KR20110008948U - Electric wheelchair with assistive device - Google Patents

Abstract

The present invention relates to an electric wheelchair equipped with an assisting device for the obstacle jaw passage, and the present invention constitutes an auxiliary device that operates to pass the uphill and downhill obstacle jaw in the electric wheelchair, through which the operation unit without the help of others The simple operation of the electric wheelchair can easily pass the downhill obstacle as well as the downhill obstacle, while changing the driving direction of the electric wheelchair to the distance without obstacles to improve the inconvenience of going away, It is designed to help people with disabilities minimize their driving restrictions.

Description

The electric wheel chair which has the obstacle chin passage auxiliary device

The present invention relates to an electric wheelchair used by a person with a disability, and in particular, by adding an auxiliary device that operates to pass the obstacle to the electric wheelchair, the uphill obstacle as well as the downhill obstacle with the simple operation of the control unit without the help of others. The electric wheelchair equipped with a barrier for assisting the passing of the obstacle to allow the electric wheelchair to pass easily, and to improve the discomfort to move away by changing the driving direction of the electric wheelchair to the distance without obstacles. It is about.

In general, the electric wheelchair is designed to move forward or backward by the rear wheel drive, the front wheel is designed to be off the center of the support shaft to facilitate the change of direction by the rear wheel.

Accordingly, in the conventional electric wheelchair, the front wheel rotates around the support shaft during the change of direction, and thus, when the electric wheelchair meets the obstacle while driving, the front wheel rotates in the left or right direction about the support shaft, causing the obstacle to rise. There is a problem that can not pass through the jaw.

Accordingly, the conventional electric wheelchair changes the driving direction to a distance without an obstacle when it encounters an obstacle of an uphill or an obstacle of an uphill while driving, or passes an obstacle of an uphill or a downhill with the help of another person. This could not help but limit the driving of electric wheelchairs because of the distance that obstacles such as barriers, stairs, and barriers between roads and sidewalks could be installed.

In particular, when the electric wheelchair tries to pass the downhill obstacle without the help of others, there is a problem that the front wheel of the electric wheelchair falls sharply from the downhill obstacle. There was a safety problem that caused the passenger to fall when passing.

Therefore, the present invention is to solve the above problems, by configuring the assistive device to operate to pass the uphill and downhill obstacles in the electric wheelchair, uphill obstacles as well as downhill obstacles with the simple operation of the operation unit without the help of others This allows the electric wheelchair to pass easily through the jaw, thereby changing the driving direction of the electric wheelchair to a distance without obstacles, thereby improving the inconvenience of having to go far, thereby minimizing the limitation of driving the electric wheelchair in the street. It is an object of the present invention to provide an electric wheelchair equipped with an assisting device for the obstacle jaw passage.

The present invention for achieving the above object, in the construction of an electric wheelchair comprising a frame, the main front wheel and the main rear wheel, and a drive motor, coupled to the front side of the electric wheelchair frame, to prevent the passage of the uphill obstacle of the main front wheel A front wheel assist member including an auxiliary front wheel rotated up and down to guide and support the vehicle; It is coupled to the rear side of the electric wheelchair frame, guides and supports the passage of the uphill obstacle jaw of the main rear wheel, and the auxiliary rotation when the up and down rotation of the auxiliary front wheel to make a buffering effect when passing the downhill obstacle jaw of the main rear wheel A rear wheel auxiliary member including a rear wheel; A first driving unit driven on / off under the control of a controller and providing a driving force required for vertically interlocking rotation of the auxiliary front wheel and the auxiliary rear wheel; Drives under the control of the control unit and is required for the forward driving of the auxiliary front wheel and the auxiliary rear wheel when contacting the ground by the downward rotation of the auxiliary front wheel and the auxiliary rear wheel to pass the obstacle from the driving force of the first drive unit. A second driving unit providing a driving force; A pair of first and second connection rods connecting the first and second driving parts to allow the interlocking rotation and the forward driving of the auxiliary front wheel and the auxiliary rear wheel from the driving force of the first and second driving parts; An actuator driving unit coupled to an intermediate side of the electric wheelchair frame and driven under the control of the controller when the actuator button is pressed; And the electric wheelchair is raised and lowered according to the driving of the actuator driving unit to raise and lower the electric wheelchair to a certain height so as to allow the uphill obstacle to pass through the auxiliary front wheel and the auxiliary rear wheel by the guide and support operations of the front wheel assist member and the rear wheel assist member. A buffer wheel that buffers the jaw when passing through the jaw; .

In addition, the front wheel auxiliary member, a motor bracket coupled to the front side of the electric wheelchair frame through the front wheel bracket; A front wheel rotating shaft rotatably coupled to the motor bracket to rotate from a driving force of the first driving unit and having a pair of front wheel arms; A front wheel shaft having the front wheel rotation shaft and a pair of front wheel arms coupled to the shaft to interlock with each other according to the rotation of the front wheel rotation shaft, and an auxiliary front wheel rotatably coupled at both ends; And a first sensor formed on the front wheel arm and configured to detect an obstacle and output the same to the controller. It includes.

In addition, the rear wheel assist member, the rear axle bracket is fixed to the electric wheelchair frame, protruding bracket projection; Both rear end rotatably coupled to the rear axle bracket, the rear wheel rotation shaft is made in accordance with the rotational force of the front wheel rotation shaft transmitted through the first connecting rod; An auxiliary rear wheel is coupled, the rear wheel shaft to rotate in the vertical direction in accordance with the rotation of the rear wheel rotation shaft; The rear wheel rotation shaft is coupled so as not to rotate, the rear wheel shaft is rotatably coupled, the rear wheel arm protruding at one end of the rear wheel projection to contact the bracket projection to limit the upward rotation angle of the rear wheel rotation shaft; And a second sensor formed at the rear wheel arm and configured to detect an obstacle and output the same to the controller. It includes.

In addition, the first drive unit is fixed to the motor bracket, under the control of the control unit for rotating the forward and reverse rotation motor; A front wheel worm screw coupled to the motor shaft of the female rotating motor, one end of which is formed with a screw thread and the other end of which is formed of a spur gear; A front wheel worm gear fixed to a front wheel rotation shaft and gear-engaged with the front wheel worm screw to rotate the front wheel rotation shaft in a forward or reverse direction; A first rotary gear meshed with the spur gear to rotate; A second rotation gear connected to one end of the first connecting rod and rotatably coupled to the motor bracket, the second rotation gear being meshed with the first rotation gear, and interlocked with the rotation of the second rotation gear. 1 arm swivel rod; A rear wheel arm gear coupled to the shaft of the rear wheel shaft; Rotatably coupled to the motor bracket, connected to the other end of the first connecting rod, and transmitting the driving force of the front wheel side transmitted through the first connecting rod to the rear wheel rotating shaft to rotate the rear wheel rotating shaft. A second arm rotating rod having a rear wheel arm worm screw geared to the rear wheel gear; It includes.

The second driving unit may include: a rear wheel rotation motor coupled to the motor bracket and configured to drive forward and reverse rotation under the control of a controller; A first forward gear coupled to the motor shaft of the rear wheel motor; A second forward gear geared to the first forward gear; A first forward rod rotatably coupled to the motor bracket and coupled to one end of the second connecting rod while forming a third forward gear meshed with the second forward gear; A second forward rod rotatably coupled to the motor bracket, connected to the other end of the second connecting rod, and having a forward worm screw to transmit the forward driving force transmitted through the second connecting rod to the rear wheel side; A tubular fourth forward gear rotatably coupled to the shaft of the rear wheel rotating shaft, and having a rear wheel worm gear portion at one end thereof engaged with the forward worm screw and a rear wheel spur gear portion at the other end thereof; A fifth forward gear meshed with the rear wheel spur gear portion; A sixth forward gear engaged with the fifth forward gear to transfer the driving force according to the forward travel so as to be coupled to the rear wheel shaft to enable forward driving by the auxiliary rear wheels coupled to both ends of the rear wheel shaft; It includes.

In addition, the front wheel arm is configured to limit the rotation in the upper direction and the lower direction by the rotation limiting portion, the rotation limiting portion is fixed to one end of the motor bracket, the front wheel arm when the front wheel arm rotates in the downward direction Arm stopper for limiting the lower rotation of the front wheel arm to be caught; And a stopper engaging portion formed at one end of the front wheel arm to limit the upward rotation of the front wheel arm by engaging the arm stopper when the front wheel arm rotates upward. A switch pressing part protruding from one end of the front wheel arm; First and second stop switches which are positioned at both sides of the motor bracket and output contact signals with the switch pressing unit to a controller in a state in which the downward or upward rotation of the front wheel shaft by the arm stopper and the stopper locking unit is restricted; It includes.

In addition, the fault threshold detection operation by the first sensor is performed only when the first stop switch contacts the switch press, and the fault threshold by the second sensor is applied only when the second stop switch contacts the switch press. The sensing operation is performed, and the controller performs forward driving of the rear wheel motor while forwardly rotating the arm rotation motor, and the controller according to the obstacle threshold detection signal by the second sensor. Is configured to turn off the forward drive of the rear wheel motor while driving the reverse rotation motor.

In addition, the electric wheel chair is configured with a downhill button, the control unit is configured to drive the rear wheel rotation motor for a predetermined time after turning off the sensing operation of the first and second sensors according to the push signal of the downhill button.

The present invention, which is configured as described above, is configured as an auxiliary device that operates to pass the uphill and downhill obstacles on the electric wheelchair, thereby enabling the uphill obstacles as well as the downhill obstacles to be operated by simple operation of the operation unit without the help of others. It improves the inconvenience of having to go far by changing the driving direction of the electric wheelchair to the distance without obstacles while allowing the wheelchair to pass easily, and also minimizes the restriction on the driving of the electric wheelchair on the street and helps the daily life of the disabled. You can expect the effect.

1 is a side schematic view of an electric wheelchair equipped with an assisting device for the obstacle jaw passage in an embodiment of the present invention;
Figure 2 is a plan schematic view of the electric wheelchair with assisting device for the obstacle jaw passing in an embodiment of the present invention.
Figure 3 is an enlarged view "A" of Figure 2 as an embodiment of the present invention.
4 is a cross-sectional view taken along the line AA of Figure 2 as an embodiment of the present invention.
5 is a cross-sectional view taken along line BB of FIG. 2 as an embodiment of the present invention.
6 is a cross-sectional view taken along line CC of FIG. 2 as an embodiment of the present invention.
7 is an enlarged view "F" of Figure 1 as an embodiment of the present invention.
8 is an enlarged view of a portion “G” of FIG. 2 as an embodiment of the present invention.
9 is a schematic view of FIG. 2 as viewed from the "B" direction in an embodiment of the present invention;
FIG. 10 is a schematic view of FIG. 2 viewed from the “C” direction in an embodiment of the present invention. FIG.
11 is a cross-sectional view taken along the line DD of FIG. 2 as an embodiment of the present invention.
12 is a cross-sectional view taken along line EE of FIG. 1 as an embodiment of the present invention.
Figure 13 is a schematic block diagram showing a control flow of the driving force for crossing the obstacle to attach to the electric wheelchair as an embodiment of the present invention.
14A to 14H are views showing the operation of the electric wheelchair over the uphill obstacle in the embodiment of the present invention.
15 is a flow chart of the operation of the electric wheelchair over the downhill obstacle in the embodiment of the present invention.

Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings.

An embodiment of the present invention is further provided with an assisting device for obstacle jaw passing through a conventional electric wheel chair including a frame (1), the main front wheel (2) and the main rear wheel (3), and the drive motor (4), As shown in FIGS. 1 to 13, the assisting device for the obstacle jaw passage may include the front wheel auxiliary member 10, the rear wheel auxiliary member 20, the first and second driving parts, and the first and second connecting members 30 and 30a. And an actuator driver 40, a shock absorber wheel 50, and a controller 90.

The front wheel assist member 10 includes an auxiliary front wheel 11 that is rotated up and down to guide and support the passage of an uphill obstacle of the main front wheel 2, and is configured to be coupled to the front side of the electric wheelchair frame 1. And a pair of the motor bracket 12 coupled to the front side of the electric wheelchair frame 1 via the front wheel bracket 12a and rotatably coupled to the motor bracket 12 so as to rotate from the driving force of the first driving unit. The front wheel rotation shaft 13 having the front wheel arm 15a of the other end of the front wheel arm 15a is coupled to the shaft and interlocked in accordance with the rotation of the front wheel rotation shaft 13, the auxiliary front wheel 11 is rotatable at both ends. And a first sensor 16 formed on the front wheel arm 15a and detecting the obstacle, and outputting it to the controller 90.

The rear wheel assist member 20 guides and supports the passage of the uphill obstacle jaw of the main rear wheel 3, and rotates the auxiliary front wheel 11 up and down so that a cushioning action is performed when the main rear wheel 3 passes the downhill barrier. It includes an auxiliary rear wheel 21 that is interlocked during rotation, and is configured to be coupled to the rear side of the electric wheelchair frame (1), and fixed to the electric wheelchair frame (1) and the rear shaft bracket protruding the bracket protrusion (22a) ( 22), the rear wheel rotation shaft 23, the auxiliary rear wheel is coupled to the rear end of the rear shaft bracket 22 and the interlock rotation is made in accordance with the rotational force of the front wheel rotation shaft 13 is transmitted through the first connecting rod (30) The rear wheel shaft 24, the rear wheel shaft 24 is coupled so as to rotate in the vertical direction in accordance with the rotation of the rear wheel shaft 23, the rear wheel shaft 23 is not rotated and the rear wheel shaft 24 is rotatably coupled On the bracket protrusion 22a After contacting the rear wheel arm 25 and the rear wheel arm 25, which constitutes the rear wheel arm projection 25a for limiting the upward rotation angle of the rear wheel rotation shaft 23 at one end, and detects the obstacle And a second sensor 26 outputting the same to the controller 90.

The first driving unit is driven on / off by the control of the control unit 90 to provide the driving force required for the up-and-down interlocking rotation of the auxiliary front wheel 11 and the auxiliary rear wheel 21, the motor bracket 12 ) Is fixed to the arm rotation motor 61 is driven forward and reverse rotation under the control of the controller 90, coupled to the motor shaft of the arm rotation motor 61 to rotate the front wheel rotation shaft 13 in the forward or reverse direction A front wheel worm gear that is fixed to the front wheel worm screw 63 and the front wheel rotation shaft 13 formed of a worm screw portion 63a and the other end of which is formed of a spur gear portion 63b and meshes with the front wheel worm screw 63 at one end thereof. (62), the first rotary gear 64, which is meshed with the spur gear portion 63b and rotates, is rotatably coupled to the motor bracket 12, and is connected to one end of the first connecting rod 30; Second rotation gear meshed with first rotary gear 64 A rear arm gear 66 coupled to the shaft of the first arm rotating rod 65 and the rear wheel rotating shaft 23 to form a gear 65a and interlock with each other according to the rotation of the second rotary gear 65a; Rotatingly coupled to the bracket 12 and connected to the other end of the first connecting rod 30 and transmitting the rotational driving force of the front wheel side transmitted through the first connecting rod 30 to the rear wheel rotating shaft 23 And a second arm rotation rod 67 having a rear wheel arm worm screw 67a geared to the rear wheel arm gear 66 so as to rotate the rear wheel rotation shaft 23.

The second driving part is in contact with the ground in the downward rotation of the auxiliary front wheel 11 and the auxiliary rear wheel 21 so as to pass the obstacle from the driving force of the first driving part, the auxiliary front wheel 11 and the auxiliary rear wheel 21 The on / off driving is performed under the control of the control unit 90 to provide the driving force required for the forward driving of the rear wheel, and the rear wheel rotation is coupled to the motor bracket 12 and controlled by the control unit 90 to drive forward and reverse rotation. A motor 71, a first forward gear 72 coupled to the motor shaft of the rear wheel motor 71, a second forward gear 73 gear-engaged with the first forward gear 72, the motor bracket ( A first forward rod 74 rotatably coupled to 12 and coupled to one end of the second connecting rod 30a while forming a third forward gear 74a gear-engaged with the second forward gear 73. And rotatably coupled to the motor bracket 12 and the second connection. Of the second forward rod 75 and the rear wheel shaft 23 connected to the other end of the rod 30a and having the forward worm screw 75a to transmit the forward driving force transmitted through the second connecting rod 30a to the rear wheel side. Fourth forward gear 76 having a tubular shape which is rotatably coupled on the shaft and has a rear wheel worm gear portion 76a at one end that meshes with the forward worm screw 75a and a rear wheel spur gear portion 76b at the other end. The rear wheel spur gear 76b is engaged with the fifth forward gear 77 gear-engaged with the rear wheel shaft 24 so as to be driven forward by the auxiliary rear wheels 21 coupled to both ends of the rear wheel shaft 24. And a sixth forward gear 78 geared to the fifth forward gear 77 to transmit a driving force according to the forward driving.

The first and second connection members 30 and 30a may allow the front wheel arm 15a and the rear wheel arm 25 to interlock and advance the auxiliary rear wheel 21 from the driving force of the first and second driving units. The first and second driving units are connected to each other.

The actuator driver 40 is driven under the control of the controller 90 when the actuator button 41 is pressed, and is coupled to an intermediate side of the electric wheelchair frame 1.

The shock absorbing wheel 50 is moved up and down in accordance with the driving of the actuator driver 40 to guide and support the front wheel auxiliary member 10 and the rear wheel auxiliary member 20 to support the auxiliary front wheel 11 and the auxiliary rear wheel 21. It is configured to raise the electric wheelchair to a certain height to allow the passage of the uphill obstacle jaw by a) and to buffer when passing the downhill obstacle jaw.

At this time, the assisting device for the obstacle jaw passing according to the embodiment of the present invention further comprises a rotation limiting portion for limiting the upward and downward rotation of the front wheel shaft 15, the rotation limiting portion is the front wheel arm (15a) Arm stopper 81 which limits the downward rotation of the front wheel arm 15a by engaging the front wheel arm 15a when the wheel rotates downward, and the front wheel arm when the front wheel arm 15a rotates upward. One end of the 15a is formed and the stopper engaging portion 82 which limits the upward rotation of the front wheel arm 15a to be caught by the arm stopper 81, the switch press protruding to one end of the front wheel arm 15a The switch pressing unit (83), which is positioned at both sides of the motor bracket 12 at one end, is restricted in the downward or upward rotation of the front wheel shaft (15) by the arm stopper (81) and the stopper locking portion (82). The first and second stop switches 84 and 85 for outputting a contact signal with the control unit 83 to the control unit 90; .

In addition, the first sensor 16 is configured to perform a fault threshold detection operation only when the first stop switch 84 is in contact with the switch pressing unit 83, and the second sensor 26 is configured as the second sensor 26. When the stop switch 85 is in contact with the switch pressing unit 83 is configured to perform a fault threshold detection operation, the control unit 90 is the arm rotation motor according to the fault threshold detection signal by the first sensor 16 The rear wheel rotation motor 71 is driven forward while the forward rotation 61 is performed, and the control unit 90 reverses the arm rotation motor 61 according to the obstacle detection signal by the second sensor 26. It is configured to turn off the forward drive of the rear wheel rotation motor 71 while rotating the drive.

In addition, the downhill button 91 is configured in the electric wheelchair, and the control unit 90 turns off the sensing operation of the first and second sensors 16 and 26 according to the push signal of the downhill button 91. The rear wheel motor 71 is configured to drive forward for a predetermined time (eg, 10 seconds).

Here, the forward driving time of the rear wheel rotation motor 71 can be arbitrarily changed and set according to the use environment.

A passage of the uphill obstacle 100 or the downhill obstacle 101 of the electric wheelchair according to the embodiment of the present invention configured as described above will be described with reference to FIGS. 1 to 15.

First, the front wheel assist member 10 and the rear wheel assist member 20 are connected to each other through the first and second connection members 30 and 30a formed as a pair, as well as the front wheel assist member. The member 10 attaches the arm rotating motor 61 included in the first drive unit to the motor bracket 12 as shown in FIG. 5 and attaches the front wheel worm screw 63 to the motor shaft of the arm rotating motor 61. ) And fix it with the fixing pin (5).

Next, the front wheel worm gear 62 is inserted into the front wheel rotation shaft 13 having the pair of front wheel arms 15a as shown in FIGS. 2 and 3 and fixed with the fixing pins 5, and then the front wheel arms. The other end of (15a) is fixed with the fixing pin (5) in the state connected to the front wheel shaft (15).

Next, the auxiliary front wheels 11 are rotatably coupled to both sides of the front wheel shaft 15, a washer (not shown) is inserted into the end of the front wheel shaft 15, and the fixing pin is press-fitted.

Then, the auxiliary front wheel 11 is rotatable but does not leave the front wheel shaft 15.

Next, as shown in FIGS. 1 and 7 and 8, the front wheel rotating shaft 13 assembled in both grooves 12b of the motor bracket 12 is placed in the front shaft fixing piece 12c, and the front wheel is secured. The nut 12d is fastened to the spirals formed at both ends of the rotation shaft 13.

Then, the worm screw portion 63a of the front wheel worm gear 62 assembled to the front wheel rotation shaft 13 and the front wheel worm screw 63 assembled to the shaft of the arm rotation motor 61 are engaged with each other. According to the rotation direction of 61, the front wheel shaft 15 having the front wheel arm 15a rotates forward or reversely about the front wheel rotation shaft 13 as a center point.

Next, as shown in Figure 5 attached to the motor bracket 12, after installing the streed 6, the first rotary gear 64 is inserted and attracted to the stop ring (E-ring) (7), the The first rotary gear 64 is meshed with the spur gear portion 63b.

Next, after inserting the first arm rotation rod 65 into the hole of the motor bracket 12 as shown in Figure 5 attached, the second rotary gear 65a at one end of the first arm rotation rod 65. Fix the combination.

Then, the first rotary gear 64 and the second rotary gear 65a inserted into the stud 6 are gear-engaged with each other.

Accordingly, the spur gear portion 63b of the front wheel worm screw 63 rotates the first rotary gear 64 according to the rotational direction of the female rotation motor 61, and the first rotary gear 64 is the first rotation gear 64. It is possible to rotate the second rotary gear (65a), so that the rotation of the first arm rotation rod 65 is coupled to the second rotary gear (65a) can be made.

Next, as shown in FIGS. 2 and 3, a rear wheel rotation motor 71 included in the second driving unit is attached to the motor bracket 12, and a first forward gear is attached to the motor shaft of the rear wheel rotation motor 71. Insert and fix (72).

Next, after installing the stud on the motor bracket 12 in the same manner as the first rotary gear 64, and inserting the second forward gear 73 to attract the stop ring (7), 2, the forward gear 73 is in gear engagement with the first forward gear 72.

Next, after the first forward rod 74 is inserted into the hole of the motor bracket 12 and the third forward gear 74a is fixed to the first forward rod 74, it is inserted into the stud. The second forward gear 73 and the third forward gear 74a are in gear engagement with each other.

Accordingly, the first forward gear 72 inserted into and fixed to the motor shaft of the rear wheel rotation motor 71 rotates the second forward gear 73 according to the rotation direction of the rear wheel rotation motor 71. The second forward gear 73 rotates the third forward gear 74a, and eventually the first forward rod 74 can rotate.

3 and 4, an arm stopper 81 included in the rotational limiting portion is installed on the motor bracket 12, and a stopper engaging portion 82 is provided at one end of the front wheel arm 15a. If it is formed, when the upward rotation of the front wheel shaft (15) is made from the rotation of the front wheel rotation shaft 13, the stopper locking portion 82 is caught by the arm stopper (81) and the upward rotation of the front wheel shaft (15) Is limited, and when the front wheel shaft 15 is rotated in a downward direction, the front wheel arm 15a is caught by the arm stopper 81, so that the downward rotation of the front wheel shaft 15 can be restricted.

3 and 6, the first stop switch 84 and the second stop switch 85 are installed on the motor bracket 12. The first and second stop switches 84 and 85 are provided. ) Is a pressing operation from the contact of the switch pressing portion 83 formed in the front wheel arm (15a) when the front wheel shaft (15) is in the up or down position, the first stop by the switch pressing portion (83) When the switch 84 is pressed, the first sensor 16 included in the front wheel assist member 10 detects an uphill obstacle 100.

On the other hand, with respect to the rear wheel assist member 20, as shown in Figures 1 and 2 and 9 to 11, the rear wheel arm worm gear 66 and the gear box included in the first drive unit in the rear wheel rotation shaft 23 Insert (79) to fix the rear wheel rotation shaft 23 and the rear wheel arm worm gear 66 with a fixing pin (5).

Next, the fourth forward gear 76 of the tubular shape included in the second drive unit is inserted into the rear wheel rotation shaft 23.

Here, the fourth forward gear 76 is a tubular (pipe) can be rotated while being inserted into the rear wheel rotation shaft 23, one end of the rear wheel worm gear portion 76a is formed and the other end of the rear wheel spur gear portion 76b. ) Is formed.

At this time, the rear wheel rotation shaft 23 is connected to the rear wheel shaft 24 through the rear wheel arm 25, as well as the rear wheel arm 25 connecting the rear wheel rotation shaft 23 and the rear wheel shaft 24. The fifth forward gear 77 is formed, and after the sixth forward gear 78 is inserted into the rear wheel shaft 24, the rear wheel shaft 24 and the sixth forward gear 78 are fixed to the fixed pin 5. Fix it.

Then, when the fourth forward gear 76 rotates, rotation of the fifth forward gear 77 geared to the rear spur gear portion 76b of the fourth forward gear 76 is performed. 5 As the sixth forward gear 78 geared to the forward gear 77 is rotated, the rear wheel shaft 24 fixed to the sixth forward gear 78 and the fixing pin 5 can be rotated. Will be.

2 and 9, the auxiliary rear wheels 21 are inserted into both ends of the rear wheel shaft 24, and then the rear wheel shaft 24 and the auxiliary rear wheels 21 are fixed with the fixing pins 5. If so, the auxiliary rear wheel 21 is also rotated when the rear wheel shaft 24 is rotated.

Meanwhile, the rear arm arm worm gear 67a is inserted into the second arm rotation rod 67 included in the first driving unit, and the rear arm arm worm gear 67a is fixed by the fixing pin 5, and the rear arm arm worm gear is inserted into and fixed to the rear wheel shaft 23. The second arm rotation rod 67 is inserted into the hole of the gearbox 79 so as to engage with the 66.

A rear wheel worm gear part of the fourth forward gear 76 inserted into the second forward rod 75 and fixed by the fixing pin 5 is inserted into the rear wheel rotation shaft 23 ( One end of the second forward rod 75 is inserted into the hole of the gearbox 79 so that the gear engages with 76a).

Next, as shown in FIG. 2, the first arm rotating rod 65 and the second arm rotating rod 67 are connected to each other by the first connection member 30, and the first forward rod 74 and the first forward rod 74 are connected to each other. When the second forward rod 75 is connected to the second connection member 30a and fastened, the rotational driving force of the female rotation motor 61 and the forward driving force of the rear wheel rotation motor 71 are the rear wheels at the front wheel side. While being transmitted to the side, the auxiliary front wheel 11 and the auxiliary rear wheel 21 can be rotated in the vertical direction at the same time, as well as the forward driving of the auxiliary rear wheel 21 is enabled.

On the other hand, Figures 14a to 14 is a flow chart showing a state in which the electric wheelchair passes the uphill obstacle jaw 100, when the uphill obstacle jaw 100 during the driving of the electric wheelchair as shown in FIG. The occupant first presses the actuator button 41 when it is determined that the height of the uphill obstacle jaw 100 is higher than the footrest of the electric wheelchair.

Then, according to the push signal of the actuator button 41, the controller 90 operates the actuator driver 40, and accordingly the actuator driver 40 lowers the shock absorbing wheel 50 as shown in FIG. do.

Then, as the front part of the electric wheel chair is lifted up from the lowering of the shock absorbing wheel 50, the auxiliary front wheel 11 positioned at the front side of the electric wheel chair is lifted uphill obstacle 100. Struck on top of.

At this time, since the first sensor 16 installed in the front wheel arm 15a detects the uphill obstacle 100 as shown in FIG. 14C and FIGS. 1 to 3, it is transmitted to the controller 90. In addition, the control unit 90 not only drives the arm rotation motor 61 in the forward rotation, but also drives the rear wheel rotation motor 71.

Then, the front wheel rotation shaft 13 is rotated from the forward rotation of the arm rotation motor 61 as well as the interlocking rotation of the rear wheel rotation shaft 23 is performed together with the front wheel rotation shaft 13. As shown in the drawing, the front wheel shaft 15 and the rear wheel shaft 24 rotate in a downward direction while contacting the auxiliary front wheel 11 and the auxiliary rear wheel 21 with the ground, and accordingly, the main front wheel 2 of the electric wheel chair. And the main rear wheels 3 are separated from the ground.

At this time, since the driving force of the rear wheel rotation motor 71 to be driven from the control of the control unit 90 is transmitted to the auxiliary rear wheel 21, the auxiliary rear wheel 21 drives the electric wheelchair forward.

Then, as shown in FIG. 14E, the forward driving of the electric wheelchair is performed in the state in which the auxiliary front wheel 21 is raised above the uphill obstacle jaw 100, wherein the second stop switch is made by the switch pressing unit 83. A pressing operation of the 85 is performed, and a signal according to the pressing operation of the second stop switch 85 is transmitted to the controller 90.

Then, the control unit 90 performs a control operation to stop the forward rotation drive of the arm rotation motor 61, and accordingly the second sensor 26 installed in the rear wheel arm 25 as shown in Figs. As shown in FIG. 14F, the second sensor 26 detects the uphill obstacle 100 when the auxiliary rear wheel 21 approaches the uphill obstacle 100.

At this time, the main rear wheel (3) of the electric wheel chair was idle when the forward driving with the rotational force of the auxiliary rear wheel 21 through the driving force of the rear wheel rotation motor 71 as shown in FIG. The second sensor 26 transmits a detection signal of the uphill obstacle 100 to the controller 90 accordingly.

Then, the control unit 90 performs a control operation of rotating the arm rotating motor 61 at the same time and at the same time turning off the rear wheel rotating motor 71.

As shown in FIG. 14H, the front wheel rotation shaft 13 and the rear wheel rotation shaft 23 are rotated upward and returned to their original positions from the reverse rotation of the arm rotation motor 61. Accordingly, the electric wheelchair is an uphill obstacle. After passing through the 100, the driving is possible through the main front wheels 2 and the main rear wheels 3 from the driving of the driving motor 4.

Here, when the electric wheelchair is completely raised above the uphill obstacle 100, the operation of the second sensor 26 is switched off, the first sensor 16 by the switch pressing portion 83 The first stop switch 84 that is pressed is switched back to the original state, that is, the operating state capable of detecting the uphill obstacle 100.

Meanwhile, as shown in FIG. 15A, when the electric wheelchair meets the downhill obstacle jaw 101 during the forward driving, when the driver presses the downhill button 91, the push signal of the downhill button 91 is transmitted to the controller 90. As a result, the controller 90 turns off the sensing functions of the first sensor 16 and the second sensor 26, and then drives the rear wheel motor 71 on for a predetermined time.

Then, as shown in Figure 15b, the main front wheel (2) of the electric wheelchair passes downhill obstacle jaw 101, wherein the main front wheel (2) while descending downhill obstacle jaw 101 Since the shock absorbing wheel 50 touches the floor and acts as a shock absorber, the sudden drop of the main front wheel 2 can be prevented, and thus the electric wheel chair can safely lower the downhill obstacle 101 as shown in FIGS. ) Can pass through.

At this time, when the main rear wheel (3) of the electric wheel chair passes the downhill obstacle jaw 101, as shown in Figure 15d attached, the auxiliary rear wheel 21 located behind the electric wheelchair is placed on the downhill obstacle jaw (101) Since it is spread over, the electric wheelchair can safely pass downhill obstacle jaw 101 by the auxiliary rear wheel 21 as shown in Figure 15e attached.

The present invention is not limited to the embodiments described, it is apparent to those skilled in the art that various modifications and variations can be made without departing from the spirit and scope of the present invention. Therefore, such modifications or variations will have to belong to the claims of the present invention.

1 frame 2 main front wheel
3: Main rear wheel 4: Drive motor
5: fixing pin 10: front wheel auxiliary member
11: auxiliary front wheel 16: first sensor
20: rear wheel auxiliary member 21: auxiliary rear wheel
26: second sensor 30,30a: first, second connection rod
40: actuator drive portion 41: actuator button
50: shock absorber wheel 61: arm rotation motor
71: rear wheel rotation motor 84,85: 1st and 2nd stop switch
90: control unit 91: downhill button
100: uphill obstacle jaw 101: downhill obstacle

Claims (9)

In the electric wheel chair including the frame and the main front wheel, the main rear wheel and the drive motor,
A front wheel assist member coupled to the front side of the electric wheelchair frame and including an auxiliary front wheel rotated up and down to guide and support the passage of an uphill obstacle of the main front wheel;
The auxiliary rear wheel is coupled to the rear side of the electric wheelchair frame, guides and supports the passage of an uphill obstacle of the main rear wheel, and is interlocked with the auxiliary rear wheel when the auxiliary front wheel is rotated up and down so that a cushioning action is performed when the downhill obstacle of the main rear wheel passes. Rear wheel auxiliary member comprising a;
A first driving unit which is driven on / off under the control of a controller and provides a driving force necessary for vertically interlocking rotation of the auxiliary front wheel and the auxiliary rear wheel, and the auxiliary front wheel and the auxiliary wheel to pass the obstacle from the driving force of the first driving unit; A second drive unit which provides a driving force required for advancing the auxiliary front wheel and the auxiliary rear wheel when the rear wheel contacts the ground by the downward rotation of the rear wheel;
A pair of first and second connection rods connecting the first and second driving parts to allow the interlocking rotation and the forward driving of the auxiliary front wheel and the auxiliary rear wheel from the driving force of the first and second driving parts;
The actuator driving unit coupled to the middle side of the electric wheelchair frame and driven under the control of the control unit when the actuator button is pressed, and moves up and down under the driving of the actuator driving unit to guide and support the front wheel assist member and the rear wheel assist member. A cushioning wheel which raises the electric wheelchair to a certain height so as to allow the uphill obstacle to pass by the auxiliary front wheel and the auxiliary rear wheel, and buffers when passing the downhill obstacle; Electric wheelchair with assisting device for the obstacle jaw passing, characterized in that comprising a configuration. According to claim 1, wherein the front wheel assist member,
A motor bracket coupled to the front side of the electric wheelchair frame via a front wheel bracket;
A front wheel rotating shaft rotatably coupled to the motor bracket to rotate from a driving force of the first driving unit and having a pair of front wheel arms;
A front wheel shaft having the other end of the front wheel arm coupled to the shaft to interlock with each other according to the rotation of the front wheel rotation shaft, and both ends of the front wheel arm rotatably coupled; And,
A first sensor formed on the front wheel arm and configured to detect an obstacle and output the same to a controller; Electric wheelchair with assisting device for the obstacle jaw passing, characterized in that comprising a configuration. The method of claim 1, wherein the rear wheel assist member,
A rear axle bracket fixed to the electric wheelchair frame and protruding a bracket protrusion;
Both rear end rotatably coupled to the rear axle bracket, the rear wheel rotation shaft is made in accordance with the rotational force of the front wheel rotation shaft transmitted through the first connecting rod;
An auxiliary rear wheel is coupled, the rear wheel shaft to rotate in the vertical direction together with the front wheel shaft having a front wheel arm in accordance with the rotation of the rear wheel rotation shaft;
The rear wheel rotation shaft is coupled so as not to rotate, the rear wheel shaft is rotatably coupled, the rear wheel arm protruding at one end of the rear wheel projection to contact the bracket projection to limit the upward rotation angle of the rear wheel rotation shaft; And,
A second sensor formed on the rear wheel arm and detecting an obstacle to be outputted to the controller; Electric wheelchair with assisting device for the obstacle jaw passing, characterized in that comprising a configuration. The method of claim 1, wherein the first drive unit,
An arm rotating motor fixed to the motor bracket and driven forward and reverse under the control of the controller;
A front wheel worm screw coupled to the motor shaft of the female rotating motor, one end of which is formed with a screw thread and the other end of which is formed of a spur gear;
A front wheel worm gear fixed to a front wheel rotation shaft and gear-engaged with the front wheel worm screw to rotate the front wheel rotation shaft in a forward or reverse direction;
A first rotary gear meshed with the spur gear to rotate;
A second rotation gear connected to one end of the first connecting rod and rotatably coupled to the motor bracket, the second rotation gear being meshed with the first rotation gear, and interlocked with the rotation of the second rotation gear. 1 arm swivel rod;
A rear wheel arm gear coupled to the shaft of the rear wheel shaft;
Rotatably coupled to the motor bracket, connected to the other end of the first connecting rod, and transmitting the driving force of the front wheel side transmitted through the first connecting rod to the rear wheel rotating shaft to rotate the rear wheel rotating shaft. A second arm rotating rod having a rear wheel arm worm screw geared to the rear wheel gear; Electric wheelchair with assisting device for the obstacle jaw passing, characterized in that comprising a configuration. The method of claim 1, wherein the second drive unit,
A rear wheel rotation motor coupled to the motor bracket and driven forward and reverse rotation under the control of the controller;
A first forward gear coupled to the motor shaft of the rear wheel motor;
A second forward gear geared to the first forward gear;
A first forward rod rotatably coupled to the motor bracket and coupled to one end of the second connecting rod while forming a third forward gear meshed with the second forward gear;
A second forward rod rotatably coupled to the motor bracket, connected to the other end of the second connecting rod, and having a forward worm screw to transmit the forward driving force transmitted through the second connecting rod to the rear wheel side;
A tubular fourth forward gear rotatably coupled to the shaft of the rear wheel rotating shaft, and having a rear wheel worm gear portion at one end thereof engaged with the forward worm screw and a rear wheel spur gear portion at the other end thereof;
A fifth forward gear meshed with the rear wheel spur gear portion;
A sixth forward gear engaged with the fifth forward gear to transfer the driving force according to the forward travel so as to be coupled to the rear wheel shaft to enable forward driving by the auxiliary rear wheels coupled to both ends of the rear wheel shaft; Electric wheelchair with assisting device for the obstacle jaw passing, characterized in that comprising a configuration. The method according to claim 2 or 3,
The front wheel arm is configured to limit the rotation in the upward direction and the downward direction by the rotation limit,
The rotation limiter is fixed to one end of the motor bracket, the arm stopper to limit the downward rotation of the front wheel arm to take the front wheel arm when the front wheel arm rotates in the downward direction; And,
A stopper engaging portion formed at one end of the front wheel arm to limit the upward rotation of the front wheel arm by engaging the arm stopper when the front wheel arm rotates upward;
A switch pressing part protruding from one end of the front wheel arm;
First and second stop switches which are positioned at both sides of the motor bracket and output contact signals with the switch pressing unit to a controller in a state in which the downward or upward rotation of the front wheel shaft by the arm stopper and the stopper locking unit is restricted; Electric wheelchair with assisting device for the obstacle jaw passing, characterized in that comprising a configuration. The method according to claim 6,
Only when the first stop switch comes in contact with the switch pressing part, the fault threshold detection operation by the first sensor is performed.
The control unit according to the obstacle jaw detection signal by the first sensor the electric wheelchair with the obstacle jaw passing assist device, characterized in that the forward rotation of the rear wheel rotation motor is configured to perform a forward rotation of the arm rotation motor. The method according to claim 6,
Only when the second stop switch is in contact with the switch pressing portion, the fault threshold detection operation by the second sensor is performed.
The control unit according to the obstacle jaw detection signal by the second sensor the electric wheelchair with the obstacle jaw passing assist device, characterized in that the forward drive of the rear wheel rotation motor is configured to be turned off while driving the reverse rotation motor. According to claim 2 or 3, wherein the electric wheelchair is configured with a downhill button, according to the push signal of the downhill button, the control unit for turning off the sensing operation of the first and second sensors, and then advances the rear wheel motor for a predetermined time. Electric wheelchair equipped with assisting device for the obstacle jaw passing, characterized in that configured to drive.

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