JP2009261504A - Vehicle, and method of changing running direction of the vehicle - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a vehicle capable of turning in a small space. <P>SOLUTION: The vehicle has at least a plurality of wheels 21 and 22 disposed as a pair on the right and left sides, and at least one driving means 31 for rotating the wheels 21 and 22 to run. The vehicle includes direction changing means 4 configured to brake at least the pair of right and left wheels 21 and 22 and to adjust the rotation speed of the wheels 21 and 22 independently to change the running direction by the generation of a difference in rotation speed between the wheels 21 and 22. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to a vehicle including a plurality of wheels and one driving means for rotating the wheels, and also relates to a method for changing the traveling direction of the vehicle.

  2. Description of the Related Art Conventionally, an electric wheelchair as shown in FIG. 8 is known as a vehicle including a plurality of wheels 100,... And a single drive unit 101 for rotating the wheels 100,. . Such an electric wheelchair is provided with three wheels 100, 100, 100. Specifically, a pair of left and right left rear wheels 100a and 100b are provided at the rear, and one front wheel 100c is provided at the front center. It is done.

  The pair of rear wheels 100 a and 100 b are driving wheels that are driven by the driving means 101, and are fixed wheels that are attached to the vehicle body 102 such that the axial direction of rotation is constant with respect to the vehicle body 102. The front wheel 100c is a driven wheel that rotates about the horizontal direction due to friction with the road surface as it travels, and is a steering wheel that rotates when the driver operates the handle 103 (centering on the vertical direction). is there.

Therefore, when the pair of rear wheels 100a and 100b that are driven by the driving means 101 rotate, the electric wheelchair travels due to friction generated between the rear wheels 100a and 100b and the road surface, and is further operated by the handle 103. When the front wheel 100c, which is a steered wheel, is rotated (steered), a difference in speed occurs between the rear wheels 100a and 100b due to friction generated between the front wheel 100c and the road surface, and as a result, the traveling direction is changed. be able to.
Japanese Patent Laid-Open No. 11-33061

  However, in such an electric wheelchair, when turning (U-turn counterclockwise), as shown in FIG. 9, the inner wheel (left rear wheel) 100a draws a circular locus having a predetermined radius (R in FIG. 9). As a result, a large space is required. In FIG. 9, point O is the center of turning, point X is the front center of the electric wheelchair, L1 is the locus of the front center of the electric wheelchair (point X), L2 is the locus of the front wheel 100c, L3 Indicates the trajectory of the inner ring (left rear wheel) 100a.

  Further, in order to reduce the radius of the circular locus drawn by the inner wheel (left rear wheel) 100a, the front wheel 100c may be further rotated. However, the front wheel 100c is rotated more than necessary (the steering angle is increased). ), A slip occurs between the front wheel 100c and the road surface, and no speed difference occurs between the rear wheels 100a and 100b. As a result, the electric wheelchair goes straight.

  Therefore, in view of such circumstances, an object of the present invention is to provide a vehicle that can turn in a small space and a method for changing the traveling direction of the vehicle.

  A vehicle according to the present invention includes a plurality of wheels arranged at least in a pair on the left and right sides, and a driving means for rotating the wheels to travel, and travels when a rotational speed difference is generated between the wheels. In order to change the direction, at least a pair of left and right wheels can be braked, and a direction changing unit configured to be able to individually adjust the rotation speed of each wheel is provided.

  According to the present invention, since the direction changing means can brake at least a pair of left and right wheels, the rotational speed of each wheel can be adjusted. Thereby, since a rotational speed difference can be generated between the wheels, the traveling direction can be changed. Therefore, for example, even without a steering mechanism (steering mechanism) for steering a pair of wheels to change the traveling direction, the traveling direction can be changed by generating a rotational speed difference between the wheels, In addition, by braking and stopping a predetermined wheel, it is possible to make a stationary turn around the wheel.

  Further, the vehicle according to the present invention may include a transmission unit that includes a differential gear mechanism and transmits the drive of the driving unit to the pair of left and right wheels via the differential gear mechanism.

  According to this configuration, since the transmission means transmits the drive of the drive means to the pair of left and right wheels via the differential gear mechanism, the direction changing means determines the rotational speed of the drive wheels (wheels that are driven by the drive means). The brake can be adjusted individually. Thereby, for example, by braking and stopping one wheel, only the other wheel is rotated by driving of the driving means, so that it is possible to reliably make a stationary turn around the one wheel.

  Further, in the vehicle according to the present invention, the rotational speed of each wheel is controlled based on the input operation unit for the driver to operate to determine the traveling direction and the traveling direction data input from the input operating unit. And a control means.

  According to this configuration, when the driver operates the input operation unit, the travel direction is determined by the control means controlling the rotational speed of each wheel based on the travel direction data that is input. Therefore, since it is not necessary for the driver to directly adjust the rotation speed of the wheel, the vehicle can travel reliably in a desired direction.

  The vehicle according to the present invention further includes wheel speed detection means for detecting the rotation speeds of the plurality of wheels, and the control means is configured to control each wheel based on the wheel rotation speed data input from the wheel speed detection means. A configuration in which the rotational speed is feedback-controlled may be employed.

  According to such a configuration, the control means feedback-controls the rotation speed of each wheel based on the rotation speed data of the wheel input from the wheel speed detection means that detects the rotation speeds of the plurality of wheels. Therefore, the traveling direction data input from the input operation unit can be reliably matched with the actual traveling direction, and the vehicle can travel more reliably in a desired direction.

  The vehicle according to the present invention may be an electric wheelchair configured such that the traveling speed is equal to or lower than a predetermined speed.

  According to such a configuration, since the electric wheelchair is configured such that the traveling speed is equal to or less than a predetermined speed (for example, 6 kilometers per hour), even if inertia works when braking the wheel, the traveling is not possible. It can be prevented from becoming stable.

  In addition, the method for changing the traveling direction of the vehicle according to the present invention includes a plurality of wheels arranged at least on the left and right sides, one driving means for rotating the wheels to travel, and a rotational speed difference between the wheels. In order to change the traveling direction, at least a pair of left and right wheels can be braked and a direction changing means configured to be able to individually adjust the rotational speed of each wheel is provided. In order to turn around a predetermined wheel, the wheel is braked and stopped.

  According to such a configuration, the direction changing means can brake at least a pair of left and right wheels, so that the predetermined wheel can be braked and stopped, thereby turning around the wheel, that is, stationary turning. it can.

  As described above, according to the vehicle according to the present invention, the direction changing means can brake the rotational speed of each wheel individually at least with respect to the pair of left and right wheels, thereby generating a speed difference between the wheels. The traveling direction can be changed, and as a result, there is an excellent effect that the vehicle can turn in a small space.

  Further, according to the method for changing the traveling direction of the vehicle according to the present invention, the direction changing means can brake the rotational speed of each wheel individually at least for the pair of left and right wheels. By stopping the vehicle, the vehicle can turn around the wheel.

  Hereinafter, an embodiment of a vehicle according to the present invention will be described with reference to FIGS. In the present embodiment, the case where the vehicle is an electric wheelchair will be described.

  As shown in FIG. 1, a vehicle according to the present embodiment (hereinafter also referred to as “electric wheelchair”) includes a vehicle body 1 for carrying a person (driver), a plurality of wheels 2,. The driving device 3 for driving the wheels 2,... To drive and the direction changing means 4 for changing the traveling direction are provided.

  The vehicle body 1 includes a seat 11 for supporting the driver's buttocks and thighs, a backrest 12 for supporting the driver's back, a pair of left and right armrests 13 and 13 for hanging the elbows, and both legs. And a footrest portion 14 on which the seating portion 11 is placed, and the crossing angle between the seating portion 11 and the backrest portion 12 is adjustable.

  A pair of wheels 2 is arranged at least on the left and right. Specifically, a pair of left and right wheels 2 are provided on the rear side (also referred to as “left rear wheel (first wheel) 21” and “right rear wheel (second wheel) 22”, respectively. And a pair of left and right fronts (also referred to as “left front wheel 23” and “right front wheel 24”, respectively).

  The pair of rear wheels 21 and 22 are drive wheels that receive drive from the drive device 3 and are fixed wheels that are attached to the vehicle body 1 such that the axial direction of rotation is constant with respect to the vehicle body 1. The left rear wheel 21 and the right rear wheel 22 are arranged in parallel.

  The pair of front wheels 23 and 24 are driven wheels that rotate due to friction with the road surface as the vehicle travels, and are fixed wheels that are attached to the vehicle body 1 so that the axial direction of rotation is constant with respect to the vehicle body 1. And the left front wheel 23 and the right front wheel 24 are arrange | positioned so that it may become parallel.

  Each front wheel 23 (24) is disposed along the outer peripheral edge of the rim 23a (24a, 24a not shown) and can rotate around the tangential direction of the outer peripheral edge of the rim 23a (24a). A plurality of rotors 23b (24b),... Are arranged, each rotor 23b (24b) is formed in a semi-spindle shape, and a conical surface formed at the proximal end of the adjacent rotor 23b (24b) Is partially inserted into the concave portion.

  Accordingly, each front wheel 23 (24) has two degrees of freedom of rotation (degree of freedom in two axial directions parallel to the road surface and orthogonal to each other, that is, degrees of freedom in the front-rear direction and the left-right direction). The same operation as that in which the 1 is supported by the spherical free wheel is possible.

  Specifically, when going straight, the rotor 23b (24b),... Does not rotate, only the rim 23a (24a) rotates (in the direction of arrow A in FIG. 1A), and when turning. When the rim 23a rotates, the rotor 23b (24b), which is in contact with the road surface rotates (in the direction of arrow B in FIG. 1 (a)), and further, the rim 23a (24a) Without rotation, only the rotor 23b (24b), which contacts the road surface rotates.

  The drive device 3 includes one drive means 31 for rotating the wheels 2... To travel and a transmission means 32 for transmitting the drive of the drive means 31 to the pair of left and right rear wheels 21 and 22.

  The drive means 31 is an electric motor that operates using a mounted storage battery (not shown or numbered) as a power source. Note that the storage battery supplies not only the driving means (electric motor) 31 but also all the power related to the vehicle.

  The transmission means 32 has a differential gear mechanism (differential gear mechanism) 32a, and transmits the drive of the drive means 31 to the pair of rear wheels 21 and 22 via the differential gear mechanism 32a. Specifically, the transmission means 32 includes a main drive shaft 32b that connects the drive means 31 and the differential gear mechanism 32a, and a left drive shaft that connects the differential gear mechanism 32a and the left rear wheel 21 (first drive). Shaft) 32c and a right drive shaft (second drive shaft) 32d for connecting the differential gear mechanism 32a and the right rear wheel 22 to each other.

  The transmission means 32 rotates the left drive shaft 32c and the right drive shaft 32d via the differential gear mechanism 32a when the drive means 31 rotates the main drive shaft 32b. And the right rear wheel 22 is rotated. Further, since the axial center directions of the left drive shaft 32c and the right drive shaft 32c are constant with respect to the vehicle body 1, the pair of rear wheels 21, 22 are fixed wheels.

  The direction changing means 4 can brake the pair of left and right rear wheels 21 and 22 and change the rotation of each rear wheel 21 (22) in order to change the traveling direction when a difference in rotational speed occurs between the wheels 2. The speed can be adjusted individually. Specifically, the direction changing means 4 includes direction changing braking devices 41 and 41 for braking each rear wheel 21 (22), and is configured to be able to brake each rear wheel 21 (22) individually. .

  Further, the direction changing unit 4 includes an input operation unit 42 for a driver to determine a traveling direction, a wheel speed detecting unit 43 for detecting the rotational speeds of the plurality of wheels 2,. And control means 44 for controlling the devices 41, 41 and the like.

  As shown in FIG. 2, the direction changing braking device 41 is configured to be able to brake the left rear wheel 21 (right rear wheel 22) via a gear mechanism (the arrow direction in FIG. 2 indicates that the electric wheelchair moves forward). Shows the direction of motion when

  Specifically, the direction changing braking device 41 includes a first gear 41a fixed to a left drive shaft 32c (right drive shaft 32d) coupled to the left rear wheel 21 (right rear wheel), and a first gear 41a. A second gear 41b that is operatively linked to the second gear 41b, and a brake portion 41d that is connected to the second gear 41b via a connecting shaft 41c.

  Further, the direction changing braking device 41 includes the intermediate gear 41e that meshes with the first gear 41a and the second gear 41b, respectively, so that the first gear 41a and the second gear 41b are operatively linked. It is configured.

  Then, the direction changing braking device 41 operates via the connecting shaft 41c, the second gear 41b, the intermediate gear 41e, the first gear 41a, and the left drive shaft 32c (the right drive shaft 32d) by operating the brake portion 41d. Thus, the left rear wheel 21 (right rear wheel 22) is decelerated or stopped. The brake part 41d is a powder brake that is generally considered to have low power consumption.

  The input operation unit 42 transmits traveling direction data to the control unit 44 when operated by the driver. Specifically, the input operation unit 42 is configured such that a potentiometer (not shown and numbered) connected to the handle causes the travel direction (travel direction change angle) to be data (electrical signal) when the driver rotates the handle. To the control means 44.

  The wheel speed detection means 43 is configured to be able to individually detect the rotation speeds of the rear wheels 21 and 22. Specifically, the wheel speed detection means 43 includes a third gear 43a that meshes with a first gear 41a that is fixed to the left drive shaft 32c (right drive shaft 32d), and a connection shaft 43b that is connected to the third gear 43a. A pair of detectors 43c for detecting the rotational speed of the rear wheel 21 (22) from the rotational displacement amount of the rear wheel 21 (22). The detection unit 43c is a rotary encoder.

  As shown in FIG. 3, the control means 44 is an input unit 44a that automatically inputs (acquires) various data, a calculation storage unit 44b that performs calculation and storage from the various data, and a control that controls each unit. Part 44c.

  And the control means 44 is comprised so that control of the rotational speed of each rear-wheel 21 (22) based on the driving | running | working direction data input from the input operation part 42 is possible. Specifically, the control means 44 is configured to be able to control the braking amount of each direction changing braking device 41, that is, the magnitude of the braking force (deceleration force) of the brake portion 41d.

  Further, the control means 44 is configured to feedback-control the rotational speed of each rear wheel 21 (22) based on the rotational speed data of each rear wheel 21 (22) input from the wheel speed detection means 43. . Specifically, the control means 44 is configured to feedback-control the braking amount of each direction changing braking device 41, that is, the magnitude of the braking force of each brake portion 41d.

  The input unit 44 a receives the traveling direction data from the input operation unit 42 and the rotational speed data from the wheel speed detecting means 43. The input unit 44a changes the data format when transmitting data to the calculation storage unit 44b.

  The calculation storage unit 44b calculates information necessary for traveling and stores calculated data. Specifically, the calculation storage unit 44b calculates the actual traveling speed and traveling direction from the rotational speed data from the wheel speed detecting means 43, compares it with the traveling direction data from the input operation unit 42, and further inputs From the travel direction data from the operation unit 42 and the actual travel direction data, the appropriate rotational speed of each rear wheel 21 (22), that is, the braking amount of each direction changing braking device 41 (the control of each brake unit 41d). Magnitude of power) is calculated.

  The control unit 44c controls the input unit 44a to transmit input data to the calculation storage unit 44b, or the calculation storage unit 44b controls the braking amount of each direction changing braking device 41 (the magnitude of the braking force of each brake unit 41d). And the direction change based on the braking amount of each direction change braking device 41 calculated by the calculation storage unit 44b (the magnitude of the braking force of each brake unit 41d). The brake device 41 is controlled.

  Therefore, the direction changing unit 4 calculates the braking amount of the braking amount of each direction changing braking device 41 based on the traveling direction data from the input operation unit 42 and the rotational speed data from the wheel speed detecting unit 43. By outputting the calculation result to each direction changing braking device 41, the target traveling direction can be maintained.

  And the electric wheelchair is comprised so that a running speed may become below a predetermined speed (for example, 6 kilometers per hour). Specifically, the electric wheelchair is configured to be capable of regulating (controlling) the output (rotation) of the drive unit 31 based on the rotation speed data from each wheel speed detection unit 43.

  The electric wheelchair may be configured to receive, for example, an (emergency) stop command at the input operation unit 42. In such a case, when the stop command is received, Otherwise, each wheel 2 is braked by a separately provided main braking device (not shown or numbered).

  The configuration related to the vehicle (electric wheelchair) according to the present embodiment is as described above. Next, a method for changing the traveling direction of the vehicle (electric wheelchair) will be described.

  First, when the electric wheelchair goes straight, each direction changing braking device 41 does not brake each rear wheel 21 (22). Then, when the driver operates the input operation unit 42 to turn (clockwise U-turn), the direction changing braking device 41 brakes and stops the left rear wheel 21 that is the inner wheel. Thereby, as shown in FIG. 4, the electric wheelchair turns around the left rear wheel 21.

  At this time, since the right rear wheel 22 is not braked by the direction changing braking device 41, the driving of the driving means 31 is transmitted by the differential gear mechanism 32a to a size approximately twice that of the straight traveling. Yes. When the traveling speed exceeds a predetermined speed, the output (rotation) of the drive means 31 is regulated (controlled) in order to perform stationary turning more safely.

  Further, in the wheel speed detecting means 43, when the rotational speed of the left rear wheel 21 is not zero, the direction changing braking device 41 is controlled by the control means 44 so that the left rear wheel 21 is completely locked (stopped). To brake. Then, when the turning is completed and the input operation unit 42 is operated so that the driver goes straight, the direction changing braking device 41 releases the braking of the left rear wheel 21, so that the electric wheelchair goes straight.

  In FIG. 4, point O indicates the center of turning, point X indicates the front center portion of the electric wheelchair, and L1 indicates the locus of the front center portion (point X) of the wheelchair.

  From the above, in the vehicle (electric wheelchair) according to the present embodiment, the direction changing means 4 can brake the rotational speed of each wheel 21 (22) to the pair of left and right rear wheels 21 and 22 so as to be individually adjustable. The traveling direction can be changed by generating a speed difference between the wheels 21 and 22. Therefore, for example, by braking and stopping the left rear wheel 21, it is possible to make a stationary turn around the left rear wheel 21.

  In the vehicle (electric wheelchair) according to the present embodiment, the transmission means 32 transmits the drive of the driving means 31 to the left and right rear wheels 21 and 22 via the differential gear mechanism 32a. The rotational speeds of the pair of rear wheels 21 and 22 as drive wheels can be braked so as to be individually adjustable. Therefore, since the left rear wheel 21 is braked and stopped, only the right rear wheel 22 is rotated by the drive of the driving means 31 and turns, so that the left rear wheel 21 is securely turned around the left rear wheel 21. be able to.

  Further, in the vehicle (electric wheelchair) according to the present embodiment, the control means 44 uses the direction change data input from the input operation unit 42 for the driver to operate to determine the direction of travel. The rotational speed of the pair of rear wheels 21 and 22 is controlled by controlling the braking device 41. Therefore, since it is not necessary for the driver to directly adjust the rotation speed of the wheels 21 and 22, the vehicle can travel reliably in a desired direction.

  Further, the vehicle (electric wheelchair) according to the present embodiment is based on the rotational speed data of the rear wheels 21 and 22 input from the wheel speed detection means 43 that detects the rotational speed of the pair of rear wheels 21 and 22. The control means 44 feedback-controls the rotational speed of each rear wheel 21, 22, that is, the braking amount of each direction changing braking device 41. Accordingly, the traveling direction data input from the input operation unit 42 can be reliably matched with the actual traveling direction, and the vehicle can travel more reliably in a desired direction.

  Note that the vehicle according to the present invention is not limited to the above-described embodiment, and it is needless to say that various changes can be made without departing from the gist of the present invention.

  For example, in the vehicle according to the above-described embodiment, the case where it is an electric wheelchair has been described. In short, the vehicle only needs to include at least a plurality of wheels arranged on the left and right and one drive means for rotating the wheels to travel. The vehicle preferably travels at an appropriate weight and at an appropriate speed so as to enable stationary turning without causing a side slip even if inertia is generated by braking the wheels.

  Further, in the vehicle according to the above-described embodiment, the case where the pair of rear wheels 21 and 22 which are driving wheels is braked by the direction change braking devices 41 and 41 has been described. As shown in (a), the pair of front wheels 50, 50 as drive wheels may be individually braked by the direction changing braking devices 51, 51.

  Further, in the vehicle according to the above-described embodiment, the case where the vehicle is a four-wheeled vehicle provided with four wheels 2,... Is not limited to such a case. For example, as shown in FIG. 5 may be a tricycle including a pair of rear wheels 53 and 53 and a front wheel 54 that is a driven wheel. Also, as shown in FIG. 5C, a pair of intermediate wheels that are drive wheels. It may be a case of a six-wheeled vehicle including 55, 55, a pair of front wheels 56, 56 that are driven wheels, and a pair of rear wheels 57, 57 that are driven wheels.

  Further, in the vehicle according to the above-described embodiment, the case where the pair of rear wheels 21 and 22 that are drive wheels is braked by the direction change braking devices 41 and 41 has been described, but the present invention is not limited thereto. For example, as shown in FIG. 6A, the driven wheels may be braked, that is, the pair of front wheels 58, 58 that are driven wheels may be individually braked by the direction changing braking devices 59, 59.

  Furthermore, for example, as shown in FIG. 6B, when one brakes the front wheel and the other brakes the rear wheel, that is, the left front wheel 60 that is a driven wheel and the right rear wheel 61 that is a driving wheel. May be individually braked by the direction change braking devices 62, 62, and all the wheels 63,... May be individually braked by the direction change braking devices 64,. It may be the case.

  Further, in the vehicle according to the above-described embodiment, the case where the driving wheels are the pair of rear wheels 21 and 22 has been described. However, the present invention is not limited to such a case. For example, as illustrated in FIG. In the case of four, that is, by the three differential gear mechanisms 65, 65, 65, the pair of front wheels 66, 66 and the pair of rear wheels 67, 67 are all drive wheels, and the pair of rear wheels 67, 67 are The braking may be performed individually by the direction changing braking devices 68 and 68.

  Further, for example, as shown in FIG. 7B, when there is one drive wheel, that is, a pair of front wheels 69 and 69 that are driven wheels, and one rear wheel 70 that is a drive wheel, The pair of front wheels 69, 69 may be braked individually by the direction changing braking devices 71, 71.

  Further, in the vehicle according to the above-described embodiment, a case has been described in which the axial direction of the pair of front wheels 23 and 24 that are driven wheels is a fixed wheel that is constant with respect to the vehicle body 1, but the present invention is not limited thereto. For example, as shown in FIG. 7 (c), the pair of front wheels 72, 72, which are driven wheels, can rotate about the horizontal direction by friction with the free wheel, that is, the road surface, and center on the vertical direction. It may be a rotatable wheel or a spherical universal wheel.

  Further, for example, as shown in FIG. 7 (d), the pair of front wheels 73 and 73, which are driven wheels, move in the vertical direction via the steering mechanism (steering mechanism) 74 by the steering wheel, that is, the driver's steering operation. The wheel may be rotatable about the center.

  Moreover, although the case where the input operation unit 42 is a handle has been described in the vehicle according to the above-described embodiment, the present invention is not limited to this case, and may be a joystick.

  Further, in the vehicle according to the above-described embodiment, the case where the control unit 44 controls the respective direction change braking devices 41 and 41 has been described. However, the present invention is not limited to this case. The configuration may be such that the traveling direction is changed by directly operating 41.

  Further, in the vehicle according to the above embodiment, the case has been described in which the calculation storage unit 44b calculates the running direction data from the input operation unit 42 from the rotation speed data from the wheel speed detection unit 43. The calculation storage unit 44b is configured to detect the rotation speed of the main drive shaft 32b and the rotation speed data from one wheel speed detection means 43. It is also possible to calculate from

  Further, in the vehicle according to the above-described embodiment, the case where the traveling speed is configured to be equal to or lower than the predetermined speed by restricting the output of the driving unit 31 is described. The direction changing braking device 41 may be configured to brake the wheel 2 (the right rear wheel 22 in the above embodiment) without stopping. Furthermore, the output of the drive means 31 and the braking amount of each direction changing braking device 41 can be adjusted, and the traveling speed can be selected by the input operation unit 42.

  Further, in the vehicle according to the above embodiment, the case where the left rear wheel 21 is completely stopped and the traveling direction is changed has been described. However, the present invention is not limited to such a case, and the vehicle is decelerated without completely stopping the left rear wheel 21. By doing so, a rotational speed difference may be generated between the left rear wheel 21 and the right rear wheel 22, and as a result, the traveling direction may be changed to a desired direction.

  Specifically, the input unit 44a automatically acquires the traveling direction instructed by the input operation unit 42 as traveling direction data, and the calculation storage unit 44b is desired based on the traveling direction data acquired by the input unit 44a. In order to travel in the traveling direction, a calculation is performed that causes a speed difference between the rear wheels 21 and 22, and is transmitted to the controller 44c.

  Then, when the traveling direction data from the input operation unit 42, that is, when the traveling direction change angle (steering angle) is small, the calculation storage unit 44b reduces the change in the rotation radius and reduces the traveling direction change angle (steering angle). When is large, the change in the radius of rotation may be set larger. Thereby, the operation feeling of the driver (passenger) can be improved.

  Further, the calculation storage unit 44b is configured to prevent the rear wheels 21 and 22 from rapidly changing in speed, and traveling direction data from the input operation unit 42 and actual traveling direction data obtained from the wheel speed detecting means 43. And the braking amount of each direction changing braking device 41 (the magnitude of the braking force of each brake part 41d) may be calculated in accordance with the deviation. (For example, the hysteresis characteristic of a powder brake) may be taken into consideration.

  In addition, one or more of each of the above modification examples can be selected and employed.

BRIEF DESCRIPTION OF THE DRAWINGS It is a general view of the vehicle which concerns on one Embodiment of this invention, Comprising: (a) is a perspective view, (b) shows a schematic plan view. It is the principal part enlarged view of the vehicle which concerns on the embodiment, Comprising: (a) is an enlarged view in C area | region of FIG. 1, (b) shows sectional drawing in the DD line. The system block diagram of the vehicle which concerns on the embodiment is shown. It is explanatory drawing in driving | running | working of the vehicle which concerns on the same embodiment, Comprising: The whole top view is shown. It is a general view of the vehicle which concerns on other embodiment of this invention, Comprising: A general | schematic top view is shown, respectively. It is a general view of the vehicle which concerns on other embodiment of this invention, Comprising: A general | schematic top view is shown, respectively. It is a general view of the vehicle which concerns on other embodiment of this invention, Comprising: A general | schematic top view is shown, respectively. It is a general view of the vehicle in the past, (a) is a perspective view, (b) shows a schematic plan view. It is explanatory drawing in the driving | running | working of the vehicle in the past, Comprising: The whole top view is shown.

Explanation of symbols

  DESCRIPTION OF SYMBOLS 1 ... Vehicle body, 2 ... Wheel, 3 ... Drive apparatus, 4 ... Direction change means, 21 ... Wheel (left rear wheel, 1st wheel), 22 ... Wheel (right rear wheel, 2nd wheel), 31 ... Drive means, 32 ... Transmission means, 32a ... Differential gear mechanism, 42 ... Input operation section, 43 ... Wheel speed detection means, 44 ... Control means

Claims (6)

In a vehicle comprising a plurality of wheels arranged at least as a pair on the left and right, and one drive means for rotating the wheels to travel,
In order to change the traveling direction when a rotational speed difference occurs between the wheels, at least a pair of left and right wheels can be braked and a direction changing means configured to be able to individually adjust the rotational speed of each wheel is provided. A vehicle characterized by   2. The vehicle according to claim 1, further comprising a transmission unit that includes a differential gear mechanism and transmits the drive of the drive unit to the pair of left and right wheels via the differential gear mechanism.   The input operation part for a driver | operator to operate to determine a traveling direction, and the control means which controls the rotational speed of each said wheel based on the traveling direction data input from an input operation part. Vehicle described in.   Wheel speed detection means for detecting the rotation speed of a plurality of wheels is provided, and the control means is configured to feedback control the rotation speed of each wheel based on the wheel rotation speed data input from the wheel speed detection means. The vehicle according to claim 3.   The vehicle according to any one of claims 1 to 4, wherein the vehicle is an electric wheelchair configured to have a traveling speed equal to or lower than a predetermined speed. At least a pair of left and right wheels, a drive means for rotating the wheels to travel, and at least a pair of left and right wheels to change the traveling direction due to a difference in rotational speed between the wheels And a direction change means configured to be capable of individually adjusting the rotation speed of each wheel,
A method of changing a traveling direction of a vehicle, wherein the vehicle is braked and stopped to turn around a predetermined wheel.

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