JPH10295736A - Auxiliary power-driven wheel chair - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an auxiliary motor-driven wheel chair which is capable of improving the riding comfort by preventing a shock from being generated due to an abrupt change in the running speed. SOLUTION: This auxiliary power-driven wheel chair is equipped with an electric motor for generating an auxiliary power, an input detection means for detecting an input to be applied to a wheel through an input member, a speed detection means for detecting a running speed and a running direction, a power transmission means for transmitting the auxiliary power to be generated by the electric motor to each of the wheels, a solenoid clutch installed halfway through the power transmission means and a control means for controlling the electric motor and the solenoid clutch based on the input detected by the input detection means and the running speed and the direction detected by the speed detection means. In this case, when the running speed detected by the speed detection means is V1-V2, and the input detected by the input detection means is below a threshold value set as a dead zone or the input direction is the same as the running direction, the solenoid clutch is cut off. On the other hand, when the input direction is opposite to the running direction, the solenoid clutch is connected at least, as long as the auxiliary power is generated.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an auxiliary power wheelchair in which auxiliary power corresponding to the magnitude of an input applied to left and right wheels is applied to each wheel to rotate the wheels.

[0002]

2. Description of the Related Art Such an auxiliary power wheelchair is located between a manual wheelchair and an electric wheelchair, detects an input intermittently applied to a pair of left and right wheels, and outputs an auxiliary signal corresponding to the detected input. By applying power to the left and right wheels, the physical burden on the occupant is reduced.

By the way, in this kind of auxiliary power type wheelchair, when the traveling speed exceeds the legal speed, the supply of the auxiliary power to each wheel is cut off at that time to prevent the speed from being exceeded by the auxiliary power. I have.

[0004]

However, when the supply of the auxiliary power is interrupted instantaneously when the running speed exceeds the legal speed as in the prior art, the electric motor is connected to the power transmission means and the wheels. However, there is a problem that the power transmission means and the electric motor are reversely driven and regenerative braking acts on the power transmission means and the electric motor, whereby the traveling speed is rapidly reduced and an unpleasant shock is generated in the wheelchair.

The present invention has been made in view of the above problems, and an object of the present invention is to provide an auxiliary powered wheelchair capable of preventing a shock due to a sudden change in running speed and improving ride comfort. To provide.

[0006]

In order to achieve the above object, the invention according to claim 1 comprises an electric motor for generating auxiliary power and an input detecting means for detecting an input applied to wheels via an input member. A speed detecting means for detecting a traveling speed and a direction; a power transmitting means for transmitting auxiliary power from the electric motor to wheels; an electromagnetic clutch provided in the middle of the power transmitting means; In an auxiliary powered wheelchair provided with control means for controlling the electric motor and the electromagnetic clutch according to the input inputted and the traveling speed and direction detected by the speed detecting means, the traveling speed detected by the speed detecting means is V1 or more and V2 Below, and the input detected by the input detection means is equal to or less than a threshold set as a dead zone or the input direction is the traveling direction. Cutting the electromagnetic clutch when a direction, at least while the auxiliary power is generated when the input direction is the traveling direction and the opposite direction is characterized by connecting said electromagnetic clutch.

According to a second aspect of the present invention, in the first aspect, at least one of the set values V1 and V2 of the traveling speed is changed depending on a traveling direction.

According to a third aspect of the present invention, in the first or second aspect of the invention, the electromagnetic clutch on one of the left and right wheels is connected or disconnected according to the input to one of the left and right wheels and the traveling speed and direction of the wheel. In addition, the other electromagnetic clutch is connected / disconnected in synchronization with the connection / disconnection operation of the one electromagnetic clutch.

According to a fourth aspect of the present invention, in the first, second, or third aspect of the present invention, while the electromagnetic clutch is disconnected, the traveling speed conversion value calculated based on the rotation speed of the electric motor is an actual value. It is characterized in that the number of revolutions of the electric motor is controlled to be equal to the traveling speed.

Therefore, according to the first aspect of the present invention, the traveling speed is equal to or higher than V1 (for example, legal speed) and the input is equal to or less than the threshold set as the dead zone (ie, the occupant does not drive the wheels). In this case, the electromagnetic clutch is disconnected and the connection between the power transmission means of the wheels and the electric motor is cut off, so that the electric motor is not reversely driven by the wheels, and each wheel can freely rotate, and the wheelchair can be rotated. Functions as a manual wheelchair, and the wheelchair runs with inertia, thereby avoiding a sudden decrease in traveling speed, preventing a shock caused by the sudden decrease in traveling speed, and improving the ride comfort of the wheelchair. On the other hand, even if the traveling speed becomes V1 or more, when an input more than the threshold value is applied in the same direction as the traveling direction, the electromagnetic clutch is disconnected and the supply of auxiliary power is cut off. Running at speed is prevented. When the vehicle travels on a downhill, for example, in a state where the traveling speed becomes V1 or more and the electromagnetic clutch is disconnected, the traveling speed becomes V1
When the number is two or more, the electromagnetic clutch is connected again, and regenerative braking acts on the wheels, so that an increase in traveling speed is suppressed. Even if the traveling speed is equal to or higher than V1, at least auxiliary power is generated when the input direction is opposite to the traveling direction (for example, when the wheels are driven in the reverse direction to stop the wheelchair). During this period, the electromagnetic clutch is connected, so that the wheelchair can be quickly stopped by using the auxiliary power as a braking force even when the vehicle is stopped from the speed V1 or higher.

According to the second aspect of the present invention, for example, the set value V2 during reverse travel is set smaller than that during forward travel, or V1 and V2 during reverse travel are set to the same value (that is, the electromagnetic clutch If it does not cut), the regenerative braking acts at the low speed stage, and the overspeed at the time of reversing is suppressed, and the occupant can be given a sense of security.

According to the third aspect of the invention, since both electromagnetic clutches are controlled in synchronization, the straightness of the wheelchair can be improved.

According to the fourth aspect of the present invention, since there is no relative speed difference between the clutches when the clutch is disengaged, the occurrence of a shock when the clutch is connected is prevented and the riding comfort of the wheelchair is enhanced.

[0014]

Embodiments of the present invention will be described below with reference to the accompanying drawings.

FIG. 1 is a side view of an auxiliary power wheelchair according to the present invention, FIG. 2 is a rear view of the wheelchair, FIG. 3 is a sectional view of a hub portion of wheels of the wheelchair, and FIG. FIG. 3 is an enlarged detailed view of an electromagnetic clutch part).

An auxiliary powered wheelchair 1 according to the present embodiment.
Is constructed by detachably attaching wheels 2 as driving wheels to the left and right sides of the body of an existing folding manual wheelchair. The front and rear portions of a pipe frame-shaped body frame 3 are formed by a pair of left and right casters 4 and wheels 2. It is movably supported.

A seat 5 on which an occupant sits is provided at the center of the body frame 3. The body frame 3 has a pair of front and rear cross members 3a for folding as shown in FIG. 2, and the two X-shaped cross members 3a are pivotally connected at their intersections by a shaft 6. .

Further, a pair of left and right back pipes 3b is provided upright at the rear part of the body frame 3, and the upper end of each back pipe 3b is bent rearward, and the bent part has a grip for an assistant. 7 is attached.

The back pipe 3 of the body frame 3
b, a pair of left and right elbow pipes 3c and a seat pipe 3d extend vertically upward toward the front of the vehicle body. The front end of the elbow pipe 3c is bent downward at a substantially right angle, and Has the caster 4 attached thereto. The seat pipe 3d has a front portion extending diagonally downward toward the front of the vehicle body, and a pair of left and right steps 8 is attached to the extended end (front end).

Each of the pair of left and right wheels 2 is rotatably mounted on a axle 9 shown in FIG. 3 via a ball bearing 10 and is removably inserted into and supported by a boss (not shown) welded to the frame 3. A ring-shaped hand rim 11 is provided on the outside of each wheel 2 so that the occupant can turn the wheel by hand. This hand rim 11 has three spokes 13 on a disk-shaped disk 12 rotatably supported by a boss 2a-1 formed on a hub 2a of the wheel 2.
The hand rim 11 can rotate independently with respect to the wheel 2, and the entire periphery thereof is elastically connected to the wheel 2 by a spring 15 at three points. ing. Each spring 15 is prevented from falling off by a holding member 17 fixed to the hub 2a by a bolt 16.

As shown in FIG. 3, the hub 2a of the wheel 2
A potentiometer 18 for detecting the magnitude and direction of the input applied to the hand rim 11 is fixedly mounted so as to be able to adjust the position so that a zero point can be corrected, and is provided at an end of an input shaft 18a of the potentiometer 18. Is connected to one end of a lever 19, and the other end of the lever 19 is engaged in a long hole with a pin 20 connected to the disk 12 on the hand rim 11 side.

The spring 15, the potentiometer 18 and the like constitute input detecting means for detecting an input applied to the hand rim 11 by an occupant. The input detecting means comprises a hub 2a of the wheel 2 and a disk. 12
And housed in a chamber S1 surrounded by a cover 21.

On the other hand, as shown in FIG. 3, a disk-shaped fixing plate 22 is provided on the inner side in the vehicle width direction of each of the hubs 2a of the pair of left and right wheels 2 so as to be connected to the axle 9. A cylindrical holding ring 23 that covers the boss portion 2a-2 of the hub 2a of the wheel 2 is attached to an inner surface of the plate 22 on the hub 2a side by a bolt 24, and a controller 25 that constitutes control means is attached. I have. An electric motor 26 is attached to the outer surface of the fixed plate 22 on the vehicle body side, as shown in FIG.

A space surrounded by the fixing plate 22 is formed inside the hub 2a of each wheel 2.
The space is partitioned into chambers S2 and S3 by a fixed plate 22 and a ring-shaped partition wall 27 fixed to the holding ring 23. In the chamber S2, a ring-shaped inner transformer 28a is fixed to the boss 2a-2 of the hub 2a on the rotating side, and an outer transformer 28b is clamped by the holding ring 23 on the fixed side. ing. These inner transformer 28a and outer transformer 28
b are concentrically arranged with a slight gap therebetween,
The rotary transformer 28 constitutes a signal transmitting means between the controller 25 and the potentiometer 18. still,
The controller 25 is housed in the room S2.

The auxiliary power generated by the electric motor 26 is transmitted to each wheel 2 through the power transmission means. The structure of the power transmission means will be described below with reference to FIGS. .

The power transmitting means is rotatably supported by a pulley (not shown) connected to the output shaft of the electric motor 26, a pulley 37 (not shown) wound between the two, and a ball bearing 29 (not shown). An electromagnetic clutch 31 provided on the drive shaft 30, a small-diameter gear 32 connected to one end of the drive shaft 30, and a large-diameter ring gear 34 connected to the inner periphery of the hub 2 a by bolts 33. However, the gear 32 is engaged with the ring gear 34.

Here, the structure of the electromagnetic clutch 31 will be described with reference to FIG.

The electromagnetic clutch 31 is attached to a disk plate 36 slidably supported by the drive shaft 30 in the axial direction, the pulley 37 rotatably supported on the disk plate 36, and the fixed plate 22. And an electromagnetic solenoid 38. The rotation of the disk plate 36 is transmitted to the drive shaft 30 via the key 35.

Then, the disk plate 36 and the pulley 3
The claws 36 selectively meshing with each other are provided on the opposing surfaces 7.
When the electromagnetic solenoid 38 is in a non-operating state, the disc plate 36 is urged toward the pulley 37 by a spring 39, and the claws 36a and 37a of both engage with each other to form the electromagnetic clutch 31a. Is in the connected state (ON state).

On the other hand, when the electromagnetic solenoid 38 is energized, the disk plate 36 is attracted and moved toward the electromagnetic solenoid 38 by the magnetic force generated in the electromagnetic solenoid 38 against the urging force of the spring 39, as shown in FIG. Then, the disk clutch 36a is separated from the pawl 37a of the pulley 37, and the electromagnetic clutch 31 is disconnected (OFF).
The connection / disconnection (ON / OFF) control of the electromagnetic clutch 31 is performed by the controller 25.

The input detecting means constituted by the spring 15 and the potentiometer 18 described above,
An auxiliary power unit is constituted by a signal transmission means constituted by the rotary transformer 28, a control means constituted by the controller 25, an electric motor 26, a power transmission means constituted by pulleys and belts and gears 32 and 34, an electromagnetic clutch 31, and the like. However, this auxiliary power unit is intensively arranged radially and axially around the axle 9 of the hub 2a of each wheel 2, and thus the auxiliary power unit is arranged on the hub 2a. The left and right wheels 2 have the same structure on the left and right, and each wheel 2 is detachably attached to the vehicle body. As shown in FIGS. 1 and 2, a battery 40 is detachably attached to the right wheel 2 side.

Next, the operation of the auxiliary power wheelchair 1 according to the present embodiment will be described with reference to FIGS.
FIG. 5 is a block diagram showing a configuration of a control system of an auxiliary power wheelchair, and FIG. 6 is a timing chart showing a relationship between a traveling speed and an input and a connection / disconnection (ON / OFF) control of an electromagnetic clutch.

When the occupant applies a force to turn the pair of left and right hand rims 11 in, for example, a forward direction, the hand rim 11 presses the spring 15 to compress it, and the reaction force of the spring 15 is applied to the hub 2a. As a result, the input is transmitted to the wheels 2.

Then, the hand rim 11 is attached to the spring 15
Relative to the wheel 2 by an angle corresponding to the amount of compression deformation of the hand rim 11, the relative rotation of the hand rim 11 is enlarged by the lever 19 and transmitted to the potentiometer 18, and the potentiometer 18 detects the relative rotation of the hand rim 11. The signal is transmitted to the controller 25 via the rotary transformer 28.

However, since the amount of compression deformation of the spring 15 is proportional to the magnitude of the input applied to the hand rim 11, the controller 25 receives the input of the input applied to the hand rim 11 based on a detection signal proportional to the relative rotation amount of the hand rim 11. The magnitude is determined, a current corresponding to the magnitude of the input is supplied to the electric motor 26, and the electric motor 26 is rotationally driven to generate required auxiliary power. Note that the current control method (torque control method) is employed for the auxiliary power control in the present embodiment, and the auxiliary power generated by the electric motor is controlled by setting the duty ratio in the current control loop to a constant voltage characteristic. A method is adopted to restrict along.

Here, the control operation of the controller 25 provided on the left wheel 2 will be described with reference to FIG. 5, but since the control operation of the right controller 25 is the same, the description thereof will be omitted.

The input FL applied to the hand rim 11 of the left wheel 2 is detected by the potentiometer 18 as described above, and its signal is input to the dead zone processing unit 101 of the controller 25, and the detected input FL is set as a dead zone. If the value exceeds the set threshold value, the amplification ratio setting unit 102 sets the amplification ratio (the ratio to the input of the auxiliary power) KL. Then, in the turning component setting means 103, the product of the input FL and the amplification ratio KL (F
L · KL) is used to determine a turning torque iL as a component that causes a turning motion.

The center-of-gravity component setting means 104 calculates the product (FL + FR) · KL of the resultant force of the predetermined combination rate of the left input FL and the right input FR and the amplification ratio KL and the center of gravity velocity ωG obtained as described later. Based on this, the center-of-gravity torque iG as a component that causes the linear motion is obtained.

Thus, the target torque iR is determined by adding the turning torque iL and the center-of-gravity torque iG, and the target current iREF required for the electric motor 26 to generate the target torque iR in the current limiter 105 is determined. Can be Then, the target current iREF and the current iF actually flowing detected by the current detection sensor 109 are output.
After the correction amount is obtained by the PID control circuit 106 on the basis of the difference (| iREF-iFB |) from B, a voltage check is performed by the duty limiter 107, and a predetermined control signal (duty ratio) is output to the output selector 114. Output via This control signal (duty ratio) is converted into an actual current by the bipolar power amplifier 108, a predetermined current is supplied to the electric motor 26, and the input FL
Is generated in the electric motor 26.

In the vehicle speed calculation means 110, the current iFB detected by the current detection sensor 109, the voltage EB applied to the electric motor 26 detected by the power supply voltage observation means 111, the control signal (duty ratio), Motor constants (motor resistance, electromotive force coefficient, etc.)
ΩG of the center of gravity ωG is obtained by halving the sum (ωL + ωR) of the speed ωR of the right wheel 2 obtained in the same manner as the speed ωL, The center-of-gravity speed ωG is output to the center-of-gravity component setting means 104.

In the present embodiment, as shown in FIG. 6, when the traveling speed V of the auxiliary power type wheelchair 1 is lower than a set value (legal speed) V1 (6 km / h), the electromagnetic clutch is not used. 31 is turned on.

Further, a set value V2 (9 km / h) higher than the set speed V1 (6 km / h) is set, and the running speed V
Is not less than V1 and not more than V2, and the inputs FL and FR are not more than a threshold set as a dead zone (that is, if the occupant
Is not driven) or when the directions of the inputs FL and FR are the same as the traveling direction, the electromagnetic clutch 31 is disconnected (OF).
F) When the directions of the inputs FL and FR are opposite to the traveling direction, the electromagnetic clutch 31 is connected (ON) at least while the auxiliary power is being generated.

That is, the actual vehicle speed V (wheel speed ωL) detected by the vehicle speed sensor 112 provided on the left wheel 2
W) and the inputs FL and FR are input to the clutch ON / OFF determining means 115, and the clutch ON / OFF determining means 115
Connection (ON / OFF) is determined, and an ON / OFF control signal is transmitted to the clutch driver 116 and the output selector 114.
Send to Then, the clutch driver 116 controls the electromagnetic clutch 31 based on the input ON / OFF control signal.
(ON / OFF).

The actual speed .omega.LW of the left wheel 2 detected by the vehicle speed sensor 112 and the speed .omega.L calculated by the vehicle speed calculating means 110 are input to the motor speed adjusting means 113. A predetermined control signal (duty ratio) is transmitted to the output selector 114 in order to control the rotation speed of the electric motor 26 so that the calculated speed ωL becomes equal to the actual speed ωLW. Then, the output selector 114 sets the electromagnetic clutch 3
While the number 1 is OFF, the motor rotation speed adjusting means 113
And outputs the control signal (duty ratio) output to the bipolar power amplifier 108. When the electromagnetic clutch 31 is ON, the duty limiter 1
The control signal (duty ratio) output from 07 is selected and transmitted to the bipolar power amplifier 108.

As shown in FIG. 6, while the traveling speed V of the auxiliary power type wheelchair 1 is lower than the set value V1, the electromagnetic clutch 31 is connected (ON) by the controller 25 as described above, and The rotation of the motor 26 is decelerated by one step via a pulley and a belt (not shown) and transmitted to the pulley 37, and the rotation of the pulley 37 is transmitted to the drive shaft 30 via the electromagnetic clutch 31 in a connected (ON) state. And
The rotation of the drive shaft 30 is transmitted to the wheels 2 after being reduced by two stages by gears 32 and 34, and the wheels 2 receive the inputs FL and FR.
The wheelchair 1 is driven forward by a driving force of a magnitude obtained by adding auxiliary power to the wheelchair, whereby the occupant can easily operate the auxiliary power wheelchair 1 with a small human power of about 1/2 of the total driving force. be able to.

When the traveling speed V is equal to or higher than V1 (legal speed) and the inputs FL and FR are equal to or less than the threshold value set as the dead zone (that is, when the occupant does not drive the wheels 2), as described above. Since the electromagnetic clutch 31 is disconnected (OFF) by the controller 25 and the connection between the power transmission means of the wheels 2 and the electric motor 26 is cut off, the wheels 2 can freely rotate, and the wheelchair 1 functions as a manual wheelchair. Since the wheelchair 1 travels by inertia, rapid deceleration is avoided, and the occurrence of a shock due to the rapid deceleration is prevented, so that the riding comfort of the wheelchair 1 is improved.

On the other hand, even if the traveling speed V becomes equal to or higher than V1, if the inputs FL and FR which are equal to or more than the threshold value are applied in the same direction as the traveling direction, the electromagnetic clutch 31 is disconnected (OFF) and the supply of the auxiliary power is cut off. V
Running at one or more speeds is prevented.

When the traveling speed becomes V2 or more because the wheelchair 1 travels downhill, for example, in a state where the traveling speed becomes V1 or more and the electromagnetic clutch 31 is turned off, the electromagnetic clutch 31 is turned on again and the wheels 2 are turned on. The regenerative braking acts on, so that the increase in the traveling speed V is suppressed. In this case, as described above, the output selector 11 of the controller 25 is used.
4 selects a control signal (duty ratio) output from the motor rotation speed adjusting means 113 while the electromagnetic clutch 31 is disengaged (OFF), transmits the control signal to the bipolar power amplifier 108, and calculates the calculated speed ωL. Is the actual speed ω
Since the rotation speed of the electric motor 26 is controlled to be equal to LW, no relative speed difference occurs between the disk plate 36 and the gear 37 in the electromagnetic clutch 31, and the claws 36a, 37a of both are smoothly meshed. Electromagnetic clutch 31
The occurrence of shock when connecting (ON) is prevented and wheelchair 1
After that, when the traveling speed V falls to V2 or less, the electromagnetic clutch is disengaged (OFF) again as shown in FIG. 6, but even if the traveling speed V is V1 or more and V2 or less, When the directions of the inputs FL and FR are opposite to the running direction (for example, the wheels 2
Is driven in the reverse direction), the electromagnetic clutch 31 is connected (ON) at least while the auxiliary power is being generated. Therefore, even when the vehicle is stopped from the speed V1 or higher, the wheelchair 1 can be quickly stopped using the auxiliary power as the braking force.

The set values V1 and V2 of the traveling speed V
May be changed depending on the traveling direction (forward / backward traveling direction). For example, if the set value V2 during reverse travel is set smaller than that during forward travel, or if V1 and V2 during reverse travel are set to the same value (that is, the electromagnetic clutch 31 is not disconnected (OFF)), regenerative braking will occur. Acting at a low speed stage, overspeed during reverse travel is suppressed, and a sense of security can be given to the occupant.

Further, according to the input to one of the left and right wheels 2 and the traveling speed and direction of the wheel 2, the electromagnetic clutch 31 on one wheel 2 is connected / disconnected (ON / OFF). The other electromagnetic clutch 31 is connected / disconnected (ON / OFF) in synchronization with the connection / disconnection (ON / OFF) operation of the clutch 31.
By doing so, since the left and right electromagnetic clutches 31 are controlled in synchronization, it is possible to control the substantial center-of-gravity speed and enhance operability such as straightness.

[0051]

As is apparent from the above description, the electric motor for generating the auxiliary power, the input detecting means for detecting the input applied to the wheels via the input member, and the speed detecting for detecting the traveling speed and the direction. Means, power transmission means for transmitting auxiliary power from the electric motor to the wheels, an electromagnetic clutch provided in the middle of the power transmission means, an input detected by the input detection means and a speed detected by the speed detection means. An auxiliary power type wheelchair provided with control means for controlling the electric motor and the electromagnetic clutch according to the determined traveling speed and direction, wherein the traveling speed detected by the speed detecting means is V1 or more and V2 or less, and the input detection is performed. When the input detected by the means is equal to or less than a threshold set as a dead zone or when the input direction is the same as the traveling direction, the electromagnetic When the input direction is opposite to the traveling direction, the electromagnetic clutch is connected at least while the auxiliary power is being generated. Is obtained.

[Brief description of the drawings]

FIG. 1 is a side view of an auxiliary power wheelchair according to the present invention.

FIG. 2 is a rear view of the auxiliary powered wheelchair according to the present invention.

FIG. 3 is a sectional view of a hub portion of a wheel of the auxiliary power wheelchair according to the present invention.

FIG. 4 is an enlarged detailed view of a main part (electromagnetic clutch part) of FIG. 3;

FIG. 5 is a block diagram showing a configuration of a control system of the auxiliary power wheelchair according to the present invention.

FIG. 6 is a timing chart showing the relationship between the traveling speed and the input and the ON / OFF control of the electromagnetic clutch in the auxiliary power wheelchair according to the present invention.

[Explanation of symbols]

 REFERENCE SIGNS LIST 1 auxiliary power wheelchair 2 wheels 11 hand rim (input member) 18 potentiometer (input detection means) 25 controller (control means) 26 electric motor 31 electromagnetic clutch 32, 34 gear 110 vehicle speed calculation means 112 vehicle speed sensor (vehicle speed detection means) 113 motor Speed adjustment means

Claims (4)

[Claims] An electric motor for generating auxiliary power; input detection means for detecting an input applied to wheels via an input member; speed detection means for detecting a traveling speed and a direction; A power transmission means for transmitting power to the wheels, an electromagnetic clutch provided in the middle of the power transmission means, and the electric motor based on an input detected by the input detection means and a traveling speed and direction detected by the speed detection means. In an auxiliary power wheelchair provided with control means for controlling a motor and an electromagnetic clutch, a traveling speed detected by the speed detection means is V1 or more and V2 or less, and an input detected by the input detection means is a dead zone. When the input direction is equal to or less than the set threshold or the input direction is the same as the traveling direction, the electromagnetic clutch is disengaged, and the input direction is changed to the traveling direction. And when in the reverse direction at least while the auxiliary power is occurring power-assisted wheelchair, characterized in that for connecting the electromagnetic clutch. 2. An auxiliary powered wheelchair according to claim 1, wherein at least one of the set values V1 and V2 of the running speed is changed depending on the running direction. 3. An electromagnetic clutch on one wheel is connected / disconnected according to an input to one of the left and right wheels and a traveling speed and direction of the wheel, and the other is synchronized with the connection / disconnection operation of the one electromagnetic clutch. The auxiliary power type wheelchair according to claim 1 or 2, wherein the electromagnetic clutch is connected or disconnected. 4. While the electromagnetic clutch is disconnected,
4. The auxiliary power wheelchair according to claim 1, wherein the rotational speed of the electric motor is controlled such that a converted value of the traveling speed calculated by the rotational speed of the electric motor becomes equal to the actual traveling speed.