CN109969310B - Electric moving body - Google Patents

Electric moving body Download PDF

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Publication number
CN109969310B
CN109969310B CN201811543141.2A CN201811543141A CN109969310B CN 109969310 B CN109969310 B CN 109969310B CN 201811543141 A CN201811543141 A CN 201811543141A CN 109969310 B CN109969310 B CN 109969310B
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China
Prior art keywords
handle
moving body
electric
wheel
driving force
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Application number
CN201811543141.2A
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Chinese (zh)
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CN109969310A (en
Inventor
辻本孝则
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Suzuki Motor Corp
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Suzuki Motor Corp
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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
    • A61G5/04—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs motor-driven
    • A61G5/048—Power-assistance activated by pushing on hand rim or on handlebar
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
    • A61G5/04—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs motor-driven
    • A61G5/041—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs motor-driven having a specific drive-type
    • A61G5/042—Front wheel drive
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
    • A61G5/08—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs foldable
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
    • A61G5/10—Parts, details or accessories
    • A61G5/1051—Arrangements for steering
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
    • B62K15/00—Collapsible or foldable cycles
    • B62K15/006—Collapsible or foldable cycles the frame being foldable
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
    • B62K23/00—Rider-operated controls specially adapted for cycles, i.e. means for initiating control operations, e.g. levers, grips
    • B62K23/02—Rider-operated controls specially adapted for cycles, i.e. means for initiating control operations, e.g. levers, grips hand actuated
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
    • B62K5/00—Cycles with handlebars, equipped with three or more main road wheels
    • B62K5/003—Cycles with four or more wheels, specially adapted for disabled riders, e.g. personal mobility type vehicles with four wheels
    • B62K5/007—Cycles with four or more wheels, specially adapted for disabled riders, e.g. personal mobility type vehicles with four wheels power-driven
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62M—RIDER PROPULSION OF WHEELED VEHICLES OR SLEDGES; POWERED PROPULSION OF SLEDGES OR SINGLE-TRACK CYCLES; TRANSMISSIONS SPECIALLY ADAPTED FOR SUCH VEHICLES
    • B62M6/00—Rider propulsion of wheeled vehicles with additional source of power, e.g. combustion engine or electric motor
    • B62M6/40—Rider propelled cycles with auxiliary electric motor
    • B62M6/45—Control or actuating devices therefor
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G2203/00—General characteristics of devices
    • A61G2203/10—General characteristics of devices characterised by specific control means, e.g. for adjustment or steering
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G2203/00—General characteristics of devices
    • A61G2203/30—General characteristics of devices characterised by sensor means
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
    • A61G5/04—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs motor-driven
    • A61G5/041—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs motor-driven having a specific drive-type
    • A61G5/045—Rear wheel drive
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
    • A61G5/08—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs foldable
    • A61G5/0808—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs foldable characterised by a particular folding direction
    • A61G5/0833—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs foldable characterised by a particular folding direction folding front to back, e.g. reducing or expanding the overall depth of the wheelchair
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
    • A61G5/10—Parts, details or accessories
    • A61G5/1056—Arrangements for adjusting the seat
    • A61G5/1075—Arrangements for adjusting the seat tilting the whole seat backwards
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
    • B62K2204/00—Adaptations for driving cycles by electric motor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
    • B62K5/00—Cycles with handlebars, equipped with three or more main road wheels

Abstract

Provided is an electric moving body which can reduce the burden of the arm of a user during steering and has good usability. The electric moving body is provided with: a pair of left and right first wheels; an electric motor that independently drives each of the first wheels; a handle; a handle support part which supports the handle and enables the handle to move on the circular arc track; a handle position detection unit that detects a movement position of the handle; a restoring force generating part which generates a restoring force to restore the handle to a neutral position of the circular arc track; an accelerator operation unit that receives an accelerator operation; and a controller that drives the motor in accordance with an accelerator operation received by the accelerator operation portion, and drives the left first wheel with a larger driving force than that of the right first wheel when the handle is steered to the right, and drives the right first wheel with a larger driving force than that of the left first wheel when the handle is steered to the left.

Description

Electric moving body
Technical Field
The present invention relates to an electric moving body.
Background
An electric wheelchair including a pair of right and left operation members that move in a front-rear direction is known. (see, for example, patent document 1).
The pair of left and right operation members are connected to each other so as to perform translational movement in opposite directions. Therefore, the driver can intuitively operate the operation member, and misoperation can be prevented. Further, the driver can perform steering by operating only one of the left and right operation members with one hand.
Documents of the prior art
Patent document
Patent document 1: japanese laid-open patent publication No. 2017-060726
Disclosure of Invention
Problems to be solved by the invention
It is difficult for a user who suffers from a disease in terms of bending and stretching of the arm or a user who has weakened muscular strength for bending and stretching the arm to steer the electric wheelchair by operating a pair of right and left operation members in the front-rear direction as in the conventional electric wheelchair.
Accordingly, the present invention provides an electric vehicle that reduces the burden on the arm of the user during steering and improves usability.
Means for solving the problems
In order to solve the above problem, an electric moving body according to the present invention includes: a pair of left and right wheels; an electric motor that independently drives each of the wheels; a handle; a handle support part which supports the handle and enables the handle to move on the circular arc track; a handle position detection unit that detects a movement position of the handle; a restoring force generating part for generating a restoring force to restore the handle to a neutral position of the circular arc track; an accelerator operation unit that receives an accelerator operation; and a control unit that drives the electric motor in accordance with an accelerator operation received by the accelerator operation unit, and drives the left wheel with a driving force larger than a driving force of the right wheel when the handle is steered to the right, and drives the right wheel with a driving force larger than a driving force of the left wheel when the handle is steered to the left.
Effects of the invention
According to the present invention, it is possible to provide an electric vehicle which can reduce the burden on the arm of the user during steering and which is highly useful.
Drawings
Fig. 1 is a perspective view of an electric moving body according to an embodiment of the present invention, as viewed from the front left.
Fig. 2 is a perspective view of the electric moving body according to the embodiment of the present invention, as viewed from the rear left.
Fig. 3 is a perspective view of the electric moving body according to the embodiment of the present invention, as viewed from the rear left.
Fig. 4 is a plan view of the electric moving body according to the embodiment of the present invention.
Fig. 5 is a sectional view of a drive wheel unit of an electric moving body according to an embodiment of the present invention.
Fig. 6 is a sectional view of a drive wheel unit of an electric moving body according to an embodiment of the present invention.
Description of the reference numerals
1 … electric moving body, 5 … loading part, 6 … stage, 7 … front stage part, 8 … rear stage part, 9 … supporting shaft part, 11 … frame, 12 … first wheel, 13 … handle, 15 … accelerator operating part, 16 … motor, 21 … first caster, 21a … ball, 21b … housing, 22 … handle part, 25 … stage fixing part, 26 … switching mechanism, 27 … brake mechanism, 29 … second caster, 29a … ball, 29b … housing, 31 … main frame, 32 … beam, 32a … upper beam, 33 …, 35 … first stage tube, 36 … second stage tube, 41 … device mounting plate, 42 … battery, 43 …, 45 … controller, 47 … first plate part, 48 … second plate part, … brake pipe, … brake stage 52, … main tube unit, 3655 clutch unit …, … main tube unit, … main clutch unit, …, and a clutch unit, 59 suspension mechanism, 61 seat surface, 62 backrest, 63 seat, 65 shaft portion, 66 bearing portion, 67 lever, 68 cover, 71 emergency stop operation portion, 72 forward and backward switching operation portion, 73 mode switching operation portion, 81 second main frame, 82 second cross member, 83 riding plate, 85 hook, 91 steering mechanism, 92 handle support portion, 93 handle position detection portion, 95 restoring force generation portion, 96 pipe portion, 97 pipe internal moving body, 98 arm portion, 101 rack, 102 handle position detection gear, 103 rotation angle sensor, 109 brake, 111 rotor, 112 stator, 113 casing, 114 output shaft, 116 sun gear, 117 planet gear, 118 planet carrier, 119 internal gear, 121 sun bearing, 122 planet carrier bearing, 125 axle, 126 axle bearing, 128 … sun gear oil seal, 129 … cradle oil seal, 131 … ball screw, 132 … nut portion, 133 … screw shaft, 135 … motor, 136 … gear.
Detailed Description
Next, an embodiment of the electric moving body according to the present invention will be described with reference to fig. 1 to 6. In the drawings, the same or corresponding components are denoted by the same reference numerals.
Fig. 1 is a perspective view of an electric moving body according to an embodiment of the present invention, as viewed from the front left.
Fig. 2 and 3 are perspective views of the electric movable body according to the embodiment of the present invention, as viewed from the rear left.
Fig. 2 shows a state in which the stage is expanded, and fig. 3 shows a state in which the stage is stored.
The direction indicated by a solid arrow F in fig. 1 is defined as the front (i.e., forward) direction of the electric movable body 1, and the opposite direction is defined as the rear (i.e., backward) direction of the electric movable body 1. When viewed from the front of the electric movable body 1 in contact with the ground, the left direction is the left direction of the electric movable body 1, and the opposite direction is the right direction of the electric movable body 1. When the electric vehicle 1 is in contact with the ground, the upward direction is defined as the upward direction of the electric vehicle 1, and the reverse direction is defined as the downward direction of the electric vehicle 1. The directions of the respective portions constituting the electric moving body 1 are defined in accordance with the direction of the electric moving body 1.
As shown in fig. 1 to 3, electric moving body 1 of the present embodiment includes a loading unit 5 on which a person or a load can be loaded, and electric moving body 1 is an electric stage on which a person can be loaded on stage 6 in an expanded state of stage 6 (fig. 1 and 2). The electric movable body 1 is a stage that can be moved by a hand even in a stored state (fig. 3) in which the stage 6 is folded. That is, when the stage 6 is folded up in order to secure a foot space for a person pushing the electric movable body 1, it can be used as a cart.
The electric moving body 1 includes: a front stage 7 having a loading section 5; a rear stage section 8 which can be folded and stored; and a support shaft portion 9 that connects the rear stage portion 8 to the front stage portion 7 and allows the rear stage portion 8 to swing, and supports the rear stage portion 8 so as to be able to swing between the expanded state and the housed state. The loading unit 5 of the front stage unit 7 is arranged at a position higher than the stage 6 of the rear stage unit 8, that is, at a position farther from the ground surface than the stage 6.
First, the front deck unit 7 includes: a frame 11; a plurality of first wheels 12 that support and enable travel of the frame 11; a handle 13; an accelerator operation unit 15 that receives an accelerator operation; an electric motor 16 that drives at least one first wheel 12 in accordance with an accelerator operation received by an accelerator operation portion 15; and a loading section 5 supported by the frame 11 and capable of loading a heavy object.
Next, the rear stage section 8 includes: a stage 6 having a substantially flat top surface; a first caster 21 provided on the stage 6, for supporting the stage 6 in the expanded state and allowing the stage to travel; and a handle portion 22 provided on the stage 6.
The front stage portion 7 includes a stage fixing portion 25, and the stage fixing portion 25 is provided in the mounting portion 5, and is coupled to the handle portion 22 of the stage 6 in the housed state to support the stage 6.
The front carrier section 7 further includes: a switching mechanism 26 capable of switching the loading unit 5 to a swingable state or a fixed state; and a brake mechanism 27 for reducing the swing of the loading unit 5 in a swingable state.
Rear stage unit 8 includes second caster 29, and second caster 29 is provided on stage 6, and supports and allows travel of stage 6 in the housed state.
The frame 11 includes: a pair of left and right main frames 31 supporting the loading unit 5; and a plurality of cross members 32 that are bridged on the left and right main frames 31.
The left and right main frames 31 respectively include: a main pipe 33 elongated in the front-rear direction of the electric moving body 1; a first stage pipe 35 which is elongated obliquely rearward and upward from the front end of the main pipe 33, is bent at the top, and extends in the horizontal direction; and a second stage pipe 36 extending upward from the horizontal portion of the first stage pipe 35.
A first plate portion 47 such as a metal plate is provided at the front end of the left and right main pipes 33. The top surface (the surface facing upward) of the first plate portion 47 faces the loading portion 5.
A device mounting plate 41 such as a metal plate is provided between the center portion and the rear end portion of the left and right main pipes 33. A battery 42, a charger 43 for the battery 42, and a controller 45 as a control unit of the motor 16 are mounted on the device mounting board 41. The upper side of the component mounting board 41 is closed by the second plate portion 48. That is, the battery 42, the charger 43, and the controller 45 are covered by the second plate portion 48. The top surface (the surface facing upward) of the second plate portion 48 faces the loading portion 5.
The first plate portion 47 and the second plate portion 48 are second stages 49 on which the cargo can be mounted, other than the loading portion 5 and the stages 6. The second stage 49 can load the cargo between the loading unit 5 and the stage 6 in the height direction of the electric moving body 1. In other words, the electric moving body 1 can load the loads on the loading unit 5, the stage 6, and the second stage 49, and can load more loads than the conventional electric flat car.
The plurality of cross members 32 are elongated in the left-right direction (width direction) of the electric movable body 1. The plurality of cross members 32 are integrally connected to the left and right main frames 31.
Handle tubes 51 for supporting the handles 13 are mounted on top of the left and right second stage tubes 36.
The plurality of cross members 32 include an upper cross member 32a that is erected between horizontal portions of first stage pipes 35 of the left and right main frames 31.
A brake pipe 52 that supports the brake mechanism 27 is provided at a central portion of the upper cross member 32 a. The brake pipe 52 intersects with the upper cross member 32a and extends in the swinging direction of the loading unit 5, for example, in the front-rear direction of the electric movable body 1.
The handle 13 is disposed on top of the handle tube 51. The handle 13 electronically detects the steering and outputs it to the controller 45.
The front carrier section 7 has a pair of first wheels 12 on the left and right.
The number of motors 16 is the same as the number of first wheels 12. Each electric motor 16 is connected to the first wheel 12 via a clutch mechanism 55 and a reduction gear 56. Each motor 16 independently drives each first wheel 12.
The case 57 of the reduction gear 56 integrally supports the first wheel 12, the motor 16, the clutch mechanism 55, and the reduction gear 56 itself. The left and right cases 57 and 57 are supported by front end portions of the left and right main frames 31 and 31 of the frame 11, respectively, and can swing. The integrated first wheel 12, motor 16, clutch mechanism 55, and reduction gear 56 are referred to as a drive wheel unit 58.
Suspension mechanisms 59 are respectively provided between the left and right drive wheel units 58 and the main frame 31. The suspension mechanism 59 buffers the shock transmitted from the swingable drive wheel unit 58 to the frame 11, and increases the grounding force of the first wheel 12.
The loading unit 5 is arranged above the stage 6 and at a first distance or more from the stage. The loading section 5 is a seat 63 having a seat surface 61 and a backrest 62. The loading section 5 is supported by the top portions of the left and right second stage pipes 36 of the frame 11 and can swing. The mounting unit 5 includes a pair of left and right shaft portions 65 supported by the second stage pipe 36 of the frame 11, and the second stage pipe 36 includes a bearing portion 66 supporting the shaft portions 65 of the mounting unit 5.
The loading unit 5 may be a simple rectangular housing.
The switching mechanism 26 is provided in parallel with the bearing portion 66 of the frame 11. The switching mechanism 26 includes: a lock pin (not shown) coupled to the shaft portion 65 of the loading portion 5 to restrict the swinging of the loading portion 5; a switching lever 67 for operating the restriction and restriction release of the swing of the loading portion 5 by the lock pin; a spring (not shown) that generates a force that moves the lock pin in a direction to release the swing restriction of the loading portion 5; a cam mechanism (not shown) that transmits an operation input to the lever 67 to the lock pin; and a cover 68 covering the latch, spring and cam mechanism.
A spline (not shown) is provided at the tip end of the lock pin. A spline hole (not shown) into which a spline of a lock pin can be inserted and removed is provided at a tip end portion of the shaft portion 65 of the mounting portion 5. The switching mechanism 26 restricts the swing of the mounting portion 5 by inserting the spline of the lock pin into the spline hole of the shaft portion 65 of the mounting portion 5. The switching mechanism 26 also allows the mounting portion 5 to swing by pulling out the spline of the lock pin from the spline hole of the shaft portion 65 of the mounting portion 5.
The lever 67 substantially swings on the center line of the shaft portion 65 of the loading portion 5.
The spring generates an elastic force in a direction of pulling out the spline of the lock pin from the spline hole of the shaft portion 65 of the loading portion 5.
The cam mechanism converts the swinging motion of the lever 67 into a linear motion of the lock pin. The cam mechanism includes, for example: a recess (not shown) located on an end surface of the lock pin; and a projection (not shown) provided on the lever 67 and capable of fitting into the recess of the lock pin.
When the lever 67 is swung to fit the convex portion of the lever 67 into the concave portion of the lock pin, the lock pin is moved by the elastic force of the spring, and the spline of the lock pin is pulled out from the spline hole of the shaft portion 65 of the loading portion 5. Thereby, the loading portion 5 is allowed to swing.
When the lever 67 is swung to disengage the convex portion of the lever 67 from the concave portion of the lock pin, the lock pin is moved against the elastic force of the spring, and the spline of the lock pin is inserted into the spline hole of the shaft portion 65 of the loading portion 5. Thereby, the loading portion 5 is restricted from swinging.
The brake mechanisms 27 are respectively erected from both end portions of the brake pipe 52 toward the loading portion 5, and the brake pipe 52 is projected from the upper cross member 32a of the frame 11. The brake mechanism 27 is a so-called damper (damper).
The handle 13 is provided with an emergency stop operation unit 71, a forward/reverse switching operation unit 72, and a mode switching operation unit 73, in addition to the accelerator operation unit 15.
The accelerator operation portion 15 is provided on the right hand grip 13. The accelerator operation portion 15 is configured to be operated by being grasped with fingers of a user who grips the right hand grip 13.
The emergency stop operation unit 71 is provided on the left hand grip 13. The emergency stop operation portion 71 is configured to be operated by being grasped by fingers of a user who grips the left hand grip 13.
The forward/reverse switching operation unit 72 is provided on the right hand grip 13. The forward/backward switching operation unit 72 is arranged to be operable by being pressed by a thumb of a user gripping the right handle 13.
The mode switching operation unit 73 is provided on the left hand grip 13. The mode switching operation portion 73 is configured to be operable by being pressed with a thumb of a user holding the left hand grip 13.
The controller 45 drives the electric motor 16 in accordance with the accelerator operation received by the accelerator operation unit 15. That is, the controller 45 increases or decreases the output of the left and right motors 16 in accordance with the accelerator signal acquired from the accelerator operation unit 15, thereby accelerating or decelerating the moving speed of the electric moving body 1.
The controller 45 changes the traveling direction of the electric moving body 1 by generating a difference in the output of the left and right motors 16 in accordance with the steering signal acquired from the handle 13. That is, when the handle 13 is steered to the right, the controller 45 drives the first wheel 12 on the left with a larger driving force than the driving force of the first wheel 12 on the right, and when the handle 13 is steered to the left, the controller 45 drives the first wheel 12 on the right with a larger driving force than the driving force of the first wheel 12 on the left.
The controller 45 stops the left and right motors 16 in response to the emergency stop operation received by the emergency stop operation unit 71, thereby stopping the electric moving body 1. That is, the controller 45 stops the left and right motors 16 based on the emergency stop signal acquired from the emergency stop operation unit 71, and stops the electric moving body 1.
The controller 45 switches the rotation direction of the left and right motors 16 in accordance with the forward/backward switching operation received by the forward/backward switching operation unit 72, and switches the electric moving body 1 to the forward mode or the backward mode. That is, the controller 45 switches the rotation direction of the left and right motors 16 in accordance with the forward/reverse switching signal acquired from the forward/reverse switching operation unit 72, and switches the electric moving body 1 to the forward mode or the reverse mode.
The controller 45 switches the clutch mechanism to be connected or disconnected in accordance with the electric/manual mode switching operation received by the mode switching operation unit 73, and switches the electric moving body 1 to the electric mode or the manual mode. That is, the controller 45 connects or disconnects the clutch mechanism in accordance with the mode switching signal acquired from the mode switching operation unit 73, and shifts the electric moving body 1 to the electric mode or the manual mode.
The stage 6 includes: a pair of left and right second main frames 81; a second cross member 82 bridged between the left and right second main frames 81; and a riding plate 83 which is spanned between the left and right second main frames 81 and supported by the second cross member 82.
The riding plate 83 is, for example, a metal plate. The boarding plate 83 can stand and board a person in the unfolded state.
The handle portion 22 is integrated with a central portion of the second cross member 82. The handle portion 22 may be provided with a switch or a button for operating the electric fixing mechanism, i.e., for advancing or retracting the lock pin.
A pair of first casters 21 is provided on the right and left sides of the rear stage unit 8. The first caster 21 is provided at a rear end portion of the second main frame 81. In the expanded state of the stage 6, the first caster 21 supports the electric movable body 1 in cooperation with the first wheel 12 so as to be able to travel. In the accommodated state of stage 6, first caster 21 is separated from the ground surface. The first caster 21 is, for example, a ball caster. The first caster 21 includes: a ball 21a contacting the ground; and a housing 21b that holds the ball 21a and enables it to roll.
The rear stage part 8 has a pair of second casters 29 on the right and left sides. The second caster 29 is provided at a front end portion of the second main frame 81. In the expanded state of stage 6, second caster 29 is separated from the ground surface. In the accommodated state of the stage 6, the second caster 29 supports the electric movable body 1 in cooperation with the first wheel 12 so as to be able to travel. The second caster 29 is, for example, a ball caster. The second caster 29 includes: a ball 29a, which contacts the ground; and a housing 29b that holds the ball 29a and enables it to roll.
Note that, the second caster 29 may be grounded at all times regardless of the swing position of the stage 6. For example, the second caster 29 is provided to be swingable with respect to the stage 6, and is always in contact with the ground surface. The second caster 29 may be provided at the rear end of the left and right main tubes 33 of the front platform unit 7. In this case, the second caster 29 is always grounded regardless of the swing position of the stage 6.
The support shaft portion 9 connects the stage 6 to the frame 11 and allows the stage 6 to swing, and supports the stage 6 so as to swing between the expanded state and the housed state. The support shaft 9 includes, for example: a first bearing (not shown) provided on the main frame 31 of the front deck unit 7; a second bearing (not shown) provided on the second main frame 81 of the rear stage unit 8; a bolt (not shown) inserted through the first bearing and the second bearing to couple the frame 11 and the stage 6 to be swingable; and a nut (not shown) that integrates frame 11 and stage 6.
The electric moving body 1 may also include a fixing mechanism (not shown) for fixing the folded stage 6. The fixing mechanism includes, for example: a lock pin (not shown) which is provided on the front deck portion 7 and can advance or retreat; and a lock hole (not shown) that is provided in the second main frame 81 of the rear stage unit 8 and into which the lock pin can be inserted or removed. The lock pin can be manually operated, and can also be inserted into or pulled out of the lock hole in an electric mode. When the lock pin is inserted into the lock hole, the rear stage portion 8 is fixed in the housed state. When the lock pin is pulled out from the lock hole, the rear stage portion 8 becomes swingable and can be expanded into an expanded state.
The stage fixing portion 25 includes, for example, a pair of hooks 85 provided on the mounting portion 5. Hook 85 hooks handle portion 22 of stage 6 to hold stage 6 in the stored state. Stage fixing unit 25 may include a mode switching detector (not shown) instead of mode switching operation unit 73 of handle 13, or stage fixing unit 25 may include a mode switching detector in addition to mode switching operation unit 73 of handle 13. The mode switching detector is, for example, a microswitch for detecting whether or not the handle portion 22 of the stage 6 is hooked by the hook 85. The controller 45 connects or disconnects the clutch mechanism in accordance with the mode switching signal obtained from the mode switching detector, and switches the electric moving body 1 to the electric mode or the manual mode.
Further, when the handle portion 22 of the stage 6 is hooked on the hook 85 to hold the stage 6 in the stored state, it is preferable that the loading unit 5 be switched to the fixed state by the switching mechanism 26.
Further, stage fixing portion 25 may be provided on frame 11.
Fig. 4 is a plan view of the electric moving body according to the embodiment of the present invention.
As shown in fig. 4, the handle 13 of the electric moving body 1 of the present embodiment is supported by a steering mechanism 91 and can be steered. Handle 13 is configured to be easily grasped by the hand of a user standing on stage 6 in the expanded state of stage 6. Further, the handle 13 is configured to be easily grasped by the hand of the user who pushes the electric moving body 1 with hands in the accommodated state of the stage 6.
The steering mechanism 91 includes: a handle 13; a handle support portion 92 that supports the handle 13 and enables the handle 13 to move on the circular arc orbit t; a handle position detection unit 93 that detects the movement position of the handle 13; and a restoring force generating portion 95 that generates a restoring force to restore the handle 13 to the neutral position of the circular arc orbit t.
The handle support portion 92 includes: a tube portion 96 having a circular arc shape; and a tube moving body 97 which is accommodated in the tube portion 96, is movable along the circular arc orbit t, and is fixed to the handle 13.
The radius of curvature R of the tube portion 96 is set to such an extent that a user standing on the stage 6 can easily grip the handle 13, and is set to 40 cm, for example. The center of curvature of tube portion 96 is disposed at the center of stage 6, i.e., in the middle of a user standing on stage 6.
The in-tube moving body 97 is movable in the tube portion 96 along the longitudinal direction of the tube portion 96, that is, along the circular arc orbit t. The tube moving body 97 includes a pair of arm portions 98 protruding outward of the tube portion 96. The pair of arm portions 98 are provided at the end portions of the in-pipe moving body 97, respectively, and extend rearward of the electric moving body 1. Left and right handles 13 are fixed to the projecting ends of the respective arm portions 98. In other words, the left handle 13 is fixed to the projecting end of the left arm 98, and the right handle 13 is fixed to the projecting end of the right arm 98. The in-tube mover 97 and the handle 13 may be integrated.
The handle position detection unit 93 includes: a rack 101 having an arc shape and fixed to the handle support portion 92; a handle position detection gear 102 that meshes with the rack 101; and a rotation angle sensor 103 connected to the grip position detection gear 102 and detecting the position of the grip 13.
It is preferable that the center of curvature of the rack 101 coincides with the center of the tube portion 96 of the handle support portion 92.
The rotation angle sensor 103 is, for example, a rotary encoder.
The restoring force generating portions 95 are provided at both end portions of the pipe portion 96, and provide a restoring force for restoring the in-pipe moving body 97 to the neutral position. The restoring force generating portion 95 is an elastic body typified by a coil spring, for example. The restoring force generating portion 95 is provided between an end of the pipe portion 96 and an end of the pipe moving body 97. The restoring force generating portion 95 restores the handle 13 and the tube moving body 97 to the neutral position in a state where no external force acts on the steering mechanism 91. The neutral position is a position where the left and right grips 13 are arranged in bilateral symmetry with respect to a center line extending in the front-rear direction of the electric moving body 1.
That is, when the handle 13 is turned to the right side, the restoring force generating portion 95 pushes or pulls the handle 13 to the left side. Further, when the handle 13 is turned to the left side, the restoring force generating portion 95 pushes or pulls the handle 13 to the right side.
Further, the restoring force generating portion 95 may also be provided at least one end portion of the tube portion 96. That is, the restoring force generating portion 95 may be provided at least one end portion of the pipe portion 96 to provide a restoring force for restoring the in-pipe moving body 97 to the neutral position.
Further, the controller 45 increases or decreases the difference in the driving force of the left and right first wheels 12 according to the movement position of the hand lever 13 detected by the hand lever position detecting portion 93. Specifically, when the movement position of the handle 13 detected by the handle position detecting unit 93 is at the neutral position, the controller 45 drives the left and right motors 16 with substantially the same output. That is, in the state where the handle 13 is at the neutral position, the electric moving body 1 moves straight by making the output difference between the left and right motors 16 substantially zero. The controller 45 increases the output difference of the left and right motors 16 as the movement position of the handle 13 detected by the handle position detecting unit 93 is farther from the neutral position, in other words, as the handle 13 is closer to the maximum steering angle on either the left or right side. When the handle 13 reaches the left-right maximum steering angle, the controller 45 maximizes the output difference of the left and right motors 16. That is, in a state where the handlebar 13 is steered to the left side from the neutral position, the electric movable body 1 drives the right-side motor 16 with a larger driving force than the driving force of the left-side motor 16, and turns the electric movable body 1 to the left. In a state where the handlebar 13 is steered to the right side from the neutral position, the electric moving body 1 drives the left motor 16 with a larger driving force than the driving force of the right motor 16, and turns the electric moving body 1 to the right. Further, as the grip 13 is turned more largely and is away from the neutral position, the electric moving body 1 turns right or left with a smaller turning radius by increasing the output difference between the left and right electric motors 16.
Fig. 5 and 6 are sectional views of a drive wheel unit of an electric moving body according to an embodiment of the present invention.
Further, fig. 5 shows a state in which the driving force can be transmitted from the electric motor 16 to the first wheel 12. Fig. 6 shows a state in which the transmission of the driving force from the motor 16 to the first wheel 12 is blocked and the first wheel 12 rolls freely.
As shown in fig. 5 and 6, the drive wheel unit 58 of the electric moving body 1 of the present embodiment includes a brake 109 in addition to the first wheels 12, the electric motor 16, the clutch mechanism 55, and the reduction gear 56.
The motor 16 includes: a rotor 111; a stator 112; a housing 113 that covers the rotor 111 and the stator 112; and an output shaft 114 integrated with the rotor 111. The output shaft 114 is pressed into the rotor 111. The output shaft 114 is movable in the direction of its rotation center line (axial direction).
The speed reducer 56 transmits the driving force from the electric motor 16 to the first wheel 12. The speed reducer 56 is, for example, a planetary gear speed reducer. The speed reducer 56 includes: a sun gear 116 integrated with an output shaft of the motor 16; a plurality of planetary gears 117 that mesh with the sun gear 116; a planet carrier 118 supporting a plurality of planet gears 117; and an internal gear 119 surrounding the plurality of planetary gears 117 and engaged with the plurality of planetary gears 117.
Further, the speed reducer 56 includes: a sun bearing 121 that supports an output shaft of the motor 16 integrated with the sun gear 116; planet carrier bearings 122 supporting the planet carrier 118; and an axle bearing 126 that supports an axle 125 of the first wheel 12.
The speed reducer 56 further includes: a sun gear oil seal 128 that seals a gap between the output shaft of the motor 16 and the case 57 of the reduction gear 56; and a carrier oil seal 129 that seals a gap between the planet carrier 118 and the case 57 of the reduction gear 56.
The sun gear 116 is integrated with one end portion of the output shaft 114 of the motor 16. That is, the sun gear 116 is movable in the direction of the rotation center line thereof integrally with the output shaft 114 of the motor 16. The sun gear 116 meshes with the planetary gear 117 to transmit the driving force from the electric motor 16 to the first wheel 12, and disengages from the planetary gear 117 to block the transmission of the driving force from the electric motor 16 to the first wheel 12.
The planet carrier 118 is integral with the axle of the first wheel 12. That is, the planet carrier bearings 122 cooperate with the axle bearings 126 to support the planet carrier 118 and the first wheel 12.
The internal gear 119 is fixed to and integrated with the case 57 of the reduction gear 56.
The clutch mechanism 55 can move the output shaft 114 of the electric motor 16 integrated with the sun gear 116 of the reduction gear 56 in the axial direction of the output shaft 114, engage the planetary gear 117 with the sun gear 116, and connect the power transmission between the electric motor 16 and the first wheel 12, or disengage the planetary gear 117 from the sun gear 116, and disconnect the power transmission between the electric motor 16 and the first wheel 12, for example. The clutch mechanism 55 uses, for example, a ball screw 131. The clutch mechanism 55 includes: a nut portion 132 provided at the other end portion (the end portion opposite to the end portion integrated with the sun gear 116) of the output shaft 114 of the motor 16; a screw shaft 133 inserted into the nut portion; a ball (not shown) interposed between the nut portion and the screw shaft and capable of rolling; and a circulating unit (not shown) for circulating the balls in accordance with the rotation of the screw shaft.
The clutch mechanism 55 may be manual or electric. The electric clutch mechanism 55 includes: a motor 135 that rotates the screw shaft 133; and a power transmission mechanism that transmits power from the motor 135 to the screw shaft 133, such as two gears 136 that mesh with each other.
When the electric moving body 1 functions as a cart, the screw shaft 133 is rotated to move the output shaft 114 of the electric motor 16, and the sun gear 116 is disengaged from the planetary gear 117, thereby interrupting the power transmission between the electric motor 16 and the first wheel 12. When the power transmission between the electric motor 16 and the first wheel 12 is cut off, the first wheel 12 rotates freely. When the electric moving body 1 is caused to travel by the power of the electric motor 16, the screw shaft 133 is rotated to move the output shaft 114 of the electric motor 16, the sun gear 116 is meshed with the planetary gear 117, and the power transmission between the electric motor 16 and the first wheel 12 is connected.
The brake 109 is, for example, an electromagnetic brake. The brake 109 increases the rotational resistance of the output shaft 114 of the motor 16 to apply a brake to the first wheel 12.
The electric moving body 1 of the present embodiment includes: a handle support portion 92 that supports the handle 13 and enables the handle 13 to move on the circular arc orbit t; a handle position detection unit 93 that detects the movement position of the handle 13; and a controller 45 that drives the left first wheel 12 with a larger driving force than the driving force of the right first wheel 12 when the handle 13 is steered to the right, and drives the right first wheel 12 with a larger driving force than the driving force of the left first wheel 12 when the handle 13 is steered to the left. Therefore, in the electric moving body 1, the handle 13 can be operated by a motion of twisting the upper body from the waist. That is, even a user who suffers from a disease in the flexion and extension of the arm or a user who has weakened muscle strength for flexing and extending the arm can easily steer the electric moving body 1 without using the strength of the arm. In other words, the user of the electric moving body 1 can change the traveling direction of the electric moving body 1 by directing the entire body to the line of sight.
The electric moving body 1 of the present embodiment includes a restoring force generating unit 95, and the restoring force generating unit 95 generates a restoring force to restore the handle 13 to the neutral position of the circular arc orbit t. Therefore, the electric moving body 1 can be easily steered from the right turn and the left turn to the straight travel.
In the electric moving body 1 of the present embodiment, when the handle 13 is steered to the right, the first wheel 12 on the left side is driven with a larger driving force than the driving force of the first wheel 12 on the right side, and when the handle 13 is steered to the left, the first wheel 12 on the right side is driven with a larger driving force than the driving force of the first wheel 12 on the left side. In other words, the electric moving body 1 changes the traveling direction by the difference in magnitude of the driving force for the left and right first wheels 12. Therefore, the electric moving body 1 does not need a driving source for steering.
The electric moving body 1 of the present embodiment further includes: a tube portion 96 having a circular arc shape; a tube moving body 97 which is accommodated in the tube portion 96, is movable along the circular arc orbit t, and is fixed to the handle 13; and a restoring force generating portion 95 provided at least one end portion of the pipe portion 96 and providing a restoring force for restoring the in-pipe moving body 97 to the neutral position. Therefore, the electric movable body 1 can smoothly turn the handle 13 along the circular orbit t.
The electric moving body 1 of the present embodiment increases or decreases the difference in the driving force between the left and right first wheels 12 according to the movement position of the handle 13 detected by the handle position detecting unit 93. Therefore, the electric moving body 1 can intuitively perform direction change in accordance with the steering amount of the handle 13.
The electric movable body 1 of the present embodiment may further include restoring force generating portions 95 provided at both end portions of the pipe portion 96 and configured to provide a force for restoring the pipe-inside movable body 97. Therefore, it is possible to easily turn from the right turn and the left turn to the straight line.
The electric moving body 1 of the present embodiment further includes a speed reducer 56, the speed reducer 56 includes a sun gear 116, and the sun gear 116 meshes with the planetary gear 117 to transmit the driving force from the electric motor 16 to the first wheel 12, and disengages from the planetary gear 117 to block the transmission of the driving force from the electric motor 16 to the first wheel 12. Therefore, the electric vehicle 1 can be moved by the driving force of the motor 16, and can be easily switched to a cart form in which the user pushes the cart for use.
Therefore, the electric moving body 1 of the present embodiment can reduce the burden on the arm of the user during steering, and is highly useful.

Claims (5)

1. An electric moving body, comprising:
a pair of left and right wheels;
an electric carrier capable of carrying a person;
an electric motor that independently drives each of the wheels;
a handle;
a handle support portion that supports the handle and enables the handle to move on an arc rail around the artificial center on which the stage is mounted;
a handle position detection unit that detects a movement position of the handle;
a restoring force generating part for generating a restoring force to restore the handle to a neutral position of the circular arc track;
an accelerator operation unit that receives an accelerator operation; and
and a control unit that drives the electric motor in accordance with an accelerator operation received by the accelerator operation unit, and drives the left wheel with a driving force larger than a driving force of the right wheel when the handle is steered to the right, and drives the right wheel with a driving force larger than a driving force of the left wheel when the handle is steered to the left.
2. The electric moving body according to claim 1,
the handle support portion includes:
a pipe portion in the shape of a circular arc; and
a pipe-inside moving body which is accommodated in the pipe portion, is movable along the circular arc orbit, and is fixed to the handle,
the restoring force generating portion is provided at least one end portion of the pipe portion and provides a restoring force for restoring the moving body in the pipe to a neutral position.
3. The electric moving body according to claim 1,
the control unit increases or decreases the difference in the driving force between the left and right wheels in accordance with the movement position of the handle detected by the handle position detection unit.
4. The electric moving body according to claim 2,
the restoring force generating portions are provided at both ends of the pipe portion and provide a force for restoring the moving body in the pipe.
5. The electric moving body according to any one of claims 1 to 4, comprising a planetary gear reducer that transmits a driving force from the electric motor to the wheel,
the planetary gear reducer includes:
a planetary gear; and
and a sun gear that is movable in a direction of a rotation center line, and that engages with the planetary gear to transmit the driving force from the motor to the wheel, and that disengages from the planetary gear to block the transmission of the driving force from the motor to the wheel.
CN201811543141.2A 2017-12-18 2018-12-17 Electric moving body Active CN109969310B (en)

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JPH089334B2 (en) * 1990-10-05 1996-01-31 株式会社安川電機 Electric cart
US7275607B2 (en) 1999-06-04 2007-10-02 Deka Products Limited Partnership Control of a personal transporter based on user position
JP2003164492A (en) 2001-11-30 2003-06-10 Nabco Ltd Electric wheelchair
JP4630984B2 (en) 2005-03-31 2011-02-09 島根県 Operation unit structure for direction operation
JP5141168B2 (en) * 2007-10-02 2013-02-13 スズキ株式会社 Electric vehicle with fuel cell
CN203032830U (en) * 2013-01-04 2013-07-03 常州市劲达科技实业有限公司 Electric vehicle for the disabled
CN203427958U (en) * 2013-09-12 2014-02-12 上海威之群机电制品有限公司 Light-weight folding scooter for old and disabled people
CN204641993U (en) * 2015-05-26 2015-09-16 杨百钧 Foot controls four-wheel electric motor car
JP6145486B2 (en) * 2015-09-29 2017-06-14 本田技研工業株式会社 Saddle riding

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