JP2011084104A - Moving device with power - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a moving device with power capable of efficiently and inexpensively coping with many and different works and allowing a person to operate in all works with optimum operation feeling. <P>SOLUTION: This moving device 10 with power and a driven moving part are constituted to be attachable/detachable by a connecting part 11. The same moving device 10 with power can be connected to a plurality of driven moving parts having different uses and forms. An attitude of a steering handle 16 provided in an upper part of the moving device 10 with power can be switched. The attitude of the steering handle 16 after the switching can be detected. A control characteristic of the moving device 10 with power can be switched by the attitude of the steering handle 16, and the moving device 10 with power is capable of efficiently and inexpensively coping with many and different works. <P>COPYRIGHT: (C)2011,JPO&INPIT

Description

  The present invention relates to a powered moving apparatus having a drive unit capable of handling a plurality of tasks having different uses.

  2. Description of the Related Art Conventionally, there is a powered moving device that moves an object to be transported, such as a carriage, with power from a prime mover. This powered mobile device is required to be able to efficiently handle many different tasks and to be operated by a person with an optimal sense of operation in any task.

  As a conventional motorized moving apparatus, an existing hand cart and a moving drive unit having electrically assisted driving wheels are detachably connected by a connecting mechanism, thereby exchanging a plurality of carts with one moving drive unit. However, there is one that can be used as a human-powered trolley and is intended to reduce the load on the trolley transporter at a low cost (for example, see Patent Document 1). FIG. 7 is a side view showing an appearance of the powered moving apparatus of Patent Document 1. As shown in FIG.

  In FIG. 7, the powered moving device 1 includes a moving drive unit 2 having electrically assisted driving wheels, a hand cart 3, a connection mechanism unit 4 that removably connects the moving drive unit 2 and the hand cart 3, Consists of

  In addition, there is a powered moving device that can be attached to the steering handle in either of the front and rear directions and can handle movement in either the front and rear directions (see, for example, Patent Document 2). 8 (a) and 8 (b) are schematic views of the powered moving device of Patent Document 2, and FIG. 8 (a) is a diagram showing a case where the vehicle does not stand up (attach the steering handle forward). FIG. 8B is a diagram showing a case where the user stands up (attaches the steering wheel backward).

  In FIG. 8A, the steering handle 6 is attached so as to face forward with respect to the movement drive unit 7 in order to direct the steering handle 6 toward the operator 5 who does not stand up. Further, in FIG. 8B, the steering handle 6 is attached so as to face rearward with respect to the movement drive unit 7 in order to direct the steering handle 6 toward the standing operator 5 side. In Patent Document 2, as shown in FIGS. 8 (a) and 8 (b), by changing the mounting direction of the steering handle 6, a motorized moving device that can cope with either forward or backward movement is realized. Yes.

JP 2008-280021 A Japanese Patent No. 3647733

  However, Patent Document 1 makes it possible to use a plurality of carts as a human-powered cart with a single mobile drive unit, but it is also considered that a plurality of different operations can be performed with a single mobile drive unit. It has not been.

  Further, although Patent Document 2 allows the steering handle to be attached regardless of the front-rear direction, only the attachment direction is taken into account, and a plurality of operations with different uses in one moving drive unit. Cannot be realized.

  The present invention solves these conventional problems, and an object of the present invention is to provide a powered moving apparatus that can handle a plurality of operations.

  In order to solve the above problems, a powered moving apparatus of the present invention includes a main body, a drive unit that drives the main body, a steering unit that is connected to the main body and steers the main body unit, and a posture of the steering unit. And a control unit that changes a drive control characteristic of the drive unit based on a change.

  As described above, according to the powered moving apparatus of the present invention, it is possible to provide a powered moving apparatus that can cope with a plurality of tasks having different uses.

1 is a perspective view of a traction mode of a powered moving device according to Embodiment 1 of the present invention. The perspective view which shows the internal mechanism of the motive power moving apparatus in this Embodiment 1. FIG. The perspective view of the electric vehicle mode of the motive power moving apparatus in this Embodiment 1. Flowchart showing the operation of the powered mobile device in the first embodiment. The principal part perspective view which shows the mechanism of steering and drive in Embodiment 2 of this invention External perspective view of powered moving apparatus according to Embodiment 3 of the present invention External side view of the powered moving device of Patent Document 1 (A) Schematic diagram showing a case where the motorized moving device of Patent Literature 2 is not standing up, (b) Schematic diagram showing a case where the motorized moving device of Patent Literature 2 is standing up

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. In the following description, the same components are denoted by the same reference numerals, and description thereof is omitted as appropriate.

(Embodiment 1)
FIG. 1 is a perspective view of a traction mode of the powered moving apparatus according to Embodiment 1 of the present invention.

  In FIG. 1, the powered moving device 10 that is the movement drive unit of the first embodiment is connected to the carriage 12 that is the driven moving unit by the connecting unit 11, and the powered moving device 10 moves. Thus, the carriage 12 is pulled.

  The powered moving device 10 is moved by a drive wheel 20 using power from an electric motor 14 installed in an exterior cover portion 13 that covers the main body, and a steering handle 16 with a handle 15 protruding above it. Is provided. In addition to the drive wheel 20 that is driven by the power from the electric motor 14, the power-equipped moving device 10 is also provided with a plurality of auxiliary wheels 21 and 22 to improve movement stability. Note that the auxiliary wheel 22 is disposed so that a part of the exterior cover portion 13 protrudes sideways in order to stabilize and prevent pressure on the surrounding people. As shown in FIG. 1, the auxiliary wheel 22 is positioned on the wing-like exterior cover portion 13a protruding sideways, thereby achieving both stability and security.

  The steering handle 16 is also provided with an operation panel 17 on which a display unit and an operation switch for indicating the state of the powered moving apparatus 10 are arranged. As the operation panel 17, a combination of a display and various operation switches, a touch panel display, or the like is used.

  The exterior cover unit 13 illuminates the front of the powered moving device 10 and informs the surrounding operation mode by color, and transmits a warning sound or a message from the powered moving device 10 to the surroundings. A speaker 19 is provided. Here, the light 18 is arranged like an upper eye of the animal as shown in FIG. 1, and the speaker 19 is arranged like the mouth of the animal as shown in FIG. Therefore, it is considered that the powered moving apparatus 10 according to the first embodiment does not give discomfort to surrounding people. In addition, the exterior cover portion 13 has an opening through which the battery 26 can be replaced and connected. The battery 26 can be lifted and taken out in the vertical direction and charged externally or replaced with a new battery. Thus, it is possible to supply new power to the powered mobile device 10.

  The carriage 12 includes a frame portion 23 made of an aluminum member, an article holding space portion 24 provided in the frame portion 23, and a driven wheel that holds the frame portion 23 so as to be movable with respect to the floor surface. 25, a driven moving unit for holding and transporting articles.

  The powered moving device 10 and the carriage 12 are detachably connected by a connecting portion 11 of the powered moving device 10 so that the powered moving device 10 and the carriage 12 can move in conjunction with each other. It is configured. In the state shown in FIG. 1, the carriage 12 is rotatably connected to the powered moving apparatus 10 with the connecting portion 11 as a fulcrum.

  FIG. 2 is a perspective view showing the internal mechanism of the exterior cover 13 removed from the powered moving apparatus 10 in FIG.

  In FIG. 2, in the powered moving apparatus 10, the drive mechanism unit 27 including the drive wheel 20 and the electric motor 14 can be rotated in conjunction with the rotation of the steering handle 16 with respect to the skeleton unit 26 forming the skeleton. It is configured as follows. That is, when the steering handle 16 is rotated in the direction of A in FIG. 2, the drive mechanism unit 27 moves in the direction of B in FIG. It is configured to rotate. Thus, the drive mechanism 27 itself rotates, so that the moving direction can be changed in accordance with the direction of the steering handle 16.

  Further, a steering handle posture detection unit 28 and a force detection unit 29 are provided between the steering handle 16 and the drive mechanism unit 27, and the steering handle 16 can be switched from the external position to the steering handle 16. The applied force can be detected.

  Next, FIG. 3 shows a perspective view of the electric vehicle mode of the powered moving apparatus according to the first embodiment.

  In FIG. 3, the powered moving device 10 that is the movement driving unit of the first embodiment is connected to the seat portion 30 that is the driven moving portion by the connecting portion 11, and the powered moving device 10 and the seat portion are connected. 30 is integrated and moves as an electric vehicle.

  In FIG. 3, the steering handle 16 is provided above the powered moving apparatus 10, and its posture is switched to a position rotated 180 degrees in the horizontal direction around the steering axis with respect to the state of FIG. 1. Therefore, the handle 15 for steering and operation protrudes toward the rear of the powered moving apparatus 10. In the electric vehicle mode shown in FIG. 3, the seat portion 30 on which a person can ride is installed facing the handle 15 of the steering handle 16 and the operation panel 17. The seat portion 30 includes a seat 31 and a seat holding portion 32. The seat 31 is configured to be rotatable and fixed with respect to the seat holding portion 32 so that a person can easily get on and off. . The seat holding part 32 is provided with an auxiliary wheel 33 and a footrest part 34.

  According to such a configuration, a person can move by sitting on the seat portion 30 behind the powered moving device 10 and pushing and pulling the handle 15 of the steering handle 16 or operating the operation panel 17. It is.

  In the state of FIG. 3, the connection by the connecting portion 11 is fixed so that the relative position between the powered moving device 10 and the seat portion 30 does not change. Therefore, the powered mobile device 10 and the seat unit 30 function as an electric cart (electric vehicle). Since the footrest part 34 and the auxiliary wheel 33 are also fixed so as not to change relative to the powered moving apparatus 10, the person sitting on the seat 31 is electrically driven in a stable state without being shaken sideways. It is possible to operate the powered mobile device 10 in the vehicle mode.

  In the first embodiment, speed control is performed by detecting the force of pushing and pulling the handle 15 of the steering handle 16 (the force that moves the handle vertically). The means for detecting the pushing / pulling force of the handle 15 uses the force detector 29, so that it is not necessary to separately install an accelerator sensor or the like.

  The switching between the traction mode shown in FIG. 1 and the electric vehicle mode shown in FIG. 3 is performed by rotating the steering handle 16 from the state of the steering handle 16 shown in FIG. 1 to the state shown in FIG. .

  Then, by switching between the traction mode shown in FIG. 1 and the electric vehicle mode shown in FIG. 3, the control characteristic of the powered moving apparatus 10 is changed to the power assist characteristic as the traction mode (drive for assisting the applied force). It is possible to switch from a control characteristic) to a driving characteristic of power drive by a prime mover (electric motor 14) as an electric vehicle mode by a control unit (not shown). Moreover, not only the switching of the control characteristics, but also the color of the light 18 provided on the display unit of the operation panel 17 and the front surface of the exterior cover unit 13 is controlled and switched by the control unit. It is also possible to tell which mode the current powered mobile device 10 is in. In the first embodiment, the control characteristic is automatically switched by the control unit by switching the posture by rotating the position of the steering handle 16 by 180 degrees in the horizontal direction around the steering shaft.

  Switching between the traction mode and the electric vehicle mode of the powered moving apparatus 10 of the first embodiment described above will be described with reference to the flowchart of FIG. FIG. 4 is a flowchart showing the operation of the powered moving apparatus according to the first embodiment.

  In FIG. 4, first, the attitude (direction) of the steering wheel 16 is detected using the steering wheel attitude detector 28 (step S1). As a result of the detection, when the steering handle 16 is facing forward (the state shown in FIG. 1) (“forward facing” in step S1), the traction mode is selected (step S2), and the drive mechanism unit 27 is driven by power assist driving (step S2). Step S3). Here, as the power assist drive, conventional power assist drive may be performed. For example, the power assist drive for assisting the drive of the drive wheel 20 based on the odometry from the rotational speed of the drive wheel 20 or the handle 15 is provided. A power assist drive that assists driving of the drive wheel 20 based on a force detected by a force detector (not shown) can be used. By determining and assisting the power assist characteristics in this way, even when the weight of the follower moving part is high, it is possible to carry out tow transportation work with a small force and follow the movement of the person for power assist control. It can be transported with a sense of safe operation.

  In step S1, if the attitude (direction) of the steering handle 16 is rearward (the state shown in FIG. 3) (“rearward” in step S1), the electric vehicle mode is selected (step S4), and the drive mechanism unit 27 is turned on. Driven by electric drive (step S5). In the case of driving in the electric vehicle mode, it is preferable that the rotation of the auxiliary wheels 21 and 22 is locked and the powered moving device 10 is steered only by the driving wheels 20. This is because, in the electric vehicle mode, it is desirable that steering such as turning is performed only by an operation on the handle 15 or the operation panel 17 as in an ordinary electric cart.

  In FIG. 1 of the first embodiment, the case where the work of holding and transporting the article is illustrated. However, as the follower moving unit, for example, an object for cleaning the floor or a lawn mowing work is performed. The present invention can be applied to any object that performs various operations that require movement of an object, etc. and that can be moved and driven by the powered moving device 10. Moreover, although FIG. 1 of this Embodiment 1 illustrated the operation | work which a person pulls and conveys in front of the powered moving apparatus 10, the work which a person pushes toward the back from the front of the powered moving apparatus 10 and conveys. Even in the case of, it is applicable.

  In addition, in FIG. 3 of this Embodiment 1, although the case where it connected with the seat part 30 in which a person can board was illustrated, as a follower moving part, it is not limited to what a person sits and moves, for example, It performs various operations that require movement, such as a boarding unit where a person rides in a standing position, a forklift unit that lifts and transports articles, and a surveillance camera unit for patrol photography, Any device that can be moved and driven is applicable. In the first embodiment, the powered moving device 10 is connected to the front of the driven moving unit. However, the embodiment can also be applied to the case where the powered moving device 10 is connected to the rear of the driven moving unit. It is.

  In the first embodiment, the steering handle 16 is illustrated as being switched by rotating 180 degrees with respect to the horizontal direction around the steering axis. However, the steering handle 16 need not be rotated 180 degrees, for example, rotated 90 degrees. It is also possible to configure so that switching is possible at a position or a position moved in a direction perpendicular to the steering axis.

(Embodiment 2)
FIG. 5 is a perspective view showing a main part of a steering and driving mechanism according to Embodiment 2 of the present invention.

  In FIG. 5, the rotation shaft 35 of the steering handle 16 and the rotation shaft 36 of the drive mechanism section 27 are arranged eccentrically, and the rotation of both shafts is transmitted by a transmission mechanism (not shown) such as a pulley, a toothed belt, and a gear. )). As a result, there are fewer restrictions on the installation location of the steering handle 16, and the operability can be improved.

(Embodiment 3)
FIG. 6 is a perspective view of the powered moving device according to the third embodiment.

  In FIG. 6, a person boarding portion 39 that is configured by a pipe member 37 fixed to the powered moving apparatus 10 and a seat member 38 fixed to the pipe member 37 and on which a person can ride is installed. The passenger boarding portion 39 has a mechanism that can be accommodated in a state in which the pipe member 37 and the seat member 38 are folded in the direction of arrow C when not in use.

  The powered mobile device of the present invention is characterized by being able to handle many different tasks efficiently and inexpensively, and capable of being operated by a person with an optimal sense of operation in any work, factory, hospital, airport, Various operations that require movement such as cleaning work, movement monitoring work, warehouse goods storage / removal work, including transportation of goods, at indoor and outdoor locations such as hotels, condominiums, shopping centers, amusement parks, etc. Applicable to usage.

DESCRIPTION OF SYMBOLS 10 Powered moving device 11 Connecting part 12 Carriage 13 Exterior cover part 14 Electric motor 15 Handle 16 Steering handle 17 Operation panel 18 Light 19 Speaker 20 Drive wheel 21, 22, 33 Auxiliary wheel 24 Holding space part 25 Drive wheel 26 Battery 27 Drive Mechanism part 28 Steering wheel attitude detection part 29 Force detection part 30 Seat part 31 Seat 32 Seat holding part 34 Footrest part 35, 36 Rotating shaft 37 Pipe member 38 Seat member 39 Person riding part

Claims (8)

The body,
A drive unit for driving the main body;
A steering unit connected to the main body to steer the main body;
A control unit that changes a drive control characteristic of the drive unit based on a change in the attitude of the steering unit,
Powered moving device. The control unit drives the drive unit between a power assist characteristic that assists an applied force based on a change in the attitude of the steering unit and an electric drive characteristic that is driven only by power from a power source. The control characteristics are switched and changed.
The powered moving device according to claim 1. The main body includes a connecting portion,
The control unit changes to the electric drive characteristic when the steering unit is located on the connection part side, and changes to the power assist characteristic when the steering unit is located on the opposite side to the connection part.
The powered moving device according to claim 2. The steering unit is a steering handle, and the steering handle rotates in a horizontal direction to change a posture.
The powered moving device according to any one of claims 1 to 3. The rotating shaft of the steering handle and the steering shaft of the driving wheel that is the drive unit are configured to rotate in conjunction with each other,
The rotating shaft of the steering handle and the steering shaft of the driving wheel that is the driving unit are arranged eccentrically,
The powered moving device according to claim 4. A fixing mechanism for fixing the attitude of the steering unit is installed at the base of the steering unit, and the steering unit and the driving unit are configured to be interlocked in a state where the steering unit is fixed by the fixing mechanism.
The powered moving device according to any one of claims 1 to 5. Between the steering unit and the drive unit, a force detection unit for detecting the force applied to the steering unit from the outside is installed,
The powered moving device according to any one of claims 1 to 6. A stowable person boarding part connected to the main body,
The powered moving device according to any one of claims 1 to 7.

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