WO2013073003A1 - Tricycle wheelchair - Google Patents

Tricycle wheelchair Download PDF

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Publication number
WO2013073003A1
WO2013073003A1 PCT/JP2011/076261 JP2011076261W WO2013073003A1 WO 2013073003 A1 WO2013073003 A1 WO 2013073003A1 JP 2011076261 W JP2011076261 W JP 2011076261W WO 2013073003 A1 WO2013073003 A1 WO 2013073003A1
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WO
WIPO (PCT)
Prior art keywords
rear wheel
shaft
wheel
bevel gear
frame member
Prior art date
Application number
PCT/JP2011/076261
Other languages
French (fr)
Japanese (ja)
Inventor
伸一 五十嵐
鉄雄 鈴木
高橋　隆行
半田　康延
堅之 鈴木
Original Assignee
日本オートマチックマシン株式会社
株式会社タカワ精密
国立大学法人福島大学
株式会社Ｔｅｓｓ
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 日本オートマチックマシン株式会社, 株式会社タカワ精密, 国立大学法人福島大学, 株式会社Ｔｅｓｓ filed Critical 日本オートマチックマシン株式会社
Priority to CN201180074824.8A priority Critical patent/CN103930081A/en
Priority to PCT/JP2011/076261 priority patent/WO2013073003A1/en
Priority to JP2012511849A priority patent/JP4995999B1/en
Publication of WO2013073003A1 publication Critical patent/WO2013073003A1/en

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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
    • A61G5/02—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs propelled by the patient or disabled person
    • A61G5/021—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs propelled by the patient or disabled person having particular propulsion mechanisms
    • A61G5/023—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs propelled by the patient or disabled person having particular propulsion mechanisms acting directly on hubs or axis
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
    • A61G5/02—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs propelled by the patient or disabled person
    • A61G5/024—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs propelled by the patient or disabled person having particular operating means
    • A61G5/026—Cranks or hand wheels
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
    • A61G5/10—Parts, details or accessories
    • A61G5/1005—Wheelchairs having brakes
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
    • A61G5/10—Parts, details or accessories
    • A61G5/1005—Wheelchairs having brakes
    • A61G5/1035—Wheelchairs having brakes manipulated by wheelchair user
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
    • A61G5/10—Parts, details or accessories
    • A61G5/1051—Arrangements for steering
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
    • A61G5/10—Parts, details or accessories
    • A61G5/1089—Anti-tip devices

Definitions

  • the present invention relates to a three-wheeled wheelchair that is driven by pedaling.
  • Japanese Patent Application Laid-Open No. 2010-259517 has proposed a three-wheeled wheelchair that can be driven by pedaling in front while sitting in a chair.
  • This three-wheeled wheelchair is provided with a pair of front wheels on the left and right and a steering wheel on the rear side.
  • the right front wheel is the driving wheel
  • the left front wheel is the idle wheel
  • the pedal is driven to rotate the driving wheel
  • the steering wheel is operated to operate the turning wheel. Is called.
  • the present invention has been invented in view of the above-mentioned problems, and is smoothly realized by simple operations from a turning operation with a large turning radius to a turning operation with a small turning radius that results in a super turning turn. It is an object of the present invention to provide a three-wheeled wheelchair that can be run well even on a slope.
  • the present invention is directed to a pair of front wheels disposed on the left and right, one rear wheel disposed rearward thereof, an operation handle for operating the direction of the rear wheel, and a user's foot. And a power transmission mechanism that transmits a rotational driving force of the pedal unit to a pair of front wheels, wherein the rear wheel is arranged behind a middle position of the pair of front wheels.
  • the power transmission mechanism includes a left shaft coupled to the left front wheel, a right shaft coupled to the right front wheel, and a differential mechanism interposed between the left shaft and the right shaft,
  • the differential mechanism is characterized in that the rotational speed transmitted from the pedal portion is distributed to the left shaft and the right shaft respectively in a size and a rotational direction corresponding to the direction of the rear wheel. .
  • the operation handle is installed so as to be able to rotate in the forward and reverse directions on a horizontal plane, the posture of the rear wheel is changed clockwise by a one-way rotation operation, and the posture is changed 90 degrees clockwise from a straight running posture.
  • the posture of the rear wheel is changed clockwise by a one-way rotation operation, and the posture is changed 90 degrees clockwise from a straight running posture.
  • the operating mechanism is rotatable to a ring gear that is rotationally driven by the pedal portion, a frame member that is rotationally driven integrally with the ring gear, and a left side portion of the inner surface of the frame member.
  • a left bevel gear that is disposed and coupled to the left shaft; a right bevel gear that is rotatably disposed on the right side portion of the inner surface of the frame member and coupled to the right shaft; and both the left bevel gear and the right bevel gear
  • an intermediate bevel gear that is rotatably disposed on another part of the inner surface of the frame member so as to mesh with the frame member.
  • FIG. 1 and 2 show the overall structure of a three-wheeled wheelchair according to an embodiment of the present invention.
  • each direction such as front / rear / left / right used in the text is based on a direction viewed from a user seated in the three-wheeled wheelchair.
  • the skeleton portion is formed by the main frame 1 positioned in the center in the left-right direction and the pair of left and right side frames 2 positioned so as to sandwich the main frame 1 in the left-right direction.
  • the main frame 1 extends in the front-rear direction, and a pedal portion 3 for supporting a foot is supported at a front end portion thereof.
  • a rear wheel support shaft 4 extending downward is connected to the rear end portion of the main frame 1, and a rear wheel 5 is rotatably supported on the lower end portion of the rear wheel support shaft 4.
  • Each of the left and right side frames 2 includes a back frame 6 that extends in the vertical direction, a seat frame 7 that extends obliquely forward and upward from the lower end of the back frame 6, and a support frame 8 that extends obliquely downward and forward from the lower end of the back frame 6. And an upper and lower connecting frame 9 that smoothly divides the front ends of both frames 7 and 8 that are divided into upper and lower forks and extend forward.
  • a back cushion portion 50 is bridged between the left and right back frames 6, and a seat cushion portion 51 is bridged between the left and right seat frames 7.
  • the left and right side frames 2 are respectively a left and right connecting frame 10 that extends obliquely downward from the rear end of the seat frame 7, an auxiliary frame 11 that extends downward from the rear end of the support frame 8, and a lower end of the back frame 6. And an arm bar 12 that rises from the rear and extends forward.
  • the left and right connecting frames 10 are connected to the main frame 1 so that the left and right positions can be adjusted.
  • the auxiliary frame 11 rotatably supports a ball caster 13 for preventing overturning at its lower end.
  • An arm cushion portion 14 is attached to the arm bar 12.
  • a left shaft 15 having a left-right direction as an axial direction is rotatably supported at a front end portion of a support frame 8 included in the left side frame 2.
  • a left front wheel 16 is fixed to the outer end portion of the left shaft 15.
  • a right shaft 17 having a horizontal direction as an axial direction is rotatably supported at a front end portion of a support frame 8 included in the right side frame 2, and a right front wheel 18 is disposed at an outer end portion of the right shaft 17. Fixed.
  • the left shaft 15 and the right shaft 17 are coaxially connected via a differential mechanism 19.
  • the differential mechanism 19 is located behind the pedal unit 3, and the rotational driving force of the pedal unit 3 is transmitted via the chain 20.
  • a power transmission mechanism 21 that transmits the rotational driving force of the pedal portion 3 to the left and right front wheels 16 and 18 is formed. A more detailed structure of the power transmission mechanism 21 will be described later.
  • the pair of left and right front wheels 16 and 18 are both driving wheels, and one rear wheel 5 disposed behind the middle position of the left and right front wheels 16 and 18 is a steering wheel. Since the operating device 22 for operating the direction of the rear wheel 5 is detachably connected to the left or right seat frame 7, the operation device 22 can be operated from either the left or right side by selecting the connecting portion of the operating device 22. Is possible.
  • the operating device 22 is integrated with the support disk 23, which is detachably fixed to the seat frame 7, an operation disk (not shown) that is swingably stored in the storage part 24 above the support frame 23, and the operation disk. And an operation handle 25 to be coupled.
  • the operation handle 25 has a vertical operation arm 27 extending upward from the distal end side of the horizontal operation arm 26, and the vertical operation arm 27 further includes a brake lever 28.
  • the operation handle 25 is rotatable in the forward and reverse directions on a horizontal plane. As the operation handle 25 rotates, the operation disk swings integrally, and the rear wheel support shaft 4 is rotated via a wire to be steered. The direction of the rear wheel 5 which is a wheel is operated. A biasing force is applied to the rear wheel support shaft 4 by a spring 29 in a direction to return the rear wheel 5 to a straight traveling posture.
  • the power transmission mechanism 21 is coaxially positioned with the left shaft 15 connected to the left front wheel 16 that is the driving wheel and the right shaft 17 connected to the right front wheel 18 that is also the driving wheel. And a differential mechanism 19 interposed between both shafts 15 and 17.
  • the differential mechanism 19 includes a ring gear 30 that spans the chain 20 between the pedal portion 3 and a rectangular frame-shaped frame member 31 that is integrally fixed to the ring gear 30.
  • a left bevel gear 32, a right bevel gear 33, and a pair of intermediate bevel gears 34 and 35 are rotatably arranged on the inner surface of the frame member 31.
  • the frame member 31 includes a left wall portion 36 through which the left shaft 15 is rotatably inserted, a right wall portion 37 through which the right shaft 17 is rotatably inserted, and left and right directions of the left wall portion 36 and the right wall portion 37. It consists of a pair of intermediate wall parts 38 and 39 which connect the edge parts which oppose.
  • the left bevel gear 32 is fixed to the distal end portion of the left shaft 15 inserted through the left wall portion 36 and rotates integrally with the left shaft 15.
  • the right bevel gear 33 is fixed to the tip of the right shaft 17 inserted through the right wall portion 37 and rotates integrally with the right shaft 17.
  • the pair of intermediate bevel gears 34 and 35 are arranged so that their rotation axes are coaxially positioned.
  • the rotation axis here is arranged to be orthogonal to the rotation axes of the left and right bevel gears 32 and 33.
  • the differential mechanism 19 having the above structure is coupled to the left shaft 15 (and to the left shaft 15) with a rotational speed transmitted from the pedal portion 3 in a size and a rotational direction corresponding to the direction of the rear wheel 5 as a steering wheel. It distributes to the left front wheel 16) and the right shaft 17 (and the right front wheel 18 coupled thereto). That is, by rotating the operation handle 25 and changing the angle of the rear wheel 5, the ratio of the rotational speed transmitted to the left front wheel 16 and the ratio of the rotational speed transmitted to the right front wheel 18. Can be changed freely and smoothly.
  • FIG. 4 shows an example of the turning center and turning trajectory when the angle ⁇ of the rear wheel 5 is changed between 0 ° and 90 °.
  • the posture of the rear wheel 5 indicated by the solid line in the figure is a straight traveling posture, and the angle at which the rear wheel 5 rotates clockwise with respect to this straight traveling posture is defined as an angle ⁇ .
  • the ring gear 30 and the frame member 31 of the differential mechanism 19 rotate integrally by stroking the pedal portion 3.
  • the bevel gears 32, 33, 34, and 35 included in the frame member 31 remain stationary with respect to the frame member 31. Therefore, the left shaft 15 and the right shaft 17 rotate integrally with the ring gear 30 and the frame member 31 in the same direction and the same rotation speed.
  • the left front wheel 16 and the right front wheel 18 both rotate in the forward direction and at the same rotational speed (that is, at a rotational speed of 1: 1).
  • a distance d1 in the front-rear direction between the point D and the rear wheel 5 is 490 mm
  • the distance d2 in the left-right direction between the left front wheel 16 and the right front wheel 18 is 540 mm
  • the distance d3 in the left-right direction between point A and point B is 180 mm.
  • the rotational speed ratio and the turning trajectory diameter are determined by the dimensional relationship between these points. In this case, the turning trajectory diameter is approximately 1330 mm.
  • the pair of intermediate bevel gears 34 and 35 are rotated with respect to the frame member 31 when the frame member 31 is rotated by stroking the pedal portion 3, and the left bevel gear 32 is rotated. Rotates counterclockwise with respect to the frame member 31 and rotates the right bevel gear 33 forward with respect to the frame member 31.
  • the left shaft 15 and the left front wheel 16 stop rotating, and the right shaft 17 and the right front wheel 18 move. Rotate forward at a rotational speed that is double that of when going straight.
  • the turning trajectory diameter at this time is approximately 1119 mm.
  • the left shaft 15 and the left front wheel 16 rotate reversely, and the right shaft 17 rotates at the same rotational speed (that is, 1: 1 rotational speed).
  • the right front wheel 18 rotates forward, and a counterclockwise turn around the point D (the center point between the left front wheel 16 and the right front wheel 18) is realized.
  • the turning trajectory diameter at this time is approximately 980 mm.
  • the rear wheel 5 changes its posture in the range of 0 to 90 ° counterclockwise.
  • various turning operations are realized in a stepless manner between straight traveling, clockwise turning, and clockwise turning.

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  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Automatic Cycles, And Cycles In General (AREA)

Abstract

A problem which the present invention addresses is to provide a tricycle wheelchair with which it is possible to smoothly implement a turn operation up to a pivot turn with a simple manipulation, and to travel well even on an inclined surface. To solve this problem, the present invention is a tricycle wheelchair comprising: a pair of front wheels (16, 18) which are positioned to the left and right; one rear wheel (5) which is positioned to the rear thereof; a manipulation handle (25) which manipulates the facing of the rear wheel (5); and a motive force transmission mechanism (21) which transmits rotating drive motive force of pedal parts (3) to the pair of front wheels (16, 18). The rear wheel (5) is positioned in a middle location between the pair of front wheels (16, 18) and to the rear thereof. The motive force transmission mechanism (21) further comprises a differential mechanism (19) which is interposed between a left shaft (15) and a right shaft (17).

Description

三輪型車椅子3-wheel wheelchair
　本発明は、ペダルを漕いで運転する三輪型車椅子に関する。 The present invention relates to a three-wheeled wheelchair that is driven by pedaling.
　椅子に着座した姿勢のまま、前方のペダルを漕いで運転することのできる三輪型車椅子が、特開２０１０－２５９５１７号公報に提案されている。この三輪型車椅子は、前輪を左右に一対備え、これより後方に操舵車輪を備えたものである。そして、左右一対の前輪のうち右側の前輪を駆動車輪、左側の前輪を遊動車輪とし、ペダルを漕ぐことで駆動車輪を回転駆動させ、ハンドル操作によって操舵車輪を操作することによって、旋回動作が行われる。 Japanese Patent Application Laid-Open No. 2010-259517 has proposed a three-wheeled wheelchair that can be driven by pedaling in front while sitting in a chair. This three-wheeled wheelchair is provided with a pair of front wheels on the left and right and a steering wheel on the rear side. Of the pair of left and right front wheels, the right front wheel is the driving wheel, the left front wheel is the idle wheel, the pedal is driven to rotate the driving wheel, and the steering wheel is operated to operate the turning wheel. Is called.
　前述の構造を有する三輪型車椅子では、左側に旋回するときには小回りな旋回が可能となるが、右側に旋回するときには小回りに旋回しづらいという問題がある。また、駆動車輪にだけペダルの回転駆動力が伝達され、遊動車輪には伝達されないので、斜面上を走行しにくいという問題がある。 In the three-wheeled wheelchair having the above-described structure, a small turn is possible when turning to the left side, but there is a problem that turning is difficult when turning to the right side. Further, since the rotational driving force of the pedal is transmitted only to the driving wheel and not to the idle wheel, there is a problem that it is difficult to travel on the slope.
　本発明は前記問題点に鑑みて発明したものであって、大きな回転半径での旋回動作から、超信地旋回となるような回転半径の小さな旋回動作に至るまで、簡単な操作によってスムーズに実現することができ、斜面上であっても良好に走行することのできる三輪型車椅子を提供することを、課題とする。 The present invention has been invented in view of the above-mentioned problems, and is smoothly realized by simple operations from a turning operation with a large turning radius to a turning operation with a small turning radius that results in a super turning turn. It is an object of the present invention to provide a three-wheeled wheelchair that can be run well even on a slope.
　前記課題を解決するため、本発明を、左右に配される一対の前輪と、これより後方に配される一つの後輪と、後輪の向きを操作する操作ハンドルと、使用者に足漕ぎされるペダル部と、前記ペダル部の回転駆動力を一対の前輪に伝達する動力伝達機構と、を具備する三輪型車椅子であって、前記後輪は、一対の前輪の中間位置の後方に配され、前記動力伝達機構は、左側の前輪に連結される左シャフトと、右側の前輪に連結される右シャフトと、左シャフトと右シャフトの間に介在される差動機構とを有し、前記差動機構は、ペダル部から伝達される回転速度を、後輪の向きに対応した大きさ及び回転方向で、左シャフトと右シャフトにそれぞれ分配するものであることを、特徴としたものとする。 In order to solve the above-described problems, the present invention is directed to a pair of front wheels disposed on the left and right, one rear wheel disposed rearward thereof, an operation handle for operating the direction of the rear wheel, and a user's foot. And a power transmission mechanism that transmits a rotational driving force of the pedal unit to a pair of front wheels, wherein the rear wheel is arranged behind a middle position of the pair of front wheels. The power transmission mechanism includes a left shaft coupled to the left front wheel, a right shaft coupled to the right front wheel, and a differential mechanism interposed between the left shaft and the right shaft, The differential mechanism is characterized in that the rotational speed transmitted from the pedal portion is distributed to the left shaft and the right shaft respectively in a size and a rotational direction corresponding to the direction of the rear wheel. .
　本発明において、前記操作ハンドルは、水平面上で正逆方向に回転可能に設置され、一方向の回転操作によって前記後輪を時計回りに姿勢変更させ、直進姿勢から時計回り９０度の姿勢変更によって左回りの超信地旋回を実現し、他方向の回転動作によって前記後輪を反時計回りに姿勢変更させ、直進姿勢から反時計回り９０度の姿勢変更によって右回りの超信地旋回を実現するように設けたことを、更なる特徴とする。 In the present invention, the operation handle is installed so as to be able to rotate in the forward and reverse directions on a horizontal plane, the posture of the rear wheel is changed clockwise by a one-way rotation operation, and the posture is changed 90 degrees clockwise from a straight running posture. Realize a counterclockwise turn in the counterclockwise direction, change the posture of the rear wheel counterclockwise by rotating in the other direction, and change the posture in a clockwise direction by changing the posture 90 degrees counterclockwise from the straight running posture This is a further feature.
　また、本発明において、前記作動機構は、前記ペダル部により回転駆動されるリングギアと、前記リングギアと一体に回転駆動される枠部材と、前記枠部材の内面の左側部分に回動自在に配されて前記左シャフトに結合される左ベベルギアと、前記枠部材の内面の右側部分に回動自在に配されて前記右シャフトに結合される右ベベルギアと、前記左ベベルギアと前記右ベベルギアの両者と噛合うように前記枠部材の内面の他の部分に回動自在に配される中間ベベルギアとを備えることを、更なる特徴とする。 In the present invention, the operating mechanism is rotatable to a ring gear that is rotationally driven by the pedal portion, a frame member that is rotationally driven integrally with the ring gear, and a left side portion of the inner surface of the frame member. A left bevel gear that is disposed and coupled to the left shaft; a right bevel gear that is rotatably disposed on the right side portion of the inner surface of the frame member and coupled to the right shaft; and both the left bevel gear and the right bevel gear And an intermediate bevel gear that is rotatably disposed on another part of the inner surface of the frame member so as to mesh with the frame member.
本発明の一実施形態の三輪車椅子を前方から視た全体斜視図である。It is the whole perspective view which looked at the three-wheeled wheelchair of one embodiment of the present invention from the front. 同上の三輪車椅子を後方から視た全体斜視図である。It is the whole perspective view which looked at the three-wheeled wheelchair same from the back. 同上の三輪車椅子の要部背面図である。It is a principal part rear view of a three-wheeled wheelchair same as the above. 同上の三輪車椅子の回転中心及び回転半径を概略的に示す平面図である。It is a top view which shows roughly the rotation center and rotation radius of a three-wheeled wheelchair same as the above.
　　本発明を、添付図面に示す実施形態に基づいて説明する。図１、図２には、本発明の一実施形態の三輪車椅子の全体構造を示している。なお、本文中で用いる前後左右等の各方向は、この三輪車椅子に着座した使用者から視た方向を基準とする。 The present invention will be described based on embodiments shown in the accompanying drawings. 1 and 2 show the overall structure of a three-wheeled wheelchair according to an embodiment of the present invention. In addition, each direction such as front / rear / left / right used in the text is based on a direction viewed from a user seated in the three-wheeled wheelchair.
　本実施形態の三輪車椅子では、その骨格部分を、左右方向中央に位置するメインフレーム１と、このメインフレーム１を左右方向に挟んで位置する左右一対のサイドフレーム２とで形成している。メインフレーム１は、前後方向に伸びたものであり、その前端部分には足漕ぎ用のペダル部３を支持している。メインフレーム１の後端部分には、下方へと伸びる後輪支持軸４が連結されており、この後輪支持軸４の下端部に後輪５が回転自在に支持されている。 In the three-wheeled wheelchair of the present embodiment, the skeleton portion is formed by the main frame 1 positioned in the center in the left-right direction and the pair of left and right side frames 2 positioned so as to sandwich the main frame 1 in the left-right direction. The main frame 1 extends in the front-rear direction, and a pedal portion 3 for supporting a foot is supported at a front end portion thereof. A rear wheel support shaft 4 extending downward is connected to the rear end portion of the main frame 1, and a rear wheel 5 is rotatably supported on the lower end portion of the rear wheel support shaft 4.
　左右のサイドフレーム２はそれぞれ、上下方向に伸びる背フレーム６と、背フレーム６の下端部から前斜め上方に伸びる座フレーム７と、背フレーム６の下端部から前斜め下方に伸びる支持フレーム８と、上下二股に分かれて前方に伸びる両フレーム７，８の前端部同士を滑らかにつなぐ上下連結フレーム９とを有する。この左右の背フレーム６間に背クッション部５０が架け渡され、左右の座フレーム７間に座クッション部５１が架け渡される。 Each of the left and right side frames 2 includes a back frame 6 that extends in the vertical direction, a seat frame 7 that extends obliquely forward and upward from the lower end of the back frame 6, and a support frame 8 that extends obliquely downward and forward from the lower end of the back frame 6. And an upper and lower connecting frame 9 that smoothly divides the front ends of both frames 7 and 8 that are divided into upper and lower forks and extend forward. A back cushion portion 50 is bridged between the left and right back frames 6, and a seat cushion portion 51 is bridged between the left and right seat frames 7.
　更に、左右のサイドフレーム２はそれぞれ、座フレーム７の後端部から後斜め下方に伸びる左右連結フレーム１０と、支持フレーム８の後端部から下方に伸びる補助フレーム１１と、背フレーム６の下端後部から立ち上がって前方へと延設されるアームバー１２とを有する。左右連結フレーム１０は、メインフレーム１に対して左右位置調整自在に連結されるものである。補助フレーム１１は、その下端に転倒防止用のボールキャスタ１３を回転自在に支持するものである。アームバー１２には、アームクッション部１４が装着される。 Further, the left and right side frames 2 are respectively a left and right connecting frame 10 that extends obliquely downward from the rear end of the seat frame 7, an auxiliary frame 11 that extends downward from the rear end of the support frame 8, and a lower end of the back frame 6. And an arm bar 12 that rises from the rear and extends forward. The left and right connecting frames 10 are connected to the main frame 1 so that the left and right positions can be adjusted. The auxiliary frame 11 rotatably supports a ball caster 13 for preventing overturning at its lower end. An arm cushion portion 14 is attached to the arm bar 12.
　左側のサイドフレーム２が有する支持フレーム８の前端部には、左右方向を軸方向とする左シャフト１５が回転自在に支持される。左シャフト１５の外側端部には、左側の前輪１６が固定される。また、右側のサイドフレーム２が有する支持フレーム８の前端部には、左右方向を軸方向とする右シャフト１７が回転自在に支持され、右シャフト１７の外側端部には、右側の前輪１８が固定される。 A left shaft 15 having a left-right direction as an axial direction is rotatably supported at a front end portion of a support frame 8 included in the left side frame 2. A left front wheel 16 is fixed to the outer end portion of the left shaft 15. In addition, a right shaft 17 having a horizontal direction as an axial direction is rotatably supported at a front end portion of a support frame 8 included in the right side frame 2, and a right front wheel 18 is disposed at an outer end portion of the right shaft 17. Fixed.
　左シャフト１５と右シャフト１７とは、差動機構１９を介して同軸上に連結される。差動機構１９はペダル部３の後方に位置し、ペダル部３の回転駆動力がチェイン２０を介して伝達される。これら各構成によって、ペダル部３の回転駆動力を左右の前輪１６，１８に伝達する動力伝達機構２１が形成される。動力伝達機構２１のより詳しい構造については後述する。 The left shaft 15 and the right shaft 17 are coaxially connected via a differential mechanism 19. The differential mechanism 19 is located behind the pedal unit 3, and the rotational driving force of the pedal unit 3 is transmitted via the chain 20. With each of these configurations, a power transmission mechanism 21 that transmits the rotational driving force of the pedal portion 3 to the left and right front wheels 16 and 18 is formed. A more detailed structure of the power transmission mechanism 21 will be described later.
　本実施形態の三輪車椅子では、左右一対の前輪１６，１８がともに駆動車輪となり、左右の前輪１６，１８の中間位置の後方に配される一つの後輪５が、操舵車輪となる。後輪５の向きを操作するための操作装置２２は、左側または右側の座フレーム７に対して着脱自在に連結されるため、操作装置２２の連結箇所を選択することによって、左右どちらからでも操作が可能となる。 In the three-wheel wheelchair of the present embodiment, the pair of left and right front wheels 16 and 18 are both driving wheels, and one rear wheel 5 disposed behind the middle position of the left and right front wheels 16 and 18 is a steering wheel. Since the operating device 22 for operating the direction of the rear wheel 5 is detachably connected to the left or right seat frame 7, the operation device 22 can be operated from either the left or right side by selecting the connecting portion of the operating device 22. Is possible.
　操作装置２２は、座フレーム７に着脱自在に固定される支柱部２３と、支柱部２３上方の収容部２４内に揺動自在に収容される操作円盤（図示略）と、操作円盤に一体に連結される操作ハンドル２５とを備える。操作ハンドル２５は、横型操作アーム２６の先端側から上方へと縦型操作アーム２７を延設したものであり、縦型操作アーム２７には更にブレーキレバー２８を備えている。 The operating device 22 is integrated with the support disk 23, which is detachably fixed to the seat frame 7, an operation disk (not shown) that is swingably stored in the storage part 24 above the support frame 23, and the operation disk. And an operation handle 25 to be coupled. The operation handle 25 has a vertical operation arm 27 extending upward from the distal end side of the horizontal operation arm 26, and the vertical operation arm 27 further includes a brake lever 28.
　操作ハンドル２５は、水平面上にて正逆方向に回転自在であり、この操作ハンドル２５の回転に伴って操作円盤が一体に揺動し、ワイヤを介して後輪支持軸４を回転させ、操舵車輪である後輪５の向きを操作する。後輪支持軸４には、後輪５を直進姿勢に復帰する方向に、スプリング２９によって付勢力が付与される。 The operation handle 25 is rotatable in the forward and reverse directions on a horizontal plane. As the operation handle 25 rotates, the operation disk swings integrally, and the rear wheel support shaft 4 is rotated via a wire to be steered. The direction of the rear wheel 5 which is a wheel is operated. A biasing force is applied to the rear wheel support shaft 4 by a spring 29 in a direction to return the rear wheel 5 to a straight traveling posture.
　動力伝達機構２１は、前述したように、駆動車輪である左側の前輪１６に連結される左シャフト１５と、同じく駆動車輪である右側の前輪１８に連結される右シャフト１７と、同軸上に位置する両シャフト１５，１７間に介在される差動機構１９とを有する。 As described above, the power transmission mechanism 21 is coaxially positioned with the left shaft 15 connected to the left front wheel 16 that is the driving wheel and the right shaft 17 connected to the right front wheel 18 that is also the driving wheel. And a differential mechanism 19 interposed between both shafts 15 and 17.
　差動機構１９は、図３に示すように、ペダル部３との間でチェイン２０を掛け渡されるリングギア３０と、このリングギア３０に一体に固定される矩形枠状の枠部材３１とを備え、この枠部材３１の内面に、左ベベルギア３２、右ベベルギア３３、及び一対の中間ベベルギア３４，３５を回転自在に配置している。 As shown in FIG. 3, the differential mechanism 19 includes a ring gear 30 that spans the chain 20 between the pedal portion 3 and a rectangular frame-shaped frame member 31 that is integrally fixed to the ring gear 30. A left bevel gear 32, a right bevel gear 33, and a pair of intermediate bevel gears 34 and 35 are rotatably arranged on the inner surface of the frame member 31.
　枠部材３１は、左シャフト１５が回転自在に挿通される左壁部３６と、右シャフト１７が回転自在に挿通される右壁部３７と、左壁部３６及び右壁部３７の左右方向に対向する端部同士を連結させる一対の中間壁部３８，３９とから成る。左ベベルギア３２は、左壁部３６に挿通された左シャフト１５の先端部に固着され、左シャフト１５と一体に回転する。右ベベルギア３３は、右壁部３７に挿通された右シャフト１７の先端部に固着され、右シャフト１７と一体に回転する。 The frame member 31 includes a left wall portion 36 through which the left shaft 15 is rotatably inserted, a right wall portion 37 through which the right shaft 17 is rotatably inserted, and left and right directions of the left wall portion 36 and the right wall portion 37. It consists of a pair of intermediate wall parts 38 and 39 which connect the edge parts which oppose. The left bevel gear 32 is fixed to the distal end portion of the left shaft 15 inserted through the left wall portion 36 and rotates integrally with the left shaft 15. The right bevel gear 33 is fixed to the tip of the right shaft 17 inserted through the right wall portion 37 and rotates integrally with the right shaft 17.
　一対の中間ベベルギア３４，３５は、互いの回転軸が同軸上に位置するように配置される。ここでの回転軸は、左及び右ベベルギア３２，３３の回転軸とは直交するように配される。 The pair of intermediate bevel gears 34 and 35 are arranged so that their rotation axes are coaxially positioned. The rotation axis here is arranged to be orthogonal to the rotation axes of the left and right bevel gears 32 and 33.
　前記構造からなる差動機構１９は、ペダル部３から伝達される回転速度を、操舵車輪である後輪５の向きに対応した大きさ及び回転方向で、左シャフト１５（及びこれに結合される左側の前輪１６）と、右シャフト１７（及びこれに結合される右側の前輪１８）に、それぞれ分配する。つまり、操作ハンドル２５を回転させて後輪５の角度を変更することで、左側の前輪１６に対して伝達される回転速度の割合と、右側の前輪１８に対して伝達される回転速度の割合が、自在に且つスムーズに変更される。 The differential mechanism 19 having the above structure is coupled to the left shaft 15 (and to the left shaft 15) with a rotational speed transmitted from the pedal portion 3 in a size and a rotational direction corresponding to the direction of the rear wheel 5 as a steering wheel. It distributes to the left front wheel 16) and the right shaft 17 (and the right front wheel 18 coupled thereto). That is, by rotating the operation handle 25 and changing the angle of the rear wheel 5, the ratio of the rotational speed transmitted to the left front wheel 16 and the ratio of the rotational speed transmitted to the right front wheel 18. Can be changed freely and smoothly.
　図４には、後輪５の角度αを０～９０°の間で変更した場合の、旋回中心と旋回軌跡の一例を示している。図中実線で示す後輪５の姿勢が直進姿勢であり、この直進姿勢を基準として後輪５が平面視時計回りに回転した角度を、角度αとする。 FIG. 4 shows an example of the turning center and turning trajectory when the angle α of the rear wheel 5 is changed between 0 ° and 90 °. The posture of the rear wheel 5 indicated by the solid line in the figure is a straight traveling posture, and the angle at which the rear wheel 5 rotates clockwise with respect to this straight traveling posture is defined as an angle α.
　後輪５の角度α＝０°である場合、即ち、後輪５が直進姿勢にある場合には、ペダル部３を漕ぐことで差動機構１９のリングギア３０と枠部材３１が一体に回転し、このとき枠部材３１が備える各ベベルギア３２，３３，３４，３５は、枠部材３１に対して静止状態を保つ。そのため、左シャフト１５と右シャフト１７は、リングギア３０や枠部材３１と同一方向及び同一回転速度で、一体回転する。これにより、左側の前輪１６と右側の前輪１８は、共に正方向に且つ同一回転速度（即ち１：１の回転速度で）で回転する。 When the angle α of the rear wheel 5 is 0 °, that is, when the rear wheel 5 is in a straight traveling posture, the ring gear 30 and the frame member 31 of the differential mechanism 19 rotate integrally by stroking the pedal portion 3. At this time, the bevel gears 32, 33, 34, and 35 included in the frame member 31 remain stationary with respect to the frame member 31. Therefore, the left shaft 15 and the right shaft 17 rotate integrally with the ring gear 30 and the frame member 31 in the same direction and the same rotation speed. As a result, the left front wheel 16 and the right front wheel 18 both rotate in the forward direction and at the same rotational speed (that is, at a rotational speed of 1: 1).
　後輪５の角度α＝４７．４°である場合には、ペダル部３を漕いで枠部材３１が回転すると、一対の中間ベベルギア３４，３５がそれぞれ枠部材３１に対して回転し、左ベベルギア３２が枠部材３１に対して逆回転、右ベベルギア３３が枠部材３１に対して正回転し、その結果として、左側の前輪１６と右側の前輪１８の回転速度の比が２：８に変化する。このとき、図中の点Ａを中心とした旋回動作が行われる。 When the angle α of the rear wheel 5 is 47.4 °, when the frame member 31 is rotated by scooping the pedal portion 3, the pair of intermediate bevel gears 34 and 35 are rotated with respect to the frame member 31, and the left bevel gear is rotated. 32 rotates reversely with respect to the frame member 31, and the right bevel gear 33 rotates forward with respect to the frame member 31, and as a result, the ratio of the rotational speeds of the left front wheel 16 and the right front wheel 18 changes to 2: 8. . At this time, a turning operation around the point A in the figure is performed.
　左側の前輪１６の中心点を点Ｂ、左側の前輪１６と右側の前輪１８の間の中間点を点Ｄとしたとき、点Ｄと後輪５との間の前後方向の距離ｄ１＝４９０ｍｍ、左側の前輪１６と右側の前輪１８の間の左右方向の距離ｄ２＝５４０ｍｍであり、点Ａと点Ｂとの間の左右方向の距離ｄ３＝１８０ｍｍとなる。これら各点間の寸法関係により、回転速度の比や旋回軌道直径が決定される。この場合、旋回軌道直径は概ね１３３０ｍｍとなる。 When a center point of the left front wheel 16 is a point B and an intermediate point between the left front wheel 16 and the right front wheel 18 is a point D, a distance d1 in the front-rear direction between the point D and the rear wheel 5 is 490 mm, The distance d2 in the left-right direction between the left front wheel 16 and the right front wheel 18 is 540 mm, and the distance d3 in the left-right direction between point A and point B is 180 mm. The rotational speed ratio and the turning trajectory diameter are determined by the dimensional relationship between these points. In this case, the turning trajectory diameter is approximately 1330 mm.
　後輪５の角度α＝６１．１°である場合には、ペダル部３を漕いで枠部材３１が回転すると、一対の中間ベベルギア３４，３５が枠部材３１に対して回転し、左ベベルギア３２が枠部材３１に対して逆回転、右ベベルギア３３を枠部材３１に対して正回転し、その結果として、左シャフト１５と左側の前輪１６が回転停止し、右シャフト１７と右側の前輪１８が、直進時に比べて倍増した回転速度で正回転する。これにより、点Ｂ（左側の前輪１６の中心点）を中心とした信地旋回が行われる。このときの旋回軌道直径は、概ね１１１９ｍｍとなる。 When the angle α of the rear wheel 5 is 61.1 °, the pair of intermediate bevel gears 34 and 35 are rotated with respect to the frame member 31 when the frame member 31 is rotated by stroking the pedal portion 3, and the left bevel gear 32 is rotated. Rotates counterclockwise with respect to the frame member 31 and rotates the right bevel gear 33 forward with respect to the frame member 31. As a result, the left shaft 15 and the left front wheel 16 stop rotating, and the right shaft 17 and the right front wheel 18 move. Rotate forward at a rotational speed that is double that of when going straight. Thereby, the belief turn centering on the point B (the center point of the left front wheel 16) is performed. The turning trajectory diameter at this time is approximately 1119 mm.
　後輪５の角度α＝７７．６°である場合には、左シャフト１５と左側の前輪１６が逆回転を行うようになり、これよりも大きな回転速度で右シャフト１７と右側の前輪１８が正回転することで、点Ｃを中心とした旋回動作が行われる。点Ｂと点Ｃの間の左右方向の距離ｄ４＝１６２ｍｍ、点Ｃと右側の車輪１８との間の左右方向の距離ｄ５＝３７８ｍｍであり、このとき、左側の前輪１６（逆回転）の回転速度と右側の車輪１８（正回転）の回転速度の比は、３対７に変化する。旋回軌道直径は、概ね１００４ｍｍとなる。 When the angle α of the rear wheel 5 is 77.6 °, the left shaft 15 and the left front wheel 16 rotate reversely, and the right shaft 17 and the right front wheel 18 move at a higher rotational speed. By rotating in the forward direction, a turning operation around the point C is performed. The distance in the left-right direction between point B and point C is d4 = 162 mm, and the distance in the left-right direction between point C and the right wheel 18 is d5 = 378 mm. At this time, the left front wheel 16 (reverse rotation) rotates. The ratio of the speed and the rotational speed of the right wheel 18 (forward rotation) changes to 3 to 7. The diameter of the orbit is approximately 1004 mm.
　そして、後輪５の角度α＝９０°に至った場合には、左シャフト１５と左側の前輪１６が逆回転し、これと同一回転速度（即ち１：１の回転速度）で右シャフト１７と右側の前輪１８が正回転するようになり、点Ｄ（左側の前輪１６と右側の前輪１８の間の中心点）を中心とした左回りの超信地旋回が実現される。このときの旋回軌道直径は、概ね９８０ｍｍとなる。 When the angle α of the rear wheel 5 reaches 90 °, the left shaft 15 and the left front wheel 16 rotate reversely, and the right shaft 17 rotates at the same rotational speed (that is, 1: 1 rotational speed). The right front wheel 18 rotates forward, and a counterclockwise turn around the point D (the center point between the left front wheel 16 and the right front wheel 18) is realized. The turning trajectory diameter at this time is approximately 980 mm.
　以上のように、操作ハンドル２５を一方向に回転操作し、後輪５を時計回りに０～９０°の範囲内で姿勢変更させることで、直進～左回り信地旋回～左回り超信地旋回の間で、無段階に多様な旋回動作が実現される。 As described above, by rotating the operation handle 25 in one direction and changing the posture of the rear wheel 5 in the range of 0 to 90 ° clockwise, the vehicle travels straight, turns counterclockwise, turns counterclockwise Various turning operations are realized in a stepless manner during the turning.
　一方、操作ハンドル２５を水平面上にて他方向に回転操作すると、後輪５は反時計回りに０～９０°の範囲内で姿勢変更する。このとき、時計回りに姿勢変更した前述の場合と同様のメカニズムにより、直進～右回り信地旋回～右回り超信地旋回の間で、無段階に多様な旋回動作が実現される。 On the other hand, when the operation handle 25 is rotated in the other direction on the horizontal plane, the rear wheel 5 changes its posture in the range of 0 to 90 ° counterclockwise. At this time, by a mechanism similar to the above-described case in which the posture is changed clockwise, various turning operations are realized in a stepless manner between straight traveling, clockwise turning, and clockwise turning.
　つまり、本実施形態の三輪車椅子では、両足でペダル部３を漕ぎつつ片手で操作ハンドル２５を回転させるという簡単な操作で、左回り超信地旋回～左回り信地旋回～直進～右回り信地旋回～右回り超信地旋回の間で、無段階に多様な旋回動作が実現される。しかも、左右一対の前輪１６，１８がともに駆動車輪となることから、斜面等の面上であっても良好に走行することができる。 In other words, in the three-wheeled wheelchair of this embodiment, a simple operation of rotating the operation handle 25 with one hand while rowing the pedal portion 3 with both feet, a left-handed super-trust turn, a left-hand turn, a straight drive, and a right-hand turn signal. Various turning operations are realized in a stepless manner between the earth turning and the right-handed super turning. In addition, since the pair of left and right front wheels 16 and 18 are both driving wheels, the vehicle can travel well even on a surface such as a slope.
　以上、本発明を添付図面に示す実施形態に基づいて説明したが、本発明は前記実施形態に限定されるものではなく、本発明の意図する範囲内であれば、適宜の設計変更を行うことが可能である。 The present invention has been described above based on the embodiments shown in the accompanying drawings. However, the present invention is not limited to the above-described embodiments, and appropriate design changes may be made within the intended scope of the present invention. Is possible.

Claims (3)

  1. 左右に配される一対の前輪と、これより後方に配される一つの後輪と、後輪の向きを操作する操作ハンドルと、使用者に足漕ぎされるペダル部と、ペダル部の回転駆動力を一対の前輪に伝達する動力伝達機構と、を具備する三輪型車椅子であって、前記後輪は、一対の前輪の中間位置の後方に配され、前記動力伝達機構は、左側の前輪に連結される左シャフトと、右側の前輪に連結される右シャフトと、左シャフトと右シャフトの間に介在される差動機構とを有し、前記差動機構は、ペダル部から伝達される回転速度を、後輪の向きに対応した大きさ及び回転方向で、左シャフトと右シャフトにそれぞれ分配するものであることを特徴とする三輪型車椅子。 A pair of front wheels arranged on the left and right, one rear wheel arranged behind this, an operation handle for operating the direction of the rear wheel, a pedal unit that is ridden by the user, and a rotational drive of the pedal unit A power transmission mechanism that transmits force to a pair of front wheels, wherein the rear wheel is disposed behind a middle position of the pair of front wheels, and the power transmission mechanism is disposed on the left front wheel. A left shaft to be coupled; a right shaft coupled to the right front wheel; and a differential mechanism interposed between the left shaft and the right shaft, wherein the differential mechanism is a rotation transmitted from the pedal portion. A three-wheeled wheelchair characterized in that the speed is distributed to the left shaft and the right shaft respectively in a size and a rotation direction corresponding to the direction of the rear wheel.
  2. 前記操作ハンドルは、水平面上で正逆方向に回転可能に設置され、一方向の回転操作によって前記後輪を時計回りに姿勢変更させ、直進姿勢から時計回り９０度の姿勢変更によって左回りの超信地旋回を実現し、他方向の回転動作によって前記後輪を反時計回りに姿勢変更させ、直進姿勢から反時計回り９０度の姿勢変更によって右回りの超信地旋回を実現するように設けたことを特徴とする請求項１に記載の三輪型車椅子。 The operation handle is installed so as to be able to rotate in the forward and reverse directions on a horizontal plane, the posture of the rear wheel is changed clockwise by a one-way rotation operation, and the counterclockwise rotation is changed by 90 ° clockwise change from a straight forward posture. Realistic turn is realized, the rear wheel is changed in the counterclockwise position by rotating in the other direction, and the super-superior turn in the clockwise direction is realized by changing the posture from 90 degrees in the counterclockwise direction from the straight line position. The three-wheeled wheelchair according to claim 1.
  3. 前記作動機構は、前記ペダル部により回転駆動されるリングギアと、前記リングギアと一体に回転駆動される枠部材と、前記枠部材の内面の左側部分に回動自在に配されて前記左シャフトに結合される左ベベルギアと、前記枠部材の内面の右側部分に回動自在に配されて前記右シャフトに結合される右ベベルギアと、前記左ベベルギアと前記右ベベルギアの両者と噛合うように前記枠部材の内面の他の部分に回動自在に配される中間ベベルギアと、を備えることを特徴とする請求項１又は２に記載の三輪型車椅子。 The operating mechanism includes a ring gear that is rotationally driven by the pedal portion, a frame member that is rotationally driven integrally with the ring gear, and a left shaft that is rotatably disposed on a left side portion of the inner surface of the frame member. A left bevel gear coupled to the right member, a right bevel gear rotatably disposed on a right side portion of the inner surface of the frame member and coupled to the right shaft, and the left bevel gear and the right bevel gear so as to mesh with each other. The three-wheeled wheelchair according to claim 1 or 2, further comprising an intermediate bevel gear rotatably disposed on another part of the inner surface of the frame member.
PCT/JP2011/076261 2011-11-15 2011-11-15 Tricycle wheelchair WO2013073003A1 (en)

Priority Applications (3)

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CN201180074824.8A CN103930081A (en) 2011-11-15 2011-11-15 Tricycle wheelchair
PCT/JP2011/076261 WO2013073003A1 (en) 2011-11-15 2011-11-15 Tricycle wheelchair
JP2012511849A JP4995999B1 (en) 2011-11-15 2011-11-15 3-wheel wheelchair

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CN112515868A (en) * 2020-12-17 2021-03-19 杨维 Convenient wheelchair of surgical nursing

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