WO2013047756A1

WO2013047756A1 - Wheelchair motorization device

Info

Publication number: WO2013047756A1
Application number: PCT/JP2012/075101
Authority: WO
Inventors: 理杉江; 淳平内藤; 宗明福岡
Original assignee: Ｗｈｉｌｌ株式会社
Priority date: 2011-09-30
Filing date: 2012-09-28
Publication date: 2013-04-04

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

Wheelchair electrification device

The present invention relates to a wheelchair electrification device.

∙ 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.

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.

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.

JP 2002-165843 A JP 2003-102790 A

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

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 | positioning of a drive part and the member for a lock | rock. It is a flowchart explaining attachment and detachment of the electrification apparatus which concerns on 1st Embodiment. It is a figure at the time of mounting | wearing the wheelchair with the detachable wheelchair motorization apparatus which concerns on 2nd Embodiment of this invention. (A) It is a figure which shows the shape of the adjustment mechanism before mounting | wearing with a wheelchair, (b) The shape of the adjustment mechanism after mounting | wearing with a wheelchair. It is a figure which shows the motorization apparatus at the time of (a) stand accommodation, (b) the motorization apparatus at the time of stand expansion | deployment. It is a flowchart explaining attachment and detachment of the electrification device concerning a 2nd embodiment. It is a perspective view which shows the state before the connection part of 1st Embodiment connects with a connection component. It is a figure which shows the connection state of the connection part of 1st Embodiment, and a connection component, (a) is the state in which the front-end | tip part of the bolt type pin was inserted in the groove | channel for connection, (b) is the front-end | tip part of a bolt type pin. (C) shows the state in which the front-end | tip part of the bolt type pin was connected with the groove for connection, respectively. 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. (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. 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.

[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 wheelchair electrification device 1 according to the present embodiment is mounted on a wheelchair.
Here, 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.

Next, each function of the structure of the wheelchair electrification device 1 will be described with reference to FIG.
In the present embodiment, 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. 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.

The driving unit 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 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.

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.

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.

Here, in the present embodiment, how the rotating part of the wheelchair 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 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. 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.

For this reason, 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. 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.

FIG. 11 is a perspective view showing a state before the connecting portion 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 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.

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.

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.

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.

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.

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.

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.

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, 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. 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.

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.

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. 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 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.
For this reason, when the pin 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.

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.
As shown in each drawing of FIG. 14, 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. 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.

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.

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.

In the above, 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. 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 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.

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.

Next, the steering 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 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. 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.

Next, a process of attaching / detaching the wheelchair electrification apparatus 1 to / from the wheelchair rear wheel 102 will be described with reference to FIG.
In addition, 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.

As described in FIG. 6, 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.

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 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.

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.

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.

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.

FIG. 7 is a diagram of a state in which the wheelchair electrification device 10 of the present embodiment is mounted on a wheelchair.
Here, 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.

Moreover, in this Embodiment, it has the external 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, 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.

As in the first embodiment, 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.

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.

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.

In the present embodiment, 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.
In addition, 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.

Next, as shown in FIGS. 9A and 9B, 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.

9A and 9B show how the stand 14 is developed.
The stand 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 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.

In the present embodiment, 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.
Here, by controlling 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 | 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.

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 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. Do control.
In the present embodiment, 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. 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.

In this embodiment, 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. 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 the set 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 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).

Further, in the present embodiment, 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.

Next, a process of attaching / detaching the wheelchair rear wheel 102 to / from the wheelchair electrification apparatus 10 will be described with reference to FIG.
In addition, 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.

As described in FIG. 10, 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.

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 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.

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.

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.

In the first and second embodiments, an outer rotor type motor is used as the drive 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 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. Moreover, the connection part 3 at this time connects the rotor of the motor center and the periphery of the wheelchair rear wheel axle.

Moreover, in 1st Embodiment and 2nd Embodiment, the control part 7 may detect the connection of the rotation connection member 3a and the connection component 103. FIG.
Specifically, at the time of detachment, the control 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, 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.

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 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.
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 rotation 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.

Moreover, in 2nd Embodiment, it has a stand detection part which detects expansion | deployment and accommodation of the stand 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 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.

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.

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.

[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.

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. 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.

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.

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, 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 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. As shown in FIG. 17 (c), 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. 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.

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

Claims

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
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.
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.
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.
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.
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.
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.
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.