting groove 103a.
- FIG. 13 shows the periphery of one bolt-type pin 3b of the pair of bolt-type pins 3b provided in the rotary connecting member 3a, but the periphery of the other bolt-type pin 3b has the same configuration. The description is omitted.
- one end of the connecting groove 103a has an opening width into which the tip of the bolt-type pin 3b can be inserted. That is, the pair of bolt-type pins 3b can be inserted into one end of the pair of connecting grooves 103a shown in FIGS. 12 (a) and 13 (a). As apparent from FIGS. 13 (b) and 13 (c), the other part of the connecting groove 103a does not have an opening width into which the tip part can be inserted. 3b cannot be inserted into the connecting groove 103a.
- the connecting component 103 Since the connecting component 103 is fixed to the rear wheel 102 of the wheelchair body 100, in order to insert the pair of bolt-type pins 3b into the pair of connecting grooves 103a, it is necessary to adjust the phase of the connecting portion 3 with respect to the rotation axis. There is.
- the connecting portion 3 since the connecting portion 3 is given a rotational force by the driving portion 2, the phase of the connecting portion 3 with respect to the rotation axis changes as the connecting portion 3 rotates.
- the frame 4 When the frame 4 is pressed in the direction in which the wheelchair occupant approaches the rear wheel 102 of the wheelchair main body 100 with the connecting portion 3 rotated, a pair of bolts is obtained when the state shown in FIG.
- the mold pin 3b is inserted into the pair of connecting grooves 103a. Therefore, it is not necessary for the wheelchair passenger to adjust the phase of the connecting portion 3 with respect to the rotation axis.
- the rotation connecting member 3a is provided with a pair of bolt-type pins 3b at positions symmetrical with respect to the rotation axis, and the connecting component 103 is provided with a pair of connection grooves 103a at positions symmetrical with respect to the rotation axis. ing. As shown in FIG. 13 (b), the bolt-type pin 3 b is positioned with respect to the connecting groove 103 a, whereby the rotary connecting member 3 a is positioned with respect to the connecting component 103.
- the rotation connecting member 3a and the connecting component 103 are configured such that their rotation axes coincide with each other in a state where they are connected. Accordingly, by changing the state shown in FIG. 13A to the state shown in FIG. 13B, the rotational axes of the rotary connecting member 3a and the connecting component 103 can be made to coincide.
- FIG. 13B a part of the lower surface of the tip of the bolt-type pin 3b is in contact with the upper surface of the tapered protrusion of the connecting component 103.
- the rotary connecting member 3 a is drawn in a direction approaching the connecting component 103.
- Such a state is caused by the taper of the connecting component 103 as the bolt-type pin 3b moves in the direction of the arrow in FIG. 12A due to the rotational force by which the driving unit 2 rotates the rotating connecting member 3a.
- the bolt-shaped pin 3b moves in the upward direction in FIG.
- the upward direction in FIG. 13 is a direction in which the rotary connecting member 3 a is brought closer to the connecting component 103.
- the bolt-type pin 3b is further moved in the direction of the arrow in FIG. 12 (b) by the rotational force by which the drive unit 2 rotates the rotary connecting member 3a. It becomes the state of. In FIG. 13C, the rotary connecting member 3a is closer to the connecting component 103 than in FIG. 13B and is in contact with each other. In the state shown in FIG. 13C, a part of the upper surface of the bolt-type pin 3b is also in contact with the connecting component, and the positions of the rotary connecting member 3a and the connecting component 103 in the direction of the rotating shaft 2a are positioned. .
- the rotary connecting member 3a is pulled in the direction approaching the connecting component 103 as the bolt-type pin 3b moves in the connecting groove 103a.
- the taper-shaped protruding portion of the connecting component 103 has a shape in which the position where the tip portion contacts is gradually increased.
- the rotating connecting member is connected to the connecting component 103 in a state where the rotating connecting member 3a is connected. It becomes possible to make the rotating shaft of 3a and the rotating shaft of the connection component 103 correspond.
- FIG. 5 shows the relationship between the drive unit 2 and the locking member 3c.
- the locking member 3c is arranged along the cylindrical surface of the drive unit 2, and can move in a direction parallel to the rotation axis of the drive unit 2 as shown in FIG.
- the pin drive unit 3e has a cylindrical shape in which a cylindrical part is spirally slit, and rotates using a built-in motor for the pin drive unit as power.
- the edge of the locking member 3c is incorporated in the slit of the pin driving unit 3e, and the locking member 3c controls the movement of the driving unit 2 in the direction parallel to the rotation axis when the pin driving unit 3e rotates.
- FIG. 14 is a side view showing the drive unit 2 and the locking member 3c.
- FIG. 14A is a diagram illustrating a state before the locking member 3c is moved.
- FIG. 14B is a diagram showing a state in which the locking member 3c is moving.
- FIG. 14C is a view showing a state after the locking member 3c is moved.
- the pair of pin driving portions 3 e are arranged in a state where the edge of the locking member 3 c is inserted into a spiral slit carved in the cylindrical portion.
- the pin drive part 3e rotates in the direction shown by the arrow in a figure with the motive power of the motor for pin drive parts. And according to this rotation, the member 3c for a lock moves relatively to the right direction in FIG.
- the movement of the locking member 3c is started after the rotating connecting member 3a and the connecting component 103 are connected to each other as shown in FIG.
- the tip of the lock pin 3 d is disposed at a position facing the lock pin hole 103 b provided in the coupling component 103. Therefore, the tip of the lock pin 3 d that protrudes from the rotary connecting member 3 a according to the movement of the locking member 3 c is inserted into the lock pin hole 103 b provided in the connecting component 103.
- it can prevent that the rotation connection member 3a and the connection component 103 rotate relatively, and a mutual connection state will be cancelled
- the operation of inserting the lock pin 3d into the lock pin hole 103b provided in the connecting component has been described with reference to FIGS. 13 and 14.
- the operation of pulling out the lock pin 3d from the lock pin hole 103b provided in the connecting component 103 is as follows. That is, in order to pull out the lock pin 3d from the lock pin hole 103b provided in the connecting component 103, the pin driving portion 3e is rotated in the direction opposite to the arrow direction shown in FIG. By doing so, the state shown in FIG. 14C is changed to the state shown in FIG. 14B, and further the state shown in FIG.
- the bolt-type pin 3b of the rotary connecting member 3a is connected to or disconnected from the connecting part 103 as the rotating part rotates.
- the connection can be performed under the control of the drive unit 2.
- the lock pin 3 d of the locking member 3 c is fitted to the connecting part 103, thereby restricting a change in the relative position between the connecting part 3 and the connecting part 103.
- the steering unit 6 is provided with a joystick, and the user can instruct the direction of driving to the control unit 7 by tilting the joystick forward, backward, left and right.
- the input signal is transmitted to the control unit 7, and the control unit 7 transmits a control command to the motor that is the drive unit 2, so that the drive unit 2 operates.
- four push switches A, B, C, and D are provided on the steering unit 6 as control switches. When the user presses these switches, a corresponding signal is input to the control unit 7, and the control unit 7 controls to rotate either the motor of the driving unit 2 or the pin driving unit 3e to perform the mounting operation. To do.
- the motor of the drive unit 2 rotates forward while the switch A is pressed, the motor of the drive unit 2 rotates reversely while the switch B is pressed, and the pin is driven while the switch C is pressed. While the motor of the section 3e rotates forward and the switch D is pressed, the motor of the pin drive section 3e rotates in the reverse direction.
- This switch is used at the time of attachment / detachment, and can be attached / detached simply by pressing the switch, thereby reducing the burden on the user.
- the attachment / detachment process of the wheelchair electrification apparatus 1 is not limited to these processes, and may be attached or detached by appropriately adding or combining other processes.
- the attachment process is performed as follows.
- Step 1 The connecting part 3 of the wheelchair electrification device 1 is brought into contact with the connecting part 103 fixed to the rear wheel of the wheelchair.
- Step 2 The switch A is pressed to rotate the drive unit 2 in the forward direction, and the bolt-type pin 3b included in the rotary connection member 3a of the connection unit 3 is inserted into the connection groove 103a included in the connection component 103.
- Step 3 When the end is fully reached, release the switch A, press the switch C, rotate the pin drive unit 3e forward, and the lock pin 3d included in the locking member 3c becomes the lock pin hole 103b included in the connecting component 103. Insert inside.
- Step 4 When the end is reached, release the switch C to complete the connection.
- the removal process is performed in the following process.
- Step 5 The switch D is pressed to rotate the pin drive unit 3e in the reverse direction, and the lock pin 3d of the lock member 3c is extracted from the lock pin hole 103b of the connecting component 103.
- Step 6 When it reaches the end, the switch D is released, the switch B is pressed, the drive unit 2 is rotated in the reverse direction, and the bolt-type pin 3b included in the rotating connecting member 3a is connected to the connecting groove 103a included in the connecting component 103. Pull out from.
- Step 7 When it reaches the end, release the switch B to complete the removal.
- the drive unit 2 is connected to a pair of rear wheels 102 (wheels) included in the wheelchair.
- the pair of front wheels 101 is provided in front of the pair of rear wheels 102 (wheels) provided in the wheelchair, the wheelchair to which the wheelchair electrification device 1 is mounted is driven by the rear wheel, so that sufficient climbing ability is achieved. And turning performance.
- the bolt-type pin 3b that protrudes in the direction of the rotation axis included in the rotary connecting member 3a with respect to the screw-like connecting groove 103a provided in the connecting component 103
- the distal end portion and the connecting groove 103a are engaged with each other.
- the rotating connecting member 3 a is pulled in a direction approaching the connecting component 103 due to the engagement between the distal end portion and the connecting groove 103 a.
- the rotation connecting member 3 a can be pulled in a direction approaching the connecting component 103 by using the rotational force that rotates the rotating connecting member 3 a.
- the rotation axis of the rotation connection member 3a is connected in a state where the rotation connection member 3a is connected to the connection component 103.
- the rotation axis of the connecting component 103 can be matched.
- FIG. 7 is a diagram of a state in which the wheelchair electrification device 10 of the present embodiment is mounted on a wheelchair.
- the wheelchair electrification apparatus 10 attached to the wheelchair has a pair of rotating parts including a driving part 2 and a connecting part 3, and is connected to the rear wheel 102 around the axle.
- a pair of frames 4 are formed so as to hold the rotating portion from the outside, and an engaging portion 5 formed on the frame 4 is engaged with the wheelchair body.
- the wheelchair electrification apparatus 10 includes a storage battery (not shown) that supplies power to the drive unit 2, a control unit 7, and a stand 14, which will be described later.
- the driving unit 2 uses an outer rotor type motor, and the rotation direction, rotation speed, and torque of each of the pair of motors are controlled by the control unit 7. Then, the rear wheel 102 can be rotated by transmitting the rotational movement of the drive unit 2 through the connecting part 3 that is connected around the axle of the rear wheel 102 of the wheelchair. For this reason, since the wheelchair rear wheel 102 is motorized as in the first embodiment, sufficient climbing ability and turning performance can be obtained. In addition, since the area around the axle of the wheelchair rear wheel 102 is within a range that can be easily reached by the user, the wheelchair electrification device 10 of the present embodiment can be detached by the user alone.
- the communication between the control unit 7 and the drive unit 2 is not wireless, but the left and right rotation units and the control unit 7 are connected in a wired manner via a signal cable with the outer shape part 11 in between.
- the drive unit 2 is controlled.
- this signal cable for example, an electric wire or an optical cable can be used.
- the outer shape portion 11 is configured by an arch-like rigid body and is connected to the frame 4 via the adjustment mechanism 13.
- the steering part 12 and the control part 7 are arrange
- the outer shape portion 11 has a shape that protrudes from the frame 4 at an angle of 40 ° from the horizontal angle with respect to the ground when mounted on the wheelchair, and is external to the user's foot. It is designed so that the part 11 does not contact.
- the adjustment mechanism 13 of the wheelchair electrification device 10 is a parallel link mechanism having four nodes and one degree of freedom. Therefore, for example, before the wheelchair electrification device 10 is mounted on the wheelchair, as shown in FIG. 8 (a), the distance between the pair of rotating parts is widened by widening the nodes, and the adjustment is performed at the time of mounting. By moving the mechanism 13, as shown in FIG. 8B, the space between the nodes can be shortened, and the distance between the pair of rotating parts can be set to a distance suitable for wheelchair mounting.
- the adjusting mechanism 13 is configured such that when the distance between the rotating portions is increased, the node is narrowed so that the outer shape portion 11 is pushed forward. For this reason, when the wheelchair electrification apparatus 10 is mounted on the wheelchair, the arch is widely formed, and the wheelchair easily enters the arch. Therefore, the wheelchair user can easily attach the wheelchair electrification device 10 to the wheelchair.
- the wheelchair electrification apparatus 10 has a stand 14 in the frame 4 portion, and the entire wheelchair electrification apparatus is developed by expanding the stand 14 from the frame 4. Has the function of lifting the machine from the ground. Thereby, the wheelchair user can connect the wheelchair rear wheel and the wheelchair electrification device without lifting the wheelchair electrification device himself.
- FIGS. 9A and 9B show how the stand 14 is developed.
- the stand 14 is connected to the frame 4 via a linear motion mechanism.
- the cam portion 15 that drives the motor portion 16 as a driving force rotates, the stand 14 is pushed down and deployed. Thereby, the frame 4 can be lifted. Further, since the stand 14 is spring-like connected by a linear motion mechanism, the stand is lifted and stored by returning the rotation of the cam portion 15.
- the pin drive unit 3e does not include a motor. Instead, the pin drive unit 3e is driven via the timing belt 17 and the motor unit 16 is driven via the gear to the cam unit 15. Is fixed to the frame 4. Thereby, the rotation of the motor unit 16 is transmitted so as to drive both the pin drive unit 3e and the cam unit 15 at the same time.
- the motor unit 16 can be operated via the control unit 7 from the control switch.
- the driving of the motor unit 16 the amount by which the stand 14 is pushed down by the cam unit 15 can be controlled. For this reason, it is possible to adjust the height of the connecting portion from the ground by appropriately controlling the height of the stand. Thereby, since it becomes possible to match
- four push switches A, B, C, and D are provided as control switches.
- a corresponding signal is input to the control unit 7, and either the drive unit 2 or the pin drive unit 3e is rotated to perform the mounting operation or the stand unfolding operation.
- the motor of the drive unit 2 rotates forward while the switch A is pressed, and the motor of the drive unit 2 rotates reversely while the switch B is pressed.
- the switch C is being pressed
- the motor of the pin drive unit 3e rotates in the reverse direction, and at the same time, the stand 14 is deployed by pushing out the cam unit 15.
- the switch D is being pressed, the motor of the pin drive unit 3e rotates forward and the cam unit 15 returns, so that the stand 14 is stored.
- the steering unit 12 includes a plate-like rigid body disposed on the force sensor, a force sensor used for operation, an acceleration sensor used for inverted pendulum type control, and an angular velocity sensor.
- the operation in the present embodiment is performed by the force sensor measuring the force applied to the steering unit 12 and the control unit 7 controlling the drive unit 2 using the measured value of the force sensor. More specifically, the operation is performed by grasping an end portion of a plate-like rigid body arranged on the force sensor as shown in FIG.
- the force sensor is centered on the center of the top surface of the force sensor, the wheel front direction is the Y axis +, the right direction is the X axis +, the upper direction is the Z axis +, the moment in the X axis direction, the moment in the Y axis direction
- the moment in the Z-axis direction is measured, and the value is output to the control unit 7 as an electrical signal.
- the control part 7 analyzes the signal which the said force sensor outputs, and controls acceleration / deceleration of the drive part 2.
- FIG. As an example of the control method, when the moment in the X-axis direction exceeds the set threshold value 1, the vehicle is decelerated, when the moment falls below the threshold value 2, the vehicle is accelerated.
- each threshold satisfies the conditions of threshold 1>0> threshold 2 and threshold 3>0> threshold 4. These threshold values are determined in advance so as to be easily maneuvered and stored in a storage unit (not shown).
- the drive unit 2 is configured to run the wheelchair while the front wheel of the wheelchair is lifted by performing the inverted pendulum type control using the angular velocity sensor and the acceleration sensor provided in the steering unit 12. Can be controlled. As a result, the front wheel of the wheelchair can travel without touching an obstacle, so that it is possible to travel even on some steps or difficult roads. More specifically, the inclination (gradient) from the ground of the motorized device 10 is dynamically estimated from the values of the angular velocity sensor and the acceleration sensor. The output torque and the number of rotations of the motor are controlled so that the estimated inclination can be maintained, for example, from about 5 degrees to 15 degrees from the front wheel ground contact state.
- the attachment / detachment process of the wheelchair electrification apparatus 10 is not limited to these processes, and may be attached or detached by appropriately adding or combining other processes.
- the attachment process is performed as follows.
- Step 1 The wheelchair electrification apparatus 10 is lifted by pushing the switch C and rotating the motor of the pin drive unit 3e in reverse to unfold the stand.
- Step 2 The adjusting mechanism 13 is moved to increase the distance between the pair of rotating parts.
- Step 3 The wheelchair is moved into the arch-shaped outer portion 11 of the wheelchair electrification apparatus 10.
- Step 4 The adjustment mechanism 13 is moved to reduce the distance between the pair of rotating parts, and the connecting part 3 of the motorized device 10 is brought into contact with the connecting part 103 fixed to the rear wheel of the wheelchair.
- Step 5 The switch A is pressed to rotate the drive unit 2 in the forward direction, and the bolt type pin 3b included in the rotation connecting member 3a of the connecting unit 3 is inserted into the connecting groove 103a included in the connecting component 103.
- Step 6 Release the switch A and push the switch D when it reaches the end to rotate the pin drive unit 3e in the forward direction, so that the lock pin 3d of the lock member 3c is connected to the lock pin hole 103b of the connecting component 103.
- the stand 14 is stored at the same time.
- Step 7 When the end is reached, release the switch D to complete the connection.
- Step 1 The switch C is pressed to reversely rotate the pin drive unit 3e, and the lock pin 3d of the lock member 3c is extracted from the inside of the lock pin hole 103b of the connecting component 103, and at the same time, the stand is pulled out.
- Step 2 When it reaches the end, the switch C is released, the switch B is pressed, the drive part 2 is rotated in the reverse direction, the screw part of the connecting part, the bolt type pin 3b of the rotary connecting member 3a is connected to the connecting part 103 Is extracted from the inside of the connecting groove 103a.
- Step 3 When it reaches the end, release switch B.
- Step 4 The adjusting mechanism 13 is moved to increase the distance between the pair of rotating parts.
- Step 5 The wheelchair is moved from the arch-shaped outer portion 11 of the motorized device 10.
- Step 6) The adjustment mechanism 13 is moved to narrow the distance between the pair of rotating parts.
- Step 7) The switch D is pressed to rotate the motor of the pin drive unit 3e in the forward direction and store the stand.
- the wheelchair main body and the frame of the wheelchair electrification device are engaged by hooking the engaging portion formed in a hook shape to the wheelchair main body.
- an engaged part to be engaged with the engaging portion on the frame side may be prepared, and the wheelchair main body and the frame may be engaged by attaching this to the wheelchair main body.
- the engaging portion is a key type, and the engaged parts are engaged with each other by fitting the engaged parts as parts having holes for fitting with the key mold.
- an outer rotor type motor is used as the drive unit 2.
- a flat rotor type motor arranged so that the electric coil and the rotor face each other, or an inner rotor type motor that rotates with the rotor as a rotation axis may be used.
- an inner rotor type motor is used as the drive unit 2
- the frame is configured to hold the outside of the motor because the rotor at the center, not the outside of the motor, rotates as the rotation shaft.
- the connection part 3 at this time connects the rotor of the motor center and the periphery of the wheelchair rear wheel axle.
- the control part 7 may detect the connection of the rotation connection member 3a and the connection component 103.
- the control unit 7 determines that the connection between the rotary connecting member 3a and the connecting component 103 is completed, and the next step is a fitting for preventing the detachment by the locking member 3c. It is good also as controlling so that it may move to a suitable step. By doing in this way, attachment / detachment can be made easier when attaching / detaching the motorized device from the wheelchair.
- a rotation speed detection unit that detects the rotation speed of the drive unit may be provided. Specifically, at the time of attachment / detachment, a pulse that is output every time the drive unit 2 rotates a certain amount is detected using an encoder or a hall sensor, and the control unit 7 observes this pulse and measures the number of rotations. Thereby, it can be understood how much the drive unit 2 and the connecting unit 3 have rotated.
- the number of rotations related to connection and detachment is previously held by measurement as a threshold value, and when the measured number of rotations exceeds the threshold value, it is controlled that the rotation connection member 3a and the connection component 103 are connected or detached.
- the drive of the drive unit 2 may be instructed when the stand detection unit detects the storage of the stand 14.
- at least one photointerrupter is arranged on the frame 4 as a stand detection unit, and it is detected whether the cam unit 15 is in the arrangement in which the storage is completed or the arrangement in which the deployment is completed, The presence / absence of detection is transmitted to the control unit 7. By doing in this way, attachment / detachment can be made easier when attaching / detaching the motorized device from the wheelchair.
- the motor unit 16 is used for the deployment of the stand 14 and the driving of the locking member 3c. Instead of this, motors installed separately in the stand 14 and the pin driving unit 3e are used. It may be used.
- a part of the side surface of the slit groove of the pin drive unit 3e is used to reduce friction at the contact portion between the pin drive unit 3e and the locking member 3c during traveling.
- the locking member 3c may be controlled in a non-contact manner by disposing a ball caster or a magnet.
- the pair of bolt-type pins 3b included in the rotating connection member 3a included in the wheelchair electrification apparatus is used as a connection component including a pair of connection grooves 103a attached to the wheelchair rear wheel 102. It was to be linked.
- the third embodiment is different in the structure of the rotating connecting member provided in the wheelchair electrification device and the connecting parts provided in the wheelchair.
- FIG. 15 is an exploded perspective view showing the connecting component 203 fixed to the rear wheel 202 of the wheelchair and the rotary connecting member 23a included in the wheelchair electrification device.
- FIG. 16 is a perspective view showing a state in which the connecting component 203 fixed to the rear wheel 202 of the wheelchair is connected to the rotary connecting member 23a included in the wheelchair electrification device.
- the connecting screw 205 shown in FIG. 15 passes through the rim of the rear wheel 202 and the spacer member 206.
- the spacer member 206 and the hand rim 204 are fixed to the rear wheel 202 by engaging a male screw portion provided at the tip of the connecting screw 205 and a female screw portion provided in the hand rim 204.
- the four connecting screws 205 pass through the four rims of the rear wheel 202 and pass through the four spacer members 206.
- the hand rim 204 is fixed to the rear wheel 202 at four locations.
- the connecting screw and the hand rim 204 may be fixed by welding.
- the four spacer members 206 include a circular pipe portion extending in a direction orthogonal to the direction through which the connection screw 205 passes, and the tips of the circular pipe portions are connected to the connection component 203.
- the tip of the circular pipe portion and the connecting component 203 may be joined by welding or the like, or may be connected by a connecting screw or the like. In this way, the connecting part 203 is fixed to the rear wheel 202 of the wheelchair.
- Rotating connecting member 23a included in connecting portion 3 is connected to connecting component 203 fixed to the wheelchair.
- the rotary connecting member 23a includes protrusions that protrude in the radial direction with respect to the rotary shaft 20a at three locations of the rotary connecting member 23a.
- the three protrusions are pressed against the connecting component 203 and rotate in the direction indicated by the arrow in FIG. 15, thereby engaging with the three connecting grooves 203a.
- the three locking pin holes 203b provided in the connecting part 203 and the protruding portions of the rotary connecting member 23a are provided. The holes match.
- the lock pin 23d included in the lock member 23c is formed in the hole, as in the first and second embodiments. Inserted.
- the rotation connection member 23a rotates relative to the connection component 203. Is regulated. Therefore, it is possible to prevent the rotary connection member 23a from being detached from the connection component 203 even when the drive unit 22 switches the rotation direction.
- FIG. 17 shows a process of connecting the rotary connecting member 23 a to the connecting part 23.
- FIG. 17A shows a state before the rotating connecting member 23a is connected to the connecting part 203
- FIG. 17B shows a state in the middle of connecting the rotating connecting member to the connecting part.
- the three protrusions provided in the rotary connecting member 23a and the three connecting grooves 203a are not engaged. Therefore, the three lock pin holes 203b provided in the connecting component 203 do not coincide with the holes provided in the protruding portion of the rotary connecting member 23a.
- FIG. 17A shows a state before the rotating connecting member 23a is connected to the connecting part 203
- FIG. 17B shows a state in the middle of connecting the rotating connecting member to the connecting part.
- 17 (c) shows a state where the rotary connecting member 23 a is connected to the connecting component 203, and is provided at three lock pin holes 203 b provided in the connecting component 203 and the protruding portion of the rotary connecting member 23 a.
- the holes made coincide with each other.
- lock pins 23d are inserted into the three holes.
- the configuration of the third embodiment is advantageous in that the connecting component 203 can be easily attached to a general wheelchair.
- a typical wheelchair is provided with a tubular spacer member (not shown) instead of the spacer member 206.
- the hand rim 204 is fixed to the rear wheel 202 by connecting the connecting screw 205 and the hand rim 204 after passing the spacer member through the connecting screw 205.
- the connecting member 203 can be attached by replacing the spacer member of a general wheelchair with the spacer member 206 of the present embodiment.
Landscapes
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Handcart (AREA)
Abstract
Provided is a removable wheelchair motorization device that a user can attach and detach by him/herself, that can produce sufficient hill-climbing performance, and that allows turning with a small turning radius. Said wheelchair motorization device (1), which can be attached to and detached from a pair of wheels (102) on a wheelchair, has the following: a drive unit (2) that produces torque; a pair of coupling parts (3) that couple the drive unit (2) to the wheels (102) around the wheel axles, thereby transmitting the torque from the drive unit (2) to the pair of wheels (102); a retention part (4) that holds the drive unit (2); and an engagement part (5) that engages the retention part (4) to the wheelchair body (100).
Description
本発明は、車いす電動化装置に関するものである。
The present invention relates to a wheelchair electrification device.
通常の車いすの使用状況である、室内においては長距離の移動は必要とされない。そのため、電動式車いすではなく手動式車いすが重宝される。しかし、屋外においては、比較的長距離の移動を容易に可能とする電動式であることが好ましいことから、手動式車いすに駆動源を有する駆動部品を連結した着脱式電動車いすを屋外で使用する状況が考えられている。
∙ Long-distance movement is not required indoors, which is the normal usage situation of wheelchairs. For this reason, manual wheelchairs, not electric wheelchairs, are useful. However, since it is preferable to be an electric type that can easily move a relatively long distance outdoors, a detachable electric wheelchair in which a driving component having a driving source is connected to a manual wheelchair is used outdoors. The situation is considered.
また、着脱式電動車いすを屋外で使用する場合には、使用者自身の力のみで駆動部品が容易に着脱可能であることが望まれている。これは、使用者の肉体的な負担を軽減するためや、車いす使用時に第三者が周囲に居てその第三者に着脱を依頼しなければならないという精神的な負担を軽減することによる。これにより使用者は、第三者との関係等の煩わしさから解放されて、第三者に頼ることなく比較的自由に行動することが可能になる。
Also, when the detachable electric wheelchair is used outdoors, it is desired that the drive parts can be easily attached / detached only by the user's own power. This is because the physical burden on the user is reduced, or the mental burden that a third party must be in the vicinity and ask the third party to attach or detach the wheelchair when using it. As a result, the user is freed from troublesomeness such as a relationship with a third party, and can act relatively freely without relying on the third party.
これらの手動式車いすに対して駆動部品を連結して電動化するための車いす電動化装置としては、従来、車いす前方の前輪部分に対して電動化装置を取り付ける方式や(例えば特許文献1参照)、車いすの背面の車いす本体下部に電動化装置を取り付ける方式(例えば特許文献2)が知られている。
Conventionally, as a wheelchair electrification apparatus for connecting a driving component to the manual wheelchair for electrification, a method of attaching the motorization apparatus to a front wheel portion in front of the wheelchair or the like (see, for example, Patent Document 1) There is known a method (for example, Patent Document 2) in which a motorized device is attached to a lower part of a wheelchair body on the back of a wheelchair.
しかし、上記の特許文献1に開示されている技術では、前輪駆動方式であるため、車いす全体の重心と実際に駆動する部分とが離れてしまい、坂道を登るときなどの状況では駆動輪が滑ってしまい、十分な登坂能力が得られない。さらに、一般的な車いすは一対の後輪を互いに逆に旋回することで方向転換を行うことが可能であるが、この前輪駆動方式を用いる場合、車いす旋回時の回転半径が大きくなってしまうため、小回りのきいた動きができない。
However, since the technique disclosed in Patent Document 1 is a front wheel drive system, the center of gravity of the entire wheelchair is separated from the actual drive part, and the drive wheel slips in situations such as climbing up a hill. As a result, sufficient climbing ability cannot be obtained. Furthermore, it is possible to change the direction of a general wheelchair by turning the pair of rear wheels opposite to each other, but if this front wheel drive system is used, the turning radius when turning the wheelchair will increase. , I can't move around.
また、上記の特許文献2に開示されている車いす電動化装置では、車いすの背面の車いす本体下部に電動化装置を着脱するため、車いすに乗ったままでの取り付けが難しく、使用者が単独で着脱を行うことは困難である。
Further, in the wheelchair electrification device disclosed in the above-mentioned Patent Document 2, since the motorization device is attached to and detached from the lower part of the wheelchair body on the back of the wheelchair, it is difficult to attach while on the wheelchair, and the user can attach and detach it alone. Is difficult to do.
本発明は、上述した事情に鑑みてなされたものであって、使用者が単独で着脱可能であり、かつ、十分な登坂能力を得ることが可能で、回転半径の小さい旋回が可能である、着脱可能な車いす電動化装置を提供することを目的とする。
The present invention has been made in view of the above-described circumstances, and is detachable by a user alone, can obtain sufficient climbing ability, and can be turned with a small turning radius. It is an object of the present invention to provide a detachable wheelchair electrification device.
上記目的を達成するために、本発明は以下の手段を採用する。
本発明に係る車いす電動化装置は、車いすが備える一対の車輪に着脱可能であって、回転力を発生する動力源である駆動部と、駆動部と一対の車輪とを、該車輪の車軸周りに連結することで駆動部の回転力を一対の車輪に伝達する連結部と、駆動部を保持する保持部と、保持部と車いす本体とを係合する係合部と、を有する。 In order to achieve the above object, the present invention employs the following means.
A wheelchair electrification device according to the present invention is detachable from a pair of wheels provided in a wheelchair, and includes a drive unit that is a power source that generates a rotational force, a drive unit, and a pair of wheels around an axle of the wheel. And a connecting portion that transmits the rotational force of the driving portion to the pair of wheels, a holding portion that holds the driving portion, and an engaging portion that engages the holding portion and the wheelchair body.
本発明に係る車いす電動化装置は、車いすが備える一対の車輪に着脱可能であって、回転力を発生する動力源である駆動部と、駆動部と一対の車輪とを、該車輪の車軸周りに連結することで駆動部の回転力を一対の車輪に伝達する連結部と、駆動部を保持する保持部と、保持部と車いす本体とを係合する係合部と、を有する。 In order to achieve the above object, the present invention employs the following means.
A wheelchair electrification device according to the present invention is detachable from a pair of wheels provided in a wheelchair, and includes a drive unit that is a power source that generates a rotational force, a drive unit, and a pair of wheels around an axle of the wheel. And a connecting portion that transmits the rotational force of the driving portion to the pair of wheels, a holding portion that holds the driving portion, and an engaging portion that engages the holding portion and the wheelchair body.
本発明に係る車いす電動化装置よれば、車いすが備える一対の車輪に駆動部が車輪の車軸周りに連結される。車いすが備える一対の車輪の前方に一対の車輪(前輪)が備えられている場合、それにより、車いす電動化装置が装着された車いすが後輪駆動となるため、十分な登坂能力と旋回性能が得られる。また、車いす後輪の車軸周辺は使用者の手が容易に届く範囲であるため、使用者が単独で本発明の車いす電動化装置が着脱可能となっている。
According to the wheelchair electrification apparatus according to the present invention, the drive unit is coupled to the pair of wheels included in the wheelchair around the wheel axle. When a pair of wheels (front wheels) are provided in front of a pair of wheels included in a wheelchair, the wheelchair equipped with the wheelchair electrification device is driven by the rear wheel, so that sufficient climbing ability and turning performance are provided. can get. In addition, since the area around the axle of the rear wheelchair wheel is within the reach of the user's hand, the user can attach or detach the wheelchair electrification device of the present invention alone.
また、本発明の第1態様の車いす電動化装置は、駆動部が、それぞれ回転力を発生する一対のモータを有し、保持部が、一対のモータを保持する一対のフレームと、一対のフレームに両端が接続されるアーチ状の外形部とを有する。
このようにすることで、アーチ状の外形部に接続される一対のフレームの間に車椅子を入れるようにして車椅子を前進させ、そのまま着脱を行うことができるので、駆動部と車いす後輪との位置合わせを容易に行うことができる。 In the wheelchair electrification device according to the first aspect of the present invention, the drive unit includes a pair of motors that generate torque, and the holding unit holds a pair of frames that hold the pair of motors, and a pair of frames. And an arch-shaped outer shape whose both ends are connected to each other.
By doing so, the wheelchair can be moved forward as if the wheelchair is placed between a pair of frames connected to the arch-shaped outer portion, and can be attached and detached as it is. Positioning can be performed easily.
このようにすることで、アーチ状の外形部に接続される一対のフレームの間に車椅子を入れるようにして車椅子を前進させ、そのまま着脱を行うことができるので、駆動部と車いす後輪との位置合わせを容易に行うことができる。 In the wheelchair electrification device according to the first aspect of the present invention, the drive unit includes a pair of motors that generate torque, and the holding unit holds a pair of frames that hold the pair of motors, and a pair of frames. And an arch-shaped outer shape whose both ends are connected to each other.
By doing so, the wheelchair can be moved forward as if the wheelchair is placed between a pair of frames connected to the arch-shaped outer portion, and can be attached and detached as it is. Positioning can be performed easily.
また、本発明の第2態様の車いす電動化装置は、連結部が、駆動部の回転力により回転し、車輪に装着可能な連結部品に設けられた連結用溝に対して連結または脱離する回転連結部材と、連結部品に対して回転連結部材が連結した状態で、回転連結部材が連結部品に対して回転することを防止するロック用部材を備える。このようにすることで、駆動部が回転連結部材を回転させる回転力を用いて、回転連結部材を連結部品に連結し、連結部品に対して回転することを防止することができる。
In the wheelchair electrification device according to the second aspect of the present invention, the connecting portion is rotated by the rotational force of the driving portion, and is connected to or detached from the connecting groove provided in the connecting component that can be attached to the wheel. A rotation connecting member and a locking member for preventing the rotation connecting member from rotating with respect to the connecting component in a state where the rotating connecting member is connected to the connecting component. By doing in this way, it can prevent rotating with respect to a connection component by connecting a rotation connection member to a connection component using the rotational force which a drive part rotates a rotation connection member.
また、本発明の第2態様の車いす電動化装置においては、回転連結部材が、連結部品に設けられたスクリュー状の連結用溝に対して連結または脱離し、回転連結部材の回転軸に対して対称な位置に、回転軸に平行な方向に突出し連結用溝に係合する先端部を含む一対の連結部材を備え、先端部が連結用溝に挿入され、回転連結部材が連結部品に連結される方向に回転するのに応じて、先端部と連結用溝のかみ合いにより、回転連結部材が連結部品に近づく方向に引き込まれるようにしてもよい。
In the wheelchair electrification device according to the second aspect of the present invention, the rotary connecting member is connected to or detached from the screw-like connecting groove provided in the connecting part, and is connected to the rotating shaft of the rotary connecting member. A pair of connecting members including tip portions that protrude in a direction parallel to the rotation axis and engage with the connecting grooves are provided at symmetrical positions, the tip portions are inserted into the connecting grooves, and the rotary connecting member is connected to the connecting component. The rotating connecting member may be pulled in a direction approaching the connecting component by meshing between the distal end portion and the connecting groove in accordance with the rotation in the direction of rotation.
このようにすることで、連結部品に設けられたスクリュー状の連結用溝に対して、回転連結部材が備える回転軸方向に突出する連結部材の先端部が挿入され、回転連結部材が連結部品に連結される方向に回転するのに応じて、先端部と連結用溝がかみ合う。そして、先端部と連結用溝のかみ合いにより、回転連結部材が連結部品に近づく方向に引き込まれる。従って、駆動部が回転連結部材を回転させる回転力を用いて、回転連結部材を連結部品に近づく方向に引き込むことができる。また、回転連結部材の回転軸に対して対称な位置に一対の連結部材が設けられるため、連結部品に対して回転連結部材が連結した状態で、回転連結部材の回転軸と、連結部品の回転軸とを一致させることが可能となる。
By doing in this way, the front-end | tip part of the connection member which protrudes in the rotating shaft direction with which a rotation connection member is provided is inserted with respect to the screw-shaped connection groove provided in the connection component, and a rotation connection member becomes a connection component. The tip portion and the connecting groove are engaged with each other in accordance with the rotation in the connecting direction. Then, due to the engagement between the tip and the connecting groove, the rotary connecting member is pulled in a direction approaching the connecting component. Therefore, the rotation connecting member can be pulled in a direction approaching the connecting component by using the rotational force by which the driving unit rotates the rotating connecting member. Further, since the pair of connecting members are provided at positions symmetrical with respect to the rotation axis of the rotating connecting member, the rotating shaft of the rotating connecting member and the rotation of the connecting component are connected in a state where the rotating connecting member is connected to the connecting component. It is possible to match the axis.
また、本発明の第1態様の車いす電動化装置においては、外形部が、一対のモータの間の距離を調節可能な調節機構を備えていてもよい。
このようにすることで、車いすのサイズに合わせて一対のモータの間の距離を変更することが可能となる。 In the wheelchair electrification device according to the first aspect of the present invention, the outer shape portion may include an adjustment mechanism capable of adjusting the distance between the pair of motors.
By doing in this way, it becomes possible to change the distance between a pair of motors according to the size of a wheelchair.
このようにすることで、車いすのサイズに合わせて一対のモータの間の距離を変更することが可能となる。 In the wheelchair electrification device according to the first aspect of the present invention, the outer shape portion may include an adjustment mechanism capable of adjusting the distance between the pair of motors.
By doing in this way, it becomes possible to change the distance between a pair of motors according to the size of a wheelchair.
また、本発明の第3態様の車いす電動化装置は、一対の連結部の地面からの高さを調整可能なスタンドを有する。
このようにすることで、車いす電動化装置と車いすとを着脱する際に車いす電動化装置を車いす搭乗者が持ち上げる必要がなくなるため、容易に車いす電動化装置の着脱を行うことができる。 The wheelchair electrification device according to the third aspect of the present invention includes a stand that can adjust the height of the pair of connecting portions from the ground.
By doing in this way, when the wheelchair electrification apparatus and a wheelchair are attached and detached, it becomes unnecessary for the passenger | crew who lifts a wheelchair electrification apparatus, Therefore A wheelchair electrification apparatus can be attached or detached easily.
このようにすることで、車いす電動化装置と車いすとを着脱する際に車いす電動化装置を車いす搭乗者が持ち上げる必要がなくなるため、容易に車いす電動化装置の着脱を行うことができる。 The wheelchair electrification device according to the third aspect of the present invention includes a stand that can adjust the height of the pair of connecting portions from the ground.
By doing in this way, when the wheelchair electrification apparatus and a wheelchair are attached and detached, it becomes unnecessary for the passenger | crew who lifts a wheelchair electrification apparatus, Therefore A wheelchair electrification apparatus can be attached or detached easily.
また、本発明の第4態様の車いす電動化装置は、車いす電動化装置の傾斜角度を検出する検出手段と、車いすの前輪が浮いた状態で走行するように駆動部の回転を制御する制御部とを有する。
このようにすることで、車いす前輪を浮かせたままで車いすを走行させることができ、これにより段差や難路を容易に踏破することができる。 In addition, the wheelchair electrification device according to the fourth aspect of the present invention includes a detection unit that detects an inclination angle of the wheelchair electrification device, and a control unit that controls the rotation of the drive unit so that the front wheel of the wheelchair floats. And have.
By doing in this way, a wheelchair can be made to run with the front wheel of a wheelchair floating, and thereby a step and a difficult road can be easily traversed.
このようにすることで、車いす前輪を浮かせたままで車いすを走行させることができ、これにより段差や難路を容易に踏破することができる。 In addition, the wheelchair electrification device according to the fourth aspect of the present invention includes a detection unit that detects an inclination angle of the wheelchair electrification device, and a control unit that controls the rotation of the drive unit so that the front wheel of the wheelchair floats. And have.
By doing in this way, a wheelchair can be made to run with the front wheel of a wheelchair floating, and thereby a step and a difficult road can be easily traversed.
また、本発明の第6態様の車いす電動化装置は、外形部に配置され、車いす搭乗者の加える力に応じた信号を出力する力覚センサと、力覚センサが出力する信号に応じて、駆動部の回転を制御する制御部とを有する。
このように力覚センサを用いることで、可動部品が少なくなり、ソフトウェアによる調整が行いやすい。そのため、使用者の障害の度合いに応じて、ソフトウェアを調整することが可能となり、使用者の操作時の負担が小さくなる。 Further, the wheelchair electrification device of the sixth aspect of the present invention is arranged in the outer portion, and according to the force sensor that outputs a signal corresponding to the force applied by the wheelchair passenger, and the signal output by the force sensor, And a control unit that controls rotation of the drive unit.
By using the force sensor in this way, the number of moving parts is reduced, and adjustment by software is easy. Therefore, software can be adjusted according to the degree of failure of the user, and the burden on the user's operation is reduced.
このように力覚センサを用いることで、可動部品が少なくなり、ソフトウェアによる調整が行いやすい。そのため、使用者の障害の度合いに応じて、ソフトウェアを調整することが可能となり、使用者の操作時の負担が小さくなる。 Further, the wheelchair electrification device of the sixth aspect of the present invention is arranged in the outer portion, and according to the force sensor that outputs a signal corresponding to the force applied by the wheelchair passenger, and the signal output by the force sensor, And a control unit that controls rotation of the drive unit.
By using the force sensor in this way, the number of moving parts is reduced, and adjustment by software is easy. Therefore, software can be adjusted according to the degree of failure of the user, and the burden on the user's operation is reduced.
使用者が単独で着脱可能であり、かつ、十分な登坂能力を得ることが可能で、回転半径の小さい旋回が可能である、車いす電動化装置を提供することができる。
It is possible to provide a wheelchair electrification device that is detachable by a user and that can obtain sufficient climbing ability and that can be turned with a small turning radius.
〔第1実施形態〕
本発明の第1実施形態に係る車いす電動化装置について、図1~5を参照して以下に説明する。
図1は、本実施形態の車いす電動化装置1を車いすに装着した状態を示す図である。
ここで、車いすは、いす部分を保持する車いす本体100と、それぞれ車軸を介して車いす本体100に備え付けられた前輪101、及び後輪102からなっている。また、車いす側の後輪102の車軸周りには、車いす電動化装置1を車いすに固定するための連結部品103が取り付けられている。 [First Embodiment]
A wheelchair electrification apparatus according to a first embodiment of the present invention will be described below with reference to FIGS.
FIG. 1 is a diagram illustrating a state in which thewheelchair electrification device 1 according to the present embodiment is mounted on a wheelchair.
Here, the wheelchair includes a wheelchairmain body 100 that holds a wheelchair portion, and a front wheel 101 and a rear wheel 102 that are respectively provided on the wheelchair main body 100 via axles. Further, a connecting part 103 for fixing the wheelchair electrification device 1 to the wheelchair is attached around the axle of the rear wheel 102 on the wheelchair side.
本発明の第1実施形態に係る車いす電動化装置について、図1~5を参照して以下に説明する。
図1は、本実施形態の車いす電動化装置1を車いすに装着した状態を示す図である。
ここで、車いすは、いす部分を保持する車いす本体100と、それぞれ車軸を介して車いす本体100に備え付けられた前輪101、及び後輪102からなっている。また、車いす側の後輪102の車軸周りには、車いす電動化装置1を車いすに固定するための連結部品103が取り付けられている。 [First Embodiment]
A wheelchair electrification apparatus according to a first embodiment of the present invention will be described below with reference to FIGS.
FIG. 1 is a diagram illustrating a state in which the
Here, the wheelchair includes a wheelchair
また、車いすに装着される車いす電動化装置1は、駆動部2と連結部3を備えた1対の回転部を有し、後輪102の車軸周りに対して連結されている。また、外側から回転部を保持するように一対のフレーム4が形成されており、この一対のフレーム4にそれぞれ形成された係合部5が車いす本体と係合している。そして片側のフレーム4には使用者が操作を行うための操舵部6が設けられている。
さらに、車いす電動化装置1は駆動部2に電力を供給する蓄電池(不図示)及び、制御部7を有しているが、これらについては後述する。 Thewheelchair electrification apparatus 1 mounted on the wheelchair has a pair of rotating parts including a drive part 2 and a connecting part 3 and is connected to the periphery of the axle of the rear wheel 102. Further, a pair of frames 4 are formed so as to hold the rotating portion from the outside, and engaging portions 5 respectively formed on the pair of frames 4 are engaged with the wheelchair body. The frame 4 on one side is provided with a steering section 6 for the user to operate.
Furthermore, thewheelchair electrification apparatus 1 includes a storage battery (not shown) that supplies power to the drive unit 2 and a control unit 7, which will be described later.
さらに、車いす電動化装置1は駆動部2に電力を供給する蓄電池(不図示)及び、制御部7を有しているが、これらについては後述する。 The
Furthermore, the
次に、車いす電動化装置1の有する構造のそれぞれの機能について、図2を用いて説明する。
駆動部2は、本実施形態では駆動コイルの外側にロータが配置され、駆動コイルの外側のロータが回転するアウターロータ型のモータである。また、これら一対のモータは制御部7によってその回転方向、回転速度やトルクがそれぞれ制御される。これらの制御について、本実施形態においては、制御部7に無線送信機構、駆動部2に無線受信機構をもたせる、無線を用いて駆動部2の制御を行うものとする。 Next, each function of the structure of thewheelchair electrification device 1 will be described with reference to FIG.
In the present embodiment, thedrive unit 2 is an outer rotor type motor in which a rotor is disposed outside the drive coil and the rotor outside the drive coil rotates. In addition, the rotation direction, the rotation speed, and the torque of each of the pair of motors are controlled by the control unit 7. Regarding these controls, in this embodiment, the control unit 7 is provided with a wireless transmission mechanism, and the drive unit 2 is provided with a wireless reception mechanism, and the drive unit 2 is controlled using radio.
駆動部2は、本実施形態では駆動コイルの外側にロータが配置され、駆動コイルの外側のロータが回転するアウターロータ型のモータである。また、これら一対のモータは制御部7によってその回転方向、回転速度やトルクがそれぞれ制御される。これらの制御について、本実施形態においては、制御部7に無線送信機構、駆動部2に無線受信機構をもたせる、無線を用いて駆動部2の制御を行うものとする。 Next, each function of the structure of the
In the present embodiment, the
また、この駆動部2は回転軸2aを介してフレーム4に保持される。本実施形態において、駆動部2はアウターロータ型のモータであり、回転軸が静止した状態で外側のロータが回転する。ここで、フレーム4は係合部5により車いす本体100と係合している。そのため、駆動部2が回転運動を行っても、フレーム4の位置は車いすに対して固定されたままとなり、回転軸2aを中心として駆動部2及び連結部3は回転することができる。
このフレームは、例えばFRP等のプラスチック素材やアルミニウム等の金属素材により形成されている。また、フレーム4には例えば、フック状の部品が形成されており、これが係合部5として車椅子の本体側に引っ掛けられることにより、フレーム4と車いす本体100を係合する。 The drivingunit 2 is held by the frame 4 through the rotation shaft 2a. In the present embodiment, the drive unit 2 is an outer rotor type motor, and the outer rotor rotates with the rotating shaft stationary. Here, the frame 4 is engaged with the wheelchair main body 100 by the engaging portion 5. Therefore, even if the drive unit 2 performs a rotational motion, the position of the frame 4 remains fixed with respect to the wheelchair, and the drive unit 2 and the connecting unit 3 can rotate about the rotation shaft 2a.
This frame is formed of, for example, a plastic material such as FRP or a metal material such as aluminum. In addition, for example, a hook-shaped part is formed on theframe 4, and the frame 4 is engaged with the wheelchair main body 100 by being hooked on the main body side of the wheelchair as the engaging portion 5.
このフレームは、例えばFRP等のプラスチック素材やアルミニウム等の金属素材により形成されている。また、フレーム4には例えば、フック状の部品が形成されており、これが係合部5として車椅子の本体側に引っ掛けられることにより、フレーム4と車いす本体100を係合する。 The driving
This frame is formed of, for example, a plastic material such as FRP or a metal material such as aluminum. In addition, for example, a hook-shaped part is formed on the
これによって車いす電動化装置1と車いすが連結された状態で、回転部が回転しても、フレーム4を車いす本体100に対して固定したまま、駆動部2を回転させることができる。そして、駆動部2の回転運動を車いすの後輪102の車軸周りに連結する連結部3を介して伝達することで後輪102を回転させることが出来る。
Thus, the drive unit 2 can be rotated while the frame 4 is fixed to the wheelchair body 100 even if the rotating unit rotates in a state where the wheelchair electrification device 1 and the wheelchair are connected. Then, the rear wheel 102 can be rotated by transmitting the rotational motion of the drive unit 2 via the connecting part 3 that is connected around the axle of the rear wheel 102 of the wheelchair.
ここで、連結部3は後輪102の車軸周りに連結することで駆動部2の回転を後輪102に伝達している。このように車いす後輪が電動化されるため、十分な登坂能力と旋回性能が得られる。また、車いす後輪の車軸周辺は使用者の手が容易に届く範囲であるため、使用者が単独で本実施形態の車いす電動化装置が着脱可能となっている。
Here, the connecting portion 3 is connected around the axle of the rear wheel 102 to transmit the rotation of the driving portion 2 to the rear wheel 102. Since the wheelchair rear wheels are thus electrified, sufficient climbing ability and turning performance can be obtained. In addition, since the area around the axle of the rear wheelchair wheel is within the reach of the user's hand, the user can attach or detach the wheelchair electrification device of this embodiment alone.
ここで本実施の形態において、車いす電動化装置1の回転部が、どのように車いす本体100の後輪102と連結しているかについて図3~図5を用いて説明する。本実施形態において、連結部3は、駆動部2と対向する面とは逆側に少なくとも1つ以上のボルト型ピン3bを有するリング型の回転連結部材3aと、駆動部2と対向する面とは逆側かつ回転連結部材3aの径よりも外側に、少なくとも1つ以上のロックピン3dを有するリング型のロック用部材3cと、ロック用部材3cを移動させるためのピン駆動部3eで構成される。
また、後輪102に装着可能な連結部品103は、ボルト型ピン3bと対向する部分に形成された連結用溝103aと、ロックピン3dと対向する部分に形成されたロックピン用孔103bを有する円盤型の部材となっている。 Here, in the present embodiment, how the rotating part of thewheelchair electrification device 1 is connected to the rear wheel 102 of the wheelchair main body 100 will be described with reference to FIGS. In the present embodiment, the connecting portion 3 includes a ring-type rotary connecting member 3a having at least one or more bolt-type pins 3b on the side opposite to the surface facing the driving portion 2, and a surface facing the driving portion 2. Is composed of a ring-type locking member 3c having at least one lock pin 3d on the opposite side and outside the diameter of the rotary connecting member 3a, and a pin driving portion 3e for moving the locking member 3c. The
The connectingcomponent 103 that can be mounted on the rear wheel 102 has a connecting groove 103a formed in a portion facing the bolt-type pin 3b, and a lock pin hole 103b formed in a portion facing the lock pin 3d. It is a disk-shaped member.
また、後輪102に装着可能な連結部品103は、ボルト型ピン3bと対向する部分に形成された連結用溝103aと、ロックピン3dと対向する部分に形成されたロックピン用孔103bを有する円盤型の部材となっている。 Here, in the present embodiment, how the rotating part of the
The connecting
図3に連結部3及び連結部品103の詳細な図を示す。図3のように、連結部3は、駆動部2の側からロック用部材3c、回転連結部材3aの順で配置されている。また回転連結部材3aは駆動部2の車輪側の面にボルトで固定されており、駆動部2の回転運動に合わせて回転する。また、連結部品103の有する連結用溝103aはスクリュー状に溝が切られている。
FIG. 3 shows a detailed view of the connecting portion 3 and the connecting component 103. As shown in FIG. 3, the connecting portion 3 is arranged in the order of the locking member 3 c and the rotating connecting member 3 a from the drive portion 2 side. The rotation connecting member 3 a is fixed to the wheel side surface of the drive unit 2 with a bolt and rotates in accordance with the rotational movement of the drive unit 2. Further, the connecting groove 103a of the connecting part 103 is cut into a screw shape.
このため、連結部品103に接触した状態で、駆動部2により回転連結部材3aを正方向に回転すると、連結用溝103aに対してボルト型ピン3bがスクリュー状の溝に沿って内部に入り込み、逆方向に回転すると、連結用溝103aに対してボルト型ピン3bが外部に抜け出るように動作する。ここで、ボルト型ピン3bは先端が膨らんだ形状をしているため、連結用溝103aの内部に入り込むと、回転軸と平行方向の動きを制限する。これによって、ボルト型ピン3bが連結用溝103aの内部に入り込んだ状態では、回転連結部材3aが逆方向に回転しない限り連結部品103とかみ合った状態を維持する。
また、ボルト型ピン3bが連結用溝103a内部に完全に入り込んだ状態では、ロックピン3dのピン位置と、連結部品103のロックピン用孔103bが位置を合わせることができるように連結部3の部品同士は配置されている。 For this reason, when therotary connecting member 3a is rotated in the forward direction by the drive unit 2 while being in contact with the connecting component 103, the bolt-type pin 3b enters the inside along the screw-like groove with respect to the connecting groove 103a. When rotating in the reverse direction, the bolt-type pin 3b operates so as to come out of the connecting groove 103a. Here, since the bolt-type pin 3b has a shape in which the tip swells, when it enters the coupling groove 103a, the movement in the direction parallel to the rotation axis is limited. Thus, in a state where the bolt-type pin 3b enters the inside of the connecting groove 103a, the state where the rotating connecting member 3a is engaged with the connecting component 103 is maintained unless the rotating connecting member 3a rotates in the reverse direction.
Further, in a state where the bolt-type pin 3b completely enters the inside of the connecting groove 103a, the pin position of the lock pin 3d and the lock pin hole 103b of the connecting component 103 can be aligned with each other. Parts are arranged.
また、ボルト型ピン3bが連結用溝103a内部に完全に入り込んだ状態では、ロックピン3dのピン位置と、連結部品103のロックピン用孔103bが位置を合わせることができるように連結部3の部品同士は配置されている。 For this reason, when the
Further, in a state where the bolt-
図11は、連結部3が連結部品103と連結する前の状態を示す斜視図である。図11に示されるように、回転連結部材3aは、回転連結部材3aの回転軸2aに対して対称な位置に、回転軸2a方向に突出する一対のボルト型ピン(連結部材)3bを備える。ボルト型ピン3bは、回転軸2aに平行な方向に突出し連結用溝103aに係合する先端部を含んでいる。
図12は、連結部3と連結部品103の連結状態を示す図である。図12(a)は、ボルト型ピン3bの先端部が連結用溝103aに挿入された状態を示す図である。また、図12(b)は、ボルト型ピン3bの先端部が連結用溝103aに連結する途中の状態を示す図である。また、図12(c)は、ボルト型ピン3bの先端部が連結用溝103aに連結された状態を示す図である。 FIG. 11 is a perspective view showing a state before the connectingportion 3 is connected to the connecting component 103. As shown in FIG. 11, the rotary connecting member 3a includes a pair of bolt-type pins (connecting members) 3b protruding in the direction of the rotating shaft 2a at positions symmetrical to the rotating shaft 2a of the rotating connecting member 3a. The bolt-type pin 3b includes a tip portion that protrudes in a direction parallel to the rotation shaft 2a and engages with the connecting groove 103a.
FIG. 12 is a diagram illustrating a connection state between the connectingportion 3 and the connecting component 103. FIG. 12A is a diagram showing a state where the tip of the bolt-type pin 3b is inserted into the connecting groove 103a. FIG. 12B is a diagram showing a state where the tip of the bolt-type pin 3b is being connected to the connecting groove 103a. FIG. 12C is a diagram showing a state where the tip of the bolt-type pin 3b is connected to the connecting groove 103a.
図12は、連結部3と連結部品103の連結状態を示す図である。図12(a)は、ボルト型ピン3bの先端部が連結用溝103aに挿入された状態を示す図である。また、図12(b)は、ボルト型ピン3bの先端部が連結用溝103aに連結する途中の状態を示す図である。また、図12(c)は、ボルト型ピン3bの先端部が連結用溝103aに連結された状態を示す図である。 FIG. 11 is a perspective view showing a state before the connecting
FIG. 12 is a diagram illustrating a connection state between the connecting
図13は、図12に示される連結部3と連結部品103の部分断面図である。図13(a)は、図12(a)のA-A断面図であり、ボルト型ピン3bの先端部が連結用溝103aに挿入された状態を示す。図13(b)は、図12(b)のB-B断面図であり、ボルト型ピン3bの先端部が連結用溝103aに連結する途中の状態を示す。図13(c)は、図12(c)のC-C断面図であり、ボルト型ピン3bの先端部が連結用溝103aに連結された状態を示す。
なお、図13は、回転連結部材3aが備える一対のボルト型ピン3bのうち、一方のボルト型ピン3bの周辺を示しているが、他方のボルト型ピン3bの周辺も同様の構成であるので、説明を省略する。 13 is a partial cross-sectional view of the connectingportion 3 and the connecting component 103 shown in FIG. FIG. 13A is a cross-sectional view taken along the line AA of FIG. 12A, and shows a state where the tip of the bolt-type pin 3b is inserted into the connecting groove 103a. FIG. 13B is a cross-sectional view taken along the line BB of FIG. 12B, showing a state in which the tip of the bolt-type pin 3b is being connected to the connecting groove 103a. FIG. 13C is a cross-sectional view taken along the line CC of FIG. 12C, and shows a state where the tip of the bolt-type pin 3b is connected to the connecting groove 103a.
FIG. 13 shows the periphery of one bolt-type pin 3b of the pair of bolt-type pins 3b provided in the rotary connecting member 3a, but the periphery of the other bolt-type pin 3b has the same configuration. The description is omitted.
なお、図13は、回転連結部材3aが備える一対のボルト型ピン3bのうち、一方のボルト型ピン3bの周辺を示しているが、他方のボルト型ピン3bの周辺も同様の構成であるので、説明を省略する。 13 is a partial cross-sectional view of the connecting
FIG. 13 shows the periphery of one bolt-
図12(a)及び図13(a)に示されるように、連結用溝103aの一端部は、ボルト型ピン3bの先端部が挿入可能な開口幅となっている。つまり、一対のボルト型ピン3bが、図12(a)及び図13(a)に示される一対の連結用溝103aの一端部に挿入可能となっている。なお、図13(b)及び図13(c)から明らかなように、連結用溝103aの他の部分は、先端部が挿入可能な開口幅となっておらず、これらの位置ではボルト型ピン3bを連結用溝103aに挿入することができない。
12 (a) and 13 (a), one end of the connecting groove 103a has an opening width into which the tip of the bolt-type pin 3b can be inserted. That is, the pair of bolt-type pins 3b can be inserted into one end of the pair of connecting grooves 103a shown in FIGS. 12 (a) and 13 (a). As apparent from FIGS. 13 (b) and 13 (c), the other part of the connecting groove 103a does not have an opening width into which the tip part can be inserted. 3b cannot be inserted into the connecting groove 103a.
連結部品103は車いす本体100の後輪102に固定されているため、一対のボルト型ピン3bを一対の連結用溝103aに挿入するためには、連結部3の回転軸に対する位相を調整する必要がある。本実施形態では、連結部3は駆動部2により回転力を与えられるので、連結部3の回転軸に対する位相は連結部3の回転に伴って変化する。そして、連結部3が回転した状態で、車いす搭乗者によりフレーム4が車いす本体100の後輪102に近づける方向に押しつけられると、図12(a)に示される状態となった際に一対のボルト型ピン3bが一対の連結用溝103aに挿入される。従って、車いす搭乗者自身が連結部3の回転軸に対する位相を調整する必要がない。
Since the connecting component 103 is fixed to the rear wheel 102 of the wheelchair body 100, in order to insert the pair of bolt-type pins 3b into the pair of connecting grooves 103a, it is necessary to adjust the phase of the connecting portion 3 with respect to the rotation axis. There is. In the present embodiment, since the connecting portion 3 is given a rotational force by the driving portion 2, the phase of the connecting portion 3 with respect to the rotation axis changes as the connecting portion 3 rotates. When the frame 4 is pressed in the direction in which the wheelchair occupant approaches the rear wheel 102 of the wheelchair main body 100 with the connecting portion 3 rotated, a pair of bolts is obtained when the state shown in FIG. The mold pin 3b is inserted into the pair of connecting grooves 103a. Therefore, it is not necessary for the wheelchair passenger to adjust the phase of the connecting portion 3 with respect to the rotation axis.
また、図12(a)に示されるように一対のボルト型ピン3bが一対の連結用溝103aに挿入された後は、連結部3が備える回転連結部材3aが連結部品103に連結される方向に回転し、図12(b)及び図13(b)に示される状態となる。図13(b)に示されるように、この状態では、ボルト型ピン3bの先端部の下面の一部が、連結部品103のテーパ形状の突出部の上面に接している。図13(b)に示される状態では、先端部の図13(b)における右端と左端が連結部品103と接することにより、図13(b)の左右方向の位置決めがされる。ここで、図13(b)の左右方向とは、駆動軸2aに対する連結部品103の半径方向であり、駆動軸2aに対する回転連結部材3aの半径方向である。
In addition, after the pair of bolt-type pins 3b are inserted into the pair of connecting grooves 103a as shown in FIG. 12A, the direction in which the rotary connecting member 3a included in the connecting portion 3 is connected to the connecting component 103. To the state shown in FIG. 12 (b) and FIG. 13 (b). As shown in FIG. 13B, in this state, a part of the lower surface of the tip of the bolt-type pin 3 b is in contact with the upper surface of the tapered protrusion of the connecting component 103. In the state shown in FIG. 13B, the right end and the left end in FIG. 13B of the front end portion are in contact with the connecting component 103, thereby positioning in the left-right direction in FIG. 13B. Here, the left-right direction in FIG. 13B is the radial direction of the connecting component 103 with respect to the drive shaft 2a and the radial direction of the rotary connecting member 3a with respect to the drive shaft 2a.
回転連結部材3aには回転軸に対して対称な位置に一対のボルト型ピン3bが設けられており、連結部品103には回転軸に対して対称な位置に一対の連結用溝103aが設けられている。図13(b)に示されるように、ボルト型ピン3bが連結用溝103aに対して位置決めされることにより、回転連結部材3aが連結部品103に対して位置決めされる。回転連結部材3aと連結部品103は、それらが連結された状態で回転軸が一致するようになっている。従って、図13(a)に示される状態を図13(b)に示される状態にすることで、回転連結部材3aと連結部品103の回転軸を一致させることができる。
The rotation connecting member 3a is provided with a pair of bolt-type pins 3b at positions symmetrical with respect to the rotation axis, and the connecting component 103 is provided with a pair of connection grooves 103a at positions symmetrical with respect to the rotation axis. ing. As shown in FIG. 13 (b), the bolt-type pin 3 b is positioned with respect to the connecting groove 103 a, whereby the rotary connecting member 3 a is positioned with respect to the connecting component 103. The rotation connecting member 3a and the connecting component 103 are configured such that their rotation axes coincide with each other in a state where they are connected. Accordingly, by changing the state shown in FIG. 13A to the state shown in FIG. 13B, the rotational axes of the rotary connecting member 3a and the connecting component 103 can be made to coincide.
また、図13(b)では、ボルト型ピン3bの先端部の下面の一部が、連結部品103のテーパ形状の突出部の上面に接している。図13(a)と比較すると明らかなように、図13(b)では、回転連結部材3aが連結部品103に近づく方向に引き込まれている。このような状態となるのは、駆動部2が回転連結部材3aを回転させる回転力により、ボルト型ピン3bが図12(a)の矢印方向に移動するのに伴って、連結部品103のテーパ形状の突出部によりボルト型ピン3bが図13における上向き方向に移動するからである。ここで、図13における上向き方向とは、回転連結部材3aを連結部品103に近づける方向である。
Further, in FIG. 13B, a part of the lower surface of the tip of the bolt-type pin 3b is in contact with the upper surface of the tapered protrusion of the connecting component 103. As apparent from comparison with FIG. 13A, in FIG. 13B, the rotary connecting member 3 a is drawn in a direction approaching the connecting component 103. Such a state is caused by the taper of the connecting component 103 as the bolt-type pin 3b moves in the direction of the arrow in FIG. 12A due to the rotational force by which the driving unit 2 rotates the rotating connecting member 3a. This is because the bolt-shaped pin 3b moves in the upward direction in FIG. Here, the upward direction in FIG. 13 is a direction in which the rotary connecting member 3 a is brought closer to the connecting component 103.
図12(b)の状態となった後、駆動部2が回転連結部材3aを回転させる回転力により、ボルト型ピン3bが図12(b)の矢印方向に更に移動し、図12(c)の状態となる。図13(c)では、図13(b)よりも回転連結部材3aが更に連結部品103に近づき、互いに接した状態となっている。そして、図13(c)に示される状態では、ボルト型ピン3bの上面の一部も連結部品と接した状態となり、回転連結部材3aと連結部品103の回転軸2a方向の位置が位置決めされる。
このように、ボルト型ピン3bが連結用溝103aを移動するのに応じて回転連結部材3aが連結部品103に近づく方向に引き込まれる。このようになるのは、連結部品103のテーパ形状の突出部が、先端部が接する位置が徐々に高くなる形状となっているからである。 After the state shown in FIG. 12 (b), the bolt-type pin 3b is further moved in the direction of the arrow in FIG. 12 (b) by the rotational force by which the drive unit 2 rotates the rotary connecting member 3a. It becomes the state of. In FIG. 13C, the rotary connecting member 3a is closer to the connecting component 103 than in FIG. 13B and is in contact with each other. In the state shown in FIG. 13C, a part of the upper surface of the bolt-type pin 3b is also in contact with the connecting component, and the positions of the rotary connecting member 3a and the connecting component 103 in the direction of the rotating shaft 2a are positioned. .
Thus, therotary connecting member 3a is pulled in the direction approaching the connecting component 103 as the bolt-type pin 3b moves in the connecting groove 103a. This is because the taper-shaped protruding portion of the connecting component 103 has a shape in which the position where the tip portion contacts is gradually increased.
このように、ボルト型ピン3bが連結用溝103aを移動するのに応じて回転連結部材3aが連結部品103に近づく方向に引き込まれる。このようになるのは、連結部品103のテーパ形状の突出部が、先端部が接する位置が徐々に高くなる形状となっているからである。 After the state shown in FIG. 12 (b), the bolt-
Thus, the
以上の図12及び図13で説明したように、回転連結部材3aが連結部品103に連結される方向に回転するのに応じて、ボルト型ピン3bの先端部と連結用溝103aに突出した連結部品103のテーパ形状の突出部がかみ合う。そして、先端部と連結用溝103aのかみ合いにより、回転連結部材3aが連結部品103に近づく方向に引き込まれる。従って、駆動部2が回転連結部材3aを回転させる回転力を用いて、回転連結部材3aを連結部品103に近づく方向に引き込むことができる。また、回転連結部材3aの回転軸に対して対称な位置に一対のボルト型ピン(連結部材)3bが設けられるため、連結部品103に対して回転連結部材3aが連結した状態で、回転連結部材3aの回転軸と、連結部品103の回転軸とを一致させることが可能となる。
As described above with reference to FIGS. 12 and 13, as the rotary connecting member 3 a rotates in the direction in which it is connected to the connecting component 103, the connection protruding from the tip of the bolt-type pin 3 b and the connecting groove 103 a The tapered protrusions of the part 103 are engaged. Then, the rotating connecting member 3 a is pulled in a direction approaching the connecting component 103 due to the engagement between the distal end portion and the connecting groove 103 a. Therefore, the rotation connecting member 3 a can be pulled in a direction approaching the connecting component 103 by using the rotational force that rotates the rotating connecting member 3 a. Further, since the pair of bolt-type pins (connecting members) 3b are provided at positions symmetrical with respect to the rotation axis of the rotating connecting member 3a, the rotating connecting member is connected to the connecting component 103 in a state where the rotating connecting member 3a is connected. It becomes possible to make the rotating shaft of 3a and the rotating shaft of the connection component 103 correspond.
図5には駆動部2とロック用部材3cとの関係を示す。ロック用部材3cは駆動部2の円筒面に沿う形で配置され、図5のように、駆動部2の回転軸と平行方向への移動が可能となっている。また、ピン駆動部3eは円筒部分に螺旋状にスリットが刻まれた円柱形状をしており、内蔵するピン駆動部用のモータを動力として回転する。
ロック用部材3cの縁は、ピン駆動部3eのスリット内に組み込まれ、ピン駆動部3eが回転することにより、ロック用部材3cは駆動部2の回転軸と平行方向への移動を制御する。
このため、回転連結部材3aと連結部品103が連結した状態で、ピン駆動部3eを正方向に回転すると、ロックピン用孔103bに対してロックピン3dが内部に入り込み、ピン駆動部3eが逆方向に回転すると、ロックピン用孔103bに対してロックピン3dが外部に抜け出るように動作する。また、ピン駆動部3eが回転しない場合は、ロック用部材3cの移動を制限する。このようにすることで、ロックピン3dがロックピン用孔103bに侵入した状態のとき、回転連結部材3aが逆回転することは無くなり、連結部3と連結部品103は連結状態となる。 FIG. 5 shows the relationship between thedrive unit 2 and the locking member 3c. The locking member 3c is arranged along the cylindrical surface of the drive unit 2, and can move in a direction parallel to the rotation axis of the drive unit 2 as shown in FIG. Further, the pin drive unit 3e has a cylindrical shape in which a cylindrical part is spirally slit, and rotates using a built-in motor for the pin drive unit as power.
The edge of the lockingmember 3c is incorporated in the slit of the pin driving unit 3e, and the locking member 3c controls the movement of the driving unit 2 in the direction parallel to the rotation axis when the pin driving unit 3e rotates.
For this reason, when thepin driving part 3e is rotated in the forward direction in a state where the rotary connecting member 3a and the connecting part 103 are connected, the lock pin 3d enters the inside with respect to the lock pin hole 103b, and the pin driving part 3e is reversed. When it rotates in the direction, the lock pin 3d operates so as to come out of the lock pin hole 103b. Moreover, when the pin drive part 3e does not rotate, the movement of the locking member 3c is restricted. By doing in this way, when the lock pin 3d has entered the lock pin hole 103b, the rotary connecting member 3a does not rotate reversely, and the connecting portion 3 and the connecting component 103 are connected.
ロック用部材3cの縁は、ピン駆動部3eのスリット内に組み込まれ、ピン駆動部3eが回転することにより、ロック用部材3cは駆動部2の回転軸と平行方向への移動を制御する。
このため、回転連結部材3aと連結部品103が連結した状態で、ピン駆動部3eを正方向に回転すると、ロックピン用孔103bに対してロックピン3dが内部に入り込み、ピン駆動部3eが逆方向に回転すると、ロックピン用孔103bに対してロックピン3dが外部に抜け出るように動作する。また、ピン駆動部3eが回転しない場合は、ロック用部材3cの移動を制限する。このようにすることで、ロックピン3dがロックピン用孔103bに侵入した状態のとき、回転連結部材3aが逆回転することは無くなり、連結部3と連結部品103は連結状態となる。 FIG. 5 shows the relationship between the
The edge of the locking
For this reason, when the
図14は、駆動部2とロック用部材3cを示す側面図である。図14(a)は、ロック用部材3cの移動前の状態を示す図である。図14(b)は、ロック用部材3cの移動中の状態を示す図である。図14(c)は、ロック用部材3cの移動後の状態を示す図である。
図14の各図に示されるように、一対のピン駆動部3eが、その円筒部分に刻まれた螺旋状のスリットにロック用部材3cの縁が挿入された状態で配置されている。また、ピン駆動部3eは、ピン駆動部用のモータの動力により、図中の矢印で示す方向に回転する。そして、この回転に応じて、ロック用部材3cが駆動部2に対して図14中の右方向に相対的に移動する。 FIG. 14 is a side view showing thedrive unit 2 and the locking member 3c. FIG. 14A is a diagram illustrating a state before the locking member 3c is moved. FIG. 14B is a diagram showing a state in which the locking member 3c is moving. FIG. 14C is a view showing a state after the locking member 3c is moved.
As shown in each drawing of FIG. 14, the pair ofpin driving portions 3 e are arranged in a state where the edge of the locking member 3 c is inserted into a spiral slit carved in the cylindrical portion. Moreover, the pin drive part 3e rotates in the direction shown by the arrow in a figure with the motive power of the motor for pin drive parts. And according to this rotation, the member 3c for a lock moves relatively to the right direction in FIG.
図14の各図に示されるように、一対のピン駆動部3eが、その円筒部分に刻まれた螺旋状のスリットにロック用部材3cの縁が挿入された状態で配置されている。また、ピン駆動部3eは、ピン駆動部用のモータの動力により、図中の矢印で示す方向に回転する。そして、この回転に応じて、ロック用部材3cが駆動部2に対して図14中の右方向に相対的に移動する。 FIG. 14 is a side view showing the
As shown in each drawing of FIG. 14, the pair of
図14(a)に示される状態では、ロック用部材3cの移動前であるため、ロックピン3dの先端が回転連結部材3aのから突出しない位置に配置されている。図14(b)に示される状態では、ロック用部材3cの移動中であるため、ロックピン3dの先端が回転連結部材3aから突出した位置に配置されている。図14(c)に示される状態では、ロック用部材3cの移動後であるため、ロックピン3dの先端が回転連結部材3aから十分に突出した位置に配置されている。
In the state shown in FIG. 14 (a), since the locking member 3c is not moved, the tip of the lock pin 3d is arranged at a position where it does not protrude from the rotary connecting member 3a. In the state shown in FIG. 14B, since the locking member 3c is moving, the tip of the lock pin 3d is arranged at a position protruding from the rotary connecting member 3a. In the state shown in FIG. 14C, since the lock member 3c is moved, the tip of the lock pin 3d is disposed at a position sufficiently protruding from the rotary connecting member 3a.
ロック用部材3cの移動は、回転連結部材3aと連結部品103が図13(c)に示す連結状態となった後に開始される。図13(c)に示す連結状態では、ロックピン3dの先端が、連結部品103に設けられたロックピン用孔103bと対向する位置に配置されている。従って、ロック用部材3cの移動に応じて回転連結部材3aから突出するロックピン3dの先端は、連結部品103に設けられたロックピン用孔103bに挿入される。このようすることで、回転連結部材3aと連結部品103が相対的に回転し、互いの連結状態が解除されてしまうことを防止することができる。
The movement of the locking member 3c is started after the rotating connecting member 3a and the connecting component 103 are connected to each other as shown in FIG. In the coupled state shown in FIG. 13C, the tip of the lock pin 3 d is disposed at a position facing the lock pin hole 103 b provided in the coupling component 103. Therefore, the tip of the lock pin 3 d that protrudes from the rotary connecting member 3 a according to the movement of the locking member 3 c is inserted into the lock pin hole 103 b provided in the connecting component 103. By doing in this way, it can prevent that the rotation connection member 3a and the connection component 103 rotate relatively, and a mutual connection state will be cancelled | released.
なお、以上では、図13及び図14を用いて、ロックピン3dを連結部品に設けられたロックピン用孔103bに挿入する動作について説明した。これに対して、ロックピン3dを連結部品103に設けられたロックピン用孔103bからに引き抜く動作は以下に示す通りである。
すなわち、ロックピン3dを連結部品103に設けられたロックピン用孔103bから引き抜くには、図14に示される矢印方向とは反対の方向にピン駆動部3eを回転させる。このようにすることで、図14(c)に示す状態から図14(b)に示す状態となり、更に図14(a)に示す状態となる。 In the above, the operation of inserting thelock pin 3d into the lock pin hole 103b provided in the connecting component has been described with reference to FIGS. 13 and 14. On the other hand, the operation of pulling out the lock pin 3d from the lock pin hole 103b provided in the connecting component 103 is as follows.
That is, in order to pull out thelock pin 3d from the lock pin hole 103b provided in the connecting component 103, the pin driving portion 3e is rotated in the direction opposite to the arrow direction shown in FIG. By doing so, the state shown in FIG. 14C is changed to the state shown in FIG. 14B, and further the state shown in FIG.
すなわち、ロックピン3dを連結部品103に設けられたロックピン用孔103bから引き抜くには、図14に示される矢印方向とは反対の方向にピン駆動部3eを回転させる。このようにすることで、図14(c)に示す状態から図14(b)に示す状態となり、更に図14(a)に示す状態となる。 In the above, the operation of inserting the
That is, in order to pull out the
このように、車いす後輪に装着可能な連結部品103に対して、回転部の回転にともなって回転連結部材3aの有するボルト型ピン3bが連結部品103内部に連結、または脱離を行うため、駆動部2の制御により連結を行うことが出来る。また、これに合わせてロック用部材3cの有するロックピン3dが、連結部品103と嵌合することにより、連結部3と連結部品103の相対位置の変更を制限する。これにより、安定して車いす電動化装置1と車いすを連結することが出来る。
In this way, with respect to the connecting part 103 that can be attached to the rear wheel of the wheelchair, the bolt-type pin 3b of the rotary connecting member 3a is connected to or disconnected from the connecting part 103 as the rotating part rotates. The connection can be performed under the control of the drive unit 2. In accordance with this, the lock pin 3 d of the locking member 3 c is fitted to the connecting part 103, thereby restricting a change in the relative position between the connecting part 3 and the connecting part 103. Thereby, the wheelchair electrification apparatus 1 and a wheelchair can be connected stably.
次に、操舵部6について説明する。本実施形態では、操舵部にはジョイスティックが備えられており、使用者はこれを前後左右に倒すことで、駆動の方向性を制御部7に指示することができる。入力された信号を制御部7に伝達し、制御部7は駆動部2であるモータに対して制御指令を送信することで、駆動部2が動作することとなる。
また、操舵部6上には制御スイッチとして4個の押しスイッチA、B、C、Dが設けられている。使用者がこれらのスイッチを押すことにより、対応する信号が制御部7に入力され、駆動部2、ピン駆動部3eのモータのどちらかを回転させ、装着動作を行うように制御部7が制御する。本実施の形態においては、スイッチAを押している間は駆動部2のモータが正回転し、スイッチBを押している間は駆動部2のモータが逆回転し、スイッチCを押している間はピン駆動部3eのモータが正回転し、スイッチDを押している間はピン駆動部3eのモータが逆回転する。このスイッチは着脱時に用いられるものであり、スイッチを押すだけで着脱可能となるため、使用者の負担が少なくなる。 Next, thesteering unit 6 will be described. In this embodiment, the steering unit is provided with a joystick, and the user can instruct the direction of driving to the control unit 7 by tilting the joystick forward, backward, left and right. The input signal is transmitted to the control unit 7, and the control unit 7 transmits a control command to the motor that is the drive unit 2, so that the drive unit 2 operates.
Further, four push switches A, B, C, and D are provided on thesteering unit 6 as control switches. When the user presses these switches, a corresponding signal is input to the control unit 7, and the control unit 7 controls to rotate either the motor of the driving unit 2 or the pin driving unit 3e to perform the mounting operation. To do. In this embodiment, the motor of the drive unit 2 rotates forward while the switch A is pressed, the motor of the drive unit 2 rotates reversely while the switch B is pressed, and the pin is driven while the switch C is pressed. While the motor of the section 3e rotates forward and the switch D is pressed, the motor of the pin drive section 3e rotates in the reverse direction. This switch is used at the time of attachment / detachment, and can be attached / detached simply by pressing the switch, thereby reducing the burden on the user.
また、操舵部6上には制御スイッチとして4個の押しスイッチA、B、C、Dが設けられている。使用者がこれらのスイッチを押すことにより、対応する信号が制御部7に入力され、駆動部2、ピン駆動部3eのモータのどちらかを回転させ、装着動作を行うように制御部7が制御する。本実施の形態においては、スイッチAを押している間は駆動部2のモータが正回転し、スイッチBを押している間は駆動部2のモータが逆回転し、スイッチCを押している間はピン駆動部3eのモータが正回転し、スイッチDを押している間はピン駆動部3eのモータが逆回転する。このスイッチは着脱時に用いられるものであり、スイッチを押すだけで着脱可能となるため、使用者の負担が少なくなる。 Next, the
Further, four push switches A, B, C, and D are provided on the
次に車いす電動化装置1の車いす後輪102への着脱工程を、図6を用いて示す。
なお、車いす電動化装置1の着脱工程は、これらの工程に限定されるものではなく、他の工程の追加や、組み合わせを適宜おこなって着脱を行ってもよい。 Next, a process of attaching / detaching thewheelchair electrification apparatus 1 to / from the wheelchair rear wheel 102 will be described with reference to FIG.
In addition, the attachment / detachment process of thewheelchair electrification apparatus 1 is not limited to these processes, and may be attached or detached by appropriately adding or combining other processes.
なお、車いす電動化装置1の着脱工程は、これらの工程に限定されるものではなく、他の工程の追加や、組み合わせを適宜おこなって着脱を行ってもよい。 Next, a process of attaching / detaching the
In addition, the attachment / detachment process of the
図6に記載されるように、取り付け工程については、以下のような工程で行われる。
(ステップ1)車いす後輪に固定された連結部品103に車いす電動化装置1の連結部3を接触させる。
(ステップ2)スイッチAを押して駆動部2を正回転させ、連結部3の回転連結部材3aの有するボルト型ピン3bを、連結部品103の有する連結用溝103a内部に入れ込む。
(ステップ3)最後まで入りきったらスイッチAを離し、スイッチCを押して、ピン駆動部3eを正回転させて、ロック用部材3cの有するロックピン3dを、連結部品103の有するロックピン用孔103b内部に入れ込む。
(ステップ4)最後まで入りきったらスイッチCを離して、連結が完了する。 As described in FIG. 6, the attachment process is performed as follows.
(Step 1) The connectingpart 3 of the wheelchair electrification device 1 is brought into contact with the connecting part 103 fixed to the rear wheel of the wheelchair.
(Step 2) The switch A is pressed to rotate thedrive unit 2 in the forward direction, and the bolt-type pin 3b included in the rotary connection member 3a of the connection unit 3 is inserted into the connection groove 103a included in the connection component 103.
(Step 3) When the end is fully reached, release the switch A, press the switch C, rotate thepin drive unit 3e forward, and the lock pin 3d included in the locking member 3c becomes the lock pin hole 103b included in the connecting component 103. Insert inside.
(Step 4) When the end is reached, release the switch C to complete the connection.
(ステップ1)車いす後輪に固定された連結部品103に車いす電動化装置1の連結部3を接触させる。
(ステップ2)スイッチAを押して駆動部2を正回転させ、連結部3の回転連結部材3aの有するボルト型ピン3bを、連結部品103の有する連結用溝103a内部に入れ込む。
(ステップ3)最後まで入りきったらスイッチAを離し、スイッチCを押して、ピン駆動部3eを正回転させて、ロック用部材3cの有するロックピン3dを、連結部品103の有するロックピン用孔103b内部に入れ込む。
(ステップ4)最後まで入りきったらスイッチCを離して、連結が完了する。 As described in FIG. 6, the attachment process is performed as follows.
(Step 1) The connecting
(Step 2) The switch A is pressed to rotate the
(Step 3) When the end is fully reached, release the switch A, press the switch C, rotate the
(Step 4) When the end is reached, release the switch C to complete the connection.
また、図6に記載されるように、取り外し工程については、以下のような工程で行われる。
(ステップ5)スイッチDを押して、ピン駆動部3eを逆回転させ、ロック用部材3cの有するロックピン3dを、連結部品103の有するロックピン用孔103b内部から抜き出す。
(ステップ6)最後まで出きったらスイッチDを離し、スイッチBを押して、駆動部2を逆回転させて、回転連結部材3aの有するボルト型ピン3bを、連結部品103の有する連結用溝103a内部から引き抜く。
(ステップ7)最後まで出きったら、スイッチBを離して、取り外しが完了する。 Moreover, as described in FIG. 6, the removal process is performed in the following process.
(Step 5) The switch D is pressed to rotate thepin drive unit 3e in the reverse direction, and the lock pin 3d of the lock member 3c is extracted from the lock pin hole 103b of the connecting component 103.
(Step 6) When it reaches the end, the switch D is released, the switch B is pressed, thedrive unit 2 is rotated in the reverse direction, and the bolt-type pin 3b included in the rotating connecting member 3a is connected to the connecting groove 103a included in the connecting component 103. Pull out from.
(Step 7) When it reaches the end, release the switch B to complete the removal.
(ステップ5)スイッチDを押して、ピン駆動部3eを逆回転させ、ロック用部材3cの有するロックピン3dを、連結部品103の有するロックピン用孔103b内部から抜き出す。
(ステップ6)最後まで出きったらスイッチDを離し、スイッチBを押して、駆動部2を逆回転させて、回転連結部材3aの有するボルト型ピン3bを、連結部品103の有する連結用溝103a内部から引き抜く。
(ステップ7)最後まで出きったら、スイッチBを離して、取り外しが完了する。 Moreover, as described in FIG. 6, the removal process is performed in the following process.
(Step 5) The switch D is pressed to rotate the
(Step 6) When it reaches the end, the switch D is released, the switch B is pressed, the
(Step 7) When it reaches the end, release the switch B to complete the removal.
以上説明したように、本実施形態の車いす電動化装置1によれば、車いすが備える一対の後輪102(車輪)に駆動部2が連結される。車いすが備える一対の後輪102(車輪)の前方に一対の前輪101が備えられている場合、それにより、車いす電動化装置1が装着された車いすが後輪駆動となるため、十分な登坂能力と旋回性能が得られる。
As described above, according to the wheelchair electrification apparatus 1 of the present embodiment, the drive unit 2 is connected to a pair of rear wheels 102 (wheels) included in the wheelchair. When the pair of front wheels 101 is provided in front of the pair of rear wheels 102 (wheels) provided in the wheelchair, the wheelchair to which the wheelchair electrification device 1 is mounted is driven by the rear wheel, so that sufficient climbing ability is achieved. And turning performance.
また、本実施形態の車いす電動化装置1によれば、連結部品103に設けられたスクリュー状の連結用溝103aに対して、回転連結部材3aが備える回転軸方向に突出するボルト型ピン3bの先端部が挿入され、回転連結部材3aが連結部品103に連結される方向に回転するのに応じて、先端部と連結用溝103aがかみ合う。そして、先端部と連結用溝103aのかみ合いにより、回転連結部材3aが連結部品103に近づく方向に引き込まれる。従って、駆動部2が回転連結部材3aを回転させる回転力を用いて、回転連結部材3aを連結部品103に近づく方向に引き込むことができる。また、回転連結部材3aの回転軸に対して対称な位置に一対のボルト型ピン3bが設けられるため、連結部品103に対して回転連結部材3aが連結した状態で、回転連結部材3aの回転軸と、連結部品103の回転軸とを一致させることが可能となる。
In addition, according to the wheelchair electrification apparatus 1 of the present embodiment, the bolt-type pin 3b that protrudes in the direction of the rotation axis included in the rotary connecting member 3a with respect to the screw-like connecting groove 103a provided in the connecting component 103 As the distal end portion is inserted and the rotary connecting member 3a rotates in a direction to be connected to the connecting component 103, the distal end portion and the connecting groove 103a are engaged with each other. Then, the rotating connecting member 3 a is pulled in a direction approaching the connecting component 103 due to the engagement between the distal end portion and the connecting groove 103 a. Therefore, the rotation connecting member 3 a can be pulled in a direction approaching the connecting component 103 by using the rotational force that rotates the rotating connecting member 3 a. In addition, since the pair of bolt-type pins 3b are provided at positions symmetrical with respect to the rotation axis of the rotation connection member 3a, the rotation axis of the rotation connection member 3a is connected in a state where the rotation connection member 3a is connected to the connection component 103. And the rotation axis of the connecting component 103 can be matched.
〔第2実施形態〕 本発明の第2実施形態に係る車いす電動化装置について、図7~10を参照して以下に説明する。
なお、本実施形態においては、上述した第1実施形態と共通する構成については同一の符号を付して説明を省略し、第1実施形態と異なる構成について主に説明する。 Second Embodiment A wheelchair electrification apparatus according to a second embodiment of the present invention will be described below with reference to FIGS.
In the present embodiment, the same reference numerals are assigned to the same components as those in the first embodiment described above, and the description thereof will be omitted, and the configurations different from those in the first embodiment will be mainly described.
なお、本実施形態においては、上述した第1実施形態と共通する構成については同一の符号を付して説明を省略し、第1実施形態と異なる構成について主に説明する。 Second Embodiment A wheelchair electrification apparatus according to a second embodiment of the present invention will be described below with reference to FIGS.
In the present embodiment, the same reference numerals are assigned to the same components as those in the first embodiment described above, and the description thereof will be omitted, and the configurations different from those in the first embodiment will be mainly described.
図7は、本実施形態の車いす電動化装置10を車いすに装着した状態の図である。
ここで、車いすに装着される車いす電動化装置10は駆動部2と連結部3を備えた1対の回転部を有し、後輪102の車軸周りに対して連結している。また、外側から回転部を保持するように一対のフレーム4が形成されており、このフレーム4に形成された係合部5が車いす本体と係合している。 FIG. 7 is a diagram of a state in which thewheelchair electrification device 10 of the present embodiment is mounted on a wheelchair.
Here, thewheelchair electrification apparatus 10 attached to the wheelchair has a pair of rotating parts including a driving part 2 and a connecting part 3, and is connected to the rear wheel 102 around the axle. A pair of frames 4 are formed so as to hold the rotating portion from the outside, and an engaging portion 5 formed on the frame 4 is engaged with the wheelchair body.
ここで、車いすに装着される車いす電動化装置10は駆動部2と連結部3を備えた1対の回転部を有し、後輪102の車軸周りに対して連結している。また、外側から回転部を保持するように一対のフレーム4が形成されており、このフレーム4に形成された係合部5が車いす本体と係合している。 FIG. 7 is a diagram of a state in which the
Here, the
また、本実施の形態ではアーチ状の剛体により構成された外形部11を有しており、アーチ状の剛体のアーチ端のそれぞれに調節機構13として一対の平行リンク機構を有している。そして調節機構13を介して一対のフレーム4と外形部11が接続されている。そして、外形部11上には使用者が操作を行うために、操舵部12が設けられている。
さらに、車いす電動化装置10は駆動部2に電力を供給する蓄電池(不図示)、制御部7及びスタンド14を有しているが、これらについては後述する。 Moreover, in this Embodiment, it has theexternal shape part 11 comprised by the arch-shaped rigid body, and has a pair of parallel link mechanisms as the adjustment mechanism 13 in each arch end of an arch-shaped rigid body. The pair of frames 4 and the outer shape part 11 are connected via the adjusting mechanism 13. A steering unit 12 is provided on the outer shape 11 so that the user can perform an operation.
Furthermore, thewheelchair electrification apparatus 10 includes a storage battery (not shown) that supplies power to the drive unit 2, a control unit 7, and a stand 14, which will be described later.
さらに、車いす電動化装置10は駆動部2に電力を供給する蓄電池(不図示)、制御部7及びスタンド14を有しているが、これらについては後述する。 Moreover, in this Embodiment, it has the
Furthermore, the
駆動部2は、第1実施形態と同様に、アウターロータ型のモータを用い、これら一対のモータは制御部7によってその回転方向、回転速度やトルクがそれぞれ制御される。そして、これらの、駆動部2の回転運動を車いすの後輪102の車軸周りに連結する連結部3を介して伝達することで後輪102を回転させることが出来る。
このため、第1実施形態と同様に車いす後輪102が電動化されるため、十分な登坂能力と旋回性能が得られる。また、車いす後輪102の車軸周辺は使用者の手が容易に届く範囲であるため、使用者が単独で本実施形態の車いす電動化装置10が着脱可能となっている。 As in the first embodiment, the drivingunit 2 uses an outer rotor type motor, and the rotation direction, rotation speed, and torque of each of the pair of motors are controlled by the control unit 7. Then, the rear wheel 102 can be rotated by transmitting the rotational movement of the drive unit 2 through the connecting part 3 that is connected around the axle of the rear wheel 102 of the wheelchair.
For this reason, since the wheelchairrear wheel 102 is motorized as in the first embodiment, sufficient climbing ability and turning performance can be obtained. In addition, since the area around the axle of the wheelchair rear wheel 102 is within a range that can be easily reached by the user, the wheelchair electrification device 10 of the present embodiment can be detached by the user alone.
このため、第1実施形態と同様に車いす後輪102が電動化されるため、十分な登坂能力と旋回性能が得られる。また、車いす後輪102の車軸周辺は使用者の手が容易に届く範囲であるため、使用者が単独で本実施形態の車いす電動化装置10が着脱可能となっている。 As in the first embodiment, the driving
For this reason, since the wheelchair
ここで、本実施形態においては制御部7と駆動部2の間の通信については無線ではなく、外形部11を這わせた信号ケーブルを介して有線的に左右の回転部と制御部7を接続し、駆動部2の制御を行っている。この信号ケーブルとしては例えば電線や、光ケーブルを用いることができる。
Here, in the present embodiment, the communication between the control unit 7 and the drive unit 2 is not wireless, but the left and right rotation units and the control unit 7 are connected in a wired manner via a signal cable with the outer shape part 11 in between. The drive unit 2 is controlled. As this signal cable, for example, an electric wire or an optical cable can be used.
外形部11は、図7に示すように、アーチ状の剛体により構成され、調節機構13を介して、フレーム4と接続される。本実施形態においては、外形部11のアーチの頂点には操舵部12及び制御部7が配置されており、装着時には使用者の前方に操舵部12が位置する構造となっている。また、本実施形態では、外形部11は車いすへの装着時に地面と水平の角度から40°の角度をつけた形でフレーム4から張り出す形となっており、使用者の足に対して外形部11が接触しないように設計されている。
As shown in FIG. 7, the outer shape portion 11 is configured by an arch-like rigid body and is connected to the frame 4 via the adjustment mechanism 13. In this embodiment, the steering part 12 and the control part 7 are arrange | positioned at the vertex of the arch of the external shape part 11, and it has the structure where the steering part 12 is located ahead of a user at the time of mounting | wearing. Further, in the present embodiment, the outer shape portion 11 has a shape that protrudes from the frame 4 at an angle of 40 ° from the horizontal angle with respect to the ground when mounted on the wheelchair, and is external to the user's foot. It is designed so that the part 11 does not contact.
本実施形態において、車いす電動化装置10の有する調節機構13は、4つの節と1つの自由度を持つ並行リンク機構である。そのため、例えば車いす電動化装置10を車いすに装着する前は、図8(a)に示すように、節の間を広げることで、一対の回転部の間の距離を広げておき、装着時には調節機構13を可動させることで、図8(b)に示すように、節の間を縮め、一対の回転部間の距離を車いす装着に適した距離にすることができる。
また、調節機構13は回転部の間の距離を広げた時には外形部11が前方に押し出されるように節が狭まるようになっている。このため車いす電動化装置10を車いすに装着する際、アーチが広く形成されており、車いすはそのアーチ内部に入りやすくなっている。そのため車いす使用者はより容易に車いす電動化装置10を車いすに装着しやすくすることができる。 In the present embodiment, theadjustment mechanism 13 of the wheelchair electrification device 10 is a parallel link mechanism having four nodes and one degree of freedom. Therefore, for example, before the wheelchair electrification device 10 is mounted on the wheelchair, as shown in FIG. 8 (a), the distance between the pair of rotating parts is widened by widening the nodes, and the adjustment is performed at the time of mounting. By moving the mechanism 13, as shown in FIG. 8B, the space between the nodes can be shortened, and the distance between the pair of rotating parts can be set to a distance suitable for wheelchair mounting.
In addition, the adjustingmechanism 13 is configured such that when the distance between the rotating portions is increased, the node is narrowed so that the outer shape portion 11 is pushed forward. For this reason, when the wheelchair electrification apparatus 10 is mounted on the wheelchair, the arch is widely formed, and the wheelchair easily enters the arch. Therefore, the wheelchair user can easily attach the wheelchair electrification device 10 to the wheelchair.
また、調節機構13は回転部の間の距離を広げた時には外形部11が前方に押し出されるように節が狭まるようになっている。このため車いす電動化装置10を車いすに装着する際、アーチが広く形成されており、車いすはそのアーチ内部に入りやすくなっている。そのため車いす使用者はより容易に車いす電動化装置10を車いすに装着しやすくすることができる。 In the present embodiment, the
In addition, the adjusting
次に、図9(a)、(b)に示すように、車いす電動化装置10はフレーム4部分にスタンド14を有しており、フレーム4からスタンド14を展開することで車いす電動化装置全体を地面から持ち上げる機能を持つ。
これによって、車いす使用者が車いす電動化装置を自ら持ち上げることなく、車いす後輪と車いす電動化装置の連結を行うことができる。 Next, as shown in FIGS. 9A and 9B, thewheelchair electrification apparatus 10 has a stand 14 in the frame 4 portion, and the entire wheelchair electrification apparatus is developed by expanding the stand 14 from the frame 4. Has the function of lifting the machine from the ground.
Thereby, the wheelchair user can connect the wheelchair rear wheel and the wheelchair electrification device without lifting the wheelchair electrification device himself.
これによって、車いす使用者が車いす電動化装置を自ら持ち上げることなく、車いす後輪と車いす電動化装置の連結を行うことができる。 Next, as shown in FIGS. 9A and 9B, the
Thereby, the wheelchair user can connect the wheelchair rear wheel and the wheelchair electrification device without lifting the wheelchair electrification device himself.
図9(a)、(b)において、スタンド14がどのように展開するかを示す。
スタンド14はフレーム4に直動機構を介して接続されており、ここでモータ部16を原動力として駆動するカム部15が回転することで、スタンド14が押し下げられて、展開される。これにより、フレーム4を持ち上げることが可能となる。
また、スタンド14は直動機構によりばね的に接続されているため、カム部15の回転を戻すことによりスタンドが持ち上がり、収納される。 9A and 9B show how thestand 14 is developed.
Thestand 14 is connected to the frame 4 via a linear motion mechanism. When the cam portion 15 that drives the motor portion 16 as a driving force rotates, the stand 14 is pushed down and deployed. Thereby, the frame 4 can be lifted.
Further, since thestand 14 is spring-like connected by a linear motion mechanism, the stand is lifted and stored by returning the rotation of the cam portion 15.
スタンド14はフレーム4に直動機構を介して接続されており、ここでモータ部16を原動力として駆動するカム部15が回転することで、スタンド14が押し下げられて、展開される。これにより、フレーム4を持ち上げることが可能となる。
また、スタンド14は直動機構によりばね的に接続されているため、カム部15の回転を戻すことによりスタンドが持ち上がり、収納される。 9A and 9B show how the
The
Further, since the
なお、本実施形態においては、ピン駆動部3eにはモータが内蔵されておらず、代わりに、タイミングベルト17を介してピン駆動部3eを、歯車を介してカム部15を駆動するモータ部16がフレーム4に固定されて配置されている。これによりモータ部16の回転は、ピン駆動部3eとカム部15の両方を同時に駆動するように伝達する。このモータ部16は、制御スイッチから制御部7を介して動作させることができる。
ここで、モータ部16の駆動を制御することにより、カム部15によるスタンド14の押し下げ量を制御することができる。このため、スタンドの高さを適切に制御することで、記連結部の地面からの高さを調整可能とすることができる。これにより、連結部3と、連結部品103の高さをあわせることができるようになるため、着脱時に車いす電動化装置を持ち上げる必要がなくなる。 In the present embodiment, thepin drive unit 3e does not include a motor. Instead, the pin drive unit 3e is driven via the timing belt 17 and the motor unit 16 is driven via the gear to the cam unit 15. Is fixed to the frame 4. Thereby, the rotation of the motor unit 16 is transmitted so as to drive both the pin drive unit 3e and the cam unit 15 at the same time. The motor unit 16 can be operated via the control unit 7 from the control switch.
Here, by controlling the driving of themotor unit 16, the amount by which the stand 14 is pushed down by the cam unit 15 can be controlled. For this reason, it is possible to adjust the height of the connecting portion from the ground by appropriately controlling the height of the stand. Thereby, since it becomes possible to match | combine the height of the connection part 3 and the connection component 103, it becomes unnecessary to lift a wheelchair motorization apparatus at the time of attachment or detachment.
ここで、モータ部16の駆動を制御することにより、カム部15によるスタンド14の押し下げ量を制御することができる。このため、スタンドの高さを適切に制御することで、記連結部の地面からの高さを調整可能とすることができる。これにより、連結部3と、連結部品103の高さをあわせることができるようになるため、着脱時に車いす電動化装置を持ち上げる必要がなくなる。 In the present embodiment, the
Here, by controlling the driving of the
これらのモータを動かすため、第1実施形態と同様、制御スイッチとして4個の押しスイッチA、B、C、Dが設けられている。使用者が押しスイッチを押すことにより、対応する信号が制御部7に入力され、駆動部2、ピン駆動部3eのモータのどちらかを回転させ装着動作またはスタンド展開動作を行うように制御部7は制御を行う。
本実施形態においては、スイッチAを押している間は駆動部2のモータが正回転し、スイッチBを押している間は駆動部2のモータが逆回転する。スイッチCを押している間はピン駆動部3eのモータが逆回転し、同時にカム部15の押し出しによりスタンド14が展開される。スイッチDを押している間はピン駆動部3eのモータが正回転し、カム部15が戻ることでスタンド14が収納される。 In order to move these motors, as with the first embodiment, four push switches A, B, C, and D are provided as control switches. When the user presses the push switch, a corresponding signal is input to thecontrol unit 7, and either the drive unit 2 or the pin drive unit 3e is rotated to perform the mounting operation or the stand unfolding operation. Do control.
In the present embodiment, the motor of thedrive unit 2 rotates forward while the switch A is pressed, and the motor of the drive unit 2 rotates reversely while the switch B is pressed. While the switch C is being pressed, the motor of the pin drive unit 3e rotates in the reverse direction, and at the same time, the stand 14 is deployed by pushing out the cam unit 15. While the switch D is being pressed, the motor of the pin drive unit 3e rotates forward and the cam unit 15 returns, so that the stand 14 is stored.
本実施形態においては、スイッチAを押している間は駆動部2のモータが正回転し、スイッチBを押している間は駆動部2のモータが逆回転する。スイッチCを押している間はピン駆動部3eのモータが逆回転し、同時にカム部15の押し出しによりスタンド14が展開される。スイッチDを押している間はピン駆動部3eのモータが正回転し、カム部15が戻ることでスタンド14が収納される。 In order to move these motors, as with the first embodiment, four push switches A, B, C, and D are provided as control switches. When the user presses the push switch, a corresponding signal is input to the
In the present embodiment, the motor of the
操舵部12は、本実施形態では、力覚センサの上に配置される板状の剛体と、操作に用いる力覚センサと、倒立振子型制御に用いる加速度センサと角速度センサを有している。本実施の形態での操作は、力覚センサが操舵部12にかかる力を計測し、力覚センサの計測値を用いて制御部7が駆動部2の制御をすることによって行われる。
操作について、より詳細には、図6に示されるような、力覚センサの上に配置される板状の剛体の端部分を手で掴んで操作する。 In this embodiment, thesteering unit 12 includes a plate-like rigid body disposed on the force sensor, a force sensor used for operation, an acceleration sensor used for inverted pendulum type control, and an angular velocity sensor. The operation in the present embodiment is performed by the force sensor measuring the force applied to the steering unit 12 and the control unit 7 controlling the drive unit 2 using the measured value of the force sensor.
More specifically, the operation is performed by grasping an end portion of a plate-like rigid body arranged on the force sensor as shown in FIG.
操作について、より詳細には、図6に示されるような、力覚センサの上に配置される板状の剛体の端部分を手で掴んで操作する。 In this embodiment, the
More specifically, the operation is performed by grasping an end portion of a plate-like rigid body arranged on the force sensor as shown in FIG.
力覚センサは、力覚センサ上面の中心部を中心として、車いす前方向をY軸+、右方向をX軸+、上方向をZ軸+として、X軸方向のモーメント、Y軸方向のモーメント、Z軸方向のモーメント、を計測して、その値を電気信号として制御部7に出力する。そして 制御部7は、前記力覚センサが出力する信号を解析し、駆動部2の加減速の制御を行う。
制御方法の一例としては、X軸方向のモーメントが設定された閾値1を上回ったら減速、閾値2を下回ったら加速、Z軸方向のモーメントが閾値3を上回ったら左折、閾値4を下回ったら右折とする制御方法がある。
ここでそれぞれの閾値は、閾値1>0>閾値2、及び閾値3>0>閾値4、という条件を満たす。これらの閾値はあらかじめ操縦が容易な値を決定しておき、不図示の記憶部に保持しておく。 The force sensor is centered on the center of the top surface of the force sensor, the wheel front direction is the Y axis +, the right direction is the X axis +, the upper direction is the Z axis +, the moment in the X axis direction, the moment in the Y axis direction The moment in the Z-axis direction is measured, and the value is output to thecontrol unit 7 as an electrical signal. And the control part 7 analyzes the signal which the said force sensor outputs, and controls acceleration / deceleration of the drive part 2. FIG.
As an example of the control method, when the moment in the X-axis direction exceeds theset threshold value 1, the vehicle is decelerated, when the moment falls below the threshold value 2, the vehicle is accelerated. When the moment in the Z-axis direction exceeds the threshold value 3, it turns left. There is a control method to do.
Here, each threshold satisfies the conditions ofthreshold 1>0> threshold 2 and threshold 3>0> threshold 4. These threshold values are determined in advance so as to be easily maneuvered and stored in a storage unit (not shown).
制御方法の一例としては、X軸方向のモーメントが設定された閾値1を上回ったら減速、閾値2を下回ったら加速、Z軸方向のモーメントが閾値3を上回ったら左折、閾値4を下回ったら右折とする制御方法がある。
ここでそれぞれの閾値は、閾値1>0>閾値2、及び閾値3>0>閾値4、という条件を満たす。これらの閾値はあらかじめ操縦が容易な値を決定しておき、不図示の記憶部に保持しておく。 The force sensor is centered on the center of the top surface of the force sensor, the wheel front direction is the Y axis +, the right direction is the X axis +, the upper direction is the Z axis +, the moment in the X axis direction, the moment in the Y axis direction The moment in the Z-axis direction is measured, and the value is output to the
As an example of the control method, when the moment in the X-axis direction exceeds the
Here, each threshold satisfies the conditions of
また、本実施形態では、操舵部12に備えられた角速度センサと加速度センサを用いて、倒立振子型制御を行うことにより、車いす前輪を浮上させた状態で車いすを走行するように、駆動部2を制御可能とする。これによって、車いすの前輪が障害物に接触することなく走行できるので、多少の段差や難路でも走行可能となる。
より詳細には、角速度センサと加速度センサの値から、電動化装置10の地面からの斜度(傾斜度)を動的に推定する。推定された斜度が、前輪接地状態から例えば、5度から15度程度、増大した状態を維持できるように、モータの出力トルクと回転数を制御する。 Further, in the present embodiment, thedrive unit 2 is configured to run the wheelchair while the front wheel of the wheelchair is lifted by performing the inverted pendulum type control using the angular velocity sensor and the acceleration sensor provided in the steering unit 12. Can be controlled. As a result, the front wheel of the wheelchair can travel without touching an obstacle, so that it is possible to travel even on some steps or difficult roads.
More specifically, the inclination (gradient) from the ground of themotorized device 10 is dynamically estimated from the values of the angular velocity sensor and the acceleration sensor. The output torque and the number of rotations of the motor are controlled so that the estimated inclination can be maintained, for example, from about 5 degrees to 15 degrees from the front wheel ground contact state.
より詳細には、角速度センサと加速度センサの値から、電動化装置10の地面からの斜度(傾斜度)を動的に推定する。推定された斜度が、前輪接地状態から例えば、5度から15度程度、増大した状態を維持できるように、モータの出力トルクと回転数を制御する。 Further, in the present embodiment, the
More specifically, the inclination (gradient) from the ground of the
次に、車いす電動化装置10における車いす後輪102への着脱工程を、図10を用いて示す。
なお、車いす電動化装置10の着脱工程は、これらの工程に限定されるものではなく、他の工程の追加や、組み合わせを適宜おこなって着脱を行ってもよい。 Next, a process of attaching / detaching the wheelchairrear wheel 102 to / from the wheelchair electrification apparatus 10 will be described with reference to FIG.
In addition, the attachment / detachment process of thewheelchair electrification apparatus 10 is not limited to these processes, and may be attached or detached by appropriately adding or combining other processes.
なお、車いす電動化装置10の着脱工程は、これらの工程に限定されるものではなく、他の工程の追加や、組み合わせを適宜おこなって着脱を行ってもよい。 Next, a process of attaching / detaching the wheelchair
In addition, the attachment / detachment process of the
図10に記載されるように、取り付け工程については、以下のような工程で行われる。
(ステップ1)スイッチCを押して、ピン駆動部3eのモータを逆回転させてスタンドを展開することにより、車いす電動化装置10を持ち上げる。
(ステップ2)調節機構13を動かして、一対の回転部の間の距離を広げる。
(ステップ3)車いすを車いす電動化装置10のアーチ状の外形部11の中に移動させる。
(ステップ4)調節機構13を動かして、一対の回転部の間の距離を狭め、車いす後輪に固定された連結部品103に電動化装置10の連結部3を接触させる。
(ステップ5)スイッチAを押して駆動部2を正回転させ、連結部3の回転連結部材3aの有するボルト型ピン3bを、連結部品103の有する連結用溝103a内部に入れ込む。
(ステップ6)最後まで入りきったらスイッチAを離し、スイッチDを押して、ピン駆動部3eを正回転させて、ロック用部材3cの有するロックピン3dを、連結部品103の有するロックピン用孔103b内部に入れ込む、と同時にスタンド14を収納する。
(ステップ7)最後まで入りきったらスイッチDを離して、連結が完了する。 As described in FIG. 10, the attachment process is performed as follows.
(Step 1) Thewheelchair electrification apparatus 10 is lifted by pushing the switch C and rotating the motor of the pin drive unit 3e in reverse to unfold the stand.
(Step 2) Theadjusting mechanism 13 is moved to increase the distance between the pair of rotating parts.
(Step 3) The wheelchair is moved into the arch-shapedouter portion 11 of the wheelchair electrification apparatus 10.
(Step 4) Theadjustment mechanism 13 is moved to reduce the distance between the pair of rotating parts, and the connecting part 3 of the motorized device 10 is brought into contact with the connecting part 103 fixed to the rear wheel of the wheelchair.
(Step 5) The switch A is pressed to rotate thedrive unit 2 in the forward direction, and the bolt type pin 3b included in the rotation connecting member 3a of the connecting unit 3 is inserted into the connecting groove 103a included in the connecting component 103.
(Step 6) Release the switch A and push the switch D when it reaches the end to rotate thepin drive unit 3e in the forward direction, so that the lock pin 3d of the lock member 3c is connected to the lock pin hole 103b of the connecting component 103. The stand 14 is stored at the same time.
(Step 7) When the end is reached, release the switch D to complete the connection.
(ステップ1)スイッチCを押して、ピン駆動部3eのモータを逆回転させてスタンドを展開することにより、車いす電動化装置10を持ち上げる。
(ステップ2)調節機構13を動かして、一対の回転部の間の距離を広げる。
(ステップ3)車いすを車いす電動化装置10のアーチ状の外形部11の中に移動させる。
(ステップ4)調節機構13を動かして、一対の回転部の間の距離を狭め、車いす後輪に固定された連結部品103に電動化装置10の連結部3を接触させる。
(ステップ5)スイッチAを押して駆動部2を正回転させ、連結部3の回転連結部材3aの有するボルト型ピン3bを、連結部品103の有する連結用溝103a内部に入れ込む。
(ステップ6)最後まで入りきったらスイッチAを離し、スイッチDを押して、ピン駆動部3eを正回転させて、ロック用部材3cの有するロックピン3dを、連結部品103の有するロックピン用孔103b内部に入れ込む、と同時にスタンド14を収納する。
(ステップ7)最後まで入りきったらスイッチDを離して、連結が完了する。 As described in FIG. 10, the attachment process is performed as follows.
(Step 1) The
(Step 2) The
(Step 3) The wheelchair is moved into the arch-shaped
(Step 4) The
(Step 5) The switch A is pressed to rotate the
(Step 6) Release the switch A and push the switch D when it reaches the end to rotate the
(Step 7) When the end is reached, release the switch D to complete the connection.
また、図10(b)に記載されるように、取り外し工程については、以下のような工程で行われる。
(ステップ1)スイッチCを押して、ピン駆動部3eを逆回転させ、ロック用部材3cの有するロックピン3dを、連結部品103の有するロックピン用孔103b内部から抜き出す、と同時にスタンドを出す。
(ステップ2)最後まで出きったらスイッチCを離し、スイッチBを押して、駆動部2を逆回転させて、連結部のネジ部を、回転連結部材3aの有するボルト型ピン3bを、連結部品103の有する連結用溝103a内部から引き抜く。
(ステップ3)最後まで出きったら、スイッチBを離す。
(ステップ4)調節機構13を動かして、一対の回転部の間の距離を広げる。
(ステップ5)車いすを電動化装置10アーチ状の外形部11の中から移動させる。
(ステップ6)調節機構13を動かして、一対の回転部の間の距離を狭める。
(ステップ7)スイッチDを押して、ピン駆動部3eのモータを正回転させ、スタンドを収納する。 Moreover, as described in FIG. 10B, the removal process is performed in the following process.
(Step 1) The switch C is pressed to reversely rotate thepin drive unit 3e, and the lock pin 3d of the lock member 3c is extracted from the inside of the lock pin hole 103b of the connecting component 103, and at the same time, the stand is pulled out.
(Step 2) When it reaches the end, the switch C is released, the switch B is pressed, thedrive part 2 is rotated in the reverse direction, the screw part of the connecting part, the bolt type pin 3b of the rotary connecting member 3a is connected to the connecting part 103 Is extracted from the inside of the connecting groove 103a.
(Step 3) When it reaches the end, release switch B.
(Step 4) Theadjusting mechanism 13 is moved to increase the distance between the pair of rotating parts.
(Step 5) The wheelchair is moved from the arch-shapedouter portion 11 of the motorized device 10.
(Step 6) Theadjustment mechanism 13 is moved to narrow the distance between the pair of rotating parts.
(Step 7) The switch D is pressed to rotate the motor of thepin drive unit 3e in the forward direction and store the stand.
(ステップ1)スイッチCを押して、ピン駆動部3eを逆回転させ、ロック用部材3cの有するロックピン3dを、連結部品103の有するロックピン用孔103b内部から抜き出す、と同時にスタンドを出す。
(ステップ2)最後まで出きったらスイッチCを離し、スイッチBを押して、駆動部2を逆回転させて、連結部のネジ部を、回転連結部材3aの有するボルト型ピン3bを、連結部品103の有する連結用溝103a内部から引き抜く。
(ステップ3)最後まで出きったら、スイッチBを離す。
(ステップ4)調節機構13を動かして、一対の回転部の間の距離を広げる。
(ステップ5)車いすを電動化装置10アーチ状の外形部11の中から移動させる。
(ステップ6)調節機構13を動かして、一対の回転部の間の距離を狭める。
(ステップ7)スイッチDを押して、ピン駆動部3eのモータを正回転させ、スタンドを収納する。 Moreover, as described in FIG. 10B, the removal process is performed in the following process.
(Step 1) The switch C is pressed to reversely rotate the
(Step 2) When it reaches the end, the switch C is released, the switch B is pressed, the
(Step 3) When it reaches the end, release switch B.
(Step 4) The
(Step 5) The wheelchair is moved from the arch-shaped
(Step 6) The
(Step 7) The switch D is pressed to rotate the motor of the
第1実施形態および第2実施形態においては、フック状に形成された係合部を車いす本体に引っ掛けることで車いす本体と車いす電動化装置の有するフレームの係合をおこなっていた。しかしながらこれに代えて、フレーム側の係合部と係合させるための被係合部品を用意し、これを車いす本体に装着することで、車いす本体とフレームの係合を行ってもよい。この場合、例えば係合部は鍵型とし、被係合部品を鍵型と嵌合する穴を持つ部品として、これらを嵌合することで係合を行う。
In the first and second embodiments, the wheelchair main body and the frame of the wheelchair electrification device are engaged by hooking the engaging portion formed in a hook shape to the wheelchair main body. However, instead of this, an engaged part to be engaged with the engaging portion on the frame side may be prepared, and the wheelchair main body and the frame may be engaged by attaching this to the wheelchair main body. In this case, for example, the engaging portion is a key type, and the engaged parts are engaged with each other by fitting the engaged parts as parts having holes for fitting with the key mold.
このように専用の係合用の部品を用いることで、より強固に係合を行うことができ、安定した車いすの走行を行うことができるようになる。
As described above, by using the dedicated engaging parts, it is possible to perform the engagement more firmly, and it is possible to run the wheelchair stably.
また、第1実施形態および第2実施形態においては、駆動部2としてアウターロータ型のモータを用いている。しかしながらこれに代えて、電動コイルとロータが対面するように配置されたフラットロータ型のモータや、ロータが回転軸となって回転するインナーロータ型のモータを用いてもよい。
この内、駆動部2としてインナーロータ型のモータを用いる場合、モータ外側でなく中心にあるロータが回転軸として回転するため、フレームはモータ外側を保持するように構成されている。また、この時の連結部3は、モータ中心のロータと車いす後輪の車軸周りを連結するようになっている。 In the first and second embodiments, an outer rotor type motor is used as thedrive unit 2. However, instead of this, a flat rotor type motor arranged so that the electric coil and the rotor face each other, or an inner rotor type motor that rotates with the rotor as a rotation axis may be used.
Among these, when an inner rotor type motor is used as thedrive unit 2, the frame is configured to hold the outside of the motor because the rotor at the center, not the outside of the motor, rotates as the rotation shaft. Moreover, the connection part 3 at this time connects the rotor of the motor center and the periphery of the wheelchair rear wheel axle.
この内、駆動部2としてインナーロータ型のモータを用いる場合、モータ外側でなく中心にあるロータが回転軸として回転するため、フレームはモータ外側を保持するように構成されている。また、この時の連結部3は、モータ中心のロータと車いす後輪の車軸周りを連結するようになっている。 In the first and second embodiments, an outer rotor type motor is used as the
Among these, when an inner rotor type motor is used as the
また、第1実施形態及び第2実施形態においては、制御部7が回転連結部材3aと連結部品103の連結を検出してもよい。
具体的には、脱着時に、制御部7が駆動部2に流れる電流値を測定しておく。この時、ボルト型ピン3bが連結用溝103aに最後まで入ってから、さらに駆動部2により回転連結部材3aが回転すると、これ以上ボルト型ピン3bが動かないために駆動部2に負荷がかかり、駆動用モータに流れる電流値が上昇する。
ここである一定の閾値を超えると、回転連結部材3aと連結部品103の連結が完了したと制御部7が判断して、次のステップであるのロック用部材3cによる脱離防止のための嵌合のステップに移るように制御することとしてもよい。
このようにすることで、電動化装置を車いすから着脱するに際して着脱をより容易にすることが出来る。 Moreover, in 1st Embodiment and 2nd Embodiment, thecontrol part 7 may detect the connection of the rotation connection member 3a and the connection component 103. FIG.
Specifically, at the time of detachment, thecontrol unit 7 measures the value of the current flowing through the drive unit 2 in advance. At this time, after the bolt-type pin 3b has entered the connecting groove 103a to the end, if the rotary connecting member 3a is further rotated by the drive unit 2, the bolt-type pin 3b does not move any more, and a load is applied to the drive unit 2. The value of the current flowing through the drive motor increases.
When a certain threshold value is exceeded, thecontrol unit 7 determines that the connection between the rotary connecting member 3a and the connecting component 103 is completed, and the next step is a fitting for preventing the detachment by the locking member 3c. It is good also as controlling so that it may move to a suitable step.
By doing in this way, attachment / detachment can be made easier when attaching / detaching the motorized device from the wheelchair.
具体的には、脱着時に、制御部7が駆動部2に流れる電流値を測定しておく。この時、ボルト型ピン3bが連結用溝103aに最後まで入ってから、さらに駆動部2により回転連結部材3aが回転すると、これ以上ボルト型ピン3bが動かないために駆動部2に負荷がかかり、駆動用モータに流れる電流値が上昇する。
ここである一定の閾値を超えると、回転連結部材3aと連結部品103の連結が完了したと制御部7が判断して、次のステップであるのロック用部材3cによる脱離防止のための嵌合のステップに移るように制御することとしてもよい。
このようにすることで、電動化装置を車いすから着脱するに際して着脱をより容易にすることが出来る。 Moreover, in 1st Embodiment and 2nd Embodiment, the
Specifically, at the time of detachment, the
When a certain threshold value is exceeded, the
By doing in this way, attachment / detachment can be made easier when attaching / detaching the motorized device from the wheelchair.
また、第1実施形態及び第2実施形態においては、駆動部の回転数を検出する回転数検出部を備えてもよい。
具体的には、脱着時に、駆動部2が一定回転する毎に出すパルスをエンコーダやホールセンサを用いて検出し、制御部7がこのパルスを見て回転数を測定するようにする。これにより駆動部2及び連結部3がどの程度回転したかが分かる。
ここであらかじめ測定により連結、脱離にかかる回転数を閾値として保持しておき、測定した回転数が閾値を超えた際に、回転連結部材3aと連結部品103が連結、もしくは脱離したと制御部7が判断して、次のステップであるのロック用部材3cによる脱離防止のための嵌合のステップに移るように制御することとしてもよい。
このようにすることで、車いす電動化装置を車いすから着脱するに際して着脱をより容易にすることが出来る。 In the first embodiment and the second embodiment, a rotation speed detection unit that detects the rotation speed of the drive unit may be provided.
Specifically, at the time of attachment / detachment, a pulse that is output every time thedrive unit 2 rotates a certain amount is detected using an encoder or a hall sensor, and the control unit 7 observes this pulse and measures the number of rotations. Thereby, it can be understood how much the drive unit 2 and the connecting unit 3 have rotated.
Here, the number of rotations related to connection and detachment is previously held by measurement as a threshold value, and when the measured number of rotations exceeds the threshold value, it is controlled that therotation connection member 3a and the connection component 103 are connected or detached. It is good also as controlling as the part 7 judges and moves to the fitting step for the removal | desorption prevention by the locking member 3c which is the next step.
By doing in this way, attachment and detachment can be made easier when attaching and detaching the wheelchair electrification device from the wheelchair.
具体的には、脱着時に、駆動部2が一定回転する毎に出すパルスをエンコーダやホールセンサを用いて検出し、制御部7がこのパルスを見て回転数を測定するようにする。これにより駆動部2及び連結部3がどの程度回転したかが分かる。
ここであらかじめ測定により連結、脱離にかかる回転数を閾値として保持しておき、測定した回転数が閾値を超えた際に、回転連結部材3aと連結部品103が連結、もしくは脱離したと制御部7が判断して、次のステップであるのロック用部材3cによる脱離防止のための嵌合のステップに移るように制御することとしてもよい。
このようにすることで、車いす電動化装置を車いすから着脱するに際して着脱をより容易にすることが出来る。 In the first embodiment and the second embodiment, a rotation speed detection unit that detects the rotation speed of the drive unit may be provided.
Specifically, at the time of attachment / detachment, a pulse that is output every time the
Here, the number of rotations related to connection and detachment is previously held by measurement as a threshold value, and when the measured number of rotations exceeds the threshold value, it is controlled that the
By doing in this way, attachment and detachment can be made easier when attaching and detaching the wheelchair electrification device from the wheelchair.
また、第2実施形態においては、スタンド14の展開と収納を検出するスタンド検出部を有し、制御部7はスタンド検出部がスタンド14の展開を検出したときに駆動部2の停止を指示するようにし、スタンド検出部がスタンド14の収納を検出したときに駆動部2の駆動を指示するようにしてもよい。
具体的には、少なくとも1つ以上のフォトインタラプタをスタンド検出部としてフレーム4に配置し、カム部15が収納完了とされる配置、もしくは展開完了とされる配置に有るかどうかを検出し、その検出の有無を制御部7に送信する。
このようにすることで、電動化装置を車いすから着脱するに際して着脱をより容易にすることが出来る。 Moreover, in 2nd Embodiment, it has a stand detection part which detects expansion | deployment and accommodation of thestand 14, and the control part 7 instruct | indicates the stop of the drive part 2, when the stand detection part detects expansion | deployment of the stand 14. In this way, the drive of the drive unit 2 may be instructed when the stand detection unit detects the storage of the stand 14.
Specifically, at least one photointerrupter is arranged on theframe 4 as a stand detection unit, and it is detected whether the cam unit 15 is in the arrangement in which the storage is completed or the arrangement in which the deployment is completed, The presence / absence of detection is transmitted to the control unit 7.
By doing in this way, attachment / detachment can be made easier when attaching / detaching the motorized device from the wheelchair.
具体的には、少なくとも1つ以上のフォトインタラプタをスタンド検出部としてフレーム4に配置し、カム部15が収納完了とされる配置、もしくは展開完了とされる配置に有るかどうかを検出し、その検出の有無を制御部7に送信する。
このようにすることで、電動化装置を車いすから着脱するに際して着脱をより容易にすることが出来る。 Moreover, in 2nd Embodiment, it has a stand detection part which detects expansion | deployment and accommodation of the
Specifically, at least one photointerrupter is arranged on the
By doing in this way, attachment / detachment can be made easier when attaching / detaching the motorized device from the wheelchair.
また、第2実施形態において、スタンド14の展開、ロック用部材3cの駆動に対してモータ部16を用いたが、これに変えてスタンド14及びピン駆動部3eのそれぞれに別に設置されたモータを用いてもよい。
In the second embodiment, the motor unit 16 is used for the deployment of the stand 14 and the driving of the locking member 3c. Instead of this, motors installed separately in the stand 14 and the pin driving unit 3e are used. It may be used.
また、第1実施形態及び第2実施形態においては、走行時での、ピン駆動部3eとロック用部材3cの接触部分での摩擦を低減させるため、ピン駆動部3eのスリット溝の側面一部にボールキャスタを配置したり、磁石を配置することにより、ロック用部材3cを非接触に制御してもよい。
In the first and second embodiments, a part of the side surface of the slit groove of the pin drive unit 3e is used to reduce friction at the contact portion between the pin drive unit 3e and the locking member 3c during traveling. The locking member 3c may be controlled in a non-contact manner by disposing a ball caster or a magnet.
〔第3実施形態〕
第1実施形態及び第2実施形態は、車いす電動化装置が備える回転連結部材3aが備える一対のボルト型ピン3bを、車いす後輪102に取り付けられた一対の連結用溝103aを備える連結部品に連結するものであった。それに対して第3実施形態は、車いす電動化装置が備える回転連結部材と、車いすが備える連結部品の構造が異なる。 [Third Embodiment]
In the first embodiment and the second embodiment, the pair of bolt-type pins 3b included in the rotating connection member 3a included in the wheelchair electrification apparatus is used as a connection component including a pair of connection grooves 103a attached to the wheelchair rear wheel 102. It was to be linked. On the other hand, the third embodiment is different in the structure of the rotating connecting member provided in the wheelchair electrification device and the connecting parts provided in the wheelchair.
第1実施形態及び第2実施形態は、車いす電動化装置が備える回転連結部材3aが備える一対のボルト型ピン3bを、車いす後輪102に取り付けられた一対の連結用溝103aを備える連結部品に連結するものであった。それに対して第3実施形態は、車いす電動化装置が備える回転連結部材と、車いすが備える連結部品の構造が異なる。 [Third Embodiment]
In the first embodiment and the second embodiment, the pair of bolt-
図15は、車いすの後輪202に固定される連結部品203と、車いす電動化装置が備える回転連結部材23aを示す分解斜視図である。図16は、車いすの後輪202に固定される連結部品203と、車いす電動化装置が備える回転連結部材23aが連結した状態を示す斜視図である。
図15に示される連結ねじ205は、後輪202のリムとスペーサ部材206を貫通している。スペーサ部材206とハンドリム204は、連結ねじ205の先端に設けられた雄ねじ部と、ハンドリム204に設けられた雌ネジ部とが係合することにより、後輪202に固定される。4つの連結ねじ205は、後輪202のリムの4箇所を貫通し、4つのスペーサ部材206を貫通している。そして、ハンドリム204は、4箇所で後輪202に固定される。
なお、連結ネジとハンドリム204とは、溶接により固定されるようにしてもよい。 FIG. 15 is an exploded perspective view showing the connectingcomponent 203 fixed to the rear wheel 202 of the wheelchair and the rotary connecting member 23a included in the wheelchair electrification device. FIG. 16 is a perspective view showing a state in which the connecting component 203 fixed to the rear wheel 202 of the wheelchair is connected to the rotary connecting member 23a included in the wheelchair electrification device.
The connectingscrew 205 shown in FIG. 15 passes through the rim of the rear wheel 202 and the spacer member 206. The spacer member 206 and the hand rim 204 are fixed to the rear wheel 202 by engaging a male screw portion provided at the tip of the connecting screw 205 and a female screw portion provided in the hand rim 204. The four connecting screws 205 pass through the four rims of the rear wheel 202 and pass through the four spacer members 206. The hand rim 204 is fixed to the rear wheel 202 at four locations.
The connecting screw and thehand rim 204 may be fixed by welding.
図15に示される連結ねじ205は、後輪202のリムとスペーサ部材206を貫通している。スペーサ部材206とハンドリム204は、連結ねじ205の先端に設けられた雄ねじ部と、ハンドリム204に設けられた雌ネジ部とが係合することにより、後輪202に固定される。4つの連結ねじ205は、後輪202のリムの4箇所を貫通し、4つのスペーサ部材206を貫通している。そして、ハンドリム204は、4箇所で後輪202に固定される。
なお、連結ネジとハンドリム204とは、溶接により固定されるようにしてもよい。 FIG. 15 is an exploded perspective view showing the connecting
The connecting
The connecting screw and the
4つのスペーサ部材206は、連結ねじ205が貫通する方向に直交する方向に延在する円管部を備えており、この円管部の先端が連結部品203に連結される。円管部の先端と連結部品203とは、溶接等により接合されていても良いし、連結ねじ等により連結されていても良い。このようにして、連結部品203が車いすの後輪202に固定される。
The four spacer members 206 include a circular pipe portion extending in a direction orthogonal to the direction through which the connection screw 205 passes, and the tips of the circular pipe portions are connected to the connection component 203. The tip of the circular pipe portion and the connecting component 203 may be joined by welding or the like, or may be connected by a connecting screw or the like. In this way, the connecting part 203 is fixed to the rear wheel 202 of the wheelchair.
車いすに固定される連結部品203には、連結部3が備える回転連結部材23aが連結される。図15に示されるように、回転連結部材23aは、回転連結部材23aの3箇所に、回転軸20aに対して半径方向に突出する突出部を備える。この3つの突出部は、連結部品203に押しつけられ図15中で矢印に示す方向に回転することにより、3箇所の連結用溝203aにそれぞれ係合する。回転連結部材23aが備える3つの突出部が3箇所の連結用溝203aにそれぞれ係合すると、連結部品203に設けられた3箇所のロックピン用孔203bと回転連結部材23aの突出部に設けられた孔とが一致する。
Rotating connecting member 23a included in connecting portion 3 is connected to connecting component 203 fixed to the wheelchair. As shown in FIG. 15, the rotary connecting member 23a includes protrusions that protrude in the radial direction with respect to the rotary shaft 20a at three locations of the rotary connecting member 23a. The three protrusions are pressed against the connecting component 203 and rotate in the direction indicated by the arrow in FIG. 15, thereby engaging with the three connecting grooves 203a. When the three protrusions provided in the rotary connecting member 23a are respectively engaged with the three connecting grooves 203a, the three locking pin holes 203b provided in the connecting part 203 and the protruding portions of the rotary connecting member 23a are provided. The holes match.
ロックピン用孔203bと回転連結部材23aの突出部に設けられた孔とが一致した状態で、第1実施形態及び第2実施形態と同様に、ロック用部材23cが備えるロックピン23dが孔に挿入される。ロックピン23dが、回転連結部材23aに設けられた孔と連結部品203に設けられたロックピン用孔203bを貫通することにより、回転連結部材23aが連結部品203に対して相対的に回転することが規制される。従って、駆動部22が回転方向を切り換えても回転連結部材23aが連結部品203から脱離しないようにすることができる。
In the state where the lock pin hole 203b and the hole provided in the protruding portion of the rotary connecting member 23a coincide with each other, the lock pin 23d included in the lock member 23c is formed in the hole, as in the first and second embodiments. Inserted. When the lock pin 23d passes through the hole provided in the rotary connection member 23a and the lock pin hole 203b provided in the connection component 203, the rotation connection member 23a rotates relative to the connection component 203. Is regulated. Therefore, it is possible to prevent the rotary connection member 23a from being detached from the connection component 203 even when the drive unit 22 switches the rotation direction.
図17には、連結部品23に回転連結部材23aが連結される工程が示されている。図17(a)は、連結部品203に回転連結部材23aが連結される前の状態を示し、図17(b)は、連結部品に回転連結部材が連結される途中の状態を示す。図17(a)及び図17(b)に示す状態では、回転連結部材23aが備える3つの突出部と3箇所の連結用溝203aとは、係合していない。そのため、連結部品203に設けられた3箇所のロックピン用孔203bと回転連結部材23aの突出部に設けられた孔とは一致していない。
一方、図17(c)は、連結部品203に回転連結部材23aが連結された状態を示し、連結部品203に設けられた3箇所のロックピン用孔203bと回転連結部材23aの突出部に設けられた孔とが一致している。そして、図17(c)に示されるように、3箇所の孔にはロックピン23dが挿入されている。 FIG. 17 shows a process of connecting therotary connecting member 23 a to the connecting part 23. FIG. 17A shows a state before the rotating connecting member 23a is connected to the connecting part 203, and FIG. 17B shows a state in the middle of connecting the rotating connecting member to the connecting part. In the state shown in FIGS. 17A and 17B, the three protrusions provided in the rotary connecting member 23a and the three connecting grooves 203a are not engaged. Therefore, the three lock pin holes 203b provided in the connecting component 203 do not coincide with the holes provided in the protruding portion of the rotary connecting member 23a.
On the other hand, FIG. 17 (c) shows a state where therotary connecting member 23 a is connected to the connecting component 203, and is provided at three lock pin holes 203 b provided in the connecting component 203 and the protruding portion of the rotary connecting member 23 a. The holes made coincide with each other. As shown in FIG. 17 (c), lock pins 23d are inserted into the three holes.
一方、図17(c)は、連結部品203に回転連結部材23aが連結された状態を示し、連結部品203に設けられた3箇所のロックピン用孔203bと回転連結部材23aの突出部に設けられた孔とが一致している。そして、図17(c)に示されるように、3箇所の孔にはロックピン23dが挿入されている。 FIG. 17 shows a process of connecting the
On the other hand, FIG. 17 (c) shows a state where the
第3実施形態の構成は、一般的な車いすに容易に連結部品203を取り付けることができる点で有利である。一般的な車いすは、スペーサ部材206の代わりに管状のスペーサ部材(不図示)が設けられている。一般的な車いすでは、連結ねじ205にスペーサ部材を貫通させた後に連結ねじ205とハンドリム204を連結することで、後輪202に対してハンドリム204を固定している。本実施形態は、一般的な車いすが備えるスペーサ部材を本実施形態のスペーサ部材206に取り替えることにより、連結部品203を取り付けることを可能にしている。
The configuration of the third embodiment is advantageous in that the connecting component 203 can be easily attached to a general wheelchair. A typical wheelchair is provided with a tubular spacer member (not shown) instead of the spacer member 206. In a typical wheelchair, the hand rim 204 is fixed to the rear wheel 202 by connecting the connecting screw 205 and the hand rim 204 after passing the spacer member through the connecting screw 205. In the present embodiment, the connecting member 203 can be attached by replacing the spacer member of a general wheelchair with the spacer member 206 of the present embodiment.
1,10 車いす電動化装置
2 駆動部
2a,20a 回転軸
3 連結部
3a,23a 回転連結部材
3b ボルト型ピン(連結ピン)
3c,23c ロック用部材
3d,23d ロックピン
3e ピン駆動部
4 フレーム
5 係合部
6 操舵部
7 制御部
11 外形部
12 操舵部
13 調節機構
14 スタンド
15 カム部
16 モータ部
17 タイミングベルト 101 前輪
102,202 後輪
103,203 連結部品
103a,203a 連結用溝
103b,203b ロックピン用孔 DESCRIPTION OF SYMBOLS 1,10 Wheelchair electrification apparatus 2 Drive part 2a, 20a Rotating shaft 3 Connection part 3a, 23a Rotation connection member 3b Bolt type pin (connection pin)
3c, 23c Locking member 3d, 23d Lock pin 3e Pin drive part 4 Frame 5 Engagement part 6 Steering part 7 Control part 11 External part 12 Steering part 13 Adjustment mechanism 14 Stand 15 Cam part 16 Motor part 17 Timing belt 101 Front wheel 102 202 Rear wheel 103 203 Connection part 103a 203a Connection groove 103b 203b Lock pin hole
2 駆動部
2a,20a 回転軸
3 連結部
3a,23a 回転連結部材
3b ボルト型ピン(連結ピン)
3c,23c ロック用部材
3d,23d ロックピン
3e ピン駆動部
4 フレーム
5 係合部
6 操舵部
7 制御部
11 外形部
12 操舵部
13 調節機構
14 スタンド
15 カム部
16 モータ部
17 タイミングベルト 101 前輪
102,202 後輪
103,203 連結部品
103a,203a 連結用溝
103b,203b ロックピン用孔 DESCRIPTION OF
3c,
Claims (8)
- 車いすが備える一対の車輪に着脱可能な車いす電動化装置であって、
回転力を発生する動力源である駆動部と、
該駆動部と前記一対の車輪とを、該車輪の車軸周りに連結することで前記駆動部の回転力を前記一対の車輪に伝達する一対の連結部と、
前記駆動部を保持する保持部と、
該保持部と前記車いす本体とを係合する係合部と、
を有する車いす電動化装置。 A wheelchair electrification device detachable from a pair of wheels provided in a wheelchair,
A drive unit that is a power source that generates rotational force;
A pair of connecting portions for transmitting the rotational force of the driving portion to the pair of wheels by connecting the driving portion and the pair of wheels around an axle of the wheel;
A holding unit for holding the driving unit;
An engaging portion for engaging the holding portion and the wheelchair body;
Wheelchair electrification device having - 前記駆動部が、それぞれ回転力を発生する一対のモータを有し、
前記保持部が、
前記一対のモータを保持する一対のフレームと、
前記一対のフレームに両端が接続されるアーチ状の外形部とを有する請求項1に記載の車いす電動化装置。 Each of the drive units has a pair of motors that generate a rotational force,
The holding part is
A pair of frames holding the pair of motors;
The wheelchair electrification device according to claim 1, further comprising an arch-shaped outer portion connected at both ends to the pair of frames. - 前記連結部が、
前記駆動部の回転力により回転し、前記車輪に装着可能な連結部品に設けられた連結用溝に対して連結または脱離する回転連結部材と、
前記連結部品に対して前記回転連結部材が連結した状態で、前記回転連結部材が前記連結部品に対して回転することを防止するロック用部材とを備える請求項1または請求項2に記載の車いす電動化装置。 The connecting portion is
A rotating connecting member that rotates by the rotational force of the drive unit and is connected to or detached from a connecting groove provided in a connecting part that can be attached to the wheel;
The wheelchair according to claim 1, further comprising: a locking member that prevents the rotating connecting member from rotating relative to the connecting component in a state where the rotating connecting member is connected to the connecting component. Electrification device. - 前記回転連結部材が、前記連結部品に設けられたスクリュー状の連結用溝に対して連結または脱離し、
該回転連結部材の回転軸に対して対称な位置に、該回転軸に平行な方向に突出し前記連結用溝に係合する先端部を含む一対の連結部材を備え、
前記先端部が前記連結用溝に挿入され、前記回転連結部材が前記連結部品に連結される方向に回転するのに応じて、前記先端部と前記連結用溝のかみ合いにより、前記回転連結部材が前記連結部品に近づく方向に引き込まれる請求項3に記載の車いす電動化装置。 The rotating connecting member is connected to or detached from a screw-like connecting groove provided in the connecting component;
A pair of connecting members including tip portions protruding in a direction parallel to the rotating shaft and engaged with the connecting groove at positions symmetrical to the rotating shaft of the rotating connecting member;
As the leading end is inserted into the connecting groove and the rotating connecting member rotates in a direction to be connected to the connecting component, the rotating connecting member is engaged by the engagement between the leading end and the connecting groove. The wheelchair electrification device according to claim 3, wherein the wheelchair electrification device is pulled in a direction approaching the connecting component. - 前記外形部が、前記一対のモータの間の距離を調節可能な調節機構を備える請求項2に記載の車いす電動化装置。 The wheelchair electrification apparatus according to claim 2, wherein the outer shape portion includes an adjustment mechanism capable of adjusting a distance between the pair of motors.
- 前記一対の連結部の地面からの高さを調整可能なスタンドを有する請求項1から請求項5のいずれか1項に記載の車いす電動化装置。 The wheelchair electrification apparatus according to any one of claims 1 to 5, further comprising a stand capable of adjusting a height of the pair of connecting portions from the ground.
- 前記車いす電動化装置の傾斜角度を検出する検出手段と、
前記車いすの前輪が浮いた状態で走行するように前記駆動部の回転を制御する制御部と、
を有する請求項1から請求項6のいずれか1項に記載の車いす電動化装置。 Detecting means for detecting an inclination angle of the wheelchair electrification device;
A control unit that controls the rotation of the drive unit so as to travel with the front wheel of the wheelchair floating;
The wheelchair electrification apparatus of any one of Claim 1 to 6 which has these. - 前記外形部に配置され、車いす搭乗者の加える力に応じた信号を出力する力覚センサと、
前記力覚センサが出力する信号に応じて、前記駆動部の回転を制御する制御部と、を有する請求項1から請求項7のいずれか1項に記載の車いす電動化装置。 A force sensor that is arranged in the outer shape and outputs a signal corresponding to a force applied by a wheelchair passenger;
The wheelchair electrification device according to claim 1, further comprising: a control unit that controls rotation of the drive unit in accordance with a signal output from the force sensor.
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2011-230169 | 2011-09-30 | ||
JP2011230169 | 2011-09-30 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2013047756A1 true WO2013047756A1 (en) | 2013-04-04 |
Family
ID=47995781
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP2012/075101 WO2013047756A1 (en) | 2011-09-30 | 2012-09-28 | Wheelchair motorization device |
Country Status (1)
Country | Link |
---|---|
WO (1) | WO2013047756A1 (en) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP3173056A1 (en) * | 2015-02-04 | 2017-05-31 | Alber GmbH | Auxiliary wheelchair steering device and wheelchair fitted with such device |
Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2007505003A (en) * | 2003-09-12 | 2007-03-08 | ピュア グローバル リミテッド | Propulsion aid |
JP2011087728A (en) * | 2009-10-22 | 2011-05-06 | O M Ltd | Electrification device for wheelchair |
-
2012
- 2012-09-28 WO PCT/JP2012/075101 patent/WO2013047756A1/en active Application Filing
Patent Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2007505003A (en) * | 2003-09-12 | 2007-03-08 | ピュア グローバル リミテッド | Propulsion aid |
JP2011087728A (en) * | 2009-10-22 | 2011-05-06 | O M Ltd | Electrification device for wheelchair |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP3173056A1 (en) * | 2015-02-04 | 2017-05-31 | Alber GmbH | Auxiliary wheelchair steering device and wheelchair fitted with such device |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
US10758436B2 (en) | Powered wheelchair, wheelchair powering device and method | |
KR101527487B1 (en) | Eletric bicycle and control method thereof | |
US8733785B2 (en) | Collapsible stroller | |
CN108349362B (en) | Power-assisted carriage | |
EP3409254A1 (en) | Attachable/detachable electric device and wheelchair including same | |
KR101715293B1 (en) | Drive auxiliary device of wheelchair | |
CN102963411A (en) | Stroller | |
US9474678B2 (en) | Pushcart | |
KR20200001715A (en) | The power unit of wheelchair for change electromotive run | |
CN107696914B (en) | Manned robot | |
WO2013047756A1 (en) | Wheelchair motorization device | |
CN109982761B (en) | Vehicle comprising an electric motor and method of starting an electric motor for propelling a vehicle | |
US11485398B2 (en) | Stroller frame and stroller | |
CN205338010U (en) | From walking syndrome draw -bar box power -assist ware | |
JPH11313857A (en) | Small riding vehicle | |
US11911323B1 (en) | Wheelchair propulsion system | |
KR102623572B1 (en) | driving unit of racing car performing non-powered driving using gravity | |
JP2006141646A (en) | Electric unit for wheelchair and wheelchair using the same | |
KR20130107495A (en) | Electrical silver car suitable for slope movement | |
JP5827498B2 (en) | Slope start assist device |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
121 | Ep: the epo has been informed by wipo that ep was designated in this application |
Ref document number: 12834959 Country of ref document: EP Kind code of ref document: A1 |
|
NENP | Non-entry into the national phase |
Ref country code: DE |
|
122 | Ep: pct application non-entry in european phase |
Ref document number: 12834959 Country of ref document: EP Kind code of ref document: A1 |
|
NENP | Non-entry into the national phase |
Ref country code: JP |