JP4038645B2 - 4-wheel independent drive electric wheelchair that can move up and down stairs - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a four-wheel independent electric wheelchair that can be used for both normal traveling and staircase traveling.
[0002]
[Prior art]
Conventional stair-climbing wheelchairs have been developed with caterpillar and eccentric wheel systems, and with individual wheels having three-wheels or four-wheels configured in a radial fashion. These are usually used as wheelchairs. It can be said that it is a practically impossible situation to use for driving.
[0003]
[Problems to be solved by the invention]
In conventional wheelchairs for raising and lowering stairs, as mentioned above, it is practically impossible to use them for normal driving. From the side of the wheelchair users, they will be forced to change trains each time and can be used refreshingly. The current situation is something that cannot be said to be a thing, and the development of a wheelchair that can run on stairs and slopes without changing trains has been awaited.
[0004]
[Means for Solving the Problems]
In order to solve the above problems, in the four-wheel independent drive electric wheelchair capable of moving up and down stairs according to the present invention, one end of the drive shaft link is fixed to both ends of the plurality of link drive shafts provided on the base frame, and the other end is fixed. Drive wheels are provided, the link drive shafts can be driven by individual drive devices A, idler links are provided rotatably at the end portions of the link drive shafts, and idle wheels are provided at the other end portions, By connecting the intermediate part between the drive shaft link and idler link with the actuator A, the drive wheel and the idle wheel assist each other while moving up and down the stairs, etc. The stairs can be raised and lowered.
[0005]
When moving up and down the stairs, the angle of the base frame and the wheelchair seat must be adjusted to accommodate the wheelchair itself with a staircase gradient (approximately 30 degrees). The horizontal position can be maintained.
[0006]
In order to ensure the safety of the user, strict control is required not only for normal traveling but also for traveling speed, reliable lifting operation and body posture control, especially during stair climbing. Thus, consideration is given to preventing troubles by separating the operation parts separately and switching the operation with a changeover switch.
[0007]
Embodiments of the present invention will be described with reference to the drawings.
FIG. 1 shows an overall side view of a four-wheel independent drive electric wheelchair capable of moving up and down stairs. A link drive shaft 2 is provided rotatably at both front and rear end portions of the box-shaped base frame 1, the drive shaft link 3 is fixed to both end portions thereof, and the drive wheel 4 is provided to the other end portion. It is provided.
An idle link 5 is rotatably provided at both end portions of the link drive shaft 2, and an intermediate portion of both the drive shaft link 3 and the idle link 5 is connected by a linear actuator A7, so that the positional relationship between the links is determined. It can be adjusted.
In FIG. 4, a minute angle change at the moment when the rear drive wheel 4 comes into contact with the kicking surface of the staircase or step while the idle wheel 6 is held at the normal position (FIG. 4A) is attached to the drive shaft link 3. In the state where the inclination angle sensor 21 detects and the link drive shaft 2 of the rear wheel is rotated counterclockwise and the idle wheel 6 is pressed against the tread surface in accordance with the setting information of the microcomputer 15 of the control means 14. While being assisted by driving of the drive wheel 4, the rear drive wheel 4 is lifted along the stair lift surface and reaches the stair tread surface by the inclination angle sensor 21, and the microcomputer 15 of the control means 14 is set. The link drive shaft 2 is rotated clockwise in accordance with the information, and the drive wheel 4 and the idle wheel 6 are returned to the normal setting position, thereby completing the one-step operation in raising and lowering the stairs. It has a configuration that.
The driving procedure when raising and lowering the stairs is executed by repeating the one-cycle operation, and is completed only by one-cycle operation when raising and lowering the step.
A safe and stable operation can be ensured by setting the microcomputer 15 of the control means 14 so as to perform the reverse operation of the above operation when descending on stairs or steps.
[0008]
Each of the link drive shafts 2 is driven by an individual drive device A8, so that the inclination of the base frame 1 when the stairs are raised and lowered can be adjusted so as to be held close to the step gradient (about 30 degrees). On the other hand, in order to adjust the angle of the wheelchair seat 12, a linear actuator B <b> 13 is provided between them to stabilize the user's sitting position.
By doing this, it will produce the effect of moving the center of gravity including the user upwards on the stairs, allowing more stable stairs to be raised and moving the user's eyes closer to the stairs side. It also reduces the fear of stairs.
[0009]
FIG. 5 shows a control system block diagram.
In the four-wheel independent drive electric wheelchair that adjusts the positional relationship (angle) of the link drive shaft 2 and the drive shaft link 3, a microcomputer 15 is incorporated in the control means 14, and the base frame 1, the drive shaft link 3 and the idle when the stairs are raised and lowered. The mutual positional relationship between the link 5 and the wheelchair seat 12 is input and set in advance in the microcomputer 15, and the drive control of the link drive shaft 2 when moving up and down stairs or steps is included in the control means 14 and the drive shaft link 3. By detecting the positions of the drive shaft link 3 and the drive wheel 4 and the idle link 5 and the idle wheel 6 by the mounted inclination angle sensor 21, the drive shaft link connected to the link drive shaft 2 at the time of stairs and step elevation 3 and the drive timing of the drive wheel 4 and the idle links 5 and the idle wheel 6, microcode control means 14 Set position related to computer 15 by collating the information (angle), by controlling the positional relationship (angle), it is a structure capable of ensuring the safety and reliability of stair-climbing and the stepped elevation.
[0010]
In order to ensure the safety of operation during stairs ascending / descending, the control system is divided into a normal traveling mode and a stairs traveling mode, and the normal traveling operation unit 16 and the stair traveling operation unit 17 are made independent and a changeover switch 18 is provided. Thus, it becomes possible to prevent an operational error due to unfamiliar operation, and it is possible to ensure safety especially when going up and down the stairs.
[0011]
In the present invention, the tread surface dimension (280 mm) and the kick-up dimension (160 mm) in the standard staircase are configured to be compatible with each other, but the intermediate part between the drive wheel link 3 and the idler link 5 is connected by the linear actuator A7, By adjusting the opening between the two links, it is possible to handle staircases with dimensions close to the standard staircase.
[0012]
Since the drive wheel 4 is provided at the end of the drive shaft link 3, the height of the wheelchair seat portion 12 can be adjusted within a predetermined range by tilting the drive shaft link 3 when the user gets on and off. There is a merit that it is easy to get on and off, and it is a great gospel for people with disabilities and the elderly.
In running during rain, the dirt on the feet due to raindrops and the like is anxious, but by setting the vehicle height adjustment function at the highest position, it is possible to prevent dirt from splashing back such as raindrops.
[0013]
Since the small charging device 20 is built in the base frame 1, charging opportunities are increased, so that charging at the destination is possible, and there are fewer behavioral restrictions, and the range of action can be expanded. .
[0014]
As shown in Fig. 2, the drive system of the drive wheels is a direct drive system (both four wheels) using a "wheel-in-motor", so that the drive shaft is held by a conventional drive system such as a motor, reducer, or bearing. -Compared to drive systems such as drive wheels, energy loss is greatly reduced and the weight of the vehicle body is also reduced, so the mileage for each charge can be greatly extended and the range of action can be expected to expand. .
[0015]
【The invention's effect】
The effects obtained by the implementation of the present invention are shown below.
(1) Stairs can be moved up and down without changing trains.
Several types of wheelchairs for raising and lowering stairs have been developed and are partly in service, but there are no types that can also be used as flat-wheelchairs.
In the four-wheel independent drive electric wheelchair capable of moving up and down the stairs of the present invention, the user can move up and down the stairs without having to change trains, so the convenience for wheelchair users is greatly improved and the burden on the attendant is also reduced. It will be greatly reduced, and it can be said that there is a possibility of single use in a case where the state of the wheelchair user is good.
[0016]
(2) Ensure safety when going up and down stairs.
As for the safety when climbing the stairs, the structure is such that the stairs can be moved up and down reliably by the mutual assistance of the idle wheels attached to the four independent wheels and the movement of the link. Correspondingly, since it is configured so that the inclination of the wheelchair seat portion can be adjusted, there is an advantage that the user can maintain a stable sitting position.
Further, the operation unit is divided into a normal travel operation unit and a stair travel operation unit, and a changeover switch is provided, so that safe and reliable stair climbing can be ensured.
[0017]
(3) Can reduce fear when going up and down stairs.
When moving up and down the stairs, the position of the wheelchair user's line of sight is significantly higher than when driving on flat ground because of the staircase gradient. As a result, the position of the line of sight is kept low when ascending and descending the stairs, so there is an effect of reducing fear, and the effect can be further increased by defeating the backrest of the wheelchair seat part. is there.
[0018]
(4) Action restrictions are reduced by reducing the width of the vehicle body.
Since a normal wheelchair cannot pass through the door part of a Shinkansen vehicle, it is necessary to move to the seat without bothering the attendant. However, in the present invention, since the entire width of the vehicle is suppressed, it moves directly to the side of the vehicle seat. It becomes possible to move to the seat very easily.
This makes it easy to move in a narrow place even when indoor and outdoor, so there is a merit that there are fewer restrictions on behavior.
Even in the use of “wheelchair storage” in Shinkansen vehicles, etc. that are expected to be realized soon, the four-wheel drive electric wheelchair of the present invention can also be used for “in-situ rotation and back” by taking advantage of the four-wheel independent drive, The parking capacity in a small space will be utilized. [0019]
(5) Easy to get on and off by adjusting the seat height.
By adjusting the angle in the direction in which the drive shaft link is laid down from the reference position, the height of the seating surface of the wheelchair seat portion can be made closer to the floor surface, so that it is easy to get on and off the wheelchair seat portion.
[0020]
(6) Prevents your feet from getting dirty during rainy weather.
In the configuration described in the previous section, the seat surface can be raised, so that the splashing of raindrops when running on rainy weather can be reduced, and dirt on the feet can be prevented.
[0021]
(7) A reliable braking effect can be expected when the vehicle is stopped.
Adopting a planetary speed reducer on the drive wheels allows you to expect a reliable braking effect when stopping, especially when parking and stopping on steep hills.
[0022]
(8) The range of action can be greatly expanded.
By using a wheel-in motor for the drive wheels, it is possible to reduce the weight of the drive system, and at the same time, it is possible to charge on the road with the installation of a small charging device, eliminating the restriction of travel distance and range of action Can now be expected to expand significantly.
[Brief description of the drawings]
FIG. 1 is an overall side view showing an embodiment. FIG. 2 is a partial front sectional view showing the embodiment. FIG. 3 is an overall plan sectional view showing the embodiment. [Figure 5] Control system block diagram [Explanation of sign]
DESCRIPTION OF SYMBOLS 1 Base frame 2 Link drive shaft 3 Drive shaft link 4 Drive wheel 5 Idle link 6 Idle wheel 7 Linear actuator A
8 Drive A
9 Drive B
10 Wheelchair Seat Support Pin 11 Wheelchair Seat Support 12 Wheelchair Seat 13 Linear Actuator B
14 Control means 15 Microcomputer 16 Normal travel operation section 17 Stair climbing operation section 18 Changeover switch 19 Power supply battery device 20 Small charging device 21 Tilt angle sensor

Claims (2)

  In a four-wheel independent drive type electric wheelchair, a plurality of link drive shafts 2 are provided rotatably at both front and rear ends of the box-shaped structure base frame 1, and drive shaft links 3 are provided at both ends thereof. The driving wheel 4 is fixed at the other end, and the idler link 5 is rotatably attached to both ends of the link drive shaft 2 and the idle wheel 6 is rotatable at the other end. The drive shaft link 3 and the idler link 5 are connected to each other by a linear actuator A7 so that the positional relationship between the two links can be adjusted, and the link drive shaft 2 is connected to each drive device A8. And the positional relationship of the drive shaft link 3 with respect to the base frame 1 can be adjusted when moving up and down the stairs, and the drive device B9 for driving the drive wheel 4 to rotate is provided. The seat support 11 is tiltably held via a seat support pin 10 provided at a predetermined position on the side plate of the base frame 1 and the mutual positional relationship between the wheelchair seat 12 and the base frame 1 is adjusted. A four-wheel independent drive wheelchair that can move up and down the stairs is provided with a linear actuator B13. In a four-wheel independent drive electric wheelchair capable of ascending and descending stairs that can adjust the positional relationship of the drive wheels 4 with respect to the base frame 1 by a plurality of link drive shafts 2 and drive shaft links 3, a microcomputer 15 is incorporated in the control means 14 and the stairs Input the positional relationship in each step of the stairs ascending / descending process for adjusting the positional relationship between the drive shaft link 3 and the idle link 5 relative to the base frame 1 and the inclination of the base frame 1 and the wheelchair seat 12 during the ascent / descent. In addition, by being configured to be mounted on the drive shaft link 3 and activated by the output signal of the tilt angle sensor 21 included in the control means 14, it becomes possible to cope with the necessary operations at each step when ascending and descending the stairs, The operation system is provided with a continuous traveling operation unit 16, a stair climbing operation unit 17 and a changeover switch 18, thereby eliminating an operation error. Measure stop, base frame power battery device 19 and a compact charger 20 provided in the 1, 4-wheel independent drive electric wheelchair according to claim 1 capable stair lift according with a structure that enables charging on the go.

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