JP2011245932A - Stroller - Google Patents

Abstract

PROBLEM TO BE SOLVED: To give attitude variation such as fluctuation and restoration of inclination without complicating a constitution of a stroller.SOLUTION: The stroller includes: a vertically expandable/contractable elastic member 34 provided between a base body 12 and an axle receptacle 30; and an attitude variation giving means 16 for producing electric energy so as to correspond to expansion/contraction of the elastic member 34 by vertical motion of a wheel 14 due to irregularities of a road surface at traveling when the stroller is set to a power generation mode, and giving attitude variation to the base body 12 by giving external force to the elastic member 34 to make it expand/contract when the stroller is set to an attitude variation giving mode. The attitude variation giving means 16 is constituted of an electric motor having a rotation shaft, a rack gear standingly provided on the axle receptacle 30, and a pinion gear mounted to the rotation shaft of the electric motor and engaged with the rack gear.

Description

  The present invention relates to a stroller for carrying an infant, and more particularly, to a stroller capable of giving a fluctuation operation or a restoration operation when tilted on a slope.

  Conventionally, a baby stroller for carrying an infant is mounted by attaching a seat for the infant to sit on a base composed of a frame with a plurality of wheels, etc., and gripping a push bar attached to the base and pushing it forward. Things are common. In the stroller having such a configuration, a vibration generator using an electromagnet is provided in the seat, and the vibration generator is driven to apply vibration to the seat so as to induce sleep of an infant sitting on the seat. What has been proposed has been proposed (Patent Document 1). If the stroller is tilted on a slope or road surface, restoring the tilt can prevent an infant sitting on the seat from feeling anxious, but there is such a stroller. Not done.

Japanese Patent Laid-Open No. 2004-24678

  By the way, in a stroller on which an infant is placed, by giving appropriate fluctuations and vibrations, an infant who does not have to be brought to sleep can be treated, and convenience is further improved. However, in the above conventional configuration, since it is necessary to provide a vibration generator using an electromagnet in the seat, not only the cushioning property of the seat is inhibited, but also a power source for operating the vibration generator and Therefore, if it is intended to realize the operation of the vibration generator for a relatively long time, it is necessary to increase the capacity of the secondary battery.

  In addition, if the inclination on a slope or the like can be restored, it is possible to prevent an infant in a stroller from feeling uneasy, and the convenience as a stroller is further enhanced. Even in this case, not only a drive device for restoring the tilt is required, but also a secondary battery as a power source for operating the drive device is required, and the same problem as described above occurs.

  The present invention has been made in view of such circumstances, and is capable of giving a posture change such as restoring fluctuations and inclinations. The secondary battery can be made longer without increasing the size of the secondary battery. An object of the present invention is to provide a stroller that can be powered for hours.

  In order to achieve the above object, a stroller according to an aspect of the present invention includes a seat on which an infant is seated on a base body on which a plurality of wheels for traveling on a road surface are provided via axle bearings. An elastic member provided between the axle bearing and the base body and capable of expanding and contracting in a vertical direction; switch means for selectively switching to one of the first operation mode and the second operation mode; When the switch means is switched to the first operation mode, the switch means generates electrical energy in response to the elastic member expanding and contracting due to the vertical movement of the wheel due to unevenness of the road surface during traveling. Posture change applying means for applying a posture change to the base body by applying an external force to the elastic member to cause the elastic member to expand and contract when the mode is switched to the second operation mode. A secondary battery that stores the electrical energy generated by the posture change applying means, and the switch means is operated to selectively switch to one of the first operation mode and the second operation mode, and the switch means When the second operation mode is switched to the second operation mode, drive control means for supplying electric energy from the secondary battery and drivingly controlling the posture change applying means is provided.

  According to the stroller according to one aspect of the present invention, when the switch unit is switched to the first operation mode, the elastic member is expanded and contracted by the vertical movement of the wheel due to the unevenness of the road surface during traveling, so that the seat is seated. In addition to alleviating the impact on the infant, the posture change imparting means is activated in response to the expansion / contraction operation of the elastic member, so that electric energy for charging the secondary battery can be generated. In addition, when the switch means is switched to the second operation mode, the posture change applying means applies an external force to cause the elastic member to expand and contract, thereby giving the base body a fluctuation operation or giving the base body a tilt restoring operation. It is possible to change the posture of the substrate. As described above, in the present invention, since the secondary battery can be charged by the posture change applying means for changing the posture of the base body, power can be supplied for a longer time without increasing the size of the secondary battery. .

  In another aspect of the present invention, the stroller described above is provided with a motion sensor that detects the movement of an infant seated on the seat, and the posture change applied to the base body is a fluctuation operation. The drive control means operates the switch means to switch from the first operation mode to the second mode when the motion sensor detects the movement of the infant, and drives and controls the posture change giving means. The present invention is characterized in that a fluctuation operation is given to the substrate.

  According to the stroller of another aspect of the present invention, the drive control means operates from the first operation mode by operating the switch means when the movement sensor provided on the seat detects movement of the infant. While switching to the second mode and driving control of the posture change imparting means to give a fluctuation operation to the base, an appropriate fluctuation mode obtained experimentally (1 / f fluctuation, imitating a shake of a railway or a car, etc.) By setting it to “Fluctuation etc.”, it is possible to ease a difficult infant by a fluctuation operation.

  In another aspect of the present invention, in the stroller described above, manual operation means is provided at a predetermined position, the posture change applied to the base body is a fluctuation operation, and the drive control means is the manual operation means. When the switch is manually operated, the switch means is operated to switch from the first operation mode to the second mode, and the posture change applying means is driven to give a fluctuation operation to the base. It is a feature.

  According to the stroller of another aspect of the present invention, the drive control means activates the switch means when the manual operation means provided at a predetermined position is manually operated, so that the second operation mode is changed from the first operation mode to the second operation mode. Since switching to the mode and driving control of the posture change imparting means is given to the base body, an appropriate fluctuation mode obtained experimentally (1 / f fluctuation, imitating sleep that induces sleep such as railways and cars) By setting it to “fluctuation etc.”, it is possible to ease infants who have difficulty by manually operating the manual operation means as necessary.

  In another aspect of the present invention, the stroller described above is provided with a tilt sensor that detects the tilt of the base at a predetermined position, and the posture change applied to the base is a tilt restoring operation, and the driving The control means activates the switch means when the inclination sensor detects the inclination of the base to switch from the first operation mode to the second mode, and controls the posture change applying means to drive the base. It is characterized in that it gives an inclination restoration operation.

  According to the stroller of another aspect of the present invention, the drive control means activates the switch means when the inclination sensor provided at a predetermined position detects the inclination of the base body, so that the second operation mode is changed from the first operation mode to the second operation mode. By switching to the mode, driving and controlling the posture change applying means to give the base body a restoration operation of inclination, the base body inclination that occurs when the road is inclined or the step is large can be reduced, The feeling of anxiety given to infants sitting on the seat can be relieved.

  In another aspect of the present invention, in the stroller described above, the posture change imparting unit is attached to an electric motor having a rotation shaft, a rack gear erected on the axle bearing, and a rotation shaft of the electric motor. And a pinion gear engaged with the rack gear.

  According to the stroller of another aspect of the present invention, the posture change imparting means includes an electric motor having a rotation shaft, a rack gear standing on the axle bearing, and a rotation shaft of the electric motor. Since it is composed of the combined pinion gear, the charging of the secondary battery and the posture change applied to the substrate can be reliably executed by the same posture change applying means.

  Further, in another aspect of the present invention, in the stroller described above, the posture change imparting means includes a linear motor configured by a standing cylindrical coil and a magnet disposed in the cylindrical coil; The linear motor is formed so as to be freely inserted into a cylindrical coil, is attached to the magnet, and is composed of a central rod standing on the axle bearing.

  According to the stroller of another aspect of the present invention, the posture change applying means includes a linear motor including a standing cylindrical coil and a magnet disposed in the cylindrical coil, and the linear motor. Since it is formed in a cylindrical coil of a motor so as to be freely inserted and attached to a magnet, and is composed of a central rod standing on an axle bearing, charging of a secondary battery and change in posture applied to a base are performed. It can be reliably executed by the same posture change applying means.

  The stroller of the present invention can give posture changes such as a fluctuation operation and an inclination restoration operation, and can supply power for a long time without increasing the size of the secondary battery.

It is a principal part notch side view which shows roughly the basic composition of the stroller which concerns on one Embodiment of this invention. It is a principal part bottom view which shows the arrangement structure of the some wheel of a stroller. It is a figure for demonstrating the measurement direction of the inclination sensor of a stroller. It is a figure which shows the structural example of the attitude | position change provision part of a stroller. It is a figure for demonstrating operation | movement of the attitude | position change provision part of a stroller. It is a figure for demonstrating operation | movement of the attitude | position change provision part of a stroller. It is a block diagram for demonstrating the control structure for giving a posture change to the base | substrate of a stroller. It is a block diagram for demonstrating the function implementation part with which a controller is equipped. It is a flowchart for demonstrating operation | movement which gives a fluctuation | variation operation | movement to the base | substrate of a stroller. It is a flowchart for demonstrating operation | movement which gives the restoring operation | movement of inclination to the base | substrate of a stroller. It is a flowchart for demonstrating operation | movement which gives the restoring operation | movement of inclination to the base | substrate of a stroller. It is a flowchart for demonstrating operation | movement which gives the restoring operation | movement of inclination to the base | substrate of a stroller. It is a flowchart for demonstrating operation | movement which gives the restoring operation | movement of inclination to the base | substrate of a stroller. It is a figure for demonstrating the timing which gives the restoring operation | movement of inclination to the base | substrate of a stroller. It is a figure which shows another structural example of the base | substrate of a stroller. It is principal part sectional drawing which shows another structural example of the attitude | position change provision part of a stroller.

  FIG. 1 is a cutaway side view schematically showing a basic configuration of a stroller according to an embodiment of the present invention, and FIG. 2 is a bottom view showing the arrangement of a plurality of wheels provided in the stroller. It is.

  In these drawings, a stroller 10 includes a plate-like base 12 for attaching wheels and the like, four front and rear wheels 14 attached to the lower surface side of the base 12, and a base corresponding to each wheel 14 respectively. 12, a posture change imparting section 16 attached to 12, a cushioning seat 18 for seating an infant attached to the upper surface side of the base body 12, a tilt sensor 20 attached to the upper surface side of the base body 12, A control box 22 attached to the upper surface side, a hand pusher 24 attached integrally to the base 12 obliquely upward, and a manual instruction switch 26 attached to an appropriate position above the hand pusher 24 are provided. The base body 12 is provided with covering bodies 28 that cover the sheet 18 on both the left and right sides in the traveling direction.

  The wheels 14 are provided on the base 12 via the axle bearings 30 provided on the lower surface side of the base 12 corresponding to the respective wheels 14, and the axles 32 protruding from the respective axle bearings 30 are provided on the axles 32. It is attached so that it can rotate freely. Each axle bearing 30 is attached to the base 12 via an elastic member 34 made of a spring. That is, the elastic member 34 can be expanded and contracted in the vertical direction, and a lower end thereof is fixed to the axle bearing 30 and an upper end thereof is fixed to the lower surface of the base body 12 to support each axle bearing 30 on the base body 12. ing.

  When the stroller 10 is set to the power generation mode that is the first operation mode, the posture change imparting unit 16 corresponds to the electric energy corresponding to the elastic member 34 extending and contracting in the vertical direction when traveling due to the unevenness of the road surface. When the stroller 10 is set to the posture change grant mode which is the second operation mode, the base member 12 is caused to extend and contract by applying an external force to the elastic member 34. It gives a posture change (fluctuation motion or tilt recovery motion). A specific configuration of the posture change applying unit 16 will be described later.

  The seat 18 has a backrest 36 integrally attached, and a motion sensor 38 including a piezoelectric sensor for detecting the movement of the infant is provided above the inside of the place where the infant sits. The motion sensor 38 detects a pressure applied when an infant has difficulty swinging his / her limbs. As the motion sensor 38, for example, a plurality of piezoelectric sensors may be scattered at appropriate positions on the sheet 18, or a pressure sensitive sheet having a predetermined area may be disposed at appropriate positions on the sheet 18. .

  The tilt sensor 20 is for detecting the tilt of the base 12 when the base 12 is tilted due to a slope or a road surface level. Specifically, as shown in FIG. The left hand wheel 14 of the front wheels 14 is FL, the right hand wheel 14 is FR, the left hand wheel 14 of the rear wheels (rear wheels) 14 in the traveling direction is RL, and the right hand wheel 14 is RR. When detected, the inclinations in the two directions of the FL-RR direction and the FR-RL direction are detected. For this reason, in this embodiment, the inclination sensor 20 includes a sensor that detects the inclination in the FL-RR direction and a sensor that detects the inclination in the FR-RL direction.

  The control box 22 houses a control circuit for controlling the operation of the posture change applying unit 16. The manual instruction switch 26 is for manually giving an instruction to change the posture of the base 12. For example, when the manual instruction switch 26 is turned on once, an instruction signal for giving a fluctuation operation to the base 12 is output by the posture change applying unit 16. In addition, by the successive two on operations of the manual instruction switch 26, the posture change applying unit 16 can be switched to a mode in which a tilt restoring operation is given to the base body 12 tilted on a slope or the like.

  FIG. 4 is a diagram illustrating a specific configuration example of the posture change imparting unit 16. As described above, the posture change imparting unit 16 is attached to the base 12 corresponding to each wheel 14 and has the same configuration and function. Only the change providing unit 16 is shown. That is, the posture change applying unit 16 includes an electric motor 42 having a rotation shaft 40 attached to the lower surface of the base 12, a pinion gear 44 fitted to the rotation shaft 40 of the electric motor 42, and an elastic member 34. Thus, the lower end is fixed to the upper surface of the axle bearing 30 attached to the base body 12 and is arranged in the vertical direction so as to protrude above the base body 12 and is constituted by a rack gear 46 that meshes with the pinion gear 44. . Note that the electric motor 42 is configured to rotationally drive the rotary shaft 40 using the force generated by the interaction between the magnetic field and the current. In this embodiment, a DC motor is used. The electric motor 42 includes a torque sensor 48 (FIG. 7) for detecting the torque on the rotating shaft 40 and the like.

  The posture change imparting unit 16 configured as described above functions as follows when the power generation mode is set. That is, as shown in FIG. 5, when the axle bearing 30 is lifted to the base 12 side against the elastic force of the elastic member 34 via the wheels 14 due to unevenness of the road surface (in this case, the elastic member 34 is in a contracted state), and the rack gear 46 moves upward together with the wheel bearing 30 to rotate the rotating shaft 40 of the electric motor 42 in the direction of the arrow through the pinion gear 44.

  Further, as shown in FIG. 6, when the axle bearing 30 is pulled down to the side away from the base body 12 against the elastic force of the elastic member 34 via the wheels 14 due to unevenness of the road surface (in this case) The elastic member 34 is extended), and the rack gear 46 moves downward together with the wheel bearing 30 to rotate the rotating shaft 40 of the electric motor 42 in the direction of the arrow opposite to that in FIG. I will let you.

  That is, as shown in FIGS. 5 and 6, the electric motor 42 functions as a generator by rotating the rotating shaft 40 continuously or intermittently in both forward and reverse directions due to unevenness of the road surface. It generates electrical energy in both forward and reverse directions.

  On the other hand, the posture change providing unit 16 configured as described above functions as follows when the posture change applying mode is set. That is, as shown in FIG. 5, in order to give the base body 12 a fluctuation operation or to give the base body 12 a tilt restoring operation, when the axle bearing 30 (wheel 14) is brought close to the base body 12 side, By applying a predetermined torque and rotating the electric motor 42 in the direction of the arrow, the rack gear 46 is pulled up to a predetermined position corresponding to the torque against the elastic force of the elastic member 34.

  In addition, as shown in FIG. 6, the axle bearing 30 (wheel 14) is pulled down to the side away from the base body 12 in order to give a fluctuation action to the base body 12 or to give a tilting restoring action to the base body 12. In order to reduce the rack gear 46 to a predetermined position corresponding to the torque against the elastic force of the elastic member 34 by applying a predetermined torque and rotationally driving the electric motor 42 in the direction of the arrow opposite to FIG. It will be.

  That is, when the electric motor 42 gives a fluctuation operation to the base body 12, a programmed fluctuation operation (1 / f fluctuation, fluctuation imitating a shake of a railroad, an automobile, etc.) is performed as shown in FIGS. 5 and 6. As shown, each electric motor 42 is rotationally driven in both forward and reverse directions continuously or intermittently. When the tilt restoring operation is applied to the base 12, as shown in FIGS. 5 and 6, the electric motor 42 at a position necessary for restoring the tilt has a predetermined torque in the direction necessary for restoring the tilt. It will be driven to rotate.

  FIG. 7 is a block diagram for explaining a control configuration for giving a posture change such as giving a fluctuation operation to the base 12 or giving a tilt restoring operation to the base 12.

  In this figure, the control circuit 50 includes a mode changeover switch 52 that selectively switches between a power generation mode that is a first operation mode and a posture change imparting mode that is a second operation mode, and a mode changeover switch 52. A voltage regulator 54 that operates when switched to the power generation mode, and a drive power source that rotationally drives the electric motor 42, a secondary battery 56 that stores electrical energy generated by the attitude change imparting unit 16, and an electric motor The motor drive circuit 58 which rotationally drives 42, and the controller 60 which controls the whole operation | movement are provided. Note that only one mode change switch 52, voltage regulator 54, and motor drive circuit 58 are shown in the figure for convenience, but all correspond to the four electric motors 42 constituting the posture change imparting unit 18. Is provided.

  Here, the mode switch 52 is configured by an electronic switch, and is selectively switched to either the power generation mode or the posture change imparting mode based on a control signal from the controller 60. The mode changeover switch 52 supplies the output from the electric motor 42 to the voltage regulator 54 when switched to the power generation mode, and outputs the output from the motor drive circuit 58 when switched to the posture change imparting mode. The circuit is connected so as to be supplied to.

  The voltage regulator 54 is configured by an AC-DC converter or the like, and is configured to convert the electrical energy generated by the corresponding electric motor 42 into a certain level of direct current. The electrical energy converted into the direct current Is supplied to the secondary battery 56.

  The motor drive circuit 58 executes PWM control or the like, and adjusts the electric energy from the secondary battery 56 to a predetermined level based on a control signal from the controller 60 and supplies it to the electric motor 42. As a result, the electric motor 42 is rotationally driven with a predetermined level of torque corresponding to the supplied electric energy, applies an external force to the elastic member 34 to perform an expansion / contraction operation, and changes the posture of the base 12.

  The controller 60 includes a CPU that executes arithmetic processing, a ROM that stores predetermined processing programs and data, and a microcomputer that includes RAM that temporarily stores processing data. The instruction switch 26, the motion sensor 38, and the torque sensor 48 are connected via an interface circuit (not shown), and operate by supplying a control signal to the mode changeover switch 52 and the motor drive circuit 58.

  As shown in FIG. 8, the controller 60 is supplied with a control signal to the mode changeover switch 52, and is controlled by a mode changeover unit 60a and a motor drive circuit 58 that are switched to either the power generation mode or the posture change imparting mode. A motor driving unit 60b that supplies a signal to rotationally drive the electric motor 42, a tilt data processing unit 60c that processes tilt data output from the tilt sensor 20, and an operation determination that determines whether or not the manual instruction switch 26 has been operated. 60d, a movement determination unit 60e for determining the movement of the infant, such as when the infant is rampant based on the output value from the motion sensor 38, and the mode changeover switch 52 operates in any of the power generation mode and the posture change giving mode. Based on the output value from the mode discriminating unit 60 f that discriminates whether the mode has been switched or the tilt sensor 20. The inclination determination unit 60g for determining the inclination of the base 12 and the torque determination unit 60h for determining the magnitude of the torque of the electric motor 42 based on the output value from the torque sensor 48 provided in the electric motor 42. A function realization unit is provided.

  FIG. 9 is a flowchart for explaining an operation of giving a fluctuation operation to the base 12 by the control circuit 50. First, when a power switch (not shown) provided in the control box 22 is turned on, the mode switching unit 52a is operated by the mode switching unit 60a, and the power generation mode is set as an initial setting (step # 10). When the power generation mode is set, the elastic member 34 expands and contracts due to the unevenness of the road surface during traveling and the rotation shaft 40 of the electric motor 42 is rotated, and electric energy is generated. Each voltage regulator 54 corresponding to the electric motor 42 is converted into a certain level of direct current and supplied to the secondary battery 56.

  As described above, when the secondary battery 56 is set to the power generation mode by the mode changeover switch 52, the electric energy generated by each electric motor 42 is converted into direct current by the corresponding voltage regulator 54 and supplied. Thus, the battery is charged and a predetermined level of voltage is maintained. Note that, when the power generation mode is set, the elastic member 34 also has a function of mitigating the impact caused by the unevenness of the road surface during traveling from being transmitted to the base body 12 via the wheels 14.

  Next, whether or not the manual operation switch 26 is turned on by manual operation is determined by the operation determination unit 60d (step # 12). If it is determined in step # 12 that the switch is turned on, the mode switch 52 is switched by the mode switching unit 60a to set the posture change giving mode (step # 14). Thereby, each electric motor 42 is rotationally driven in both the forward and reverse directions by the motor drive unit 60b so as to give a predetermined fluctuation operation to the base 12 (step # 16). When the manual operation switch 26 is turned on, the control signal is continuously output to the mode change switch 52, and the control signal for the mode change switch 52 is set to be stopped by the on operation again. Yes.

  Next, the process returns to step # 12, and the subsequent operations are executed. That is, each electric motor 42 is rotationally driven in both forward and reverse directions so as to have a programmed rotational direction and torque, and thereby the corresponding elastic member 34 is expanded and contracted, thereby being programmed in the base 12. A gentle predetermined fluctuation operation is given. As described above, the swinging motion is given to the base body 12, so that the infant who has been violently exposed is crushed. This fluctuation operation is set so as to be a comfortable fluctuation for infants, such as 1 / f fluctuation, fluctuations imitating shaking of a railway or a car, and the like.

  On the other hand, if it is determined in step # 12 that the on-operation is not performed (including the case where the on-operation is not originally performed and the case where the on-operation is performed again), whether or not the mode changeover switch 52 is set to the power generation mode is determined. It is discriminated by the mode discriminating unit 60f (step # 18).

  If the determination in step # 18 is affirmative (when the on-operation is not originally performed), the motion determination unit 60e determines whether the signal level output from the motion sensor 38 is greater than or equal to a predetermined value. (Step # 20). That is, when an infant sitting on the seat 18 flutters, such as flapping, a signal having a magnitude greater than or equal to a predetermined value is output from the motion sensor 38, so this output value is set as a threshold value.

  If the determination in step # 20 is negative, the process returns to step # 12 and subsequent operations are executed. If the determination at step # 18 is negative (when the switch is turned on again), mode switching switch 52 is switched by mode switching unit 60a to set the power generation mode (step # 22), and then step # 22. 20

  If the determination in step # 20 is affirmed, the process proceeds to step # 14 and the subsequent operations are executed. That is, the mode changeover switch 52 is switched by the mode changeover unit 60a to be set to the posture change giving mode, and each electric motor 42 is rotated in both forward and reverse directions by the motor drive unit 60b so as to give a predetermined fluctuation operation to the base body 12. Driven. As a result, the corresponding elastic member 34 is expanded and contracted to give a gentle predetermined fluctuation operation programmed in the base 12, so that an infant who has been violently exposed can be eased.

  FIGS. 10 to 13 are flowcharts for explaining the operation of giving the tilt restoring operation to the base 12 by the control circuit 50. In describing this operation, the timing for applying an inclination restoring operation to the base 12 will be described with reference to FIG. Since the restoring operation of the base 12 is theoretically the same in the FL-RR direction and the FR-RL direction shown in FIG. 3, only the FR-RL direction will be described here for convenience.

  That is, in FIG. 14, positive and negative θ2 (+ θ2 indicates an inclination in a direction in which the front side (FR side) in the traveling direction is high and the rear side (RL side) is low in the FR-RL direction shown in FIG. -Θ2 indicates the inclination in the direction in which the rear side (RL side) in the traveling direction is higher and the front side (FR side) is lower in the FR-RL direction shown in FIG. It shows a critical value that may lead to a fall with a momentary inclination. When the inclination sensor 20 detects an inclination exceeding + θ2 or −θ2 (measured value> + θ2 or measured value <−θ2), in the present embodiment, in the FR-RL direction immediately with respect to the substrate 12. A tilt restoring operation (an operation for giving a motion in a direction to restore the tilt) is executed.

  Further, positive and negative θ1 (+ θ1 indicates the inclination in the direction in which the front side (FR side) in the traveling direction is higher and the rear side (RL side) is lower in the FR-RL direction shown in FIG. In the FR-RL direction shown in FIG. 3, the inclination in the direction in which the rear side (RL side) in the traveling direction is high and the front side (FR side) is low) is rattling during traveling (continuous instantaneous inclination). ) Is a time average slope (threshold). That is, the measured value in the FR-RL direction by the tilt sensor 20 is −θ2 ≦ measured value ≦ + θ2, and even if there is no risk of falling over immediately, the sitting comfort of the infant is poor when the base 12 continues to tilt. In this embodiment, the average value of the time series data of the measurement value for a predetermined time (for example, 0.5 seconds) is obtained, and −θ1> average value or + θ1 <average value is obtained. Then, the restoring operation of the tilt in the FR-RL direction (the operation of giving the motion in the direction of restoring the tilt) is performed on the base 12.

  First, based on FIG. 10, the restoration operation when the measured value of the tilt of the base body 12 exceeds −θ2 will be described. In the present embodiment, the mode in which the fluctuation operation is applied to the base body 12 and the mode in which the tilt restoration operation is provided to the base body 12 can be switched by two successive ON operations of the manual operation switch 26.

  First, when a power switch (not shown) provided in the control box 22 is turned on, the mode changeover switch 52a operates the mode changeover switch 52 to set the power generation mode as an initial setting (step # 30). When the power generation mode is set, the elastic member 34 expands and contracts due to unevenness of the road surface during traveling and the rotation shaft 40 of the electric motor 42 is rotated to generate electric energy. The corresponding voltage regulator 54 converts each to a certain level of direct current and supplies it to the secondary battery 56.

  As described above, when the secondary battery 56 is set to the power generation mode by the mode changeover switch 52, the electric energy generated by each electric motor 42 is converted into direct current by the corresponding voltage regulator 54 and supplied. Thus, the battery is charged and a predetermined level of voltage is maintained. Note that, when the power generation mode is set, the elastic member 34 also has a function of mitigating the impact caused by the unevenness of the road surface during traveling from being transmitted to the base body 12 via the wheels 14.

  Next, whether or not the measured value of the tilt in the FR-RL direction by the tilt sensor 20 is smaller than -θ2 is determined by the tilt determination unit 60g (step # 32). If the determination in step # 32 is affirmative, the mode switch 52 is switched by the mode switching unit 60a to set the posture change giving mode (step # 34).

  Next, the electric motors 42 corresponding to the respective wheels 14 in the FR-RL direction are respectively driven to rotate, and a tilt restoring operation is given to the base 12 (step # 36). That is, the electric motor 42 is rotationally driven in the direction in which the elastic member 34 corresponding to the FR wheel 14 extends, and the electric motor 42 is rotationally driven in the direction in which the elastic member 34 corresponding to the RL wheel 14 contracts. Thereafter, returning to step # 32, the subsequent operations are repeatedly executed. Thereby, the inclination of the base 12 is eliminated or the inclination is relieved, and it is possible to prevent the infant sitting on the seat 18 from feeling uneasy.

  On the other hand, if the determination in step # 32 is negative, the mode determination unit 60f determines whether or not the power generation mode is set (step # 38). If the determination in step # 38 is negative (that is, the posture change imparting mode is set), the electric motor 42 reduces the electric energy supplied to the electric motor 42 by the motor driving circuit 58. (Step # 40).

  Next, it is determined by the torque determination unit 60h whether or not the torque of the electric motor 42 has become a predetermined value or less (step # 42). The torque is measured when the electric motor 42 stops rotating due to the elastic force of the elastic member 34. If the determination in step # 42 is affirmative, the drive of the electric motor 42 is stopped (step # 44). As described above, by reducing the torque of the electric motor 42 before stopping the driving of the electric motor 42, the elastic member 42 can be gently expanded and contracted, and a sudden posture change can be alleviated. it can.

  Thereafter, the mode changeover switch 52a operates the mode changeover switch 52 to set the power generation mode (step # 46), and the process proceeds to step # 32 to repeat the subsequent operations. If the determination in step # 38 is affirmative (that is, the power generation mode remains set), the process proceeds to step # 32 and the subsequent operations are repeatedly executed. Also, if the determination at step # 42 is negative, the operation proceeds to step # 32 and the subsequent operations are repeated.

  Next, based on FIG. 11, the restoration operation in the case where the measured value of the tilt of the substrate 12 exceeds + θ2 will be described. First, when a power switch (not shown) provided in the control box 22 is turned on, the mode switching switch 52 is operated by the mode switching unit 60a, and the power generation mode is set as an initial setting (step # 50). When the power generation mode is set, the elastic member 34 expands and contracts due to unevenness of the road surface during traveling and the rotation shaft 40 of the electric motor 42 is rotated to generate electric energy. The corresponding voltage regulator 54 converts each to a certain level of direct current and supplies it to the secondary battery 56.

  Thus, as in the case shown in FIG. 10, when the secondary battery 56 is set in the power generation mode, the electric energy generated by each electric motor 42 is converted to direct current by the corresponding voltage regulator 54. So that the battery is charged and a predetermined level of voltage is maintained. In addition, when the power generation mode is set, the elastic member 34 also has a function of mitigating the impact generated by the unevenness of the road surface during traveling from being transmitted to the base body 12 via the wheels 14.

  Next, whether or not the measured value of the tilt in the FR-RL direction by the tilt sensor 20 is larger than + θ2 is determined by the tilt determination unit 60g (step # 52). If the determination in step # 52 is affirmative, the mode switch 52 is switched by the mode switching unit 60a to set the posture change giving mode (step # 54).

  Next, the electric motors 42 corresponding to the respective wheels 14 in the FR-RL direction are respectively driven to rotate, and a tilt restoring operation is given to the base 12 (step # 56). That is, the electric motor 42 is rotationally driven in the direction in which the elastic member 34 corresponding to the FR wheel 14 is contracted, and the electric motor 42 is rotationally driven in the direction in which the elastic member 34 corresponding to the RL wheel 14 is extended. Thereafter, returning to step # 52, the subsequent operations are repeatedly executed. Thereby, the inclination of the base 12 is eliminated or the inclination is relieved, and it is possible to prevent the infant sitting on the seat 18 from feeling uneasy.

  On the other hand, if the determination in step # 52 is negative, the mode determination unit 60f determines whether or not the power generation mode is set (step # 58). If the determination in step # 58 is negative (that is, the posture change imparting mode is set), the electric energy supplied to the electric motor 42 by the motor drive circuit 58 is reduced to reduce the electric motor 42. (Step # 60).

  Next, it is determined by the torque determination unit 60h whether or not the torque of the electric motor 42 has become a predetermined value or less (step # 62). The torque is measured when the electric motor 42 stops rotating due to the elastic force of the elastic member 34. If the determination in step # 62 is affirmative, the drive of the electric motor 42 is stopped (step # 64). As described above, by reducing the torque of the electric motor 42 before stopping the driving of the electric motor 42, the elastic member 42 can be gently expanded and contracted, and a sudden posture change can be alleviated. it can.

  Thereafter, the mode changeover switch 52a operates the mode changeover switch 52 to set the power generation mode (step # 66), and the process proceeds to step # 52 to repeat the subsequent operations. If the determination in step # 58 is affirmative (that is, the power generation mode remains set), the process proceeds to step # 52 and the subsequent operations are repeated. Also, if the determination in step # 62 is negative, the process proceeds to step # 52 and the subsequent operations are repeated.

  Next, based on FIG. 12, the restoration operation when the average value of the inclination of the substrate 12 becomes a value exceeding -θ1 will be described. First, when a power switch (not shown) provided in the control box 22 is turned on, the mode switching switch 52 is operated by the mode switching unit 60a, and the power generation mode is set as an initial setting (step # 70). When the power generation mode is set, the elastic member 34 expands and contracts due to unevenness of the road surface during traveling and the rotation shaft 40 of the electric motor 42 is rotated to generate electric energy. The corresponding voltage regulator 54 converts each to a certain level of direct current and supplies it to the secondary battery 56.

  Thus, as in the case shown in FIG. 10, when the secondary battery 56 is set in the power generation mode, the electric energy generated by each electric motor 42 is converted to direct current by the corresponding voltage regulator 54. So that the battery is charged and a predetermined level of voltage is maintained. In addition, when the power generation mode is set, the elastic member 34 also has a function of mitigating the impact generated by the unevenness of the road surface during traveling from being transmitted to the base body 12 via the wheels 14.

  Next, among the measured values of the inclination in the FR-RL direction taken into the RAM from the inclination sensor 20, the average value of the inclination for the most recent predetermined time is calculated by the inclination data processing unit 60c (step # 72). This calculated value is stored in a RAM or the like. Thereafter, the inclination determining unit 60g determines whether or not the average value of the inclination obtained in step # 72 is smaller than -θ1 (step # 74). If the determination in step # 74 is affirmative, the mode switch 52 is switched by the mode switching unit 60a to set the posture change giving mode (step # 76).

  Next, the electric motor 42 corresponding to each wheel 14 in the FR-RL direction is rotationally driven, and a tilt restoring operation is given to the base 12 (step # 78). That is, the electric motor 42 is rotationally driven in the direction in which the elastic member 34 corresponding to the FR wheel 14 extends, and the electric motor 42 is rotationally driven in the direction in which the elastic member 34 corresponding to the RL wheel 14 contracts. Thereafter, the process returns to step # 74 and is compared with the average value of the latest gradient, and the subsequent operations are repeatedly executed. Thereby, the inclination of the base 12 is eliminated or the inclination is relieved, and it is possible to prevent the infant sitting on the seat 18 from feeling uneasy.

  On the other hand, if the determination in step # 74 is negative, the mode determination unit 60f determines whether or not the power generation mode is set (step # 80). If the determination in step # 80 is negative (that is, the posture change imparting mode is set), the electric energy supplied to the electric motor 42 by the motor drive circuit 58 is reduced to reduce the electric motor 42. (Step # 82).

  Next, it is determined by the torque determination unit 60h whether or not the torque of the electric motor 42 has become equal to or less than a predetermined value (step # 84). The torque is measured when the electric motor 42 stops rotating due to the elastic force of the elastic member 34. If the determination in step # 84 is affirmative, the drive of the electric motor 42 is stopped (step # 86). As described above, by reducing the torque of the electric motor 42 before stopping the driving of the electric motor 42, the elastic member 42 can be gently expanded and contracted, and a sudden posture change can be alleviated. it can.

  Thereafter, the mode changeover switch 52a operates the mode changeover switch 52 to set the power generation mode (step # 88), and the process proceeds to step # 74 where it is compared with the average value of the latest slope and the subsequent operations are repeatedly executed. . If the determination in step # 80 is affirmative (that is, the power generation mode remains set), the process proceeds to step # 74 and is compared with the average value of the latest slope, and the subsequent operations are repeatedly executed. The Also, if the determination in step # 84 is negative, the process proceeds to step # 74, where it is compared with the average value of the latest slope and the subsequent operations are repeated.

  Next, based on FIG. 13, the restoring operation when the average value of the inclination of the base body 12 exceeds + θ1 will be described. First, when a power switch (not shown) provided in the control box 22 is turned on, the mode changeover switch 52a operates the mode changeover switch 52 to set the power generation mode as an initial setting (step # 90). When the power generation mode is set, the elastic member 34 expands and contracts due to unevenness of the road surface during traveling and the rotation shaft 40 of the electric motor 42 is rotated to generate electric energy. The corresponding voltage regulator 54 converts each to a certain level of direct current and supplies it to the secondary battery 56.

  Thus, as in the case shown in FIG. 10, when the secondary battery 56 is set in the power generation mode, the electric energy generated by each electric motor 42 is converted to direct current by the corresponding voltage regulator 54. So that the battery is charged and a predetermined level of voltage is maintained. In addition, when the power generation mode is set, the elastic member 34 also has a function of mitigating the impact generated by the unevenness of the road surface during traveling from being transmitted to the base body 12 via the wheels 14.

  Next, among the measured values of the tilt in the FR-RL direction fetched from the tilt sensor 20 into the RAM, the average value of the tilt for the most recent predetermined time is calculated by the tilt data processing unit 60c (step # 92). This calculated value is stored in a RAM or the like. Thereafter, whether or not the average value of the inclination obtained in Step # 92 is larger than + θ1 is determined by the inclination determining unit 60g (Step # 94). If the determination in step # 94 is affirmative, the mode switch 52 is switched by the mode switching unit 60a to set the posture change giving mode (step # 96).

  Next, the electric motors 42 corresponding to the respective wheels 14 in the FR-RL direction are respectively driven to rotate, and a tilt restoring operation is given to the base 12 (step # 98). That is, the electric motor 42 is rotationally driven in the direction in which the elastic member 34 corresponding to the FR wheel 14 is contracted, and the electric motor 42 is rotationally driven in the direction in which the elastic member 34 corresponding to the RL wheel 14 is extended. Thereafter, the process returns to step # 94, where it is compared with the average value of the latest slope, and the subsequent operations are repeated. Thereby, the inclination of the base 12 is eliminated or the inclination is relieved, and it is possible to prevent the infant sitting on the seat 18 from feeling uneasy.

  On the other hand, if the determination in step # 94 is negative, the mode determination unit 60f determines whether or not the power generation mode is set (step # 100). If the determination in step # 100 is negative (that is, the posture change imparting mode is set), the electric energy supplied to the electric motor 42 by the motor drive circuit 58 is reduced to reduce the electric motor 42. (Step # 102).

  Next, it is determined by the torque determining unit 60h whether or not the torque of the electric motor 42 has become a predetermined value or less (step # 104). The torque is measured when the electric motor 42 stops rotating due to the elastic force of the elastic member 34. If the determination at step # 104 is affirmative, the drive of the electric motor 42 is stopped (step # 106). As described above, by reducing the torque of the electric motor 42 before stopping the driving of the electric motor 42, the elastic member 42 can be gently expanded and contracted, and a sudden posture change can be alleviated. it can.

  Thereafter, the mode changeover switch 52a operates the mode changeover switch 52 to set the power generation mode (step # 108), and further shifts to step # 94 where it is compared with the average value of the latest slope and the subsequent operations are repeated. The If the determination in step # 100 is affirmative (that is, the power generation mode remains set), the process proceeds to step # 94 and is compared with the average value of the latest slope, and the subsequent operations are repeated. The Also, if the determination in step # 104 is negative, the process proceeds to step # 94, where it is compared with the average value of the latest slope and the subsequent operations are repeated.

  The operation for giving the tilt restoring operation to the base body 12 has been described based on the individual flowcharts shown in FIGS. 10 to 13 for the sake of convenience. However, the operation is actually executed as a series of operations for giving the tilt restoring operation. It is. For convenience, only the restoration operation in the FR-RL direction shown in FIG. 3 has been described, but the restoration operation is similarly executed in the FL-RR direction shown in FIG.

  The stroller 10 according to the present invention is configured as in the above-described embodiment, and includes a posture change imparting unit 16 that applies a posture change (fluctuation operation or tilt restoration operation) to the base body 12 by switching an operation mode by the mode changeover switch 52. Since the secondary battery 56 can be charged, power can be supplied for a longer time without increasing the size of the secondary battery 56.

  Further, the posture change imparting section 16 includes an electric motor 42 having a rotating shaft 40, a rack gear 46 erected on the axle bearing 30, and a pinion attached to the rotating shaft 40 of the electric motor 42 and engaged with the rack gear 46. Since it is constituted by the gear 44, the charging of the secondary battery 56 and the posture change applied to the base 12 can be reliably executed by the posture change applying unit 16.

  In addition, the stroller according to the present invention is not limited to the above embodiment, and various modifications as described below can be adopted as necessary.

  (1) Although the base body 12 constituting the stroller 10 has been described as a plate-like shape in the above embodiment, the invention is not limited to this. For example, as shown in FIG. 15, the base body 12 may be configured in a frame shape by a pipe material or the like. In this case, the wheel 14 is attached to the not-illustrated axle bearing 30 via an unillustrated elastic member 34 at the front end portion of the base body 12 configured in a frame shape, and the attitude change imparting portion 16 also corresponds to the in-vehicle bearing 30. It is provided at the tip of the base 12.

  (2) In the above embodiment, a total of four wheels 14 are provided on the front, rear, left and right, but the present invention is not limited to this. For example, a total of three wheels 14 may be provided, two on the front side and one on the rear side.

  (3) In the above-described embodiment, when the fluctuation operation is given to the base body 12, the elastic member 34 corresponding to all the wheels 14 is expanded and contracted by the posture change applying unit 16, but this is not a limitation. Absent. For example, it is possible to give a fluctuation operation by causing the elastic member 34 corresponding to a specific wheel 14 such as only the front wheel or only the rear wheel to expand and contract.

  (4) In the above-described embodiment, when the inclination restoring operation is given to the base body 12, the posture change applying unit 16 performs the expansion / contraction operation of the elastic members 34 corresponding to all the wheels 14. It is not a thing. For example, the restoring operation of the tilt can be provided by extending or contracting the elastic member 34 corresponding to a specific wheel 14 such as only the front wheel or only the rear wheel.

  (5) In the above embodiment, a DC motor is used as the electric motor 42 constituting the posture change imparting unit 16, but this is not a limitation. For example, as the electric motor 42, as shown in FIG. 16, a linear motor 74 including a cylindrical coil 70 composed of a plurality of coil groups and a magnet 72 disposed in the cylindrical coil 70 is used. You can also. When the posture change applying unit 16 is configured using such a linear motor 74, the cylindrical coil 70 is fixed to the base 12 in a penetrating manner with the lower end side inserted into the inner diameter portion of the elastic member 34, and A central rod 76 movably disposed in the inner diameter portion of the elastic member 34 is disposed so that the lower end is fixed to the axle bearing 30 and the upper end is fixed to the magnet 72 so that the inner diameter portion of the cylindrical coil 70 can be inserted. Is done.

  When the posture change applying unit 16 configured as described above is set in the power generation mode, the center rod 76 moves up and down due to the elastic member 34 extending and contracting due to unevenness of the road surface, thereby the cylindrical coil 70. Electric energy is generated by moving the magnet 72 up and down. Further, when the posture change application mode is set, the magnet 72 moves up and down by energizing the cylindrical coil 70 to generate a magnetic field change that goes straight, thereby applying an external force to the elastic member 34 to cause elasticity. The member 34 expands and contracts, whereby the base 12 is changed in posture.

  The motor drive circuit 58 has a circuit configuration that functions to cause a magnetic field change that goes straight to the cylindrical coil 70 formed of a plurality of coil groups. Further, as the electric motor 42, for example, a stepping motor can be used. Also in this case, the motor drive circuit 58 has a circuit configuration corresponding to the stepping motor.

  (6) In the above embodiment, the manual push switch 24 is provided with the manual instruction switch 26, and the manual instruction switch 26 is manually operated as necessary to give a fluctuation operation to the base body 12, but this is not limited thereto. It is not a thing. For example, when it is not necessary to give a fluctuation operation to the base 12 when the movement of the infant is at a level that cannot be detected by the movement sensor 36, the manual instruction switch 26 for giving the fluctuation action is not necessary. However, even in this case, the manual instruction switch 26 may be used to give a selection instruction when selectively providing a fluctuation operation and an inclination restoration operation to the base 12.

  In the case where the manual instruction switch 26 is provided in order to give a fluctuation operation to the base 12, the fluctuation operation is given to the base 12 by manual operation even when the movement sensor 36 does not detect the movement of the infant. Since the infant can be comforted, it becomes more convenient. Alternatively, only the manual instruction switch 26 for giving a fluctuation operation to the base 12 may be provided without providing the motion sensor 38.

  (7) In the above embodiment, the fluctuation operation and the inclination restoration operation are selectively given as the posture change given to the base 12, but this is not restrictive. For example, only the fluctuation operation may be given to the base 12, or only the tilt restoring operation may be given to the base 12.

  (8) In the above embodiment, the torque of the electric motor 42 is detected by the torque sensor 48 provided on the rotary shaft 40 or the like, but the present invention is not limited to this. For example, the torque can be detected by a current value flowing through the coil. Further, when the rotation drive of the electric motor 42 is suddenly stopped, if the base 12 does not change suddenly, it is not necessary to stop the rotation drive of the electric motor 42 after the torque is reduced. 48 becomes unnecessary.

  In order to express the present invention, the present invention has been properly and fully described through the embodiments with reference to the drawings. However, those skilled in the art can easily change and / or improve the above-described embodiments. It should be recognized that this is possible. Therefore, unless the modifications or improvements implemented by those skilled in the art are at a level that departs from the scope of the claims recited in the claims, the modifications or improvements are not covered by the claims. To be construed as inclusive.

DESCRIPTION OF SYMBOLS 10 Stroller 12 Base 14 Wheel 16 Posture change provision part (posture change provision means)
18 Seat 20 Tilt sensor 26 Manual instruction switch (manual operation means)
30 Axle bearing 34 Elastic member 38 Motion sensor 40 Rotating shaft 42 Electric motor 50 Control circuit 52 Mode changeover switch (switch means)
54 Voltage regulator 56 Secondary battery 58 Motor drive circuit 60 Controller 70 Cylindrical coil 72 Magnet 74 Linear motor 76 Central shaft

Claims (6)

  A stroller in which a seat for seating an infant is attached to a base body on which a plurality of wheels for traveling on a road surface are respectively provided via an axle bearing, wherein the upper and lower wheels are provided between the axle bearing and the base body. An elastic member capable of expanding and contracting in the direction, switch means for selectively switching to one of the first operation mode and the second operation mode, and when switched to the first operation mode by the switch means, When the elastic member is expanded and contracted by the vertical movement of the wheel due to the unevenness of the road surface, electric energy is generated, and when the switch means is switched to the second operation mode, an external force is applied to the elastic member. Posture change giving means for giving a change in posture to the substrate by extending and contracting, and electric energy generated by the posture change giving means When the secondary battery to be stored and the switch means are operated to selectively switch to either the first operation mode or the second operation mode, and the switch means is switched to the second operation mode, A stroller comprising drive control means for supplying electric energy from the secondary battery to drive-control the posture change applying means.   The seat is provided with a motion sensor for detecting the movement of the infant seated on the seat, the posture change applied to the base body is a fluctuation operation, and the drive control means detects the movement of the infant. In this case, the switch means is operated to switch from the first operation mode to the second mode, and the posture change applying means is driven to give a fluctuation operation to the base. Item 1. A stroller according to item 1.   A manual operation means is provided at a predetermined location, and the posture change applied to the base body is a fluctuation operation, and the drive control means operates the switch means when the manual operation means is manually operated to perform a first operation. The stroller according to claim 1, wherein the baby carriage is switched from the operation mode to the second mode, and the posture change applying means is driven to give a fluctuation operation to the base.   A tilt sensor for detecting the tilt of the base is provided at a predetermined position, and the posture change given to the base is a tilt restoring operation, and the drive control means is configured to detect when the tilt sensor detects the tilt of the sheet. The switch means is actuated to switch from the first operation mode to the second mode, and the posture change giving means is driven and controlled to restore the tilt to the substrate. Item 1. A stroller according to item 1.   The posture change imparting means includes an electric motor having a rotation shaft, a rack gear erected on the axle bearing, and a pinion gear attached to the rotation shaft of the electric motor and engaged with the rack gear. The stroller according to any one of claims 1 to 4, wherein the stroller is a thing.   The posture change imparting means is provided so as to be freely inserted into a linear motor including a standing cylindrical coil and a magnet disposed in the cylindrical coil, and the cylindrical coil of the linear motor. The stroller according to any one of claims 1 to 4, wherein the stroller is configured by a central rod that is attached to the magnet and is erected on the axle bearing.

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