JP2006141646A - Electric unit for wheelchair and wheelchair using the same - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide simple mechanisms of a brake and a clutch being electrically and mechanically efficiently operable by an electric unit for a wheelchair. <P>SOLUTION: The clutch mechanism controlling the connection and non-connection between an electric motor 10 and driving wheels 8 is so formed that, according to the rotating position of a worm gear 38, a pin 21 abuts on its board face to separate a driving key member 22 from a groove member 26; or the abutment is released, the driving key member 22 is moved by a driving spring 24 to be fitted in the driving groove member 26. The brake mechanisms controlling the connection and non-connection between the electric motor 10 and a brake gear 28 is so formed that, according to the rotating position of a worm gear 38, a pin 36 abuts on its board face to separate a brake key member 30 from a groove member 33; or the abutment is released, the brake key member 30 is moved by a spring 34 to be fitted in the brake groove member 33. <P>COPYRIGHT: (C)2006,JPO&NCIPI

Description

  The present invention relates to a wheelchair electric unit and an electric wheelchair using the same.

  2. Description of the Related Art In recent years, electric wheelchairs with a power assist unit have been developed that can provide electric power supplementarily based on a traveling operation by a user or caregiver using a wheelchair. For example, the following Patent Documents 1 to 4 include a power assist unit that can be used either manually or electrically by installing one drive wheel driven by a DC motor in a hand-held nursing wheelchair. An electric wheelchair is disclosed.

  More specifically, in the technique described in Patent Document 1, an electromagnetic brake (15) is provided on the output shaft (18) of the DC motor (13), and when the DC motor is not operating because no current flows, When the shaft is mechanically locked and the DC motor (13) operates, the lock is released. Further, a friction plate clutch (17) capable of lever operation is provided between the output shaft of the DC motor and the drive wheel, and the clutch is disengaged by grasping the lever so that the wheelchair can be operated manually by a caregiver. When the lever is released, the electric motor and the driving wheel are connected via the clutch so that the electric assist traveling can be performed. With this configuration, even if the caregiver releases the hand on the slope only by hand, the drive wheel and the motor output shaft are connected and the motor output shaft is locked by the electromagnetic brake. Can avoid wheelchair runaway.

  Moreover, in the technique described in Patent Document 2, in order to be able to travel by applying auxiliary power without modifying a general wheelchair, the power formed by unitizing the electric motor 35, the speed reduction mechanism B, and the drive wheels 34 is provided. The auxiliary machine A is provided, and the power auxiliary machine A is disposed in the lower space of the wheelchair 1 in a state where the driving wheel 34 is in contact with the ground surface 69. Mounting of the power auxiliary machine A is performed by fitting the stay holder 18 to which the power auxiliary machine A is fixed to the side frame 3 and fixing it with the fixing bolt 21. The stay holder 18 is bent integrally at the rear of the lower edge and is fitted into the lower frame 6 from the inside to the outside, and the holder 19 is bent integrally at the upper front. It has the holding | maintenance part 20 engage | inserted by the frame 5 toward outward from the inside. By fixing the holding portion 20 with the fixing bolt 21 screwed from the inside, the stator holder 18 is detachably attached to the side frame 3. In addition, a centrifugal clutch 38 that connects the motor output shaft to the drive wheel is provided only when the electric motor is operated and rotated in order to prevent manual operation even if a power assist device is present.

  Furthermore, in the technique described in Patent Document 3, in order to prevent the manual operation, particularly turning ability, from being disturbed even if a power assist device is present, the driving wheel 24 is brought into contact with the ground surface in the similar technique of Patent Document 2. Driving wheel position restricting means 36 is provided for separating or pulling apart. The position restricting means 36 is provided with an L-shaped lever 29 in the vicinity of the seat. When the user removes the operating portion 33 of the L-shaped lever 29 from the fixed locking portion 34, the drive wheel 24 assists in power assistance. It is possible to travel using auxiliary power by being pressed against the ground surface 25 by its own weight. On the other hand, when the user rotates the L-shaped lever 29 backward with the operation portion 33, the power assisting device 21 is pulled up via the wire 26, and the driving wheel 24 is lifted from the ground surface 25. As a result, the power assist device 21 does not get in the way even during turning or manual operation.

Furthermore, in the technique described in Patent Document 4, in order to make it possible to easily attach the electric drive unit 22 to a conventional wheelchair, as shown in FIG. To do. These holders 31 are respectively fitted to the front ends 5a of the lower frame frame 5 and the stoppers 32 are engaged with the rear frame frame 3, thereby fixing the electric drive unit 22 to a conventional wheelchair. In addition, this technique includes a spring material 28 that can urge the driving wheel in the ground direction, and a switching unit 29 that can be operated so that the driving wheel is brought into contact with or separated from the ground surface. As shown in FIG. 4, when the switching means 29 is switched in the B direction, the drive wheels 23 are grounded, and traveling with auxiliary power becomes possible. On the contrary, when the switching means 29 is switched in the A direction, the driving wheel 23 is lifted from the ground surface, and self-running or manual operation becomes easy.
Utility Model Announcement 5-36419 JP-A-10-127700 JP-A-11-206819 JP 2000-152961 A

  However, in the technique of Patent Document 1, the electromagnetic brake (15) and the friction plate clutch (17) are provided as separate mechanisms, so that the unit becomes complicated. Further, since the operation of connecting and disconnecting the friction plate clutch (17) is performed mechanically, the control unit of the friction plate clutch (24) is connected to many mechanical link parts (21, 24, 27, 28). 29, 30, 31), which further complicates the mechanism and makes it difficult to attach and detach the auxiliary power unit. In order to solve this, it is conceivable to use an electromagnetic clutch instead of the friction plate clutch (17), but this is not preferable because the battery is consumed in either the connected state or the disconnected state of the electromagnetic clutch.

  Further, in the techniques of Patent Documents 2 and 3, the mounting operation of the wheelchair of the power auxiliary machine requires fitting into the side frame of the stay holder and fixing using the fixing bolt, and thus quick mounting is difficult. . The centrifugal clutch 38 of Patent Document 2 is not a mechanism that uses an electric motor as a brake as in Patent Document 1, and the drive wheel position regulating means 36 of Patent Document 3 is a lever that is separate from the wheelchair operating system. Since the operation unit is used manually, the operation of the user is burdened.

  Furthermore, in the technique of Patent Document 4 described above, when the electric drive unit 22 is attached to the wheelchair, it is necessary to align the tip 5a corresponding to a pair of holders spaced apart from each other, so that quick attachment becomes difficult. Further, the switching means 29 cannot be operated by a person sitting in a wheelchair, and the use of the drive unit as a brake is not disclosed.

  The present invention has been made in view of the above-mentioned facts, and realizes a simpler mechanism of a brake and a clutch capable of operating electrically and mechanically efficiently in the auxiliary electric unit, It is an object of the present invention to easily and quickly attach to a conventional wheelchair and to provide an operation system with less burden on the user in the wheelchair to which the auxiliary unit is attached.

  In order to solve the above-described problem, the wheelchair electric unit according to the first aspect of the present invention includes an electric motor, a driving wheel, a driving-side member for transmitting the rotating torque of the electric motor, and the received rotating torque. A first power coupling that is fixed so as not to rotate relative to any one of the driving side member and the driven side member and that can move along the axial direction. Means, a second power coupling means formed on one of the driving side member and the driven side member and fitable with the first power coupling means, and the first power coupling means in the axial direction. A first urging means for urging along the rotation member, and a rotation member whose rotation position is controlled. The rotation member corresponds to the rotation position of the rotation member. Is in contact with the rotating member, and the corresponding contact state is released. Thus, the first power connecting means is formed so as to be switched between a state in which the first power connecting means is moved along the axial direction by the first biasing means, and the first power connecting means is in a contact state and a moving state. Either one is configured to be fitted with the second power coupling means.

  According to a second preferred aspect of the present invention, in the configuration of the first aspect, the brake member that rotates in conjunction with the electric motor, the brake member, and the wheelchair electric unit housing rotate relative to one of them. The first brake coupling means is formed on any one of the first brake coupling means fixed so as not to move and movable in the axial direction, the brake member, and the housing of the wheelchair electric unit, and the first brake coupling. And a second urging means for urging the first brake linking means along the axial direction. The rotating member further comprises the rotating member. Depending on the rotational position of the member, the state where the end of the first brake connecting means is in contact with the rotating member, and the contact state is released, and the first brake connecting means becomes the second biasing means. By axis And a state that has moved along the direction, are formed so are switched, the first brake connecting means mates with the second brake connecting means in either the contact state and a moving state.

  According to a further preferred third aspect of the present invention, in the configuration of the second aspect, when the rotating member is in the neutral rotational position, the first power connecting means is separated from the second power connecting means, The first brake connecting means is disconnected from the second brake connecting means, and the first power connecting means is engaged with the second power connecting means at the first rotational position where the rotating member rotates a predetermined angle from the neutral rotational position. The first brake coupling means maintains the state disconnected from the second brake coupling means, and the first power coupling means is in the second rotational position where the rotating member further rotates from the first rotational position. While maintaining the state fitted with the 2nd power connection means, the 1st brake connection means is fitted with the 2nd brake connection means.

  A wheelchair electric unit according to a specific aspect of the present invention includes an electric motor, a driving wheel, a driving gear for transmitting the rotational torque of the electric motor, and a target for transmitting the received rotating torque to the driving wheel. A driving key member, a driving key member fixed so as not to rotate relative to any one of the driving gear and the driven gear, and movable along the axial direction, and the driving key member in the axial direction The driving key member is formed at one of the driving side gear and the driven side gear, and the driving key member is moved in the axial direction by the driving spring. Fixed so that it does not rotate relative to either the drive groove member that fits with the brake gear, the brake gear that rotates in conjunction with the electric motor, the brake gear, or the wheelchair electric unit housing Any of a brake key member that is movable along the axial direction, a brake spring that urges the brake key member along the axial direction, a brake gear, and a wheelchair electric unit housing A brake groove member which is formed on the other side and is fitted to the brake key member at a position where the brake key member is moved in the axial direction by the brake spring; and a drive key member and a distal end portion of the brake key member And a worm wheel whose rotational position is controlled, and when the worm wheel is in the neutral rotational position, the drive key member and the brake key member are plate surfaces of the worm wheel. At the first rotational position where the worm wheel is rotated by a predetermined angle from the neutral rotational position. Since the plate surface of the worm wheel does not exist at the position of the portion, the drive key member is moved in the axial direction by the drive spring and is fitted to the drive groove member, and the brake key member is the plate surface of the worm wheel. In the second rotational position, in which the worm wheel is further rotated by a predetermined angle from the first rotational position, the plate surface of the worm wheel does not exist at the position of the end portion of the brake key member. The brake key member is moved in the axial direction by the spring for spring engagement with the brake groove member, and the drive key member is not in contact with the worm wheel and is maintained in the state of being fitted with the drive groove member.

  An electric wheelchair to which the wheelchair electric unit of each of the above aspects is attached is also provided. The electric wheelchair of the preferred embodiment is provided with linear accommodation portions that are inclined so as to descend in the direction from the rear to the front of the wheelchair on the inner sides of both sides, and the rear end portion of the accommodation portion is opened, The front end is closed, and protrusions are provided on both sides of the wheelchair electric unit, and the wheelchair electric unit is located at the front end with the protrusions inserted into the housing. It is attached to a wheelchair by being fixed. Preferably, the fixing means fixes the wheelchair electric unit in cooperation with the closed front end by pressing the protrusion from above.

  According to the wheelchair electric unit of the present invention, the rotating member is provided, and the clutch mechanism that connects or disconnects the electric motor and the driving wheel according to the rotation position of the rotating member is configured. This simplifies the operation and makes it possible to operate electrically and mechanically efficiently without using a power source in both connected and unconnected states.

  Further, according to the wheelchair electric unit of the present invention, the brake mechanism can be controlled in accordance with the rotational position of the rotating member, so that the clutch mechanism and the brake mechanism can be integrated. Thereby, while further simplifying the mechanism, an electric unit that can be attached to and detached from the wheelchair can be easily realized. Furthermore, since the clutch mechanism and the brake mechanism can be easily controlled as a series of rotational movements of the rotating member, it is possible to quickly switch between self-running and electric running, thereby reducing the burden on the user. A system can be provided.

  According to the electric wheelchair according to the present invention, the linear accommodation portions that are inclined so as to descend in the direction from the rear to the front of the wheelchair are respectively provided inside the both side portions of the wheelchair. Since the projection of the unit is inserted and fixed at the front end of the housing, it can be attached to the wheelchair, so that the electric unit can be quickly attached to and detached from the wheelchair. Further, since the attachment mechanism is simplified, it can be attached to and detached from any wheelchair frame.

Embodiments of the present invention will be described below with reference to the drawings.
1A and 1B show a main part (drive unit) of an electric wheelchair unit 1 according to an embodiment of the present invention. This electric unit 1 rotates and drives a controller 2 for managing and controlling each control element in accordance with signals from each detection element of the unit, one drive wheel (tire) 8, and the drive wheel 8. An electric motor 10 for the purpose. The controller 2 is realized by, for example, a 16-bit microcomputer, and the control element such as the electric motor 10 can execute rotation speed adjustment, stop, electrical short circuit, reverse rotation, and the like in accordance with a command from the controller 2. it can.

  As is apparent with reference to FIG. 1A in particular, a shaft gear 14 is formed at the tip of the output shaft 12 of the electric motor 10, and the first reduction gear 16 is disposed so as to mesh with the shaft gear 14. Has been. On the inner peripheral surface of the drive wheel 8, an internal gear 20 is screwed over the entire periphery, and a second reduction gear 18 is disposed so as to mesh with the internal gear 20. The first reduction gear 16 and the second reduction gear 18 face each other. In the example shown in the figure, the second reduction gear 18 is partially in the recess of the first reduction gear 16, and the two gears are not engaged with each other.

  A drive key member 22 is provided on the axial drive side portion of the second reduction gear 18. As will be described in detail later, the drive key member 22 is fixed so as not to rotate relative to the gear 18, but is slidable in the axial direction. Further, the drive key member 22 is urged in the axial direction toward the right side of the drawing, that is, toward the first reduction gear 16 by a drive spring 24 embedded in the second reduction gear 18.

  Further, the first reduction gear 16 facing the drive key member 22 is formed with a drive groove member 26 into which the drive key member 22 can be fitted. A pin 21 extends from the drive key member 22, and the pin 21 passes through a shaft bore (not shown) of the first reduction gear 16 and further to the outside of the first reduction gear 16. It has been extended. The pin 21 is fixed to a driving key member 22 and can slide in the axial direction together with the driving key member 22.

  In the vicinity of the tip of the pin 21, a worm wheel 38 is disposed as a rotating member. In the example of FIG. 1A, the tip of the pin 21 is in contact with the plate surface of the worm wheel 38. Due to this contact, the pin 21 does not move completely in the axial direction by the urging force of the driving spring 24, the driving spring 24 is compressed, and the driving key member 22 is moved to the driving groove member 26. It keeps the separated state without fitting. That is, in the state shown in FIG. 1A, the first reduction gear 16 and the second reduction gear 18 are not interlocked, and the rotational torque of the electric motor 10 is not transmitted to the drive wheels 8.

  A brake gear 28 is further meshed with the shaft gear 14 of the electric motor 10. A brake fixing portion 32 fixed to the housing of the electric unit 1 faces the brake gear 28.

  A brake key member 30 is provided on the shaft upper portion of the brake gear 28. As will be described in detail later, the brake key member 30 is fixed so as not to rotate relative to the brake gear 28, but is slidable in the axial direction. Further, the brake key member 30 is biased in the axial direction toward the right side of the drawing, that is, toward the brake fixing portion 32 by a spring 34 embedded in the brake gear 28.

  A brake groove member 33 into which the brake key member 30 can be fitted is formed in the brake fixing portion 32 facing the brake key member 30. Further, a pin 36 extends from the brake key member 30, and the pin 36 passes through a central bore (not shown) of the brake fixing portion 32 and further extends to the outside of the brake fixing portion 32. ing. The pin 36 is fixed to the brake key member 30 and can slide in the axial direction together with the brake key member 30.

  Also near the tip of the pin 36, the worm wheel 38 is positioned as a rotating member. In the example of FIG. 1A, the tip of the pin 36 is in contact with the plate surface of the worm wheel 38. Due to this contact, the pin 36 does not move completely in the axial direction by the bias of the spring 34, the spring 34 is compressed, and the brake key member 30 does not fit into the brake groove member 33. Keeping away with That is, in the state shown in FIG. 1A, the brake gear 30 is not fixed to the housing of the electric unit, and the output shaft 12 of the electric motor 10 can freely rotate.

The two keys and grooves for the clutch and brake described above can be constructed using virtually the same mechanism. This mechanism will be described in detail with reference to FIGS. 6 (a) and 6 (b).
As can be understood with reference to FIG. 6A, the cylinder portion 90 extends in the axial direction from the shaft portion of the drive and brake gears (18, 28). A piston (not shown) is inserted into the cylinder portion 90 so as to be reciprocally movable, and from the piston, a key member for driving and braking passes through sliding grooves 92 formed on both side surfaces of the cylinder portion 90. (22, 30) extends in the radial direction and pins (21, 36) extend in the axial direction. The drive and brake key members (22, 30) protrude from the opposing sliding groove 92, and the width of the key member is shorter than the length of the sliding groove, so that the key member rotates relative to the gear. It can be understood that it can slide in the axial direction without any problem. The piston is urged to the right in the figure by drive and brake springs (24, 34). When the pins (21, 36) are in contact with the worm wheel at the position C, the key is The member remains at the left end of the sliding groove 92. When the contact is released, the key member is pushed by the force of the spring and moves to the right. At this time, as shown in the upper diagram of FIG. 6B, normally, there is a high possibility that the key members (22, 30) and the grooves of the groove members (26, 33) are not aligned. Immediately, the key member does not move to the right end of the sliding groove 92. However, since either the key member or the groove member is interlocked with the electric motor and is relatively rotated in the P direction, as shown in the lower diagram of FIG. The pin is immediately fitted into the groove of the groove member, and the pin moves to the position D. Thus, the mechanical connection between the drive and brake gears (18, 28) and the counterpart gear and brake fixing portion (16, 32) shown in FIG. 1 is achieved.

Next, the configuration of the worm wheel 38 will be described in detail with reference to FIG.
As shown in the illustrated example, the worm wheel 38 is configured as a wheel gear that can rotate at least partially around the rotation shaft 39, and has a fan-shaped main surface portion 42 having gear teeth 45 formed on the outer periphery thereof, and the main surface portion 42. And an encoder gear portion 43 protruding from the main surface portion with a smaller radius. A notch 41 having no plate surface is formed in the radially inner portion of the encoder gear portion 43. Further, the main surface portion 42 is formed with a slit portion 40 formed by partially cutting the plate surface. The gear teeth 45 of the main surface portion 42 mesh with the worm gear 50 connected to the output shaft of the wheel motor 52, and the rotational position of the worm wheel 38 is adjusted by the rotation control of the motor 52 by the controller 2. The slit portion 40 and the cutout portion 41 are formed by forming a gap at least within the same radius range from the central axis 39. An inclined portion 44 is provided at one end of the slit portion 40. Similarly, an inclined portion 46 is also provided at an end portion from the main surface portion 38 to the notch portion 41. The inclined portions 44 and 46 protrude outwardly from the unit (from the drawing surface to the reader side) at a predetermined inclination angle from the plate surface of the main surface portion by downward rotation (arrow B) of the worm wheel 38. The gear teeth 47 of the encoder gear 43 are engaged with a sensor gear 48 directly connected to a position sensor (not shown), and the controller 2 monitors and manages the rotation angle of the worm wheel 38.

  The rotational position of the worm wheel 38 in FIG. 1B is shown as the same rotational position as in FIG. 1A, that is, the position where the pin 21 and the pin 36 are in contact with the plate surface of the main surface portion 42 (neutral position). ing. When the worm wheel 38 is rotated upward (arrow A) by a predetermined angle (for example, +28 degrees) from the neutral position, the slit portion 40 reaches the tip position of the pin 21, so that the contact is released and the pin 21 is moved by the spring. It can move in the axial direction (movement from position C to position D in FIG. 6A). On the other hand, the pin 36 is still in contact with the plate surface of the main surface portion 42 at this rotational position.

  Further, when the worm wheel 38 is rotated upward (arrow A) by a predetermined angle (for example, +28 degrees) (rotation position 56 degrees), the notch 41 reaches the tip position of the pin 36, so that the contact is released, The pin 36 can be moved in the axial direction by the spring (movement from position C to position D in FIG. 6A). On the other hand, since the pin 21 is located in the slit portion 40 even at this rotational position, the pin 21 is maintained in the axially moved state.

  Conversely, when the worm wheel 38 is rotated downward (arrow B) from the rotational position +56 degrees, the pin 36 first comes into contact with the inclined portion 46 and is gradually pushed in the axial direction so as to come into contact with the main surface portion. It reaches. Next, the pin 21 comes into contact with the inclined portion 44 and is gradually pushed in the axial direction to come into contact with the main surface portion and return to the neutral position where both pins are in contact.

  A mechanism for controlling the steering angle of the drive wheels 8 of the electric unit 1 is shown in FIGS. 1 (b) and 2 (a). This mechanism rotates the entire unit 5 of the drive unit around the vertical axis 55, and includes a steering angle control motor 62 that can be controlled by the controller 2, reduction gears 64 and 66 (FIG. 1 (b)), and a gear. 58 and a fan-shaped gear 56 that meshes with the gear 58 and is rotatable around a shaft 54 around the vertical shaft 55. A sensor gear 60 to which a position sensor (not shown) is directly connected is engaged with the sector gear 56, and the steering angle is monitored and managed by the controller 2.

FIG. 2B shows the electric unit 1 viewed from the opposite side of FIG. The electric motor 10 is covered with a motor housing 68.
FIG. 3 shows the wheelchair 6 before the electric unit 1 is attached. The wheelchair 6 includes left and right rear wheels 70, 70, a seat 80, left and right front wheels 82, 82, and caregiver handles 84, 84.

  A joystick 72 is attached to the armrest of the seat 80, and a caregiver switch 74 is attached to the caregiver handle 84. The joystick 72 and the caregiver switch 74 are connected to the controller 2 (FIG. 1). The joystick 72 is for a user (a person sitting on the seat) to control and operate the electric unit 1 by himself / herself. When the stick is tilted, the controller 2 operates the electric unit 1 (electric driving mode). ), The drive wheel 8 is steered in the tilted direction. An on / off switch for power supply of the electric unit 1 for the user is also provided. The changeover switch can also be used by the joystick 72. The caregiver switch 74 is for the caregiver to switch from the electric wheelchair in the self-propelled mode to the wheelchair for manual operation by the caregiver. Furthermore, in order to add the electric power of the electric unit 1 to the caregiver's power on an uphill road or the like, the electric assist mode may be switched.

A pair of left and right horizontal frames 76 and 76 and vertical frames 78 and 78 extend in the lower rear part of the wheelchair 6.
Next, the aspect which attaches the electric unit 1 to the wheelchair 6 with reference to Fig.4 (a), (b) is demonstrated.

  FIG. 4B shows a support base 3 on which the electric unit 1 is placed. The support base 3 has a support body 120, and a support block 125 is screwed to the front center side portion of the support body 120. The support block 125 is provided with a pivot shaft 126, and a pair of support arms 128 and 128 are attached so as to be pivotable about the pivot shaft 126. A battery attachment portion 142 is fixed to one end side of the support arms 128, 128. A battery 140 for the electric unit 1 is attached above the battery attachment portion 142, and below the battery attachment portion 142. The electric unit 1 is screwed. That is, the electric unit 1 is pivotally attached to the support body 120 about the pivot shaft 126. A pair of stems 130, 130 extending inwardly from the side of the arm to between the arms is fixed to the other end of the support arms 128, 128. A spring column 132 stands upright from a column base 140 provided at the lower center of the support body 120, and an upper end portion of the spring column 132 is disposed adjacent to the pair of stems 130 and 130. A spring 136 is inserted into the spring support 132. The upper end of the spring 136 is in contact with a ring 134 that is slidably fitted to the spring column 132, and the lower end of the spring 136 is in contact with a spring stay 138 through which the spring column 132 passes. The spring 136 is compressed between the ring 134 pressed by the stem 130 and the spring stay 138.

In addition, two protrusions 122 and 124 are attached to both sides of the support body 120 side by side.
FIG. 4A shows a pair of left and right mounting brackets 100, 100 for mounting the support base 3 to which the electric unit 1 is mounted to the wheelchair 6. The mounting bracket 100 includes a side plate portion 101 and an extension portion 103 protruding from the side plate portion 101. The side plate portion 101 is formed with holes 113 and 113 for bolts 116 for attaching the horizontal frame band member 112. The extension 103 is formed with holes 115 and 115 for bolts 116 for attaching the vertical frame band member 114. The horizontal frames 76 and 76 of the wheelchair 6 are sandwiched between the horizontal frame band member 112 and the outer surface of the side plate portion 101, and the vertical of the wheelchair 6 is further interposed between the vertical frame band member 114 and the outer surface of the extension portion 103. By holding the frames 78 and 78 and tightening the bolts 116 in the respective holes 113 and 115, the mounting brackets 100 and 100 can be easily attached to the frame of the wheelchair 6.

  On the inner side of the side plate portion 101 on the side of the wheelchair, linear accommodating portions 102 and 104 that are inclined so as to descend in the direction F from the rear to the front of the wheelchair are provided. The rear end portions of these accommodating portions 102 and 104 are opened, and the front end portions are closed. Further, a fixing handle portion 106 is attached adjacent to the accommodating portions 102 and 104 so as to be pivotable about the pivot shaft 108. Further, a latching protrusion 110 is formed on the fixing handle 106.

  When attaching the electric unit 1 to the wheelchair 6, the electric unit 1 was lifted with the support 3 attached, and the two protrusions 122 and 124 formed on both sides of the support body 120 were fixed to the wheelchair. The fittings 100 and 100 are inserted from the open rear end portions of the accommodating portions 102 and 104, respectively. Since the electric unit 1 moves downward due to its own weight, the protrusions 122 and 124 slide in the housing portions 102 and 104 and finally stop at the closed front end portions of the housing portions 102 and 104. In this state, the fixing handle 106 is pivoted in the L direction, and the entire unit is fixed by sandwiching the protrusion 122 between the latch protrusion 110 and the closed front end of the housing 102.

  As described above, as long as the mounting brackets 100 and 100 are fixed to the wheelchair 6 in advance, the electric unit 1 is automatically moved to the fixing position only by inserting the protruding portion into the accommodating portion. The electric unit 1 can be attached to the wheelchair 6.

  5A, 5B, and 5C are a side view, a top view, and a rear view, respectively, illustrating a state in which the electric unit 1 is attached to the wheelchair 6 via the support base 3 and the attachment bracket 100. It is shown.

  It will be understood how the electric unit 1 is attached to the wheelchair 6 and functions by referring to the reference numerals shown in the respective drawings of FIG. 5 in comparison with those of FIGS. 3 and 4. For example, the suspension function will be described as follows. That is, when the driving wheel 8 moves downward about the pivot shaft 126, such as when the driving wheel 8 rolls on the concave ground, the return force of the compressed spring 136 is transmitted via the ring 134 and the stem 130. Thus, the arm 128 is lifted upward about the pivot shaft 126, so that the electric unit 1 on the opposite side of the pivot shaft 126 is pivoted downward, so that the drive wheel 8 is maintained in a grounded state. . Conversely, when the drive wheel 8 moves upward about the pivot shaft 126, such as when the drive wheel 8 rolls on the raised ground, the arm 128 moves downward about the pivot shaft 126. However, the impact is immediately absorbed by the spring 136. Thus, since the suspension mechanism is provided for the electric unit 1, stable and smooth running is possible even when running on a rough ground.

  5 (b) and 5 (c), the support body 120 shown in FIG. 4 (b) is shown with the cover removed. That is, in these drawings, the inside of the support body is attached to the center body 144, a pair of left and right upper support portions 146 attached to the top of the center body with bolts 150, and to the bottom of the center body with bolts 150. And a pair of left and right lower support portions 148. Further, a protrusion 122 is provided at the outer end of the upper support 146, and a protrusion 124 is provided at the outer end of the lower support 148. The position where the bolt 150 is attached may be adjustable (for example, a slit hole or a plurality of bolt holes may be provided) so that the lateral width of the support body 120 can be adjusted. Thereby, it becomes possible to attach the electric unit 1 to an arbitrary type of wheelchair whose distance between frames is within a predetermined range.

Next, a flow of travel control as an example of the electric unit 1 according to the embodiment of the present invention will be described with reference to the flowchart of FIG.
As shown in FIG. 7, as an initial setting, the worm wheel 38 is set to the neutral position (rotation position 0 degree; see FIGS. 1A and 1B) (step 200). In this state, the output shaft of the electric motor 10 is not connected to the drive wheel 8 and the brake is not applied, so that the user can run by himself or the caregiver can freely operate the wheelchair without electric force. can do.

  Next, it is determined whether or not the power of the electric unit 1 is turned on (step 202) and waits until it is turned on. When the power is turned on (Yes at step 202), the worm wheel 38 is rotated upward (arrow A) (step 204). At this time, electric power is also supplied to the electric motor 10.

  In the upward rotation of the worm wheel in step 204, when the worm wheel 38 rotates 28 degrees, the slit 40 of the worm wheel 38 comes to the position of the pin 21, so that the contact is released, and the pin 21 and the drive key member 22 is pushed by the drive spring 24 and moves along the axial direction. At this time, as described above, since the driving key member 22 is fitted into the driving groove member 26, the output shaft 12 of the electric motor 10 is connected to the first reduction gear 16, the second reduction gear 18, and the internal gear. It connects with the drive wheel 8 through 20. This series of movements is a clutch operation that is instantaneously performed when the power is turned on.

  In step 204, the upward rotation of the worm wheel is further continued. When the worm wheel 38 is further rotated 28 degrees (rotation position 56 degrees), the notch 41 of the worm wheel 38 comes into contact with the pin 36, so that the contact is released, and the pin 36 and the brake key member 30 are moved to the spring 34. Is moved along the axial direction. At this time, since the brake key member 30 is fitted into the brake groove member 33 as described above, the brake gear 28 interlocked with the output shaft of the electric motor 10 is connected to the brake fixing portion 32 fixed to the gear housing. Is done. As a result, the electric motor 10 to the drive wheel 8 are locked by the brake key member 30 and the gear housing, and the brake is applied.

  Next, it is determined whether or not a travel command has been issued by the joystick 72 (FIG. 3) (step 206). When the joystick 72 is tilted by the user and a travel command is issued, the worm wheel 38 is rotated 28 degrees downward (arrow B) from the rotational position 56 degrees (step 208). Thereby, since the fitting of the pin 36 and the brake groove member 33 is released as described above, the brake is released, and only the clutch state in which the electric motor and the driving wheel are connected is obtained. In this clutch state, the steering mechanism (54, 56, 58, 62, 64, 66) steers the drive wheels in the steering direction, assuming that the direction in which the joystick 72 is tilted is the steering direction (step 210). Thus, the wheelchair starts to move in the designated steering direction by driving the motor (step 212). The running by the electric unit 1 is continued until the joystick 72 is released (step 214, negative determination loop).

  When the joystick 72 is released and returned to its neutral position (Yes in step 214), the vehicle speed of the wheelchair 6 is detected by a vehicle speed sensor (not shown) (step 216), and a braking operation is performed to make the wheelchair speed zero. (Step 218). For example, the current value flowing through the electric motor 10 is gradually reduced to zero. When the vehicle speed of the wheelchair does not become substantially zero when the current becomes zero, the electric motor 10 is electrically short-circuited, and braking by the electric motor is applied. The electrical short circuit is executed in a pulse manner so that the brake is applied at a constant speed. The electric motor 10 may be used as a generator to charge the battery 140 (FIG. 4B).

  Next, it is determined whether or not the wheelchair 6 is stopped (step 220). This is determined by whether or not the speed of the wheelchair 6 detected by the vehicle speed sensor has become substantially zero (speed below the threshold). If the wheelchair does not stop even in the brake operation due to the electrical short circuit in Step 218 (No in Step 220), a reverse current is supplied to the electric motor 10 to reverse it (Step 222). This reverse rotation is executed until the vehicle speed becomes almost zero. The reverse current is executed in a pulse manner so that the brake is applied at a constant speed. Such a situation may occur, for example, when traveling on a downhill. In preparation for such a case, an inclination sensor for detecting whether or not the vehicle is on the downhill may be provided, and in the case of the downhill, the brake operation in step 222 may be immediately executed.

  When the wheelchair 6 stops (Yes at step 220), the worm wheel 38 is further rotated 28 degrees (rotation position 56 degrees), and the brake is applied. By performing a series of brake operations in steps 218 to 224, it is possible to apply a natural and safe brake without using an electromagnetic brake or the like. After the completion of the mechanical brake, the process returns to step 206 and the same processing is repeated.

  Note that the controller 2 monitors power on / off of the electric unit 1 and switching of the caregiver switch 74 even during execution of the above control, and performs interrupt control when a change in command is detected.

The above is the embodiment of the present invention, but the present invention is not limited to the above-described example, and can be arbitrarily changed within the scope of the appended claims.
For example, in the key groove configuration shown in FIGS. 1A and 1B, the key and the groove are engaged when the contact between the pin and the worm wheel is released and the key moves. As long as the above-described clutch and brake operations according to the position can be performed, the key and the groove may be fitted when the pin and the worm wheel come into contact with each other. Further, which of the key and the groove is arranged in the motor driving side gear and the driven side gear can be arbitrarily and suitably changed. Furthermore, as long as the above-described clutch and brake operations according to the rotational position of the worm wheel 38 can be performed, the shape and the like of the worm wheel 38 can be arbitrarily changed.

  Further, the worm wheel 38 is not limited to every predetermined angle of 28 degrees, and can be arbitrarily changed. This predetermined angle is preferably determined within a range in which the contact and release of the pin can be performed quickly and accurately.

FIG. 1 is a diagram of a main part of an electric wheelchair unit according to an embodiment of the present invention, in which (a) is a partially broken front view showing the internal configuration, and (b) is an internal configuration. It is the side view partly fractured for showing. FIG. 2: is a figure of the principal part of the electric unit for wheelchairs based on the Example of this invention, Comprising: (a) is a top view partially broken in order to show an internal structure, (b) is a motor side. FIG. FIG. 3 is a perspective view of the wheelchair before the wheelchair electric unit according to the embodiment of the present invention is attached. Fig.4 (a) is a perspective view of the attachment metal fitting for attaching the electric unit for wheelchairs concerning the Example of this invention to a wheelchair via a support stand. FIG.4 (b) is a perspective view of the electric unit for wheelchairs of the state attached to the support stand. FIG. 5 is a diagram illustrating a state in which the wheelchair electric unit according to the embodiment of the present invention is attached to the wheelchair. FIG. 5A is a side view of the electric unit attached to the wheelchair, and FIG. The top view of the support stand which mounted the electric unit (drive part), (c) is a rear view of this support stand. FIGS. 6A and 6B are diagrams for explaining a key groove configuration used in the wheelchair electric unit according to the embodiment of the present invention. FIG. 6A is a side view of the key configuration, and FIG. Indicates the state when matching. FIG. 7 is a flowchart showing a flow of operations of the wheelchair electric unit according to the embodiment of the present invention.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Wheelchair electric unit 2 Controller 3 Electric unit support base 6 Wheelchair 8 Drive wheel 10 Electric motor 21 Pin 22 Drive key member 24 Drive spring 26 Drive groove member 28 Brake gear 30 Brake key member 32 Brake fixing part 33 Braking groove member 34 Spring 36 Pin 38 Worm wheel 100 Mounting bracket

Claims (24)

An electric wheelchair unit for use in a wheelchair,
An electric motor,
Driving wheels,
A drive side member for transmitting rotational torque of the electric motor;
A driven side member for transmitting the received rotational torque to the drive wheel;
A first power coupling means fixed so as not to rotate relative to any one of the driving side member and the driven side member, and movable along the axial direction;
A second power coupling means formed on the other of the driving side member and the driven side member and fitable with the first power coupling means;
First biasing means for biasing the first power coupling means along the axial direction;
A rotating member whose rotational position is controlled;
With
According to the rotational position of the rotating member, the rotating member is in a state where the end of the first power connecting means is in contact with the rotating member, and the contact state is released and the first power connecting unit is released. A state in which the means is moved along the axial direction by the first biasing means, and is configured to be switched.
The first power connection means is a wheelchair electric unit that fits with the second power connection means in either the contact state or the movement state. A brake member that rotates in conjunction with the electric motor;
A first brake coupling means fixed so as not to rotate relative to any one of the brake member and the housing of the wheelchair electric unit, and movable in the axial direction;
A second brake coupling means formed on either the other of the brake member and the housing of the wheelchair electric unit and engageable with the first brake coupling means;
Second urging means for urging the first brake coupling means along the axial direction;
Further comprising
The rotating member further has a state in which an end portion of the first brake coupling means is in contact with the rotating member and a corresponding contact state is released according to a rotation position of the rotating member, and the first contact state is released. A state where the brake connecting means is moved along the axial direction by the second urging means, and is configured to be switched.
2. The electric wheelchair unit according to claim 1, wherein the first brake coupling unit is fitted to the second brake coupling unit in one of the contact state and the moving state. When the rotating member is in the neutral rotation position, the first power connecting means is disconnected from the second power connecting means, the first brake connecting means is disconnected from the second brake connecting means,
In the first rotation position where the rotation member is rotated by a predetermined angle from the neutral rotation position, the first power connection means is engaged with the second power connection means, and the first brake connection means is the first rotation position. Maintaining the state disconnected from the brake connecting means of 2,
In the second rotation position where the rotation member further rotates from the first rotation position, the first power connection means maintains a state of being engaged with the second power connection means, and the first power connection means The wheelchair electric unit according to claim 2, wherein the brake connecting means is fitted with the second brake connecting means. The wheelchair electric unit according to claim 2 or 3, wherein each of the first power connection unit and the second power connection unit is configured as a key member and a groove member, or a groove member and a key member, respectively. 5. The wheelchair electric unit according to claim 4, wherein the first power connection unit is fitted with the second power connection unit in the moving state. 6. The first power coupling means has a head portion formed with a key or a groove, and a pin portion extending in the axial direction from the head portion, and a tip of the pin portion abuts the rotating member. The electric unit for wheelchairs of Claim 4 or 5 which can contact | connect. The wheelchair electric unit according to claim 2 or 3, wherein each of the first brake coupling unit and the second brake coupling unit is configured as a key member and a groove member, or a groove member and a key member, respectively. The wheelchair electric unit according to claim 7, wherein the first brake coupling unit is fitted with the second brake coupling unit in the moving state. The first brake coupling means includes a head portion having a key or a groove and a pin portion extending in an axial direction from the head portion, and a tip of the pin portion abuts on the rotating member. The electric unit for wheelchairs according to claim 7 or 8, which is possible. The rotating member has a plate surface at a position of an end portion of the first power connecting means and the first brake connecting means at the neutral rotating position,
In the first rotational position, there is no plate surface at the position of the end of the first power connection means, and there is a plate surface at the position of the end of the first brake connection means,
4. The wheelchair electric unit according to claim 3, wherein at the second rotation position, a plate surface is not formed at a position of an end portion of the first power connection unit and the first brake connection unit. 5. . The rotating member is configured to return the first power connecting unit and the first brake connecting unit to the contact state from the moving state in order to return the first power connecting unit in the return rotation direction. The wheelchair electric unit according to claim 3, further comprising an inclined portion that engages with the end portion of the first brake coupling means so as to push back the end portion. 2. The drive side member according to claim 1, wherein the drive side member is a reduction gear that meshes with a gear provided on an output shaft of the electric motor, and the driven side member is a reduction gear that meshes with an internal gear of the drive wheel. Wheelchair electric unit. The wheelchair electric unit according to claim 3, wherein, when a command to turn off driving of the wheelchair electric unit is received, the rotating member is set to the neutral rotation position. The wheelchair electric unit according to claim 3, wherein the rotating member is set to the first rotation position when a command to turn on power driving of the wheelchair electric unit is received. It further comprises stationary detection means for detecting whether or not the wheelchair is stationary,
When the command to turn off the power running of the electric unit for wheelchair is received and the stationary detection means detects that the wheelchair is stationary, the rotating member is set to the second rotational position. The wheelchair electric unit according to claim 3. The electric motor is electrically short-circuited when receiving a command to turn off power driving of the wheelchair electric unit and detecting that the wheelchair is not stationary by the stationary detection means. 15. The wheelchair electric unit according to 15. The electric unit for wheelchairs according to claim 16, wherein if the wheelchair does not stop even if the electric motor is electrically short-circuited, the electric motor is reversed until it is detected that the wheelchair has stopped. The electric unit for wheelchairs according to any one of claims 13 to 17, further comprising a steering unit that controls the rotation of the steering angle of the drive wheel in accordance with a steering command. The joystick is connected,
When the joystick is tilted, a command for turning on the power of the wheelchair electric unit is issued, and a command is issued to the steering means so that the drive wheel is controlled to rotate with the direction in which the joystick is tilted as the steering angle. And
19. The wheelchair electric unit according to claim 18, wherein when the joystick is returned to its original position, a command to turn off the power running of the wheelchair electric unit is issued. The drive wheel is attached so as to be pivotable up and down around a pivot fulcrum, and a suspension is provided on the opposite side of the drive wheel around the pivot fulcrum. The electric unit for wheelchairs of any one of Claims. An electric wheelchair unit for use in a wheelchair,
An electric motor,
Driving wheels,
A drive side gear for transmitting rotational torque of the electric motor;
A driven gear for transmitting the received rotational torque to the drive wheel;
A driving key member fixed so as not to rotate relative to any one of the driving side gear and the driven side gear, and movable along the axial direction;
A drive spring for urging the drive key member along the axial direction;
A drive groove formed on the other of the drive side gear and the driven side gear and fitted with the drive key member at a position where the drive key member is moved in the axial direction by the drive spring. Members,
A brake gear that rotates in conjunction with the electric motor;
A brake key member which is fixed so as not to rotate relative to any one of the brake gear and the wheelchair electric unit housing, and is movable along the axial direction;
A brake spring for biasing the brake key member along the axial direction;
Formed on the other of the brake gear and the wheelchair electric unit housing, and the brake key member is fitted to the brake key member at a position moved in the axial direction by the brake spring. A brake groove member;
A worm wheel that is disposed at a position where it can come into contact with the end portions of the drive key member and the brake key member, and whose rotational position is controlled;
With
When the worm wheel is in the neutral rotation position, the drive key member and the brake key member abut against the plate surface of the worm wheel;
In the first rotational position where the worm wheel is rotated by a predetermined angle from the neutral rotational position, the plate surface of the worm wheel does not exist at the position of the end of the drive key member, so that the drive key is driven by the drive spring. The member moves in the axial direction and fits with the driving groove member, and the brake key member maintains contact with the plate surface of the worm wheel,
In the second rotational position where the worm wheel is further rotated by a predetermined angle from the first rotational position, the plate surface of the worm wheel does not exist at the position of the end of the brake key member, so the brake spring A wheelchair in which a brake key member moves in the axial direction and engages with the brake groove member, and the drive key member does not contact the worm wheel and maintains a state of being engaged with the drive groove member Electric unit. The electric wheelchair to which the electric unit for wheelchairs of any one of Claims 1 thru | or 21 was attached. Inside the both side portions of the electric wheelchair are provided with linear accommodation portions that are inclined so as to descend in the direction from the rear to the front of the wheelchair,
The rear end of the housing is open and the front end is closed;
Protrusions are provided on both sides of the wheelchair electric unit,
The electric wheelchair according to claim 22, wherein the wheelchair electric unit is attached to the wheelchair by being fixed at the front end portion with the protrusion inserted into the housing. The fixing means includes
The electric wheelchair according to claim 23, wherein the electric wheelchair unit is fixed in cooperation with the closed front end portion by pressing the protrusion from above.

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