JP2003038581A - Traveling apparatus - Google Patents

Abstract

PROBLEM TO BE SOLVED: To solve the problem that when one motor and a differential gear are combined to smoothly turn a curve or to rotate at a predetermined position by a steering unit such as a joy stick or the like, a mechanism is complicated so as to realize it. SOLUTION: A traveling apparatus comprises grooves M1 provided at insides-of right and left wheels 2, right and left rollers 5 inserted into the grooves M1 via gaps, the motor 4 for rotating the rollers 5, and a handle 6 mounted at a body 1 so as to obtain positions of the rollers 5 in the grooves M1. Thus, the body 1 can be longitudinally moved to an operating force of the handle 6. The rollers 5 are pushed to the wheels 2 by the force to transmit the rotary forces of the rollers 5 to the wheels 2 to amplify propulsion forces.

Description

Description: BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a care support device, a walking support device, a rehabilitation device, an electric wheelchair used as a weight carrying device, a stair lift device, and a wheel moving type. The present invention relates to a traveling device suitably used for a robot or the like. Conventionally, in an electric wheelchair using a motor, two independent motors, one motor and a differential gear have been used. A control device such as a joystick has been used to control the traveling direction of the electric wheelchair. However, if one motor and a differential gear are combined so that they can be smoothly turned around a curve or rotated at a fixed position by a steering device such as a joystick, this can be realized. The mechanism for this is complicated, and using two independent motors is expensive and heavy. In addition, a clutch mechanism that smoothly turns on and off the motor force also complicates the mechanism for realizing it. Therefore, it is assumed that subtle operations are performed by direct operation by human power, and a method of using a motor to assist pushing force by human power can be considered. However, in an electric wheelchair using a conventional motor, the motor is Since a method of transmitting the force to the wheels with a gear or the like is adopted, it is difficult to superimpose the pushing force by human power with the force of the motor. In order to solve the above-mentioned problems, the present invention provides grooves on the inner sides of the left and right wheels,
The roller was arranged with a gap, and the position of the roller in the groove was displaced using a handle attached to the vehicle body. With this configuration, the contact state between the roller and the groove inside the wheel can be changed by operating the handle. If the roller does not hit the wall, the motor force can be prevented from being transmitted to the wheel, and the clutch mechanism can be turned off. And the motor is 1
By rotating in the direction, it is possible to set forward rotation when the roller hits one of the walls of the groove and reverse rotation when the roller hits the opposite wall, so it is possible to easily change the direction or rotate at a fixed position by operating the handle. . Further, since the force applied to the steering wheel is also transmitted to the vehicle body, the pushing force by human power can be superposed on the force of the motor. DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below with reference to the drawings. First, a traveling device S according to the present invention includes a vehicle body 1
Wheel 2, lever 3, motor 4, roller 5,
A handle 6 and a caster 7 are included. A side view is shown in FIG. 1, and a cross-sectional view taken along line aa is shown in FIG. Also,
An enlarged view of the vicinity of the rotor 5 is shown in FIG. The vehicle body 1 includes a seat 11, a back 12, a wheel receiver 13, a caster mounting portion 14, and a lever mounting portion 15. The wheel receiver 13 extends downward from the center at the left and right ends of the seat 11 slightly from the rear, and an axle X1 extends outward at a substantially lower end thereof. The caster mounting portion 14 extends downward from the left and right front ends of the seat 11, and a bearing 141 for changing the traveling direction of the caster is provided at an intermediate portion thereof. The lever mounting portion 15 extends rearward from the left and right rear ends of the seat 11, and a through hole 151 is provided at a substantially central portion thereof. The wheel 2 is provided with a groove M1 which opens around the inner surface thereof. The lever 3 has a substantially rectangular plate shape extending in a substantially vertical direction, and its lower end is substantially circular. The motor fixing portion 31 is at the lower end, and the handle fixing portion 3 is at the upper end.
2 are provided. The motor fixing part 31 and the handle fixing part 32 are each a circular through hole. Also,
A shaft 33 is penetrated in the left-right direction slightly below the center. The shaft 33 is for penetrating through a through hole 151 provided in the lever mounting portion 15 to pivot the lever 3 to the vehicle body 1. The shaft 33 and the lever mounting portion 1
5 and 5 form a hinge. The hinge is accompanied by a centering spring (not shown). The motor 4 is provided with shaft guides 41 at both ends of the rotating shaft. Roller mounting portions 411 are provided at both ends of the shaft guide 41. Further, a detent 42 is attached to the front end portion and the rear end portion of the upper end so as to be horizontally mounted in the left-right direction. The roller 5 has a cylindrical shape,
A shaft hole (not shown) is provided in the central axis. Moreover, the diameter is made smaller than the width | variety of the groove | channel M1 provided in the wheel 2. FIG. Further, when the motor 4 is turned on, it always rotates in the direction of the arrow x in FIGS. Next, connection of each part of the traveling device S will be described. First, the shaft guide 41 of the motor is attached to the motor fixing portion 31 provided on the lever 3, and both ends of the handle 6 are attached to the handle fixing portion 32 so as to pass therethrough. At this time, the lever 3 is prevented from rotating around the motor 4.
To be sandwiched between. And the motor fixing | fixed part 31
Further, the handle fixing portion 32 is sandwiched by the C ring R or the like to fix the motor 4 and the handle 6 to the lever 3. Next, the rotor mounting portions 411 at both ends of the motor 4 are fitted into the bearing holes provided in the rotor 5 to attach the rotor 5. Then, the lever 3 to which the motor 4, the rotor 5, and the handle 6 are attached is fixed together with the attachment portion 33 of the lever 3 in the through hole 151 of the lever attachment portion 15. Here, with respect to the mounting of the lever mounting portion 15 and the lever 3, the lever 3 can be allowed to play in the left-right direction. The wheel receiver 13 provided on the vehicle body 1 is aligned with the center 131 of the wheel 2 and the axle 131, the groove M1 is set on the inside, and the roller 5 is provided in the groove M1 provided on the wheel 2. Install to fit. At that time, a gap is provided between the roller 5 and the outer wall M1a and inner wall M1b of the groove M1, as shown in FIGS. Further, the caster 7 is attached to the caster attaching portion 14. Thus, the traveling device S according to the present invention propels the vehicle body 1 back and forth by the operating force of the handle 6 and also presses the roller 5 against the wheel 2 by this operating force so as to reduce the rotational force of the roller 5 to the wheel. 2 and configured to amplify the driving force. That is, in a stationary state where no operation is performed,
The lever 3 is supported by the centering spring, the roller 5 does not touch the groove M1, and a clutch mechanism for transmitting the force of the motor 4 to the wheels 2 is provided as an OF.
F is set. From there, when the vehicle body 1 is advanced,
When the handle 6 is pushed forward, the pushing force of the handle 6 is transmitted to the lever 3, and further, the pushing force is transmitted to the shaft guide 41 of the motor 4 through the rotation stopper 42 of the motor 4, and the left and right rollers 5 positioned at the distal ends thereof. Is displaced, and the roller 5 is pressed against the outer wall M1a of the groove M1 of the wheel 2. The roller 5 transmits the force of the motor 4 so as to move the wheel 2 forward, and the force of the motor 4 is added to the pushing force of the handle 6 to act as a propulsive force. When the vehicle body 1 is moved backward, when the handle 6 is pulled backward, the left and right rollers 5 are pressed against the inner wall M1b of the wheel groove by the pulling force of the handle 6 to move the wheel 2 backward. 4 force is transmitted, and the force of the motor 4 and the force of pulling the handle 6 cooperate to retract the vehicle body 1. Further, when turning the curve to the left, if only the right side of the handle 6 is pushed, the right rotor 5
Only is pressed against the outer wall M1a of the groove M1 of the wheel 2, and the driving force for moving forward only to the right wheel 2 works.
Is curved to the left. Also, when turning the curve to the right, if only the left side of the handle 6 is pushed, the driving force is applied only to the left wheel 2 with the same mechanism as described above, so that the vehicle body 1 curves to the right. is there. When rotating to the left at a fixed position, when the right side of the handle 6 is pushed and the left side is pulled, the right rotor 5 is placed on the outer wall M1a of the groove M1 of the wheel 2,
The left rotor 5 is pressed against the inner wall M1b of the groove M1 of the wheel 2, the right wheel 2 is in the forward direction by the force pushing the handle 6 and the rotational force of the rotor 5, and the left wheel is the force pulling the handle 6 and the rotor. The vehicle body 1 as a whole rotates to the left at a fixed position. Also in the case of right rotation, if the same operation is performed in the opposite direction, the same mechanism also works in the opposite direction, and the vehicle body rotates to the right at a fixed position. Here, when using as a normal wheelchair without using the motor 4, the movement of the lever 3 is locked so that the handle 6 does not move relative to the vehicle body 1. In this way, since the three movements of the lever are locked, the rotor 5 is not pressed against the outer wall M1a or the inner wall M1b of the groove M1 of the wheel 2, and therefore the rotational force of the motor 4 is not transmitted to the wheel 2. That is, the clutch mechanism is OF
This is because F can be made. Further, even if a place other than the handle 6 or the lever 3 connected to the vehicle body 1 is pressed, for example, the back 12 or the like, no force is applied to the lever 3, so that the rotor 5 is also the outer wall M1a of the groove M1 of the wheel 2. Alternatively, it is no longer pressed against the inner wall M1b, and the clutch mechanism can be kept OFF. As described above, the groove M1 provided inside the left and right wheels 2 is as follows.
From the roller 5 placed in the groove M1 with a gap, the motor 4 for rotating the left and right rollers 5, and the handle 6 attached to the vehicle body 1 so that the position of the roller 5 in the groove M1 can be changed. The vehicle body 1 is propelled back and forth by the operating force of the handle 6, and the roller 5 is pressed against the wheel 2 by this operating force to transmit the rotational force of the roller 5 to the wheel 2 so as to amplify the propulsive force. By configuring, the rotational force of one motor 4 and the force for pushing and pulling the handle 6 can be overlapped, and further, the forward, backward, curve, fixed position rotation, ON / OFF of the clutch mechanism can be performed by operating the handle 6 Can be done smoothly. It should be noted that a load cell may be sandwiched between the handle 6 and the vehicle body 1 to detect the magnitude of the force and control the number of revolutions of the motor 4 to reflect it on the vehicle speed. In this way, it is possible to prevent the wheel 2 from rotating at a high speed against the will of the person who operates the handle 6 because the rotational force of the motor 4 is too large. Further, the rotational speed of the motor 4 and the rotational speed of the wheel 2 are measured, and a wall M1 provided in the groove M1 between the roller 5 and the wheel 2 is measured.
You may adjust the rotation speed of the motor 4 so that slip may not arise between a * M1b. In this way, the roller 5 rotates more than the rotation of the wheel 2 and power is wasted, and conversely, the rotation of the wheel 2 does not catch up with the rotation of the wheel 2 and the force pushing the handle 6 is excessive. It can be prevented that it becomes necessary. Further, a switch may be attached to the handle 6 to detect the displacement. In this way, for example, the rotational speed of the motor 4 can be adjusted in accordance with the displacement width of the handle 6 in combination with the mechanism in the previous stage, and electric power can be used efficiently. On the slope, the motor 4 may not be energized and the shaft may be free to be braked. In addition, the shape of the lever 3 may be a shape bent 90 degrees forward under the seat 11. In this case, when the handle 6 is pushed forward, the roller 5 is pressed against the inner wall M1b of the groove M1 of the wheel 2 contrary to the above-described embodiment, so that the rotation direction of the motor 4 is opposite to the above-described embodiment. Become. In addition, another elliptical shaft is put in the groove M1, and the elliptical shaft is rotated by a lever, a rotary solenoid or the like so that the walls M1a and M1b provided in the groove M1 are touched. You may make it perform ON / OFF of a brake. The traveling device S according to the present invention can also be applied to a self-propelled wheelchair, a self-propelled robot, and the like. When applied to a self-propelled wheelchair, the handle 6 can be installed forward. In this case, the force for pushing and pulling the handle 6 cannot be superimposed on the rotational force of the motor 4, but the handle 6 can be operated by the passenger himself. When applied to a self-propelled robot, the handle 6 can be operated by the force of a solenoid or the like. In this case, this is also the handle 6
Although the force for pushing and pulling cannot be superimposed on the rotational force of the motor 4, fully automatic control by an electric circuit can be performed. According to the present invention, it is possible to superimpose the rotational force of one motor and the force pushing and pulling the handle, and further forward, reverse, curve, fixed position rotation, clutch mechanism by the handle operation. Can be smoothly turned on and off. Furthermore, by locking the movement of the handle, the clutch mechanism can be turned off, and the rotation of the motor and the movement of the vehicle body can be separated.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is an overall side view of a traveling apparatus according to an embodiment of the present invention. FIG. 2 is a cross-sectional view taken along line aa of the traveling device according to the embodiment. FIG. 3 is an enlarged side view of the vicinity of a roller in the embodiment. [Explanation of Symbols] S ... Traveling device 1 ... Car body 2 ... Wheel 4 ... Motor 5 ... Roller 6 ... Handle M1 ... Groove

Claims (1)

[Claims] [Claim 1] A groove provided on the inside of the left and right wheels, a roller inserted into the groove with a gap, a motor for rotating the left and right rollers, and the position of the roller in the groove It consists of a handle attached to the vehicle body so that it can be changed, and the vehicle's operating force is propelled forward and backward by the operating force of the handle, and the roller is pressed against the wheel by this operating force to transmit the rotational force of the roller to the wheel, and the driving force is A traveling device configured to amplify.