Braking operation state detection device for moving body, detachable propulsion system for moving body, and sensor bracket

Abstract

[Problem] Provided are: a braking operation state detection device for a moving body with which it is possible to detect the state of operation of a brake mechanism by a user of a moving body; a detachable propulsion system for a moving body provided with said braking operation state detection device for a moving body; and a sensor bracket for fixing, to a moving body, a sensor for detecting the state of operation of a brake mechanism. [Solution] A wheelchair (8) having a brake mechanism (85) operated by a user has mounted thereon a propulsion device (2) for generating a propulsion force to propel the wheelchair (8) and a control device (4) for controlling the propulsion device (2), as well as a braking operation state detection device (5) for transmitting, to the control device (4), a signal indicating the state of operation of the brake mechanism (85) by the user. The braking operation state detection device (5) is provided with a sensor (51) for detecting the state of operation of the brake mechanism (85), and a sensor bracket (52) for fixing the sensor (51) to the wheelchair (8). The sensor bracket (52) has a sensor mount part (521) on which the sensor (51) is mounted, and a fixing part (522) for achieving fixation to a handle frame (99) of the wheelchair (8).

Description

Braking operation state detection device for mobile body, detachable propulsion system for mobile body, and sensor bracket

[0001] The present invention relates to a braking operation state detection device for a mobile body that is attached to a mobile body having a brake mechanism operated by a user, a detachable propulsion system for a mobile body, and a sensor bracket.

[0002] Conventionally, electric wheelchairs that can travel using the driving force of an electric motor are known. The electric wheelchair described in Patent Document 1 has an electric motor attached to each of the left and right rear wheels, and the electric motors are controlled by a control circuit. The control circuit detects the operating force using an operating force detection unit on the handle held by the caregiver. When an operating force to propel the wheelchair is input to the handle, the control circuit outputs a driving force based on the operating force to the electric motor, and when the operating force is no longer applied, the control circuit gradually increases the braking force from zero. The electric wheelchair described in Patent Document 1 is also provided with a mechanical braking device, the operating handle of which is provided below the handle held by the caregiver.

[0003] Japanese Patent Application Publication No. 10-336803

[0004] In the electric wheelchair described in Patent Document 1, braking force generated by the caregiver operating the operating handle of the mechanical braking device and braking force generated by the control device controlling the electric motor are both generated, which may result in the wheelchair being decelerated with braking force greater than intended by the caregiver.In addition, to avoid such problems, it is conceivable that the control device could detect the operating state of the operating handle of the mechanical braking device by the caregiver and perform control based on that, but the electric wheelchair described in Patent Document 1 is not provided with means for detecting the operating state of the operating handle, and therefore cannot perform such control.

[0005] Therefore, an object of the present invention is to provide a brake operation state detection device for a mobile body that is capable of detecting the operation state of a brake mechanism by a user of the mobile body, a detachable propulsion system for a mobile body that is equipped with the brake operation state detection device for a mobile body, and a sensor bracket for fixing a sensor that detects the operation state of the brake mechanism to the mobile body.

[0006] In order to achieve the above-mentioned object, the present invention provides a braking operation state detection device for a mobile body that is detachably attached to a mobile body having a brake mechanism operated by a user, together with a propulsion device that generates a propulsive force to propel the mobile body and a control device that controls the propulsion device, and that sends a signal indicating the operation state of the brake mechanism by the user to the control device, the device comprising: a sensor that detects the operation state of the brake mechanism by the user; and a sensor bracket that fixes the sensor to the mobile body, the sensor bracket having a sensor mounting portion for mounting the sensor and a fixing portion for fixing to a frame of the mobile body.

[0007] Furthermore, in order to achieve the above-mentioned object, the present invention provides a detachable propulsion system for a mobile body that is detachably attached to the frame of the mobile body having a brake mechanism operated by a user, the detachable propulsion system comprising: a propulsion device that generates a propulsive force to propel the mobile body; a control device that controls the propulsion device; and a braking operation state detection device that sends a signal indicating the operation state of the brake mechanism by the user to the control device, the braking operation state detection device comprising a sensor that detects the operation state of the brake mechanism by the user, and a sensor bracket that secures the sensor to the mobile body, the sensor bracket having a sensor mounting portion for mounting the sensor and a fixing portion for securing it to the frame, and when the control device receives a signal from the braking operation state detection device indicating that the user has operated the brake mechanism to generate a braking force, the control device controls the propulsion device so that the propulsion device does not generate the propulsive force or so that the propulsion device generates a braking force.

[0008] In addition, in order to achieve the above-mentioned object, the present invention provides a sensor bracket for fixing a sensor that detects the operating state of a brake mechanism to a mobile body having a brake mechanism operated by a user, the sensor bracket having, as an integral part, a sensor mounting portion for mounting the sensor and a fixing portion that is fixed to the mobile body.

[0009] The brake operation state detection device for a mobile body of the present invention can send a signal indicating the operation state of the brake mechanism by the user of the mobile body to a control device. Furthermore, the detachable propulsion system for a mobile body of the present invention can control the propulsion device based on the detected operation state of the brake mechanism. Furthermore, the sensor bracket of the present invention allows a sensor that detects the operation state of the brake mechanism by the user of the mobile body to be easily attached and detached to the mobile body.

[0010] FIG. 1 is a perspective view of a wheelchair as a mobile body to which a detachable propulsion system for a mobile body according to an embodiment of the present invention is mounted. FIG. 2A is a perspective view of an electric wheelchair equipped with a detachable propulsion system for a mobile body. FIG. 2B is an enlarged view of a portion of FIG. 2A. FIG. 3 is an explanatory diagram showing the electric wheelchair in a folded state, as viewed from the rear. FIG. 4 is an exploded perspective view of a support mechanism and its surroundings. FIG. 5A is a structural diagram showing the support mechanism and its surroundings as viewed from the inside of the rear wheel. FIG. 5B is a structural diagram showing the support mechanism and its surroundings as viewed from the opposite side of FIG. 5A, with the rear wheel omitted. FIG. 6 is a four-sided view of a bracket. FIG. 7A is a structural diagram showing the rotation restriction portion and anti-rotation member of the bracket as viewed from the inside in the vehicle width direction. FIG. 7B is a cross-sectional view of the bracket taken along line A-A in FIG. 7A, along with the anti-rotation member. FIG. 8 is a structural diagram showing a modified example in which the bracket is fixed to the vehicle body with a bolt. Fig. 9A is a perspective view showing the grip and brake lever of a wheelchair before the propulsion system is attached, and the surrounding area thereof. Fig. 9B is a perspective view showing a braking operation state detection device and its surrounding area. Fig. 10 is an exploded perspective view of a brake mechanism and braking operation state detection device. Fig. 11 is a six-view diagram of a sensor bracket. Fig. 12 is a front view of a sensor. Fig. 13A is a perspective view showing the grip and brake lever of a wheelchair before a braking operation state detection device according to a modified example is attached. Fig. 13B is a perspective view showing a braking operation state detection device according to a modified example attached to a wheelchair, and its surrounding area. Fig. 14 is an exploded perspective view of a braking operation state detection device and brake mechanism according to a modified example. Fig. 15 is a six-view diagram of a sensor bracket according to a modified example.

[0011] [Embodiments] The following describes embodiments of the present invention with reference to the drawings. The embodiments described below are shown as preferred specific examples for carrying out the present invention, and while some of the embodiments specifically exemplify various technically preferred aspects, the technical scope of the present invention is not limited to these specific embodiments.

[0012] Fig. 1 is a perspective view showing a wheelchair 8 as a mobile body to which a detachable propulsion system for a mobile body 1 according to an embodiment of the present invention is to be mounted. Fig. 2A is a perspective view showing an electric wheelchair 80 in which the detachable propulsion system for a mobile body 1 is mounted on the wheelchair 8. Fig. 2B is an enlarged view showing a portion of Fig. 2A. Fig. 3 is an explanatory view showing the electric wheelchair 80 in a folded state as seen from behind.

[0013] In this embodiment, a detachable propulsion system for a moving body 1 is described as being applied to a manual wheelchair 8. However, the detachable propulsion system for a moving body of the present invention can be applied to a variety of moving bodies, not just wheelchairs, and is particularly suitable for use with manual vehicles (manual vehicles) that have wheels and a body and can be moved by being pushed by a person, such as a hand truck or a pushcart.

[0014] In the following description, "passenger" refers to a person who sits in and rides the electric wheelchair 80, and "user" refers to a person who uses the electric wheelchair 80 to transport the passenger to their destination. "User, etc." refers to general users, including the user, and includes people who attach and remove the detachable propulsion system for a vehicle 1 together with or on behalf of the user. However, "user, etc." does not include people who attach and remove the detachable propulsion system for a vehicle 1 as a business (for example, employees of the manufacturer of the detachable propulsion system for a vehicle 1). Hereinafter, the detachable propulsion system for a vehicle 1 will be simply referred to as the propulsion system 1.

[0015] In the following description, "forward" refers to the forward direction of the electric wheelchair 80, and "rearward" refers to the opposite direction. "Left" and "right" refer to the left and right sides of the forward direction of the electric wheelchair 80, and "up" and "down" refer to the up and down vertical directions. "Down" refers to the side where the front wheels 82 and rear wheels 83 touch the ground, and "up" refers to the opposite side.

[0016] The wheelchair 8 has a seat 811 for carrying a passenger, a backrest 812, armrests 813, a flip-up footrest plate 814, front and rear wheels 82 and 83, a hub unit 84 that rotatably supports the rear wheels 83, a brake mechanism 85 that brakes the wheelchair 8, a rear wheel lock mechanism 86 that stops the rotation of the rear wheels 83, a grip 87 that the user holds, and a body 9 that has a plurality of frames that form the skeleton of the wheelchair 8. The armrests 813, the footrest plate 814, the front and rear wheels 82 and 83, the hub unit 84, the brake mechanism 85, the rear wheel lock mechanism 86, and the grip 87 are provided in pairs on the left and right.

[0017] The body 9 has a frame structure with a left body section 901 and a right body section 902, and multiple crossbars 903 arranged in an X-shape between the left body section 901 and the right body section 902. The wheelchair 8 can be folded as shown in FIG. 3 by bringing the left body section 901 and the right body section 902 closer together. The foldability of the wheelchair 8 allows, for example, a passenger in the wheelchair 8 to be loaded into a vehicle, and then the wheelchair 8 can be folded and loaded into the vehicle, improving convenience. When folding the wheelchair 8, the footrest plate 814 is flipped up, and the seat section 811 and the backrest 812 are folded in half. Note that the seat section 811 and the backrest 812 are not shown in FIG. 3.

[0018] The left body section 901 and the right body section 902 each have a front leg frame 91, a rear leg frame 92, a seat frame 93 connecting the front leg frame 91 and the rear leg frame 92 directly below the seat section 811, a connecting frame 94 connecting the front leg frame 91 and the rear leg frame 92 below the seat frame 93, a tipping frame 95 extending rearward from the lower end of the rear leg frame 92, a footrest plate frame 96 supporting the footrest plate 814, an armrest frame 97 to which the armrest 813 is attached, a backrest frame 98 supporting the backrest section 812 behind the armrest frame 97, a handle frame 99 that can be tilted rearward relative to the backrest frame 98, and a locking section 90 that locks the handle frame 99 to the backrest frame 98.

[0019] The front wheels 82 are attached to the lower ends of the front leg frames 91. The hub units 84 are attached to the lower ends of the rear leg frames 92. The tipping frame 95 is a frame that the user steps on when, for example, the wheelchair 8 goes over a step, and lifts the front wheels 82 upward with the rear wheels 83 as a fulcrum. The handle frame 99 integrally includes a backrest support portion 991 that supports the upper part of the backrest portion 812 and a handle portion 992 to which the grip 87 is attached, and is bent so that the handle portion 992 extends rearward from the upper end of the backrest support portion 991. The handle frame 99 can tilt relative to the backrest frame 98, allowing the wheelchair 8 to be folded more compactly.

[0020] The brake mechanism 85 has a brake lever 851 arranged near the grip 87, and when the user grips the brake lever 851 so that it approaches the grip 87, a mechanical friction brake built into the hub unit 84 is activated via a wire (not shown), generating a braking force that slows down or stops the wheelchair 8. This mechanical friction brake is, for example, a drum brake that generates frictional force by pressing a brake shoe against the inner surface of a brake drum that rotates together with the hub wheel 841.

[0021] The rear wheel locking mechanism 86 has a lock lever 861 operated by the user or rider, and a pressure bar 862 that operates to bite into a tire 831 of the rear wheel 83 when the lock lever 861 is operated. The rear wheel 83 has a tire 831, a rim 832 to which the tire 831 is attached, and a plurality of spokes 833 that connect a hub wheel 841 of the hub unit 84 to the rim 832.

[0022] The hub unit 84 has a hub shaft 842 that supports the hub wheel 841 rotatably relative to the vehicle body 9, and the hub shaft 842 is inserted through the rear leg frame 92. The hub shaft 842 is fixed to the vehicle body 9 by having a hub nut 843 threadedly engaged with the tip end that protrudes inward in the vehicle width direction from the rear leg frame 92. The hub shaft 842 is an axial body onto which the hub nut 843 threads.

[0023] The propulsion system 1 assists the user in moving the wheelchair 8 with little effort, and the user can attach and detach the propulsion system 1 to the wheelchair 8. The propulsion system 1 includes a propulsion device 2 that generates a propulsive force to propel the wheelchair 8, a support mechanism 3 that supports the propulsion device 2 on the frame of the body 9 of the wheelchair 8, a control device 4 that controls the propulsion device 2, a brake operation status detection device 5 that sends a signal to the control device 4 indicating the operation status of the brake mechanism 85 by the user, a switch panel 7 that the user uses to turn the power to the control device 4 on and off, and a locking mechanism 6 that locks the propulsion device 2 in response to operation of a lock lever 861. The propulsion device 2, support mechanism 3, brake operation status detection device 5, and locking mechanism 6 are provided in pairs on the left and right sides and are attached to the left and right body sections 901 and 902, respectively.

[0024] The propulsion system 1 is an add-on type that can be retrofitted to a commercially available wheelchair 8, and by attaching the propulsion system 1 to the wheelchair 8, the wheelchair 8 becomes an electric wheelchair 80. Because the user can attach and detach the propulsion system 1 to the wheelchair 8, for example, if a malfunction occurs in any of the devices that make up the propulsion system 1, the user can remove the propulsion system 1 from the wheelchair 8 and use it as a manual wheelchair 8. The user can also replace the removed propulsion system 1 with another propulsion system 1.

[0025] The propulsion system 1 according to this embodiment is characterized in that the support mechanism 3 and the brake operation state detection device 5 are configured to be easily attached to and detached from the body 9 of the wheelchair 8. Because the support mechanism 3 and the brake operation state detection device 5 function by being connected to the moving parts of the wheelchair 8, depending on the configuration, special devices or tools may be required to attach and detach them from the wheelchair 8, which may make the attachment and detachment work difficult for the user, etc. However, in this embodiment, the user, etc. can attach and detach the propulsion system 1 to and detach it from the wheelchair 8 using general-purpose tools such as a spanner, wrench, or screwdriver.

[0026] The configuration of each part of the propulsion system 1 and the procedure for attaching and detaching the propulsion system 1 to the wheelchair 8 will be described in detail below.

[0027] The propulsion device 2 is an in-wheel motor and includes a wheel 21 that comes into contact with the ground or road surface, and a case 22. The case 22 houses a rotor that rotates integrally with the wheel 21 and a stator that cannot rotate relative to the case 22, and the wheel 21 rotates relative to the case 22 due to torque generated by current supplied from the control device 4. This torque serves as a propulsive force that propels the wheelchair 8. The control device 4 detects the force with which the user pushes the wheelchair 8, and supplies the propulsion device 2 with a current of a magnitude that corresponds to the force with which the user pushes the wheelchair 8.

[0028] The control device 4 detects the force with which the user pushes the wheelchair 8 based on the relationship between the current supplied to the propulsion device 2 and the rotation speed. This eliminates the need to attach a sensor such as a pressure sensor to the wheelchair 8 to detect the force with which the user pushes the wheelchair 8. Note that, for example, the grip 87 may be made slidable in the front-to-rear direction relative to the handle portion 992, and the control device 4 may detect the force with which the user pushes the wheelchair 8 from this sliding movement.

[0029] A direct current is supplied to the control device 4 from a battery (not shown). The control device 4 switches this direct current using PWM control and supplies it to the propulsion device 2. The battery may be built into the control device 4, for example, or may be detachable from the control device 4. The remaining battery charge is displayed on the switch panel 7.

[0030] Fig. 4 is an exploded perspective view of the support mechanism 3 and its surroundings. Fig. 5A is a structural diagram showing the support mechanism 3 and its surroundings as viewed from the inside of the rear wheel 83. Fig. 5B is a structural diagram showing the support mechanism 3 and its surroundings as viewed from the opposite side of Fig. 5A with the rear wheel 83 omitted. Note that Figs. 4, 5A, and 5B show the support mechanism 3 attached to the right vehicle body 902, but the support mechanism 3 attached to the left vehicle body 901 is configured in the same way.

[0031] 4 and 5A show the wire 61, tube 62, spring 63, wire end member 64 fixed to one end of the wire 61, and tube end member 65 fixed to one end of the tube 62, which constitute the locking mechanism 6. A portion of the wire 61 in the longitudinal direction is exposed from the tube end member 65, and a spring 63 is disposed around the exposed wire 61.

[0032] The locking mechanism 6 also has a support plate 60 (see FIG. 2A ) attached to the connecting frame 94, and the other end of the tube 62 is fixed to the support plate 60. The other end of the wire 61 extends downward from the tube 62 fixed to the support plate 60 and is connected to the rear wheel locking mechanism 86. When the locking lever 861 is operated in the direction to lock the rear wheel 83, a portion of the wire 61 exposed from the tube end member 65 near the propulsion unit 2 is pulled into the tube 62, shortening the distance between the tube end member 65 and the wire end member 64.

[0033] The support mechanism 3 has as its main components a bracket 31 fixed to the vehicle body 9, a support member 32 attached so as to be swingable relative to the bracket 31, an anti-rotation member 33 that prevents the bracket 31 from rotating relative to the vehicle body 9, a side plate 34 fixed to the support member 32, a stopper 35 that is swingably connected to the side plate 34 and operates in conjunction with the lock lever 861, a coil spring 36 serving as a biasing member that is stretched between the bracket 31 and the side plate 34, and a cylindrical spacer 37 that is arranged between the bracket 31 and the support member 32.

[0034] 6 is a four-sided view of the bracket 31. The bracket 31 is used to detachably attach the propulsion unit 2 to the wheelchair 8, and is made of a single pressed steel plate. The bracket 31 integrally includes a fixing portion 311 that is fastened to the vehicle body 9 with a hub nut 843 as a fastener, a propulsion unit connecting portion 312 for connecting the propulsion unit 2, a rotation restricting portion 313 that restricts rotation of the bracket 31 relative to the vehicle body 9 around the fixing portion 311, a spring mounting portion 314 to which one end of the coil spring 36 is attached, and a pair of restricting portions 315, 316 that restrict the swing angle of the support member 32 relative to the propulsion unit connecting portion 312.

[0035] The bracket 31 also has a first plate portion 301 provided with a propulsion device connecting portion 312 and a rotation restricting portion 313, a second plate portion 302 and a third plate portion 303 extending from the front end of the first plate portion 301 toward the inside in the vehicle width direction of the wheelchair 8, a fourth plate portion 304 extending from the rear end of the first plate portion 301 toward the inside in the vehicle width direction of the wheelchair 8, and a fifth plate portion 305 extending upward from the fourth plate portion 304. The fixing portion 311 is provided on the fifth plate portion 305. The spring mounting portion 314 is provided on the second plate portion 302.

[0036] Of the pair of limiting portions 315, 316, one limiting portion 315 limits the swinging of the support member 32 in the direction in which the propulsion unit 2 moves vertically upward, and the other limiting portion 316 limits the swinging of the support member 32 in the direction in which the propulsion unit 2 moves vertically downward. As a result, the limiting portions 315, 316 limit the amount of up-and-down movement of the propulsion unit 2 relative to the rear leg frame 92 and connecting frame 94 of the vehicle body 9. One limiting portion 315 is provided on the fourth plate portion 304, and the other limiting portion 316 is provided on the third plate portion 303. The connection portion 900 between the rear leg frame 92 and the connecting frame 94 abuts against the upper surface 304a of the fourth plate portion 304, and the weight of the wheelchair 8 and occupant is supported by the fourth plate portion 304.

[0037] The support member 32 supports the propulsion unit 2 and connects the propulsion unit connecting portion 312 of the bracket 31 to the propulsion unit 2. The coil spring 36 biases the support member 32 in a direction that causes the wheels 21 of the propulsion unit 2 to touch the ground. The support member 32 is attached to the propulsion unit connecting portion 312 of the bracket 31 by a bolt 381 inserted through a spacer 37 so as to be able to swing.

[0038] Low-friction washers 371, 372 are respectively arranged between the spacer 37 and the support member 32, and between the support member 32 and the bolt 381. The low-friction washers 371, 372 are low-friction members whose front and back surfaces have been treated with a surface treatment such as fluororesin to reduce the coefficient of friction, and the low-friction washers 371, 372 allow the support member 32 to swing smoothly relative to the bracket 31. The bolt 381 is inserted into a bolt insertion hole 312a formed in the propulsion device connecting portion 312 of the bracket 31, and a nut 382 is threaded onto the tip of the bolt 381.

[0039] The support member 32 integrally includes an attachment portion 321 having a bolt insertion hole 321a formed therein for inserting the bolt 381, a fixing portion 322 to which the attachment bolt 221 (see Figure 5B) protruding from the case 22 of the propulsion device 2 is fixed by a nut 383, an arm portion 323 extending in the front-to-rear direction between the attachment portion 321 and the fixing portion 322, an abutment portion 324 that abuts against one of the limiting portions 315 of the bracket 31 when the propulsion device 2 moves vertically upward, and a pair of side plate fixing portions 325, 326 for fixing the side plate 34.

[0040] The abutment portion 324 protrudes upward from the end of the arm portion 323 on the fixing portion 322 side. Of the pair of side plate fixing portions 325, 326, the lower side plate fixing portion 326 abuts against the other limiting portion 316 of the bracket 31 when the support member 32 swings so that the propulsion unit 2 moves vertically downward.

[0041] The side plate 34 integrally includes fixed portions 341, 342 fixed to the side plate fixing portions 325, 326 of the support member 32, a tube fixing portion 343 to which the tube end member 65 is fixed, a spring mounting portion 344 to which the other end of the coil spring 36 is attached, and a stopper connecting portion 345 to which the stopper 35 is swingably connected. The fixed portions 341, 342 of the side plate 34 are fixed to the side plate fixing portions 325, 326 of the support member 32 by bolts 384, 385, respectively, so that the side plate 34 swings integrally with the support member 32 relative to the bracket 31.

[0042] The spring mounting portion 344 of the side plate 34 is provided in front of the spacer 37 and the bolt 381, and the spring mounting portion 344 is urged upward by the restoring force of the coil spring 36, which in turn urges the fixing portion 322 of the support member 32 downward with the bolt 381 as the pivot. As a result, the propulsion unit 2 is pressed downward so that the wheels 21 contact the ground.

[0043] The stopper 35 is swingably connected to the stopper connecting portion 345 by a bolt 386 and a nut 387. The stopper 35 integrally includes a supported portion 351 supported by the bolt 386, an engaging portion 352 with which the wire end member 64 engages, and a pressing portion 353 disposed on the outer periphery of the wheel 21. The stopper 35 swings about the bolt 386 relative to the side plate 34 as the engaging portion 352 is pulled toward the tube fixing portion 343 of the side plate 34 in response to operation of the lock lever 861. The pressing portion 353 faces the wheel 21 of the propulsion unit 2, and when the lock lever 861 is operated in a direction to lock the rear wheel 83, the pressing portion 353 comes into contact with the wheel 21 to lock the wheel 21.

[0044] FIG. 7A is a configuration diagram showing the rotation restriction portion 313 of the bracket 31 and the anti-rotation member 33 as viewed from the inside in the vehicle width direction. FIG. 7B is a cross-sectional view of the bracket 31 taken along line A-A in FIG. 7A , showing the cross section of the bracket 31 together with the anti-rotation member 33. In FIGS. 7A and 7B , the connecting frame 94 is indicated by a two-dot chain line. In this embodiment, the anti-rotation member 33 grips a portion of the connecting frame 94 together with the bracket 31. The rotation restriction portion 313 restricts rotation of the bracket 31 relative to the vehicle body 9 by attaching the anti-rotation member 33. Note that the frame of the vehicle body 9 gripped by the anti-rotation member 33 is not limited to the connecting frame 94, and may be, for example, the rear leg frame 92 or the tipping frame 95.

[0045] The anti-rotation member 33 restricts rotation of the bracket 31 relative to the rear leg frame 92 of the vehicle body 9 around the hub shaft 842 and the hub nut 843 so as to prevent loosening of the fastening state of the fixing portion 311 by the hub nut 843. The anti-rotation member 33 is curved in a U-shape so as to surround a part of the connecting frame 94 together with the bracket 31, and integrally includes an upper plate portion 331 arranged above the connecting frame 94, a lower plate portion 332 arranged below the connecting frame 94, a connection portion 333 between the upper plate portion 331 and the lower plate portion 332, a locking piece 334 that locks with the rotation restricting portion 313 of the bracket 31, and a fixed piece 335 that is fixed to the rotation restricting portion 313 of the bracket 31.

[0046] A linear slit 313a is formed in the rotation restricting portion 313 of the bracket 31, and the locking piece 334 is inserted through the slit 313a from the inside to the outside in the vehicle width direction. The fixing piece 335 is fixed to the bracket 31 by a bolt 388 that screws into a nut 389 that is fixed to the bracket 31 by welding, for example. A bolt insertion hole 335a through which the bolt 388 is inserted is formed in the fixing piece 335. A bolt insertion hole 313b through which the bolt 388 is inserted is formed in the rotation restricting portion 313.

[0047] The anti-rotation member 33 prevents the bracket 31 from rotating relative to the vehicle body 9 by sandwiching the connecting frame 94 between the upper plate portion 331 and the lower plate portion 332. This makes it possible to prevent the bracket 31 from rotating without performing any processing such as drilling on the vehicle body 9. The bolt 388 that secures the anti-rotation member 33 to the bracket 31 is a hexagon socket head bolt with a hexagonal tool fitting hole 388a formed therein, and the user can attach and detach the anti-rotation member 33 to the bracket 31 by rotating the bolt 388 with a hexagonal wrench, which is a general-purpose tool.

[0048] In this embodiment, the hub shaft 842 is inserted into an opening 311a formed in the fixing portion 311 of the bracket 31, and a hub nut 843 serving as a fastener is threaded onto a male threaded portion 842a formed at the tip of the hub shaft 842, thereby fastening and fixing the fixing portion 311 to the vehicle body 9. When removing the propulsion system 1 from the wheelchair 8, the bracket 31 can be removed from the vehicle body 9 by releasing the fastening by the hub nut 843. Furthermore, once the bracket 31 is removed from the vehicle body 9, the support mechanism 3 can be removed from the wheelchair 8 together with the propulsion device 2 without having to disassemble the support mechanism 3 itself.

[0049] A user can tighten or loosen the fixing portion 311 by rotating the hub nut 843 relative to the hub shaft 842 using a general-purpose tool. Here, a general-purpose tool refers to a tool that is generally available to users. In FIG. 5A , a wrench 10 is shown as an example of a general-purpose tool. However, depending on the structure of fixing the bracket 31 to the vehicle body 9, the bracket 31 may be attached or detached to the vehicle body using, for example, a wrench or a screwdriver, instead of a wrench.

[0050] In this embodiment, opening 311a in fixing portion 311 of bracket 31 opens upward, and when removing bracket 31 from vehicle body 9, it is possible to move bracket 31 downward relative to vehicle body 9 and remove bracket 31 from vehicle body 9 without removing hub nut 843 from hub shaft 842 by loosening hub nut 843 to an extent that hub nut 843 does not tighten fixing portion 311. Also, in this embodiment, because opening 311a opens upward as described above, even if hub nut 843 loosens while electric wheelchair 80 is in use, bracket 31 is prevented from coming off and falling off vehicle body 9 due to the weight of electric wheelchair 80 or the weight of the occupant.

[0051] However, a circular hole may be formed in the fixing portion 311 of the bracket 31, and a hub nut 843 may be inserted into this circular hole to fasten and fix the fixing portion 311 with the hub nut 843. Furthermore, the hub shaft 842 does not necessarily have to be used to fix the bracket 31 to the vehicle body 9; for example, the fixing portion 311 may be fastened and fixed to the vehicle body 9 with a bolt inserted into a bolt insertion hole formed in the vehicle body 9.

[0052] Figure 8 is a structural diagram showing a modified example in which the bracket 31 is fixed to the vehicle body 9 by a bolt 39. In the modified example shown in Figure 8, the bolt 39 is a fastener that tightens and fixes the bracket 31 to the frame of the vehicle body 9, and is inserted into a bolt insertion hole formed in a connection 900 between the rear leg frame 92 and the connecting frame 94. The bolt 39 is fixed to the vehicle body 9, for example, by threading into a nut located on the rear wheel 83 side of the rear leg frame 92 and the connecting frame 94. In this modified example, to remove the bracket 31 from the vehicle body 9, the bolt 39 is rotated with a general-purpose tool such as a hex wrench.

[0053] Next, the configuration of the braking operation state detection device 5 will be described. Fig. 9A is a perspective view showing the grip 87 and brake lever 851 of the wheelchair 8 before the braking operation state detection device 5 is attached. Fig. 9B is a perspective view showing the braking operation state detection device 5 and its surroundings after attachment. Fig. 10 is an exploded perspective view of the braking operation state detection device 5 and part of the brake mechanism 85.

[0054] The brake mechanism 85 of the wheelchair 8 comprises a brake lever 851 manually operated by the user, a pin 852 inserted into a through hole 851a formed in the end of the brake lever 851, a retaining member 853 that prevents the pin 852 from coming out, a holder 854 that supports the pin 852 and holds the brake lever 851, a hook 855 that clamps the handle portion 992 of the handle frame 99 between the holder 854 and the holder, a bolt 856 as a fastening member that secures the holder 854 and the hook 855 to each other, a brake wire 857 having one longitudinal end fixed to the brake lever 851, and a tube 858 having one longitudinal end fixed to the holder 854.

[0055] When the user grips the brake lever 851 together with the grip 87, the brake lever 851 rotates around the pin 852, pulling the brake wire 857 and activating a mechanical friction brake built into the hub unit 84. The brake wire 857 is inserted into a tube 858.

[0056] The holder 854 and the hook 855 are made of a hard resin such as engineering plastic, and a screw hole 854a is formed in the holder 854. The holder 854 is fastened to the hook 855 with a bolt 856, and is thereby fastened to the handle portion 992 of the handle frame 99. The holder 854 and the hook 855 sandwich the handle portion 992 on either side. The holder 854 and the hook 855 are not limited to being made of resin, and may be made of other materials.

[0057] A through hole 854b is formed in the holder 854 for inserting the pin 852. The holder 854 and the hook 855 are mounting members for mounting the brake lever 851 to the handle portion 992 of the handle frame 99. In this embodiment, the bolt 856 has a hexagonal tool fitting hole 856a, allowing the user to tighten and loosen the bolt with a hexagonal wrench, which is a general-purpose tool.

[0058] The brake operation state detection device 5 includes a sensor 51 that detects the operation state of the brake mechanism 85 by the user, a sensor bracket 52 that fixes the sensor 51 to the wheelchair 8, a guide member 53 that guides a cable 510 extending from the sensor 51 to the backrest support part 991 side of the handle frame 99, and a bolt 54 and a nut 55 that fix the sensor 51 to the sensor bracket 52. The sensor 51 transmits a signal indicating the operation state of the brake mechanism 85 to the control device 4 via the cable 510.

[0059] When the control device 4 receives a signal from the brake operation state detection device 5 indicating that the user has operated the brake mechanism 85 to generate a braking force, the control device 4 controls the propulsion device 2 so that it does not generate a propulsion force. Specifically, the control device 4 sets a state in which no current is supplied to the propulsion device 2. As a result, when the user grips the brake lever 851 to stop or slow down the electric wheelchair 80, the propulsion device 2 does not generate a propulsion force, so the electric wheelchair 80 can be stopped or slowed down smoothly. In other words, the user of the electric wheelchair 80 may operate the brake lever 851 while pressing the grip 87 so as to shift their weight forward. In this embodiment, the control device 4 controls the propulsion device 2 so that it does not generate a propulsion force even in such a case. Therefore, the braking force of the mechanical friction brake provided by the brake mechanism 85 and the propulsion force of the propulsion device 2 do not cancel each other out, and the electric wheelchair 80 can be stopped or slowed down smoothly. In other words, by the control device 4 controlling the propulsion device 2 so that a propulsion force is not generated, the user can apply a braking force to the electric wheelchair 80 without any additional operation.

[0060] Furthermore, the control device 4 may control the propulsion device 2 to generate a braking force when it receives a signal from the brake operation state detection device 5 indicating that the user has operated the brake mechanism 85 to generate a braking force. In this case, when the user grips the brake lever 851 of the brake mechanism 85, the sensor 51 detects the operation of the brake lever 851 before a mechanical braking force acts on the electric wheelchair 80 due to movement of the brake wire 857, and the propulsion device 2 applies a braking force to the electric wheelchair 80 before the mechanical braking force is activated. By having the propulsion device 2 generate a braking force, even if the user's force operating the brake lever 851 is weak, the braking force generated by the propulsion device 2 can safely stop or decelerate the electric wheelchair 80. Furthermore, since the brake lever 851 has play, there is a time delay between when the user operates the brake lever 851 and when a mechanical braking force is generated. However, by having the control device 4 generate a braking force by controlling the propulsion device 2 as described above, the electric wheelchair 80 can be quickly stopped or decelerated.

[0061] 11 is a six-view diagram of the sensor bracket 52. The sensor bracket 52 is a component for detachably mounting the sensor 51 to the wheelchair 8. In this embodiment, the sensor bracket 52 is made of a single pressed steel plate. The sensor bracket 52 integrally includes a sensor mounting portion 521 for mounting the sensor 51, a fixing portion 522 for fixing the sensor to the handle portion 992 of the handle frame 99, a pair of anti-rotation portions 523 and 524 for preventing the sensor bracket 52 from rotating relative to the holder 854, a mounting portion 525 for mounting the guide member 53, a connecting portion 526 extending downward from the fixing portion 522 and connecting the fixing portion 522 and the sensor mounting portion 521, and a cover portion 527 for protecting the sensor 51 mounted on the sensor mounting portion 521 from external impact. The sensor bracket 52 is prevented from rotating relative to the holder 854 by one of the pair of anti-rotation portions 523, 524, the anti-rotation portion 523 abutting against the rear side of the holder 854 and the other anti-rotation portion 524 abutting against the front side of the holder 854.

[0062] FIG. 12 is a front view of the sensor 51. The sensor 51 includes a cable 510, a case 511, a lever 512 attached to the case 511, and a switch 513 partially protruding from the case 511. The sensor 51 is disposed below the brake lever 851 so that the lever 512 is located between the brake lever 851 and the switch 513. The switch 513 is a push-button switch having a button 513a that is pressed by the lever 512, and transmits a binary signal of ON or OFF to the control device 4. This binary signal is, for example, ON when the user grips the brake lever 851 and OFF when the user releases the brake lever 851. In this way, the sensor 51 detects the movement of the brake lever 851 relative to the holder 854 as the operating state of the brake mechanism 85, and transmits information on the detection result to the control device 4.

[0063] The sensor 51 is detachably attached to the sensor bracket 52 by a bolt 54 and a nut 55. The bolt 54 is inserted through a bolt insertion hole 521a formed in the sensor attachment portion 521 of the sensor bracket 52 and a bolt insertion hole 511a formed in the case 511 of the sensor 51, and is screwed onto the nut 55. In this embodiment, the bolt 54 is a hexagon socket head bolt, and a user can attach and detach the sensor 51 to and from the sensor bracket 52 using a general-purpose tool such as a hexagon wrench. The case 511 of the sensor 51 is provided with a protrusion 511b for preventing rotation, and this protrusion 511b fits into a fitting hole 521b formed in the sensor attachment portion 521 of the sensor bracket 52, preventing the case 511 from rotating.

[0064] In this embodiment, the guide member 53 that guides the cable 510 is a resin band. The attachment portion 525 of the sensor bracket 52 is formed with a pair of through holes 525a through which the guide member 53 passes.

[0065] A bolt insertion hole 522a for inserting a bolt 856 is formed in the fixing portion 522 of the sensor bracket 52. When attaching the brake operation state detection device 5 to the wheelchair 8, the bolt 856 that fixes the holder 854 and the hook 855 is temporarily removed, and the removed bolt 856 is inserted into the bolt insertion hole 522a of the fixing portion 522, and then the holder 854 and the hook 855 are fixed again by the bolt 856. As a result, the fixing portion 522 of the sensor bracket 52 is fixed to the handle frame 99 via the holder 854 by the bolt 856.

[0066] On the other hand, when removing the braking operation state detection device 5, the bolt 856 is loosened and removed using a general-purpose tool, and the bolt 856 is pulled out from the bolt insertion hole 522a of the fixing part 522. Thereafter, the holder 854 and the hook 855 are fixed again with the bolt 856. In this way, the fixing part 522 of the sensor bracket 52 can be attached to and detached from the handle frame 99 of the vehicle body 9 using the general-purpose tool.

[0067] In this embodiment, the sensor 51 can be attached and detached to the sensor bracket 52 using a general-purpose tool as described above, so when removing the propulsion system 1 from the wheelchair 8, the sensor 51 can be removed from the sensor bracket 52 while leaving the sensor bracket 52 attached to the wheelchair 8.

[0068] Effect of the embodiment According to the embodiment described above, the control device 4 can control the propulsion device 2 based on the operating state of the brake mechanism 85 detected by the brake operation state detection device 5, and it is possible to generate a braking force on the wheelchair 8 that corresponds to the force with which the user operates the brake lever 851. Furthermore, because the user can easily attach and detach the brake operation state detection device 5 using general-purpose tools, the user can easily remove the propulsion system 1 from the wheelchair 8, for example, when the propulsion system 1 needs to be removed due to some kind of malfunction.

[0069] (Modifications) Next, modifications of the structure around the grip 87 of the wheelchair 8 and the braking operation state detection device 5 will be described with reference to Figures 13A, 13B, 14, and 15. In Figures 13A, 13B, 14, and 15, components that share functions with the above-described embodiment are assigned the same reference numerals as those used in the description of the above-described embodiment, and duplicated descriptions will be omitted.

[0070] Fig. 13A is a perspective view showing the grip 87 and brake lever 851 of the wheelchair 8 before the brake operation state detection device 5 is attached. Fig. 13B is a perspective view showing the brake operation state detection device 5 and its surroundings after attachment. Fig. 14 is an exploded perspective view of the brake operation state detection device 5 and a part of the brake mechanism 85. Fig. 15 is a six-view diagram of a sensor bracket 52 according to a modified example.

[0071] In the above embodiment, the case was described in which the holder 854 and the hook 855 are fixed by the bolt 856 and the holder 854 and the hook 855 sandwich the handle portion 992 of the handle frame 99 on both sides, but in this modified example, the holder 854 and the hook 855 are fixed by the bolt 850 and sandwich the handle portion 992 of the handle frame 99 on both sides. The hook 855 extends in the left-right direction, with one end engaged with the holder 854 and the other end fixed to the holder 854 by the bolt 850.

[0072] In this modification, the holder 854 is made of a single pressed steel plate. As shown in Fig. 14, the holder 854 is formed with a through-hole 854c for inserting the pin 852, a locking portion 854d for locking one end of the hook 855, a screw hole 854e for threading the bolt 850, and a mounting hole 854f for attaching the sensor bracket 52.

[0073] The sensor bracket 52 is made of a single pressed steel plate and integrally comprises a sensor mounting portion 521 for mounting the sensor 51, a fixing portion 522 for fixing to the handle portion 992 of the handle frame 99, a connecting portion 526 extending downward from the fixing portion 522 and connecting the fixing portion 522 and the sensor mounting portion 521, and a cover portion 527 for protecting the sensor 51 attached to the sensor mounting portion 521 from external impacts.

[0074] As in the above embodiment, a bolt insertion hole 521 a and a fitting hole 521 b are formed in the sensor mounting portion 521 of the sensor bracket 52 , and the sensor 51 is mounted to the sensor mounting portion 521 by a bolt 54 and a nut 55 .

[0075] In this modified example, the mounting hole 854f of the holder 854 is a threaded hole, and the sensor bracket 52 is fixed to the holder 854 by a bolt 56 that screws into the mounting hole 854f. The bolt 56 is a hexagonal socket bolt with a hexagonal tool fitting hole 56a formed therein, and a user can fasten the bolt 56 to the mounting hole 854f using a general-purpose hex wrench. A bolt insertion hole 522a is formed in the fixing portion 522 of the sensor bracket 52, through which the bolt 56 is inserted. Note that instead of fastening the bolt 56 into the threaded hole (mounting hole 854f) of the holder 854, the sensor bracket 52 may be fixed to the holder 854 by threading the bolt 56 into a nut.

[0076] When fixing the sensor bracket 52 to the holder 854, the bolt 56 is inserted into the bolt insertion hole 522a formed in the fixing portion 522 of the sensor bracket 52, and the bolt 56 is tightened into the mounting hole 854f using a general-purpose tool. The fixing portion 522 of the sensor bracket 52 is fixed to the handle frame 99 via the holder 854 by the bolt 56. When removing the sensor bracket 52 from the holder 854, the bolt 56 is loosened using a general-purpose tool. In this way, according to this modification, as in the above embodiment, the user can easily attach and detach the brake operation state detection device 5 to and from the wheelchair 8 using a general-purpose tool.

[0077] (Note) While the present invention has been described above based on the embodiments and modifications, these embodiments and modifications do not limit the scope of the invention as claimed. It should also be noted that not all of the combinations of features described in the embodiments are necessarily essential to the means for solving the problems of the invention.

[0078] Furthermore, the present invention can be appropriately modified and implemented by omitting some components or adding or substituting components without departing from the spirit of the present invention. For example, in the above embodiment, the sensor 51 sends a binary signal (on or off) to the control device 4. However, this is not limited to this. The amount of operation of the brake lever 851 by the user (the angle of the brake lever 851 relative to the handle frame 99) can be detected in multiple steps or continuously, and a signal indicating the detection result can be sent to the control device 4. In this case, the control device 4 can cause the propulsion device 2 to generate a braking force of a magnitude corresponding to the amount of operation of the brake lever 851. Furthermore, in the above embodiment, the fixing portion 522 of the sensor bracket 52 is fixed to the handle frame 99 via the holder 854. However, this is not limited to this. The fixing portion 522 of the sensor bracket 52 can also be fixed directly to the handle frame 99 with a general-purpose tool.

[0079] REFERENCE SIGNS LIST 1...Detachable propulsion system for mobile body 2...Propulsion device 21...Wheel 4...Control device 5...Brake operation state detection device 51...Sensor 52...Sensor bracket 521...Sensor mounting portion 522...Fixing portion 8...Wheelchair 80...Electric wheelchair 85...Brake mechanism 851...Brake lever 854...Holder 856...Bolt 9...Vehicle body 99...Handle frame

Claims

1. A braking operation state detection device for a moving body is detachably attached to a moving body having a brake mechanism including a brake lever manually operated by a user and a holder for holding the brake lever, together with a propulsion device that generates a propulsive force for propelling the moving body and a control device that controls the propulsion device, and sends a signal indicating an operation state of the brake mechanism by the user to the control device, a sensor that detects movement of the brake lever relative to the holder; and a sensor bracket that fixes the sensor to the movable body, the sensor bracket has a sensor mounting portion for mounting the sensor, a fixing portion for fixing the sensor to a frame of the moving body, and a rotation prevention portion for preventing rotation of the sensor bracket relative to the holder, The fixing portion of the sensor bracket is attachable to and detachable from the frame using a general-purpose tool. A braking operation state detection device for a mobile object.

2. (delete)

3. (delete)

4. the holder is fastened to the frame by a fastening member, the fixing portion of the sensor bracket is fixed to the frame via the holder by the fastening member; 2. The braking operation state detection device for a vehicle according to claim 1.

5. The sensor is attachable to and detachable from the sensor mounting portion using a general-purpose tool.

2. The braking operation state detection device for a vehicle according to claim 1.

6. A detachable propulsion system for a moving body, which is detachably attached to a frame of the moving body and has a brake mechanism including a brake lever that is manually operated by a user and a holder that holds the brake lever, a propulsion device that generates a propulsive force for propelling the moving body; a control device that controls the propulsion device; and a braking operation state detection device that sends a signal indicating an operation state of the brake mechanism by the user to the control device, the braking operation state detection device includes a sensor that detects movement of the brake lever relative to the holder, and a sensor bracket that fixes the sensor to the moving body, the sensor bracket has a sensor mounting portion for mounting the sensor, a fixing portion for fixing the sensor to the frame, and a rotation prevention portion for preventing rotation of the sensor bracket relative to the holder, the fixing portion of the sensor bracket is attachable to and detachable from the frame using a general-purpose tool; when the control device receives a signal from the braking operation state detection device indicating that the user has operated the brake mechanism to generate a braking force, the control device controls the propulsion device so that the propulsion device does not generate the propulsion force or so that the propulsion device generates a braking force. Detachable propulsion system for mobile vehicles.

7. (delete)

8. A sensor bracket for fixing a sensor that detects movement of a brake lever relative to a holder to a moving object having a brake mechanism including a brake lever that is manually operated by a user and a holder that holds the brake lever, a sensor mounting portion for mounting the sensor, a fixing portion fixed to the movable body, and a rotation prevention portion for preventing rotation relative to the holder, which are integrally formed; The fixing part is attachable to and detachable from the movable body using a general-purpose tool. Sensor bracket.