JP5324983B2 - Drive device and caster-equipped indoor mobile device - Google Patents

Drive device and caster-equipped indoor mobile device Download PDF

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JP5324983B2
JP5324983B2 JP2009081346A JP2009081346A JP5324983B2 JP 5324983 B2 JP5324983 B2 JP 5324983B2 JP 2009081346 A JP2009081346 A JP 2009081346A JP 2009081346 A JP2009081346 A JP 2009081346A JP 5324983 B2 JP5324983 B2 JP 5324983B2
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indoor
drive
drive device
chassis
casters
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JP2010227490A (en
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比呂志 川口
徹 田中
洋介 辛川
清美 松尾
利勝 武富
健郎 北島
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Saga Prefecture
Saga University NUC
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Saga University NUC
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Abstract

<P>PROBLEM TO BE SOLVED: To provide a driving device which is not complicated in a structure and compact, can be simply and easily installed to an indoor moving body with casters, can be easily motorized, can carrying out stable travelling with safe feeling when starting, and by which rectilinear progressing property and turning property when travelling can be enhanced, and an indoor moving device with casters equipped with the same. <P>SOLUTION: Driving wheels 10 oscillatable in a vertical direction by turning around supporting shafts 14 in a fore and aft direction are independently suspended in both right and left sides in a center part in the fore and aft directions of the lower surface of a chassis 1 respectively, coil springs 15 capable of always biasing both the driving wheels to the grounding direction onto an indoor floor surface are independently arranged in both the driving wheels 10, 10 respectively, and both the driving wheels 10, 10 are arranged so as to face each other in a truncated chevron shape in a front view in a grounding state to a horizontal indoor floor surface F. <P>COPYRIGHT: (C)2011,JPO&amp;INPIT

Description

本発明は、特に肢体不自由者（１８歳未満の肢体不自由児を含む）などが障害者施設の屋内で使用する姿勢保持用、リハビリ用、遊戯用または作業用のキャスター付屋内移動体、例えば車椅子やクッションチェアを搭載した台車等に取付けられて、屋内床面上を自走可能なように電動化を図るために用いられる駆動装置およびそれを備えたキャスター付屋内移動装置に関する。   The present invention particularly relates to an indoor movable body with a caster for posture maintenance, rehabilitation, play or work for use by persons with physical disabilities (including children with physical disabilities under 18 years old) indoors in a disabled person facility, For example, the present invention relates to a drive device which is attached to a wheelchair or a carriage equipped with a cushion chair and used for electrification so as to be able to run on an indoor floor and an indoor moving device with a caster provided with the drive device.

重度の障害を持つ肢体不自由者が、例えば障害者施設等の屋内において移動したり、リハビリや遊戯、あるいは作業を円滑に行う場合に、姿勢保持用、リハビリ用、遊戯用または作業用に各々適応したキャスター付屋内移動体、例えば姿勢保持用として、車椅子が使用されている。
このような車椅子は、手押しのため、作業療法士や理学療法士などや保護者の介助を必要としている。 When a physically handicapped person with severe disability moves indoors, such as a facility for the disabled, or performs rehabilitation, play, or work smoothly, for posture maintenance, rehabilitation, play, or work, respectively Wheelchairs are used as adapted indoor mobiles with casters, for example for posture maintenance.
Such a wheelchair requires the assistance of an occupational therapist, a physical therapist, or a guardian for pushing.

そこで、従来では、肢体不自由者の自立と日常生活の質的向上を図るための訓練に、肢体不自由者自身が着座姿勢のままで操縦することにより移動することができるようにした自操型の屋内用または屋外用の電動式車椅子が開発されている（特許文献１，２参照）。 Therefore, conventionally, in order to improve the independence of the physically handicapped and improve the quality of daily life, the handicapped person can move by maneuvering while in the sitting position. A type of indoor or outdoor electric wheelchair has been developed (see Patent Documents 1 and 2).

しかし、特許文献１に記載の電動式車椅子は、ダブルリンク式のサスペンション機構をもって各々上下動可能に独立懸架された、左右１対の前後両輪を備えた既成の車椅子における車体フレームの後部下面に、前記左右の後輪を跨ぐように、駆動ブロックを取付けるとともに、この駆動ブロックに設けた駆動モータの駆動力を、駆動伝達機構をもって左右の後輪に伝達しうるような４輪構造となっている。
そのため、左右の後輪への駆動伝達機構の構造が複雑となり、車体フレームへの取付けが簡単かつ安価に行うことができないばかりでなく、旋回するにあたって、後輪を旋回中心としているために、旋回範囲が大きくなり、旋回性に劣る。
しかも、肢体不自由者が着座した際の重心位置が高いために、転倒し易いという危険性がある。 However, the electric wheelchair described in Patent Document 1 has a double-link suspension mechanism that is independently suspended so as to be vertically movable, and is provided on the lower surface of the rear portion of the vehicle body frame in an existing wheelchair having a pair of left and right wheels. A drive block is mounted so as to straddle the left and right rear wheels, and the drive force of the drive motor provided in the drive block is configured to be transmitted to the left and right rear wheels by a drive transmission mechanism. .
Therefore, the structure of the drive transmission mechanism to the left and right rear wheels is complicated, and not only can it be easily and inexpensively attached to the vehicle body frame, but also because the center of the rear wheels is the turning center when turning, The range is large and the turning performance is poor.
In addition, since the position of the center of gravity when a physically handicapped person is seated is high, there is a risk that the person will easily fall over.

また、特許文献２に記載の電動式車椅子は、車体フレームの下面に、互いにサスペンション機構をもって各々上下動可能に独立懸架された、左右１対のキャスターからなる前後両輪を設けるとともに、車体フレームの前後方向のほぼ中央部に左右１対の中輪を設け、これら左右の中輪を、ダブルリンク式のサスペンション機構をもって上下動可能に独立懸架し、かつ駆動モータが内蔵されたホイールインモータ式をもって駆動しうるような６輪構造となっている。   In addition, the electric wheelchair described in Patent Document 2 is provided with front and rear wheels made up of a pair of left and right casters that are suspended independently of each other by a suspension mechanism on the lower surface of the body frame, A pair of left and right middle wheels are provided in the center of the direction, and these left and right middle wheels are independently suspended by a double link type suspension mechanism so as to be movable up and down, and driven by a wheel-in motor type with a built-in drive motor. It has a 6-wheel structure.

しかし、特許文献２に記載された電動車椅子は、左右の中輪（駆動輪）が、キャスターからなる前後両輪と比較して、非常に大径であるため、椅子全体の高さが高く、着座姿勢における重心位置も高くなり、走行が不安定で、転倒し易い。
また、障害者施設等の屋内での使用を考えた場合には、機構そのものが頑丈で複雑であることから、コスト的にも高くなる。 However, the electric wheelchair described in Patent Document 2 has a very large diameter as compared with both front and rear wheels made of casters, so that the overall height of the chair is high, The position of the center of gravity in the posture also becomes high, running is unstable, and it is easy to fall.
In addition, when considering indoor use such as a facility for persons with disabilities, the mechanism itself is sturdy and complicated, which increases the cost.

また、台車を、左右１対のキャスターからなる前後両輪によって支持するとともに、その前後方向のほぼ中央部に、前記キャスターとほぼ同径の左右１対の駆動輪を独立懸架させて設けた電動式搬送車が公知である（特許文献３参照）。 In addition, the carriage is supported by both front and rear wheels made of a pair of left and right casters, and a pair of left and right drive wheels having the same diameter as the casters are suspended independently from each other at substantially the center in the front and rear direction. A conveyance vehicle is publicly known (refer to patent documents 3).

特許文献３に記載の電動式搬送車は、例えば車台上にクッションチェア等の姿勢保持体を搭載した場合、着座姿勢における重心位置も低く、走行が安定するため、障害者施設等の屋内での使用において好適である。
しかし、左右の駆動輪が、左右方向の支軸を支点に回動することによって上下方向に揺動する揺動板をもって、互いに独立懸架させて設けられていることから、前進または後退の際の始動時に働く慣性により、駆動輪が下方または上方に押し出される力が作用するため、始動時の動きが不安定となり、肢体不自由者に不安感を与える。 The electric transport vehicle described in Patent Document 3, for example, when a posture holding body such as a cushion chair is mounted on a chassis, the position of the center of gravity in the sitting posture is low, and the running is stable. Suitable for use.
However, since the left and right drive wheels are provided to be suspended independently from each other with a swing plate that swings in the vertical direction by rotating around the support shaft in the left and right direction, Due to the inertia that acts at the time of starting, a force that pushes the driving wheel downward or upward acts, so that the movement at the time of starting becomes unstable, giving anxiety to a physically handicapped person.

ところで、小学校の中学年以下の肢体不自由児や重度の障害者にあっては、その障害の程度や操作能力の制約などから、公的機関によって認定された正規の電動車椅子の支給対象者にはなっていない。
このような正規の電動車椅子を使用することができない障害者や障害児は、体の変形や機能障害等により、自身で姿勢を保持することが非常に困難なため、その障害に応じて姿勢を保持させることができるクッションチェア等の姿勢保持装置を必ず持っており、この姿勢保持装置を、簡単かつ安価に電動化できるような駆動装置が切望されている。 By the way, for elementary and middle-aged children and children with severe disabilities and those with severe disabilities, due to restrictions on their degree of disability and operational abilities, is not.
Persons with disabilities and children with disabilities who cannot use such regular electric wheelchairs are very difficult to hold their own posture due to body deformation or functional disorder. There is always a posture holding device such as a cushion chair that can be held, and a drive device that can easily and inexpensively drive this posture holding device is desired.

特開２００１−３４６８３５号公報JP 2001-346835 A 特開２００７−０６１３４２号公報JP 2007-061342 A 特開平９−１６９２７１号公報JP-A-9-169271

本発明は、前記の現状に鑑み、構造が複雑でなく、コンパクトで、かつキャスター付屋内移動体に簡単かつ容易に取付けることができるとともに、電動化を安価に図ることができ、しかも、始動時における安心感のある安定した走行が行え、好ましくは、走行時における直進性と旋回性を高めることができるようにした駆動装置およびそれを備えたキャスター付屋内移動装置を提供することを目的とする。   In view of the above situation, the present invention is not complicated in structure, is compact, can be easily and easily attached to an indoor moving body with casters, and can be electrically driven at low cost. It is an object of the present invention to provide a drive device capable of performing stable traveling with a sense of security and preferably improving straightness and turning performance during traveling, and an indoor moving device with casters provided with the drive device. .

上記課題は、「特許請求の範囲」の欄における各請求項に記載するように、次のような構成からなる発明によって解決される。   The above-described problems are solved by the invention having the following configuration, as described in each claim in the section “Claims”.

（１）肢体不自由者が使用する姿勢保持用、リハビリ用、遊戯用または作業用のキャスター付屋内移動体の車台下面に取り付けて、屋内床面上を自走可能に電動化するための駆動装置であって、前記車台下面の前後方向の中間部における左右の両側に、前後方向の支軸を支点に回動することによって上下方向に揺動可能な駆動輪を、各々独立して懸架するとともに、両駆動輪の各々に、前記屋内床面上への接地方向に向けて常時付勢しうる付勢手段を、駆動輪よりも外側に位置しうるように独立して設ける。 (1) Drive for attaching to the underside of an indoor mobile body with casters for posture maintenance, rehabilitation, play or work used by people with physical disabilities so that it can be electrically driven on the indoor floor. A drive wheel that can swing in the vertical direction by rotating about a support shaft in the front-rear direction on both left and right sides of the middle part in the front-rear direction on the lower surface of the chassis is independently suspended. At the same time, each of the drive wheels is provided with an urging means capable of always urging toward the grounding direction on the indoor floor so as to be located outside the drive wheels .

（２）上記（１）項において、車台下面に取り付けうる左右方向を向く支持部材の中央部に、前後方向を向く左右１対の支軸を設け、この支軸を支点に回動することによって上下方向に揺動する揺動板を、支軸から左右方向の外側に向けて各々延設して取り付けるとともに、これら各揺動板の遊端に電動モータによって回転駆動される駆動輪を、各々独立して設け、かつ各駆動輪を接地方向に向けて常時付勢する付勢手段を、支持部材と揺動板との間に介在させる。 (2) In the above item (1), by providing a pair of left and right support shafts facing in the front-rear direction at the center of the support member facing in the left-right direction that can be attached to the underside of the chassis, A swing plate that swings in the vertical direction is attached so as to extend outward from the support shaft in the left-right direction, and drive wheels that are driven to rotate by an electric motor at the free ends of the swing plates, respectively. An urging means that is provided independently and constantly urges each driving wheel toward the grounding direction is interposed between the support member and the swinging plate.

（３）上記（１）項または（２）項において、駆動輪を、左右方向に移動可能に調整しうるものとする。 ( 3 ) In the above item (1) or (2) , the drive wheel can be adjusted to be movable in the left-right direction.

（４）上記（１）〜（３）項のいずれかにおいて、駆動輪の上下方向の揺動範囲を、上限位置と下限位置との間で調整しうるようにする。 ( 4 ) In any one of the above items (1) to ( 3 ), the vertical swing range of the drive wheel can be adjusted between the upper limit position and the lower limit position.

（５）上記（１）〜（４）に記載の駆動装置を、肢体不自由者が使用する姿勢保持用、リハビリ用、遊戯用または作業用のキャスター付屋内移動体の車台下面に備えるキャスター付屋内移動装置であって、前記駆動装置の駆動輪を、水平な屋内床面への接地状態において、互いに正面視ハ字形に対向しうるように配設する。 ( 5 ) With a caster provided with the drive device according to the above (1) to ( 4 ) on the lower surface of the chassis of an indoor moving body with a caster for posture maintenance, rehabilitation, play or work used by a physically handicapped person In the indoor movement device, the driving wheels of the driving device are arranged so as to be opposed to each other in a C shape when viewed from the front in a grounded state on a horizontal indoor floor surface.

（６）上記（５）項において、車台の下面に、下降操作可能にした補助用キャスターを設けるとともに、この補助用キャスターの下降操作によって、左右の駆動輪を、屋内床面上から離間しうるようにする。
発明の具体的な内容は、次の通りである。 ( 6 ) In the above item ( 5 ), an auxiliary caster that can be lowered is provided on the lower surface of the chassis, and the left and right drive wheels can be separated from the indoor floor surface by the lowering operation of the auxiliary caster. Like that.
The specific contents of the invention are as follows.

本発明によると、次のような効果が奏せられる。
（Ａ）請求項１記載の発明によると、車台下面の前後方向の中間部における左右の両側に、前後方向の支軸を支点に回動することによって上下方向に揺動可能な駆動輪を、各々独立して懸架してあるため、構造が複雑でなく、コンパクトで、かつキャスター付屋内移動体に簡単かつ容易に取付けることができるとともに、駆動輪が、前進または後退の際の始動時に働く慣性を受けないため、駆動輪が下方または上方に押し出される力が作用せず、始動時の動きが安定し、始動時における安心感のある走行が行える。
また、左右の各駆動輪を、それぞれ独立した付勢手段をもって、屋内床面上への接地方向に向けて常時付勢しうるようにしてあるため、屋内床面上の凹凸に対する追従性を高めることができ、安定した走行が行える。また、付勢手段を、駆動輪よりも外側に位置しうるように設けてあるため、付勢手段の上下方向の伸縮範囲が長くなり、揺動板の上下方向の揺動範囲を大きくすることができ、これにより、屋内床面上の凹凸に対して、駆動輪の追従性の調整範囲を大きくすることができる。 According to the present invention, the following effects can be obtained.
(A) According to the invention described in claim 1, on both the left and right sides of the middle portion in the front-rear direction on the lower surface of the chassis, the drive wheels that can swing in the up-down direction by rotating about the support shaft in the front-rear direction are supported. Since each is suspended independently, the structure is not complicated, it is compact, and it can be easily and easily attached to an indoor moving body with casters, and the drive wheels act as inertia when starting up when moving forward or backward Therefore, the force that pushes the drive wheel downward or upward does not act, the movement at the start is stable, and the vehicle can travel with a sense of security at the start.
In addition, since the left and right drive wheels can be always urged toward the grounding direction on the indoor floor surface by independent urging means, the followability to unevenness on the indoor floor surface is improved. And stable running. Further, since the urging means is provided so as to be located outside the drive wheel, the vertical expansion / contraction range of the urging means becomes long, and the vertical swing range of the swing plate is increased. As a result, the adjustment range of the followability of the drive wheel can be increased with respect to the unevenness on the indoor floor surface.

（Ｂ）請求項２記載の発明によると、車台下面に取り付けうる左右方向を向く支持部材の中央部に、前後方向を向く左右１対の支軸を設け、この支軸を支点に回動することによって上下方向に揺動する揺動板を、支軸から左右方向の外側に向けて各々延設して取り付けるとともに、これら各揺動板の遊端に電動モータによって回転駆動される駆動輪を、各々独立して設け、かつ各駆動輪を接地方向に向けて常時付勢する付勢手段を、支持部材と揺動板との間に介在させてあるため、装置全体の構造が複雑でなく、コンパクトな構成とすることができる。 (B) According to the invention described in claim 2, a pair of left and right support shafts facing in the front-rear direction are provided at the center portion of the support member facing in the left-right direction that can be attached to the underside of the chassis, and the support shafts are rotated around the support shaft Accordingly, swing plates that swing in the vertical direction are attached to the support shafts so as to extend outward in the left-right direction, and drive wheels that are driven to rotate by an electric motor are provided at the free ends of the swing plates. Since the urging means for independently urging each driving wheel toward the grounding direction is interposed between the support member and the swing plate, the structure of the entire apparatus is not complicated. A compact configuration can be obtained.

（Ｃ）請求項３記載の発明によると、駆動輪を、左右方向に移動可能に調整しうるようにしてあるため、左右の駆動輪を、外側に向けて互いに離間する方向に移動調整すれば、キャスター付屋内移動体の旋回速度を遅くすることができ、また、内側に向けて互いに近づく方向に移動調整すれば、キャスター付屋内移動体の旋回速度を速くすることができる。 ( C ) According to the invention described in claim 3 , since the drive wheels can be adjusted so as to be movable in the left-right direction, if the left and right drive wheels are moved and adjusted in a direction away from each other, they can be adjusted. The turning speed of the indoor moving body with casters can be lowered, and the turning speed of the indoor moving body with casters can be increased by adjusting the movement toward the inside toward each other.

（Ｄ）請求項４記載の発明によると、駆動輪の上下方向の揺動範囲を、上限位置と下限位置との間で調整しうるようにしてあるため、屋内床面の凹凸の度合いによって、左右の駆動輪の揺動範囲を調整することができる。 ( D ) According to the invention of claim 4 , since the vertical swing range of the drive wheel can be adjusted between the upper limit position and the lower limit position, depending on the degree of unevenness of the indoor floor surface, The swing range of the left and right drive wheels can be adjusted.

（Ｅ）請求項５記載の発明によると、駆動装置の駆動輪を、水平な屋内床面への接地状態において、互いに正面視ハ字形に対向しうるように配設してあるため、周知のキャンバー効果によって、直進性および旋回性を良好なものとすることができるとともに、屋内床面が傾斜していても、安定した走行が行える。 ( E ) According to the invention described in claim 5 , since the drive wheels of the drive device are arranged so as to be opposed to each other in a C-shape when viewed from the front in a grounded state to a horizontal indoor floor surface, Due to the camber effect, it is possible to improve the straightness and the turning performance, and it is possible to stably travel even if the indoor floor surface is inclined.

（Ｆ）請求項６記載の発明によると、車台の下面に、下降操作可能にした補助用キャスターを設けるとともに、この補助用キャスターの下降操作によって、左右の駆動輪を、屋内床面上から離間しうるようにしてあるため、キャスター付屋内移動体を、電動モータの減速ギヤ駆動系によるブレーキ作用から開放され、手押し用として円滑に移動させることができる。 ( F ) According to the invention described in claim 6 , the auxiliary caster which can be lowered is provided on the lower surface of the chassis, and the left and right drive wheels are separated from the indoor floor surface by the downward operation of the auxiliary caster. Therefore, the indoor movable body with a caster is released from the braking action by the reduction gear drive system of the electric motor, and can be moved smoothly for hand pushing.

本発明における一実施形態の駆動装置を備えたキャスター付屋内移動装置の斜視図である。（実施例）It is a perspective view of the indoor moving apparatus with a caster provided with the drive device of one embodiment in the present invention. (Example) 同じく、側面図である。Similarly, it is a side view. 駆動装置を下方から見上げた斜視図である。It is the perspective view which looked up at the drive device from the lower part. 駆動装置の正面視縦断面図である。It is a front view longitudinal cross-sectional view of a drive device. 同じく、駆動装置の側面図である。Similarly, it is a side view of a drive device. 駆動輪の屋内床面上における突起部への乗上げ状態の挙動を示す要部拡大断面図である。It is a principal part expanded sectional view which shows the behavior of the riding state to the projection part on the indoor floor surface of a driving wheel. 駆動輪の屋内床面上における凹陥部への落込み状態の挙動を示す要部拡大断面図である。It is a principal part expanded sectional view which shows the behavior of the fall state to the recessed part on the indoor floor surface of a driving wheel. 手押し使用時におけるキャスター付屋内移動体の浮上状態を示す側面図である。It is a side view which shows the floating state of the indoor mobile body with a caster at the time of hand pushing use.

以下、本発明の実施形態を、図面に基づいて説明する。
図１は、本発明における一実施形態の駆動装置を備えたキャスター付屋内移動装置の斜視図、図２は、同じく、側面図である。
なお、本実施形態においては、キャスター付屋内移動体として、肢体不自由者が使用する姿勢保持用のクッションチェアが、キャスター付車台上に搭載されたものを例にして説明する。 Hereinafter, embodiments of the present invention will be described with reference to the drawings.
FIG. 1 is a perspective view of an indoor moving apparatus with casters provided with a driving apparatus according to an embodiment of the present invention, and FIG.
In this embodiment, as an indoor movable body with a caster, an example in which a cushion chair for posture maintenance used by a physically handicapped person is mounted on a chassis with a caster will be described.

本発明のキャスター付屋内移動装置は、図１および図２に示すように、平面視ほぼ矩形状の車台１と、この車台１における前後の下面隅部に取り付けた左右１対のキャスターからなる前輪２，２および後輪３，３と、前記車台１上に組み付けたクッションチェア４とを備えているとともに、前記前輪２，２および後輪３，３によってほぼ全荷重を受けて、屋内床面Ｆ上を移動可能になっている。
また、車台１の下面と屋内床面Ｆとの間の高さＨは、例えば９０〜１２０ｍｍ程度の低重心となっているとともに、車台１の下面には、前輪２と後輪３との間のほぼ重心位置に相当する中間部に、後記する駆動装置５が取外し可能に取り付けられている。 As shown in FIGS. 1 and 2, the indoor moving apparatus with casters of the present invention is a front wheel comprising a chassis 1 having a substantially rectangular shape in plan view and a pair of left and right casters attached to front and rear lower corners of the chassis 1. 2 and 2 and rear wheels 3 and 3 and a cushion chair 4 assembled on the chassis 1 and receiving almost all loads by the front wheels 2 and 2 and rear wheels 3 and 3, It is possible to move on F.
The height H between the lower surface of the chassis 1 and the indoor floor surface F has a low center of gravity of about 90 to 120 mm, for example, and the lower surface of the chassis 1 has a space between the front wheel 2 and the rear wheel 3. A drive device 5 to be described later is detachably attached to an intermediate portion substantially corresponding to the position of the center of gravity.

図３は、駆動装置を下方から見上げた斜視図、図４は、駆動装置の正面視縦断面図、図５は、同じく、駆動装置の側面図である。   3 is a perspective view of the drive device as viewed from below, FIG. 4 is a front sectional view of the drive device, and FIG. 5 is a side view of the drive device.

前記駆動装置５は、図３〜図５に示すように、車台１下面に取り付けうる左右方向を向く上面板６ａおよび前後両側面板６ｂ，６ｂからなる側面視下向きコ字状の支持部材６と、この支持部材６におけるコ字状空間内の左右両側部に遊嵌状態で配設された左右１対の揺動板７，７と、これら左右の揺動板７の遊端に逆Ｌ字状のブラケット８をもって各々取り付けられた、図示しないバッテリーを電源とする左右１対の電動モータ９，９と、これら左右の電動モータ９の駆動軸９ａに取り付けることよって各々独立して回転駆動する左右１対の駆動輪１０，１０とを備えている。   As shown in FIGS. 3 to 5, the driving device 5 includes a top plate 6 a that can be attached to the bottom surface of the chassis 1 and a U-shaped support member 6 that has a U-shaped support member 6 that includes a front surface plate 6 a and front and rear side plates 6 b and 6 b. A pair of left and right oscillating plates 7, 7 disposed in a loosely fitted state on both left and right sides in the U-shaped space of the support member 6, and an inverted L shape at the free ends of these left and right oscillating plates 7. A pair of left and right electric motors 9, 9 each of which is attached with a bracket 8, which uses a battery (not shown) as a power source, and left and right 1 which are independently driven to rotate by being attached to drive shafts 9 a of these left and right electric motors 9. A pair of drive wheels 10 and 10 is provided.

左右の電動モータ９は、図１及び図２に示すように、前記車台１の前端中央部１ａに立設した支持杆１１をもって取り付けた操作盤１２上に設けた複数の操作ボタン１３をもって、停止・前進・後退・右旋回・左旋回などに応じて適宜に押釦操作し、図示しないコントローラを介して互いに独立して正逆回転させることにより、駆動制御されるようになっている。   As shown in FIGS. 1 and 2, the left and right electric motors 9 are stopped by a plurality of operation buttons 13 provided on an operation panel 12 attached with a support rod 11 erected on the front end central portion 1a of the chassis 1. A push button is appropriately operated in accordance with forward, backward, right turn, left turn, etc., and drive control is performed by rotating forward and backward independently from each other via a controller (not shown).

揺動板７は、その内側に位置する一端部７ａが、支持部材６の前後方向の両側面板６ｂ，６ｂ間に設けた支軸１４に枢支されて、この支軸１４から左右方向の外側に向けて各々延設して取り付けられているとともに、その外側の遊端状態にある他端部７ｂは、外側に向けて正面視Ｌ字状に延設されている。
すなわち、揺動板７の他端部７ｂは、前後方向を向く前記支軸１４を支点にして回動することによって上下方向に揺動可能になっている。
なお、ここで、「揺動板７が上下方向に揺動可能」とは、揺動板７が支軸１４を支点にして所定範囲内で上下方向にあたかも揺動するかのように回動可能であることを意味し、回動とは、別途に揺動することを必須とすることを意味するものではない。 The swing plate 7 has one end portion 7a located inside thereof pivotally supported by a support shaft 14 provided between both side plates 6b, 6b in the front-rear direction of the support member 6, and from the support shaft 14 to the outside in the left-right direction. The other end portion 7b in the free end state on the outer side thereof is extended in an L shape in a front view toward the outer side.
That is, the other end portion 7b of the swing plate 7 is swingable in the vertical direction by rotating about the support shaft 14 facing in the front-rear direction.
Here, “the swing plate 7 is swingable in the vertical direction” means that the swing plate 7 rotates as if it swings in the vertical direction within a predetermined range with the support shaft 14 as a fulcrum. It means that it is possible, and the rotation does not mean that it is necessary to swing separately.

揺動板７の上面と支持部材６の上面板６ａとの間には、間隙ａが形成されているとともに、コイルスプリング１５が、支持部材６と揺動板７における正面視Ｌ字状の他端部７ｂとの間に介在され、かつこれら支持部材６、揺動板７、支軸１４、コイルスプリング１５をもって左右の駆動輪１０を各々独立して懸架し、装置全体がユニット化されている。 A gap a is formed between the upper surface of the swing plate 7 and the upper surface plate 6 a of the support member 6, and the coil spring 15 is L-shaped in front view on the support member 6 and the swing plate 7. The left and right drive wheels 10 are independently suspended by the support member 6, the swing plate 7, the support shaft 14, and the coil spring 15. The entire apparatus is unitized. .

コイルスプリング１５は、駆動輪１０よりも外側に位置させて配設してなるとともに、支持部材６における上面板６ａの下面に、その上端部１６ａが支持されたボルト軸１６に巻装され、かつ揺動板７の上下動に対して伸縮自在に追従しうるようになっている。   The coil spring 15 is disposed on the outer side of the drive wheel 10 and is wound around a bolt shaft 16 having an upper end portion 16a supported on the lower surface of the upper surface plate 6a of the support member 6, and It can follow the up-and-down movement of the rocking plate 7 so as to expand and contract.

ボルト軸１６の下端部１６ｂは、揺動板７の他端部７ｂに形成した左右方向に伸びる長孔７ｃを通して、揺動板７の下面に突出しうるように貫通させてなるとともに、前記下端部１６ｂに、上下１対のナット１７，１７を、互いに螺合方向が逆となるように螺合させて設けられている。 The lower end portion 16b of the bolt shaft 16 passes through a long hole 7c formed in the other end portion 7b of the swing plate 7 and extends in the left-right direction so as to protrude to the lower surface of the swing plate 7, and the lower end portion A pair of upper and lower nuts 17 and 17 are screwed to 16b so that the screwing directions are opposite to each other.

すなわち、揺動板７は、各ナット１７を正逆方向に螺合調整することにより、ボルト軸１６による揺動板７の上面と支持部材６における上面板６ａの下面との間の間隔を調整しうるようになっている。
これにより、前後方向を向く支軸１４を支点として回動することによって上下方向に揺動する揺動板７の揺動範囲を調整しうるようになっているとともに、その下限位置が調整可能になっている。 That is, the swing plate 7 adjusts the distance between the upper surface of the swing plate 7 by the bolt shaft 16 and the lower surface of the upper surface plate 6a by the bolt shaft 16 by adjusting the nuts 17 to be screwed in the forward and reverse directions. It can be done.
As a result, the swing range of the swing plate 7 that swings in the vertical direction can be adjusted by rotating about the support shaft 14 facing in the front-rear direction, and the lower limit position thereof can be adjusted. It has become.

支持部材６における上面板６ａの左右両側部には、左右１対の調整ボルト１８，１８が、その下端を揺動板７の上面に対向しうるようにして、各々ナット１９をもって締着されており、これら左右の調整ボルト１８を螺合調整することにより、その下端と揺動板７の上面との間の間隔を調整し、これにより、揺動板７の上限位置が調整可能になっている。 A pair of left and right adjustment bolts 18, 18 are fastened to the left and right sides of the upper surface plate 6 a of the support member 6 with nuts 19 so that the lower ends thereof can face the upper surface of the swing plate 7. By adjusting the left and right adjustment bolts 18 by screwing, the distance between the lower end of the adjustment bolts 18 and the upper surface of the swing plate 7 is adjusted, whereby the upper limit position of the swing plate 7 can be adjusted. Yes.

コイルスプリング１５のばね力は、図４に示すように、左右の駆動輪１０が、肢体不自由者が着座した状態で、左右の前後両輪２，３と共に掛かる全荷重の負荷の下で、水平な屋内床面Ｆへの接地状態において、常時互いに正面視ハ字形に対向して配設されるように、すなわち、互いの回転中心軸Ｏ１，Ｏ２を、水平な屋内床面Ｆに対して傾斜角度θ１，θ２でもって、上向きの傾斜状態が維持されるように設定することにより、左右の駆動輪１０を、常時屋内床面Ｆへの接地方向に向けて付勢しうるようになっている。 As shown in FIG. 4, the spring force of the coil spring 15 is horizontal when the left and right drive wheels 10 are seated on a person with a physical disability and are loaded together with the left and right front and rear wheels 2 and 3. In the ground contact state with the indoor floor surface F, the rotation center axes O1 and O2 are inclined with respect to the horizontal indoor floor surface F so as to always be opposed to each other in a C shape in front view. By setting so that the upward inclined state is maintained at the angles θ1 and θ2, the left and right drive wheels 10 can always be urged toward the grounding direction to the indoor floor surface F. .

図６は、駆動輪の屋内床面上における突起部への乗上げ状態の挙動を示す要部拡大断面図、図７は、駆動輪の屋内床面上における凹陥部への落込み状態の挙動を示す要部拡大断面図である。 FIG. 6 is an enlarged cross-sectional view of the main part showing the behavior of the driving wheel on the protrusion on the indoor floor surface, and FIG. 7 shows the behavior of the driving wheel in the depression state on the indoor floor surface. It is a principal part expanded sectional view which shows this.

すなわち、前記コイルスプリング１５は、駆動輪１０を屋内床面Ｆ上に弾性的に接床させてなるとともに、図６に示すように、駆動輪１０が屋内床面Ｆの走行上に突出する突起物２０Ａに乗り上げた際には、その突起物２０Ａの突出高さに応じて、駆動輪１０の上動を許容しうるように、揺動板７が、コイルスプリング１５のばね力に抗して上方に揺動する。
また、図７に示すように、駆動輪１０が屋内床面Ｆの走行上に陥没する凹陥部２０Ｂに落ち込んだ際には、その凹陥部２０Ｂの深さに応じて、駆動輪１０の下動を許容しうるように、揺動板７が、コイルスプリング１５のばね力によって下方に揺動する。
これによって、走行時における屋内床面Ｆの凹凸を吸収し、車台１上のクッションチェア４側に衝撃が伝達されることがないように、緩衝機能をもたせている。 That is, the coil spring 15 elastically contacts the drive wheel 10 on the indoor floor surface F, and the protrusion from which the drive wheel 10 projects on the indoor floor surface F as shown in FIG. When riding on the object 20A, the rocking plate 7 resists the spring force of the coil spring 15 so that the upward movement of the drive wheel 10 can be allowed according to the protrusion height of the protrusion 20A. Swings upward.
Further, as shown in FIG. 7, when the drive wheel 10 falls into the recessed portion 20B that is depressed on the running of the indoor floor surface F, the drive wheel 10 moves downward according to the depth of the recessed portion 20B. The swing plate 7 swings downward by the spring force of the coil spring 15.
As a result, the unevenness of the indoor floor surface F during traveling is absorbed, and a shock absorbing function is provided so that an impact is not transmitted to the cushion chair 4 side on the chassis 1.

左右の電動モータ９が取り付けられたブラケット８は、揺動板７の下面に締結ボルト２１とナット２２とによって締結されているとともに、ブラケット８の上面が当接される揺動板７の当接面には、左右方向に延びる長孔２３が形成され、前記締結ボルト２１、ナット２２を弛めることにより、前記ブラケット８、すなわち、電動モータ９の駆動軸９ａに取り付けられた駆動輪１０を、左右方向に移動可能に調整しうるようになっている。   The bracket 8 to which the left and right electric motors 9 are attached is fastened to the lower surface of the swing plate 7 by fastening bolts 21 and nuts 22, and the swing plate 7 is in contact with the upper surface of the bracket 8. In the surface, a long hole 23 extending in the left-right direction is formed. By loosening the fastening bolt 21 and the nut 22, the bracket 8, that is, the drive wheel 10 attached to the drive shaft 9 a of the electric motor 9 is left and right. It can be adjusted to move in the direction.

図２に示すように、車台１の左右方向における後端中央部１ｂには、補助用キャスター２４が設けられているとともに、この補助用キャスター２４は、ペダル２５の下方への踏み込み操作によって下降可能になっている。   As shown in FIG. 2, an auxiliary caster 24 is provided at the rear end central portion 1 b in the left-right direction of the chassis 1, and the auxiliary caster 24 can be lowered by a stepping-down operation of the pedal 25. It has become.

図８は、手押し使用時におけるキャスター付屋内移動体の浮上状態を示す側面図である。   FIG. 8 is a side view showing the floating state of the indoor moving body with casters when the hand is pushed.

すなわち、前記補助用キャスター２４は、図８に示すように、ペダル２５の下方への踏み込み操作によって下降させることにより、屋内床面Ｆ上に接地させ、前記車台１の後端を相対的に浮上させるとともに、車台１の下面に取り付けられた駆動装置５における左右の駆動輪１０，１０が、屋内床面Ｆ上から離間しうるようになっている。
これにより、車台１の移動時に、電動モータ９の減速ギヤ系によるブレーキ作用から開放され、手押し用として円滑に移動させることができる。 That is, as shown in FIG. 8, the auxiliary caster 24 is lowered by a step-down operation of the pedal 25 to be grounded on the indoor floor surface F, and the rear end of the chassis 1 is relatively lifted. In addition, the left and right drive wheels 10 and 10 in the drive device 5 attached to the lower surface of the chassis 1 can be separated from the indoor floor surface F.
As a result, when the chassis 1 is moved, it is released from the braking action by the reduction gear system of the electric motor 9 and can be smoothly moved for hand pushing.

１ 車台（屋内移動体）
１ａ 前端中央部
１ｂ 後端中央部
２ 前輪（キャスター）
３ 後輪（キャスター）
４ クッションチェア
５ 駆動装置
６ 支持部材
６ａ 上面板
６ｂ 側面板
７ 揺動板
７ａ 一端部
７ｂ 他端部
７ｃ 長孔
８ ブラケット
９ 電動モータ
９ａ 駆動軸
１０ 駆動輪
１１ 支持杆
１２ 操作盤
１３ 操作ボタン
１４ 支軸
１５ コイルスプリング（付勢体）
１６ ボルト軸
１６ａ 上端部
１６ｂ 下端部
１７ ナット
１８ 調整ボルト
１９ ナット
２０Ａ 突起物
２０Ｂ 凹陥部
２１ 締結ボルト
２２ ナット
２３ 長孔
ａ 間隙
Ｆ 屋内床面
Ｈ 車台の下面と屋内床面と間の高さ
Ｏ１，Ｏ２ 左右の駆動輪の回転中心軸
θ１，θ２ 水平な屋内床面に対する傾斜角度 1 chassis (indoor mobile body)
1a Front end center portion 1b Rear end center portion 2 Front wheel (caster)
3 Rear wheels (casters)
4 Cushion chair 5 Driving device 6 Support member 6a Upper surface plate 6b Side surface plate 7 Oscillating plate 7a One end portion 7b Other end portion 7c Long hole 8 Bracket 9 Electric motor 9a Driving shaft 10 Driving wheel 11 Support rod 12 Operation panel 13 Operation button 14 Support shaft 15 Coil spring (biasing body)
16 Bolt shaft 16a Upper end portion 16b Lower end portion 17 Nut 18 Adjustment bolt 19 Nut 20A Protrusion 20B Recessed portion 21 Fastening bolt 22 Nut 23 Long hole a Clearance F Indoor floor surface H Height O1 between the lower surface of the chassis and the indoor floor surface , O2 Center axis of rotation of left and right drive wheels θ1, θ2 Inclination angle with respect to horizontal indoor floor

Claims (6)

肢体不自由者が使用する姿勢保持用、リハビリ用、遊戯用または作業用のキャスター(2,3)付屋内移動体の車台(1)下面に取り付けて、屋内床面(Ｆ)上を自走可能に電動化するための駆動装置(5)であって、
前記車台(1)下面の前後方向の中間部における左右の両側に、前後方向の支軸(14)を支点に回動することによって上下方向に揺動可能な駆動輪(10)を、各々独立して懸架するとともに、両駆動輪(10)の各々に、前記屋内床面(Ｆ)上への接地方向に向けて常時付勢しうる付勢手段(15)を、前記駆動輪(10)よりも外側に位置しうるように独立して設けたことを特徴とする駆動装置。 Attached to the underside of an indoor mobile body with casters (2, 3) for posture maintenance, rehabilitation, play or work used by people with physical disabilities (1 ) , and self-propelled on the indoor floor (F) A drive device (5) for electrification possible,
Drive wheels (10) that can be swung in the vertical direction by rotating about the support shaft (14) in the front-rear direction on the left and right sides in the middle part in the front-rear direction on the lower surface of the chassis (1 ) are independent of each other. The driving wheels (10) are provided with urging means (15) capable of always urging both the driving wheels (10) toward the grounding direction on the indoor floor surface (F ). A drive device characterized by being provided independently so as to be located on the outer side . 車台(1)下面に取り付けうる左右方向を向く支持部材(6)の中央部に、前後方向を向く左右１対の支軸(14)を設け、この支軸(14)を支点に回動することによって上下方向に揺動する揺動板(7)を、支軸(14)から左右方向の外側に向けて各々延設して取り付けるとともに、これら各揺動板(7)の遊端に電動モータ(9)によって回転駆動される駆動輪(10)を、各々独立して設け、かつ各駆動輪(10)を接地方向に向けて常時付勢する付勢手段(15)を、支持部材(6)と揺動板 (7)との間に介在させた請求項１記載の駆動装置。 A pair of left and right support shafts (14) facing in the front-rear direction are provided in the center of the support member (6) facing in the left-right direction that can be attached to the lower surface of the chassis (1), and the support shaft (14) is rotated around the support shaft (14). The swing plate (7) that swings in the vertical direction is attached by extending from the support shaft (14) toward the outside in the left-right direction, and the free end of each swing plate (7) is electrically driven. A driving wheel (10) that is rotationally driven by a motor (9) is provided independently, and biasing means (15) that constantly biases each driving wheel (10) toward the grounding direction is provided with a support member ( 6. The drive device according to claim 1, wherein the drive device is interposed between 6) and the swing plate (7) . 駆動輪(10)を、左右方向に移動可能に調整しうるものとした請求項１または２記載の駆動装置。 The drive device according to claim 1 or 2, wherein the drive wheel (10) can be adjusted so as to be movable in the left-right direction. 駆動輪(10)の上下方向の揺動範囲を、上限位置と下限位置との間で調整しうるようにした請求項１〜３のいずれかに記載の駆動装置。 The drive device according to any one of claims 1 to 3 , wherein the swing range of the drive wheel (10) in the vertical direction can be adjusted between an upper limit position and a lower limit position. 前記請求項１〜４に記載の駆動装置を、肢体不自由者が使用する姿勢保持用、リハビリ用、遊戯用または作業用のキャスター付屋内移動体の車台(1)下面に備えるキャスター(2,3)付屋内移動装置であって、
前記駆動装置(5)の駆動輪(10)を、水平な屋内床面(Ｆ)への接地状態において、互いに正面視ハ字形に対向しうるように配設したことを特徴とするキャスター付屋内移動装置。 Claim 1 of the driving device according to 4, crippled person for attitude holding used, for rehabilitation, amusement or casters indoor mobile undercarriage for a work (1) casters (2 provided on the lower surface, 3) An indoor mobile device with
The drive wheel (10 ) of the drive device (5) is disposed so as to be opposed to each other in a C-shape when viewed from the front when in contact with the horizontal indoor floor surface (F) . Mobile equipment. 車台(1)の下面に、下降操作可能にした補助用キャスター(24)を設けるとともに、この補助用キャスターの下降操作によって、左右の駆動輪(10)を、屋内床面(Ｆ)上から離間しうるようにした請求項５記載のキャスター付屋内移動装置。 An auxiliary caster (24) that can be lowered is provided on the lower surface of the chassis (1) , and the left and right drive wheels (10) are separated from the indoor floor (F) by lowering the auxiliary caster. The indoor moving apparatus with a caster according to claim 5 , wherein the indoor moving apparatus has a caster.
JP2009081346A 2009-03-30 2009-03-30 Drive device and caster-equipped indoor mobile device Expired - Fee Related JP5324983B2 (en)

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