JPH06304207A - Motor-driven vehicle - Google Patents

Motor-driven vehicle

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Publication number
JPH06304207A
JPH06304207A JP5116369A JP11636993A JPH06304207A JP H06304207 A JPH06304207 A JP H06304207A JP 5116369 A JP5116369 A JP 5116369A JP 11636993 A JP11636993 A JP 11636993A JP H06304207 A JPH06304207 A JP H06304207A
Authority
JP
Japan
Prior art keywords
motor
vehicle
operating force
electric
signal
Prior art date
Legal status (The legal status 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 status listed.)
Pending
Application number
JP5116369A
Other languages
Japanese (ja)
Inventor
Motoharu Fujigaki
元治 藤垣
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Nabco Ltd
Original Assignee
Nabco Ltd
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 Nabco Ltd filed Critical Nabco Ltd
Priority to JP5116369A priority Critical patent/JPH06304207A/en
Publication of JPH06304207A publication Critical patent/JPH06304207A/en
Pending legal-status Critical Current

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Abstract

PURPOSE:To save a battery power supply by detecting and utilizing simply the operating force of a helper or the like pushing a motor-driven wheel chair. CONSTITUTION:In a motor-driven vehicle propelled by the drive force of a motor, while a hand-pushing handle for moving the vehicle back and forth is mounted on the vehicle body, the hand-pushing handle 11 is mounted on the vehicle body through an operating force detecting unit 21 for generating an electric signal, a converting unit for generating a drive signal for the motor on the basis of the electric signal of the operating force detecting unit 21 is equipped, and a control unit for controlling the output of the motor according to the drive signal of the converting unit is equipped.

Description

【発明の詳細な説明】Detailed Description of the Invention

【0001】[0001]

【産業上の利用分野】本発明は、電動車椅子等の電動車
両であって、モータの駆動力で推進されると共に、介護
人等の人の操作力により車両を前進又は後進させること
もできる電動車両に関する。
BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an electric vehicle such as an electric wheelchair, which is driven by a driving force of a motor and can be moved forward or backward by an operation force of a person such as a caregiver. Regarding the vehicle.

【0002】[0002]

【従来の技術】この種の電動車両を図6の電動車椅子を
例にして説明する。電動車椅子1は、車体2と車輪3,
4、モータ5と、制御装置6と、バッテリー7等から構
成されている。車体2は一般にパイプフレームで構成さ
れ、グリップ10が形成された手押しハンドル11、背
もたれ12、シート13、肘当て14、フットプレート
15、2個の駆動車輪3と2個の自在輪4等が取り付け
られている。
2. Description of the Related Art An electric vehicle of this type will be described with reference to the electric wheelchair shown in FIG. The electric wheelchair 1 includes a vehicle body 2 and wheels 3,
4, a motor 5, a control device 6, a battery 7 and the like. The vehicle body 2 is generally composed of a pipe frame, and is provided with a push handle 11 having a grip 10, a backrest 12, a seat 13, an elbow pad 14, a foot plate 15, two drive wheels 3 and two free wheels 4 and the like. Has been.

【0003】モータ5は一般的にはギヤ付直流モータが
使用され、一個の駆動輪3に一つのモータが歯車伝動機
構を介して連結されている。モータ5又は歯車伝動機構
にはクラッチが取り付けられ、クラッチを切ると駆動輪
3がフリーとなる。そして電動車椅子1の背後に立った
介護人が手押しハンドル11のグリップ10を握って、
電動車椅子1を前進又は後進させることができる。
As the motor 5, a DC motor with a gear is generally used, and one motor is connected to one drive wheel 3 via a gear transmission mechanism. A clutch is attached to the motor 5 or the gear transmission mechanism, and when the clutch is disengaged, the drive wheels 3 become free. Then, the caregiver standing behind the electric wheelchair 1 grips the grip 10 of the push handle 11,
The electric wheelchair 1 can be moved forward or backward.

【0004】制御装置6には、操縦用のジョイスティッ
クレバー16、電源スイッチ、バッテリーメーター等が
取り付けられている。ジョイスティックレバー16は、
レバー16の倒された方向で方向制御を行い、レバー1
6の倒された角度で速度制御を行うものである。そのた
めレバー16の倒された角度を電子的に検出し、それに
応じてモータ5の回転数を変えるようになっている。ま
たバッテリー7は、一般的には自動車用の鉛蓄電池が用
いられる。
A joystick lever 16 for control, a power switch, a battery meter and the like are attached to the control device 6. The joystick lever 16
Direction control is performed according to the tilted direction of the lever 16, and the lever 1
The speed is controlled at the tilted angle of 6. Therefore, the tilted angle of the lever 16 is electronically detected, and the rotation speed of the motor 5 is changed accordingly. Further, as the battery 7, a lead acid battery for an automobile is generally used.

【0005】[0005]

【発明が解決しようとする課題】従来の技術で述べた電
動車椅子は、電動で推進されるか、駆動車輪3のクラッ
チを切って手押しされるかのいずれかである。車椅子に
人が乗った状態では、百数十キログラムになるため、水
平な平坦路でしか手押しできず、介護人が付いている場
合でも勢い電動推進に頼ることになる。そのためバッテ
リーの消耗が激しく頻繁に充電する必要があるという問
題点があった。
The electric wheelchair described in the prior art is either electrically propelled or manually disengaged from the clutch of the drive wheel 3. Since a person in a wheelchair can weigh hundreds of tens of kilograms, it can be pushed only on a flat horizontal road, and even if a caregiver is present, it will rely on electric propulsion. Therefore, there is a problem that the battery is heavily consumed and needs to be charged frequently.

【0006】本発明は、従来の技術の有するこのような
問題点に鑑みてなされたものであり、その目的とすると
ころは、電動車椅子を押す介護人等の人の操作力を簡単
に検知して活用し、バッテリー電源の節約を図れる電動
車両を提供しようとするものである。
The present invention has been made in view of the above problems of the prior art, and its object is to easily detect the operation force of a person such as a caregiver pushing an electric wheelchair. It aims to provide an electric vehicle that can be utilized as a battery to save battery power.

【0007】[0007]

【課題を解決するための手段】上記目的を達成する電動
車両は、車体に車両を前進又は後進させるための手押し
ハンドルが設けられると共に、モータの駆動力により推
進される電動車両において、手押しハンドルを車体に対
して電気信号を発生させる操作力検知部を介して取り付
け、この操作力検知部の電気信号に基づいてモータの駆
動信号を発生させる変換部を設け、この変換部の駆動信
号によりモータの出力を制御する制御部を設けたもので
ある。
An electric vehicle that achieves the above object is provided with a hand-pushing handle for moving the vehicle forward or backward in a vehicle body, and in an electric-powered vehicle propelled by a driving force of a motor, the hand-pushing handle is used. It is attached to the vehicle body via an operation force detection unit that generates an electric signal, and a conversion unit that generates a motor drive signal based on the electric signal of the operation force detection unit is provided. A control unit for controlling the output is provided.

【0008】[0008]

【作用】介護人等が手押しハンドルで車両を前進又は後
進させる操作力を車両に加えると、手押しハンドルに取
り付けられた検知部が操作力に応じた電気信号を発生さ
せ、変換部がこの電気信号に基づき例えば大きい電気信
号には大きな駆動信号を発し、人の操作力の大小に対応
した駆動信号によってモータが駆動され、人と電動の共
同で車両が推進される。
[Operation] When a caregiver or the like applies an operating force for moving the vehicle forward or backward with the hand push handle to the vehicle, the detection unit attached to the hand push handle generates an electric signal according to the operation force, and the conversion unit outputs the electric signal. Based on the above, for example, a large drive signal is issued to a large electric signal, the motor is driven by the drive signal corresponding to the magnitude of the operating force of the person, and the vehicle is propelled jointly with the person.

【0009】[0009]

【実施例】以下、本発明の実施例を図面を参照しつつ説
明する。図1は操作力検知部が取り付けられた手押しハ
ンドルの斜視分解図であり、図2は電動車両の駆動ブロ
ック図である。
Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is a perspective exploded view of a hand-pushing handle to which an operating force detection unit is attached, and FIG. 2 is a drive block diagram of an electric vehicle.

【0010】図1において、手押しハンドル11先端に
ロードセル21,21が取り付けられた接続金具20,
20が嵌着可能に設けられ、このロードセル21,21
はコの字型のバーハンドル22に嵌入固定される。そし
てバーハンドル22を押し引きする介護人の操作力が左
右のロードセル21,21にて検知される。手押しハン
ドル11は人の操作力及び操作方向が直接作用する部分
であり、この部分にロードセル21,21を取り付ける
と、操作力を正確且つ簡単に検知できる。なお左右の手
押しハンドル11に歪みゲージを取り付けた検知部にし
てもよい。
Referring to FIG. 1, a connection fitting 20 having load cells 21 and 21 attached to the tip of the hand push handle 11,
20 are provided so that they can be fitted, and the load cells 21, 21
Is fitted and fixed to the U-shaped bar handle 22. Then, the operating force of the caregiver pushing and pulling the bar handle 22 is detected by the left and right load cells 21, 21. The hand-pushing handle 11 is a portion to which a human operating force and an operating direction directly act, and when the load cells 21 and 21 are attached to this portion, the operating force can be accurately and easily detected. It should be noted that the left and right hand-pushing handles 11 may be a detection unit in which strain gauges are attached.

【0011】図2において、操作力検知センサー21か
らの操作力に相当する電気信号f1は信号変換部23に
入力され、信号変換部23からモータ駆動信号f2がモ
ータ制御部24に出力され、モータ制御部24がモータ
5の出力を制御する。信号変換部23は、アナログ電気
信号f1をディジタル信号に変換するA/D変換器23
aと、予め記憶されたプログラムに基づいて信号を演算
処理するCPU(23b)と、ディジタル信号をアナロ
グのトルク駆動信号f2に変換するD/A変換器23c
とからなっている。
In FIG. 2, the electric signal f1 corresponding to the operating force from the operating force detection sensor 21 is input to the signal converting unit 23, the motor converting signal f2 is output from the signal converting unit 23 to the motor control unit 24, and the motor The controller 24 controls the output of the motor 5. The signal conversion unit 23 is an A / D converter 23 that converts the analog electric signal f1 into a digital signal.
a, a CPU (23b) that calculates a signal based on a program stored in advance, and a D / A converter 23c that converts a digital signal into an analog torque drive signal f2.
It consists of

【0012】つぎに、図3によりCPU(23b)の演
算処理を説明する。図3(a)は操作力に相当する電気
信号f1とトルク駆動信号f2の出力関係を示すグラフ
図であり、図3(b)は電気信号f1と車両加速度の関
係を示すグラフ図である。C点は操作力がゼロであり、
駆動信号f2もゼロ出力であり、加速度もゼロである。
B点は操作力が小さい不感帯であり、駆動信号f2はゼ
ロ出力のままであるが、加速度は人の操作力による加速
分だけ上昇する。なお不感帯は小さい操作力にモータが
追従して車両推進が不安定になるのを防止するために設
けられている。つぎにA点は操作力が大きく、駆動信号
f2がa点から比例的に増加し、加速度は人の操作力に
よる加速分とモータによる加速分の合計となる。A,B
点は人が車両を加速させる場合であったが、D,E点は
人が車両を減速させる場合であり、駆動信号f2及び加
速度が点対称でマイナスになっている。すなわちA点又
はE点では、車両の加速度=人の操作力による加速分+
モータの加速分となり、人の操作力の大小に応じてモー
タのトルクが大小に変化し、人とモータの共同で車両を
推進させる。なお、図3は水平な平坦路を想定したグラ
フであるが、車両が坂を上り下りする場合には、重力の
加速度に対抗する人の操作力の大小に応じて、モータの
加速度も大きくなるだけである。また図8のジョイステ
ィックレバーは中立位置のままであり、乗員は介護人に
操作を任した状態にある。
Next, the arithmetic processing of the CPU (23b) will be described with reference to FIG. FIG. 3A is a graph showing the output relationship between the electric signal f1 and the torque drive signal f2 corresponding to the operating force, and FIG. 3B is a graph showing the relationship between the electric signal f1 and the vehicle acceleration. At point C, the operating force is zero,
The drive signal f2 is also zero output, and the acceleration is also zero.
Point B is a dead zone where the operating force is small, and the drive signal f2 remains at zero output, but the acceleration increases by the amount of acceleration due to the operating force of the person. The dead zone is provided to prevent the motor from following a small operating force and destabilizing the vehicle propulsion. Next, at point A, the operating force is large, the drive signal f2 increases proportionally from point a, and the acceleration is the sum of the acceleration due to the human operating force and the acceleration due to the motor. A, B
The points are the case where the person accelerates the vehicle, but the points D and E are the case where the person decelerates the vehicle, and the drive signal f2 and the acceleration are point-symmetrical and are negative. That is, at point A or point E, the acceleration of the vehicle = the acceleration due to the human operating force +
It becomes the acceleration of the motor, and the torque of the motor changes depending on the magnitude of the operating force of the person. Note that FIG. 3 is a graph assuming a horizontal flat road, but when the vehicle goes up and down a slope, the acceleration of the motor also increases according to the magnitude of the operating force of the person against the acceleration of gravity. Only. Further, the joystick lever in FIG. 8 is still in the neutral position, and the occupant is in the state of leaving the operation to the caregiver.

【0013】このようにモータが単独で駆動されること
はなく、人の操作を補完するので、人力操作と同じ感覚
で車両が推進される。この状態を図4により説明する。
図4(a)は車両速度の時間変化を示すグラフ図であ
り、図4(b)は人の操作力の時間変化を示すグラフ図
である。A点のように操作力がプラス側に大きいと、車
両速度は急上昇する。B点のように操作力がプラス側に
小さいと、車両速度は緩やかに上昇する。C点のように
操作力がゼロであると、車両速度は変化せず慣性推進だ
けとなる。D点のように操作力がマイナス側に小さい
と、車両速度は緩やかに下降する。E点のように操作力
がマイナス側に大きいと、車両速度は急下降する。な
お、図4は摩擦がない理想的な場合を示している。
As described above, the motor is not driven independently and complements the human operation, so that the vehicle is propelled in the same sense as human-powered operation. This state will be described with reference to FIG.
FIG. 4A is a graph showing a change in vehicle speed over time, and FIG. 4B is a graph showing a change over time in human operating force. If the operating force is large on the plus side as at point A, the vehicle speed increases rapidly. When the operating force is small on the plus side, as at point B, the vehicle speed gradually increases. When the operating force is zero as at point C, the vehicle speed does not change and only inertial propulsion is performed. When the operating force is small on the minus side as at the point D, the vehicle speed gradually decreases. When the operating force is large on the minus side as at point E, the vehicle speed drops sharply. Note that FIG. 4 shows an ideal case where there is no friction.

【0014】以上の実施例は人の操作力で車両が加減速
される場合であったが、車両の方向転換動作も図2の信
号変換部23で制御可能である。この方向制御を図5の
対比表で説明する。符号1〜5は左右ハンドルに加わる
操作力が等しい場合であり、符号1がC点に相当し、符
号2がB点に相当し、符号3がA点に相当し、符号4が
D点に相当し、符号5がE点に相当する。符号6〜11
は左右の操作力が異なる場合であって、車両が人の力で
方向転換するのをモータが補完する。符号6は左の操作
力がプラス方向に小さく、右の操作力がプラス方向に大
きい場合であり、車両は左カーブで動作するように、左
右のモータの各々が左右の操作力に連動する。符号7は
左の操作力がマイナス方向に小さく、右の操作力がプラ
ス方向に大きい場合であり、車両は左急カーブで動作す
る。符号8は左の操作力がマイナス方向に大きく、右の
操作力がプラス方向に大きい場合であり、車両は左回転
で動作する。符号9は符号6の左右反対の場合であり、
符号10は符号7の左右反対の場合であり、符号11は
符号8の左右反対の場合である。このように左右の操作
力と左右の車輪に連結されたモータを連動させると、車
両の動作も人の操作力の感覚と同様に、モータで補完さ
れる。
In the above-mentioned embodiment, the vehicle is accelerated or decelerated by the manipulating force of the person. However, the direction change operation of the vehicle can be controlled by the signal conversion unit 23 shown in FIG. This direction control will be described with reference to the comparison table of FIG. Reference numerals 1 to 5 are cases where the operating forces applied to the left and right steering wheels are equal, reference numeral 1 corresponds to point C, reference numeral 2 corresponds to point B, reference numeral 3 corresponds to point A, and reference numeral 4 corresponds to point D. The reference numeral 5 corresponds to point E. Reference numerals 6 to 11
Is a case where the left and right operating forces are different, and the motor complements that the vehicle changes direction due to human power. Reference numeral 6 indicates a case where the left operation force is small in the plus direction and the right operation force is large in the plus direction, and each of the left and right motors is interlocked with the left and right operation forces so that the vehicle operates in the left curve. Reference numeral 7 indicates a case where the left operation force is small in the minus direction and the right operation force is large in the plus direction, and the vehicle operates in a sharp left turn. Reference numeral 8 indicates a case where the left operation force is large in the minus direction and the right operation force is large in the plus direction, and the vehicle operates by left rotation. Reference numeral 9 is a case where the reference numeral 6 is opposite to the left and right,
Reference numeral 10 is a case where the reference numeral 7 is opposite to the left and right, and reference numeral 11 is a case where the reference numeral 8 is opposite to the left and right. In this way, when the left and right operating forces and the motors connected to the left and right wheels are interlocked, the operation of the vehicle is complemented by the motors as well as the sense of the human operating force.

【0015】なお、上述した実施例では、電動車椅子を
例にして後輪が駆動車輪である場合を説明したが、後輪
もフリーであって、2個の後輪の中間に一個の駆動輪を
設けた場合の電動車両でも本発明を適用できる。
In the above embodiment, the case where the rear wheel is the drive wheel has been described by taking the electric wheelchair as an example. However, the rear wheel is also free, and one drive wheel is provided between two rear wheels. The present invention can be applied to an electric vehicle in which the above is provided.

【0016】[0016]

【発明の効果】本発明の電動車両は、人の操作力が手押
しハンドルに取り付けられた検知部で正確且つ簡単に測
定され、この操作力に応じてモータが駆動され、人と電
動の共同で車両が推進されるので、電動推進の場合に比
較して、人の操作力が有効利用され、バッテリー電源を
節約できる。また人の操作力に応じてモータが駆動され
るので、クラッチを切って人力のみで操作する場合と同
じ感覚で操作でき、違和感なく操作できる。
According to the electric vehicle of the present invention, the operating force of a person is accurately and easily measured by the detecting portion attached to the hand-pushing handle, and the motor is driven according to the operating force. Since the vehicle is propelled, compared to the case of electric propulsion, human operation force is effectively used and battery power can be saved. Further, since the motor is driven according to the operating force of the person, the operation can be performed with the same feeling as in the case where the clutch is disengaged and the operation is performed only by the human power, and the operation can be performed without discomfort.

【図面の簡単な説明】[Brief description of drawings]

【図1】操作力検知部が取り付けられた手押しハンドル
の斜視分解図である。
FIG. 1 is a perspective exploded view of a hand push handle to which an operating force detector is attached.

【図2】電動車両の駆動ブロック図である。FIG. 2 is a drive block diagram of an electric vehicle.

【図3】信号変換部における信号変換のグラフ図であ
る。
FIG. 3 is a graph diagram of signal conversion in a signal conversion unit.

【図4】操作力とモータ速度の関係を示すグラフ図であ
る。
FIG. 4 is a graph showing the relationship between operating force and motor speed.

【図5】左右の操作力と車両動作の関係を示す対比図で
ある。
FIG. 5 is a comparison diagram showing a relationship between left and right operating forces and vehicle operation.

【図6】従来の電動車椅子の斜視図である。FIG. 6 is a perspective view of a conventional electric wheelchair.

【符号の説明】[Explanation of symbols]

1 電動車椅子 2 車体 3 駆動車輪 11 手押しハンドル 21 ロードセル(操作力検知部) 22 バーハンドル 23 信号変換部 24 モータ制御部 f1 電気信号 f2 トルク駆動信号 DESCRIPTION OF SYMBOLS 1 Electric wheelchair 2 Vehicle body 3 Drive wheel 11 Handwheel 21 Load cell (operation force detection part) 22 Bar handle 23 Signal conversion part 24 Motor control part f1 Electric signal f2 Torque drive signal

Claims (1)

【特許請求の範囲】[Claims] 【請求項1】 車体に車両を前進又は後進させるための
手押しハンドルが設けられると共に、モータの駆動力に
より推進される電動車両において、手押しハンドルを車
体に対して電気信号を発生させる操作力検知部を介して
取り付け、この操作力検知部の電気信号に基づいてモー
タの駆動信号を発生させる変換部を設け、この変換部の
駆動信号によりモータの出力を制御する制御部を設けた
ことを特徴とする電動車両。
1. In an electric vehicle which is provided with a hand push handle for moving the vehicle forward or backward and which is propelled by a driving force of a motor, an operating force detection unit for generating an electric signal from the hand push handle to the vehicle body. And a converter for generating a motor drive signal based on an electric signal from the operating force detector, and a controller for controlling the motor output by the converter drive signal. Electric vehicle to be.
JP5116369A 1993-04-19 1993-04-19 Motor-driven vehicle Pending JPH06304207A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP5116369A JPH06304207A (en) 1993-04-19 1993-04-19 Motor-driven vehicle

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP5116369A JPH06304207A (en) 1993-04-19 1993-04-19 Motor-driven vehicle

Publications (1)

Publication Number Publication Date
JPH06304207A true JPH06304207A (en) 1994-11-01

Family

ID=14685273

Family Applications (1)

Application Number Title Priority Date Filing Date
JP5116369A Pending JPH06304207A (en) 1993-04-19 1993-04-19 Motor-driven vehicle

Country Status (1)

Country Link
JP (1) JPH06304207A (en)

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0847114A (en) * 1994-08-04 1996-02-16 Nabco Ltd Motor driven vehicle
US5771988A (en) * 1995-05-30 1998-06-30 Nabco Limited Motor-driven vehicle
JP2001177902A (en) * 1999-10-06 2001-06-29 Nabco Ltd Controller for electric motor vehicle
WO2001062197A1 (en) 2000-02-28 2001-08-30 Yamaha Hatsudoki Kabushiki Kaisha Care type electric wheelchair
WO2001063146A1 (en) 2000-02-28 2001-08-30 Yamaha Hatsudoki Kabushiki Kaisha Drive unit of electric vehicle
US6536544B1 (en) * 1997-03-17 2003-03-25 Hitachi, Ltd. Walking aid apparatus
JP2017094962A (en) * 2015-11-25 2017-06-01 株式会社ケーイーアール Operation grip and movable body

Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0847114A (en) * 1994-08-04 1996-02-16 Nabco Ltd Motor driven vehicle
US5771988A (en) * 1995-05-30 1998-06-30 Nabco Limited Motor-driven vehicle
US6536544B1 (en) * 1997-03-17 2003-03-25 Hitachi, Ltd. Walking aid apparatus
JP2001177902A (en) * 1999-10-06 2001-06-29 Nabco Ltd Controller for electric motor vehicle
WO2001062197A1 (en) 2000-02-28 2001-08-30 Yamaha Hatsudoki Kabushiki Kaisha Care type electric wheelchair
WO2001063146A1 (en) 2000-02-28 2001-08-30 Yamaha Hatsudoki Kabushiki Kaisha Drive unit of electric vehicle
US6910543B2 (en) 2000-02-28 2005-06-28 Yamaha Hatsudoki Kabushiki Kaisha Care type electric wheelchair
JP2017094962A (en) * 2015-11-25 2017-06-01 株式会社ケーイーアール Operation grip and movable body

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