JP4252843B2 - wheelchair - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a wheelchair that is used by a sick person, a disabled person, and the like and that prevents the user from falling off.
[0002]
[Prior art]
Conventionally, wheelchairs used by people who are unable to walk due to illness or disability, such as those that run by the power of the user or assistant, or those that can be driven by the user's driving operation, etc. Are known. That is, even a person who has difficulty in walking can move freely by using a wheelchair as long as the wheelchair can travel. In this case, even if the wheelchair can travel, there is a possibility that the user may fall off the wheelchair due to vibration or impact during traveling or collision with an obstacle. It is common.
[0003]
However, since the seat belt restrains the user's body and gives the user a feeling of pressure, there are many users who do not like wearing the seat belt. Therefore, as a wheelchair that protects the user's body from dropping without restraining the body, a pipe-shaped protective member that extends from the front of the user to both sides is attached to the armrest of the wheelchair body. (For example, refer to Patent Document 1).
[0004]
[Patent Document 1]
JP 7-16261 A
[0005]
[Problems to be solved by the invention]
However, in the case where the protection member is attached to the armrest of the wheelchair body as described above, the protection member must be attached to and detached from the wheelchair body each time the user gets on and off the wheelchair, which is inconvenient for the user. There was a problem.
[0006]
In recent years, the range of behavior of wheelchair users tends to expand. However, there is a risk that wheelchair users may be shocked by accidents or falls. In such a case, since the conventional wheelchair is not provided with means for absorbing the impact to the user at the time of falling, there is a problem that the user is not sufficiently protected.
[0007]
The present invention has been made in view of the above problems, and an object of the present invention is to provide a wheelchair that does not restrain the user's body by a protective member and that can be easily boarded and exited. . Moreover, this invention is providing the wheelchair which can absorb the impact with respect to a user in addition to the said objective.
[0008]
[Means for Solving the Problems]
  The present inventionThe wheelchair ofIn order to achieve the above-mentioned object, in claim 1, a protection member extending from the front of a user sitting on the wheelchair body to both sides is provided, and the wheelchair body can be moved up and down.Support member that supports the protection member in a vertically rotatable manner.When,At least one airbag provided on the protective member so as to be positioned in front of the user and covering a predetermined portion of the user, an inflating means for inflating the airbag, and the support member being raised to a predetermined position when the airbag is inflated With the rising mechanismI have.
[0009]
  As a result, the front and both sides of the user seated on the wheelchair body are surrounded by the protective member, so that the user is likely to fall out of the wheelchair body due to vibration or impact during traveling or collision with an obstacle. Even in this case, the protective member prevents the user from falling off. In this case, since the protection member is formed to extend from the front of the user to both sides, the user's body is not restrained by the protection member. Also, the protective memberRotate upwardThus, the user can easily get on and off.
[0010]
  Furthermore, by inflating the airbag, even if the user receives an impact due to an accident or the like, the impact on the user is absorbed by the airbag.At that time, since the support member of the protective member rises to a predetermined position when the airbag is inflated, for example, by raising the raised airbag in front of the user's head, the user's forehead and face It is possible to absorb the shock to the air bag.
[0011]
  Moreover, in Claim 2, in the wheelchair of Claim 1, the said protection member is set.UpwardInTo rotateThe biasing means for biasing and the protective memberTurnLocking means that can be locked in position. Thereby, in addition to the effect | action of Claim 1, a protection member is below.RotateThe protective member can beTurnLocked in position and unlocked by the biasing means.Times towardMove.
[0012]
  Claims3Then, the claim1 or 2In the wheelchair described, an enclosure enclosing a gas generating agent, a cylinder containing the enclosure, an ignition means for burning the gas generating agent in the enclosure, and a drive member movably provided on one end side of the cylinder And an actuator for projecting the driving member toward the outside of the cylinder by the pressure of the gas generated in the cylinder by the combustion of the gas generating agent.mechanismIs configured to operate. As a result, the claim1 or 2In addition to the above action, by burning the gas generating agent accommodated in the cylinder of the actuator, the drive member protrudes due to the pressure of the combustion gas and rises by the drive membermechanismTherefore, the driving member can be instantaneously operated by the gas pressure.
[0013]
  Claims4Then, the claim1, 2 or 3The wheelchair described includes an inclination detection means for detecting the inclination of the wheelchair body, and a control means for operating the inflation means of the airbag when the inclination detection means detects the inclination of the wheelchair body. As a result, the claim1, 2 or 3In addition to the above action, when the inclination of the wheelchair body is detected, the airbag is inflated. For example, when the wheelchair body falls, the airbag can be inflated.
[0014]
  Claims5Then, the claim4In the wheelchair described above, the inclination detection means is configured by a plurality of distance sensors that respectively detect the distance from a plurality of positions in the front-rear and left-right directions of the wheelchair body to the road surface, and the detection distances of the front and rear distance sensors are detected. The inclination of the wheelchair body is detected based on the difference or the difference between the detection distances of the left and right distance sensors. As a result, the claim4In addition to the above action, the inclination of the wheelchair in either the front-rear direction or the left-right direction is detected based on the difference between the detection distances of the distance sensors.
[0015]
  Claims5Then, the claim4In the wheelchair described above, the tilt detection unit is configured by an angular velocity sensor that detects an angular velocity centered on the longitudinal axis of the wheelchair body and an angular velocity centered on the left-right axis, and detected by the angular velocity sensor. The inclination of the wheelchair body is detected based on the angular velocity in each direction. As a result, the claim4In addition to the above action, the inclination of the wheelchair in either the front-rear direction or the left-right direction is detected based on the angular velocity in each direction detected by the angular velocity sensor.
[0016]
DETAILED DESCRIPTION OF THE INVENTION
1 to 8 show a first embodiment of the present invention. FIG. 1 is a side view of a wheelchair, FIG. 2 is a perspective view of a protective member, FIG. 3 is a block diagram showing a control system, and FIG. FIG. 5 is a side sectional view of the actuator, FIG. 6 is a side view showing the operation when the airbag is inflated, FIG. 7 is a partial side view showing the tilted state of the wheelchair in the front-rear direction, and FIG. It is a partial front view which shows the inclination state of the left-right direction.
[0017]
This wheelchair includes a wheelchair body 10 on which a user A is seated, a protection member 20 attached to the wheelchair body 10, first to third airbags 30, 31, 32 provided on the wheelchair body 10, and a wheelchair. A plurality of distance sensors 40 that detect the inclination of the main body 10, a control unit 50 that inflates each airbag 30, 31, 32 when the inclination of the wheelchair main body 10 is detected by each distance sensor 40, It is comprised from the raising mechanism 60 which raises the protection member 20 to a predetermined position at the time of 31 and 32 expansion | swelling.
[0018]
The wheelchair body 10 has a seat 11 on which a user A is seated, and has a known configuration that travels manually. That is, a front wheel 12 and a rear wheel 13 are provided on both sides of the wheelchair main body 10, and a grip ring 13a for applying a rotational force by the user A to the user A is attached to each rear wheel 13. A footrest step 14 is provided at the lower front end of the wheelchair body 10, and the step 14 is attached to the lower end of an attachment member 14 a extending downward from the front end of the seat 11. In addition, armrests 15 are provided on both sides of the seat 11, and grips 16 that are held by a holder (not shown) are provided on both sides of the back of the seat 11.
[0019]
  The protection member 20 is formed by bending a pipe-like member and extends from the front of the user A sitting on the wheelchair body 10 to both sides. That is, the protection member 20 includes a front portion 21 extending horizontally in the width direction in front of the user A (front side of the abdomen), and an inclined portion 22 extending obliquely upward from the both ends of the front portion 21 in the width direction, respectively. The side of the user A (the side of the neck) is composed of side portions 23 extending horizontally from the upper end side of each inclined portion 22 toward the rear, and each side portion 23 is a cushioning material 23a made of a member having cushioning properties. Covered by. In addition, a pair of support members 24 in the width direction for supporting the protection member 20 is provided on the back side of the wheelchair main body 10, and each support member is provided.24Both ends of the protective member 20 are rotatably connected to the upper end of each through a rotation mechanism 25.
[0020]
The rotation mechanism 25 includes a so-called ratchet mechanism, and includes a rotation shaft 25a that rotatably connects the side portion 23 of the protection member 20 and the support member 24, and a side portion of the protection member 20 with the rotation shaft 25a as a center. A rotating plate 25b that rotates integrally with 23, a spring 25c as an urging means that urges the protective member 20 in the upward direction, and a locking member 25e that locks on the claw portion 25d of the rotating plate 25b. That is, the rotation mechanism 25 restricts the rotation of the protection member 20 only to the downward rotation (counterclockwise in the figure) by the engagement between the rotating plate 25b and the engagement member 25e. The lock means is configured to lock at a position lowered to an arbitrary position against the spring 25c. In this case, the rotation mechanism 25 is configured to release the lock between the rotating plate 25b and the locking member 25e when the protection member 20 is rotated downward from the normal lowered position. Moreover, you may comprise so that a lock | rock may be cancelled | released by operating operation parts, such as a lever which is not shown in figure.
[0021]
Each of the airbags 30, 31, 32 is made of a highly airtight and durable fabric and is formed into a bag shape by sewing or heat fusion. The first airbag 30 is disposed in front of the user A and is stored in a contracted state in a box-shaped storage unit 30 a attached to the front portion 21 of the protection member 20. The second airbag 31 is disposed on the back side of the head of the user A and is stored in a contracted state in a box-shaped storage unit 31 a attached to the back surface of the wheelchair body 10. The third airbag 32 is disposed around the leg portion of the user A, and is housed in a contracted state in a belt-like housing portion 32 a extending over each attachment member 14 a of the wheelchair body 10. Each air bag 30, 31, 32 is provided with a charging device 33 as an inflating means, and each air bag 30, 31, 32 is inflated instantaneously by each charging device 33. ing. In this case, the charging device 33 is a well-known device using a gas cylinder. For example, the explosive explosive is explode by an ignition device to discharge high-pressure gas in the cylinder, or the gas in the cylinder is directly discharged by the ignition device. A combustion gas discharged from the combustion gas is used. In addition, the charging device 33 may be of a pyro type used for an automobile airbag or the like.
[0022]
Each distance sensor 40 is a well-known device that detects a distance from a detection object, such as an ultrasonic sensor or an optical sensor, and is attached to the lower surface of the wheelchair 1 at a total of four locations, front and rear and left and right. That is, each distance sensor 40 detects the distance to the road surface.
[0023]
The control unit 50 is configured by a microcomputer and is connected to each charging device 33 and each distance sensor 40. In this control part 50, when the difference of the detection distance of each front and rear distance sensor 40 or the difference of the detection distance of each right and left distance sensor 40 becomes more than predetermined distance, each charging device 33 is operated.
[0024]
The ascending mechanism 60 includes main body portions 61 disposed on both sides on the back side of the wheelchair main body 10, and each main body portion 61 supports each support member 24 so as to be movable in the vertical direction. In this case, each support member 24 is locked at a predetermined lower position and is urged upward by a spring (not shown), and is lifted by the spring when the lock is released. In this case, the protection member 20 is configured such that the front portion 21 rises from the vicinity of the abdomen of the user A to the vicinity of the chest. The raising mechanism 60 includes an actuator 62 for releasing the lock of the support member 24, and the actuator 62 is attached to each main body 61.
[0025]
As shown in FIG. 5A, the actuator 62 includes an enclosure 62a in which a gas generating agent is enclosed, a cylinder 62b that contains the enclosure 62a, and an igniter 62c that burns the gas generating agent in the enclosure 62a. The drive member 62d is slidably provided at one end of the cylinder 62b. In this actuator 62, when the gas generating agent in the enclosure 62a is ignited by the igniter 62c by an electric signal from the outside, the gas generating agent burns to generate high-pressure gas in the cylinder 62b, and FIG. As shown in b), the driving member 62d protrudes toward the outside of the cylinder 62b by the gas pressure. That is, in the raising mechanism 60, the driving member 62d protruding from the cylinder 62b of the actuator 62 releases the lock of the support member 24, for example, by breaking the lock portion. Each actuator 62 is connected to the control unit 50. The main body 61 of the ascending mechanism 60 may be directly pushed up by the drive member 62d protruding from the actuator 62.
[0026]
In the wheelchair configured as described above, the front and both sides of the user A sitting on the wheelchair body 10 are surrounded by the protective member 20, and the user is caused by vibration or impact during traveling or collision with an obstacle. Even when A is about to fall off the wheelchair body 10, the protection member 20 prevents the user A from dropping off. Moreover, since the protection member 20 is formed so as to extend from the front of the user A to both sides, the body of the user A is not restrained by the protection member 20. In this case, the user A can get on and off easily by raising and lowering the protection member 20. That is, when the user A gets on the wheelchair body 10, after the user A is seated on the wheelchair body 10, the protection member 20 is rotated downward, so that the protection member 20 is locked at an arbitrary lowered position by the rotation mechanism 24. The Further, when the user A gets off the wheelchair body 10, the protection member 20 is unlocked, and the protection member 20 is rotated to a predetermined ascending position by the spring 25c, as shown by a one-dot chain line in FIG.
[0027]
On the other hand, when the wheelchair body 10 is tilted while the wheelchair is running due to wheel removal due to a step or collision with an obstacle, the tilt of the wheelchair body 10 is detected by each distance sensor 40 and each charging device 33 is activated. As a result, as shown in FIG. 6, the airbags 30, 31, and 32 are inflated, and the actuators 62 of the raising mechanism 60 are operated to raise the support member 24 of the protection member 20. At this time, the first airbag 30 is inflated forward of the user A, but the front portion 21 of the protection member 20 is raised to the vicinity of the chest of the user A by the raising mechanism 60, and therefore the first airbag 30. Bulges in front of the user A's head. The second airbag 31 is inflated rearward of the head of the user A, and the third airbag 32 is inflated so as to cover the legs of the user A. Thereby, even when the wheelchair body 10 falls, the fall impact on the user A is absorbed by the airbags 30, 31 and 32. In this case, the impact on the side of the head of the user A is absorbed by each cushioning material 23 a of the protection member 20.
[0028]
Further, when detecting the inclination of the wheelchair body 10, the control unit 50, when the wheelchair body 10 is inclined in the front-rear direction as shown in FIG. 7, the front distance sensor 40 and the rear distance sensor 40 with respect to the road surface. When the difference L1 between the detected distances exceeds a predetermined distance, each charging device 33 and each actuator 62 are operated. Also, as shown in FIG. 8, when the wheelchair body 10 is tilted in the left-right direction, when the difference L2 in the detection distance between the left distance sensor 40 and the right distance sensor 40 with respect to the road surface is equal to or greater than a predetermined distance, The charging device 33 and each actuator 62 are operated.
[0029]
As described above, according to the wheelchair of the present embodiment, the user A's body is prevented from falling off by the protective member 20 extending from the front of the user A to both sides. There is an advantage that it is not restrained by 20, and does not give the user A a feeling of pressure like a seat belt. In this case, since the protective member 20 is provided so as to be able to be moved up and down by the rotation mechanism 25, it is possible to easily get on and off without requiring troublesome attaching and detaching work such as a seat belt, and for the user A who has difficulty with the body. Very advantageous.
[0030]
Further, the protection member 20 is configured to be lockable at an arbitrary lowered position by the rotation mechanism 25, and when the protection member 20 is lifted, when the lock of the rotation mechanism 25 is released, the protection member 20 is lifted by the spring 24c. Therefore, it is not necessary for the user A to raise the protective member 20 manually, and the burden on the user A in the operation of the protective member 20 can be greatly reduced.
[0031]
Further, since the wheelchair body 10 is provided with a plurality of airbags 30, 31, and 32 that cover the head of the user A, even if the user A receives an impact due to an accident or the like, The impact can be absorbed by the airbags 30, 31, 32, which is extremely advantageous when protecting the user A from accidents.
[0032]
Further, the first airbag 30 is inflated in front of the head of the user A by raising the protective member 20 to the vicinity of the chest of the user A when the airbags 30, 31, 32 are inflated. Therefore, the impact on the user's A forehead and face can be absorbed by the first airbag 30, which is advantageous in protecting the user A against a forward fall or a collision with an obstacle ahead. .
[0033]
In this case, the raising mechanism 60 that raises the protection member 20 is operated by the driving member 62d that burns the gas generating agent in the enclosure 62a accommodated in the cylinder 62b of the actuator 62 and protrudes by the pressure of the combustion gas. Therefore, the drive member 62d can be instantaneously operated by the gas pressure, and the ascending mechanism 60 can be operated reliably.
[0034]
In addition, when the inclination of the wheelchair body 10 is detected, the airbags 30, 31, 32 are inflated. Therefore, when the wheelchair body 10 falls, the airbags 30, 31, 32 can be inflated. It is advantageous for the protection of the user A against a fall accident.
[0035]
Further, the tilt detection means of the wheelchair body 10 is constituted by a plurality of distance sensors 40, and is based on the difference between the detection distances of the front and rear distance sensors 40 and the detection distance of the left and right distance sensors 40. Since the inclination of the wheelchair main body 10 is detected, the inclination of the wheelchair main body 10 can be detected in the front-rear and left-right directions, respectively, and the airbags 30, 31, and 32 can be reliably detected in the case of falling in any direction. Can be inflated.
[0036]
In the above embodiment, the airbag 30, 31, 32 covers the user A's head and legs, but other portions may also be covered. .
[0037]
In the above embodiment, the lift mechanism 60 that moves the support member 24 of the protection member 20 upward is shown. However, for example, as shown in FIG. (Not shown) may be provided.
[0038]
10 to 12 show a second embodiment of the present invention. FIG. 10 is a block diagram showing a control system, FIG. 11 is a schematic side view showing the direction of angular velocity in a wheelchair, and FIG. It is a flowchart which shows. In addition, the same code | symbol is attached | subjected and shown to the component equivalent to the said embodiment.
[0039]
In the present embodiment, a well-known biaxial angular velocity sensor 70 (hereinafter referred to as an angular velocity sensor 70) is used as the tilt detection means, and the angular velocity sensor 70 is attached to the front and rear of the wheelchair main body 10 and at substantially the center on the left and right. As the angular velocity sensor 70, for example, a piezoelectric sensor that can detect angular velocities in two directions with one sensor can be used. That is, as shown in FIG. 11, the angular velocity sensor 70 detects an angular velocity centered on the left and right axis (Y axis) of the wheelchair body 10 and an angular velocity centered on the longitudinal axis (Z axis). It has become.
[0040]
The control part 80 of this embodiment is comprised with the microcomputer similarly to the said embodiment, and is connected to each charging device 33 and the angular velocity sensor 70. FIG. A timer 81 is connected to the control unit 80. In this control unit 80, the angular velocity Ωy around the Y axis detected by the angular velocity sensor 70 (angular velocity when the wheelchair body 10 tilts in the front-rear direction) and the angular velocity Ωz around the Z axis (angular velocity when the wheelchair body 10 tilts in the left-right direction) Based on the above, the inclination of the wheelchair body 10 with respect to the road surface is detected, and each charging device 33 is operated.
[0041]
Next, the operation of the control unit 80 will be described with reference to the flowchart of FIG. First, when a switch (not shown) is turned on (S1), detection of the angular velocities Ωy and Ωz is started (S2). Next, when the absolute value of the angular velocity Ωy with respect to the forward / backward inclination becomes larger than the predetermined reference velocity Vy (S3), the timer 81 starts to measure time (S4). Here, before the predetermined time t (for example, 0.7 seconds) elapses (S5), when the absolute value of the angular velocity Ωy becomes equal to or less than the reference velocity Vy (S6), the timer 81 is reset (S7). Return to step S3. If the time t has elapsed in step S5 before the absolute value of the angular velocity Ωy becomes equal to or less than the reference velocity Vy in step S6, the values of the angular velocities Ωy and Ωz are integrated (S8), and one angular velocity Ωy is obtained. When the absolute value of the integral value (inclination angle) of is not less than a predetermined reference value θy (S9), or when the absolute value of the other integral value of the angular velocity Ωz is not less than the predetermined reference value θz (S10), The charging device 33 is operated to inflate the airbags 30, 31, 32 (S11). If the absolute values of the integrated values of the angular velocities Ωy and Ωz are not more than the reference values θy and θz in steps S9 and S10, the process returns to step S3.
[0042]
As described above, according to the present embodiment, the angular velocity centered on the left-right axis of the wheelchair body 10 and the angular velocity centered on the front-rear axis are detected, respectively. The inclination of each direction can be detected, and each airbag 30, 31, 32 can be surely inflated even if the vehicle falls over in any direction.
[0043]
Note that the airbag 30 is used when both of the distance sensors 40 of the first embodiment and the angular velocity sensor 70 of the second embodiment are used, and both of the inclination detections by the sensors 40 and 70 satisfy a predetermined condition. , 31, 32 can be expanded, so that malfunctions can be extremely reduced. Further, the airbag 30, 31, 32 may be inflated when any one of the inclination detections by the sensors 40, 70 satisfies a predetermined condition.
[0044]
【The invention's effect】
  As described above, according to the wheelchair of claim 1, the user can be prevented from falling off by the protective member, and the user's body is not restrained like the seat belt. There is an advantage that it does not give a feeling of oppression to. In this case, by raising and lowering the protective member, it is possible to easily get on and off without requiring a troublesome attaching / detaching work like a seat belt, which is extremely advantageous for a user who has a physical disability.Further, even when the user receives an impact due to an unexpected accident or the like, the impact on the user can be absorbed by the airbag, which is extremely advantageous in protecting the user from an accident or the like. Further, for example, by raising the airbag so as to bulge forward in front of the user's head, the impact on the user's frontal head and face can be absorbed by the airbag, so It is advantageous for protecting the user against collisions with obstacles ahead.
[0045]
  According to the wheelchair of claim 2, in addition to the effect of claim 1, the user manually raises the protective member.Rotate towardTherefore, the burden on the user in operating the protective member can be greatly reduced.
[0046]
  Claims3According to the wheelchair1 or 2In addition to the effect ofmechanismSince the drive member for operating the can be operated instantaneously by the pressure of the gas, the raising means can be operated reliably.
[0047]
  Claims4According to the wheelchair1, 2 or 3In addition to the above effects, the airbag can be inflated when the wheelchair body is tilted, which is advantageous for protecting the user against a fall accident, for example.
[0048]
  Claims5Or6According to the wheelchair fall shock absorber,4In addition to the above effect, the inclination of the wheelchair in the front-rear direction and the left-right direction can be detected, so that the air bag can be reliably inflated in any direction.
[Brief description of the drawings]
FIG. 1 is a side view of a wheelchair showing a first embodiment of the present invention.
FIG. 2 is a perspective view of a protective member.
FIG. 3 is a block diagram showing a control system.
FIG. 4 is a side view of the rotation mechanism.
FIG. 5 is a side sectional view of the actuator.
FIG. 6 is a side view showing the operation when the airbag is inflated.
FIG. 7 is a partial side view showing the tilted state of the wheelchair in the front-rear direction.
FIG. 8 is a partial front view showing the tilted state of the wheelchair in the left-right direction.
FIG. 9 is a side view of a wheelchair showing a modification of the first embodiment.
FIG. 10 is a block diagram showing a wheelchair control system showing a second embodiment of the present invention.
FIG. 11 is a schematic side view showing the direction of angular velocity in a wheelchair.
FIG. 12 is a flowchart showing the operation of the control unit.
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 10 ... Wheelchair body, 20 ... Protective member, 25 ... Rotating mechanism, 25c ... Spring, 30, 31, 32 ... Air bag, 33 ... Charging device, 40 ... Distance sensor, 50 ... Control part, 60 ... Lifting mechanism, 62 ... Actuator, 62a ... Inclusion body, 62b ... Cylinder, 62c ... Ignition device, 62d ... Drive member, 70 ... Angular velocity sensor, 80 ... Control part, A ... User.

Claims (6)

A protective member (20) extending from the front of the user (A) sitting on the wheelchair body (10) to both sides;
A support member (24) provided on the wheelchair body (10) so as to be movable up and down, and rotatably supporting the protection member (20) in the vertical direction ;
At least one airbag (30, 31, 32) provided on the protective member (20) so as to be positioned at least in front of the user (A) and covering a predetermined portion of the user (A);
Inflating means (33) for inflating the airbag (30, 31, 32);
A wheelchair comprising: a lifting mechanism (60) for lifting the support member (24) to a predetermined position when the airbag (30, 31, 32) is inflated . A biasing means (25c) for biasing the protective member (20) so as to rotate upward ;
Wheelchair according to claim 1, characterized in that a lockable locking means (25) protecting member (20) in any lower lateral rotational position. An enclosure (62a) enclosing a gas generating agent, a cylinder (62b) containing the enclosure (62a), an ignition means (62c) for burning the gas generating agent in the enclosure (62a), and a cylinder (62b) The drive member (62d) is movably provided at one end of the cylinder. The drive member (62d) is moved outside the cylinder (62b) by the pressure of the gas generated in the cylinder (62b) by the combustion of the gas generating agent. An actuator (62) projecting toward the
The wheelchair according to claim 1 or 2 , wherein the lift mechanism (60) is operated by a drive member (62d) of an actuator (62). Tilt detection means (40, 70) for detecting the tilt of the wheelchair body (10);
Control means (50, 80) for operating the inflation means (33) of the airbag (30, 31, 32) when the inclination of the wheelchair body (10) is detected by the inclination detection means (40, 70). The wheelchair according to claim 1, 2, or 3 . The inclination detection means (40) is constituted by a plurality of distance sensors (40) that respectively detect the distance from a plurality of locations in the front and rear and left and right directions of the wheelchair body (10) to the road surface.
The inclination of the wheelchair body (10) is detected based on the difference in detection distance between the front and rear distance sensors (40) or the difference in detection distance between the left and right distance sensors (40). The wheelchair according to claim 4 . The tilt detection means (70) is constituted by an angular velocity sensor (70) for detecting an angular velocity centered on the longitudinal axis of the wheelchair body and an angular velocity centered on the left-right axis, respectively.
The wheelchair according to claim 4, wherein the inclination of the wheelchair body (10) is detected based on the angular velocity in each direction detected by the angular velocity sensor (70).

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