CN106985889A - Perambulator - Google Patents
Perambulator Download PDFInfo
- Publication number
- CN106985889A CN106985889A CN201610816581.5A CN201610816581A CN106985889A CN 106985889 A CN106985889 A CN 106985889A CN 201610816581 A CN201610816581 A CN 201610816581A CN 106985889 A CN106985889 A CN 106985889A
- Authority
- CN
- China
- Prior art keywords
- wheel
- driving
- perambulator
- driving element
- driving force
- 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.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62B—HAND-PROPELLED VEHICLES, e.g. HAND CARTS OR PERAMBULATORS; SLEDGES
- B62B7/00—Carriages for children; Perambulators, e.g. dolls' perambulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62B—HAND-PROPELLED VEHICLES, e.g. HAND CARTS OR PERAMBULATORS; SLEDGES
- B62B5/00—Accessories or details specially adapted for hand carts
- B62B5/0026—Propulsion aids
- B62B5/0033—Electric motors
- B62B5/0036—Arrangements of motors
- B62B5/0043—One motor drives one wheel
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62B—HAND-PROPELLED VEHICLES, e.g. HAND CARTS OR PERAMBULATORS; SLEDGES
- B62B5/00—Accessories or details specially adapted for hand carts
- B62B5/0026—Propulsion aids
- B62B5/0069—Control
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62B—HAND-PROPELLED VEHICLES, e.g. HAND CARTS OR PERAMBULATORS; SLEDGES
- B62B7/00—Carriages for children; Perambulators, e.g. dolls' perambulators
- B62B7/04—Carriages for children; Perambulators, e.g. dolls' perambulators having more than one wheel axis; Steering devices therefor
- B62B7/06—Carriages for children; Perambulators, e.g. dolls' perambulators having more than one wheel axis; Steering devices therefor collapsible or foldable
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62B—HAND-PROPELLED VEHICLES, e.g. HAND CARTS OR PERAMBULATORS; SLEDGES
- B62B9/00—Accessories or details specially adapted for children's carriages or perambulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62B—HAND-PROPELLED VEHICLES, e.g. HAND CARTS OR PERAMBULATORS; SLEDGES
- B62B9/00—Accessories or details specially adapted for children's carriages or perambulators
- B62B9/20—Handle bars; Handles
Abstract
Perambulator (1) possesses baby's vehicle main body (2)；Wheel (4), exist it is multiple, and by baby's vehicle main body (2) support；Two driving elements (51,52), at least one wheel into multiple wheels (4) provides driving force；Two detecting elements (6a, 6b), detection input to baby's vehicle main body (2), related to mobility operation information；And control device (7), include two control units (7a, 7b), wherein, two control units (7a, 7b) control each corresponding driving element (51,52) based on the information that each corresponding detecting element (6a, 6b) is detected, the driving force for being supplied to wheel (4) is adjusted.
Description
Technical field
The present invention relates to it is a kind of by driving element come the perambulator of driving moment.
Background technology
For example, disclosing a kind of perambulator with motor in JP2011-68336A.Remembered in JP2011-68336A
In the perambulator of load, when pressing handle, meeting drive connection is in the motor of wheel.Particularly, described in JP2011-68336A
Perambulator voluntarily advanced by motor.Even if that is, the perambulator operator described in JP2011-68336A does not press
Pressure, also only can independently be travelled by the driving force of motor.
However, the perambulator described in JP2011-68336A is independently travelled due to the driving force by motor, because
This is difficult to operate perambulator according to the intention of operator.Particularly, when needing to turn to perambulator at turning or turning,
Operator slows down the speed of advance to carry out go to action, and motor continues driving moment with original speed.
Therefore, cause to produce deviation (inconsistent) between the action of operator and the action of perambulator, and can not be according to operator's
It is intended to operate perambulator.
The content of the invention
The present invention allows for problem above point and completed, its object is to provide it is a kind of can according to operator meaning
Figure is operated and by driving element come the perambulator of driving moment.
The perambulator of the present invention possesses：Baby's vehicle main body；
Wheel, exist it is multiple, and by above-mentioned perambulator body supports；
First driving element, at least one wheel into multiple above-mentioned wheels by above-mentioned perambulator body supports is provided
Driving force；
Second driving element, wheels into multiple above-mentioned wheels, with providing driving force by above-mentioned first driving element
Different wheels provides driving force, and is set independently of above-mentioned first driving element；
First detecting element, detection input to above-mentioned perambulator main body, related to mobility operation information；
Second detecting element, is set independently of above-mentioned first detecting element, and detection is inputted to above-mentioned perambulator main body
, related to mobility operation information；And
Control device, with the first control unit and the second control unit, wherein, above-mentioned first control unit is based on the above-mentioned first inspection
The information that is detected of element is surveyed to control above-mentioned first driving element, adjusted with this be supplied to from above-mentioned first driving element it is above-mentioned
The driving force of wheel, above-mentioned second control unit controls above-mentioned second driving based on the information that above-mentioned second detecting element is detected
Element, the driving force that above-mentioned wheel is supplied to from above-mentioned second driving element is adjusted with this.
In the perambulator of the present invention, above-mentioned baby's vehicle main body has the frame main body for supporting multiple above-mentioned wheels and is connected to
The handle of above-mentioned frame main body,
Above-mentioned first detecting element and above-mentioned second detecting element can also be arranged at above-mentioned handle, and detect with putting on
The information of the heavy burden correlation of above-mentioned handle.
In the perambulator of the present invention, above-mentioned first control unit can be supplied to above-mentioned wheel with above-mentioned first driving element
The mode that gradually increases with the increase of the heavy burden detected by above-mentioned first detecting element of driving force control above-mentioned first
Driving element,
Above-mentioned second control unit can be supplied to the driving force of above-mentioned wheel with above-mentioned with above-mentioned second driving element
The increase of heavy burden detected by two detecting elements and the mode that gradually increases controls above-mentioned second driving element.
In the perambulator of the present invention, among multiple above-mentioned wheels, by above-mentioned first driving element and above-mentioned second
The wheel that driving element provides driving force is trailing wheel, and the front-wheel in multiple above-mentioned wheels can be via castor by above-mentioned baby car owner
Body is supported.
In the perambulator of the present invention, the wheel of driving force is provided with being driven by above-mentioned second by above-mentioned first driving element
Element provides the position of the wheel of driving force in the lateral direction can be different.
According to the present invention, due to the mobility operation of perambulator can be coordinated to the driving force to wheel from driving element
It is adjusted, therefore, it is possible to operate perambulator according to the intention of operator.
Brief description of the drawings
Fig. 1 is the stereogram of the perambulator of the embodiment from face side.
Fig. 2 is the stereogram of the perambulator of the embodiment from rear side.
Fig. 3 is the block diagram for the structure for schematically showing the perambulator shown in Fig. 1.
Fig. 4 is the stereogram of the annexation for the driving element and wheel for schematically showing the perambulator shown in Fig. 1.
Fig. 5 shows the stereogram of the handle of the perambulator shown in Fig. 1 for expansion.
The figure that Fig. 6 illustrates for the structure of the detecting element of the handle for the perambulator to being arranged at shown in Fig. 1.
Fig. 7 is the circuit diagram of the detecting element shown in Fig. 6.
Fig. 8 is the figure of example for showing to be adjusted the driving force of driving element based on the information from detecting element
Table.
The effect of detecting element when Fig. 9 is for handle to carrying out the perambulator shown in Fig. 1 forwards is illustrated
Figure.
Detecting element when Figure 10 is for the handle of perambulator rearward shown in pullback diagram 1 and during gug
Act on the figure illustrated.
The stereogram that state when Figure 11 is for being turned to the perambulator shown in Fig. 1 is illustrated.
Figure 12 is for illustrating stereogram to the other methods for turning to the perambulator shown in Fig. 1.
Figure 13 is the stereogram of the variation for the handle for showing the perambulator shown in Fig. 5.
Figure 14 is the top view of the handle shown in Figure 13.
The figure that Figure 15 illustrates for the structure of the detecting element of the handle for the perambulator to being arranged at shown in Figure 14.
The effect of detecting element when Figure 16 is for handle to carrying out the perambulator shown in Figure 13 forwards is said
Bright figure.
The effect of detecting element when Figure 17 is for the handle of perambulator rearward shown in pullback diagram 13 is said
Bright figure.
The stereogram that state when Figure 18 is for being turned to the perambulator shown in Figure 13 is illustrated.
The effect of detecting element when Figure 19 is for handle to pressing the perambulator shown in Figure 13 downwards is said
Bright figure.
Embodiment
Hereinafter, refer to the attached drawing is illustrated to embodiments of the present invention.Fig. 1 to Figure 19 is for the baby to embodiment
The figure that youngster's car 1 is illustrated.Wherein, Fig. 1 and Fig. 2 is respectively the perambulator 1 that embodiment is shown from face side and rear side
Stereogram.In the perambulator 1 shown in Fig. 1 and Fig. 2, the seat part for making infant take one's seat is supported by baby's vehicle main body 2
8.In order to protect the infant for being seated at seat part 8 to avoid, by sunshine and/or wind, seat part 8 being provided with hood 9.
It should illustrate, in this manual, "front", "rear" relative to perambulator 1 and its structural detail, " on ",
" under ", " fore-and-aft direction ", " above-below direction " and " left and right directions " term when there is no special instructions, refer to hold and operate
"front", "rear" on the basis of the operator of the handle 20 of perambulator 1 in deployed condition, " on ", " under ", " fore-and-aft direction ",
" above-below direction " and " left and right directions ".Further specifically, " fore-and-aft direction d1 " is equivalent to the left side on Fig. 1 paper
Right direction.Also, if without special instructions, " preceding " refers to the side of operator's direction of push handle, on Fig. 1 paper
Before left side is.On the other hand, " above-below direction d3 " refers to the direction orthogonal and orthogonal with ground plane with fore-and-aft direction.Therefore, when
When ground plane is horizontal plane, " above-below direction d3 " refers to vertical direction.In addition, " left and right directions d2 " refers to width, be with
" fore-and-aft direction d1 " and " above-below direction d3 " all orthogonal directions.
The handle 20 that baby's vehicle main body 2 is connected by frame main body 10 and with frame main body 10 is constituted.In frame main body 10, by multiple
The upper box 12 of support seat part 8 is connected with the base frame 11 that wheel 4 is supported.Upper box 12 is relative to base frame 11 with inclined
State is supported.The forward portion of upper box 12 is connected, top with the forward portion of base frame 11 by front connecting member 13
The center section of frame 12 is connected with the rear portion of base frame 11 by intermediate linking part part 14.Front connecting member 13 and centre
The auxiliary upper frame 12 of connecting member 14 is rotated relative to base frame 11.
Especially, base frame 11 is provided with side base frame 11a, 11b of the left and right configured separated by a distance on left and right directions d2.It is left
Right side base frame 11a, 11b front end is linked by front base frame 11c.Two front-wheels 41 are installed on the base frame 11c of front,
A trailing wheel 42 is separately installed with each side base frame 11a, 11b.In the present embodiment, each front-wheel 41 via castor 3 with energy
The mode that rotates freely and can turn to freely is supported by front base frame 11c.Castor 3 with front-wheel 41 can using rotation axis Ar1 as
The mode of central rotation supports front-wheel 41, also, castor 3 can be with nonparallel, in the present embodiment with rotation axis Ar1
To be turned to centered on the steer axis As1 parallel by the direction with being orthogonal to rotation axis Ar1.That is, front-wheel 41
Supported freely and by castor 3 in the way of can changing sense of rotation by rotation.
On the other hand, each trailing wheel 42 positioned at the rear of front-wheel 41 is not by caster support in the way of turning to freely.At this
In embodiment, each trailing wheel 42 is in the way of it can rotate freely but can not turn to freely by drive shaft 51b, 52b described later (ginseng
Examine Fig. 4) support.
As the element for constituting upper box 12, it is provided with left and right directions d2 with the upper lateral part of the left and right configured separated by a distance
Frame 12a, 12b.Seat part 8 is configured between upper lateral part frame 12a, 12b of left and right.Especially, each upper lateral part frame 12a, 12b
Part is pivotally connected therebetween, can be folded using the position of each pivot joint as starting point.
Upper lateral part frame 12a, 12b of left and right rear end are linked by rear upper box 12d.At rear, upper box 12d is installed
There is handle 20.Handle 20 is by the manual part of operator.On handle 20, carried out below with reference to Fig. 5 to Figure 11
Explanation.
Upper lateral part frame 12a, 12b of left and right front end are linked by front upper frame 12c.Front upper frame 12c have to
The shape that front protrudes and bent, the upper section of front connecting member 13 is articulated in front upper frame 12c center section.Before
The section below of square connecting member 13 is fixed on front base frame 11c center section.
Should illustrate, the intermediate linking part part 14 of left and right be erected at upper lateral part frame 12a, 12b of left and right center section and
Side base frame 11a, 11b of left and right rear portion.Each intermediate linking part part 14 plays the function of connecting rod, relative to upper lateral part frame
12a, 12b and side base frame 11a, 11b can rotate.
Perambulator 1 with above mount structure can be folded into folded state from deployed condition as depicted in figs. 1 and 2.
First, the locking of upper lateral part frame 12a, 12b and intermediate linking part part 14 is released, handle is put down downwards using deadweight
20.By the action, front upper frame 12c being rotated clockwise into Fig. 1 relative to front connecting member 13, while in
Between connecting member 14 relative to base frame 11 being rotated clockwise into Fig. 1.With the spinning movement, upper box 12 is close to base
Frame 11 and overlap.After spinning movement terminates, upper lateral part frame 12a, 12b of left and right are folded by starting point of each pivot points.
The result of action folding as above is, when from the side from perambulator 1, base frame 11 and the upper box 12 being folded
Approach and configure substantially in parallel.On the other hand, in order to perambulator 1 to be reverted to the expansion shown in Fig. 1 and Fig. 2 from folded state
State, as long as being operated according to the order opposite with above-mentioned folding operation.
It should be noted that in the perambulator 1 of present embodiment, in order to mitigate the burden of operator, being connected with wheel 4
Driving element 51,52.But, as illustrated by background section, existing perambulator is so-called from travelling
Perambulator, it is difficult to by the intended operation perambulator of operator.Therefore, the perambulator 1 of present embodiment, with can be according to operation
The mobility operation of person and to wheel 4 provide driving force process auxiliary drive formula pushchair composition.
The structure of the driving of auxiliary wheel 4 is schematically shown with block diagram in Fig. 3.As shown in figure 3, in multiple wheels 4
Several wheels are connected with driving element 51,52.Driving element 51,52 is the composed component of driving moment 4, in other words, is to car
Wheel 4 provides the composed component of driving force.In the present embodiment, the first driving element 51 is used for driving the trailing wheel 42 in left side, the
Two driving elements 52 are used for driving the trailing wheel 42 on right side.
One of the structure of driving element 51,52 is shown in Fig. 4.As shown in figure 4, driving element 51 is right with it by being connected to
The drive shaft 51a of the trailing wheel 42 for the side answered and for driving drive shaft 51a dc motor 51b to constitute, driving element 52
The drive shaft 52a of the trailing wheel 42 of corresponding side and the dc motor 52b structures for driving drive shaft 52a by being connected to
Into.One end of drive shaft 51a, 52a is connected with the trailing wheel 42 of each self-corresponding side, and supports the trailing wheel 42 can be with rotation
Rotate but can not be turned to freely freely centered on shaft axis Ar2.The other end of drive shaft 51a, 52a is via (not shown) dynamic
Power passes on element (such as gear) with being linked by side base frame 11a, 11b dc motor 51b, 52b supported main shaft.It should say
Bright, drive shaft 51a, 52a can be constituted with dc motor 51b, 52b integrated spindle axis, can also be used as independent part structure
Into.
Fig. 3 is back to, each driving element 51,52 links with each self-corresponding control unit 7a, 7b respectively, and is controlled respectively by this
Portion 7a, 7b control processed.Each control unit 7a, 7b are connected with detecting element 6a, 6b respectively again, so that future Autonomous test element 6a, 6b
Information received as input information.Also, control unit 7a, 7b are controlled respectively based on the information from detecting element 6a, 6b
Driving element 51,52, is thus adjusted from each driving element 51,52 pairs of driving forces to wheel 4.In addition, each control unit 7a, 7b with
Power supply 75 is connected.Control device 7 is made up of two control units 7a, 7b.Such control device 7 can for example possess centre
Manage the microcontroller of device (CPU) and register (REGISTER), or programmable controller (PLC).
In the present embodiment, the first control unit 7a controls the first driving based on the information from the first detecting element 6a
Element 51, so as to drive the trailing wheel 42 in left side, the second control unit 7b controls the based on the information from the second detecting element 6b
Two driving elements 52, so as to drive the trailing wheel 42 on right side.Especially, the first detecting element 6a and the second detecting element 6b and
One driving element 51 and the second driving element 52 are independently set, the first control unit 7a and the second control unit 7b mutually without
Information is exchanged.Therefore, the first control unit 7a and the second control unit 7b separately control each corresponding driving element 51,
52。
In addition, as shown in figure 4, containing case 70 is set up in side base frame 11a, 11b, control device 7 is housed in containing case 70.
Further, power supply 75 in the way of disassembly ease can be fixed on containing case 70, and drive member to control device 7 and two
Part 51,52 provides electric current.
Detecting element 6a, 6b are for detecting input to the element of the information on mobility operation of baby's vehicle main body 2.Inspection
As long as surveying information that element 6a, 6b are detected, on mobility operation by operator is input to the information of baby's vehicle main body 2 i.e.
Can, it is not specially limited.As one of the information on mobility operation, the heavy burden of the hand of operating handle 20 can be come from
Information, or with operator operate perambulator 1 travel when speed and wheel 4 relevant with velocity correlation rotation number
Information.
Fig. 2 is returned to, detecting element 6a, 6b of present embodiment are arranged on handle 20, and can detect on being applied to this
The information of the heavy burden of handle 20, in other words, detecting element 6a, 6b, which can be detected, to carry out spy to the heavy burden for being applied to handle 20
Fixed information.Below, the structure first to handle 20 is illustrated, and detecting element 6a, 6b for being arranged at handle 20 are entered afterwards
Row explanation.
Fig. 5 is to expand the stereogram for showing handle 20.As shown in figure 5, being configured with handle 20 hand is placed for operator
Functional unit 21, handle body 22 links functional unit 21 with baby's vehicle main body 2.Handle body 22 is in the company with upper box 12
Knot c1 is anchored on the upper box 12.As the element for constituting handle body 22, the handle for being anchored on rear upper box 12d is configured with
Hand pedestal 22a.A pair of curved bar 22b, the 22c configured separated by a distance on left and right directions d2, a pair are supported on by handle base 22a
Bent stick 22b, 22c extends along the path bent in the way of the diffusions of d2 in the lateral direction, and is propped up between respective front end
Support functional unit 21.Functional unit 21 shown in Fig. 5 is constituted as the handle-holding rod (grip bar) of shaft-like.
In the present embodiment, close to left side bent stick 22b cardinal extremity region, be pasted with the first detecting element
6a, in the region of the cardinal extremity of the bent stick 22c close to right side, is pasted with the second detecting element 6b.In this case, the first detection
Element 6a is predominantly detected to be applied to the heavy burden of functional unit 21 from left hand, the second detecting element 6b predominantly detect from the right hand apply to
The heavy burden of functional unit 21.
Expand the first detecting element 6a for the bent stick 22b for showing to be arranged on left side in Fig. 6, the first detection is shown in Fig. 7
Element 6a circuit diagram.It should illustrate, the first detecting element for the bent stick 22b for being arranged at left side is shown in Fig. 6 and Fig. 7
6a, certainly, identical structure can also be had by being arranged at the bent stick 22c on right side the second detecting element 6b.Such as Fig. 6 and Fig. 7
It is shown, the inside in bent stick 22b, 22c is pasted onto as detecting element 6a, 6b multiple deformeters (strain gauge) 61
Square bar 22j.Multiple deformeters 61 constitute bridgt circuit to measure the deformation of bent stick 22b, 22c.In the example shown in Fig. 6,
Two deformeters 61 are configured with the face on square inside square bar 22j right side, internally the face in square bar 22j left side is configured with
Two deformeters 61, structure is identical each other for this four deformeters 61.Should illustrate, it is illustrated that inside square bar 22j be hollow
, but it is also possible to it is solid.
The deformation detected according to deformeter 61 is shown in graphical form in Fig. 8 to determine to be provided by driving element 51,52
Driving force control an example.In Fig. 8 chart, transverse axis represents the deformation that deformeter 61 is detected, will turn into pair
The situation of some deformeter 61 elongation of elephant is set on the occasion of the situation that some deformeter 61 as object shortens is set into negative
Value.The longitudinal axis represents the driving force of driving moment 4, and wheel 4 will be made to march forward driving force that direction rotates is set on the occasion of will make wheel
4 driving forces rotated in the reverse direction are set to negative value.
In Fig. 8 chart, the corresponding driving element 51,52 of each control unit 7a, 7b control so that corresponding detection member
Correspondingly gradually increase is supplied to the driving force of wheel 4 when heavy burden detected by part 6a, 6b deformeter 61 becomes big.Here institute
" gradually the increasing driving force " stated, refers not only to the continuous change that driving force increases always, also comprising at least a part of interval
The situation that driving force does not change.On the other hand, " gradually increase driving force " and be not included in the reduction of arbitrary region driving force
The situation of change.
Specifically, when representing that the size of deformation for the heavy burden that deformeter 61 is detected is smaller than lower limit α 1, control unit
7a, 7b are controlled such that driving element 51,52 does not provide driving force to wheel 4.Thus, disturbed even if applying to perambulator 1
Or unexpected operation, it can also prevent perambulator 1 not by the phenomenon moved with being intended to.
When the size for the deformation for representing the heavy burden detected by deformeter 61 is more than lower limit α 1, control unit 7a, 7b enter
Row control causes driving element 51,52 to provide the driving force proportional to the size for the deformation that deformeter 61 is detected.Fig. 8's
In chart, in the case where the deformeter 61 as object extends there is provided make wheel 4 march forward driving force that direction rotates,
There is provided the driving force for making wheel 4 rotate in the reverse direction in the case that deformeter 61 as object shortens.
On the other hand, when the size for representing to put on the deformation of heavy burden of handle 20 is more than higher limit α 2, control unit 7a,
7b is controlled in the way of the driving force of driving element 51,52 is supplied into wheel 4 as upper limit driving force F.
Next, being illustrated with reference to Fig. 9 to Figure 12 to the effect of the present embodiment with above structure.Fig. 9 extremely schemes
12 be the figure for illustrating the effect of the deformeter 61 in operating handle 20.It should illustrate, in the following description, by inside
Square bar 22j when the plane parallel with its long side direction is divided into two parts, the part as front side be set to forefoot area A1, turn into
The part of rear side is set to rear region A2 (referring to Fig. 6).
As shown in figure 9, holding the feelings that functional unit 21 promotes the front on perambulator 1 in front-rear direction d1 in operator
Under condition, each detecting element 6a, 6b inside square bar 22j forefoot area A1 shorten, rear region A2 elongations.Forefoot area A1 shorten and after
The information of region A2 elongations is measured by each detecting element 6a, 6b four deformeters 61.It is typically the case, by each detecting element
The size of deformation measured by 6a, 6b is identical.Corresponding control unit is transferred into by each detecting element 6a, 6b information measured
7a、7b.Each control unit 7a, the 7b for receiving information identify that functional unit 21 is pushed to front, so as to corresponding driving
Dc motor 51b, 52b of element 51,52 provide the electricity corresponding with the value that corresponding detecting element 6a, 6b are measured
Stream.Thus, dc motor 51b, 52b rotation of each driving element 51,52, are connected to dc motor 51b, 52b driving
Axle 51a, 52a rotate the direction of marching forward of trailing wheel 42.Thus, the rotation of trailing wheel 42 is aided in by drive shaft 51a, 52a,
Alleviate burden when operator pushes away perambulator 1 forwards.
On the other hand, in the case where gug promotes perambulator 1, as shown in Figure 10, operator holds functional unit 21
And perambulator 1 is drawn at d1 rear in front-rear direction.In this case, the situation with Fig. 9 is on the contrary, internal square bar 22j forefoot area
A1 extends, and rear region A2 shortens.The information that forefoot area A1 extends and rear region A2 shortens should by four of each detecting element 6a, 6b
Become instrument 61 to measure, and be transferred into corresponding control unit 7a, 7b.It is typically the case, measured by each detecting element 6a, 6b
Deformation size it is identical.Each control unit 7a, the 7b for receiving information identify that functional unit 21 is pulled to rear, so as to institute
Dc motor 51b, 52b of corresponding driving element 51,52 are provided and corresponding inspection with the direction opposite with Fig. 9 situation
Survey the corresponding electric current of the value that measures of element 6a, 6b.Thus, dc motor 51b, 52b rotation of each driving element 51,52
Turn, being connected to dc motor 51b, 52b drive shaft 51a, 52a makes trailing wheel 42 rotate in the reverse direction.Thus, driving is passed through
The rotation of axle 51a, 52a to trailing wheel 42 is aided in, and alleviates burden when operator rearward draws perambulator 1.
Next, when turning to perambulator 1, as shown in figure 11, by using right-hand man's push operation part 21 forwards
When power produce difference, can turn to perambulator 1.In the example of fig. 11, the power that functional unit 21 is put on by the right hand is made
More than the power applied by left hand, thus enable that perambulator 1 is turned to the left.Even if being applied not from right-hand man to functional unit 21
Same power, also identical with Fig. 9 situation, internal square bar 22j forefoot area A1 shortens and rear region A2 extends.Forefoot area A1 shortens
And the information of rear region A2 elongations is measured by each detecting element 6a, 6b four deformeters 61, and it is sent to control unit 7a, 7b.
Receive information each control unit 7a, 7b identify functional unit 21 be pushed to front so as to corresponding driving element 51,
52 provide the electric current corresponding with the value that corresponding detecting element 6a, 6b are measured.
As noted previously, as compared with left hand, the power that the right hand puts on functional unit 21 is big, so with being arranged at left side
Bent stick 22b the first detecting element 6a is compared, and be arranged at that the bent stick 22c on right side the second detecting element 6b detects is negative
It is great.Correspondingly, and compared with the first driving element 51 of the first detecting element 6a connections, with the second detecting element 6b
Second driving element 52 of connection provides bigger driving force to wheel 4.Its result is, and be connected with the first driving element 51
The trailing wheel 42 in the left side as lubrication groove is compared, and easily makes the trailing wheel 42 on the right side as foreign steamer being connected with the second driving element 52
Rotation, can successfully carry out go to action.
In addition, as shown in figure 12, even if applying reverse power from right-hand man to functional unit 21, can also make perambulator 1
Turn to.In the example shown in Figure 12, with right hand push operation part 21 forward while with left hand rearward pulling process part 21.
Thus, the forefoot area A1 elongations and rear region A2 shortenings of the inside square bar 22j in the bent stick 22b in left side, on the other hand, right side
Bent stick 22c in inside square bar 22j forefoot area A1 shorten and rear region A2 extend.It is interior in the bent stick 22b in left side
The information of portion square bar 22j deformations is measured by the first detecting element 6a four deformeters 61, is then transmitted to the first control unit
7a, on the other hand, the information of the inside square bar 22j deformations in the bent stick 22c on right side should by four of the second detecting element 6b
Become instrument 61 to measure, and be transferred into the second control unit 7b.The the first control unit 7a for receiving information is carried to the first driving element 51
For the electric current corresponding with the value measured by the first detecting element 6a, the trailing wheel 42 in left side is set to rotate in the reverse direction, it is another
Aspect, the second control unit 7b provides the electricity corresponding with the value measured by the second detecting element 6b to the second driving element 52
Stream, rotates the direction of marching forward of trailing wheel 42 on right side.As a result, it is possible to the trailing wheel 42 of left and right is rotated in the opposite direction each other,
So that perambulator 1 is turned to.
As described so, the perambulator 1 of present embodiment possesses：Baby's vehicle main body 2；Multiple wheels 4, by baby's vehicle main body
2 supports；First driving element 51, at least one wheel into the multiple wheels 4 supported by baby's vehicle main body 2 provides driving
Power；Second driving element 52, car into multiple wheels 4, different from providing the wheel 4 of driving force by the first driving element 51
Wheel 4 provides driving force, and is set independently of the first driving element 51；First detecting element 6a, detection input to baby car owner
Body 2, related to mobility operation information；Second detecting element 6b, is set independently of the first detecting element 6a, and detects defeated
Enter to baby's vehicle main body 2, related to mobility operation information；And control device 7, controlled with the first control unit 7a and second
Portion 7b processed, wherein, the first control unit 7a controls the first driving element 51 based on the information that the first detecting element 6a is detected, with
This adjusts the driving force that wheel 4 is supplied to from the first driving element 51, and the second control unit 7b is examined based on the second detecting element 6b
The information of survey controls the second driving element 52, adjusts the driving force that wheel 4 is supplied to from the second driving element 52 with this.With this
The mode of sample, the first driving element 51 is controlled by the information detected based on the first detecting element 6a, based on the second detection
The information that element 6b is detected controls the second driving element 52, can be according to the mobility operation to perambulator 1, by each driving member
Part 51,52 pairs of driving forces to wheel 4 are adjusted.Its result is, can be in the state of reducing the heavy burdens by being intended to baby
Car 1 is operated.
In addition, according to present embodiment, baby's vehicle main body 2 has a frame main body 10 for supporting multiple wheels 4, and with frame main body
The handles 20 of 10 connections, the first detecting element 6a and the second detecting element 6b are arranged at handle 20, and pair with putting on the handle
The information of 20 heavy burden correlation is detected.As the information related to mobility operation of input to baby's vehicle main body 2, it may be selected
The related information of heavy burden to putting on handle 20, so as to according to the intention on mobility operation of user, by driving
Element 51,52 provides driving force to wheel 4.
In addition, according to present embodiment, the first control unit 7a controls the first driving element 51 so that with the first detection member
Heavy burden detected by part 6a becomes the big driving force that will gradually increase the first driving element 51 and be supplied to wheel 4, the second control unit
7b controls the second driving element 52 so that will gradually increase the second drive greatly as the heavy burden detected by the second detecting element 6b becomes
Dynamic element 52 is supplied to the driving force of wheel 4.Promote perambulator 1 to make the strength of its advance bigger, more need to come from driving element
51st, 52 driving force, therefore, by such control, the mobility operation that can combine perambulator 1 further mitigates operator's
Burden.
In addition, according to present embodiment, among multiple wheels 4, by the first driving element 51 and the second driving element
52 wheels for providing driving force are trailing wheels 42, and the front-wheel 41 in multiple wheels 4 is supported via castor 3 by baby's vehicle main body 2.Pass through
Front-wheel 41 is supported by baby's vehicle main body 2 via castor 3, the steering operation of perambulator 1 can be successfully carried out.Furthermore, it is contemplated that
The handle 20 of user's operation is located behind and taken the center of gravity of the infant of perambulator 1, and trailing wheel 42 easily bears a heavy burden and can
Stably it is grounded on ground plane., can by providing the driving force from driving element 51,52 to the trailing wheel 42 being stably grounded
Stably realize the driving auxiliary carried out by driving element 51,52.
In addition, according to present embodiment, the wheel 4 of driving force is provided and by the second driving element by the first driving element 51
52 provide position difference of the wheel 4 of driving force on left and right directions d2.In this case, in steering operation, with two drives
The wheel 4 that dynamic element 51, one of 52 is connected turns into lubrication groove side, and the wheel 4 being connected with another turns into foreign steamer side.Therefore, with to
The mode that the wheel 4 of foreign steamer side provides the bigger driving force relatively of wheel 4 than lubrication groove side is controlled, outer thus, it is possible to become
The wheel 4 of wheel comparatively easily rotation, so as to successfully carry out go to action.
It should illustrate, relative to above-mentioned embodiment, various changes can be carried out.Hereinafter, part variation is carried out
Explanation.
For example, in the above-described embodiment, showing the example that detecting element 6 is made up of deformeter 61, but detection member
The form of the composition of part 6 is not limited to above-mentioned example.As long as detecting element 6 can be detected on inputting to the row of baby's vehicle main body 2
Sail the information of operation, it is possible to any to select, as other examples, can also be configured to be installed on the moment of torsion of handle body 22
Sensor, pressure sensor or magneto strictive sensor etc..For example, can will put on handle during using pressure sensor
20 heavy burden is caught as the change of the pressure of action fluid, then the change of the pressure is measured with pressure element via barrier film
With the type of electric signal output after change.
In addition, in the above-described embodiment, show that handle body 22 has a pair of curved bar 22b, 22c example,
The structure of handle body 22 is not limited to above-mentioned example.The example of the other structures of handle body 22 is shown in Figure 13.
As shown in figure 13, the functional unit 21 for operator's placement hand is configured with handle 20, handle body 22 will be operated
Part 21 and baby's vehicle main body 2 link.As the element for constituting handle body 22, two branch are extended from rear upper box 12d
Post 22d, 22e, between two pillars 22d, 22e front end extended and functional unit 21, erection has lever side extension portion
22f。
In the example shown in Figure 13, two pillars 22d, 22e separate certain intervals on left and right directions d2 and arranged side by side
Row, the upper box 12 is anchored in linking part c1, c2 with rear upper box 12d.Further, each pillar 22d, 22e direction
Rear is simultaneously with respect to the horizontal plane rolled oblique upwards.
Figure 14, which expands, shows handle 20.As shown in figure 14, functional unit 21 is configured between being separated on left and right directions d necessarily
Every and two shank parts (grip) 21a, 21b being arranged side by side, lever side extension portion 22f is configured to from two pillars 22d, 22e
Between region act the end for extending to any of two shank parts 21a, 21b untill three connecting rod 22g~22i.It is special
Not, connecting rod 22g in left side is inserted into a left side of the shank part 21a positioned at left side from the region between two pillars 22d, 22e
End, center side connecting rod 22h is inserted into from the region between two pillars 22d, 22e between two shank parts 21a, 21b, right
Side connecting rod 22i is inserted into the right-hand member of the lever 21b positioned at right side from the region between two pillars 22d, 22e.
As shown in figure 13, in the present embodiment, lever side extension portion 22f three connecting rod 22g~22i directions are constituted
Rear is simultaneously with respect to the horizontal plane rolled downwards oblique.
In the present embodiment, pillar 22d, 22e in left and right are respectively equipped with detecting element 6a, 6b.Shown in Figure 15
Pillar 22d is provided with the first detecting element 6a state.It should illustrate, the pillar 22d's on the left of Figure 15 shows and is arranged at
First detecting element 6a, but be arranged at the pillar 22e second detecting element 6b on right side and can also have identical structure.As schemed
Shown in 15, each detecting element 6a, 6b include the multiple deformeters connected as bridgt circuit as shown in Figure 7 as the aforementioned
61.Each detecting element 6a, 6b multiple deformeters 61 are pasted on the inside square bar 22k in pillar 22d, 22e.
It should illustrate, in the variation shown in Figure 13 to Figure 15, detecting element 6a, 6b, control unit 7a, 7b and driving
The structure of element 51,52 with it is roughly the same in above-mentioned embodiment, but control unit 7a, 7b in functional unit 21 by by downward
The situation of side is also marched forward direction driving trailing wheel 42, and this point is different from above-mentioned embodiment.
Especially, from Figure 13 it can be appreciated that four deformeters 61 for constituting each detecting element 6a, 6b are located in upper and lower
The position more closer to the top than functional unit 21 on to d3, functional unit 21 is located at more more rearward than linking part c1, c2 and more on the lower
The position of side.By such configuration, deformeter 61 is acted in the way of shown in figure 16 below to Figure 18.Figure 16 to Figure 18 is
For the figure for the effect for illustrating the deformeter 61 during operating handle 20.It should illustrate, in the following description, by internal square bar
22k when the plane parallel with its long side direction is divided into two parts, the part as upside be set to region A3, as downside
Part be set to lower region A4.
As shown in figure 16, hold what functional unit 21 promoted the front on perambulator 1 in front-rear direction d1 in operator
In the case of, the upper region A3 elongations of the inside square bar 22k in each pillar 22e, 22f, lower region A4 shortens.Upper region A3 elongation and
The information that lower region A4 shortens is measured by each detecting element 6a, 6b four deformeters 61.It is typically the case, by each detection member
The size of deformation measured by part 6a, 6b is identical.Corresponding control is transferred into by each detecting element 6a, 6b information measured
Portion 7a, 7b.Each control unit 7a, the 7b for receiving information identify that functional unit 21 is pushed to front or by by downwards, so that
Measured by dc motor 51b, 52b offer and corresponding detecting element 6a, 6b to corresponding driving element 51,52
The corresponding electric current of value.Thus, each driving element 51,52 dc motor 51b, 52b rotation, with dc motor 51b,
Drive shaft 51a, 52a of 52b connections rotates the direction of marching forward of trailing wheel 42.
On the other hand, in the case where gug promotes perambulator 1, as shown in figure 17, when operator holds functional unit
21 when perambulator 1 to be pulled to fore-and-aft direction d1 rear, with Figure 16 situation on the contrary, internal square bar 22k upper region A3 shortens,
Lower region A4 elongations.The information that upper region A3 shortens and lower region A4 extends is by each detecting element 6a, 6b four deformeters 61
Measurement, and it is transferred into corresponding control unit 7a, 7b.Typical situation is, the deformation measured by each detecting element 6a, 6b
Size it is identical.Each control unit 7a, the 7b for receiving information identify that functional unit 21 is pulled to rear, so as to corresponding
Dc motor 51b, 52b of driving element 51,52 are provided and corresponding detection member with the direction opposite with Figure 16 situation
The corresponding electric current of value measured by part 6a, 6b.Thus, dc motor 51b, 52b rotation of each driving element 51,52,
Trailing wheel 42 is set to rotate in the reverse direction with dc motor 51b, 52b drive shaft 51a, 52a being connected.
Next, when turning to perambulator 1, as shown in figure 18, by making right-hand man's push operation part 21 forwards
Power produces difference, can turn to perambulator 1.In Figure 18 example, by make the right hand put on functional unit 21 power it is big
The power applied in left hand, can be such that perambulator 1 turns to the left.Even if applying different power from right-hand man to functional unit 21,
Identical with Figure 16 situation, internal square bar 22k upper region A3 elongations, lower region A4 shortens.Upper region A3 elongations and lower region
The information that A4 shortens is measured by each detecting element 6a, 6b four deformeters 61, and is transferred into control unit 7a, 7b.Receive
Each control unit 7a, 7b of information identify that functional unit 21 is pushed to front or by by downwards, so as to corresponding drive
Dynamic element 51,52 provides the electric current corresponding with the value measured by corresponding detecting element 6a, 6b.
As noted previously, as compared with left hand, the power that the right hand puts on functional unit 21 is bigger, so with being arranged at left side
Pillar 22e the first detecting element 6a compare, be arranged at the heavy burden that the pillar 22f on right side the second detecting element 6b is detected
It is bigger.Correspondingly, and compared with the first driving element 51 that the first detecting element 6a cooperates, with the second detecting element 6b
Second driving element 52 of cooperation is supplied to the driving force of wheel 4 bigger.Its result is, with being connected to the first driving element 51
, the trailing wheel 42 in left side as lubrication groove compare, can be connected to after the second driving element 52, right side as foreign steamer
It is more that wheel 42 rotates, so as to successfully carry out go to action.
Further, in the variation, during difference of height on tread is crossed, also can using driving element 51,
52 driving force.As shown in figure 19, in the case where tread has difference of height, operator vertically can be pressed below d3
Functional unit 21, travels perambulator 1 in the state of front-wheel 41 is floated.Even in this case, internal square bar 22k's is upper
Region A3 can also extend, and lower region A4 can also shorten.The information that upper region A3 elongations and lower region A4 shorten is by each detecting element
6a, 6b four deformeters 61 are measured.Typical situation is that the size of the deformation measured by each detecting element 6a, 6b is identical
Degree.Corresponding control unit 7a, 7b is transferred into by the information measured by each detecting element 6a, 6b.Receive each control of information
Portion 7a, 7b processed identify that functional unit 21 is pushed to front or by by downwards, so as to corresponding driving element 51,52
Dc motor 51b, 52b provide the electric current corresponding with the value detected by corresponding detecting element 6a, 6b.Thus, respectively
Dc motor 51b, 52b rotation of driving element 51,52, make with dc motor 51b, 52b drive shaft 51a, 52a being connected
The direction of marching forward of trailing wheel 42 rotates.That is, according to the variation, crossed even in progress in the action process of difference of height,
Also the auxiliary of the driving force of driving element 51,52 can be received, while perambulator 1 can be promoted without undue burden.
As described above, according to the variation, handle 20 has the functional unit 21 that hand is placed for operator, and links behaviour
Make the handle body 22 of part 21 and baby's vehicle main body 2, each control unit 7a, 7b by with each corresponding detecting element
6a, 6b detect functional unit 21 and are pushed to the information in front or during by by information downwards, control each corresponding drive
Dynamic element 51,52 provides the driving force for making it advance to wheel 4, and by being examined with respective corresponding detecting element 6a, 6b
When measuring functional unit 21 and being pulled to the information at rear, each corresponding driving element 51,52 provides to wheel 4 and makes it for control
The driving force of retrogressing.In this way, can the compounding practice person operation of functional unit 21 that carries out adjust by driving element
51st, 52 driving force for being supplied to wheel 4.Especially, according to present embodiment, even in difference of height in order to cross ground plane etc.
And in the case that push part 21 is so that front-wheel 41 floats downwards, driving element 51,52, which is also provided, makes what wheel 4 advanced
Driving force.Therefore, even in cross in the action process of difference of height, the driving force of driving element 51,52 can also be obtained
Auxiliary, while perambulator 1 can be promoted without undue burden.
In addition, according to present embodiment, each detecting element 6a, 6b include being installed on the multiple of the handle body 22 of handle 20
Deformeter 61, at least one deformeter 61 be functional unit 21 be pushed to front or by by downwards when extend, and operation
Part 21 shortens when being pulled to rear, or, functional unit 21 be pushed to front or by by downwards when shorten, and operation
Part 21 extends when being pulled to rear.According to this mode, detecting element 6 is acted on by the realization of deformeter 61, therefore, it is possible to avoid
The structure of complexity can simultaneously operate information during functional unit 21 stably to be detected operator.From more stably detection operation
From the viewpoint of information when person operates functional unit 21, preferred operations part 21 is located at than handle body 22 and frame main body 10
Linking part c1, c2 be more rearward and position or position closer to the front and closer to the top more on the lower.
Especially, according to present embodiment, functional unit 21 is located at than linking part c1, c2 more more rearward and more on the lower
Position, each detecting element 6a, 6b deformeter 61 is installed on junction in handle body 22, with functional unit 21 and link
Part between portion c1, c2.In this case, the part for having pasted deformeter 61 in handle body 22 is put on operator
The heavy burden of functional unit 21 links and delicately stretched.Therefore, it is possible to operate functional unit 21 to operator by deformeter 61
When information carry out high-precision detection.
It should illustrate, several variations to above-mentioned embodiment more than are illustrated, but it is also possible to which application is more
Individual variation it is appropriately combined.
Claims (5)
1. a kind of perambulator, it is characterised in that possess：
Baby's vehicle main body；
Wheel, exist it is multiple, and by the perambulator body supports；
First driving element, at least one wheel into multiple wheels provides driving force；
Second driving element is into multiple wheels, different from providing the wheel of driving force by first driving element
Wheel driving force is provided, and set independently of first driving element；
First detecting element, detection input to baby's vehicle main body, related to mobility operation information；
Second detecting element, is set independently of first detecting element, and detection input to baby's vehicle main body, with
The related information of mobility operation；And
Control device, with the first control unit and the second control unit, wherein, first control unit is based on the described first detection member
The information that part is detected controls first driving element, is adjusted with this from first driving element and is supplied to the wheel
Driving force, second control unit controlled based on the information that second detecting element is detected it is described second driving member
Part, the driving force that the wheel is supplied to from second driving element is adjusted with this.
2. perambulator according to claim 1, it is characterised in that
Baby's vehicle main body has the frame main body for supporting multiple wheels and the handle for being connected to the frame main body,
First detecting element and second detecting element are arranged at the handle, and detect and put on the handle
The related information of heavy burden.
3. perambulator according to claim 2, it is characterised in that
First control unit is supplied to the driving force of the wheel with the described first detection member with first driving element
The increase of heavy burden detected by part and the mode that gradually increases controls first driving element,
Second control unit is supplied to the driving force of the wheel with the described second detection member with second driving element
The increase of heavy burden detected by part and the mode that gradually increases controls second driving element.
4. perambulator according to claim 1, it is characterised in that
Among multiple wheels, the wheel of driving force is provided by first driving element and second driving element
It is trailing wheel,
Front-wheel in multiple wheels is via castor by the perambulator body supports.
5. perambulator according to claim 1, it is characterised in that
The wheel for providing driving force by first driving element exists with providing the wheel of driving force by second driving element
Position on left and right directions is different.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2015179438A JP6605265B2 (en) | 2015-09-11 | 2015-09-11 | baby carriage |
| JP2015-179438 | 2015-09-11 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106985889A true CN106985889A (en) | 2017-07-28 |
Family
ID=58320223
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610816581.5A Pending CN106985889A (en) | 2015-09-11 | 2016-09-12 | Perambulator |
Country Status (4)
| Country | Link |
|---|---|
| JP (1) | JP6605265B2 (en) |
| KR (1) | KR102283384B1 (en) |
| CN (1) | CN106985889A (en) |
| TW (1) | TWI724024B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112155376A (en) * | 2020-09-27 | 2021-01-01 | 安徽工程大学 | Swinging crib |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR3121419B1 (en) * | 2021-03-30 | 2024-03-15 | Hublex | Haptic control handle for a trolley or the like, assistance kit for moving a trolley comprising such a control handle, and trolley equipped with such an assistance kit |
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Also Published As
| Publication number | Publication date |
|---|---|
| TW201710130A (en) | 2017-03-16 |
| JP2017052468A (en) | 2017-03-16 |
| KR102283384B1 (en) | 2021-07-30 |
| TWI724024B (en) | 2021-04-11 |
| JP6605265B2 (en) | 2019-11-13 |
| KR20170031623A (en) | 2017-03-21 |
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