JP2002159535A - Electrically moving vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an electrically moving vehicle, which is a kind of electric car for helping the movement of an aged person or a wheelchair user in a medical institution or welfare facility, extremely reduced in the floor height of a vehicle body, reversible in advancing direction without U-turn, movable straight laterally, and having a wide broad service floor area. SOLUTION: In this electrically moving vehicle, operation control blocks having the same appearance are provided on the front end and rear end of a body base, respectively, a regularly fixed driver's seat is abolished, and an operation control circuit, an operation control panel, a steering motor, a driver's seat and the like are dispersively arranged on the front edge and rear edge of the body base as the operation control blocks.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a kind of electric vehicle which uses a storage battery as a power source. The vehicle travels at a low speed and enters the interior of each room or elevator to assist the vehicle.

[0002]

2. Description of the Related Art As an aging society progresses, the number of people using medical institutions and welfare facilities increases, and the ratio of elderly and wheelchair users among those users increases. Institutions and welfare facilities are increasing in size. In such an environment, at medical institutions and welfare facilities, vehicles that support the elderly, wheelchair users, and various types of transport, and that can easily move at low speed and help them to move within medical institutions and welfare facilities. As expected, no mobile vehicle has ever met the expectations.

[0003]

In view of such circumstances, the present invention has drastically improved an electric vehicle equipped with a storage battery that has already been put into practical use, and has been applied to actual medical institutions and welfare facilities. The elderly and wheelchair users can easily get on and off, and it is easy to load and unload various kinds of luggage, and move at low speed through medical institutions and welfare facilities while loading and unloading them. And an indoor electric vehicle for assisting the movement of the goods.

It is considered that the following requirements are particularly desired in this type of mobile vehicle. The floor height of the moving vehicle must be low. Since the width of the corridor is not wide enough, the traveling direction can be reversed without making a U-turn. Since the travel path is not wide enough, it can be moved right and left and right, and it can be laid side-by-side or width-adjusted to a predetermined location. To increase the service floor area while the floor area of moving vehicles is limited. The moving vehicle itself can use the elevator. The present invention meets the above requirements and problems. In addition,
In this application, the "service floor" is a floor on the vehicle body base that can be occupied by the people or luggage receiving the moving service in the electric vehicle.

[0005]

According to the present invention, the moving vehicle is disposed below the vehicle body base in order to minimize the floor height of the service floor surface and increase the ratio of the service floor area on the vehicle body base. The equipment, parts and circuits are reduced as much as possible, and the steering system, driving system, driving operation panel, driver's seat and control circuit are distributed as driving operation blocks at the front and rear edges of the vehicle body base.

Further, according to the present invention, in order to increase the service floor area, the driver seat which is fixed at all times is eliminated and the driver's seat is rotatably supported, and the driver's seat is rotatably supported. When the arm is not used, it is flipped up and pivoted down when used, so as not to obstruct the use of the corner of the service floor as much as possible.

Further, in the present invention, in order to reverse the traveling direction of the moving vehicle without making the vehicle body base make a U-turn, the driving operation block is provided on both the front edge and the rear edge of the vehicle body base, and the front edge thereof is provided. In order that the driving sensation does not change when operating any of the driving operation blocks on the trailing edge, the appearance of the driving operation blocks is the same or equivalent, and both driving operation blocks are disposed point-symmetrically with respect to the vehicle body base.

Further, the present invention employs a four-wheel independent drive / four-wheel independent steering system so that the vehicle can travel and shift quickly and finely in any of the front-rear direction, various oblique directions, and right and left directions. A drive / steering block for use in a vehicle, a drive motor for rotating the wheel by directly connecting the wheel to the wheel via a speed reducer, a steering motor for changing the direction of the wheel, a steering rotating body supporting the wheel, and the steering motor And a gear group interposed between them and converting the rotation of the steering motor into the steering rotation of the wheels.

In order to make the driving operation easy to understand and to avoid erroneous operation, the driving operation panel includes a lever for instructing forward / backward operation, left / right shift, and a switch for instructing normal / negative phase steering. Operation panel.

Further, in the present invention, in order to correct a step difference with respect to the service floor surface, flaps for bridging the floor surface outside the vehicle body base and the service floor surface are provided on both right and left side edges of the vehicle body base so as to be able to be inverted.

Still further, according to the present invention, even if the floor height of the service floor is extremely low, the center portion of the vehicle body base in the front-rear traveling direction is upwardly projected so that it is possible to easily climb a sloping road on which a slope changes. It has a two-fold structure, and an auxiliary wheel is attached to the two-fold portion.

[0012]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A basic embodiment of the present invention is as follows.
The vehicle body base, which forms a service floor surface with an extremely low floor height from the running surface over substantially the entire surface and does not cover the enclosure,
Wheel-independent drive ・ Drive which is the main part of 4-wheel independent steering system
An electric vehicle in which a steering block is disposed, and driving operation blocks having at least the same appearance are disposed point-symmetrically with respect to the vehicle body base at both end portions of the vehicle body base facing the front and rear traveling direction. .

One of the embodiments of the present invention is to form a service floor having an extremely low floor height from the running surface over substantially the entire surface and to cover the enclosure without covering the enclosure, by way of wheels and a speed reducer. A drive motor that is directly connected to a wheel to rotate the wheel, a steering motor that changes the direction of the wheel, and a steering motor interposed between the steering rotating body that supports the wheel and the steering motor to rotate the steering motor. A drive / steering block, which is a main part of a four-wheel independent drive / four-wheel independent steering system, including a gear group that converts the rotation into steering rotation, is disposed at both end portions of the vehicle body base facing the forward and backward traveling direction. Each is an electric vehicle in which driving operation blocks having at least the same appearance are arranged point-symmetrically with respect to the vehicle body base.

According to another embodiment of the present invention, a four-wheel independent drive / body is provided on a vehicle body base which forms a service floor surface having an extremely low floor height from the running surface over substantially the entire surface and does not cover the enclosure.
A drive / steering block which is a main part of the four-wheel independent steering system is provided, and a driving operation panel for joystick operation, a driver's seat arm, 1 is an electric mobile vehicle provided with a driving operation block including a steering motor and a control circuit of a driving motor.

According to another embodiment of the present invention, a seat arm for a driver in a standing posture is provided on an electric vehicle, and the seat arm for the driver is provided with a seat bar extending in the width direction of the vehicle body base and a turning bar connected to one end thereof. An L-shape composed of a dynamic support arm, the end of the rotation support arm is rotatably supported by using the shaft in the width direction of the vehicle body base as a support shaft, and the stool bar is rotatably supported in an arc shape. When the stool arm is not used, it is flipped up, and when used, it is rotated downward.

Another embodiment of the present invention is an electric vehicle in which flaps for bridging a floor surface outside the vehicle body base and a service floor surface are provided on both left and right side edges of the vehicle body base so as to be able to be inverted.

Further, the embodiment of the present invention is an electric vehicle having a two-fold structure in which a center portion of the vehicle body base in the front-rear traveling direction is convex upward, and auxiliary wheels are mounted on the two bent portions.

[0018]

Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is a side view of an electric vehicle showing one embodiment,
FIG. 2 is a perspective view of a driving operation panel of the electric mobile vehicle, and FIG.
4 is a plan view of a vehicle body base of the electric vehicle, FIG. 4 is a perspective view of a main part of a drive / steering block of the electric vehicle, and FIG. 5 is a block diagram of an electric system circuit of the electric vehicle. FIG. 6 is a side view of an electric vehicle showing another embodiment.

In FIG. 1, reference numeral 1 denotes a rectangular body base, and substantially the entire upper surface thereof is formed as a service floor 2. In order to minimize the burden of getting on and off the elderly and wheelchair users when getting on and off the moving vehicle, the floor height of the service floor 2 (floor height from the running surface S) is set extremely low. As a result of examining the condition of the aisle floor of medical institutions and welfare facilities, the floor height of the service floor 2 was reduced to 80 mm, which is considered to be extremely low within a range that would not be hindered by the usual unevenness of the aisle floor. You have set. Body base 1
In this case, the ceiling, enclosure, etc. as seen in a normal passenger car are not covered and are exposed. In the four corners of the body base 1,
A driving / steering block 3 is provided, and driving operation blocks 4a, 4b having the same or at least the same appearance are provided at both end portions 1a, 1b of the vehicle body base 1 facing the front and rear traveling directions. I have.

The four drive / steering blocks 3 arranged at the four corners of the vehicle body base 1 are the main parts of a four-wheel independent drive / four-wheel independent steering system. As shown in FIGS. A wheel 32 pivotally supported by a V-shaped steering rotator 31, a drive motor 34 that is directly connected to the wheel 32 via a speed reducer 33 and rotates the wheel 32, a steering motor 35 that changes the direction of the wheel 32, The drive / steering block 3 is constituted by a gear group G interposed between the steering rotating body 31 and the steering motor 35 and converting the rotation of the steering motor 35 into the steering rotation of the wheels 32. The gear group G includes a ring gear 36 and a pinion gear 37 that mesh with each other. The ring gear 36 is fixed to the steering rotating body 31, and the pinion gear 37 is connected to a rotation shaft of the steering motor 35. The steering rotating body 31 is rotatably mounted on the lower surface of the vehicle body base 1 via a shaft 31a, and the steering motor 35 is fixed to the vehicle body base 1.
The four-wheel independent drive and four-wheel independent steering of the wheels 32 using the drive / steering block 3 having the above-described structure is performed by moving the vehicle body base 1 in the front-rear direction on a narrow traveling road with a limited space. Quickly in a variety of diagonal and horizontal directions
In order to enable accurate shift, the controllable angle of the direction of the wheels 32 is set to at least ± 70 ° with respect to the longitudinal axis M of the vehicle body base 1.

The driving operation blocks 4a and 4b each include a driving operation panel 41 for joystick operation, a driver's seat arm 42, a steering motor 35 for changing the direction of the wheels 32, a driving control circuit, and the like. The front and rear end portions 1 of the vehicle body base 1 as driving operation blocks 4a and 4b without disposing the parts and circuits on the lower surface of the vehicle body base 1.
By distributing the service floors a and 1b, it is possible to increase the effective area of the service floor 2 on the vehicle body base 1 while keeping the floor height of the service floor 2 low.

In order to further increase the effective area of the service floor 2, a fixed driver's seat is not provided at all times, but a driver's seat in a standing posture is provided. When the stool arm 42 is not used, the stool arm is flipped up and rotated downward when used, so that the use of the corner of the service floor 2 is not obstructed by the driver's stool arm 42 as much as possible. ing. That is, the driver's seat arm 42 has an L-shape including a seat bar 42a extending in the lateral width direction of the vehicle body base 1 and a rotation support arm 42b connected to one end thereof. The rotatable bar 42a is rotatably supported by using the shaft 42c in the width direction as a support shaft, and the stool bar 42a is rotatably supported in an arc shape. The driver in a standing posture by rotating the body leans on the stool bar 42a.

The reason why driving operation blocks 4a and 4b are disposed at both front and rear edge portions 1a and 1b of the vehicle body base 1 is as follows.
This is for reversing the traveling direction of the moving vehicle without making the vehicle body base 1 make a U-turn, and for the front edge (or rear edge) 1a or the rear edge (or front edge) 1b of the body base 1. In any one of the driving operation block 4a
Alternatively, the driving operation blocks 4a and 4b having the same appearance or at least the same appearance are arranged point-symmetrically with respect to the vehicle body base 1 so that the driving feeling does not change even when the driving operation block 4b is operated.

The driving operation panel 41 for the joystick operation is used in order to prevent the erroneous operation because the driving operation is intuitively understood. The driving operation panel and the driving operation panel 41 include a front / rear operation lever 41a and a left / right shift lever. 41b, normal phase /
In addition to the reverse-phase steering switch 41c, an emergency switch 41d and a key lock 41e are provided. The normal-phase / negative-phase steering switch 41c has an important function of switching the steering mode of the wheel 32.
The front and rear wheels are in different steering modes, such as the steering of four wheels when a wheeled car turns a curve.In reverse phase steering, the four wheels move in the same direction and move diagonally in parallel. Or a steering mode in which the vehicle can move right and left.

As shown in FIG. 1, in order to correct a step difference between the vehicle floor 1 and the service floor 2, the floor outside the vehicle base 1 and the service floor 2 are provided on both left and right edges of the vehicle base 1. A flap 1c for bridging is provided so as to be able to be inverted, and a safety switch (not shown) is provided to cut off a power supply circuit of the vehicle body base 1 when the flap 1c is in an opened state. Note that P is a warning generator (warning light generator in the embodiment) attached to the vehicle body, which emits warning light toward the indoor ceiling or floor to warn of the presence of a moving vehicle.

Further, as shown in FIG. 6, when climbing a slope S whose slope changes to a mountain shape, even if the service floor 2 has an extremely low floor height, the wheels 32 rise up from the slope S. And the vehicle body base 1
Has a two-folded structure in which the central portion is convex upward, and the auxiliary wheel 5 is mounted on the two-folded portion 1e.

The electric system circuit of the above electric vehicle is shown in FIG.
Is shown in In FIG. 5, reference numeral 50 denotes a storage battery mounted on the vehicle base 1, reference numeral 34 denotes the drive motor, reference numeral 35 denotes the steering motor, reference numeral 41 denotes a driving operation panel for operating the joystick, and reference numeral 41d denotes an emergency switch. As is apparent from the figure, the drive motor 34 and the steering motor 35
In order to accurately control the rotation of the motor and to detect a control abnormality of the drive motor 34 and the steering motor 35, the drive motor 34 includes a drive motor / feedback rotation angle sensor 51 and a drive motor / control abnormality detection rotation angle sensor 52. In addition, a steering motor / feedback rotation angle sensor 53 and a steering motor / control abnormality detection rotation angle sensor 54 are added to the steering motor 35. 55 is a drive motor controller, 56 is a steering motor controller, 57 is a drive motor control signal generator, 58 is a steering motor control signal generator, 5
9 is a control abnormality monitor, 60 is a joystick interface, 61 is a brake system, and these drive motor controller 55, steering motor controller 56, drive motor control signal generator 57, steering motor control signal generator The device 58, the control abnormality monitor 59, the joystick interface 60, the brake system 61, and the like constitute an operation control circuit.

By the above-mentioned operation control circuit, the moving vehicle, that is, the vehicle body base 1 runs at a low speed of 7 km / h or less, and is in an abnormal state, for example, when the steering of the four wheels 32 is not functioning properly for the intended driving purpose. The operation is stopped upon detecting this. In addition, in order to prevent electromagnetic interference to the medical electronic device, a power wiring connected to the drive motor 34 and the steering motor 35 is twisted in the operation control circuit. Furthermore, when an external person or object comes into contact with the moving vehicle while the moving vehicle is running, the moving vehicle is stopped immediately, or the moving vehicle is automatically stopped in a state where the driver releases his / her hand from the driving operation lever. Alternatively, a display panel showing how the vehicle body moves by the current steering operation can be provided.

[0029]

As is clear from the above embodiment, according to the electric mobile vehicle of the present invention, the floor height of the service floor of the mobile vehicle can be made extremely low. It is extremely preferable as a moving vehicle that assists a wheelchair user in moving, and increases the effective utilization area of the service floor, thereby increasing the efficiency of transferring people and goods. In addition, by changing the driving position on the vehicle body back and forth without making a U-turn of the vehicle body base, the traveling direction can be safely reversed without drastically changing the driving operation feeling. It can be moved right and left and right and left, so that it can be fully utilized in places where there is not much room for traffic such as indoor passageways and elevators in medical institutions and welfare facilities.

[Brief description of the drawings]

FIG. 1 is a side view showing a basic configuration of an electric vehicle according to an embodiment of the present invention.

FIG. 2 is a perspective view of a driving operation panel of the electric mobile vehicle.

FIG. 3 is a plan view of a vehicle body base of the electric mobile vehicle.

FIG. 4 is a perspective view showing a basic configuration of a drive / steering block of the electric vehicle.

FIG. 5 is a block diagram of an electric system circuit of the electric vehicle.

FIG. 6 is a side view showing a basic configuration of an electric vehicle according to another embodiment of the present invention.

[Explanation of symbols]

 1: body base 1a, 1b: edge of body base 1c: flap 1e: double bent part 2: service floor 3: drive / steering block 31: steering rotating body 31a: shaft 32: wheels 33: reducer 34 : Drive motor 35: Steering motor 36: Ring gear 37: Pinion gear 4 a, 4 b: Operation operation block 41: Operation operation panel 41 a: Front / rear operation lever 41 b: Left / right shift lever 41 c: Normal phase / reverse phase steering switch 41d: emergency switch 41e: key lock 42: driver's seat arm 42a: seat bar 42b: rotation support arm 42c: support shaft 5: auxiliary wheel 50: storage battery 51: drive motor / feedback rotation angle sensor 52: drive motor Rotation angle sensor 53 for control abnormality detection: Steering motor Rotation angle sensor 54 for feedback 54: Steering Rotation angle sensor 55 for detecting motor / control abnormality 55: Controller for drive motor 56: Controller for steering motor 57: Control signal generator for drive motor 58: Control signal generator for steering motor 59: Control abnormality monitor 60: Joystick interface 61: Brake system G: Gear group M: Forward / backward linear axis P: Warning generator S: Running surface

 ──────────────────────────────────────────────────続 き Continued on the front page (72) Inventor Hiroyuki Yoshida 2-9-10 Kasama, Kanazawa City, Ishikawa Prefecture (72) Inventor Yuji Taniguchi 1-16-1 Taiheiji, Nonoichi-cho, Ishikawa-gun, Ishikawa Prefecture Tsubaki Dormitory B Building 206 F-term (reference) 3D035 DA02

Claims (9)

[Claims] 1. A four-wheel independent drive and four-wheel independent steering system, which is a main component of a four-wheel independent drive / steering system, is provided on a vehicle body base that forms a service floor surface having an extremely low floor height from a running surface over substantially the entire surface and does not cover an enclosure. A steering block is disposed, and driving operation blocks having at least the same appearance are disposed point-symmetrically with respect to the vehicle body base at both end portions of the vehicle body base facing the front-rear traveling direction. Electric moving vehicle. 2. A vehicle body base, which forms a service floor surface having an extremely low floor height from a running surface over substantially the entire surface and does not cover an enclosure, is directly connected to the wheels via a speed reducer and the wheels are connected to the wheels. A drive motor for rotating the vehicle, a steering motor for changing the direction of the wheels, and a gear interposed between the steering rotating body supporting the wheels and the steering motor to convert the rotation of the steering motor into the steering rotation of the wheels. And a drive / steering block which is a main part of the four-wheel independent drive / four-wheel independent steering system including the group, and which has at least the same appearance as both end portions of the vehicle body base facing the forward and backward traveling direction. An electric moving vehicle, wherein a driving operation block is disposed symmetrically with respect to the vehicle body base. 3. A four-wheel independent drive and four-wheel independent steering system, which is an essential part of a four-wheel independent drive / steering system, is provided on a vehicle body base that forms a service floor surface with an extremely low floor height from a running surface over substantially the entire surface and does not cover an enclosure. An operation including a steering block, a driving operation panel for joystick operation, a driver's seat arm, and a control circuit for a steering motor and a drive motor, respectively, at both end portions of the vehicle body base facing the forward and backward traveling directions. An electric vehicle having an operation block. 4. The electric vehicle according to claim 2, wherein the controllable angle of the direction of the wheels is set to at least ± 70 ° with respect to the longitudinal axis of the vehicle body base. 5. The electric vehicle according to claim 3, wherein the driving operation panel includes a lever capable of instructing forward / backward operation and left / right shift, and a switch capable of instructing normal phase / negative phase steering. vehicle. 6. The driver's stool arm is L-shaped having a stool bar extending in the width direction of the vehicle body base and a rotation support arm connected to one end of the stool bar. The swing arm is pivotally supported with the shaft as a support shaft, and the stool bar is rotatably supported in an arc shape. The stool arm is flipped up when not in use, and is rotated downward when in use. An electric vehicle according to claim 3. 7. The electric vehicle according to claim 3, wherein power wires connected to the drive motor and the steering motor are twisted. 8. The vehicle body according to claim 1, wherein flaps for bridging a floor surface outside the vehicle body base and a service floor are provided on both right and left side edges of the vehicle body base so as to be able to be inverted. An electric vehicle according to claim 1. 9. The vehicle according to claim 1, wherein a center portion of the vehicle body base in the front-rear traveling direction has a two-fold structure that is upwardly convex, and an auxiliary wheel is mounted on the two-fold portion. An electric vehicle according to any one of the preceding claims.