JP2002284048A - Electric motor car - Google Patents

Abstract

PROBLEM TO BE SOLVED: To solve a problem such as uncomfortableness resulting from an unstable attitude due to inclination of a seat part tilted in traveling on a rough ground, ascending/descending steps, getting on/off an escalator in a conventional electric car designed for travel on a plane. SOLUTION: In this electric motor car electrically driven and capable of carrying a passenger, traveling wheels 14 and 15 and a crawler device 13 are arranged as traveling devices. Travel by the traveling wheels 14 and 15 can be switched with that by the crawler device 13, and during travel by the crawler device 13, an angle of the seat 18 part to the crawler device 13 can be regulated according to an inclination angle of the crawler device 13.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a configuration of an electric vehicle capable of electric traveling and riding.

[0002]

2. Description of the Related Art Conventionally, there is known an electric vehicle which can be driven by electric power and can be boarded. For example, there is an electric vehicle configured in a wheelchair form. This electric vehicle is used as a vehicle for saving the moving means of the elderly or the disabled, or the movement of a healthy person or the like, and the traveling wheel is used as a traveling device, and the crawler device is used as a traveling device. There is something.

[0003]

However, the electric vehicle as described above is premised on traveling on flat ground, and when the vehicle is traveling on uneven terrain or on stairs, or when getting on or off an escalator, the seat portion is inclined. He was in an unstable position and had a bad ride. Particularly, in the case where the traveling wheels are used as the traveling device, the traveling wheels are disposed at the front end and the rear end of the aircraft, so that the handling of the aircraft is complicated, for example, turning on a narrow ground, and the riding is performed. It was uncomfortable. In view of the above, the present invention provides an electric vehicle capable of improving riding comfort on leveling and running on stairs, getting on and off an escalator, and on narrow terrain, and riding stably.

[0004]

SUMMARY OF THE INVENTION In order to solve the above-mentioned problems, the present invention relates to an electric vehicle capable of electric traveling and boarding, wherein a traveling wheel and a crawler device are used as traveling devices. Has a switchable between traveling on traveling wheels and traveling on a crawler device, and when traveling on the crawler device, the angle of the seat relative to the crawler device can be adjusted according to the inclination angle of the crawler device. .

According to a second aspect of the present invention, the inclination angle of the crawler device is continuously detected by an inclination sensor and an angular velocity sensor, and the angle of the seat relative to the crawler device is determined based on the detected values of the inclination sensor and the angular velocity sensor. Is controlled by extending and retracting the motor cylinder, and the seat portion is constantly controlled in accordance with the inclination angle.

According to a third aspect of the present invention, at least three traveling wheels are provided.

According to a fourth aspect of the present invention, the traveling wheel includes a driving wheel and an idle wheel, and the driving wheel is disposed substantially at the center in front and rear of the body, and the idle wheel is disposed at one of front and rear ends of the body. Is done.

According to a fifth aspect of the present invention, auxiliary wheels are provided at the front and rear other ends of the body of the electric vehicle.

According to a sixth aspect of the present invention, the driving wheel is slidable up and down, and is urged downward by an urging member.

[0010] As described in claim 7, at least one of the traveling wheels is configured as a steering wheel, and the steering wheel is
The steering operation is performed by a handle connected to the steering wheel by a connecting member such as a wire.

[0011] The motor cylinder employs a ball screw structure.

[0012]

Embodiments of the present invention will be described with reference to the accompanying drawings. 1 is a side view showing an electric vehicle of the present invention, FIG. 2 is a plan view of the same, FIG. 3 is a rear view of the same, FIG. 4 is a rear view of a drive wheel elevating mechanism, and FIG. FIG. 6 is a side view showing a state in which wheels are slid downward to make contact with the ground, FIG. 6 is a view showing a state in which an upper body frame is rotated upward to be in a crawler running state, and FIG. FIG. 8 is a diagram showing the state of the electric vehicle when the escalator gets on and off, and FIG. 9 is a diagram showing the state of the electric vehicle at the start of descending the stairs when the inclination angle between the crawler device and the seat is always the same. FIG. 10 is a diagram showing the state of the electric vehicle at the start of descending the stairs when there is the control mechanism of the present example that holds the seat portion substantially constant.

The configuration of the electric vehicle according to the present invention will be described.
In the electric vehicle 1 shown in FIGS. 1 to 3, the body 2 is mainly configured by a lower body frame 11 and an upper body frame 12. At the rear end of the upper body frame 12, support brackets 19 are fixedly provided. The upper body frame is rotatably supported by the support shaft 11a at the rear end of the lower body frame 11 via the support brackets 19. ing.

On both left and right sides of the lower body frame 11,
Crawler devices 13, 13 which are traveling devices, are provided respectively. In addition, the upper body frame 12 is provided with one driving wheel 14 as a traveling wheel as a traveling device, and two idle wheels 15. The drive wheels 14 are arranged at approximately the center of the body 2 in the front-rear direction, and the idler wheels 15 are arranged at the rear end of the body 2. Further, auxiliary wheels 16, 16 as driven wheels are provided at the front end of the upper body frame 12.
Is attached.

The crawler devices 13 are driven by a crawler device drive motor 21 fixed to the lower body frame 11, and the drive wheels 14 are driven by a drive wheel drive motor 22 fixed to the upper body frame 12. Driven.
The crawler device driving motor 21 and the driving wheel driving motor 22 are configured as electric motors, and are powered by batteries 25 that are mounted on the upper body frame.

The crawler devices 13, 13 are fixed to the drive shaft 13a of the crawler devices 13, 13 and the drive shaft of the crawler device drive motor 21, and are driven by the bevel gears 26, 26 which mesh with each other. The driving force is transmitted from the driving motor 21 and driven.
The drive wheels 14 are driven by the driving force from the drive wheel drive motor 22 being transmitted by the axle 14 a of the drive wheels 14 and bevel gears 27 fixed to the drive shaft of the drive wheel drive motor 22. Is what is done.

The oblique frame 12a of the upper body frame 12
An electric cylinder 24 is interposed between and the lower body frame 11. The electric cylinder 24 is mounted on the upper body frame 1
2 is driven to expand and contract by a cylinder driving motor 23 fixed to the battery 2.
The electric motor is powered by 5.25. The upper body frame 12 is vertically rotated about the support shaft 11a of the lower body frame 11 by the expansion and contraction operation of the electric cylinder 24 with respect to the lower body frame 11.

Above the upper body frame 12 is a seat 18.
And is supported by the upper body frame 12. The upper body frame 12 is arranged at a substantially central portion in the front-rear direction of the body 2. A handle shaft 17a extends upward from the front end of the upper body frame 12 in a diagonally rearward direction. The handle shaft 17a is provided at the upper end of the handle shaft 17a.
Are arranged.

A drive wheel elevating mechanism 30 is fixedly mounted substantially at the center of the upper body frame 12 in the front-rear direction. The drive wheel elevating mechanism 30 includes a support bracket 32 for the drive wheel 14.
A support shaft 31 projecting upward from the shaft is rotatably supported about the shaft. Pin members 33a and 33b protrude from the left and right sides of the upper surface of the support bracket 32, respectively, and the pin members 33a and 33b respectively have left and right wires 35a and 33a.
One end of 35b is connected. The wires 35a and 35
The other end of b is connected to the handle 17.

When the handle 17 is turned to the right, the left wire 35a is pulled in the direction of the handle 17 and the drive wheel 14 is steered to the right. Conversely, when the handle 17 is turned to the left, The right wire 35b is pulled in the direction of the handle 17 so that the drive wheel 14 is steered to the left. That is, the drive wheel 14 connected to the handle 17 via the support bracket 32 by the left and right wires 35a and 35b also has a function as a steering wheel.
The steering operation is performed by turning the handle 17 left and right.

Thus, the drive wheel 14 and the handle 17
Are connected by wires 35a and 35b.
Since the steering operation of the drive wheel 14 is performed by operating the steering wheel 7, the steering operation can be easily and reliably performed with a simple configuration, and the riding comfort can be improved. ing.

As shown in FIG. 4, the driving wheel lifting mechanism 30 includes a sliding member 3 fixedly mounted on an upper end of the support shaft 31.
1a is slidably fitted to guide members 30a, 30a fixed to the upper body frame 12,
The sliding member 31a is slidable within a range S in the vertical direction. An urging member 36 is interposed between the sliding member 31a and the upper body frame 12 side.
6, the sliding member 31a is urged downward, whereby the driving wheel 14 is urged downward.

Here, during normal traveling as shown in FIGS. 1, 3 and the like, the upper body frame 12 rotates downward, and the driving wheels 14, the idle wheels 15 and 15, and the auxiliary wheels 16 and 16 are moved by the crawler device 13. 13 is a state in which it is located below 13 and is configured to run on the drive wheel 14 and the idler wheels 15. In this case, the drive wheels 14 are slid upward against the urging force of the irregular member 36 due to the weight of the body 2.

The drive wheel 14 is disposed substantially at the center of the body 2 in the front-rear direction, and the idler wheels 15 are disposed at the rear end of the body 2, so that the distance between the drive wheel 14 and the idler wheel 15 is provided. When the steering is performed by steering the drive wheel 14, the turning radius of the body 2 can be reduced. This makes it possible to make a small turn even when traveling on narrow ground, making it easier to handle the electric vehicle and improving riding comfort.

Normally, the driving wheel 14 and the idler wheel 15.
The vehicle travels at 15, but when the center of gravity of the body 2 moves forward, the auxiliary wheels 16 support the body 2 to prevent the body 2 from leaning forward. This makes it possible to stabilize the running posture during normal running and improve riding comfort.

Further, in the normal traveling, when the road surface is running on uneven terrain or the like, as shown in FIG. 5, when the driving wheel 14 is located in the depression, the driving wheel 14 It is slid downward by the urging force of the urging member 36 to ground. If the drive wheel 14 is in the upper sliding position, the drive wheel 14 floats in the depression and slips. However, the drive wheel 14 in this example is slidable up and down, and is biased downward by the biasing member. As a result, it is possible to reliably prevent the vehicle from slipping on the ground even in a depression. As a result, stable running is possible even on uneven terrain where the road surface is uneven, and riding comfort can be improved.

During normal traveling, the driving wheels 14
And three idler wheels 15, 15, so that even when traveling on uneven or sloping terrain,
The running posture of the vehicle is stable, and it is possible to maintain good riding comfort.

When the electric cylinder 24 is extended and the upper body frame 12 is rotated upward from the normal running state in which the upper body frame 12 and the lower body frame 11 are substantially parallel, as shown in FIG. Drive wheel 14, idler wheel 15
15 and the auxiliary wheels 16 move upward, and the crawler devices 13 contact the ground, so that the crawler device 13 can perform crawler traveling. As described above, in the present electric vehicle, both the traveling wheels 14, 15, 15 and the crawler device 13, 13 are provided as traveling devices, and traveling on the traveling wheels 14, 15, 15 and crawler device 13 and 13 can be switched.

In this electric vehicle, the crawler device 1
In traveling by 3/13, getting on and off the escalator and traveling on stairs and slopes are performed. Next, a description will be given of a traveling operation of the crawler devices 13 at the time of getting on and off the escalator.

The controller 2 shown in FIG.
The controller 51 includes the crawler device driving motor 21 and the driving wheel driving motor 2.
2. Cylinder drive motor 23 and electric cylinder 24
Is connected. Further, a running mode changeover switch 52 provided on the handle 17 portion, the seat 18 portion, or the like, and the lower body frame 11 attached to the lower body frame 11.
An angle sensor 53 and the like for detecting the inclination angle and the like of are also connected to the controller 51.

The traveling mode changeover switch 52 is connected to the driving wheel 1
Modes such as "wheel running mode" that runs on wheels 4 and idler wheels 15, "crawler running mode" that runs on crawler devices 13 and 13 and "escalator mode" when getting on and off the escalator can be switched. And When the traveling mode changeover switch 52 is switched to the "wheel traveling mode", the electric cylinder 24 is contracted and the upper body frame 12 is rotated downward, and the driving wheel driving motor 22 is driven, so that the driving wheels 14 and The running on the idler wheels 15 is performed. Further, when the mode is switched to the "crawler traveling mode", the electric cylinder 24 extends until the crawler device 13, 13 is grounded, and the crawler device driving motor 21 is driven, so that the crawler device 13, 13 travels. .

When the travel mode changeover switch 52 is switched to the "escalator mode", the body 2 is controlled as follows. For example, FIG. 8 shows a state of getting on and off the escalator on the descent. From the vicinity of the escalator to the escalator riding position 56a, the crawlers 13 and 13 travel in the "crawler traveling mode".

As shown in FIG. 8A, when the electric vehicle reaches the escalator riding position 56a, the crawler device 13.1.
When the vehicle travels to the position where the substantially front half of 3 has stepped on the step 57 of the escalator, the traveling mode changeover switch 52 is switched to the “escalator mode”. When the mode is switched to the “escalator mode”, the crawler devices 13 and 13 stop, and the body 2 travels along the flow of the steps 57.

Each step 57 of the escalator has a riding position 56
In FIG. 8A, there is no level difference and the level is horizontal, but as shown in FIG.
Since the step comes out from the riding position 56a, the crawler devices 13 incline according to the step. The tilting operation of the crawler devices 13 is performed by the lower body frame 1.
1, and the detected value is input to the controller 51. Controller 5
1 is configured to control the expansion / contraction operation of the electric cylinder 24 based on the detection value of the angle sensor 53.

The angle sensor 53 is, for example, an angular velocity sensor 5
3b and an inclination angle sensor 53a. The angular velocity sensor detects the angular velocity of the inclination operation of the crawler devices 13 and the inclination angle sensor detects the inclination angle of the crawler devices 13 with respect to the horizontal direction. Is configured. Further, the electric cylinder 24 is configured in a ball screw structure that can be expanded and contracted by a ball screw, so that the expansion and contraction operation can be performed quickly and in a short time.

Then, the electric cylinder 24 is extended and contracted in accordance with the detection values of the angular velocity sensor 53b and the inclination angle sensor 53a, and the upper body frame 12 is moved to the lower body frame 1
The upper body frame 12 is vertically rotated with respect to 1, but the expansion and contraction operation of the electric cylinder 24 is controlled so that the upper body frame 12 is kept substantially horizontal.

In this case, the angle sensor 53 detects the inclination operation of the crawler devices 13 so that the angular velocity and the inclination angle are continuously detected, and the electric cylinder 24 is extended and contracted in a short time. Because of the ball screw structure, the expansion / contraction operation of the electric cylinder 24 can smoothly follow a sudden change or a large change in the inclination angle of the crawler devices 13, 13.
The posture of the seat 18 can always be kept substantially horizontal. Thereby, it is possible to improve the riding comfort.

In this way, from the state shown in FIG. 8 (a) to the state shown in FIG. 8 (b) through the state shown in FIG. 8 (b), quickly and smoothly according to the size of the step 57 of the step 57. The seat 18 is held in a substantially horizontal posture by extending the electric cylinder 24.

From the state shown in FIG. 8C to the state shown in FIG. 8D where the electric vehicle reaches the descending position 56b of the escalator, the electric vehicle is quickly and smoothly driven according to the size of the step 57. Cylinder 24 is reduced and upper body frame 1
The seat 18 is maintained in a substantially horizontal state by an operation reverse to that described above, such as rotating the lower part 2 relative to the lower body frame 11.

That is, in the present electric vehicle, the inclination angle of the crawler devices 13 is continuously detected by the inclination angle sensor 53a and the angular velocity sensor 53b, and based on the detection values of the inclination angle sensor 53a and the angular velocity sensor 53b. The rotation angle θ of the upper body frame 12 on which the seat 18 is supported with respect to the lower body frame 11 on which the crawler devices 13 are supported is controlled by expanding and contracting an electric cylinder 24 as a motor cylinder, The seat 18 is constantly controlled according to the inclination angle so that the seat 18 is held substantially horizontally.

After the escalator reaches the descending position 56b, the traveling mode changeover switch 52 is switched to the "wheel traveling mode", and the upper body frame 12 is moved downward until the driving wheels 14 and the idle wheels 15 are in contact with the ground. Rotate,
As shown in FIG. 8E, it is possible to shift to wheel running.

When the traveling mode changeover switch 52 is switched to the "crawler traveling mode", when traveling on uneven or sloping terrain or going up and down stairs, the crawler devices 13 are driven at a low speed. However, since the same control is performed as in the escalator mode in which the ball screw structure of the electric cylinder 24 expands and contracts quickly and in a short time, the seat 18 can always be stably maintained in a substantially horizontal state.

For example, there is no mechanism for controlling the angle of the seat 18 with respect to the crawler devices 13 by extending and retracting the electric cylinder 24 as in the electric vehicle, and the inclination between the crawler devices 13 and the seat 18 is not provided. When the angle is always the same, as shown in FIG. 9, the amount of drop below the center of gravity G of the seat 18 becomes L ′ in a state where the stairs (the same applies to escalators and sloping grounds) start to descend. . In contrast, FIG.
As shown in the figure, when there is the control mechanism of this example that holds the seat 18 at a substantially constant angle by rapid control by the electric cylinder 24 having a ball screw structure, the amount of the fall of the seat 18 below the center of gravity G Is a drop amount L considerably smaller than the drop amount L ′.

The magnitude of the forward rotational moment generated when the electric car starts to descend the stairs is determined by the center of gravity G of the seat 18.
The magnitude of the rotational moment M in FIG. 10 is smaller than the magnitude of the rotational moment M ′ in FIG. Therefore, it is possible to enhance the stability of the body 2 at the start of descending the stairs, prevent the electric vehicle from dropping abruptly, and improve the riding comfort.

[0045]

As described above, the present invention has the following advantages. As described in claim 1, the vehicle has a traveling wheel and a crawler device as a traveling device, and can switch between traveling on the traveling wheel and traveling on the crawler device. Since the angle of the seat with respect to the crawler device can be adjusted according to the angle, in the electric vehicle, when traveling on uneven or sloping ground,
At the time of getting on and off the escalator, the seat portion can be kept in a stable posture, and the getting on and off property and the riding comfort can be improved.

According to the present invention, the inclination angle of the crawler device is continuously detected by an inclination sensor and an angular velocity sensor, and the angle of the seat relative to the crawler device is determined based on the detected values of the inclination sensor and the angular velocity sensor. Is controlled by extending and retracting the motor cylinder, and the seat is always controlled according to the inclination angle, so that it can smoothly follow a sudden change or a large change in the inclination angle of the crawler device,
The seat can always be kept substantially horizontal, and the riding comfort can be improved. In addition, the moment of leaning forward when descending on an escalator, stairs, or the like is reduced, and the vehicle can safely descend.

According to a third aspect of the present invention, since at least three traveling wheels are provided, the traveling posture of the electric vehicle can be stabilized even when traveling on uneven or sloping terrain, and good riding comfort can be maintained. Becomes

According to a fourth aspect of the present invention, the traveling wheels are composed of driving wheels and idle wheels, and the driving wheels are disposed substantially at the front and rear centers of the fuselage, and the idle wheels are disposed at one of the front and rear ends of the fuselage. Therefore, the distance between the drive wheel and the idler wheel can be reduced, and for example, at the time of steering by steering the drive wheel configured as the steering wheel, the turning radius of the body can be reduced. Becomes This makes it possible to make small turns even when traveling on narrow ground, making it easier to handle electric vehicles,
The ride comfort can be improved.

According to a fifth aspect of the present invention, auxiliary wheels are provided at the front and rear ends of the body of the electric vehicle, so that the body is supported by the auxiliary wheels when the center of gravity of the body moves forward. Thus, it is possible to prevent the body from leaning forward,
It is possible to stabilize the running posture during running with the running wheels and improve the riding comfort.

According to a sixth aspect of the present invention, the driving wheel is slidable up and down and is urged downward by an urging member, so that the driving wheel slips even when traveling on uneven terrain or the like. This makes it possible to prevent the vehicle from running, thereby enabling stable running and improving the riding comfort.

As described in claim 7, at least one of the traveling wheels is configured as a steering wheel, and the steering wheel is
Since the steering operation is performed by the handle connected to the steering wheel by the wire, the steering operation can be easily and reliably performed with a simple configuration, and the riding comfort can be improved.

According to the present invention, since the motor cylinder interposed between the seat and the crawler device employs a ball screw structure, the motor cylinder can be extended and contracted in a short time. In addition, it is possible to prevent a sudden fall of the electric vehicle and improve riding comfort.

[Brief description of the drawings]

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

FIG. 2 is a plan view of the same.

FIG. 3 is a rear view of the same.

FIG. 4 is a rear view showing a driving wheel elevating mechanism.

FIG. 5 is a side view showing a state in which a driving wheel slides down and touches down while traveling on uneven terrain.

FIG. 6 is a diagram illustrating a state in which the upper body frame is rotated upward to be in a crawler traveling state.

FIG. 7 is a block diagram showing a control mechanism of the electric vehicle.

FIG. 8 is a diagram showing a state of the electric vehicle when getting on and off the escalator.

FIG. 9 is a diagram showing a state of the electric vehicle at the start of descending stairs when the inclination angle of the crawler device and the seat portion is always the same.

FIG. 10 is a diagram illustrating a state of the electric vehicle at the start of descending stairs when there is a control mechanism of the present example that holds a seat portion substantially constant.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Electric vehicle 2 Body 11 Lower body frame 12 Upper body frame 13 Crawler device 14 Drive wheel 15 Idle wheel 16 Auxiliary wheel 17 Handle 18 Seat 24 Electric cylinder 30 Drive wheel elevating mechanism 35a / 35b Wire

Claims (8)

[Claims] 1. An electric vehicle capable of electric traveling and riding, comprising a traveling wheel and a crawler device as traveling devices, wherein traveling between traveling wheels and traveling by a crawler device can be switched. An electric vehicle wherein an angle of a seat portion with respect to the crawler device can be adjusted according to an inclination angle of the crawler device when traveling on the device. 2. An inclination angle of the crawler device is continuously detected by an inclination sensor and an angular velocity sensor, and an angle of a seat portion with respect to the crawler device is extended and retracted with respect to the crawler device based on detection values of the inclination sensor and the angular velocity sensor. The electric vehicle according to claim 1, wherein the electric vehicle is controlled by the control unit, and the seat unit is always controlled according to the inclination angle. 3. The electric vehicle according to claim 1, wherein at least three traveling wheels are provided. 4. The vehicle according to claim 1, wherein the traveling wheel includes a driving wheel and an idle wheel, and the driving wheel is disposed substantially at the center in front and rear of the vehicle body, and the idle wheel is disposed at one of front and rear ends of the vehicle body. The electric vehicle according to claim 3, wherein: 5. The electric vehicle according to claim 4, wherein auxiliary wheels are provided at the other front and rear ends of the body of the electric vehicle. 6. The electric vehicle according to claim 4, wherein the drive wheel is slidable up and down, and is urged downward by an urging member. 7. The vehicle according to claim 1, wherein at least one of the traveling wheels is configured as a steering wheel, and the steering wheel is steered by a handle connected to the steering wheel by a wire or the like. 3. The electric vehicle according to 3. 8. The electric vehicle according to claim 2, wherein the motor cylinder adopts a ball screw structure.